CN111669087A - Asynchronous motor power generation control method and equipment - Google Patents
Asynchronous motor power generation control method and equipment Download PDFInfo
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- CN111669087A CN111669087A CN201910175240.8A CN201910175240A CN111669087A CN 111669087 A CN111669087 A CN 111669087A CN 201910175240 A CN201910175240 A CN 201910175240A CN 111669087 A CN111669087 A CN 111669087A
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
- H02P9/105—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for increasing the stability
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/36—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using armature-reaction-excited machines
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Abstract
The embodiment of the invention provides a power generation control method and equipment for an asynchronous motor, wherein the method comprises the following steps: after the asynchronous motor finishes pre-excitation and enters a power generation state, judging whether the working rotating speed of the asynchronous motor is higher than the rated rotating speed or not; if the torque is lower than or equal to the first torque voltage, obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor; obtaining a first excitation current instruction according to a preset flux linkage instruction and flux linkage, and obtaining a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor; and controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage. The method provided by the embodiment maintains the stability of the direct-current voltage and improves the dynamic response performance of the system when the working load of the motor with the load fluctuates, particularly when the load is suddenly added or suddenly reduced in a transient state.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor power generation control, in particular to a power generation control method and equipment for an asynchronous motor.
Background
With the continuous progress of the technology, the production creations in various fields gradually change from manual labor to mechanical labor. In agricultural production, for example, agricultural machinery is becoming more and more popular, and a great deal of manual labor has been replaced by mechanical labor.
At present, agricultural mechanical equipment mostly adopts a diesel engine mechanical transmission mode, taking an agricultural tractor as an example, a diesel engine power shaft drives a wheel pair to move through a clutch and a gearbox, and the more advanced scheme is that the diesel engine drives an asynchronous motor to rotate through the power shaft to generate electricity, the generated alternating current is rectified into direct current through a converter, the direct current is converted into electric motor power supply through inversion, and the wheel pair is driven to work through the electric motor.
However, when the load of the tractor fluctuates, especially when the load is suddenly added or subtracted in a transient state, the direct current voltage is easily fluctuated and oscillated greatly, which causes overvoltage of the direct current voltage or overcurrent protection of the output current of the asynchronous motor, and the dynamic response of the driving motor is poor.
Disclosure of Invention
The embodiment of the invention provides a power generation control method and equipment for an asynchronous motor, which can maintain the stability of direct-current voltage and improve the dynamic response performance of a system when the working load of the motor with a load fluctuates, particularly when the load is suddenly added or suddenly reduced in a transient state.
In a first aspect, an embodiment of the present invention provides a power generation control method for an asynchronous motor, including:
after the asynchronous motor finishes pre-excitation and enters a power generation state, judging whether the working rotating speed of the asynchronous motor is higher than a rated rotating speed or not;
if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor;
obtaining a first excitation current instruction according to a preset flux linkage instruction and flux linkage, and obtaining a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor;
and controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage.
In a possible design, the power generation control method for the asynchronous motor further includes:
if the asynchronous motor does not complete pre-excitation, determining a pre-excitation current instruction according to a pre-excitation flux linkage, and obtaining a second excitation voltage according to the pre-excitation current instruction and the excitation current of the asynchronous motor;
obtaining a second torque voltage according to a second torque current instruction and the torque current of the asynchronous motor;
and controlling the asynchronous motor to complete pre-excitation according to the second excitation voltage and the second torque voltage.
In a possible design, the power generation control method for the asynchronous motor further includes:
if the working rotating speed of the asynchronous motor is higher than the rated rotating speed, obtaining a third torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, obtaining a slip compensation angular frequency according to the third torque current instruction and the torque current of the asynchronous motor, and superposing the slip compensation angular frequency to the stator synchronous angular frequency of the asynchronous motor;
determining a second excitation current instruction according to a preset flux linkage curve, obtaining a third excitation voltage according to the superposed stator synchronous angular frequency and the second excitation current instruction, and obtaining a third torque voltage according to the superposed stator synchronous angular frequency and the third torque current instruction;
and controlling the asynchronous motor to generate alternating current according to the third excitation voltage and the third torque voltage.
In a possible design, the power generation control method for the asynchronous motor further includes:
acquiring input alternating current and direct current voltage of the asynchronous motor and motor power;
and carrying out static coordinate transformation and rotating coordinate transformation on the input alternating current to obtain the torque current and the exciting current of the asynchronous motor.
In one possible design, the controlling the asynchronous machine to generate alternating current according to the first torque voltage and the first excitation voltage includes:
modulating the first torque voltage and the first excitation voltage through a three-phase space voltage vector to obtain a first pulse signal for driving an Insulated Gate Bipolar Transistor (IGBT) to work;
and controlling the asynchronous motor to generate alternating current according to the first pulse signal.
In a second aspect, an embodiment of the present invention provides an asynchronous motor power generation control apparatus, including:
the rotating speed judging module is used for judging whether the working rotating speed of the asynchronous motor is higher than the rated rotating speed or not after the asynchronous motor finishes pre-excitation and enters a power generation state;
the first torque voltage obtaining module is used for obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed;
the first excitation voltage obtaining module is used for obtaining a first excitation current instruction according to a preset flux linkage instruction and a flux linkage and obtaining a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor;
and the first power generation control module is used for controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage.
In one possible design, the above asynchronous motor power generation control device further includes:
the second excitation voltage obtaining module is used for determining a pre-excitation current instruction according to a pre-excitation flux linkage if the asynchronous motor does not complete pre-excitation, and obtaining second excitation voltage according to the pre-excitation current instruction and the excitation current of the asynchronous motor;
the second torque voltage obtaining module is used for obtaining second torque voltage according to a second torque current instruction and the torque current of the asynchronous motor;
and the pre-excitation module is used for controlling the asynchronous motor to complete pre-excitation according to the second excitation voltage and the second torque voltage.
In one possible design, the above asynchronous motor power generation control device further includes:
the frequency superposition module is used for obtaining a third torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power if the working rotating speed of the asynchronous motor is higher than the rated rotating speed, obtaining a slip compensation angular frequency according to the third torque current instruction and the torque current of the asynchronous motor, and superposing the slip compensation angular frequency to the stator synchronous angular frequency of the asynchronous motor;
the third excitation voltage obtaining module is used for determining a second excitation current instruction according to a preset flux linkage curve and obtaining a third excitation voltage according to the superposed stator synchronous angular frequency and the second excitation current instruction;
the third torque voltage obtaining module is used for obtaining a third torque voltage according to the superposed stator synchronous angular frequency and the third torque current instruction;
and the second power generation control module is used for controlling the asynchronous motor to generate alternating current according to the third excitation voltage and the third torque voltage.
In one possible design, the above asynchronous motor power generation control device further includes:
the information acquisition module is used for acquiring input alternating current and direct current voltage of the asynchronous motor and motor power;
and the coordinate transformation module is used for performing static coordinate transformation and rotating coordinate transformation on the input alternating current to obtain the torque current and the exciting current of the asynchronous motor.
In one possible design, the first power generation control module controls the asynchronous machine to generate alternating current according to the first torque voltage and the first excitation voltage, and includes:
modulating the first torque voltage and the first excitation voltage through a three-phase space voltage vector to obtain a first pulse signal for driving the IGBT to work;
and controlling the asynchronous motor to generate alternating current according to the first pulse signal.
In a third aspect, an embodiment of the present invention provides an asynchronous motor power generation control device, including: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes the computer-executable instructions stored by the memory such that the at least one processor performs the asynchronous machine power generation control method as described above in the first aspect and various possible designs of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the asynchronous motor power generation control method according to the first aspect and various possible designs of the first aspect is implemented.
The method and the equipment for controlling the power generation of the asynchronous motor have the advantages that the power control of the motor is added into a torque current instruction, the dynamic response of a system is greatly accelerated, namely when the load of the motor is suddenly increased or decreased, the control of the generator can quickly adjust the direct-current voltage and maintain the constant, the dynamic response of the system is enhanced, the reliability of the system is improved, the control of the asynchronous power generation is controlled around the direct-current voltage, a stable direct-current power supply can be provided for the motor, the dynamic response of the control of the motor is favorably improved, in addition, due to the intervention of the asynchronous motor, the rotating speed of the diesel engine is not necessarily related to the speed of a tractor, the diesel engine can only adjust the speed according to the power of the motor, when the speed of the tractor is high, the rotating speed of the diesel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an application scenario diagram of a power generation control method for an asynchronous motor according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a power generation control method for an asynchronous motor according to an embodiment of the present invention;
fig. 3 is a block diagram of a control method 1 for a pre-excitation stage of an asynchronous machine according to an embodiment of the present invention;
fig. 4 is a block diagram of a control method 2 below a rated rotation speed of an asynchronous motor according to an embodiment of the present invention;
fig. 5 is a block diagram of a control method 3 for controlling the asynchronous motor above a rated rotation speed according to an embodiment of the present invention;
fig. 6 is a first schematic structural diagram of an asynchronous motor power generation control device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram ii of an asynchronous motor power generation control device according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a hardware structure of an asynchronous motor power generation control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
With the continuous progress of the technology, the production creations in various fields gradually change from manual labor to mechanical labor. In agricultural production, for example, agricultural machinery is becoming more and more popular, and a great deal of manual labor has been replaced by mechanical labor. At present, agricultural mechanical equipment mostly adopts a diesel engine mechanical transmission mode, taking an agricultural tractor as an example, a diesel engine power shaft drives a wheel pair to move through a clutch and a gearbox, the more advanced scheme is that the diesel engine drives an asynchronous motor to rotate through the power shaft to generate electricity, the generated alternating current is rectified into direct current through a converter, the converter is reversely converted into a motor to supply power, and the wheel pair is driven to work through the motor. However, when the load of the tractor fluctuates, especially when the load is suddenly added or subtracted in a transient state, the direct current voltage is easily fluctuated and oscillated greatly, which causes overvoltage of the direct current voltage or overcurrent protection of the output current of the asynchronous motor, and the dynamic response of the driving motor is poor.
Therefore, in view of the above problems, the present invention provides a power generation control method for an asynchronous motor, in which a motor power control is added to a torque current command, the dynamic response is fast, the dc voltage is maintained in the processes of sudden addition and sudden reduction of the motor load, which is beneficial to obtaining the energy of the motor and exerting the desired torque, and the control of asynchronous power generation is controlled around the dc voltage, which is stable, so as to provide a stable dc power supply for the motor, thereby facilitating the improvement of the dynamic response of the motor control.
Fig. 1 is an application scenario diagram of a power generation control method for an asynchronous motor according to the present invention. As shown in fig. 1, the diesel engine drives the asynchronous motor to rotate through the gearbox, the controller controls the asynchronous motor to generate power, meanwhile, the controller can also control the converter 1 to rectify alternating current generated by the asynchronous motor into direct current, and the converter 2 inverts the direct current into three-phase alternating current to drive the motor to rotate.
Firstly, a tractor is ignited, a diesel engine is started, the diesel engine drives an asynchronous motor to rotate through a gear box, and a controller can judge whether the working rotating speed of the asynchronous motor is higher than the rated rotating speed or not after the asynchronous motor finishes pre-excitation and enters a power generation state; if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor; the method can also obtain a first excitation current instruction according to a preset flux linkage instruction and flux linkage, and obtain a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor; and finally, controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage, and further controlling the converter 1 to rectify the alternating current generated by the asynchronous motor into direct current.
The asynchronous motor is also called an asynchronous induction motor, and is an alternating current motor which generates electromagnetic torque by interaction of an air gap rotating magnetic field and induction current of a rotor winding so as to convert electromechanical energy into mechanical energy. The controller can control the asynchronous motor to generate alternating current and rectify the alternating current into stable direct current through the converter 1.
Fig. 2 is a schematic flow chart of a power generation control method for an asynchronous motor according to an embodiment of the present invention, and an execution main body of the embodiment may be a controller in the embodiment shown in fig. 1. As shown in fig. 2, the method may include:
s201, after the asynchronous motor finishes pre-excitation and enters a power generation state, judging whether the working rotating speed of the asynchronous motor is higher than a rated rotating speed.
Optionally, if the asynchronous motor does not complete pre-excitation, determining a pre-excitation current instruction according to a pre-excitation flux linkage, and obtaining a second excitation voltage according to the pre-excitation current instruction and the excitation current of the asynchronous motor;
obtaining a second torque voltage according to a second torque current instruction and the torque current of the asynchronous motor;
and controlling the asynchronous motor to complete pre-excitation according to the second excitation voltage and the second torque voltage.
Optionally, the power generation control method of the asynchronous motor further includes:
acquiring input alternating current and direct current voltage of the asynchronous motor and motor power;
and carrying out static coordinate transformation and rotating coordinate transformation on the input alternating current to obtain the torque current and the exciting current of the asynchronous motor.
Here, the controller collects motor power, input alternating current and direct current voltage, and performs stationary coordinate transformation and rotational coordinate transformation on the input three-phase current to obtain torque current and exciting current.
The direct-current voltage is charged to the voltage V1 by the storage battery, and the controller can control the converter to invert the direct-current voltage V1 into three-phase alternating current to provide starting pre-excitation for the asynchronous motor. The controller obtains a pre-excitation current instruction according to a preset pre-excitation flux linkage, performs proportional integral adjustment on the pre-excitation current instruction and the excitation current of the asynchronous motor to obtain a corresponding excitation voltage, and performs proportional integral adjustment on the torque current instruction at the moment and the torque current of the asynchronous motor to obtain a corresponding torque voltage. The controller can modulate the obtained excitation voltage and torque voltage through a three-phase space voltage vector to obtain a pulse signal for driving the IGBT to work, and control the asynchronous motor to complete pre-excitation, so that the generator can be ensured to be more stably started without impact under the driving of a diesel engine.
S202, if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor.
Specifically, the asynchronous motor completes excitation and enters a power generation state, the controller judges whether the working rotating speed of the asynchronous motor is higher than the rated rotating speed, if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, because a first control target of the asynchronous motor is to maintain the constant of direct current voltage and provide a stable direct current power supply for the motor, the controller performs closed-loop control on direct current voltage, an outer ring performs proportional integral adjustment on the direct current voltage of the asynchronous motor by a preset direct current voltage instruction, the output is subtracted by a coefficient multiplied by the motor power to obtain a first torque current instruction, and an inner ring performs proportional integral adjustment on the first torque current instruction and the torque current of the asynchronous motor to obtain a first torque voltage, wherein the preset direct current voltage instruction can be determined according to actual conditions, such as DC 500V.
S203, obtaining a first excitation current instruction according to a preset flux linkage instruction and flux linkage, and obtaining a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor.
The second control target of the asynchronous motor is to maintain the flux linkage constant, the outer ring is used for carrying out proportional integral adjustment on the flux linkage instruction and the flux linkage to obtain a first exciting current instruction, the inner ring is used for carrying out proportional integral adjustment on the first exciting current instruction and the exciting current of the asynchronous motor to obtain a first exciting voltage, wherein the flux linkage instruction can be obtained by calculating motor parameters, and the flux linkage can be obtained by id calculation.
And S204, controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage.
Optionally, the controlling the asynchronous motor to generate an alternating current according to the first torque voltage and the first excitation voltage includes:
modulating the first torque voltage and the first excitation voltage through a three-phase space voltage vector to obtain a first pulse signal for driving the IGBT to work;
and controlling the asynchronous motor to generate alternating current according to the first pulse signal.
The controller modulates the obtained torque voltage and the excitation voltage through a three-phase space voltage vector to obtain a pulse signal for driving the IGBT to work, drives the asynchronous motor to generate alternating current, and can further control the alternating current device to rectify the alternating current into stable direct current.
Optionally, if the operating speed of the asynchronous motor is higher than the rated speed, obtaining a third torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, obtaining a slip compensation angular frequency according to the third torque current instruction and the torque current of the asynchronous motor, and superimposing the slip compensation angular frequency to the stator synchronous angular frequency of the asynchronous motor;
determining a second excitation current instruction according to a preset flux linkage curve, obtaining a third excitation voltage according to the superposed stator synchronous angular frequency and the second excitation current instruction, and obtaining a third torque voltage according to the superposed stator synchronous angular frequency and the third torque current instruction;
and controlling the asynchronous motor to generate alternating current according to the third excitation voltage and the third torque voltage.
Specifically, when the working rotating speed of the asynchronous motor is higher than the rated rotating speed, at the moment, the input voltage of the asynchronous motor is the rated voltage, the controller performs closed-loop control on the direct current voltage, the outer ring performs proportional integral adjustment on the preset direct current voltage command and the direct current voltage of the asynchronous motor, the output is subtracted from the motor power feedforward multiplied by a coefficient to obtain a third torque current command, and the third torque current command performs proportional integral adjustment on the torque current of the asynchronous motor to obtain a slip compensation angular frequency which is superposed to the stator synchronous angular frequency of the asynchronous motor; the second excitation current instruction is obtained by calculation of a preset flux linkage curve, a third excitation voltage is obtained by the superposed stator synchronous angular frequency and the second excitation current instruction, a third torque voltage is obtained by the superposed stator synchronous angular frequency and the superposed third torque current instruction, a pulse signal for driving the IGBT to work is obtained through three-phase space voltage vector modulation, the asynchronous motor is driven to emit alternating current, and the alternating current is further controlled to be rectified into stable direct current.
The asynchronous motor power generation control method provided by the embodiment has the advantages that the motor power control is added into the torque current instruction, the dynamic response is fast, the direct current voltage is kept unchanged in the processes of sudden addition and sudden reduction of the motor load, the energy acquisition of the motor is facilitated, the expected torque is exerted, the asynchronous power generation control is controlled around the direct current voltage, the direct current voltage is stable, a stable direct current power supply can be provided for the motor, the improvement of the dynamic response of the motor control is facilitated, different control methods are designed below and above the rated point of the asynchronous motor, the control method has wider rotating speed adaptation range of a diesel engine and more universality, in addition, due to the intervention of the asynchronous motor, the rotating speed of the diesel engine is not necessarily related to the speed of a tractor, the diesel engine can adjust the speed only according to the power of the motor, when the speed of the tractor is very, the rotating speed of the diesel engine can be lower, and the diesel engine is more energy-saving and environment-friendly.
The controller collects the rotating speed n, the output alternating currents ia and ib, the direct current voltage Udc and the motor Power of the asynchronous motor. The ac currents ia and ib are subjected to stationary coordinate transformation and rotational coordinate transformation to obtain a torque current Iq and an excitation current Id, and the control method 1, the control method 2 below the rated rotation speed, and the control method 3 above the rated rotation speed are divided into a pre-excitation stage, a control method 2 below the rated rotation speed, and a block diagram form is described below.
Fig. 3 is a block diagram of a control method 1 in a pre-excitation stage of an asynchronous motor according to an embodiment of the present invention, and this embodiment describes a specific implementation process of this embodiment in detail on the basis of the embodiment of fig. 2. As shown in fig. 3:
the direct-current voltage is charged to a voltage V1 by the storage battery, the controller controls the converter to invert the direct-current voltage V1 into three-phase alternating current to provide starting pre-excitation for the asynchronous motor, and the control method 1 is used for controlling the asynchronous motor. Giving a pre-excitation flux linkage, calculating to obtain a pre-excitation current instruction IdRef1, and performing proportional integral adjustment on the pre-excitation current instruction Id and the excitation current Id of the asynchronous motor to obtain an excitation voltage Usd 1; the torque current command IqRef1 is zero, and is subjected to proportional integral adjustment with the torque current Iq of the asynchronous motor to obtain a torque voltage Usq 1. And the excitation voltage Usd1 and the torque voltage Usq1 are subjected to three-phase space voltage vector modulation to obtain pulse signals S11, S21, S31, S41, S51 and S61 for driving six IGBTs to work, and the asynchronous motor is controlled to complete pre-excitation. The control method 1 can ensure that the generator is more stably started without impact under the driving of the diesel engine in the pre-excitation stage of the generator. Wherein Rs is stator resistance, PI is proportional-integral controller, X is multiplier, Ls is stator inductance, Lm is stator-rotor mutual inductance, Lr is rotor inductance, sigma is motor pole pair number, p is differential operator symbol, and ws is output voltage synchronous angular frequency.
SVPWM is an abbreviation of Space Vector Pulse Width Modulation (Space Vector Pulse Width Modulation). The SVPWM method is mainly characterized in that an ideal flux linkage circle of a stator of a three-phase symmetrical motor is used as a reference standard when three-phase symmetrical sine-wave voltage is used for supplying power, different switching modes of a three-phase inverter are appropriately switched, PWM waves are formed, and the accurate flux linkage circle is tracked by the formed actual flux linkage vector.
Fig. 4 is a block diagram of a control method 2 provided in an embodiment of the present invention and below a rated rotation speed of an asynchronous motor, and this embodiment describes a specific implementation process of this embodiment in detail on the basis of the embodiment of fig. 2. As shown in fig. 4:
the asynchronous motor completes excitation and enters a power generation state, and when the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, the asynchronous motor is controlled by the control method 2. The first control target of the asynchronous motor is to maintain the constant of direct current voltage and provide a stable direct current Power supply for the motor, so the controller performs closed-loop control on the direct current voltage, the outer ring performs proportional integral adjustment on the direct current voltage UdcRef and the direct current voltage Udc of the asynchronous motor, the output is subtracted by a coefficient multiplied by the motor Power to obtain a torque current command IqRef2, and the inner ring performs proportional integral adjustment on the torque current command IqRef2 and the torque current Iq of the asynchronous motor to obtain a torque voltage Usq 2; the second control target of the asynchronous motor is to maintain the Flux linkage constant, the outer ring is used for carrying out proportional integral adjustment on the Flux linkage command FluxRef and the Flux linkage Flux to obtain an excitation current command IdRef2, and the inner ring is used for carrying out proportional integral adjustment on the Flux linkage current command IdRef2 and the excitation current Id of the asynchronous motor to obtain an excitation voltage Usd 2. The torque voltage Usq2 and the excitation voltage Usd2 are subjected to three-phase space voltage vector modulation to obtain pulse signals S12, S22, S32, S42, S52 and S62 for driving six IGBTs to work, an asynchronous motor is driven to generate alternating current, and an alternating current device is further controlled to rectify the alternating current into stable direct current, wherein C is a constant, and Rr is rotor resistance.
Fig. 5 is a block diagram of a control method 3 for controlling an asynchronous motor above a rated rotation speed according to an embodiment of the present invention, and this embodiment describes a specific implementation process of this embodiment in detail on the basis of the embodiment of fig. 2. As shown in fig. 5:
when the working rotating speed of the asynchronous motor is higher than the rated rotating speed, the input voltage of the asynchronous motor is the rated voltage and the control method 3 is adopted for controlling. Performing closed-loop control on the direct current voltage, performing proportional integral regulation on the direct current voltage command UdcRef and the direct current voltage Udc of the asynchronous motor on an outer ring, subtracting the output of the direct current voltage command UdcRef and a coefficient multiplied by the Power feedforward of the motor to obtain a torque current command IqRef3, and performing proportional integral regulation on the torque current command IqRef3 and the torque current Iq of the asynchronous motor to obtain a slip compensation angular frequency which is superposed to the synchronous angular frequency of the stator; the excitation current command IdRef3 is calculated by a given flux linkage curve, FluxRef is a flux linkage command determined by the given flux linkage curve, the torque voltage Usq3 is calculated by the superposed stator synchronous angular frequency and torque current command Iqref3, the excitation voltage Usd3 is calculated by the superposed stator synchronous angular frequency and excitation current command IdRef3, pulse signals S13, S23, S33, S43, S53 and S63 for driving six IGBTs to work are obtained through three-phase space voltage vector modulation, the asynchronous motor is driven to emit alternating current, and the alternating current is further controlled to be rectified into stable direct current.
The controller can control the asynchronous motor to start when the asynchronous motor is static through the control method 1, the control method 2 and the control method 3, and the direct-current voltage is kept constant under different rotating speeds of the diesel engine, so that a stable direct-current power supply is provided for controlling the motor.
In addition, when the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, the control method 3 can be used for controlling, and the specific selection method can be determined according to actual needs.
The power generation control method for the asynchronous motor provided by the embodiment has the following advantages that the dynamic response is fast: the motor power feedforward control is added into the torque current instruction, and the direct-current voltage is kept unchanged in the processes of sudden addition and sudden reduction of the motor load, so that the energy acquisition of the motor is facilitated, and the expected torque is exerted; the dynamic speed regulation range is wide: different control methods are designed below and above the rated point of the three-phase asynchronous motor, so that the control method is wider in rotating speed application range of the diesel engine and more universal; and (3) stabilizing direct-current voltage: the control method of the three-phase asynchronous power generation controls around the constant direct-current voltage, can provide a stable direct-current power supply for the motor, and is beneficial to the improvement of the control dynamic response of the motor; the diesel engine is more energy-saving: due to the intervention of the three-phase asynchronous generator, the rotating speed of the diesel engine is not necessarily related to the speed of the tractor, the diesel engine only adjusts the speed according to the power of the motor, and when the speed of the tractor is high, the rotating speed of the diesel engine can be lower, so that the energy is saved, and the environment is protected.
Fig. 6 is a schematic structural diagram of a first asynchronous motor power generation control device according to an embodiment of the present invention. As shown in fig. 6, the asynchronous motor power generation control device 60 includes: a rotation speed judgment module 601, a first torque voltage obtaining module 602, a first excitation voltage obtaining module 603 and a first power generation control module 604.
The rotating speed judging module 601 is configured to judge whether the operating rotating speed of the asynchronous motor is higher than a rated rotating speed after the asynchronous motor completes pre-excitation and enters a power generation state.
A first torque voltage obtaining module 602, configured to obtain a first torque current instruction according to a preset direct current voltage instruction, a direct current voltage of the asynchronous motor, and a motor power if the operating rotational speed of the asynchronous motor is lower than or equal to the rated rotational speed, and obtain a first torque voltage according to the first torque current instruction and a torque current of the asynchronous motor.
The first excitation voltage obtaining module 603 is configured to obtain a first excitation current instruction according to a preset flux linkage instruction and a flux linkage, and obtain a first excitation voltage according to the first excitation current instruction and an excitation current of the asynchronous motor.
And a first power generation control module 604, configured to control the asynchronous motor to generate an alternating current according to the first torque voltage and the first excitation voltage.
The device provided by the embodiment has the advantages that the motor power control is added in the torque current instruction, the dynamic response is fast, the direct-current voltage is kept unchanged in the processes of sudden addition and sudden reduction of the motor load, the energy acquisition of the motor is facilitated, the expected torque is exerted, the control of asynchronous power generation is controlled around the direct-current voltage, the direct-current voltage is stable, a stable direct-current power supply can be provided for the motor, the improvement of the dynamic response of the motor control is facilitated, in addition, due to the intervention of an asynchronous motor, the rotating speed of the diesel engine is not necessarily linked with the speed of a tractor, the diesel engine can only adjust the speed according to the power of the motor, when the speed of the tractor is very high, the rotating speed of the.
Fig. 7 is a schematic structural diagram of a second asynchronous motor power generation control device according to an embodiment of the present invention. As shown in fig. 7, this embodiment further includes, on the basis of the embodiment in fig. 6: a second excitation voltage obtaining module 605, a second torque voltage obtaining module 606, a pre-excitation module 607, a frequency superposition module 608, a third excitation voltage obtaining module 609, a third torque voltage obtaining module 610, a second power generation control module 611, an information obtaining module 612, and a coordinate transformation module 613.
In a possible design, the second excitation voltage obtaining module 605 is configured to determine a pre-excitation current instruction according to a pre-excitation flux linkage if the asynchronous motor does not complete pre-excitation, and obtain the second excitation voltage according to the pre-excitation current instruction and the excitation current of the asynchronous motor.
A second torque voltage obtaining module 606 is configured to obtain a second torque voltage according to a second torque current command and the torque current of the asynchronous motor.
And a pre-excitation module 607, configured to control the asynchronous machine to complete pre-excitation according to the second excitation voltage and the second torque voltage.
In one possible design, the frequency superimposing module 608 is configured to obtain a third torque current command according to a preset dc voltage command, the dc voltage of the asynchronous motor, and the motor power if the operating speed of the asynchronous motor is higher than the rated speed, obtain a slip compensation angular frequency according to the third torque current command and the torque current of the asynchronous motor, and superimpose the slip compensation angular frequency to the stator synchronous angular frequency of the asynchronous motor.
A third excitation voltage obtaining module 609, configured to determine a second excitation current instruction according to a preset flux linkage curve, and obtain a third excitation voltage according to the superimposed stator synchronous angular frequency and the second excitation current instruction.
And a third torque voltage obtaining module 610, configured to obtain a third torque voltage according to the superimposed stator synchronous angular frequency and the third torque current command.
And a second power generation control module 611, configured to control the asynchronous motor to generate an alternating current according to the third excitation voltage and the third torque voltage.
In one possible design, the information acquisition module 612 is used to acquire the input ac current and dc voltage of the asynchronous machine, as well as the motor power.
A coordinate transformation module 613, configured to perform stationary coordinate transformation and rotational coordinate transformation on the input ac current to obtain a torque current and an excitation current of the asynchronous motor.
In one possible design, the first power generation control module 604 controls the asynchronous machine to generate ac power according to the first torque voltage and the first excitation voltage, and includes:
modulating the first torque voltage and the first excitation voltage through a three-phase space voltage vector to obtain a first pulse signal for driving the IGBT to work;
and controlling the asynchronous motor to generate alternating current according to the first pulse signal.
The device provided by the embodiment has fast dynamic response: the motor power feedforward control is added into the torque current instruction, and the direct-current voltage is kept unchanged in the processes of sudden addition and sudden reduction of the motor load, so that the energy acquisition of the motor is facilitated, and the expected torque is exerted; the dynamic speed regulation range is wide: different control methods are designed below and above the rated point of the three-phase asynchronous motor, so that the control method is wider in rotating speed application range of the diesel engine and more universal; and (3) stabilizing direct-current voltage: the control method of the three-phase asynchronous power generation controls around the constant direct-current voltage, can provide a stable direct-current power supply for the motor, and is beneficial to the improvement of the control dynamic response of the motor; the diesel engine is more energy-saving: due to the intervention of the three-phase asynchronous generator, the rotating speed of the diesel engine is not necessarily related to the speed of the tractor, the diesel engine only adjusts the speed according to the power of the motor, and when the speed of the tractor is high, the rotating speed of the diesel engine can be lower, so that the energy is saved, and the environment is protected.
Fig. 8 is a schematic diagram of a hardware structure of an asynchronous motor power generation control device according to an embodiment of the present invention. As shown in fig. 8, the asynchronous motor power generation control device 80 of the present embodiment includes: a processor 801 and a memory 802; wherein
A memory 802 for storing computer-executable instructions;
the processor 801 is configured to execute the computer-executable instructions stored in the memory to implement the steps performed by the asynchronous motor power generation control method in the above-described embodiment. Reference may be made in particular to the description relating to the method embodiments described above.
Alternatively, the memory 802 may be separate or integrated with the processor 801.
When the memory 802 is provided separately, the asynchronous motor power generation control device further includes a bus 803 for connecting the memory 802 and the processor 801.
The embodiment of the invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the asynchronous motor power generation control method is realized.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (enhanced Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. An asynchronous motor power generation control method is characterized by comprising the following steps:
after the asynchronous motor finishes pre-excitation and enters a power generation state, judging whether the working rotating speed of the asynchronous motor is higher than a rated rotating speed or not;
if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed, obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor;
obtaining a first excitation current instruction according to a preset flux linkage instruction and flux linkage, and obtaining a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor;
and controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage.
2. The method of claim 1, further comprising:
if the asynchronous motor does not complete pre-excitation, determining a pre-excitation current instruction according to a pre-excitation flux linkage, and obtaining a second excitation voltage according to the pre-excitation current instruction and the excitation current of the asynchronous motor;
obtaining a second torque voltage according to a second torque current instruction and the torque current of the asynchronous motor;
and controlling the asynchronous motor to complete pre-excitation according to the second excitation voltage and the second torque voltage.
3. The method of claim 1, further comprising:
if the working rotating speed of the asynchronous motor is higher than the rated rotating speed, obtaining a third torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power, obtaining a slip compensation angular frequency according to the third torque current instruction and the torque current of the asynchronous motor, and superposing the slip compensation angular frequency to the stator synchronous angular frequency of the asynchronous motor;
determining a second excitation current instruction according to a preset flux linkage curve, obtaining a third excitation voltage according to the superposed stator synchronous angular frequency and the second excitation current instruction, and obtaining a third torque voltage according to the superposed stator synchronous angular frequency and the third torque current instruction;
and controlling the asynchronous motor to generate alternating current according to the third excitation voltage and the third torque voltage.
4. The method of claim 1, further comprising:
acquiring input alternating current and direct current voltage of the asynchronous motor and motor power;
and carrying out static coordinate transformation and rotating coordinate transformation on the input alternating current to obtain the torque current and the exciting current of the asynchronous motor.
5. The method of claim 1, wherein said controlling the asynchronous machine to produce alternating current based on the first torque voltage and the first field voltage comprises:
modulating the first torque voltage and the first excitation voltage through a three-phase space voltage vector to obtain a first pulse signal for driving an Insulated Gate Bipolar Transistor (IGBT) to work;
and controlling the asynchronous motor to generate alternating current according to the first pulse signal.
6. An asynchronous motor power generation control apparatus, characterized by comprising:
the rotating speed judging module is used for judging whether the working rotating speed of the asynchronous motor is higher than the rated rotating speed or not after the asynchronous motor finishes pre-excitation and enters a power generation state;
the first torque voltage obtaining module is used for obtaining a first torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power and obtaining a first torque voltage according to the first torque current instruction and the torque current of the asynchronous motor if the working rotating speed of the asynchronous motor is lower than or equal to the rated rotating speed;
the first excitation voltage obtaining module is used for obtaining a first excitation current instruction according to a preset flux linkage instruction and a flux linkage and obtaining a first excitation voltage according to the first excitation current instruction and the excitation current of the asynchronous motor;
and the first power generation control module is used for controlling the asynchronous motor to generate alternating current according to the first torque voltage and the first excitation voltage.
7. The apparatus of claim 6, further comprising:
the second excitation voltage obtaining module is used for determining a pre-excitation current instruction according to a pre-excitation flux linkage if the asynchronous motor does not complete pre-excitation, and obtaining second excitation voltage according to the pre-excitation current instruction and the excitation current of the asynchronous motor;
the second torque voltage obtaining module is used for obtaining second torque voltage according to a second torque current instruction and the torque current of the asynchronous motor;
and the pre-excitation module is used for controlling the asynchronous motor to complete pre-excitation according to the second excitation voltage and the second torque voltage.
8. The apparatus of claim 6, further comprising:
the frequency superposition module is used for obtaining a third torque current instruction according to a preset direct current voltage instruction, the direct current voltage of the asynchronous motor and the motor power if the working rotating speed of the asynchronous motor is higher than the rated rotating speed, obtaining a slip compensation angular frequency according to the third torque current instruction and the torque current of the asynchronous motor, and superposing the slip compensation angular frequency to the stator synchronous angular frequency of the asynchronous motor;
the third excitation voltage obtaining module is used for determining a second excitation current instruction according to a preset flux linkage curve and obtaining a third excitation voltage according to the superposed stator synchronous angular frequency and the second excitation current instruction;
the third torque voltage obtaining module is used for obtaining a third torque voltage according to the superposed stator synchronous angular frequency and the third torque current instruction;
and the second power generation control module is used for controlling the asynchronous motor to generate alternating current according to the third excitation voltage and the third torque voltage.
9. The apparatus of claim 6, further comprising:
the information acquisition module is used for acquiring input alternating current and direct current voltage of the asynchronous motor and motor power;
and the coordinate transformation module is used for performing static coordinate transformation and rotating coordinate transformation on the input alternating current to obtain the torque current and the exciting current of the asynchronous motor.
10. The apparatus of claim 6, wherein the first power generation control module controls the asynchronous machine to generate alternating current according to the first torque voltage and the first excitation voltage, comprising:
modulating the first torque voltage and the first excitation voltage through a three-phase space voltage vector to obtain a first pulse signal for driving the IGBT to work;
and controlling the asynchronous motor to generate alternating current according to the first pulse signal.
11. An asynchronous motor power generation control apparatus, characterized by comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the asynchronous motor power generation control method of any of claims 1 to 5.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein computer-executable instructions that, when executed by a processor, implement the asynchronous motor power generation control method according to any one of claims 1 to 5.
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