CN111697879A - Motor starting control system and motor control method - Google Patents
Motor starting control system and motor control method Download PDFInfo
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- CN111697879A CN111697879A CN202010613007.6A CN202010613007A CN111697879A CN 111697879 A CN111697879 A CN 111697879A CN 202010613007 A CN202010613007 A CN 202010613007A CN 111697879 A CN111697879 A CN 111697879A
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
- H02P1/40—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor in either direction of rotation
Abstract
The embodiment of the invention relates to the technical field of motors, and discloses a motor starting control system and a motor control method, wherein the system comprises: the current acquisition circuit is used for acquiring phase current of the motor; the current amplifying circuit is connected with the output end of the current collecting circuit and is used for amplifying the phase current and outputting an amplified current; the processor is connected with the output end of the current amplification circuit and used for acquiring the amplified current under the condition of receiving a motor starting instruction; if the amplified current is smaller than or equal to a preset current value, controlling the motor to start according to the motor starting instruction; and if the current is larger than the preset current value, determining the rotating speed and the direction of the motor in a software estimation mode, and controlling the motor according to the rotating speed and the direction. Through the mode, the embodiment of the invention realizes the starting control of the motor.
Description
Technical Field
The embodiment of the invention relates to the technical field of motors, in particular to a motor starting control system and a motor control method.
Background
When the motor is started, the electrical equipment where the motor is located may be in three states of static state, forward rotation and reverse rotation. For example, under the influence of external environment such as strong wind, the fan rotates at a certain speed in the normal operation direction of the motor or in the opposite direction to the normal operation direction. When the motor is started under the condition of high-speed reverse rotation, the processor is easily damaged by overcurrent, and the motor is demagnetized.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a motor start control system and a motor control method, which are used to solve the problem in the prior art that when a motor is started in a high-speed reverse rotation condition, an overcurrent damages a processor, resulting in demagnetization of the motor.
According to an aspect of an embodiment of the present invention, there is provided a control system for motor start, the system including:
the current acquisition circuit is used for acquiring phase current of the motor;
the current amplifying circuit is connected with the output end of the current collecting circuit and is used for amplifying the phase current and outputting an amplified current;
the processor is connected with the output end of the current amplification circuit and used for acquiring the amplified current under the condition of receiving a motor starting instruction; if the amplified current is smaller than or equal to a preset current value, controlling the motor to start according to the motor starting instruction; and if the current is larger than the preset current value, determining the rotating speed and the direction of the motor in a software estimation mode, and controlling the motor according to the rotating speed and the direction.
In an alternative way, the power supply circuit of the electric machine comprises a three-phase inverter comprising three lower arms made up of three power electronic devices of the same type;
the input end of the current acquisition circuit is connected with the output end of a target lower bridge arm of the three-phase inverter, the output end of the current acquisition circuit is connected with the current amplification circuit, and the target lower bridge arm is any one of the three lower bridge arms.
In an alternative mode, the current amplifying circuit includes: the circuit comprises an operational amplifier, an inverting input resistor, a feedback capacitor, a non-inverting input resistor, a first divider resistor and a second divider resistor;
the inverting input end of the operational amplifier is connected with the output end of the current sampling circuit through the inverting input resistor;
the non-inverting input end of the operational amplifier is connected with the input end of the current sampling circuit through the non-inverting input resistor;
the feedback resistor and the feedback capacitor are connected in parallel between the output end of the operational amplifier and the inverting input end of the operational amplifier;
the first voltage-dividing resistor and the second voltage-dividing resistor are connected in series between a power supply and the ground, and the common end of the first voltage-dividing resistor and the second voltage-dividing resistor is connected with the non-inverting input end of the operational amplifier.
According to another aspect of the embodiments of the present invention, there is provided a motor control method, which is applied to the control system for starting the motor; the method comprises the following steps:
acquiring the amplified current under the condition of receiving a motor starting instruction;
if the amplified current is smaller than or equal to a preset current value, controlling the motor to start according to the motor starting instruction;
and if the amplified current is larger than the preset current value, determining the rotating speed and the direction of the motor in a software estimation mode, and controlling the motor according to the rotating speed and the direction.
In an alternative mode, the determining the rotation speed and the direction of the motor by means of software estimation comprises:
acquiring rated current and rated voltage of a motor;
obtaining a motor data model of the motor according to the Longberger observer, the rated current of the motor and the rated voltage of the motor;
obtaining candidate signals according to the motor data model and a phase-locked loop (PLL), wherein the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;
and filtering the candidate signal by a second-order low-pass filter to obtain a target signal, and determining the target rotating speed and the target direction of the motor based on the target signal.
In an alternative mode, the obtaining a motor data model of the electric machine according to the humper observer, the rated current of the electric machine, and the rated voltage of the electric machine includes:
calculating to obtain a motor data model of the motor according to the Longberger observer, the rated current of the motor and the rated voltage of the motor;
calculating to obtain a state equation of the motor according to the motor data model;
and calculating to obtain the motor data model of the motor according to the state equation.
In an alternative mode, the calculating the motor data model of the electric machine according to the state equation includes:
calculating to obtain a state error equation of the motor according to the state equation;
discretizing and decoupling the state error equation to obtain a candidate motor data model;
and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.
In an alternative mode, the obtaining the candidate rotation speed and the candidate direction of the electric machine according to the motor data model and the phase-locked loop PLL includes:
regulating and controlling the speed and the position of the rotor of the motor according to the motor data model and the parameters of the phase-locked loop PLL;
and determining the candidate rotating speed and the candidate direction of the motor according to the rotor speed and the position of the motor.
In an alternative form, the controlling the motor according to the rotation speed and the direction includes:
if the motor is determined to be in a forward rotation state according to the target direction, and the target rotating speed is smaller than a first threshold and larger than a second threshold, controlling the motor to switch into double closed-loop control;
if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not less than the first threshold value, continuing to determine the target rotating speed and the target direction of the motor;
and if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not greater than the second threshold value, switching in double closed-loop control after starting current control.
In an alternative form, the controlling the motor according to the rotation speed and the direction includes:
if the motor is determined to be in a reverse rotation state according to the target direction, and the target rotating speed is smaller than a third threshold and larger than a fourth threshold, switching in double closed-loop control after braking and stopping and starting current control;
if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not less than the third threshold value, continuing to determine the target rotating speed and the target direction of the motor;
and if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not greater than the fourth threshold, switching in double closed-loop control after starting current control.
The embodiment of the invention amplifies the phase current of the motor acquired by the current acquisition circuit, and when the phase current of the motor is weak, the amplified current signal can be distinguished from the noise signal, so that the received amplified current can be more accurately identified, and the control can be more accurately carried out. When the motor is started and controlled, whether the motor is directly started or not is determined according to a comparison result of the received amplified current and the preset current, and when the received amplified current is smaller than or equal to the preset current value, the motor is in a static state or a low rotating speed state. When the received amplified current is larger than the preset current value, the motor is possibly in a high-speed reverse state, at the moment, the processor determines the rotating speed and the direction of the motor in a software estimation mode, and controls the motor according to the rotating speed and the direction, so that the motor is prevented from being started in the high-speed reverse state.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic mechanical diagram of a motor start control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a motor start control system according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a motor control method according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating the determination of the motor speed and direction in a motor control method according to an embodiment of the present invention;
FIG. 4a shows a schematic diagram of a physical model of an electric machine;
FIG. 4b shows a schematic of the structure of a progressive state observer;
FIG. 4c shows a schematic diagram of a phase locked loop PLL position detection principle;
FIG. 4d illustrates a method flow for detecting motor speed and direction at start-up;
fig. 5 is a schematic flow chart illustrating a motor control method according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein.
The motor start control method of the present embodiment is applicable to a motor that is started in any situation, for example, a motor that is powered off and immediately powered on again at the time of high-speed operation, a motor that is powered on again immediately after being stopped in operation when driving a large inertia load, or a motor that is started normally. Fig. 1 shows a schematic structural diagram of a control system for motor starting according to an embodiment of the present invention. As shown in fig. 1, the system includes: current acquisition circuit 10, current amplification circuit 20 and processor 30. The current collection circuit 10 is used for collecting phase current of the motor. In the embodiment of the present invention, the phase current acquired by the current acquisition circuit 10 is a phase current of any phase. The current amplifying circuit 20 is connected to the output end of the current collecting circuit 10, and is configured to amplify the phase current collected by the current collecting circuit 10 and output an amplified current. The processor 30 is connected to the output end of the current amplifying circuit 20, and is configured to obtain an amplified current output by the current amplifying circuit 20 when a motor start instruction is received, compare the amplified current with a preset current value, and control the motor to start according to the motor start instruction if the amplified current is less than or equal to the preset current value. If the amplified current is greater than the predetermined current value, the processor 300 determines the rotational speed and direction of the motor by means of software estimation, and controls the motor according to the determined rotational speed and direction of the motor.
In some embodiments, referring to fig. 2, the power supply circuit of the electric machine comprises a three-phase inverter comprising three lower legs of three power electronic devices of the same type. In the embodiment of the invention, the three-phase inverter can be any one of three lower bridge arms and can be formed by any one type of power electronic devices. For example, fig. 2 shows a three-phase inverter in which three upper arms and three lower arms are each formed of N-channel MOS transistors. The input end of the current collection circuit 10 is connected to a target lower bridge arm of the three-phase inverter, and the target lower bridge arm is any one of the three lower bridge arms. The output terminal of the current sampling circuit 10 is connected to the current amplifying circuit 20. The current collection circuit 10 samples a phase current of a phase where the target lower bridge arm is located, and inputs a sampling result to the current amplification circuit 20 for amplification.
In some embodiments, please continue to refer toFig. 2 shows a current sampling circuit 10 for sampling the phase current of the W phase in fig. 2. In fig. 2, the current collection circuit 10 includes a sampling resistor RwSampling resistor RwOne end of the sampling resistor R is connected with the lower bridge arm of the W phasewThe other end of the sampling resistor R is connected with the input end of the current amplifying circuit 20wThe phase current of the W phase is sampled.
It should be understood that in some embodiments, the current sampling circuit 10 may also be used to sample phase current for the U-phase or V-phase. That is, the resistance R can be sampled in FIG. 2uOr RvPhase currents of the U-phase or the V-phase are sampled.
In some embodiments, with continued reference to fig. 2, the current amplifying circuit 20 includes: the circuit comprises an operational amplifier U1, an inverting input resistor R2, a feedback resistor R1, a feedback capacitor C1, a non-inverting input resistor R3, a first divider resistor R4 and a second divider resistor R5. The inverting input of the operational amplifier U1 is connected to the output of the target sampling circuit via an inverting input resistor, and the non-inverting input of the operational amplifier U1 is connected to the input of the current sampling circuit 10 via a non-inverting input resistor R3. The feedback resistor R1 and the feedback capacitor C1 are connected in parallel between the output of the operational amplifier U1 and the inverting input of the operational amplifier U1. The first voltage-dividing resistor R4 and the second voltage-dividing resistor R5 are connected in series between the power supply and the ground, and the common end of the first voltage-dividing resistor R4 and the second voltage-dividing resistor R5 is connected with the non-inverting input end of the operational amplifier U1. The current amplifying circuit 20 amplifies the phase current collected by the current sampling circuit 10 and inputs the amplified current to the processor 300.
Under the condition that the processor 300 receives a motor starting instruction, after the amplified current is obtained, the amplified current is compared with a preset current value stored in the processor 300 in advance, if the amplified current is smaller than the preset current value, the motor is in a static state or a state with a small rotating speed, and in this case, the motor is directly started without damage. The processor 300 controls the motor to start according to the motor start command. The preset current value may be set according to actual requirements, and the embodiment of the invention is not limited thereto.
When the amplified current is larger than the preset current value, the rotation speed and direction of the motor need to be further judged, and corresponding starting control is carried out according to the rotation speed and direction. The specific determination of the rotational speed and the direction is explained in the next embodiment, please refer to the detailed description of the next embodiment.
The embodiment of the invention amplifies the phase current of the motor acquired by the current acquisition circuit, when the phase current of the motor is weak, the amplified current signal can be distinguished from the noise signal, and the processor can more accurately identify the received amplified current, thereby more accurately controlling the motor. When the processor starts and controls the motor, whether the motor is directly started or not is determined according to a comparison result of the received amplified current and the preset current, and when the received amplified current is smaller than or equal to the preset current value, the motor is in a static state or a low rotating speed state. When the received amplified current is larger than the preset current value, the motor is possibly in a high-speed reverse state, at the moment, the processor determines the rotating speed and the direction of the motor in a software estimation mode, and controls the motor according to the rotating speed and the direction, so that the motor is prevented from being started in the high-speed reverse state.
Fig. 3 is a flowchart of a motor control method according to an embodiment of the present invention. The method is applied to the control system for starting the motor in the embodiment. The method comprises the following steps shown in fig. 3:
step 310: and acquiring the amplified current under the condition of receiving a motor starting command.
In this step, the motor start instruction is sent by the user, and the processor starts the motor according to the motor start instruction. And after receiving a motor starting command, acquiring the amplified current to determine whether to start the motor according to the amplified current.
Step 320: and judging whether the amplified current is smaller than or equal to a preset current value, if so, executing the step 330, otherwise, executing the step 340.
Step 330: and controlling the motor to start according to the motor starting command.
In this step, if the amplified current is less than or equal to the preset current value, the motor is in a static state or a low-rotation-speed state, and the motor cannot be damaged by starting the motor in this case. And controlling the motor to start according to the motor starting command.
Step 340: and determining the rotating speed and the direction of the motor in a software estimation mode, and controlling the motor according to the rotating speed and the direction.
In this step, if the amplifying circuit is greater than the preset current value, the motor may be in a high-speed reverse rotation state. In order to avoid motor damage caused by starting the motor in a high-speed reverse rotation state, the rotating speed and the direction of the motor are determined in a software estimation mode, and the motor is controlled according to the determined rotating speed and the determined direction of the motor. The specific software evaluation method is illustrated in the following examples, which refer to the detailed description of the following examples.
When the motor is started and controlled, whether the motor is directly started or not is determined according to a comparison result of the received amplified current and the preset current, and when the received amplified current is smaller than or equal to the preset current value, the motor is in a static state or a low rotating speed state. When the received amplified current is larger than the preset current value, the motor is possibly in a high-speed reverse state, at the moment, the processor determines the rotating speed and the direction of the motor in a software estimation mode, and controls the motor according to the rotating speed and the direction, so that the motor is prevented from being started in the high-speed reverse state.
Fig. 4 shows a flow chart of determining the rotation speed and direction of the motor in a motor control method according to an embodiment of the present invention. As shown in fig. 4, determining the rotational speed and direction of the motor includes the steps of:
step 410: and acquiring the rated current and rated voltage of the motor.
Rated current in this step, i.e. stator currentAnd i, similarly, the rated voltage is the stator voltage U. Different types of current values and voltage values can be obtained by the stator current i and the stator voltage U in different coordinate systems, and specific types of the current values and the voltage values can be found in fig. 4a, and fig. 4a is a schematic diagram of a physical model of a motor provided by the embodiment of the present application. As shown in fig. 4a, since A, B, C three-phase windings are coupled with each other, and control cannot be performed conveniently and effectively in an a-B-C three-phase coordinate system, in order to realize decoupling control, a series of coordinate transformation is required to obtain the required d-axis and q-axis currents. The Clarke transformation mainly functions to transform the phase current of the three-phase stationary coordinate system (A-B-C) into the Alfa-axis current and the Beta-axis current of the two-phase stationary coordinate system (Alfa-Beta), and the power of the system is not changed at this time. Wherein, define the Alfa axle as the axle coincident with Alfa axle in the three-phase coordinate system, Beta axle leads the Alfa axle 90. The main role of the park (park) transformation is to transform the Alfa-axis and Beta-axis currents of the two-phase stationary coordinate system (Alfa-Beta) into d-axis and q-axis currents of the two-phase rotating coordinate system (d-q). The included angle between the d axis and the Alfa axis is theta, namely the position angle of the rotor rotating relative to the phase A winding, and the q axis leads the d axis by 90 degrees. Based on the three-phase stationary coordinate system (A-B-C), the two-phase stationary coordinate system (Alfa-Beta) and the two-phase rotating coordinate system (d-q), the stator current i and the stator voltage U obtained in step 410 can be converted to obtain different types of current values (i)d，iq，idref，iqref，iα，iβ) Sum voltage value (U)d，Uq，Uα，Uβ) Wherein i isdComponent of stator current i projected onto d-axis, iqFor the component of stator current i projected onto the q-axis, UdFor the component of stator voltage U projected onto the d-axis, UqComponent, i, of stator voltage U projected onto q-axisdrefIs a reference value of d-axis current, iqrefFor reference values of q-axis current, UαFor the component of the stator voltage U projected onto the Alfa axis, UβComponent, i, of stator voltage U projected onto Beta axisαStator-side current i on the Alfa axis side for the stator current iβThe stator side current on the Beta axis side is the stator current i.
Step 420: and obtaining a motor data model of the motor according to the current and the voltage of the Romberg observer and the motor.
And taking the rated current and the rated voltage of the motor obtained in the step 410 as input quantities of the Roberter observer, and calculating to obtain a motor data model of the motor as an output quantity of the Roberter observer through a corresponding Roberter algorithm.
Specifically, first, the processor calculates the rated current (stator-side current i on the Alfa axis side) of the motor based on the humper observerαBeta axis side stator side current iβ) Rated voltage of the motor (stator voltage component U of Alfa axis)αBeta axis stator voltage component Uβ) And calculating to obtain a motor data model of the motor, wherein the realization method comprises the following steps:
Lα＝L0+L1cos 2θe
Lβ＝L0-L1cos 2θe
Lαβ＝L1sin2θe(1)
the above calculation process is summarized as formula (1), and formula (1) is a motor data model of the motor, wherein UαFor the component of the stator voltage projected onto the Alfa axis, UβFor the component of stator voltage projected onto the Beta axis, RSIs stator side resistance (phase resistance), p is a differential factor, LdInductance of d-axis, LqInductance of q-axis, LαIs the inductance of the Alfa axis, LβInductance of Beta axis, iαStator side current i of the Alfa axisβStator side current of Beta axis, thetaeIs the electrical angle, omega, between the rotor permanent magnet and the A-phase windingeIs the electrical angular velocity of the rotor flux linkage,
flux linkages are generated for the rotor permanent magnets. In the above formula (1), except for the physical quantity iα、iβ、Uα、UβThe remaining physical quantities are known quantities in the motor data model, as unknown quantities (the part is the data to be obtained as input to the motor data model, which can be obtained in step 410).
For a surface-mounted Permanent Magnet Synchronous Motor (PMSM), the saliency ratio
When ρ is 1, Ld＝Lq＝LS(ii) a At this time:
the above calculation process is classified as formula (2), and formula (2) is a data model of the motor, wherein RSIs stator side resistance (phase resistance), LSIs the equivalent inductance of the stator side.
For embedded PMSM, the motor data model can also be approximated by equation (2) above, and
in summary, equations (1) to (3) are motor data models of different types of motors obtained by the roberg observer.
In the step, a motor data model of the motor is obtained, a state equation of the motor system is obtained through calculation by using data in the motor data model of the motor, a state error equation of the motor is obtained through calculation according to the state equation of the motor system, the state error equation of the motor is dispersed and decoupled, a candidate motor model can be deduced, and finally the candidate motor model is brought into a feedback matrix to obtain the motor data model of the motor through simplification.
The following will describe in detail a process of obtaining a state equation of the motor system by calculation using data in the motor data model, taking the motor data model obtained by the formula (1) as an example.
Because the state equation of the motor system also needs the induced electromotive force of the motor as an input quantity, the induced electromotive force of the motor needs to be firstly obtained, and the calculation process of the induced electromotive force under the coordinate system of the Alfa axis and the Beta axis is as follows:
the above calculation process is summarized as formula (4), wherein eαFor projection of the induced electromotive force on the Alfa axis, eβFor the projection of the induced electromotive force on the Beta axis, ωeIs the electrical angular velocity of the rotor flux linkage,
flux linkage, θ, for rotor permanent magnetseThe electrical included angle between the rotor permanent magnet and the A-phase winding is formed.
Further, the induced electromotive force derivative calculation process obtained by the above formula (4) is as follows:
the above calculation process is reduced to formula (5), wherein eαFor projection of the induced electromotive force on the Alfa axis, eβFor the projection of the induced electromotive force on the Beta axis, ωeIs the electrical angular velocity of the rotor flux linkage,
flux linkage, θ, for rotor permanent magnetseThe electrical included angle between the rotor permanent magnet and the A-phase winding is formed.
Then, using the induced electromotive force and the derivative of the induced electromotive force obtained by the above equations (4) and (5), and the data in the motor data model of the above equation (1), a state equation of the motor system can be calculated. The method for realizing the state equation of the motor system comprises the following steps:
the above calculation process is classified as formula (6), and formula (6) is a state equation of the motor system. Wherein the content of the first and second substances,
is a state variable of the observable system, also an estimated quantity of the state observer,
is an output quantity of an appreciable system,
for the estimated derivative of the state observer of the observable system,
is the input to the state observer.
In equation of state (6), the derivative of the estimation of the state observer
The calculation process of (a) is as follows:
the above calculation process is reduced to formula (7), wherein iαStator side current i of the Alfa axisβStator side current of Beta axis, RSIs a statorSide resistance (phase resistance), LSIs stator side equivalent inductance, eαFor projection of the induced electromotive force on the Alfa axis, eβFor the projection of the induced electromotive force on the Beta axis, ωeIs the electrical angular velocity of the rotor flux linkage; the data in the calculation process of the formula (7) are derived from the induced electromotive force and the derivative of the induced electromotive force obtained by the above formulas (4) and (5), and the motor data model of the above formula (1).
In equation of state equation (6), input to the state observer
Estimated quantity of state observer
Estimated derivative of state observer
Output of state observer
The calculation process of (a) is as follows:
the above calculation process is reduced to equation (8), wherein,
is an input to the state observer,
is a state variable of the observable system, also an estimated quantity of the state observer,
for the estimated derivative of the state observer of the observable system,
is an output quantity of an appreciable system; the data in the calculation process of the formula (8) are derived from the induced electromotive force and the derivative of the induced electromotive force obtained by the above formulas (4) and (5), and the motor data model of the above formula (1).
In equation of state equation (6), the A, B, C matrix is shown below:
the above calculation process is reduced to formula (9), wherein RSIs stator side resistance (phase resistance), LSIs the equivalent inductance of the stator side.
Specifically, part of the data in the above equations (6) to (7) needs to be obtained by a state observer, which can be referred to fig. 4b, where fig. 4b is a schematic structural diagram of a progressive state observer, and as shown in fig. 4b, the calculation of the progressive state observer can be as follows:
the above calculation process is reduced to equation (10), wherein,
for the estimated derivative of the state observer of the observable system,
is a state variable of an observable system and is,
is an output quantity of an appreciable system,
the input quantity of the state observer is G, and the feedback matrix of the state observer is G;
the above calculation process is reduced to formula (11), wherein,
is an estimate of the state estimator.
Then, according to the state equations obtained by the above equations (6) to (9), the state error equation of the motor is calculated, and the implementation method is as follows:
the above calculation process is classified as formula (12), and formula (12) is a state error equation of the motor. Wherein the content of the first and second substances,
in order to estimate the amount of the state estimator,
for the estimated derivative of the state observer of the observable system,
is a state variable of an observable system and is also an estimated quantity of a state observer.
Then, discretizing and decoupling the state error equation obtained by the formula (12), and deducing to obtain a candidate motor data model, wherein the implementation method comprises the following steps:
the calculation process is reduced to formula (13), and the formula (13) is the derivation of the discretization process of the state equation;
the calculation process is reduced to formula (14), and formula (14) is a discretization equation and is applied to the discretization derivation process in formula (13);
the calculation process is reduced to formula (15), and formula (15) decouples the results obtained by discretizing formula (13) and simplifies to obtain the candidate motor data model.
Wherein the characteristic equation of the candidate motor data model is as follows:
the calculation process is classified as formula (16), and formula (16) is a characteristic equation of the candidate motor data model;
the above calculation process is classified as formula (17), formula (17) is a characteristic value of a characteristic equation, and the process from formula (16) to formula (17) is a solution process for solving the characteristic value | γ I-a | ═ 0.
At this time, the equation of the available state observer is as follows:
the above calculation process is reduced to formula (18), and the feedback matrix of the humper observer can be obtained from formula (18).
And finally, substituting the candidate motor data model obtained by the formula (15) into a feedback matrix to obtain a motor data model of the motor, wherein the feedback matrix is a matrix used for state feedback of the Robert observer, and the implementation method comprises the following steps:
the above calculation process is classified as formula (19), and is a calculation process of substituting the candidate motor data model into the feedback matrix;
and decoupling and simplifying the formula (19) to obtain a motor data model of the motor, wherein the implementation process is as follows:
the above calculation process is reduced to equation (20), and equation (20) is decoupled (consider ω)e0) is simplified to the calculation process of the motor data model.
In summary, the equations (1) to (20) can obtain the motor data model of the motor, which includes the following steps:
firstly, motor data models of different types of motors can be obtained through the Renberg observer according to the formulas (1) to (3); then, taking the motor data model obtained by the formula (1) as an example, the state equation of the motor system is obtained by calculation by using data in the motor data model of the motor, and the state equation of the motor can be obtained by the formulas (6) to (9), wherein the calculation processes of the formulas (6) to (9) require data in the motor data model of the formula (1), data of induced electromotive force and derivatives thereof of the formulas (4) to (5), and data in the progressive state observer of the formulas (10) to (11); then, a state error equation of the motor can be obtained according to the state equation formula (6), and the process is realized by the formula (12); secondly, discretizing, decoupling and simplifying the state error equation obtained by the formula (12), and deriving a candidate motor data model in the formula (15), wherein the formula (13) is an implementation mode of a discretization process, the formula (14) is a discretization equation and is applied to the formula (13), the formula (15) is the candidate motor data model obtained after decoupling, the formula (16) is a characteristic equation of the candidate motor data model, and the formula (17) is a characteristic value of the characteristic equation of the candidate motor data model; and finally, substituting the candidate motor data model obtained by the formula (15) into a feedback matrix, decoupling and simplifying to obtain a motor data model of the motor, wherein the formula (20) is the motor data model of the motor, the candidate motor data model obtained by the formula (15) is substituted into the feedback matrix which can be realized by the formula (19), the feedback matrix can be obtained by a state observer in the formula (18), and the formula (20) is the motor data model obtained by decoupling and simplifying the formula (19).
Step 430: and obtaining a candidate signal according to the motor data model and the phase-locked loop PLL.
Using the data in the motor data model obtained in step 420 above
And
the position angle of the rotor and the speed of the rotor can be obtained, wherein a phase-locked loop PLL is required, and the function of the phase-locked loop PLL is based on
And
in particular, the operating principle of a phase locked loop PLL may be as shown in FIG. 4c, which is a schematic diagram illustrating the phase locked loop PLL position detection principle, the inputs of the phase locked loops are e (α) and e (β), which are data in a motor data model, respectively
And
the outputs of the phase locked loops are ω (e) and θ (e), respectively, the rotor speed ω of the motoreAngle of neutralization
Wherein, KpAnd KiThe traditional Lonberg observer PLL uses a single PI regulator parameter, so that the dynamic response of the traditional PLL is slightly poor to a motor system, and the overshoot or the imbalance of the motor system can be caused by the fact that the current rotor speed and position cannot be correctly and timely regulated under different rotating speeds, different accelerations and complex working conditions. Therefore, it is also required to take thetaeThe cosine and sine functions of (a) are multiplied by the induced electromotive forces of the Alfa axis and the Beta axis respectively, and an error △ e is obtained after difference is made, wherein the error equation is as follows:
the above calculation process is reduced to formula (21), and formula (21) represents the candidate signal (rotor speed ω) obtained in step 430eAngle of neutralization
) The magnitude of the error from the true usable signal.
Specifically, the PI regulator is a linear function, which is an effective control of the controlled variable through proportional-integral according to the difference between the given and feedback values, and the control core of the PI controller lies in the parameter selection of the proportional part and integral part, i.e. P and I, and the proportional part P immediately adjusts the given and feedback values to reduce the deviation value once the deviation occurs. The larger the P parameter is, the faster the adjustment is, but the larger the parameter causes a large overshoot, so that the system control generates oscillation and the stability is reduced. The selection of the appropriate proportionality P parameter has a large bearing on the system stability. The integral action I is mainly used for eliminating the system steady-state error, and integral adjustment can act as long as the system steady-state error exists, until no difference exists in adjustment, the integral action adjustment can stop, and the integral adjustment can output a stable value. The strength of integral adjustment lies in the selection of a parameter I, the larger the parameter I, the smaller the integral action, and the smaller the parameter I, the larger the integral action. In general, in the entire control system, the main role of the PI controller is to improve the stability of the control system for more precise control.
Step 440: and filtering the candidate signal by a second-order low-pass filter to obtain a target signal.
The candidate signal obtained in step 410 includes the candidate rotation speed (rotor speed ω)e) And candidate direction (electrical angle)
) However, as can be seen from the error equation △ e, the accuracy of the rotational speed and direction information is not high, and it is not available, and the rotational speed and direction information needs to be filtered by a second-order low-pass filter to obtain a target signal with a specific frequency, or a target signal with a specific frequency eliminated, and a target rotational speed (target rotor speed ω) determined based on the target signal is obtainede) And target direction (target electrical angle)
) The target speed and direction are available, i.e. the estimated speed and direction before the motor is started. The general LONG BORGE observer PLL uses a single PI regulator parameter, so that the dynamic response of the PLL to a system is slightly poor, the overshoot or the imbalance of the system can be caused by the fact that the current rotor speed and position cannot be demodulated correctly and timely under different rotating speeds, different accelerations and complex working conditions, the system can vibrate when the system is slight, and the whole control system can be out of control when the system is serious. In order to solve the problems, the dynamic PLL parameter adjustment can be used for replacing the original PI adjuster, so that different PLL phase-locked loop parameters can be automatically selected according to different speeds and different load conditions in the system operation process, and the rotor speed and position demodulation is dynamically adjusted and controlled in real time, so that the whole control system is more stable, and the adaptability to complex working conditions is stronger.
Based on the above descriptions of steps 410 to 440, a method flow for detecting the rotation speed and direction of the motor when the motor is started can be obtained with reference to fig. 4 d. As shown in fig. 4d, the current and the voltage of the motor are obtained first, then a motor data model of the motor is obtained by using a humper observer, then a candidate signal for representing a candidate rotation speed and a candidate direction of the motor is obtained by using a phase-locked loop PLL, and finally the candidate signal is filtered by a second-order low-pass filter to obtain a target signal, wherein the target rotation speed and the target direction determined based on the target signal are the rotation speed and the direction of the available motor; according to the method, the Robert observer is specially processed, namely a PLL dynamic parameter phase-locked loop is combined on the basis of the Robert observer, the improved Robert observer method is utilized, the rotating speed and the direction of the motor before starting can be accurately estimated, different controls are carried out according to different rotating speeds and directions, after the motor enters normal control, the rotating speed and the angle of a rotor are estimated when the Robert observer is adopted, a motor model is subjected to coordinate transformation, and a rotating speed closed loop and current closed loop control strategy is adopted, so that the rotating speed and torque can be controlled, stable and reliable work can be achieved under various conditions, the starting success rate and efficiency of the motor are improved, the safety and reliability of the motor are improved, and the hardware cost is greatly saved.
Fig. 5 shows a flow chart of a motor control method according to an embodiment of the invention. As shown in fig. 5, the method comprises the steps of:
step 510: a target speed and a target direction of the motor are determined.
The target rotation speed and the target direction of the motor can be determined according to the method for determining the rotation speed and the direction of the motor provided in the embodiment of fig. 4, which can be referred to in detail in the above steps 410 to 440, and will not be described herein again.
Step 520: and judging whether the motor is in a forward rotation state or not.
After the target rotating speed and the target direction of the motor are determined based on the target signal, the motor is controlled according to the target rotating speed and the target direction. First, it is determined whether the motor is currently in a forward rotation state according to the target direction, where the forward rotation state indicates that the current rotation direction of the motor is the same as the target direction, if the motor is in the forward rotation state, the following step 530 is executed, and if the motor is not in the forward rotation state, the following step 550 is executed.
Step 530: and judging whether the target rotating speed of the motor is less than a first threshold value or not.
When the motor is in the forward rotation state, comparing the determined target rotation speed of the motor with a first threshold, and determining whether the target rotation speed of the motor is less than the first threshold, where the first threshold is set according to a motor start scene, and the first threshold in different application scenes may be different, for example, may be 50r/s, if the target rotation speed of the motor is less than the first threshold, executing the following step 540, and if the target rotation speed of the motor is not less than the first threshold, executing the above step 510, and continuing to determine the target rotation speed and the target direction of the motor until the target rotation speed of the motor is less than the first threshold.
Step 540: and judging whether the target rotating speed of the motor is greater than a second threshold value.
When the motor is in a forward rotation state and the target rotation speed of the motor is less than the first threshold, continuously determining whether the target rotation speed of the motor is greater than a second threshold, where the second threshold is set according to a motor start scene, and the second thresholds in different application scenes may be different, for example, may be 5r/s, and if the target rotation speed of the motor is greater than the second threshold, performing a following step 590, switching into a dual closed-loop control, that is, starting the motor in a reverse rotation manner by using a current loop and a speed loop, and if the target rotation speed of the motor is not greater than the second threshold, performing a following step 580, which requires performing the motor start control by using the current loop in a closed-loop manner, then starting the speed loop, and performing a step 590, and switching into the dual closed-loop control motor.
Step 550: and judging whether the target rotating speed of the motor is less than a third threshold value.
And if the target rotation speed of the motor is not less than the third threshold, executing step 560 described below, and if the target rotation speed of the motor is not less than the third threshold, executing step 510, and continuing to determine the target rotation speed and the target direction of the motor until the target rotation speed of the motor is less than the third threshold.
Step 560: and judging whether the target rotating speed of the motor is greater than a fourth threshold value.
And if the target rotating speed of the motor is not in the forward rotation state and is less than the third threshold, continuously judging whether the target rotating speed of the motor is greater than a fourth threshold, wherein the fourth threshold is set according to a motor starting scene, the fourth thresholds in different application scenes can be different, for example, 5r/s, if the target rotating speed of the motor is greater than the fourth threshold, executing a step 570, firstly braking and stopping the motor to avoid reverse rotation starting failure caused by the overlarge rotating speed of the motor, if the target rotating speed of the motor is not greater than the fourth threshold, executing a step 580, firstly utilizing a current ring to carry out closed-loop motor starting control, then starting a speed ring, executing a step 590, and switching into a double-closed-loop control motor.
Step 570: and the motor is braked and stopped.
Step 580: and (5) starting and controlling the motor.
Step 590: the motor is switched into double closed loop control.
In the embodiment of the application, the target rotating speed and the target direction of the motor are determined, that is, the motor is controlled according to the target rotating speed and the target direction, because the motor may still be in a swing state before being started, if the motor is directly started, the inverter may be damaged, and the like. Therefore, the effect of the success rate of starting the fan motor can be improved, the efficiency of the motor is improved, and the safety and the reliability of the motor are further improved.
The embodiment of the invention provides a computer-readable storage medium, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction runs on a processor, the processor detects the target rotating speed and the target direction of a motor according to a preset motor rotating speed and direction detection rule, and starts and controls the motor according to the target rotating speed and the target direction. The processor in the embodiment of the present invention is the processor described in any of the above embodiments.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.
Claims (10)
1. A control system for motor starting, the system comprising:
the current acquisition circuit is used for acquiring phase current of the motor;
the current amplifying circuit is connected with the output end of the current collecting circuit and is used for amplifying the phase current and outputting an amplified current;
the processor is connected with the output end of the current amplification circuit and used for acquiring the amplified current under the condition of receiving a motor starting instruction; if the amplified current is smaller than or equal to a preset current value, controlling the motor to start according to the motor starting instruction; and if the amplified current is larger than the preset current value, determining the rotating speed and the direction of the motor in a software estimation mode, and controlling the motor according to the rotating speed and the direction.
2. The system according to claim 1, characterized in that the power supply circuit of the electric machine comprises a three-phase inverter comprising three lower legs of three power electronic devices of the same type;
the input end of the current acquisition circuit is connected with the output end of a target lower bridge arm of the three-phase inverter, the output end of the current acquisition circuit is connected with the current amplification circuit, and the target lower bridge arm is any one of the three lower bridge arms.
3. The system of claim 1, wherein the current amplification circuit comprises: the circuit comprises an operational amplifier, an inverting input resistor, a feedback capacitor, a non-inverting input resistor, a first divider resistor and a second divider resistor;
the inverting input end of the operational amplifier is connected with the output end of the current sampling circuit through the inverting input resistor;
the non-inverting input end of the operational amplifier is connected with the input end of the current sampling circuit through the non-inverting input resistor;
the feedback resistor and the feedback capacitor are connected in parallel between the output end of the operational amplifier and the inverting input end of the operational amplifier;
the first voltage-dividing resistor and the second voltage-dividing resistor are connected in series between a power supply and the ground, and the common end of the first voltage-dividing resistor and the second voltage-dividing resistor is connected with the non-inverting input end of the operational amplifier.
4. A motor control method applied to a motor-started control system according to any one of claims 1 to 3, the method comprising:
acquiring the amplified current under the condition of receiving a motor starting instruction;
if the amplified current is smaller than or equal to a preset current value, controlling the motor to start according to the motor starting instruction;
and if the amplified current is larger than the preset current value, determining the rotating speed and the direction of the motor in a software estimation mode, and controlling the motor according to the rotating speed and the direction.
5. The method of claim 4, wherein determining the speed and direction of the motor by way of software estimation comprises:
acquiring rated current and rated voltage of a motor;
obtaining a motor data model of the motor according to the Longberger observer, the rated current of the motor and the rated voltage of the motor;
obtaining candidate signals according to the motor data model and a phase-locked loop (PLL), wherein the candidate signals are used for representing candidate rotating speeds and candidate directions of the motor;
and filtering the candidate signal by a second-order low-pass filter to obtain a target signal, and determining the target rotating speed and the target direction of the motor based on the target signal.
6. The method of claim 5, wherein the obtaining a motor data model of the electric machine from the humper observer and the rated current and the rated voltage of the electric machine comprises:
calculating to obtain a motor data model of the motor according to the Longberger observer, the rated current of the motor and the rated voltage of the motor;
calculating to obtain a state equation of the motor according to the motor data model;
and calculating to obtain the motor data model of the motor according to the state equation.
7. The method of claim 6, wherein said calculating the motor data model of the electric machine from the equation of state comprises:
calculating to obtain a state error equation of the motor according to the state equation;
discretizing and decoupling the state error equation to obtain a candidate motor data model;
and substituting the candidate motor data model into a feedback matrix to obtain the motor data model of the motor, wherein the feedback matrix is used for state feedback of the Robert observer.
8. The method of claim 5, wherein the deriving the candidate speed and the candidate direction of the electric machine from the motor data model and a phase-locked loop (PLL) comprises:
regulating and controlling the speed and the position of the rotor of the motor according to the motor data model and the parameters of the phase-locked loop PLL;
and determining the candidate rotating speed and the candidate direction of the motor according to the rotor speed and the position of the motor.
9. The method of claim 4, wherein said controlling the motor based on the speed and direction of rotation comprises:
determining a target rotating speed and a target direction of a motor;
if the motor is determined to be in a forward rotation state according to the target direction, and the target rotating speed is smaller than a first threshold and larger than a second threshold, controlling the motor to switch into double closed-loop control;
if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not less than the first threshold value, continuing to determine the target rotating speed and the target direction of the motor;
and if the motor is determined to be in the forward rotation state according to the target direction and the target rotating speed is not greater than the second threshold value, switching in double closed-loop control after starting current control.
10. The method of claim 9, wherein said controlling said motor based on said speed and direction further comprises:
if the motor is determined to be in a reverse rotation state according to the target direction, and the target rotating speed is smaller than a third threshold and larger than a fourth threshold, switching in double closed-loop control after braking and stopping and starting current control;
if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not less than the third threshold value, continuing to determine the target rotating speed and the target direction of the motor;
and if the motor is determined to be in the reverse rotation state according to the target direction and the target rotating speed is not greater than the fourth threshold, switching in double closed-loop control after starting current control.
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