CN111697889B - Asynchronous motor simulation modeling method and device based on time domain transformation - Google Patents

Asynchronous motor simulation modeling method and device based on time domain transformation Download PDF

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CN111697889B
CN111697889B CN202010374052.0A CN202010374052A CN111697889B CN 111697889 B CN111697889 B CN 111697889B CN 202010374052 A CN202010374052 A CN 202010374052A CN 111697889 B CN111697889 B CN 111697889B
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stator
rotor
equation
flux linkage
winding
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CN111697889A (en
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吴小珊
赵利刚
李俊杰
王长香
周挺辉
甄鸿越
黄贯标
翟鹤峰
徐原
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CSG Electric Power Research Institute
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

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Abstract

The invention discloses a time domain transformation-based asynchronous motor simulation modeling method and a time domain transformation-based asynchronous motor simulation modeling device, wherein the method comprises the following steps: obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor; after differential processing is carried out on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation, a second stator and rotor flux linkage equation and a second stator and rotor voltage equation are obtained by combining the rotation angular velocity; converting all stator and rotor magnetic chain equations and all stator and rotor voltage equations through a conversion matrix to obtain a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation; processing a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation by an implicit trapezoidal integration method and a park inverse transformation method to obtain a Norton equivalent circuit for asynchronous motor simulation; the invention can increase the calculation step length used by the electromagnetic transient simulation program and improve the simulation efficiency on the premise of not losing the simulation precision of the asynchronous motor.

Description

Asynchronous motor simulation modeling method and device based on time domain transformation
Technical Field
The invention relates to the field of current system calculation and analysis, in particular to an asynchronous motor simulation modeling method and device based on time domain transformation.
Background
With the continuous expansion of the power grid scale and the improvement of the permeability of novel power electronic devices, the dynamic characteristics of a large power grid become more and more complex, and the difficulty of simulation and analysis of the running state and the transient process of the power grid is increased. At present, the traditional electromagnetic transient simulation technology has low simulation efficiency, and is difficult to realize high-efficiency simulation analysis of a large-scale complex alternating current and direct current system.
In the prior art, although there is an electromagnetic transient simulation research based on time domain transformation, the existing electromagnetic transient simulation based on time domain transformation mainly aims at a generator, a transformer and a transmission line, and does not research an asynchronous motor, however, the power consumption of the asynchronous motor accounts for 60% -70% of the total power consumption of the industry, and the dynamic characteristics of the asynchronous motor have a non-negligible important influence on the dynamic stability of voltage, frequency and the like of a power system, so that the establishment of an asynchronous motor model based on time domain transformation has an important significance for researching the system stability problem caused by the synchronization of asynchronous motor equipment.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method and an apparatus for modeling asynchronous motor simulation based on time domain transformation, which can increase the calculation step length used by an electromagnetic transient simulation program and improve the simulation efficiency without losing the simulation accuracy of the asynchronous motor.
In order to solve the above technical problem, an embodiment of the present invention provides a time domain transform-based asynchronous motor simulation modeling method, including:
obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor;
after differential processing is respectively carried out on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation, a second stator and rotor flux linkage equation and a second stator and rotor voltage equation are obtained by combining the rotation angular velocity of the asynchronous motor;
converting state variables in the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation through a conversion matrix to obtain a slow state variable;
converting the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation into equations expressed by the slow state variables to obtain a third stator and rotor flux linkage equation and a third stator and rotor voltage equation;
solving the third stator and rotor magnetic chain equation and the third stator and rotor voltage equation based on an implicit trapezoidal integral method to obtain a Norton equivalent circuit to be processed;
and carrying out transformation processing on the Norton equivalent circuit to be processed based on a park inverse transformation method to obtain the Norton equivalent circuit for asynchronous motor simulation.
Preferably, the stator and rotor winding information includes leakage inductance of the stator winding, current of the stator winding, resistance of the stator winding, angular velocity of a stator magnetic field, leakage inductance of the rotor winding, current of the rotor winding, resistance of the rotor winding, mutual inductance between the stator winding and the rotor winding, and rotor slip; the first stator flux linkage equation comprises a first stator flux linkage equation and a first rotor flux linkage equation; the first stator voltage equation comprises a first stator voltage equation and a first rotor voltage equation; then, the obtaining a first stator flux linkage equation and a first stator voltage equation according to the stator and rotor winding information of the asynchronous motor specifically includes:
obtaining the first stator flux linkage equation according to leakage inductance of the stator winding, current of the rotor winding and mutual inductance between the stator winding and the rotor winding;
obtaining the first rotor flux linkage equation according to leakage inductance of the rotor winding, current of the stator winding and mutual inductance between the stator winding and the rotor winding;
obtaining the first stator voltage equation according to the resistance of the stator winding, the angular velocity of the stator magnetic field, the current of the stator winding and the first stator flux linkage equation;
and obtaining the first rotor voltage equation according to the resistance of the rotor winding, the angular speed of the stator magnetic field, the current of the rotor winding and the first rotor flux linkage equation.
As a preferred scheme, the obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor specifically includes:
and calculating to obtain the first stator flux linkage equation according to the following formula:
ψds＝Lssids+Lmidr；
ψqs＝Lssiqs+Lmiqr；
wherein psids、ψqsD, q components of the stator flux linkage, L, respectivelyssFor leakage inductance of the stator winding, LmIs mutual inductance between stator winding and said rotor winding ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
and calculating to obtain the first rotor flux linkage equation according to the following formula:
ψdr＝Lrridr+Lmids；
ψqr＝Lrriqr+Lmiqs；
wherein psidr、ψqrD, q components of the rotor flux linkage, LrrFor leakage inductance of the rotor winding, LmIs mutual inductance between stator winding and said rotor winding ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrCurrents of rotor windings, respectivelyD, q components of (1);
calculating to obtain the first stator voltage equation according to the following formula:
vds＝Rsids-ωsψqs+pψds
vqs＝Rsiqs+ωsψds+pψqs
wherein R issIs the resistance of the stator winding, ids、iqsD, q components, omega, of the current of the stator winding, respectivelysIs the angular velocity, psi, of the stator magnetic fieldds、ψqsRespectively representing the d and q components of the stator flux linkage, and p representing a differential operator d/dt;
calculating the first rotor voltage equation according to the following formula:
vdr＝Rridr-sωsψqr+pψdr
vqr＝Rriqr+sωsψdr+pψqr
wherein R isrIs the resistance of the rotor winding, idr、iqrD, q components of the rotor winding current, s rotor slip, ωsIs the angular velocity, psi, of the stator magnetic fielddr、ψqrThe d and q components of the rotor flux linkage, respectively, and p is the differential operator d/dt.
Preferably, the second stator-rotor flux linkage equation includes a second stator flux linkage equation and a second rotor flux linkage equation, and the second stator-rotor voltage equation includes a second stator voltage equation and a second rotor voltage equation, so that after the first stator-rotor flux linkage equation and the first rotor voltage equation are differentiated respectively, the second stator-rotor flux linkage equation and the second rotor voltage equation are obtained by combining the rotation angular velocity of the asynchronous motor, specifically:
after the first stator flux linkage equation is subjected to differential processing, the second stator flux linkage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000041
Figure GDA0003170679050000042
after the first rotor flux linkage equation is subjected to differential processing, the second rotor flux linkage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000043
Figure GDA0003170679050000044
after the first stator voltage equation is subjected to differential processing, the second stator voltage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000045
Figure GDA0003170679050000046
after the first rotor voltage equation is subjected to differential processing, the second rotor voltage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000051
Figure GDA0003170679050000052
as a preferred scheme, the state variables in the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation are converted through a conversion matrix to obtain the slow state variable, specifically:
calculating to obtain a slow state variable according to the following formula;
Figure GDA0003170679050000053
Figure GDA0003170679050000055
Figure GDA0003170679050000057
Figure GDA0003170679050000059
Figure GDA00031706790500000511
Figure GDA00031706790500000513
wherein the content of the first and second substances,
Figure GDA00031706790500000515
t (t) is a rotational coordinate transformation.
Preferably, the third stator-rotor flux linkage equation comprises a third stator flux linkage equation and a third rotor flux linkage equation, and the third stator-rotor voltage equation comprises a third stator voltage equation and a third rotor voltage equation; then, the converting the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation into an equation expressed by the slow state variable to obtain a third stator-rotor flux linkage equation and a third stator-rotor voltage equation specifically includes:
respectively converting the first stator flux linkage equation and the second stator flux linkage equation into equations expressed by the slow state variables to obtain a third stator flux linkage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000061
Figure GDA0003170679050000062
respectively converting the first rotor flux linkage equation and the second rotor flux linkage equation into equations expressed by the slow state variables to obtain a third rotor flux linkage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000063
Figure GDA0003170679050000064
respectively converting the first stator voltage equation and the second stator voltage equation into equations expressed by the slow state variables to obtain a third stator voltage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000065
Figure GDA0003170679050000066
respectively converting the first rotor voltage equation and the second rotor voltage equation into equations expressed by the slow state variables to obtain a third rotor voltage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000071
Figure GDA0003170679050000072
wherein the content of the first and second substances,
Figure GDA0003170679050000073
Figure GDA0003170679050000074
r (t) is the inverse of the rotational coordinate transformation T (t).
Correspondingly, the invention also provides an asynchronous motor simulation modeling device based on time domain transformation, which comprises:
the first model building module is used for obtaining a first stator and rotor flux linkage equation and a first stator and rotor voltage equation according to stator and rotor winding information of the asynchronous motor;
the second model building module is used for respectively carrying out differential processing on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation and then combining the rotation angular velocity of the asynchronous motor to obtain a second stator and rotor flux linkage equation and a second stator and rotor voltage equation;
the transformation processing module is used for transforming state variables in the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation through a transformation matrix to obtain a slow state variable;
a third model building module, configured to convert the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation into equations expressed by the slow state variables, and obtain a third stator-rotor flux linkage equation and a third stator-rotor voltage equation;
the simulation model building module is used for solving the third stator and rotor magnetic chain equation and the third stator and rotor voltage equation based on an implicit trapezoidal integral method to obtain a Norton equivalent circuit to be processed;
and the simulation model optimization module is used for carrying out transformation processing on the Norton equivalent circuit to be processed based on a park inverse transformation method to obtain the Norton equivalent circuit for asynchronous motor simulation.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a time domain transformation-based asynchronous motor simulation modeling method and a time domain transformation-based asynchronous motor simulation modeling device, wherein the method comprises the following steps: obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor; after differential processing is carried out on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation, a second stator and rotor flux linkage equation and a second stator and rotor voltage equation are obtained by combining the rotation angular velocity; converting all stator and rotor magnetic chain equations and all stator and rotor voltage equations through a conversion matrix to obtain a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation; processing a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation by an implicit trapezoidal integration method and a park inverse transformation method to obtain a Norton equivalent circuit for asynchronous motor simulation; compared with the existing electromagnetic transient simulation based on time domain transformation, the method can be used for simulating the asynchronous motor, and the state variables in the first stator rotor flux linkage equation, the first stator rotor voltage equation, the second stator rotor flux linkage equation and the second stator rotor voltage equation are converted into slow state variables through the conversion matrix, so that the method can adopt larger calculation step length, the calculation step length used by an electromagnetic transient simulation program can be increased on the premise of not losing the simulation precision of the asynchronous motor, and the simulation efficiency is improved.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of a time domain transform-based asynchronous motor simulation modeling method provided by the present invention;
fig. 2 is a structural block diagram of a preferred embodiment of the asynchronous motor simulation modeling device based on time domain transformation provided by the invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The embodiment of the present invention provides a time-domain transform-based asynchronous motor simulation modeling method, which is a flowchart of a preferred embodiment of the time-domain transform-based asynchronous motor simulation modeling method provided by the present invention, as shown in fig. 1, and the method includes steps S11 to S16:
step S11, obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor;
step S12, after differential processing is respectively carried out on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation, a second stator and rotor flux linkage equation and a second stator and rotor voltage equation are obtained by combining the rotation angular velocity of the asynchronous motor;
step S13, converting state variables in the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation through a conversion matrix to obtain slow state variables;
step S14, converting the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation into equations expressed by slow state variables to obtain a third stator and rotor flux linkage equation and a third stator and rotor voltage equation;
s15, solving a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation based on an implicit trapezoidal integral method to obtain a Norton equivalent circuit to be processed;
and step S16, carrying out transformation processing on the Norton equivalent circuit to be processed based on the park inverse transformation method to obtain the Norton equivalent circuit for asynchronous motor simulation.
In one preferred embodiment, the stator-rotor winding information includes leakage inductance of the stator winding, current of the stator winding, resistance of the stator winding, angular velocity of a stator magnetic field, leakage inductance of the rotor winding, current of the rotor winding, resistance of the rotor winding, mutual inductance between the stator winding and the rotor winding, and rotor slip; the first stator flux linkage equation comprises a first stator flux linkage equation and a first rotor flux linkage equation; the first stator voltage equation includes a first stator voltage equation and a first rotor voltage equation, and step S11 specifically includes:
obtaining a first stator flux linkage equation according to leakage inductance of the stator winding, current of the rotor winding and mutual inductance between the stator winding and the rotor winding, wherein the specific calculation formula is as follows:
ψds＝Lssids+Lmidr；
ψqs＝Lssiqs+Lmiqr；
wherein psids、ψqsD, q components of the stator flux linkage, L, respectivelyssFor leakage inductance of the stator winding, LmIs mutual inductance between stator winding and rotor winding, ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
obtaining a first rotor flux linkage equation according to leakage inductance of the rotor winding, current of the stator winding and mutual inductance between the stator winding and the rotor winding, wherein the specific calculation formula is as follows:
ψdr＝Lrridr+Lmids；
ψqr＝Lrriqr+Lmiqs；
wherein psidr、ψqrD, q components of the rotor flux linkage, LrrFor leakage inductance of the rotor winding, LmIs mutual inductance between stator winding and rotor winding, ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
obtaining a first stator voltage equation according to the resistance of the stator winding, the angular velocity of the stator magnetic field, the current of the stator winding and the first stator flux linkage equation, wherein the specific calculation formula is as follows:
vds＝Rsids-ωsψqs+pψds
vqs＝Rsiqs+ωsψds+pψqs
wherein R issIs the resistance of the stator winding, ids、iqsD, q components, omega, of the current of the stator winding, respectivelysIs the angular velocity, psi, of the stator magnetic fieldds、ψqsRespectively representing the d and q components of the stator flux linkage, and p representing a differential operator d/dt;
obtaining a first rotor voltage equation according to the resistance of the rotor winding, the angular velocity of the stator magnetic field, the current of the rotor winding and a first rotor flux linkage equation, wherein the specific calculation formula is as follows:
vdr＝Rridr-sωsψqr+pψdr
vqr＝Rriqr+sωsψdr+pψqr
wherein R isrIs the resistance of the rotor winding, idr、iqrD, q components of the rotor winding current, s rotor slip, ωsIs the angular velocity, psi, of the stator magnetic fielddr、ψqrRespectively are d and q components of a rotor flux linkage, and p is a differential operator d/dt;
in one preferred embodiment, the second stator-rotor flux linkage equation includes a second stator flux linkage equation and a second rotor flux linkage equation, the second stator-rotor voltage equation includes a second stator voltage equation and a second rotor voltage equation, and the step S12 specifically includes:
after the first stator flux linkage equation is subjected to differential processing, a second stator flux linkage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000111
Figure GDA0003170679050000112
after the first rotor flux linkage equation is subjected to differential processing, a second rotor flux linkage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000113
Figure GDA0003170679050000114
after the first stator voltage equation is subjected to differential processing, a second stator voltage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000115
Figure GDA0003170679050000116
after the first rotor voltage equation is subjected to differential processing, a second rotor voltage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure GDA0003170679050000117
Figure GDA0003170679050000118
in one preferred embodiment, step S13 specifically includes:
calculating to obtain a slow state variable according to the following formula;
Figure GDA0003170679050000119
Figure GDA0003170679050000121
Figure GDA0003170679050000123
Figure GDA0003170679050000125
Figure GDA0003170679050000127
Figure GDA0003170679050000129
wherein the content of the first and second substances,
Figure GDA00031706790500001211
t (t) is a rotational coordinate transformation.
In one preferred embodiment, the third stator-rotor flux linkage equation includes a third stator-rotor flux linkage equation and a third rotor-rotor flux linkage equation, the third stator-rotor voltage equation includes a third stator-stator voltage equation and a third rotor voltage equation, and the step S14 specifically includes:
first, in step S13:
Figure GDA00031706790500001212
Figure GDA00031706790500001213
Figure GDA00031706790500001214
Figure GDA0003170679050000131
wherein the content of the first and second substances,
Figure GDA0003170679050000132
Figure GDA0003170679050000133
r (t) is the inverse of the rotational coordinate transformation T (t).
Respectively converting the first stator flux linkage equation and the second stator flux linkage equation into equations expressed by slow state variables to obtain a third stator flux linkage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000134
Figure GDA0003170679050000135
and respectively converting the first rotor flux linkage equation and the second rotor flux linkage equation into equations expressed by slow state variables to obtain a third rotor flux linkage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000136
Figure GDA0003170679050000137
respectively converting the first stator voltage equation and the second stator voltage equation into equations expressed by slow state variables to obtain a third stator voltage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000138
Figure GDA0003170679050000141
and respectively converting the first rotor voltage equation and the second rotor voltage equation into equations expressed by slow state variables to obtain a third rotor voltage equation, wherein the calculation formula is as follows:
Figure GDA0003170679050000142
Figure GDA0003170679050000143
in one preferred embodiment, step S15 specifically includes:
for the third stator-rotor voltage equation obtained in step S14, an implicit trapezoidal integration method is used to solve, and if the step length is h, then there are
Figure GDA0003170679050000144
Figure GDA0003170679050000145
Figure GDA0003170679050000146
Figure GDA0003170679050000147
Substituting the equations in the step S13 and the step S14 into the formula, and obtaining the Norton equivalent circuit to be processed through mathematical sorting and transformation, wherein the specific calculation process is as follows:
Figure GDA0003170679050000151
Figure GDA0003170679050000161
Figure GDA0003170679050000171
Figure GDA0003170679050000181
in one preferred embodiment, step S16 specifically includes: and (3) inversely transforming the dq coordinate system according to Park to obtain the Norton equivalent circuit which can be directly used for asynchronous motor simulation in the three-phase coordinate system.
As can be seen from the above, the embodiment of the present invention provides a time domain transform-based asynchronous motor simulation modeling method and apparatus, the method including: obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor; after differential processing is carried out on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation, a second stator and rotor flux linkage equation and a second stator and rotor voltage equation are obtained by combining the rotation angular velocity; converting all stator and rotor magnetic chain equations and all stator and rotor voltage equations through a conversion matrix to obtain a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation; processing a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation by an implicit trapezoidal integration method and a park inverse transformation method to obtain a Norton equivalent circuit for asynchronous motor simulation; compared with the existing electromagnetic transient simulation based on time domain transformation, the method can be used for simulating the asynchronous motor, and the state variables in the first stator rotor flux linkage equation, the first stator rotor voltage equation, the second stator rotor flux linkage equation and the second stator rotor voltage equation are converted into slow state variables through the conversion matrix, so that the method can adopt larger calculation step length, the calculation step length used by an electromagnetic transient simulation program can be increased on the premise of not losing the simulation precision of the asynchronous motor, and the simulation efficiency is improved.
The embodiment of the invention also provides an asynchronous motor simulation modeling device based on time domain transformation, which can realize all the processes of the asynchronous motor simulation modeling method based on time domain transformation described in any embodiment, and the functions and the realized technical effects of each unit and module in the device are respectively the same as those of the asynchronous motor simulation modeling method based on time domain transformation described in the embodiment, and are not repeated herein.
Referring to fig. 2, it is a block diagram of a preferred embodiment of an asynchronous motor simulation modeling apparatus based on time domain transformation according to the present invention, and the apparatus includes:
the first model building module 11 is used for obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor;
the second model building module 12 is configured to obtain a second stator-rotor flux linkage equation and a second stator-rotor voltage equation by combining a rotation angular velocity of the asynchronous motor after performing differential processing on the first stator-rotor flux linkage equation and the first stator-rotor voltage equation respectively;
the transformation processing module 13 is configured to transform state variables in the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation by using a transformation matrix to obtain a slow state variable;
the third model building module 14 is configured to convert the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation into an equation expressed by a slow state variable, and obtain a third stator-rotor flux linkage equation and a third stator-rotor voltage equation;
the simulation model building module 15 is used for solving a third stator and rotor magnetic chain equation and a third stator and rotor voltage equation based on an implicit trapezoidal integral method to obtain a Norton equivalent circuit to be processed;
and the simulation model optimization module 16 is configured to perform transformation processing on the norton equivalent circuit to be processed based on an inverse park transformation method to obtain the norton equivalent circuit for asynchronous motor simulation.
The more detailed working principle and flow of the present embodiment may be, but are not limited to, the above-mentioned asynchronous motor simulation modeling method based on time domain transformation.
Therefore, the invention can simulate the asynchronous motor, and the invention converts the state variables in the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation into the slow state variables through the conversion matrix, so that the invention can adopt larger calculation step length, thereby increasing the calculation step length used by the electromagnetic transient simulation program and improving the simulation efficiency on the premise of not losing the simulation precision of the asynchronous motor.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (6)

1. A time domain transformation-based asynchronous motor simulation modeling method is characterized by comprising the following steps:
obtaining a first stator flux linkage equation and a first stator voltage equation according to stator and rotor winding information of the asynchronous motor; the first stator flux linkage equation comprises a first stator flux linkage equation and a first rotor flux linkage equation; the first stator voltage equation comprises a first stator voltage equation and a first rotor voltage equation;
after differential processing is respectively carried out on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation, a second stator and rotor flux linkage equation and a second stator and rotor voltage equation are obtained by combining the rotation angular velocity of the asynchronous motor;
converting state variables in the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation through a conversion matrix to obtain a slow state variable; wherein the conversion matrix is
Figure FDA0003162261560000011
ωbIs the angular velocity of rotation of the asynchronous motor;
converting the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation into equations expressed by the slow state variables to obtain a third stator and rotor flux linkage equation and a third stator and rotor voltage equation;
solving the third stator and rotor magnetic chain equation and the third stator and rotor voltage equation based on an implicit trapezoidal integral method to obtain a Norton equivalent circuit to be processed;
performing transformation processing on the Norton equivalent circuit to be processed based on a park inverse transformation method to obtain a Norton equivalent circuit for asynchronous motor simulation;
the method for obtaining the first stator and rotor flux linkage equation and the first stator and rotor voltage equation according to the stator and rotor winding information of the asynchronous motor specifically comprises the following steps:
and calculating to obtain the first stator flux linkage equation according to the following formula:
ψds＝Lssids+Lmidr；
ψqs＝Lssiqs+Lmiqr；
wherein psids、ψqsD, q components of the stator flux linkage, L, respectivelyssFor leakage inductance of the stator winding, LmIs mutual inductance between stator winding and rotor winding, ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
and calculating to obtain the first rotor flux linkage equation according to the following formula:
ψdr＝Lrridr+Lmids；
ψqr＝Lrriqr+Lmiqs；
wherein psidr、ψqrD, q components of the rotor flux linkage, LrrFor leakage inductance of the rotor winding, LmIs mutual inductance between stator winding and rotor winding, ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
calculating to obtain the first stator voltage equation according to the following formula:
vds＝Rsids-ωsψqs+pψds；
vqs＝Rsiqs+ωsψds+pψqs；
wherein R issIs the resistance of the stator winding, ids、iqsD, q components, omega, of the current of the stator winding, respectivelysIs the angular velocity, psi, of the stator magnetic fieldds、ψqsRespectively representing the d and q components of the stator flux linkage, and p representing a differential operator d/dt;
calculating the first rotor voltage equation according to the following formula:
vdr＝Rridr-sωsψqr+pψdr；
vqr＝Rriqr+sωsψdr+pψqr；
wherein R isrIs the resistance of the rotor winding, idr、iqrD, q components of the rotor winding current, s rotor slip, ωsIs the angular velocity, psi, of the stator magnetic fielddr、ψqrThe d and q components of the rotor flux linkage, respectively, and p is the differential operator d/dt.
2. The time-domain transform-based asynchronous motor simulation modeling method of claim 1, wherein the stator-rotor winding information comprises leakage inductance of a stator winding, current of a stator winding, resistance of a stator winding, angular velocity of a stator magnetic field, leakage inductance of a rotor winding, current of a rotor winding, resistance of a rotor winding, mutual inductance between a stator winding and a rotor winding, rotor slip; then, the obtaining a first stator flux linkage equation and a first stator voltage equation according to the stator and rotor winding information of the asynchronous motor specifically includes:
obtaining the first stator flux linkage equation according to leakage inductance of the stator winding, current of the rotor winding and mutual inductance between the stator winding and the rotor winding;
obtaining the first rotor flux linkage equation according to leakage inductance of the rotor winding, current of the stator winding and mutual inductance between the stator winding and the rotor winding;
obtaining the first stator voltage equation according to the resistance of the stator winding, the angular velocity of the stator magnetic field, the current of the stator winding and the first stator flux linkage equation;
and obtaining the first rotor voltage equation according to the resistance of the rotor winding, the angular speed of the stator magnetic field, the current of the rotor winding and the first rotor flux linkage equation.
3. The time-domain transform-based asynchronous motor simulation modeling method according to claim 2, wherein the second stator-rotor flux linkage equation comprises a second stator-flux linkage equation and a second rotor-flux linkage equation, and the second stator-rotor voltage equation comprises a second stator voltage equation and a second rotor voltage equation, then, after the differential processing is performed on the first stator-rotor flux linkage equation and the first rotor voltage equation respectively, and the rotation angular velocity of the asynchronous motor is combined, the second stator-rotor flux linkage equation and the second rotor voltage equation are obtained, and specifically:
after the first stator flux linkage equation is subjected to differential processing, the second stator flux linkage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure FDA0003162261560000031
Figure FDA0003162261560000032
after the first rotor flux linkage equation is subjected to differential processing, the second rotor flux linkage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure FDA0003162261560000033
Figure FDA0003162261560000041
after the first stator voltage equation is subjected to differential processing, the second stator voltage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure FDA0003162261560000042
Figure FDA0003162261560000043
after the first rotor voltage equation is subjected to differential processing, the second rotor voltage equation is obtained by combining the rotation angular velocity of the asynchronous motor, and the specific calculation formula is as follows:
Figure FDA0003162261560000044
Figure FDA0003162261560000045
4. the time-domain transformation based asynchronous motor simulation modeling method according to claim 3, wherein the state variables in the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation and the second stator-rotor voltage equation are transformed by a transformation matrix to obtain a slow state variable, specifically:
calculating to obtain a slow state variable according to the following formula;
Figure FDA0003162261560000046
Figure FDA0003162261560000047
Figure FDA0003162261560000048
Figure FDA0003162261560000049
Figure FDA0003162261560000051
Figure FDA0003162261560000052
wherein the content of the first and second substances,
Figure FDA0003162261560000053
t (t) is a rotational coordinate transformation.
5. The time-domain transform-based asynchronous motor simulation modeling method of claim 4, wherein said third stator-rotor flux linkage equation comprises a third stator flux linkage equation and a third rotor flux linkage equation, and said third stator-rotor voltage equation comprises a third stator voltage equation and a third rotor voltage equation; then, the converting the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation into an equation expressed by the slow state variable to obtain a third stator-rotor flux linkage equation and a third stator-rotor voltage equation specifically includes:
respectively converting the first stator flux linkage equation and the second stator flux linkage equation into equations expressed by the slow state variables to obtain a third stator flux linkage equation, wherein the calculation formula is as follows:
Figure FDA0003162261560000054
Figure FDA0003162261560000055
respectively converting the first rotor flux linkage equation and the second rotor flux linkage equation into equations expressed by the slow state variables to obtain a third rotor flux linkage equation, wherein the calculation formula is as follows:
Figure FDA0003162261560000056
Figure FDA0003162261560000061
respectively converting the first stator voltage equation and the second stator voltage equation into equations expressed by the slow state variables to obtain a third stator voltage equation, wherein the calculation formula is as follows:
Figure FDA0003162261560000062
Figure FDA0003162261560000063
respectively converting the first rotor voltage equation and the second rotor voltage equation into equations expressed by the slow state variables to obtain a third rotor voltage equation, wherein the calculation formula is as follows:
Figure FDA0003162261560000064
Figure FDA0003162261560000065
wherein the content of the first and second substances,
Figure FDA0003162261560000066
r (t) is the inverse of the rotational coordinate transformation T (t).
6. An asynchronous motor simulation modeling device based on time domain transformation is characterized by comprising:
the first model building module is used for obtaining a first stator and rotor flux linkage equation and a first stator and rotor voltage equation according to stator and rotor winding information of the asynchronous motor; the first stator flux linkage equation comprises a first stator flux linkage equation and a first rotor flux linkage equation; the first stator voltage equation comprises a first stator voltage equation and a first rotor voltage equation;
the second model building module is used for respectively carrying out differential processing on the first stator and rotor flux linkage equation and the first stator and rotor voltage equation and then combining the rotation angular velocity of the asynchronous motor to obtain a second stator and rotor flux linkage equation and a second stator and rotor voltage equation;
the transformation processing module is used for transforming state variables in the first stator and rotor flux linkage equation, the first stator and rotor voltage equation, the second stator and rotor flux linkage equation and the second stator and rotor voltage equation through a transformation matrix to obtain a slow state variable; wherein the conversion matrix is
Figure FDA0003162261560000071
ωbIs the angular velocity of rotation of the asynchronous motor;
a third model building module, configured to convert the first stator-rotor flux linkage equation, the first stator-rotor voltage equation, the second stator-rotor flux linkage equation, and the second stator-rotor voltage equation into equations expressed by the slow state variables, and obtain a third stator-rotor flux linkage equation and a third stator-rotor voltage equation;
the simulation model building module is used for solving the third stator and rotor magnetic chain equation and the third stator and rotor voltage equation based on an implicit trapezoidal integral method to obtain a Norton equivalent circuit to be processed;
the simulation model optimization module is used for carrying out transformation processing on the Noton equivalent circuit to be processed based on a park inverse transformation method to obtain the Noton equivalent circuit for asynchronous motor simulation;
the first model building module is further configured to:
and calculating to obtain the first stator flux linkage equation according to the following formula:
ψds＝Lssids+Lmidr；
ψqs＝Lssiqs+Lmiqr；
wherein psids、ψqsD, q components of the stator flux linkage, L, respectivelyssFor leakage inductance of the stator winding, LmIs mutual inductance between stator winding and rotor winding, ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
and calculating to obtain the first rotor flux linkage equation according to the following formula:
ψdr＝Lrridr+Lmids；
ψqr＝Lrriqr+Lmiqs；
wherein psidr、ψqrD, q components of the rotor flux linkage, LrrFor leakage inductance of the rotor winding, LmIs mutual inductance between stator winding and rotor winding, ids、iqsD, q components, i, of the current of the stator winding, respectivelydr、iqrD and q components of the current of the rotor winding, respectively;
calculating to obtain the first stator voltage equation according to the following formula:
vds＝Rsids-ωsψqs+pψds；
vqs＝Rsiqs+ωsψds+pψqs；
wherein R issIs the resistance of the stator winding, ids、iqsD, q components, omega, of the current of the stator winding, respectivelysIs the angular velocity, psi, of the stator magnetic fieldds、ψqsRespectively representing the d and q components of the stator flux linkage, and p representing a differential operator d/dt;
calculating the first rotor voltage equation according to the following formula:
vdr＝Rridr-sωsψqr+pψdr；
vqr＝Rriqr+sωsψdr+pψqr；
wherein R isrIs the resistance of the rotor winding, idr、iqrD, q components of the rotor winding current, s rotor slip, ωsIs the angular velocity, psi, of the stator magnetic fielddr、ψqrThe d and q components of the rotor flux linkage, respectively, and p is the differential operator d/dt.
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