CN111146993A - Vector control method for voltage decoupling compensation of asynchronous motor - Google Patents

Vector control method for voltage decoupling compensation of asynchronous motor Download PDF

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CN111146993A
CN111146993A CN201911359372.2A CN201911359372A CN111146993A CN 111146993 A CN111146993 A CN 111146993A CN 201911359372 A CN201911359372 A CN 201911359372A CN 111146993 A CN111146993 A CN 111146993A
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stator
axis
voltage
flux linkage
decoupling
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CN111146993B (en
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梅柏杉
刘涛
李晓华
孙改平
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Shanghai Electric Power University
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a vector control method for voltage decoupling compensation of an asynchronous motor, which is established on the basis of accurate orientation of a rotor magnetic field and comprises the following steps: 1) under the condition of accurate orientation of a rotor magnetic field, taking the difference value of the d-axis given flux linkage and the actual d-axis flux linkage as the input of a stator flux linkage adjusting unit, adopting PI control, outputting a d-axis current instruction, and performing closed-loop control on the stator d-axis flux linkage; 2) decoupling the stator voltage under the conditions of accurate orientation of the rotor magnetic field and closed-loop control of the d-axis flux linkage; 3) multiplying the given frequency of the stator by the given flux linkage of the d axis, and adding the compensated stator resistance voltage drop and the voltage decoupling result to obtain a voltage control signal; 4) and controlling the variable-frequency speed-regulation operation of the motor by using a voltage control signal through the SVPWM fed by the voltage source inverter and the inverter. Compared with the prior art, the method has the advantages of improving the rapidity, the accuracy and the robustness of a vector control system and the like.

Description

Vector control method for voltage decoupling compensation of asynchronous motor
Technical Field
The invention relates to the technical field of asynchronous motor speed regulation control, in particular to a vector control method for voltage decoupling compensation of an asynchronous motor.
Background
The rotor magnetic field directional vector control can change the inherent nonlinear mechanical characteristic of the asynchronous motor into the linear mechanical characteristic similar to that 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 and 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.
The prior art of the rotor magnetic field orientation vector control is to use the estimated value of the rotor flux linkage as a feedback quantity to perform closed-loop tracking control on the rotor flux linkage, the current and the flux linkage are basically decoupled, but the d-axis and q-axis voltages and the d-axis and q-axis currents and the rotor flux linkage still have serious cross coupling, and the voltage equation is as follows:
Figure BDA0002336779790000011
wherein: u. ofd、uq、id、iqD, q-axis voltage and current, ω, respectively1Is the stator angular frequency, LSIs stator inductance, and σ is magnetic leakage coefficient,. psirIs the rotor flux linkage.
The rotor flux linkage psi is influenced by the rotor resistance Rr and the time constant Tr varying greatly with the operating state and temperaturerThe estimation is difficult to be accurate, so that the voltage cross decoupling becomes very complex and difficult, and the performance of the variable-frequency speed regulation vector control is seriously influenced. For this reason, the prior art employs various very complex parameter identification algorithms, such as fuzzy logic algorithm, neural network algorithm, ant colony algorithm, genetic algorithm, etc., to perform off-line or on-line identification correction on the rotor resistance Rr and the time constant Tr. These algorithms are far from immature and have the obvious disadvantage of greatly increasing the complexity of the control system and even possibly having serious negative effects on the stability, reliability, rapidity and accuracy of the control system. Thus, how to make the rotor flux linkage ψrAccurate estimation is carried out, voltage cross coupling is simplified, good solution is not yet achieved, and the method becomes one of bottlenecks which restrict a high-performance variable-frequency speed-regulating vector control technology.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a vector control method for voltage decoupling compensation of an asynchronous motor.
The purpose of the invention can be realized by the following technical scheme:
a vector control method for voltage decoupling compensation of an asynchronous motor is established on the basis of accurate orientation of a rotor magnetic field and comprises the following steps:
and S1, using the current signal under the d-q synchronous rotation coordinate, taking the difference value of the d-axis given flux linkage and the actual d-axis flux linkage as the input of the stator flux linkage adjusting unit under the condition of accurate orientation of the rotor magnetic field, outputting the given value of the d-axis current by adopting PI control, and performing closed-loop control on the stator d-axis flux linkage.
S2, decoupling the stator voltage under the conditions of accurate orientation of the rotor magnetic field and closed-loop control of the stator d-axis flux linkage;
the specific contents of decoupling the stator voltage are as follows:
according to d-axis current and q-axis current under a synchronous rotation coordinate, a d-axis voltage decoupling result and a q-axis voltage decoupling result of the asynchronous motor under the conditions of accurate orientation of a rotor magnetic field and closed-loop control of a stator d-axis flux linkage are obtained, and the expressions are as follows:
d-axis: vd-dec＝-ω1σLsiq
A q-axis:
Figure BDA0002336779790000021
in the formula, ω1Is the stator angular frequency, LsIs stator inductance, iqThe q-axis current signal under the d-q synchronous rotation coordinate is represented by sigma which is the leakage coefficient of the motor, and the expression is as follows:
Figure BDA0002336779790000022
in the formula, Lr、LmThe inductance of the motor rotor and the mutual inductance of the stator and the rotor are respectively.
S3, converting the stator angular frequency omega1Given flux linkage with d-axis
Figure BDA0002336779790000023
Multiplying, plus compensated stator resistance drop Rsid、RsiqAnd step S2, obtaining voltage control signal according to voltage decoupling result
Figure BDA0002336779790000024
And S4, controlling the motor to operate at variable frequency and variable speed by using the voltage control signal through the SVPWM fed by the voltage source inverter and the inverter.
Compared with the prior art, under the condition that the magnetic field of the rotor is accurately oriented, the method disclosed by the invention has the advantages that the mode limitation of closed-loop control on the magnetic flux linkage of the rotor in the prior art is overcome, the closed-loop control on the magnetic flux linkage of the d axis of the stator is replaced, the adverse effects of the rotor resistance Rr and the time constant Tr are completely avoided, the accurate calculation and the closed-loop control on the magnetic flux linkage of the d axis of the stator are simply and conveniently realized, and the cross decoupling of the voltage is greatly simplified, so that the rapidity and the accuracy of a control system are greatly improved. The technical problems of inaccurate flux linkage estimation and complex voltage cross decoupling in the rotor magnetic field directional vector control are solved.
Drawings
FIG. 1 is a schematic diagram of an application flow of a vector control method for decoupling and compensating voltage of an asynchronous motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the stator flux linkage adjustment in the vector control method for voltage decoupling compensation of an asynchronous motor according to the embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the principle of stator voltage decoupling in the vector control method for voltage decoupling compensation of an asynchronous motor according to the embodiment of the present invention;
fig. 4 is a schematic diagram of stator resistive drop compensation.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention relates to a vector control method for voltage decoupling compensation of an asynchronous motor, which is established on the basis of accurate orientation of a rotor magnetic field and mainly comprises the following steps: stator d-axis flux linkage adjustment, stator voltage decoupling and stator resistance-voltage drop compensation are carried out according to the working principle as shown in figure 1:
under the condition of accurate orientation of the rotor magnetic field, closed-loop regulation is carried out on the stator d-axis flux linkage to control the exciting current
Figure BDA0002336779790000031
From stator angular frequency ω1And q-axis current signal iqV is obtained by voltage decouplingd-decAnd Vq-dec. Plus omega1Given flux linkage with d-axis
Figure BDA0002336779790000032
Product of, plus a stator resistive voltage drop compensation Vd-compAnd Vq-compThen, form the voltage control signal
Figure BDA0002336779790000033
And
Figure BDA0002336779790000034
the SVPWM fed by the voltage source inverter and the inverter control the motor to operate at variable frequency and speed. The spatial position angle gamma required for coordinate transformation is defined by omega1And (4) obtaining the integral.
The method specifically comprises the following steps:
the method comprises the steps of firstly, obtaining three-phase stator current and three-phase stator voltage of the asynchronous motor, and carrying out d-q synchronous rotation coordinate transformation.
And step two, performing closed-loop control on the stator d-axis flux linkage under the condition of accurate orientation of the rotor magnetic field, and creating favorable conditions for simplifying voltage decoupling, as shown in FIG. 2. Specifically, the method comprises the following steps:
giving d-axis to flux linkage
Figure BDA0002336779790000041
Magnetic linkage psi with actual d-axisd＝LsidThe difference value of (a) is used as the input of a stator flux linkage adjusting unit, the adjusting unit adopts PI control, and the output of the adjusting unit is a set value of d-axis current
Figure BDA0002336779790000042
The excitation current of the stator is adjusted.
Step three, obtaining a voltage decoupling calculation formula under the conditions of accurate orientation of a rotor magnetic field and closed-loop control of a d-axis flux linkage, as shown in fig. 3:
d-axis: vd-dec＝-ω1σLsiq
A q-axis:
Figure BDA0002336779790000043
wherein, ω is1Is the stator angular frequency; l issIs a stator inductance; i.e. iqIs a q-axis current signal; sigma is the magnetic leakage coefficient of the motor, and the expression is as follows:
Figure BDA0002336779790000044
wherein L isrIs the motor rotor inductance, LmThe stator and the rotor are mutually inducted.
Step four, converting the angular frequency omega of the stator1Given value of flux linkage with d axis
Figure BDA0002336779790000045
Multiplying, plus compensated stator resistance drop
Figure BDA0002336779790000046
And Vq-comp＝RsiqAnd step three, forming a voltage control signal according to the voltage decoupling result
Figure BDA0002336779790000047
And
Figure BDA0002336779790000048
Rsis the motor stator resistance.
And step five, controlling the variable-frequency speed-regulation operation of the motor by the voltage control signal of the step four through an SVPWM fed by a voltage source inverter and the inverter.
The method performs closed-loop control on the stator d-axis flux linkage under the condition of accurate orientation of the rotor magnetic field, completely avoids the adverse effects of the rotor resistance Rr and the time constant Tr, simply and conveniently realizes accurate calculation and closed-loop control of the stator d-axis flux linkage, and greatly simplifies cross decoupling of voltage; the flux linkage estimation and voltage decoupling control method is quick and accurate, is not influenced by the rotor resistance and the time constant, and has the advantages of improving the rapidity, the accuracy and the robustness of a vector control system and the like.
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 (3)

1. A vector control method for decoupling and compensating voltage of an asynchronous motor is characterized by comprising the following steps:
1) performing closed-loop control on a stator d-axis flux linkage by using a current signal under a d-q synchronous rotation coordinate under the condition of accurate orientation of a rotor magnetic field, and outputting a d-axis current instruction;
2) decoupling the stator voltage under the conditions of accurate orientation of the rotor magnetic field and closed-loop control of the stator d-axis flux linkage;
3) multiplying the given frequency of the stator by the given flux linkage of the d axis, and adding the compensated resistance voltage drop of the stator and the voltage decoupling result of the step 2) to obtain a voltage control signal;
4) and controlling the variable-frequency speed-regulation operation of the motor by using a voltage control signal through the SVPWM fed by the voltage source inverter and the inverter.
2. The vector control method for voltage decoupling compensation of the asynchronous motor according to claim 1, wherein in the step 1), the specific content of closed-loop control on the stator d-axis flux linkage is as follows:
performing closed-loop control on a stator d-axis flux linkage under the condition of accurate orientation of a rotor magnetic field by using a current signal under a d-q synchronous rotation coordinate, and setting the d-axis flux linkage to be a given flux linkage
Figure FDA0002336779780000013
With the actual flux linkage psid＝LsidThe difference value of the d-axis current is used as the input of a stator flux linkage adjusting module, PI control adjustment is adopted, and a d-axis current instruction is output
Figure FDA0002336779780000014
3. The vector control method for voltage decoupling compensation of the asynchronous motor according to claim 1, wherein the specific contents of decoupling the stator voltage in the step 2) are as follows:
according to the d-axis current and the q-axis current under the synchronous rotation coordinate, a d-axis voltage decoupling result V of the asynchronous motor under the conditions of accurate orientation of a rotor magnetic field and closed-loop control of a stator d-axis flux linkage is obtainedd-decQ-axis voltage decoupling result Vq-decThe expressions are respectively:
d-axis: vd-dec＝-ω1σLsiq
A q-axis:
Figure FDA0002336779780000011
in the formula, ω1Is the stator angular frequency, LsIs stator inductance, iqFor a q-axis current signal, sigma is a magnetic leakage coefficient of the motor, and the expression is as follows:
Figure FDA0002336779780000012
in the formula, Lr、LmThe inductance of the motor rotor and the mutual inductance of the stator and the rotor are respectively.
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