CN111092578B - Vector control method for accurately orienting rotor magnetic field of asynchronous motor - Google Patents
Vector control method for accurately orienting rotor magnetic field of asynchronous motor Download PDFInfo
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- CN111092578B CN111092578B CN201911359398.7A CN201911359398A CN111092578B CN 111092578 B CN111092578 B CN 111092578B CN 201911359398 A CN201911359398 A CN 201911359398A CN 111092578 B CN111092578 B CN 111092578B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
-
- 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
-
- 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
Abstract
The invention relates to a vector control method for accurately orienting the rotor magnetic field of an asynchronous motor, which utilizes current and voltage signals under d-q synchronous rotation coordinates to construct an asynchronous motor load angle reference model and an adjustable model which do not contain stator resistance and rotor resistance, makes a difference between tangent values of load angles of the two models, directly compensates and corrects the phase angle difference between a rotor flux linkage and the stator current through a PI (proportional integral) regulator, and adjusts an output signal after closed-loop correction of the load angle by combining the type of a converter in a variable-frequency speed regulation control system to finish the accurate orientation of the rotor magnetic field of the asynchronous motor. Compared with the prior art, the invention separates and releases the problem of accurate orientation of the magnetic field hidden in the mutual interweaving of flux linkage identification, parameter identification and decoupling control, develops a new method, independently completes the orientation of the magnetic field of the rotor by compensating, correcting and controlling the load angle of the asynchronous motor, and has the advantages of accurate orientation, simple control strategy, good robustness and the like.
Description
Technical Field
The invention relates to the technical field of speed regulation control of asynchronous motors of alternating current motors, in particular to a vector control method for accurately orienting rotor magnetic fields of the asynchronous motors.
Background
The asynchronous motor frequency conversion speed regulation vector control is divided into three types according to the oriented mode of a magnetic field: rotor magnetic field orientation, air gap magnetic field orientation, and stator magnetic field orientation.
The vector control of the air gap magnetic field orientation and the stator magnetic field orientation can not change the inherent nonlinear mechanical characteristics of the asynchronous motor, so that the excellent dynamic and static characteristics which are the same as those of the speed regulation control of the direct current motor are difficult to achieve essentially. In the vector control of the air-gap magnetic field orientation and the stator magnetic field orientation, the d-axis and q-axis currents and the d-axis and q-axis magnetic chains have serious cross coupling, and the d-axis and q-axis voltages and the d-axis and q-axis currents have serious cross coupling, so that the complicated decoupling control must be correspondingly increased. And because the estimation of the air gap flux linkage and the estimation of the stator flux linkage are influenced by the change of the motor parameters, the magnetic field orientation is inaccurate, and the stability, the convergence and the rapidity of a control system are influenced. These two magnetic field orientation methods are therefore less useful. Different from the prior art, the rotor magnetic field directional vector control can change the inherent nonlinear mechanical characteristics of the asynchronous motor into linear mechanical characteristics similar to those of the direct current motor, and the current and the flux linkage are completely decoupled, so that the basic condition of achieving the excellent performance of the speed regulation control of the direct current motor is achieved. Therefore, the rotor magnetic field orientation is the most deeply researched and improved control technology in the vector control of the asynchronous motor. However, in the decades of development of the rotor magnetic field orientation vector control technology, the rotor magnetic field orientation is difficult to be accurate due to the influence of the great change of the rotor resistance Rr and the time constant Tr of the motor along with the difference of the operation state and the temperature, and the problem which is always pending and hinders the development of the high-performance variable frequency speed control technology is presented. The prior art approaches and approaches to solving this problem are mainly of two types:
1. a mathematical model of the rotor flux linkage is established by adopting various different methods, and the feedback closed-loop control is carried out on the rotor flux linkage. And then, carrying out off-line or on-line identification and correction on the rotor resistance Rr and the time constant Tr in the model by using a very complex parameter identification algorithm (a fuzzy logic algorithm, a neural network algorithm, an ant colony algorithm, a genetic algorithm \8230; and the like, which are far immature). The obvious disadvantage of this type of method is that it adds significantly to the complexity of the control system and may even have serious negative effects on the stability, reliability, rapidity and accuracy of the control system.
2. Using various magnetic flux observation techniques
The observer principle is to reconstruct a system, use the variable which can be directly measured in the original system as the input signal, and make the output signal of the reconstructed system equivalent to the state of the original system under certain conditions, which is essentially the state reconstruction.
The full-order state observer takes the asynchronous motor as a reference model and takes the full-order state observer as an adjustable model, so that the problem of pure integration is avoided, the accuracy of the reference model is ensured, the stability and the dynamic characteristic in a full-speed domain are better, but the full-order state observer is sensitive to the change of motor parameters, and the design of pole allocation, discretization, stability and a feedback matrix is difficult.
The sliding mode observer is constructed by utilizing a voltage equation and a current equation, and the state of the control system is finally stabilized on a sliding mode hyperplane by reasonably constructing a sliding mode error term. Due to the good robustness, the method is widely applied to the industry. However, the buffeting problem existing in sliding mode control not only increases the energy loss of the system and affects the control precision of the system, but also can cause system oscillation and even unbalance due to excitation of unmodeled parts in the system.
Kalman filter, which is essentially an optimal estimation method, can only be applied to linear systems. In order to be applied to a nonlinear system, an extended Kalman filtering method is further provided, the method is high in identification precision, multiple in identifiable parameters, and capable of reducing certain interference due to the filtering effect, but the algorithm is complex, the performance of a processor is required to be good, and the computing capacity is high.
And model reference self-adaptation adopts the principle that a proper self-adaptation law is formed by the reference model and the error of the output quantity of the adjustable model to adjust the parameters of the adjustable model in real time so as to achieve the purpose of controlling the output of the object to track the reference model. The method is simple in design and diversified in model selection. The accuracy of the reference model seriously influences the accuracy of final parameter identification, and whether the parameter self-adaptive rate exists or not is still a problem when a plurality of motor parameters of the asynchronous motor are identified simultaneously.
Various magnetic flux observation technologies are still in research and experiment stages at present, and the magnetic flux actually used for the alternating current motor has a larger distance to be accurately observed.
The asynchronous motor belongs to a multivariable nonlinear system with serious cross coupling, the position of a rotor magnetic field of the asynchronous motor is fluctuated along with the change of load, the physical position of the rotor magnetic field of the synchronous motor is not clear, the conventional general idea of the directional vector control of the rotor magnetic field of the asynchronous motor adopts a reverse thinking mode, under the precondition of supposing the orientation of the rotor magnetic field, constraint conditions which can decouple various cross coupling factors to meet the orientation of the rotor magnetic field and must be met are deduced, and then a control strategy for realizing the constraint conditions is sought. The constraint conditions comprise the cross coupling of complicated factors such as accurate identification of flux linkage, accurate identification of parameters, voltage decoupling and the like. Although various improvement efforts are made, the problem of accurate orientation of the rotor magnetic field is still not well solved so far, and the problem is still a fundamental key technical problem which restricts the vector control high-performance variable frequency speed control technology of the asynchronous motor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a vector control method for accurately orienting the rotor magnetic field of an asynchronous motor.
The purpose of the invention can be realized by the following technical scheme:
a vector control method for accurately orienting the rotor magnetic field of an asynchronous motor comprises the following steps:
s1, constructing a reference model of a load angle theta without stator resistance and rotor resistance by using current and voltage signals under d-q synchronous rotation coordinates, wherein the expression of the reference model is as follows:
in the formula, σ is a magnetic leakage coefficient of the motor, and the expression is as follows:
L r 、L s 、L m the inductance of the motor rotor, the inductance of the stator and the mutual inductance of the stator are respectively, and the expression of Y is as follows:
in the formula, ω 1 Is the stator angular frequency, i d 、i q 、u d 、u q And the signals are respectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage under a d-q synchronous rotation coordinate.
S2, obtaining an adjustable model of a load angle according to the measured current signal under the d-q synchronous rotation coordinate, wherein the expression is as follows:
and S3, acquiring the difference value of the tangent values of the load angles of the two models in the steps S1 and S2, inputting the difference value into a PI (proportional integral) regulator, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current.
And S4, regulating an output signal after closed-loop correction of a load angle by combining the type of a rotating speed outer ring control instruction in the variable-frequency speed regulation control system, and finishing accurate orientation of the rotor magnetic field of the asynchronous motor. Two main situations are involved:
if the output signal of the speed regulator of the applied control system is the angular frequency omega of the rotation difference s Then the output signal after the closed loop correction of the load angle is the angular frequency compensation value Δ ω, and the angular frequency of the compensated stator is ω 1 ＝ω s +Δω+ω r ，ω r Is the rotor angular velocity.
If the output signal of the speed regulator of the applied control system is a q-axis current instruction
The output signal after the closed-loop correction of the load angle is a d-axis current command->
The exciting current of the stator is directly regulated and controlled by the magnetic control device.
Compared with the prior art, the invention has the following advantages:
1. the method separates and solves the problem of accurate orientation of magnetic field hidden in mutual interweaving of flux linkage identification, parameter identification and decoupling control, develops a new method, starts with analyzing the relation between an asynchronous motor load angle theta (phase angle difference between a stator current vector and a rotor flux linkage vector) and a rotor magnetic field position, constructs a rotor load angle reference model irrelevant to both stator resistance and rotor resistance, obtains an adjustable model of a load angle according to a measured current signal under a d-q synchronous rotation coordinate, inputs a PI regulator by the difference value of two load angle tangent values, and directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current, and has the advantages of accurate magnetic field orientation, simple and efficient control strategy, good stability and high convergence speed, is not influenced by the parameter changes of the motor stator and the rotor resistance, and has excellent robustness, thereby solving the most basic and most critical problem of accurate orientation of the rotor magnetic field in vector control;
2. the method of the invention realizes the independent control of the accurate orientation of the rotor magnetic field, lays a solid foundation for constructing a high-performance asynchronous motor vector control variable frequency speed control system and solving a plurality of subsequent technical problems, such as accurate calculation of magnetic flux linkage, voltage cross decoupling, accurate estimation of rotating speed reconstruction, online identification of motor parameters and the like, which need to be solved subsequently, and under the favorable condition that the technology of the invention realizes the accurate orientation of the rotor magnetic field, the method is simple and easy, and breaks through the bottleneck that no good solution scheme exists on the problems in the prior art, thereby having higher use value;
3. the invention is not only suitable for the vector control variable frequency speed control system fed by the voltage source inverter, but also suitable for the vector control variable frequency speed control system fed by the current controllable voltage source inverter, and the like, and has wide application range.
Drawings
Fig. 1 is a schematic flow chart of a vector control method for accurately orienting the rotor magnetic field of an asynchronous motor applied to a control system fed by a voltage source inverter in embodiment 1 of the present invention;
FIG. 2 is a schematic flow chart of the rotor field orientation load angle correction in the method of the present invention;
fig. 3 is a schematic flow chart of a vector control method for accurately orienting the rotor magnetic field of an asynchronous motor applied to a control system fed by a current-controlled voltage source inverter in embodiment 2 of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
Example 1
The present invention relates to a vector control method for accurately orienting the magnetic field of an asynchronous motor rotor, and the present embodiment describes the method by using a control system applied to the power supply of a voltage source inverter, as shown in fig. 1. The method comprises the steps of establishing a reference model and an adjustable model of a rotor load angle theta, carrying out closed-loop correction on the difference value of the reference model and the adjustable model, and directly compensating the phase angle difference between a rotor flux linkage and a stator current, and specifically comprises the following steps:
step one, constructing a stator resistor-free R by using current and voltage signals under d-q synchronous rotation coordinates r Is expressed as:
wherein:
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
in the formula i d 、i q 、u d 、u q Respectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, L r 、L s 、L m Respectively, a motor rotor inductance, a motor stator inductance andand (5) mutual inductance. Omega 1 Is the stator angular frequency.
Step two, obtaining an adjustable model of a load angle theta by actually measuring d-axis current and q-axis current:
and step three, inputting the tangent value of the load angle of the model I and the model II as a difference into a PI regulator, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current.
And step four, regulating an output signal after closed-loop correction of a load angle by combining the type of a rotating speed outer ring control instruction in the variable-frequency speed regulation control system, and finishing accurate orientation of the rotor magnetic field of the asynchronous motor. As shown in FIG. 1, the output signal of the speed regulator of the control system applied in the present embodiment is the slip angular frequency ω s The output signal after the closed loop correction of the load angle is the angular frequency compensation value delta omega, and the angular frequency of the compensated stator is omega 1 ＝ω s +Δω+ω r ，ω r Is the rotor angular velocity; specifically, the method comprises the following steps:
the system is controlled by a rotating speed instruction n * A rotating speed outer ring formed by the rotating speed feedback n and the rotating speed regulator obtains a slip signal omega s And the output angular frequency compensation signal delta omega is output after the load angle is corrected through the orientation of the rotor magnetic field s And a rotational speed signal omega r Adding to obtain accurate angular frequency omega of stator 1 Then flux linkage with d-axis command
Multiplication, plus stator resistive drop compensation R s i d And R s i q Then, a voltage control command is formed>
And &>
Then the motor is controlled to change through SVPWM fed by a voltage source inverter and the inverterAnd frequency speed regulation operation. The spatial position angle gamma required for coordinate transformation is defined by omega 1 And (4) obtaining an integral.
The method separates and relieves the problem of accurate orientation of magnetic fields hidden in mutual interweaving of flux linkage identification, parameter identification and decoupling control, starts with the analysis of the relation between the load angle (phase angle difference between a stator current vector and a rotor flux linkage vector) of an asynchronous motor and the position of a rotor magnetic field, constructs a rotor load angle reference model irrelevant to both stator resistance and rotor resistance, obtains an adjustable model of the load angle according to an actual measurement current signal under a d-q synchronous rotation coordinate, inputs the difference value of tangent values of two load angles into a PI regulator, and directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current.
Example 2
The vector control method for accurately orienting the rotor magnetic field of the asynchronous motor in the embodiment is applied to a control system fed by a current controllable voltage source inverter, and the first step to the third step of the method are the same as those in the embodiment 1. The difference is that in step four, as shown in fig. 3, the output signal of the speed regulator of the control system applied in this embodiment is q-axis current
The output signal after closed-loop correction of the load angle is->
The exciting current of the stator is directly regulated and controlled.
Specifically, the method comprises the following steps:
from the rotational speed command n * Rotating speed outer ring formed by rotating speed feedback n and rotating speed regulatorObtaining a q-axis current command
Outputting a d-axis current command->
The frequency conversion and speed regulation of the motor are controlled by rotating coordinate transformation, current tracking PWM and an inverter. The spatial position angle required for a coordinate transformation is determined by slip>
With the speed of rotation omega r The integral of the sum.
The method separates and releases the problem of accurate orientation of magnetic fields hidden in the mutual interweaving of flux linkage identification, parameter identification and decoupling control, starts with the analysis of the relation between the load angle (phase angle difference between a stator current vector and a rotor flux linkage vector) of an asynchronous motor and the position of a rotor magnetic field, constructs a rotor load angle reference model irrelevant to both stator resistance and rotor resistance, obtains an adjustable model of the load angle according to an actually measured current signal under a d-q synchronous rotation coordinate, inputs the difference value of tangent values of two load angles into a PI regulator, and directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (1)
1. A vector control method for accurately orienting the magnetic field of an asynchronous motor rotor is characterized by comprising the following steps:
1) Constructing a reference model of a load angle without stator resistance and rotor resistance by using current and voltage signals under d-q synchronous rotation coordinates;
2) Acquiring an adjustable model of a load angle according to the measured current signal under the d-q synchronous rotation coordinate;
3) Acquiring the difference value of the tangent values of the load angles of the two models in the step 1) and the step 2), inputting the difference value into a PI (proportional integral) regulator, and directly performing closed-loop correction on the phase angle difference between the rotor flux linkage and the stator current;
4) Regulating an output signal after closed-loop correction of a load angle by combining the type of a rotating speed outer ring control instruction in the variable-frequency speed regulation control system to finish accurate orientation of a rotor magnetic field of the asynchronous motor;
the reference model of the load angle without the stator resistance and the rotor resistance has the expression:
in the formula, σ is a magnetic leakage coefficient of the motor, and the expression is as follows:
L r 、L s 、L m the inductance of the motor rotor, the inductance of the stator and the mutual inductance of the stator and the rotor are respectively, and the expression of Y is as follows:
in the formula, omega 1 Is the stator angular frequency, i d 、i q 、u d 、u q Respectively an axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under a d-q synchronous rotation coordinate;
the expression for the adjustable model of the load angle is:
in step 4), the output signal after adjusting the load angle closed loop correction includes the following contents:
if the output signal of the speed regulator of the applied control system is the angular frequency omega of the rotation difference s The output signal after the closed loop correction of the load angle is the angular frequency compensation value delta omega of the rotation difference, and the angular frequency of the compensated stator is omega 1 ＝ω s +Δω+ω r ，ω r Is the rotor angular velocity;
if the output signal of the speed regulator of the applied control system is a q-axis current instruction
The output signal after the closed-loop correction of the load angle is a d-axis current command->
The exciting current of the stator is directly regulated and controlled by the magnetic control device. />
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