CN111030541A - Variable-step-length disturbance observation energy-saving control method for three-phase asynchronous motor - Google Patents
Variable-step-length disturbance observation energy-saving control method for three-phase asynchronous motor Download PDFInfo
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- CN111030541A CN111030541A CN201911374598.XA CN201911374598A CN111030541A CN 111030541 A CN111030541 A CN 111030541A CN 201911374598 A CN201911374598 A CN 201911374598A CN 111030541 A CN111030541 A CN 111030541A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
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Abstract
The invention provides a variable-step-size disturbance observation energy-saving control method for a three-phase asynchronous motor, which belongs to the field of motor control and comprises the following steps: step S10, establishing a polynomial approximation function of the motor active loss, selecting a plurality of high-frequency sinusoidal disturbance signals, and designing a band-pass filter corresponding to each disturbance signal; step S20, starting the motor, and taking the current exciting current as a reference value; step S30, injecting a plurality of high-frequency sinusoidal disturbance signals into the exciting current; step S40, filtering by using a band-pass filter to obtain active loss components corresponding to each disturbing signal; step S50, a threshold is established, and the relation between each active loss component and the threshold is judged; step S60 is to fit the polynomial approximation function to obtain an extreme point, and the extreme point is used as a reference value of the excitation current for the next search, and the process proceeds to step S30. The invention has the advantages that: on the premise of not reducing the speed regulation performance of the motor, the running efficiency of the motor is greatly improved, and the motor can run efficiently and energy-efficiently.
Description
Technical Field
The invention relates to the field of motor control, in particular to a variable-step-size disturbance observation energy-saving control method for a three-phase asynchronous motor.
Background
The three-phase asynchronous motor is a motor directly powered by a 380V three-phase alternating current power supply (with a phase difference of 120 degrees), and because a rotor and a stator rotating magnetic field of the three-phase asynchronous motor rotate in the same direction and at different rotating speeds and have slip ratios, the three-phase asynchronous motor is called as a three-phase asynchronous motor, and has the advantages of simple structure, low cost, high reliability and the like, so the three-phase asynchronous motor is widely used.
The traditional three-phase asynchronous motor generally adopts a rated excitation mode, when the load or the rotating speed of the motor needs to be adjusted, the motor is subjected to variable-frequency speed regulation control, and the excitation current of the motor is not changed generally; because the motor runs under a rated working condition for a short time, the running efficiency of the motor is reduced by adopting a rated excitation mode under a non-rated working condition.
Therefore, how to provide a variable-step disturbance observation energy-saving control method for a three-phase asynchronous motor, the operation efficiency of the motor is improved on the premise of not reducing the speed regulation performance of the motor, and the motor can operate efficiently and energy-saving, so that the method becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to solve the technical problem of providing a variable-step-size disturbance observation energy-saving control method for a three-phase asynchronous motor, which can improve the operation efficiency of the motor and enable the motor to operate efficiently and energy-saving on the premise of not reducing the speed regulation performance of the motor.
The invention is realized by the following steps: a variable-step-size disturbance observation energy-saving control method for a three-phase asynchronous motor comprises the following steps:
step S10, establishing a polynomial approximation function of the active power loss of the motor, selecting a plurality of high-frequency sinusoidal exciting current disturbing signals with different frequencies and amplitudes, and designing a band-pass filter corresponding to each high-frequency sinusoidal exciting current disturbing signal;
step S20, starting the motor, and taking the exciting current of the current motor as a reference value;
step S30, injecting a plurality of high-frequency sinusoidal exciting current disturbing signals into the exciting current of the motor;
step S40, filtering active power input by the motor by using the band-pass filter, and acquiring active loss components corresponding to the high-frequency sinusoidal exciting current disturbing signals;
step S50, a threshold is established, and the relation between each active loss component and the threshold is judged;
step S60, fitting the polynomial approximation function to generate a fitting function based on the reference value, each high-frequency excitation current disturbance signal, and each active loss component, and obtaining an extreme point of the fitting function, where the extreme point is used as the reference value of the excitation current in the next search, and the process advances to step S30.
Further, the step S10 is specifically:
performing polynomial approximation processing on an active loss function of the motor to obtain a polynomial approximation function of the active loss with exciting current as an independent variable; selecting a plurality of high-frequency sinusoidal exciting current disturbing signals with different frequencies and amplitudes according to the number of unknown coefficients of the polynomial approximation function; and respectively designing a band-pass filter corresponding to each high-frequency sinusoidal exciting current disturbing signal by taking the frequency of each high-frequency sinusoidal exciting current disturbing signal as a central frequency.
Further, the step S30 is specifically:
under the condition of decoupling of a d axis and a q axis of the motor, a plurality of high-frequency sinusoidal exciting current disturbance signals with different frequencies and amplitudes are modulated into voltage vectors of the d axis and the q axis of the motor through a current controller by taking exciting current of the motor as a reference, and then the voltage vectors are converted into three-phase voltage vectors through coordinate transformation and SVPWM to drive the motor.
Further, the step S40 is specifically:
and filtering the active power input by the motor by using the band-pass filter to obtain active loss components corresponding to the high-frequency sinusoidal exciting current disturbing signals and a phase relation between the high-frequency sinusoidal exciting current disturbing signals and the corresponding active loss components.
Further, the step S50 specifically includes:
step S51, a threshold value used for judging the active loss component of the motor corresponding to each high-frequency sine exciting current disturbance signal is created;
step S52, judging whether the active loss component corresponding to each high-frequency sinusoidal exciting current disturbing signal is smaller than a threshold value, if so, determining the reference value of the current exciting current as the exciting current which enables the motor to have the highest operation efficiency, and ending the searching process; if not, the process proceeds to step S60.
Further, the step S60 specifically includes:
step S61, when the phase of the high-frequency sinusoidal exciting current disturbing signal is the same as the phase of the corresponding active loss component, the reference value of the exciting current is added with the amplitude of the high-frequency sinusoidal exciting current disturbing signal with the frequency to be used as the input of the polynomial approximation function; when the phases of the high-frequency sinusoidal exciting current disturbing signal and the corresponding active loss component are opposite, subtracting the amplitude of the high-frequency sinusoidal exciting current disturbing signal with the frequency from the reference value of the exciting current, and using the subtraction as the input of the polynomial approximation function; the corresponding active loss component is taken as the output of the polynomial approximation function;
step S62, fitting the polynomial approximation function to generate a fitting function, and finding an extreme point of the fitting function, and proceeding to step S30 with the extreme point as a reference value of the excitation current for the next search.
The invention has the advantages that:
1. injecting a plurality of high-frequency sinusoidal exciting current disturbing signals with different frequencies and different amplitudes into the current exciting current of the motor, obtaining the active loss component of the motor corresponding to each frequency through a band-pass filter, fitting an active loss polynomial approximation function of the motor, solving an extreme point of the fitting function, and taking the extreme point as a reference value of the exciting current of the motor during the next search; the optimal excitation motor of the motor is searched in a variable step length mode through the relation between the active loss component of each frequency and the set threshold value, so that the motor does not need to work by adopting rated excitation current all the time, the excitation current is adjusted in real time according to the actual running state of the motor, the running efficiency of the motor is greatly improved, the motor can run in an efficient and energy-saving mode, and the speed regulation performance of the motor is ensured because only high-frequency signal injection is carried out on the excitation current of the motor, the control of the motor torque is not interfered.
2. The searching is carried out through the variable step length, the searching efficiency is greatly improved compared with the fixed step length searching, the searching is stopped when the active loss component corresponding to the high-frequency disturbing signal is smaller than the set threshold value, and the searching oscillation phenomenon is avoided.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
FIG. 1 is a flow chart of a variable step size disturbance observation energy-saving control method for a three-phase asynchronous motor.
Fig. 2 is a schematic diagram of the relationship between active loss and exciting current of the asynchronous motor of the invention.
Fig. 3 is a schematic diagram of the variable step search of the optimal excitation current of the asynchronous motor.
Fig. 4 is a schematic block diagram of a system for high frequency sinusoidal excitation current injection in accordance with the present invention.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea: because the high-frequency sinusoidal disturbance signal is injected into the exciting current of the motor, the electromagnetic torque, the rotating speed and the active output of the motor can be approximately unchanged, so that the change of the input power of the motor is determined by the exciting current; according to the motor loss model, the total active loss of the motor and the exciting current are in a concave functional relationship in the current state, namely the total active loss of the motor is reduced and then increased along with the increase of the exciting current, which is shown in fig. 2; and fitting the concave function by adopting a polynomial function, calculating a minimum value point of the polynomial function as a reference value of the exciting current in the next search, performing excitation control on the motor, realizing variable step tracking search of the optimal exciting current, and further obtaining a value of the exciting current which enables the motor to have the highest operation efficiency.
Referring to fig. 1 to 4, a preferred embodiment of a variable-step disturbance observation energy-saving control method for a three-phase asynchronous motor according to the present invention includes the following steps:
step S10, according to the actual situation, establishing a polynomial approximation function of the active loss of the motor, and selecting a plurality of high-frequency sinusoidal exciting current disturbance signals with different frequencies and amplitudes, in this embodiment, 3 high-frequency sinusoidal exciting current disturbance signals i with frequencies of ω 1, ω 2, and ω 3 are used respectivelydω1，idω2And idω3Designing a band-pass filter corresponding to each high-frequency sinusoidal exciting current disturbing signal;
step S20, starting the motor, and taking the exciting current of the current motor as a reference value;
step S30, injecting a plurality of high-frequency sinusoidal exciting current disturbing signals into the exciting current of the motor;
step S40, filtering active power input by the motor by using the band-pass filter, and acquiring active loss components corresponding to the high-frequency sinusoidal exciting current disturbing signals; frequency of omeganThe high-frequency sine disturbance signal corresponds to the active loss of the motor, and the middle frequency is omeganA component of (a);
the active power input of the motor can be measured by detecting the bus voltage and the output current of the direct current side of the motor driver, so that the integral input power of the motor and the frequency converter is obtained, and the loss of the frequency converter is small (generally related to the switching frequency) and the change is small, so that the active power loss of the motor is calculated by adopting a method for detecting the direct current output power, and the method is relatively convenient to implement and has low cost;
step S50, a threshold is established, and the relation between each active loss component and the threshold is judged;
step S60, fitting the polynomial approximation function to generate a fitting function based on the reference value, each high-frequency excitation current disturbance signal, and each active loss component, and obtaining an extreme point of the fitting function, where the extreme point is used as the reference value of the excitation current in the next search, and the process advances to step S30.
The step S10 specifically includes:
performing polynomial approximation processing on an active loss function of the motor to obtain a polynomial approximation function of the active loss with exciting current as an independent variable; selecting a plurality of high-frequency sinusoidal exciting current disturbing signals with different frequencies and amplitudes according to the number of unknown coefficients of the polynomial approximation function; and respectively designing a band-pass filter corresponding to each high-frequency sinusoidal exciting current disturbing signal by taking the frequency of each high-frequency sinusoidal exciting current disturbing signal as a central frequency.
The step S30 specifically includes:
under the condition of decoupling of a d axis and a q axis of the motor, a plurality of high-frequency sinusoidal exciting current disturbance signals with different frequencies and amplitudes are modulated into voltage vectors of the d axis and the q axis of the motor through a current controller by taking exciting current of the motor as a reference, and then the voltage vectors are converted into three-phase voltage vectors through coordinate transformation and SVPWM to drive the motor.
The step S40 specifically includes:
and filtering the active power input by the motor by using the band-pass filter to obtain active loss components corresponding to the high-frequency sinusoidal exciting current disturbing signals and a phase relation between the high-frequency sinusoidal exciting current disturbing signals and the corresponding active loss components.
The step S50 specifically includes:
step S51, a threshold value used for judging the active loss component of the motor corresponding to each high-frequency sine exciting current disturbance signal is created;
step S52, judging whether the active loss component corresponding to each high-frequency sinusoidal exciting current disturbing signal is smaller than a threshold value, if so, determining the reference value of the current exciting current as the exciting current which enables the motor to have the highest operation efficiency, and ending the searching process; if not, the process proceeds to step S60.
The step S60 specifically includes:
step S61, when the phase of the high-frequency sinusoidal exciting current disturbing signal is the same as the phase of the corresponding active loss component, the reference value of the exciting current is added with the amplitude of the high-frequency sinusoidal exciting current disturbing signal with the frequency to be used as the input of the polynomial approximation function; when the phases of the high-frequency sinusoidal exciting current disturbing signal and the corresponding active loss component are opposite, subtracting the amplitude of the high-frequency sinusoidal exciting current disturbing signal with the frequency from the reference value of the exciting current, and using the subtraction as the input of the polynomial approximation function; the corresponding active loss component is taken as the output of the polynomial approximation function;
step S62, fitting the polynomial approximation function to generate a fitting function, and finding an extreme point of the fitting function, and proceeding to step S30 with the extreme point as a reference value of the excitation current for the next search.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (6)
1. A variable-step-size disturbance observation energy-saving control method for a three-phase asynchronous motor is characterized by comprising the following steps of: the method comprises the following steps:
step S10, establishing a polynomial approximation function of the active power loss of the motor, selecting a plurality of high-frequency sinusoidal exciting current disturbing signals with different frequencies and amplitudes, and designing a band-pass filter corresponding to each high-frequency sinusoidal exciting current disturbing signal;
step S20, starting the motor, and taking the exciting current of the current motor as a reference value;
step S30, injecting a plurality of high-frequency sinusoidal exciting current disturbing signals into the exciting current of the motor;
step S40, filtering active power input by the motor by using the band-pass filter, and acquiring active loss components corresponding to the high-frequency sinusoidal exciting current disturbing signals;
step S50, a threshold is established, and the relation between each active loss component and the threshold is judged;
step S60, fitting the polynomial approximation function to generate a fitting function based on the reference value, each high-frequency excitation current disturbance signal, and each active loss component, and obtaining an extreme point of the fitting function, where the extreme point is used as the reference value of the excitation current in the next search, and the process advances to step S30.
2. The variable-step-size disturbance observation energy-saving control method of the three-phase asynchronous motor according to claim 1, characterized by comprising the following steps of: the step S10 specifically includes:
performing polynomial approximation processing on an active loss function of the motor to obtain a polynomial approximation function of the active loss with exciting current as an independent variable; selecting a plurality of high-frequency sinusoidal exciting current disturbing signals with different frequencies and amplitudes according to the number of unknown coefficients of the polynomial approximation function; and respectively designing a band-pass filter corresponding to each high-frequency sinusoidal exciting current disturbing signal by taking the frequency of each high-frequency sinusoidal exciting current disturbing signal as a central frequency.
3. The variable-step-size disturbance observation energy-saving control method of the three-phase asynchronous motor according to claim 1, characterized by comprising the following steps of: the step S30 specifically includes:
under the condition of decoupling of a d axis and a q axis of the motor, a plurality of high-frequency sinusoidal exciting current disturbance signals with different frequencies and amplitudes are modulated into voltage vectors of the d axis and the q axis of the motor through a current controller by taking exciting current of the motor as a reference, and then the voltage vectors are converted into three-phase voltage vectors through coordinate transformation and SVPWM to drive the motor.
4. The variable-step-size disturbance observation energy-saving control method of the three-phase asynchronous motor according to claim 1, characterized by comprising the following steps of: the step S40 specifically includes:
and filtering the active power input by the motor by using the band-pass filter to obtain active loss components corresponding to the high-frequency sinusoidal exciting current disturbing signals and a phase relation between the high-frequency sinusoidal exciting current disturbing signals and the corresponding active loss components.
5. The variable-step-size disturbance observation energy-saving control method of the three-phase asynchronous motor according to claim 1, characterized by comprising the following steps of: the step S50 specifically includes:
step S51, a threshold value used for judging the active loss component of the motor corresponding to each high-frequency sine exciting current disturbance signal is created;
step S52, judging whether the active loss component corresponding to each high-frequency sinusoidal exciting current disturbing signal is smaller than a threshold value, if so, determining the reference value of the current exciting current as the exciting current which enables the motor to have the highest operation efficiency, and ending the searching process; if not, the process proceeds to step S60.
6. The variable-step-size disturbance observation energy-saving control method of the three-phase asynchronous motor according to claim 1, characterized by comprising the following steps of: the step S60 specifically includes:
step S61, when the phase of the high-frequency sinusoidal exciting current disturbing signal is the same as the phase of the corresponding active loss component, the reference value of the exciting current is added with the amplitude of the high-frequency sinusoidal exciting current disturbing signal with the frequency to be used as the input of the polynomial approximation function; when the phases of the high-frequency sinusoidal exciting current disturbing signal and the corresponding active loss component are opposite, subtracting the amplitude of the high-frequency sinusoidal exciting current disturbing signal with the frequency from the reference value of the exciting current, and using the subtraction as the input of the polynomial approximation function; the corresponding active loss component is taken as the output of the polynomial approximation function;
step S62, fitting the polynomial approximation function to generate a fitting function, and finding an extreme point of the fitting function, and proceeding to step S30 with the extreme point as a reference value of the excitation current for the next search.
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