CN112072980A - Rotating speed estimation method for double-feeder machine position-sensorless - Google Patents

Rotating speed estimation method for double-feeder machine position-sensorless Download PDF

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CN112072980A
CN112072980A CN202010738561.7A CN202010738561A CN112072980A CN 112072980 A CN112072980 A CN 112072980A CN 202010738561 A CN202010738561 A CN 202010738561A CN 112072980 A CN112072980 A CN 112072980A
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rotor
stator
value
current
voltage
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张永昌
张晟铵
焦健
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North China University of Technology
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North China University of Technology
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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
    • H02P21/18—Estimation of position or speed

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Abstract

One or more embodiments of the present disclosure provide a dual-feed inorganic position sensor rotation speed estimation method, including: calculating a rotor current estimated value according to the rotor rotating speed estimated value and the detected stator current and stator voltage; calculating a rotor current error value according to the detected rotor current value and the rotor current estimated value; inputting the rotor current error value into a PI controller, and calculating to obtain the rotor rotating speed estimated value; and repeating the process, and obtaining the rotor rotation speed estimated value through feedback calculation. The method of the embodiment can accurately estimate the rotor speed, and the calculation is simple.

Description

Rotating speed estimation method for double-feeder machine position-sensorless
Technical Field
One or more embodiments of the present disclosure relate to the field of motor control technologies, and in particular, to a method for estimating a rotation speed of a dual-feed inorganic position sensor.
Background
The double-fed motor needs accurate rotating speed and position information in the operation process, a speed sensor and a position sensor are installed in a machine set, the rotating speed and the position information of a rotor of the motor can be obtained, but the position sensor is used, so that the cost is high, the maintenance is difficult, and the reliability is poor. The rotor speed and the rotor position can be calculated and estimated through the voltage and the current of the motor, and then the control without the position sensor is realized.
Disclosure of Invention
In view of the above, one or more embodiments of the present disclosure are directed to a method for estimating a rotation speed of a dual-fed inorganic position sensorless, which is capable of accurately estimating a rotation speed of a rotor and is simple in calculation.
In view of the above, one or more embodiments of the present specification provide a dual-feed inorganic position sensor rotation speed estimation method, including:
calculating a rotor current estimated value according to the rotor rotating speed estimated value and the detected stator current and stator voltage;
calculating a rotor current error value according to the detected rotor current value and the rotor current estimated value;
inputting the rotor current error value into a PI controller, and calculating to obtain the rotor rotating speed estimated value;
and repeating the process, and obtaining the rotor rotation speed estimated value through feedback calculation.
Optionally, calculating the rotor current estimate
Figure BDA0002605853250000011
The formula of (1) is:
Figure BDA0002605853250000012
wherein the content of the first and second substances,
Figure BDA0002605853250000021
as said rotor speed estimate, LsIs stator flux linkage, LmIs mutual inductance of isαβIs stator current psi in a two-phase stationary coordinate systemsαβThe calculation formula is as follows for the stator flux linkage under the two-phase static coordinate system:
ψsαβ＝∫(usαβ-Rsisαβ)dt (2)
wherein u issαβIs the stator voltage in a two-phase stationary frame, RsIs the stator resistance.
Optionally, the calculation formula of the rotor current error value ξ is as follows:
Figure BDA0002605853250000022
wherein the content of the first and second substances,
Figure BDA0002605853250000023
respectively the real part and imaginary part, i, of the rotor current estimaterα，irβAnd respectively converting the detected rotor current value into a real part and an imaginary part of the rotor current value under a rotor coordinate system.
Optionally, the formula for calculating the estimated value of the rotor speed is as follows:
Figure BDA0002605853250000024
wherein k1 and k2 are respectively a proportional coefficient and an integral coefficient of the PI controller.
Optionally, the method further includes:
calculating a target rotor voltage value according to the detected stator voltage, stator current, rotor current, the rotor speed estimated value and a preset target complex power;
and adjusting the motor operation parameters according to the target rotor voltage value to enable the stator side complex power to reach the target complex power.
Optionally, calculating the target rotor voltage value
Figure BDA0002605853250000025
The formula of (1) is:
Figure BDA0002605853250000026
wherein the content of the first and second substances,
Figure BDA0002605853250000031
is the rotor voltage at time k +1, TSCIs a time period, Sk+1Stator-side complex power value at time k +1, SrefFor the purpose of the target complex power,
Figure BDA0002605853250000032
is the stator voltage in the rotor coordinate system at the moment k +1,
Figure BDA0002605853250000033
is the stator flux linkage in the rotor coordinate system at the moment k +1,
Figure BDA0002605853250000034
the rotor current in the rotor coordinate system at the moment k +1,
Figure BDA0002605853250000035
stator current in rotor coordinate system at time k +1, LmIs mutual inductance, LrIs rotor inductance, RrIs rotor resistance, RsAs the resistance of the stator,
Figure BDA0002605853250000036
is the rotor speed estimate at time k +1,
Figure BDA0002605853250000037
the slip speed at the moment k +1 is calculated according to the formula:
Figure BDA0002605853250000038
wherein, ω is1The stator rotation speed;
Figure BDA00026058532500000310
optionally, adjusting an operation parameter of the motor according to the target rotor voltage value, so that the stator-side complex power reaches the target complex power, including:
determining a three-phase modulation wave according to the target rotor voltage value;
according to the three-phase modulation wave, a carrier PWM (pulse-width modulation) method for injecting zero-sequence components is adopted to obtain a corresponding three-phase duty ratio;
and constructing a driving signal for driving a switching tube of the converter according to the three-phase duty ratio, and driving a motor to operate according to the driving signal to obtain the target rotor voltage value, so that the stator side complex power reaches the target complex power.
Optionally, determining a three-phase modulation wave u according to the target rotor voltage valuea，ub，ucThe formula is as follows:
Figure BDA0002605853250000039
wherein u isdcIs the converter dc bus voltage.
Optionally, according to said three-phase modulated wave ua，ub，ucObtaining corresponding three-phase duty ratio d by adopting a carrier PWM (pulse-Width modulation) method for injecting zero-sequence componentsa，db，dcComprises the following steps:
Figure BDA0002605853250000041
wherein u iszFor the injected zero sequence component, the calculation method is as follows:
uz＝-0.5*(max(ua，ub，uc)+min(ua，ub，uc)) (27)
optionally, the method further includes:
calculating to obtain a rotor angle estimated value according to the rotor rotation speed estimated value;
and according to the rotor angle estimation value, converting the two-phase static coordinate into a rotor coordinate, and updating each motor vector under the rotor coordinate.
As can be seen from the above description, in the method for estimating the rotation speed of the doubly-fed motor without the position sensor, according to the estimated value of the rotation speed of the rotor, the detected stator current and stator voltage, the estimated value of the rotor current is calculated, according to the detected value of the rotor current and the estimated value of the rotor current, the error value of the rotor current is calculated, and the error value of the rotor current is input to the PI controller, so that the estimated value of the rotation speed of the rotor is obtained through calculation; and repeating the process, and obtaining an accurate rotor rotating speed estimation value through feedback calculation. The method of the embodiment can accurately estimate the rotor speed, and the calculation is simple.
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In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
FIG. 1 is a schematic flow chart of a method according to one or more embodiments of the present disclosure;
FIG. 2 is a flow diagram of a power control method according to one or more embodiments of the disclosure;
FIG. 3 is a schematic diagram of the control concept of one or more embodiments of the present disclosure;
fig. 4 is a schematic diagram of an experimental result of a steady-state operation state of the doubly-fed machine of the present specification when an actual value of a rotor rotation speed is 700r/min, a signal sampling rate is 10kHz, and predetermined target complex power is-1000W (stator-side active power) and 0Var (stator-side reactive power);
FIG. 5 is a schematic diagram of experimental results of the estimated rotor speed value and the actual detected rotor speed value, the rotor rotational angle and the actual detected rotor rotational angle value under the operating condition shown in FIG. 4;
FIG. 6 is a schematic representation of the THD of the stator current for the operating condition shown in FIG. 4;
FIG. 7 is a schematic THD plot of rotor current for the operating condition shown in FIG. 4;
FIG. 8 is a schematic diagram of an experimental result of a dynamic operation state when an actual value of a rotor rotation speed of a doubly-fed motor in the specification is changed from 900r/min to 1100r/min, a signal sampling rate is 10kHz, and predetermined target complex power is-1000W (stator-side active power) and 0Var (stator-side reactive power);
FIG. 9 is a schematic diagram illustrating experimental results of an estimated value of a rotor rotational speed and an actual value of a detected rotor rotational speed, a rotor rotational angle and an actual value of a detected rotor rotational angle under the operating conditions shown in FIG. 8;
FIG. 10 is a schematic diagram showing the experimental results of the dynamic operating state when the active power of the predetermined stator side is changed from 0W to-1000W, the signal sampling rate is 10kHz, the reactive power of the predetermined stator side is 0Var, and the rotor speed is 700 r/min;
fig. 11 is a schematic diagram of experimental results of the estimated value of the rotor rotational speed and the actual value of the detected rotor rotational speed, the rotor rotational angle and the actual value of the detected rotor rotational angle under the operating condition shown in fig. 10.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As shown in fig. 1, one or more embodiments of the present disclosure provide a dual-feed inorganic position sensor rotation speed estimation method, including:
s101: calculating a rotor current estimated value according to the rotor rotating speed estimated value and the detected stator current and stator voltage;
in this embodiment, the mathematical model of the doubly-fed machine is:
Figure BDA0002605853250000061
Figure BDA0002605853250000062
ψs＝Lsis+Lmir
ψr＝Lrir+Lmis (1)
wherein u iss，ur，is，ir，ψs，ψrRespectively stator voltage, rotor voltage, stator current, rotor current, stator flux linkage and rotor flux linkage under a rotor coordinate system; rs，Rr，Ls，LrAnd LmStator resistance, rotor resistance, stator inductance, rotor inductance and mutual inductance, omega, respectivelyrIs the rotor speed.
Converting the detected stator current and stator voltage under the three-phase coordinate system into the stator current and stator voltage under the two-phase static coordinate system; then, a flux linkage observer is used for obtaining a stator flux linkage psi under the two-phase static coordinate system according to the stator current and the stator voltage under the two-phase static coordinate systemsαβThe calculation formula is as follows:
ψsαβ＝∫(usαβ-Rsisαβ)dt (2)
wherein isαβ、usaβThe stator current and the stator voltage under the two-phase static coordinate system are shown.
According to the stator current in a two-phase static coordinate system and the rotor current in a rotor coordinate system
Figure BDA0002605853250000063
And calculating to obtain the stator flux linkage under the two-phase static coordinate, wherein the formula is as follows:
Figure BDA0002605853250000064
the rotor current, represented by the stator flux linkage and the stator current, is obtained according to equation (3):
Figure BDA0002605853250000065
then, the estimated value of the rotor current in the rotor coordinate system is calculated
Figure BDA0002605853250000066
The formula of (1) is:
Figure BDA0002605853250000067
wherein the content of the first and second substances,
Figure BDA0002605853250000071
is an estimate of the rotor speed.
In the embodiment, the detected stator current and stator voltage are converted into the stator current and the stator voltage under a two-phase static coordinate system, and a stator flux linkage is obtained by using a formula (2); and then, calculating the rotor current estimated value by using a formula (5) according to the calculated stator flux linkage, the stator current under the two-phase static coordinate system and the rotor rotating speed estimated value.
S102: calculating a rotor current error value according to the detected rotor current value and the rotor current estimated value;
in this embodiment, a rotor current error value ξ is calculated according to a detected rotor current value and a rotor current estimated value obtained by calculation according to equation (5), and the calculation equation is:
ir＝irα+jirβ (6)
Figure BDA0002605853250000072
Figure BDA0002605853250000073
wherein, the rotor current estimation value in the formula (7)
Figure BDA0002605853250000074
And rotor current estimate in equation (5)
Figure BDA0002605853250000075
Are rotor current estimates in a rotor coordinate system.
Figure BDA0002605853250000076
Respectively the real and imaginary parts, i, of the rotor current estimaterα，irβThe detected rotor current value in the three-phase coordinate system is converted into a real part and an imaginary part of the rotor current value in the rotor coordinate system.
S103: inputting the rotor current error value into a PI controller, and calculating to obtain a rotor rotating speed estimated value; and feeding back the calculated rotor speed estimated value to step S101, and calculating to obtain an accurate rotor speed estimated value by circularly executing steps S101-103.
In this embodiment, the rotor speed estimation value is calculated according to the rotor current error value, and the formula is as follows:
Figure BDA0002605853250000077
wherein k1 and k2 are respectively a proportional coefficient and an integral coefficient of the PI controller.
According to the double-feed motor position-sensorless rotating speed estimation method, a rotor current estimation value is calculated according to detected stator current, stator voltage and a rotor rotating speed estimation value, a rotor current error value is calculated according to a detected rotor current value and the rotor current estimation value, the rotor current error value is input into a PI controller, the rotor rotating speed estimation value is obtained through calculation, the process is executed circularly according to the rotor rotating speed estimation value obtained through calculation, and a relatively accurate rotor rotating speed estimation value can be obtained through a feedback calculation process. Compared with the method for directly detecting and acquiring the rotating speed value of the rotor through the position sensor, when the rotating speed of the rotor changes, the method of the embodiment can obtain a stable dynamic response effect, the stability and the reliability of the system are improved, and the calculation process is simpler.
In some embodiments, after the rotor speed estimation value is calculated, the rotor speed estimation value is integrated, and the rotor angle estimation value is calculated
Figure BDA0002605853250000081
The calculation method comprises the following steps:
Figure BDA0002605853250000082
and then, converting the two-phase static coordinate into a rotor coordinate by using the feedback rotor angle estimation value, and updating each motor vector under the rotor coordinate.
Specifically, referring to fig. 3, a motor vector (including rotor voltage, rotor current, stator voltage, stator current, etc.) obtained from three-phase sampling is converted into a motor vector under a two-phase stationary coordinate through three-phase to two-phase coordinate conversion, where the conversion formula is:
usαβ＝C3/2·usabc (11)
isαβ＝C3/2·isabc (12)
Figure BDA0002605853250000083
wherein, C3/2For transforming the matrix, the subscript "abc" indicates that the variable is in a three-phase stationary reference frame, usabc、isabcStator voltage and stator current u in a three-phase stationary reference frame, respectivelysαβ、isαβThe stator voltage and the stator current under the two-phase static reference frame are respectively.
According to the angle relation between the coordinate systems, a coordinate transformation formula of transforming the two-phase stationary coordinate system to the rotor coordinate system can be obtained:
Figure BDA0002605853250000084
wherein x isαβIs a variable in a two-phase stationary coordinate system,
Figure BDA0002605853250000085
as a variable in the rotor coordinate system, θrIs the rotor angle.
According to the formula (14), the stator voltage u in the two-phase stationary coordinate system is calculatedsαβStator current isαβAnd stator flux linkage psisαβConversion to stator voltage in rotor coordinate system
Figure BDA0002605853250000086
Stator current
Figure BDA0002605853250000087
And stator flux linkage
Figure BDA0002605853250000091
Figure BDA0002605853250000092
Figure BDA0002605853250000093
Figure BDA0002605853250000094
Rotor angle estimation using feedback
Figure BDA0002605853250000095
And updating to obtain each motor vector under the rotor coordinate.
As shown in fig. 2, on the basis of obtaining an accurate rotor speed estimation value, the present embodiment may implement power control of a doubly-fed motor without a position sensor, where the method includes:
s201: calculating a target rotor voltage value according to the detected stator voltage, stator current, rotor current, a rotor speed estimated value and a preset target complex power;
in this embodiment, a target rotor voltage value is calculated and determined according to the detected stator voltage, stator current, rotor current, and the estimated value of the rotor speed and the preset target complex power
Figure BDA0002605853250000096
The calculation formula is as follows:
Figure BDA0002605853250000097
wherein, TscIs a time period, Sk+1Stator-side complex power value at time k +1, SrefIn order to target the complex power of the target,
Figure BDA0002605853250000098
is the stator voltage in the rotor coordinate system at the moment k +1,
Figure BDA0002605853250000099
is the stator flux linkage in the rotor coordinate system at the moment k +1,
Figure BDA00026058532500000910
the rotor current in the rotor coordinate system at the moment k +1,
Figure BDA00026058532500000911
is the stator current in the rotor coordinate system at the moment k +1,
Figure BDA00026058532500000912
is the rotor speed estimate at time k +1,
Figure BDA00026058532500000913
the slip speed at the moment k +1 is calculated by the following formula:
Figure BDA00026058532500000914
wherein, ω is1The number of revolutions of the stator is, then,
Figure BDA0002605853250000101
according to the mathematical model shown in equation (1), the stator current and the rotor current can be represented by the stator flux linkage and the rotor flux linkage, respectively:
Figure BDA0002605853250000102
wherein the content of the first and second substances,
Figure BDA0002605853250000103
target rotor voltage value shown in equation (16)
Figure BDA0002605853250000104
The derivation process of (1) is as follows:
the stator side complex power S of the doubly-fed motor is as follows:
Figure BDA0002605853250000105
wherein, represents taking conjugation, Ps，QsThe stator side active power and the stator side reactive power are respectively shown.
The derivative of the stator side complex power S with the time t shown in the formula (20) is obtained:
Figure BDA0002605853250000106
combining the formulas (1) and (20), the following results are obtained:
Figure BDA0002605853250000107
at [ k +1, k +2 ]]In a time interval of time TscComplex power value at k +1 time is Sk+1The complex power value at the time k +2 is Sk+2Discretizing the derivative of the complex power at the stator side by using a first-order Euler discretization method to obtain:
Figure BDA0002605853250000111
to make the stator side complex power actual value and the target complex power S at the next timerefEquality, the complex power value S at the time k +2k+2Value is SrefObtaining:
Figure BDA0002605853250000112
solving the formula (24) to obtain the target rotor voltage value shown in the formula (16)
Figure BDA0002605853250000113
And (4) calculating a formula.
S202: and adjusting the motor operation parameters according to the target rotor voltage value to enable the complex power at the stator side to reach the target complex power.
In this embodiment, a three-phase modulation wave is determined according to a target rotor voltage value, and the formula is as follows:
Figure BDA0002605853250000114
wherein u isdcIs the converter dc bus voltage.
Figure BDA0002605853250000115
The rotor voltage at the moment k +1 in the rotor coordinate system is the target rotor voltage value.
Obtaining corresponding three-phase duty ratio d by adopting a carrier PWM (pulse-width modulation) method for injecting zero-sequence componentsa，db，dc：
da＝0.5(ua+uz+1)
db＝0.5(ub+uz+1) (26)
dc＝0.5(uc+uz+1)
Wherein u iszFor the injected zero sequence component, the calculation method is as follows:
uz＝-0.5*(max(ua，ub，uc)+min(ua，ub，uc)) (27)
calculating to obtain the three-phase duty ratio da，db，dcThereafter, by the three-phase duty cycle da，db，dcConstructing a driving signal for driving a switching tube of the converter, and obtaining a target rotor voltage value by driving a motor to operate
Figure BDA0002605853250000121
Thereby leading the complex power at the stator side to reach the target complex power.
In this embodiment, a target rotor voltage value is obtained through calculation according to detected stator voltage, stator current, rotor current, an accurate rotor rotation speed estimation value obtained through calculation and a preset target complex power, then, a driving signal for driving a converter switching tube is determined according to the target rotor voltage value, and a motor operation parameter is adjusted through the driving signal, so that the stator-side complex power of the doubly-fed motor reaches the target complex power, and the purpose of controlling the power to reach the target power through the rotor rotation speed estimation value is achieved.
As shown in fig. 3, the rotation speed estimation principle of the doubly-fed motor position sensorless doubly-fed motor of the embodiment is to detect a rotor current i in a three-phase coordinate systemrabcStator current isabcStator voltage usabcFor rotor current irabcStator current isabcStator voltage usabcCarrying out coordinate transformation from three phases to two phases to obtain rotor current i under two-phase static coordinatesrαβStator current isαβStator voltage usαβApplying the rotor current irαβStator current isαβStator voltage usαβConversion to rotor current in rotor coordinate system
Figure BDA0002605853250000122
Stator current
Figure BDA0002605853250000123
Stator voltage
Figure BDA0002605853250000124
And then, according to the stator current and the stator voltage under the rotor coordinate, the MRAS position estimator is utilized to execute the rotating speed estimation method of the embodiment, so as to obtain an accurate rotor rotating speed estimation value, and on the basis, an accurate rotor angle estimation value is obtained and is used for updating each motor vector under a rotor coordinate system.
Based on the accurate rotor speed estimation value, the stator current is detected
Figure BDA0002605853250000125
Stator voltage
Figure BDA0002605853250000126
Rotor current
Figure BDA0002605853250000127
And calculating target rotor voltage value according to preset target complex power and rotor rotation speed estimated value
Figure BDA0002605853250000128
And determining a driving signal for driving a switching tube of the converter according to the target rotor voltage value, and adjusting the motor operation parameters by using the driving signal so that the stator side complex power of the doubly-fed motor reaches the target complex power.
As shown in fig. 5-7, 9 and 11, the error between the estimated value of the rotor speed and the actual value of the rotor speed is Δ ω when the simulation experiment is performed on the speed estimation method of the present embodimentrThe error between the estimated rotor angle value and the actual rotor angle value is delta thetar. According to the experimental result, the estimated value of the rotor rotation speed is very close to the actual value of the rotor rotation speed, the estimated value of the rotor angle is very close to the actual value of the rotor angle, and the error is close to 0, which shows that the method of the embodiment can accurately estimate the rotor rotation speed and the rotor angle in a steady-state operation state or a dynamic operation state. According to the THD experimental results of fig. 6 and 7, the THD of the stator current is 2.20%, and the THD of the rotor current is 2.63%, which indicates that the method of the present embodiment can obtain a good control effect, can ensure stable dynamic performance, and has strong parameter robustness.
As shown in fig. 4, 8, and 10, a simulation experiment is performed on the power control method of this embodiment, and according to the experimental result, no matter in a steady-state operation state or a dynamic operation state, a good power control effect can be obtained according to the method of this embodiment, and the actual value of the complex power at the stator side is very close to the preset target complex power; when power is stepped, the method of the embodiment has high response speed, can realize good dynamic control effect, and has the advantages that when the rotating speed of the rotor is changed, the current of the stator is hardly influenced, and the dynamic response is very stable.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (10)

1. A rotating speed estimation method of a double-feed inorganic position-free sensor is characterized by comprising the following steps:
calculating a rotor current estimated value according to the rotor rotating speed estimated value and the detected stator current and stator voltage;
calculating a rotor current error value according to the detected rotor current value and the rotor current estimated value;
inputting the rotor current error value into a PI controller, and calculating to obtain the rotor rotating speed estimated value;
and repeating the process, and obtaining the rotor rotation speed estimated value through feedback calculation.
2. The method of claim 1,
calculating the rotor current estimate
Figure FDA0002605853240000016
The formula of (1) is:
Figure FDA0002605853240000011
wherein the content of the first and second substances,
Figure FDA0002605853240000012
as said rotor speed estimate, LsIs stator flux linkage, LmIs mutual inductance of isαβIs stator current psi in a two-phase stationary coordinate systemsαβThe calculation formula is as follows for the stator flux linkage under the two-phase static coordinate system:
ψsαβ＝∫(usαβ-Rsisαβ)dt (2)
wherein u issαβIs the stator voltage in a two-phase stationary frame, RsIs the stator resistance.
3. The method of claim 2,
the calculation formula of the rotor current error value xi is as follows:
Figure FDA0002605853240000013
wherein the content of the first and second substances,
Figure FDA0002605853240000014
respectively the real part and imaginary part, i, of the rotor current estimaterα，irβAnd respectively converting the detected rotor current value into a real part and an imaginary part of the rotor current value under a rotor coordinate system.
4. The method of claim 3,
the formula for calculating the rotor speed estimation value is as follows:
Figure FDA0002605853240000015
wherein k1 and k2 are respectively a proportional coefficient and an integral coefficient of the PI controller.
5. The method of claim 1, further comprising:
calculating a target rotor voltage value according to the detected stator voltage, stator current, rotor current, the rotor speed estimated value and a preset target complex power;
and adjusting the motor operation parameters according to the target rotor voltage value to enable the stator side complex power to reach the target complex power.
6. The method of claim 5,
calculating the target rotor voltage value
Figure FDA0002605853240000024
The formula of (1) is:
Figure FDA0002605853240000021
wherein the content of the first and second substances,
Figure FDA0002605853240000025
is the rotor voltage at time k +1, TscIs a time period, Sk+1Stator-side complex power value at time k +1, SrefFor the purpose of the target complex power,
Figure FDA00026058532400000211
is the stator voltage in the rotor coordinate system at the moment k +1,
Figure FDA0002605853240000026
is the stator flux linkage in the rotor coordinate system at the moment k +1,
Figure FDA00026058532400000210
the rotor current in the rotor coordinate system at the moment k +1,
Figure FDA0002605853240000027
stator current in rotor coordinate system at time k +1, LmIs mutual inductance, LrIs rotor inductance, RrIs rotor resistance, RsAs the resistance of the stator,
Figure FDA0002605853240000029
is the rotor speed estimate at time k +1,
Figure FDA0002605853240000028
the slip speed at the moment k +1 is calculated according to the formula:
Figure FDA0002605853240000022
wherein, ω is1The stator rotation speed;
Figure FDA0002605853240000023
7. the method of claim 6, wherein adjusting motor operating parameters based on the target rotor voltage value such that stator side complex power reaches the target complex power comprises:
determining a three-phase modulation wave according to the target rotor voltage value;
according to the three-phase modulation wave, a carrier PWM (pulse-width modulation) method for injecting zero-sequence components is adopted to obtain a corresponding three-phase duty ratio;
and constructing a driving signal for driving a switching tube of the converter according to the three-phase duty ratio, and driving a motor to operate according to the driving signal to obtain the target rotor voltage value, so that the stator side complex power reaches the target complex power.
8. The method of claim 7,
determining a three-phase modulation wave u according to the target rotor voltage valuea，ub，ucThe formula is as follows:
Figure FDA0002605853240000031
wherein u isdcIs the converter dc bus voltage.
9. The method of claim 8,
according to the three-phase modulated wave ua，ub，ucObtaining corresponding three-phase duty ratio d by adopting a carrier PWM (pulse-Width modulation) method for injecting zero-sequence componentsa，db，dcComprises the following steps:
Figure FDA0002605853240000032
wherein u iszFor the injected zero sequence component, the calculation method is as follows:
uz＝-0.5*(max(ua，ub，uc)+min(ua，ub，uc)) (27)
10. the method of claim 1, further comprising:
calculating to obtain a rotor angle estimated value according to the rotor rotation speed estimated value;
and according to the rotor angle estimation value, converting the two-phase static coordinate into a rotor coordinate, and updating each motor vector under the rotor coordinate.
CN202010738561.7A 2020-07-28 2020-07-28 Rotating speed estimation method for double-feeder machine position-sensorless Pending CN112072980A (en)

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