CN112104286A - Method and device for controlling stator flux linkage track of alternating current motor - Google Patents
Method and device for controlling stator flux linkage track of alternating current motor Download PDFInfo
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- CN112104286A CN112104286A CN202010802641.4A CN202010802641A CN112104286A CN 112104286 A CN112104286 A CN 112104286A CN 202010802641 A CN202010802641 A CN 202010802641A CN 112104286 A CN112104286 A CN 112104286A
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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
- H02P21/141—Flux estimation
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
Abstract
One or more embodiments of the present disclosure provide a method and an apparatus for controlling a stator flux linkage path of an ac motor, where the method includes: dividing a fundamental wave period of an output voltage of an inverter of an alternating current motor into a plurality of control periods, wherein the plurality of control periods correspond to a plurality of time steps and are respectively marked as T1,T2,...TNWherein N is a positive natural number; determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step; controlling a trajectory of the stator flux linkage based on an error between the stator flux linkage estimate and the stator flux linkage trajectory reference value. The invention solves the technical problems of higher requirement on the sampling rate, large calculated amount and the like in the related technology for controlling the stator flux linkage track.
Description
Technical Field
One or more embodiments of the present disclosure relate to the field of ac motor control technologies, and in particular, to a method and an apparatus for controlling a stator flux linkage trajectory of an ac motor.
Background
In the related technology, a driving inverter in a high-power and high-speed alternating current motor transmission system mostly works under a low-carrier-ratio operation condition, high dynamic torque response is realized under the low-carrier-ratio operation condition, and meanwhile, excellent steady-state performance is obtained, so that the driving inverter is a technical difficulty in the field of alternating current motor control. Under the constraint condition of low carrier ratio, the traditional space vector pulse width modulation and sine pulse width modulation usually adopt synchronous optimized pulse width modulation due to large harmonic content.
At present, the real-time solution of synchronous optimization pulse width modulation in an embedded processor is still difficult, and in practical application, the off-line calculation optimization switching sequence under the condition of steady-state operation is generally assumed. Therefore, synchronous optimized pulse width modulation has difficulty achieving fast changes in voltage amplitude and voltage phase, making it difficult to adapt to high performance closed loop control systems. In a stator flux linkage track tracking control strategy in the related technology, the fundamental component of the stator flux linkage needs to be estimated, so that the algorithm of a controller is complex; or high dynamic torque response and low harmonic performance are realized by adopting pulse width modulation based on synchronous optimization, but the requirement on the sampling rate is high, and high-performance hardware is needed to implement the algorithm. Under the condition of not adopting synchronous optimization pulse width modulation, the traditional model prediction control is combined with high sampling rate and multi-step length prediction calculation, so that better dynamic and static performances can be realized under the operating condition of low carrier, but the calculation amount of the algorithm is exponentially multiplied along with the increase of the prediction step length, so that the practical engineering application is still difficult in a short period.
In view of the above problems in the related art, no effective solution has been found at present.
Disclosure of Invention
In view of this, one or more embodiments of the present disclosure are directed to a method and an apparatus for controlling a stator flux linkage trajectory of an ac motor, an electronic device, and a storage medium, so as to solve technical problems of high requirement on a sampling rate, large calculation amount, and the like in controlling the stator flux linkage trajectory in the related art.
In view of the above, one or more embodiments of the present specification provide a method for controlling a stator flux linkage trajectory of an ac motor, including: dividing a fundamental wave period of an output voltage of an inverter of an alternating current motor into a plurality of control periods, wherein the plurality of control periods correspond to a plurality of time steps and are respectively marked as T1,T2,...TNWherein N is a positive natural number; determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step; based on the estimated stator flux linkage value and the reference stator flux linkage track valueThe error between controls the trajectory of the stator flux linkage.
Optionally, determining the stator flux linkage track reference value corresponding to the current time step includes: according to electromagnetic torque reference value
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Calculating the phase of the stator flux linkage vector reference
According to said phase
And calculating the stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off line.
Optionally, based on an electromagnetic torque reference value
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Determining the phase of the stator flux linkage vector reference value comprises: based on electromagnetic torque reference values
Stator flux linkage amplitude
And a modulus of the rotor flux linkage estimation vector, calculating a load angle of the stator flux linkage by the following formula
Wherein k isTIs a torque coefficient; calculating a phase of the stator flux linkage vector reference value based on the rotor flux linkage estimation vector and the load angle by the following formula
Optionally, according to said phase
And the step of calculating the stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off line comprises the following steps: based on the phase
Calculating a reference voltage vector of the inverter by the following formula:
wherein, ω iseIs the electrical angular frequency; inquiring the off-line calculated synchronous optimization pulse modulation switching angle theta according to the reference voltage vector; based on the switching angle, calculating the stator flux linkage trajectory reference value by the following formula:
wherein, UdcFor dc bus capacitor voltage, K ═ 1ej2π/3 ej4π/3]For transforming the matrix, Pabc(θ) represents the synchronization optimization pulse sequence calculated off-line.
Optionally, the controlling the track of the stator flux linkage based on the error between the estimated stator flux linkage value and the reference stator flux linkage track value includes: determining the stator flux linkage estimation value and the stator flux linkage track reference valueError between delta psis(ii) a According to the error delta psisDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence according to the original synchronous optimization pulse sequence and the current time step lengthabc(ii) a According to the three-phase duty ratio dabcControlling a switching state of the inverter to control a trajectory of the stator flux linkage.
Optionally, according to said error Δ ψsDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence according to the original synchronous optimization pulse sequence and the current time step lengthabcThe method comprises the following steps: for the error delta psi in a three-phase coordinate systemsDecomposing to obtain delta phiabc(ii) a Calculating the delta psi based on the current time stepabcA final value under the action of the original synchronous optimization pulse sequence; calculating the three-phase duty ratio d according to the final valueabc。
Optionally, the three-phase duty ratio d is calculated according to the final valueabcThereafter, the method further comprises: calculating the three-phase duty ratio d by the following formulaabcCorrection value of (2):
wherein, UdcIs a DC bus capacitor voltage, TkRepresenting a current time step; duty cycle d of the three phasesabcD is not less than 0abcComparing at most 1; if the three-phase duty ratio dabcSatisfy inequality 0 < dabc< 1, applying said three-phase duty cycle dabcWith said three-phase duty cycle dabcThe corrected values are summed, and the three-phase duty ratio is updated; if the three-phase duty ratio dabcEqual to 0 or 1, the value of the three-phase duty cycle remains unchanged.
One or more embodiments of the present disclosure also provide a control apparatus of a stator flux linkage trajectory of an ac motor, including: a dividing module, configured to divide a fundamental wave period of an output voltage of an inverter of an ac motor into a plurality of control periods, where the plurality of control periods correspond to a plurality of time steps, and are respectively denoted as T1,T2,...TNWherein N is a positive natural number; the determining module is used for determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step; a control module to control a trajectory of the stator flux linkage based on an error between the estimated stator flux linkage value and the reference stator flux linkage trajectory value.
Optionally, the determining module includes: a first calculation unit for calculating a reference value based on the electromagnetic torque
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Calculating the phase of the stator flux linkage vector reference
A second calculation unit for calculating a phase of the phase
And calculating the stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off line.
Optionally, the first computing unit is configured to: based on electromagnetic torque reference values
Stator flux linkage amplitude
And a modulus of the rotor flux linkage estimation vector, calculating a load angle of the stator flux linkage by the following formula
Wherein k isTIs a torque systemCounting; calculating a phase of the stator flux linkage vector reference value based on the rotor flux linkage estimation vector and the load angle by the following formula
Optionally, the second computing unit is configured to: based on the phase
Calculating a reference voltage vector of the inverter by the following formula:
wherein, ω iseIs the electrical angular frequency; inquiring the off-line calculated synchronous optimization pulse modulation switching angle theta according to the reference voltage vector; based on the switching angle, calculating the stator flux linkage trajectory reference value by the following formula:
wherein, UdcFor dc bus capacitor voltage, K ═ 1ej2π/3 ej4π/3]For transforming the matrix, Pabc(θ) represents the synchronization optimization pulse sequence calculated off-line.
Optionally, the control module includes: a first determination unit for determining an error Δ ψ between the stator flux linkage estimation value and the stator flux linkage trajectory reference values(ii) a A second determination unit for determining the error delta psisDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence according to the original synchronous optimization pulse sequence and the current time step lengthabc(ii) a A control unit for controlling the three-phase duty ratio dabcControlling a switching state of the inverter to control a trajectory of the stator flux linkage.
Optionally, the second determining unit is configured to: for the error delta psi in a three-phase coordinate systemsDecomposing to obtainTo delta phiabc(ii) a Calculating the delta psi based on the current time stepabcA final value under the action of the original synchronous optimization pulse sequence; calculating the three-phase duty ratio d according to the final valueabc。
Optionally, the apparatus further comprises: a correction module for calculating the three-phase duty ratio d according to the final valueabcThen, the three-phase duty ratio d is calculated by the following formulaabcCorrection value of (2):
wherein, UdcIs a DC bus capacitor voltage, TkRepresenting a current time step; a comparison module for comparing the three-phase duty ratio dabcD is not less than 0abcComparing at most 1; a processing module for determining if the three-phase duty ratio dabcSatisfy inequality 0 < dabc< 1, applying said three-phase duty cycle dabcWith said three-phase duty cycle dabcThe corrected values are summed, and the three-phase duty ratio is updated; if the three-phase duty ratio dabcEqual to 0 or 1, the value of the three-phase duty cycle remains unchanged.
One or more embodiments of the present specification further provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any of the above method embodiments when executing the program.
One or more embodiments of the present specification also provide a readable storage medium, wherein the readable storage medium stores computer instructions for causing the computer to perform the steps of any one of the above method embodiments.
As can be seen from the above description, one or more embodiments of the present disclosure provide a method for controlling a stator flux linkage trajectory of an ac motor, which divides a fundamental wave period of an output voltage of an inverter of the ac motor into a plurality of control periods without multi-step prediction; determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step; the method has the advantages that the track of the stator flux linkage is controlled based on the error between the stator flux linkage estimated value and the stator flux linkage track reference value, the tracking error can be eliminated quickly in the transient process, the calculation amount of a control algorithm is greatly reduced due to the fact that the method does not depend on a high sampling rate and does not need multi-step length prediction, and therefore the technical problems that the requirement on the sampling rate is high and the calculation amount is large in the related technology for controlling the stator flux linkage track are solved.
Drawings
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 block diagram of a hardware structure in which a method for controlling a stator flux linkage track of an ac motor according to an embodiment of the present invention is applied to a mobile terminal;
fig. 2 is a flowchart of a method for controlling a stator flux linkage path of an ac motor according to one or more embodiments of the present disclosure;
fig. 3 is a circuit diagram illustrating a control method for a stator flux linkage track of an ac motor according to an embodiment of the present invention;
FIG. 4 is a reference trajectory diagram of a stator flux linkage provided in accordance with an embodiment of the present invention;
FIG. 5 is a shape trajectory diagram of an actual stator flux linkage of an output provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic illustration of a torque step response provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of a torque step response provided according to conventional vector control;
fig. 8 is a block diagram illustrating a control apparatus for a stator flux linkage path of an ac motor according to one or more embodiments of the present disclosure;
fig. 9 shows a more specific hardware structure diagram of the electronic device provided in this embodiment.
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.
Example 1
The method provided by the embodiment one of the present invention can be executed in a computer, a terminal or a similar operation device. Taking the operation on a terminal as an example, fig. 1 is a hardware structure block diagram of a mobile terminal to which the method for controlling a stator flux linkage track of an ac motor provided in the embodiment of the present invention is applied. As shown in fig. 1, the terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of an application software, such as a computer program corresponding to a control method of a stator flux linkage track of an ac motor in an embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In one or more embodiments of the present specification, a method for controlling a stator flux linkage track of an ac motor is provided, and fig. 2 is a flowchart of the method for controlling the stator flux linkage track of the ac motor according to one or more embodiments of the present specification, as shown in fig. 2, where the flowchart includes:
step S202, dividing the fundamental wave period of the output voltage of the inverter of the AC motor into a plurality of control periods, wherein the plurality of control periods correspond to a plurality of time steps and are respectively marked as T1,T2,...TNWhereinN is a positive natural number;
in this embodiment, the N time steps may be equal or different.
Optionally, the output voltage is divided into equal parts TfIs N parts, i.e. T1＝T2＝......TN＝Tf/N。
Step S204, determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step;
optionally, calculating a stator flux linkage track reference value corresponding to the current time step through an optimized switch sequence calculated off-line; a stator flux linkage estimate is calculated based on the stator flux linkage estimator.
In step S206, the trajectory of the stator flux linkage is controlled based on the error between the stator flux linkage estimation value and the stator flux linkage trajectory reference value.
With the above embodiment, the fundamental wave period of the output voltage of the inverter of the ac motor is divided into a plurality of control periods without multi-step prediction; determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step; the method has the advantages that the track of the stator flux linkage is controlled based on the error between the stator flux linkage estimated value and the stator flux linkage track reference value, the tracking error can be eliminated quickly in the transient process, the calculation amount of a control algorithm is greatly reduced due to the fact that the method does not depend on high sampling rate and does not need multi-step length prediction, and therefore the technical problems that the requirement on the sampling rate is high and the calculation amount is large in the related technology for controlling the stator flux linkage track are solved.
In an optional embodiment of the present disclosure, determining the stator flux linkage track reference value corresponding to the current time step includes: according to electromagnetic torque reference value
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Calculating stator magnetismPhase of chain vector reference value
According to phase
And calculating a stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off-line.
According to the above embodiment, the electromagnetic torque reference value is used
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Determining the phase of the stator flux linkage vector reference value comprises: based on electromagnetic torque reference values
Stator flux linkage amplitude
And a modulus of the rotor flux linkage estimation vector, calculating a load angle of the stator flux linkage by the following formula
Wherein k isTIs a torque coefficient; based on the rotor flux linkage estimation vector and the load angle, the phase of the stator flux linkage vector reference value is calculated by the following formula
According to the above embodiments, according to the phase
And the synchronous optimization pulse sequence calculated off-line calculates the stator flux linkage track reference value, and comprises the following steps: based on phase
Calculating a reference voltage vector of the inverter by the following formula:
wherein, ω iseIs the electrical angular frequency; inquiring the off-line calculated synchronous optimization pulse modulation switching angle theta according to the reference voltage vector; based on the switching angle, calculating a stator flux linkage track reference value by the following formula:
wherein, UdcFor dc bus capacitor voltage, K ═ 1ej2π/3 ej4π/3]For transforming the matrix, Pabc(θ) represents the synchronization optimization pulse sequence calculated off-line.
According to the above-described embodiment, controlling the trajectory of the stator flux linkage based on the error between the stator flux linkage estimation value and the stator flux linkage trajectory reference value includes: determining an error delta psi between a stator flux linkage estimate and a stator flux linkage track references(ii) a According to the error delta psisDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence by the original synchronous optimization pulse sequence and the current time stepabc(ii) a According to three-phase duty ratio dabcAnd controlling the switching state of the inverter to control the track of the stator flux linkage.
According to the above embodiment, the error Δ ψ is calculatedsDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence by the original synchronous optimization pulse sequence and the current time stepabcThe method comprises the following steps: for error delta psi in a three-phase coordinate systemsDecomposing to obtain delta phiabc(ii) a Calculating delta psi based on current time stepabcA final value under the action of the original synchronous optimization pulse sequence; according to the final valueCalculating the three-phase duty ratio dabc。
In another alternative embodiment of the present disclosure, the three-phase duty cycle d is calculated according to the final valueabcThen, the method further comprises the following steps: the three-phase duty ratio d is calculated by the following formulaabcCorrection value of (2):
wherein, UdcIs a DC bus capacitor voltage, TkRepresenting a current time step; duty ratio d of three phasesabcD is not less than 0abcComparing at most 1; if three-phase duty ratio dabcSatisfy inequality 0 < dabc< 1, three-phase duty ratio dabcAnd three-phase duty ratio dabcThe corrected values are summed, and the three-phase duty ratio is updated; if three-phase duty ratio dabcEqual to 0 or 1, the value of the three-phase duty cycle remains unchanged.
The scheme provided by the invention is further explained by combining a specific embodiment as follows:
fig. 3 is a schematic circuit diagram of a control method for a stator flux linkage track of an ac motor according to an embodiment of the present invention, as shown in fig. 3, in this embodiment, a PWM (Pulse Width Modulation) inverter is adopted, the PWM technique is a method for digitally encoding the level of an analog signal, and through the use of a high resolution counter, the duty ratio of a square wave is modulated to encode the level of a specific analog signal.
In this embodiment, step 1: according to the current electrical angular frequency omega of the alternating current motoreThe fundamental wave period TfDividing the control period into N parts, and controlling the control step length to be T1,T2,...TN. One of the simpler embodiments is to equally divide TfIs N parts, i.e. T1＝T2＝TN＝Tf/N。
Step 2: reference value according to stator flux linkage
Reference value of electromagnetic torque
Rotor flux linkage vector estimated by flux linkage observer
The load angle is calculated according to the formula (1)
Wherein k isTIs a torque coefficient.
And step 3: according to angle of load
And rotor flux linkage vector
Calculating the phase of the stator flux linkage vector reference value
As shown in equation (2):
and 4, step 4: calculating a reference voltage vector according to the phase of the stator flux linkage vector in the step 2, as shown in formula (3):
and 5: according to formula (2)
Synchronous optimization pulse for inquiring off-line calculationAnd (3) modulating the switching angle, and obtaining a stator flux linkage track reference value in the current control period through integral operation, wherein the specific calculation is shown as a formula (4).
Wherein, ω iseFor electrical angular frequency, #s(0) Denotes an initial value, UdcFor dc bus capacitor voltage, K ═ 1ej2π/3 ej4 π/3]For transforming the matrix, Pabc(θ) represents the synchronization optimization pulse sequence calculated off-line.
Step 6: according to the stator flux linkage track reference value calculated in the step 5
And an estimate of stator flux linkage
Calculating a stator flux linkage error vector:
optionally, the estimation value of the stator flux linkage is obtained by an observer
And 7: the error vector is expressed by equation (5)
Decomposing to a three-phase coordinate system:
and 8: calculating Delta phi from equation (6)abcOptimizing pulse sequence P in original synchronizationabc(θ) final value under influence:
wherein d isabcThe three-phase duty cycle of the pulse sequence is optimized for the original synchronization,
for the current control time step (i.e. above-mentioned T)k)。
And step 9: on the basis of step 8, calculating a correction value of the three-phase duty ratio by formula (7):
step 10: if the duty ratio value is not 0 or 1, which indicates that the phase has an adjustment space, adding the duty ratio correction value and the original duty ratio to obtain the corrected duty ratio, otherwise, keeping 0 or 1 unchanged, as shown in equation (8).
The AC motor model described by the specific embodiment of the invention predicts flux linkage track control, and can achieve the following technical effects:
(1) under the operating condition of low carrier ratio, the whole system can present excellent harmonic characteristics of off-line synchronous optimized pulse width modulation when in a quasi-stable state. Fig. 4 is a reference trajectory diagram of a stator flux linkage provided according to an embodiment of the present invention, and fig. 5 is a shape trajectory diagram of an actual stator flux linkage provided according to an embodiment of the present invention, which is shown in fig. 4 and 5, and both are stator flux linkage shape trajectories in an α -axis β -axis coordinate, and the shape trajectory of the actual stator flux linkage has a high matching degree with the reference flux linkage.
(2) The control system can rapidly eliminate the tracking error in the transient process, thereby realizing extremely fast dynamic response. Fig. 6 is a schematic diagram of a torque step response provided according to an embodiment of the present invention, fig. 7 is a schematic diagram of a torque step response provided according to a conventional vector control, and referring to fig. 6 and 7, the setting time of the torque step is only 5ms, which is far better than 14ms of the conventional vector control shown in fig. 7, and the dynamic response speed of the motor is improved even when the carrier ratio is only 3 under the same switching sequence.
(3) Compared with the traditional model prediction control, the technical scheme provided by the invention does not depend on high sampling rate, does not need multi-step prediction, and has lower calculation amount of a control algorithm.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of one or more embodiments of the present disclosure, and the multiple devices may interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Example 2
In one or more embodiments of the present disclosure, a control device for a stator flux linkage track of an ac motor is further provided, which is used to implement the foregoing embodiments and preferred embodiments, and the descriptions already given are omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
One or more embodiments of the present specification provide a control device of a stator flux linkage locus of an ac motor, and fig. 8 is a block diagram of a structure of the control device of the stator flux linkage locus of the ac motor according to one or more embodiments of the present specification, the control device including: a dividing module 80, configured to divide a fundamental wave period of an output voltage of an inverter of the ac motor into a plurality of control periods, where the plurality of control periods correspond to a plurality of time steps, which are respectively denoted as T1,T2,...TNWherein N is a positive natural number; a determining module 82, connected to the dividing module 80, for determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step; a control module 84, connected to the determination module 82, is configured to control the trajectory of the stator flux linkage based on an error between the estimated stator flux linkage value and a reference stator flux linkage trajectory value.
Optionally, the determining module 82 includes: a first calculation unit for calculating a reference value based on the electromagnetic torque
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Calculating the phase of the stator flux linkage vector reference
A second calculation unit for calculating a phase according to the phase
And calculating a stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off-line.
Optionally, the first computing unit is configured to: based on electromagnetic torque reference values
Stator flux linkage amplitude
And a modulus of the rotor flux linkage estimation vector, calculating a load angle of the stator flux linkage by the following formula
Based on the rotor flux linkage estimation vector and the load angle, the phase of the stator flux linkage vector reference value is calculated by the following formula
Optionally, the second computing unit is configured to: based on phase
Calculating a reference voltage vector of the inverter by the following formula:
wherein, ω iseIs the electrical angular frequency; inquiring the off-line calculated synchronous optimization pulse modulation switching angle theta according to the reference voltage vector; based on the switching angle, calculating a stator flux linkage track reference value by the following formula:
wherein, UdcFor dc bus capacitor voltage, K ═ 1ej2π/3 ej4π/3]For transforming the matrix, Pabc(θ) represents the synchronization optimization pulse sequence calculated off-line.
Optionally, the control module 84 includes: a first determination unit for determining an error delta psi between the stator flux linkage estimation value and the stator flux linkage track reference values(ii) a A second determination unit for determining the error Δ ψsDetermining the original, original synchronous optimized pulse sequence and current time step lengthThree-phase duty ratio d of initial synchronization optimization pulse sequenceabc(ii) a A control unit for controlling the duty ratio of the three phasesabcAnd controlling the switching state of the inverter to control the track of the stator flux linkage.
Optionally, the second determining unit is configured to: for error delta psi in a three-phase coordinate systemsDecomposing to obtain delta phiabc(ii) a Calculating delta psi based on current time stepabcA final value under the action of the original synchronous optimization pulse sequence; calculating the three-phase duty ratio d according to the final valueabc。
Optionally, the apparatus further comprises: a correction module for calculating the three-phase duty ratio d according to the final valueabcThereafter, the three-phase duty ratio d is calculated by the following formulaabcCorrection value of (2):
wherein, UdcIs a DC bus capacitor voltage, TkRepresenting a current time step; a comparison module for comparing the three-phase duty ratio dabcD is not less than 0abcComparing at most 1; a processing module for determining the three-phase duty ratio dabcSatisfy inequality 0 < dabc< 1, three-phase duty ratio dabcAnd three-phase duty ratio dabcThe corrected values are summed, and the three-phase duty ratio is updated; if three-phase duty ratio dabcEqual to 0 or 1, the value of the three-phase duty cycle remains unchanged.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Example 3
Fig. 9 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The input/output/module may be configured as a component within the device (not shown in fig. 9) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in fig. 9) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
Example 4
One or more embodiments of the present specification also provide a readable storage medium, wherein the readable storage medium stores computer instructions for causing the computer to perform the steps of any one of the above-described method embodiments.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, dividing the fundamental wave period of the output voltage of the inverter of the AC motor into a plurality of control periods, wherein the control periods correspond to a plurality of time steps and are respectively marked as T1,T2,...TNWherein N is a positive natural number;
s2, determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step;
s3, controlling the track of the stator flux linkage based on the error between the estimated stator flux linkage value and the reference stator flux linkage track value.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
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 method for controlling a stator flux linkage path of an AC motor, comprising:
dividing a fundamental wave period of an output voltage of an inverter of an alternating current motor into a plurality of control periods, wherein the plurality of control periods correspond to a plurality of time steps and are respectively marked as T1,T2,...TNWherein N is a positive natural number;
determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step;
controlling a trajectory of the stator flux linkage based on an error between the stator flux linkage estimate and the stator flux linkage trajectory reference value.
2. The method of claim 1, wherein determining the stator flux linkage track reference value corresponding to the current time step comprises:
according to electromagnetic torque reference value
Stator flux linkage reference value
And rotor flux linkage estimation vector
Determining the phase of a stator flux linkage vector reference value
According to said phase
And calculating the stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off line.
3. Method according to claim 2, characterized in that the reference value is based on an electromagnetic torque
Stator flux linkage amplitude
And rotor flux linkage estimation vector
Determining the phase of the stator flux linkage vector reference value comprises:
based on electromagnetic torque reference values
Stator flux linkage reference value
And a modulus of the rotor flux linkage estimation vector, calculating a load angle of the stator flux linkage by the following formula
calculating a phase of the stator flux linkage vector reference value based on the rotor flux linkage estimation vector and the load angle by the following formula
4. The method of claim 2, wherein the phase is determined according to the current phase
And the step of calculating the stator flux linkage track reference value by the synchronous optimization pulse sequence calculated off line comprises the following steps:
based on the phase
Calculating a reference voltage vector of the inverter by the following formula:
inquiring the off-line calculated synchronous optimization pulse modulation switching angle theta according to the reference voltage vector;
based on the switching angle, calculating the stator flux linkage trajectory reference value by the following formula:
wherein, UdcFor dc bus capacitor voltage, K ═ 1ej2π/3 ej4π/3]For transforming the matrix, Pabc(θ) represents the synchronization optimization pulse sequence calculated off-line.
5. The method of claim 1, wherein controlling the trajectory of the stator flux linkage based on the error between the stator flux linkage estimate and the stator flux linkage trajectory reference value comprises:
determining the stator flux linkage estimate and the stator flux linkage trajectoryError delta phi between reference valuess；
According to the error delta psisDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence according to the original synchronous optimization pulse sequence and the current time step lengthabc；
According to the three-phase duty ratio dabcControlling a switching state of the inverter to control a trajectory of the stator flux linkage.
6. Method according to claim 5, characterized in that the error Δ ψ is calculated from the error Δ ψsDetermining the three-phase duty ratio d of the original synchronous optimization pulse sequence according to the original synchronous optimization pulse sequence and the current time step lengthabcThe method comprises the following steps:
for the error delta psi in a three-phase coordinate systemsDecomposing to obtain delta phiabc；
Calculating the delta psi based on the current time stepabcA final value under the action of the original synchronous optimization pulse sequence;
calculating the three-phase duty ratio d according to the final valueabc。
7. Method according to claim 6, characterized in that the three-phase duty cycle d is calculated from the final valueabcThereafter, the method further comprises:
calculating the three-phase duty ratio d by the following formulaabcCorrection value of (2):
wherein, UdcIs a DC bus capacitor voltage, TkRepresenting a current time step;
duty cycle d of the three phasesabcD is not less than 0abcComparing at most 1;
if the three-phase duty ratio dabcSatisfy inequality 0 < dabcIf < 1, the three-phase duty ratio d is setabcSumming with the correction value to update the three-phase duty ratio; if the three-phase duty ratio dabcEqual to 0 or 1, the value of the three-phase duty cycle remains unchanged.
8. A control device for a stator flux linkage path of an ac motor, comprising:
a dividing module, configured to divide a fundamental wave period of an output voltage of an inverter of an ac motor into a plurality of control periods, where the plurality of control periods correspond to a plurality of time steps, and are respectively denoted as T1,T2,...TNWherein N is a positive natural number;
the determining module is used for determining a stator flux linkage track reference value and a stator flux linkage estimation value corresponding to the current time step;
a control module to control a trajectory of the stator flux linkage based on an error between the estimated stator flux linkage value and the reference stator flux linkage trajectory value.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of controlling a stator flux linkage trajectory of an ac motor according to any one of claims 1 to 7 when executing the computer program.
10. A readable storage medium storing computer instructions for causing a computer to execute a method of controlling a stator flux linkage path of an ac motor according to any one of claims 1 to 7.
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