CN112350635A - High-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method - Google Patents
High-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method Download PDFInfo
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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
- H02P21/26—Rotor flux based control
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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Abstract
The invention discloses a high-voltage high-power frequency converter flux linkage observer without speed vector control and an observation method, which comprise the following steps: step S1: obtaining current rotor flux linkage values of different coordinate axes through a current flux linkage observation model under a two-phase static coordinate; step S2: obtaining voltage rotor flux linkage values of different coordinate axes through a voltage flux linkage observation model under a two-phase static coordinate; step S3: and filtering the current rotor flux linkage value and the voltage rotor flux linkage value according to a set filtering cut-off frequency value to obtain a rotor flux linkage value. The low-pass filter is adopted to replace a pure integral link in a voltage model flux linkage observer, so that the condition that flux linkage observation is inaccurate when a voltage model is at a low speed of a motor at a high speed of a current model in the prior art is overcome; the flux linkage observer is dynamically switched through the filter, so that the rotor flux linkage orientation can be accurately carried out on the motor at different rotating speeds.
Description
Technical Field
The invention relates to the field of high-voltage frequency converters, in particular to a high-voltage high-power frequency converter speed vector control-free flux linkage observer and an observation method.
Background
In the vector control of the asynchronous motor, accurate decoupling and flux linkage feedback control need to be realized, and accurate phase angle and amplitude of rotor flux linkage need to be known. In the prior art, a flux linkage observer is generally designed by using related parameters such as voltage and current on the stator side of an asynchronous motor and is used for calculating in real time to obtain the accurate position and size of a rotor flux linkage. The existing rotor flux linkage observer generally has two voltage models and two current models;
the principles of these two flux linkage observer algorithms are voltage models: the rotor flux linkage is calculated by using the stator voltage and the stator current of the motor, and the device is simple in structure and easy to implement. Current model: and calculating rotor flux linkage by using the voltage and the current of the stator side of the motor and the rotor speed, and gradually converging the observed value of the rotor flux linkage.
However, the two flux linkage observer algorithms have the defects that a voltage model contains a pure integral link, the problems of direct current bias and an initial value exist, stator resistance is involved, and the flux linkage observation is inaccurate when an asynchronous motor runs at a low speed due to the fact that the voltage drop effect of the stator resistance is obvious and the measurement error value is close to the amplitude of the back electromotive force at the low speed. The current model is sensitive to the time constant change of the motor rotor, and flux linkage observation is inaccurate when the asynchronous motor rotates at high speed.
Disclosure of Invention
The invention aims to solve the technical problem that the flux linkage observer cannot accurately observe under the condition of high speed or low speed in the vector control process of an asynchronous motor in the prior art, and aims to provide a high-voltage high-power frequency converter speed-vector-free control flux linkage observer and an observation method to solve the problem.
The invention is realized by the following technical scheme:
the high-voltage high-power frequency converter non-speed vector control flux linkage observation method comprises the following steps: step S1: obtaining current rotor flux linkage values of different coordinate axes through a current flux linkage observation model under a two-phase static coordinate; step S2: obtaining voltage rotor flux linkage values of different coordinate axes through a voltage flux linkage observation model under a two-phase static coordinate; step S3: filtering the current rotor flux linkage value and the voltage rotor flux linkage value according to a set filtering cut-off frequency value to obtain a rotor flux linkage value; wherein the different coordinate axes comprise an alpha axis and a beta axis; obtaining a current rotor flux linkage value psi of an alpha axis under a current flux linkage observation modelrα(i)(ii) a Obtaining a current rotor flux linkage value psi of a beta axis under a current flux linkage observation modelrβ(i)(ii) a Obtaining a voltage rotor flux linkage value psi of an alpha axis under a voltage flux linkage observation modelrα(u)(ii) a Obtaining a voltage rotor flux linkage value psi of a beta axis under a voltage flux linkage observation modelrβ(u)。
Compared with the traditional voltage observer, the voltage flux linkage observer is improved, the low-pass filter replaces an integral link, and flux linkage observed values obtained by the current observer or the voltage observer are distinguished under different frequency sections through the low-pass filter. The rotor flux linkage is obtained by pure integration of rotor induced voltage, and when a system working point is close to zero speed, the rotor induced voltage is approximate to zero, so that only an error signal is integrated and a real signal is covered; therefore, a low-pass filter is adopted to replace a pure integral link in the voltage model flux linkage observer, so that a high-pass filter is formed after a part for carrying out voltage observation passes through integration, flux linkage observation during high-frequency operation is completed, low-pass filtering is added to the part for carrying out current observation to realize low-frequency flux linkage observation, and the low-pass filter is used for replacing the pure integral link in the voltage model flux linkage observer, which is equivalent to adding a first-order high-pass filtering link on the original voltage model flux linkage observer
Therefore, the current rotor flux linkage value Ψ in the step S1rα(i)Sum current rotor flux linkage value Ψrβ(i)And low-pass filtering with the same cut-off frequency is carried out, so that the flux linkage can be accurately observed by respectively adopting corresponding flux linkage observation models under different frequencies.
Further, the step S1 includes the following sub-steps:
substep S11: collecting stator current i of stator current passing through alpha axis under synchronous rotation coordinatesαAnd stator current i through the beta axissβAnd then with the estimated rotor angular frequency omegarObtaining a flux linkage observed by a current model under a two-phase static coordinate system under the combined action;
substep S12: enabling the synchronous rotation speed omega under the synchronous rotation coordinateeIf it is 0, then the state equation of the asynchronous motor in the two-phase stationary coordinate system is obtained as follows:
obtaining the rotor flux linkage values psi of the different coordinate axes according to the formularα(i)And Ψrβ(i)Said Ψrα(i)And Ψrβ(i)The formula is as follows:
wherein L ismTo excite the inductance, τrIs the rotor time constant.
Further, the voltage flux linkage observation model obtains a voltage balance equation of the rotor flux linkage stator loop through the stator current and the stator voltage:
relationship between stator flux linkage and rotor flux linkage:
the two formulas are combined to obtain:
the rotor flux linkage is obtained by pure integration of the rotor induced voltage, and when the system working point is close to zero speed, the rotor induced voltage is approximate to zero, so that only an error signal is integrated and a real signal is covered;
therefore, the improved voltage model adopts a low-pass filter to replace a pure integration link in a voltage model flux linkage observer to obtain the psirα(u)And Ψrβ(u)The formula is as follows:
wherein u issαStator voltage of alpha axis, usβStator voltage of beta axis, RSIs stator resistance, LmFor exciting inductance, LrFor rotor leakage inductance, LsFor stator leakage inductance, isαStator current of alpha axis, isβStator current of beta axis, p differential operator, TcIs the filter cut-off frequency, sigma is the leakage coefficient,
in another implementation manner of the present invention, a flux linkage observer without velocity vector control for a high-voltage high-power frequency converter includes: the current observation model unit is used for passing current rotor flux linkage values of different coordinate axes under the two-phase static coordinate; the voltage observation model unit is used for passing voltage rotor flux linkage values of different coordinate axes under the two-phase static coordinate; the filtering module is used for filtering the current rotor flux linkage value and the voltage rotor flux linkage value according to a set filtering cut-off frequency value to obtain a rotor flux linkage value; wherein the different coordinate axes comprise an alpha axis and a beta axis; in the current flux linkageObtaining a current rotor flux linkage value psi of an alpha axis under an observation modelrα(i)(ii) a Obtaining a current rotor flux linkage value psi of a beta axis under a current flux linkage observation modelrβ(i)(ii) a Obtaining a voltage rotor flux linkage value psi of an alpha axis under a voltage flux linkage observation modelrα(u)(ii) a Obtaining a voltage rotor flux linkage value psi of a beta axis under a voltage flux linkage observation modelrβ(u)。
Further, the current observation model unit includes: collecting stator current i of stator current passing through alpha axis under synchronous rotation coordinatesαStator current i through beta axissβAnd the angular frequency ω of the rotor observed by the closed-loop systemrObtaining a flux linkage observed by a current model under a two-phase static coordinate system under the combined action; enabling the synchronous rotation speed omega under the synchronous rotation coordinateeObtaining rotor flux linkage values psi of different coordinate axesrα(i)And Ψrβ(i)Said Ψrα(i)And Ψrβ(i)The formula is as follows:
wherein L ismTo excite the inductance, τrIs the rotor time constant.
Further, the voltage observation model unit includes a low-pass filter, and the Ψrα(u)And Ψrβ(u)The formula is as follows:
wherein u issαStator voltage of alpha axis, usβStator voltage of beta axis, RSIs stator resistance, LmFor exciting inductance, LrFor rotor leakage inductance, LsFor stator leakage inductance, isαStator current of alpha axis, isβStator current of beta axis, p differential operator, Tcσ is the leakage coefficient, which is the filter cutoff frequency.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention relates to a high-voltage high-power frequency converter flux linkage observer without speed vector control and an observation method.A low-pass filter is adopted to replace a pure integral link in a voltage model flux linkage observer, so that the condition that flux linkage observation is inaccurate when a voltage model is at a low speed of a motor at a high speed of a current model in the prior art is overcome;
2. the invention relates to a high-voltage high-power frequency converter speed vector control-free flux linkage observer and an observation method, which can make a motor accurately orient rotor flux linkages at different rotating speeds by dynamically switching the flux linkage observer through a filter. Meanwhile, the magnetic flux linkage monitoring device can realize simultaneous observation of the rotating speed and the magnetic flux linkage, has higher precision and dynamic performance, and is simple in structure and easy to realize.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is an overall flow chart of the present invention;
FIG. 2 is a schematic view of a flux linkage observation method according to the present invention;
FIG. 3 is a schematic diagram of a current observer model;
FIG. 4 is a schematic view of a voltage flux linkage observation model;
FIG. 5 is a schematic view of a flux linkage observer module according to the present invention;
FIG. 6 shows the observed flux linkage value of the current model at 1HZ and the output flux linkage value of the present invention;
FIG. 7 shows the observed flux linkage value of the voltage model at 1HZ and the output flux linkage value of the present invention;
FIG. 8 shows the observed flux linkage value of the current model at 10Hz and the output flux linkage value of the present invention;
FIG. 9 shows the observed flux linkage value of the voltage model at 10Hz and the output flux linkage value of the present invention;
FIG. 10 shows the observed flux linkage value of the current model at 50Hz and the output flux linkage value of the present invention;
FIG. 11 shows the observed flux linkage value of the voltage model at 50Hz and the output flux linkage value of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
The embodiment 1 is a method for observing a flux linkage of a high-voltage high-power frequency converter without velocity vector control, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, and includes the following steps: step S1: obtaining current rotor flux linkage values of different coordinate axes through a current flux linkage observation model under a two-phase static coordinate; step S2: obtaining voltage rotor flux linkage values of different coordinate axes through a voltage flux linkage observation model under a two-phase static coordinate; step S3: according to the set filtering cut-off frequency value, filtering the current rotor flux linkage value and the voltage rotor flux linkage value of the high-voltage high-power frequency converter speed-vector-free control flux linkage observer and observation method to obtain a rotor flux linkage value; the high-voltage high-power frequency converter is a non-speed vector control flux linkage observer and the observation method has different coordinate axes including an alpha axis and a beta axis; obtaining a current rotor flux linkage value psi of an alpha axis under a current flux linkage observation modelrα(i)(ii) a Obtaining a current rotor flux linkage value psi of a beta axis under a current flux linkage observation modelrβ(i)(ii) a Obtaining a voltage rotor flux linkage value psi of an alpha axis under a voltage flux linkage observation modelrα(u)(ii) a Obtaining a voltage rotor flux linkage value psi of a beta axis under a voltage flux linkage observation modelrβ(u)。
The voltage observer of embodiment 1 is improved over the conventional voltage observer, an integration link is replaced by a low-pass filter, flux linkage observed values obtained by a current observer or a voltage observer are distinguished by the low-pass filter under different frequency bands, a rotor flux linkage is obtained by pure integration of rotor induced voltage, and when a system working point is close to zero speed, the rotor induced voltage is approximate to zero, so that only an error signal is integrated and a real signal is covered; therefore, a low-pass filter is adopted to replace a pure integral element in the voltage model flux linkage observer, so that a part for carrying out voltage observation forms a high part after passing through integrationThe low-pass filter replaces a pure integral link in the voltage model flux linkage observer, and equivalently, a first-order high-pass filtering link is added on the original voltage model flux linkage observer
Therefore, the current rotor flux linkage value Ψ in the step S1rα(i)Sum current rotor flux linkage value Ψrβ(i)And low-pass filtering with the same cut-off frequency is carried out, so that the flux linkage can be accurately observed by respectively adopting corresponding flux linkage observation models under different frequencies.
The high-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method step S1 comprises the following substeps:
substep S11: collecting stator current i of stator current passing through alpha axis under synchronous rotation coordinatesαAnd stator current i through the beta axissβObtaining the angular frequency omega of the rotorr；
Substep S12: synchronous rotation speed omega under synchronous rotation coordinate by using high-voltage high-power frequency converter speed vector-free control flux linkage observer and observation methodeIf it is 0, then the state equation of the asynchronous motor in the two-phase stationary coordinate system is obtained as follows:
by the above formula, the rotor flux linkage value psi of different coordinate axes of the high-voltage high-power frequency converter non-speed vector control flux linkage observer and the observation method are obtainedrα(i)And Ψrβ(i)High-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method psirα(i)And Ψrβ(i)The formula is as follows:
wherein L ismTo excite the inductance, τrIs the rotor time constant.
The voltage flux linkage observation model obtains a voltage balance equation of the rotor flux linkage stator loop through the stator current and the stator voltage:
relationship between stator flux linkage and rotor flux linkage:
the two formulas are combined to obtain:
the rotor flux linkage is obtained by pure integration of the rotor induced voltage, and when the system working point is close to zero speed, the rotor induced voltage is approximate to zero, so that only an error signal is integrated and a real signal is covered;
therefore, the improved voltage model adopts a low-pass filter to replace a pure integral link in a voltage model flux linkage observer, and the high-voltage high-power frequency converter speed-vector-free control flux linkage observer and the observation method psi are obtainedrα(u)And Ψrβ(u)The formula is as follows:
wherein u issαStator voltage of alpha axis, usβStator voltage of beta axis, RSIs stator resistance, LmFor exciting inductance, LrFor rotor leakage inductance, LsFor stator leakage inductance, isαStator current of alpha axis, isβStator current of beta axis, p differential operator, TcIn order to cut-off the frequency of the filter,sigma is the magnetic flux leakage coefficient,
example 2
The embodiment 2 is a flux linkage observer for a high-voltage high-power frequency converter without velocity vector control, as shown in fig. 2, and includes: the current observation model unit is used for passing current rotor flux linkage values of different coordinate axes under the two-phase static coordinate; the voltage observation model unit is used for passing voltage rotor flux linkage values of different coordinate axes under the two-phase static coordinate; the filtering module is used for filtering the current rotor flux linkage value and the voltage rotor flux linkage value of the high-voltage high-power frequency converter speed-vector-free control flux linkage observer and the observation method according to the set filtering cut-off frequency value to obtain a rotor flux linkage value; the high-voltage high-power frequency converter is a non-speed vector control flux linkage observer and the observation method has different coordinate axes including an alpha axis and a beta axis; obtaining a current rotor flux linkage value psi of an alpha axis under a current flux linkage observation modelrα(i)(ii) a Obtaining a current rotor flux linkage value psi of a beta axis under a current flux linkage observation modelrβ(i)(ii) a Obtaining a voltage rotor flux linkage value psi of an alpha axis under a voltage flux linkage observation modelrα(u)(ii) a Obtaining a voltage rotor flux linkage value psi of a beta axis under a voltage flux linkage observation modelrβ(u)。
The high-voltage high-power frequency converter non-speed vector control flux linkage observer and the observation method current observation model unit comprise: collecting stator current i of stator current passing through alpha axis under synchronous rotation coordinatesαAnd stator current i through the beta axissβObtaining the angular frequency omega of the rotorr(ii) a Synchronous rotation speed omega under synchronous rotation coordinate by using high-voltage high-power frequency converter speed vector-free control flux linkage observer and observation methodeObtaining the rotor flux linkage value psi of different coordinate axes of the high-voltage high-power frequency converter speed vector-free control flux linkage observer and the observation methodrα(i)And Ψrβ(i)High-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method psirα(i)And Ψrβ(i)The formula is as follows:
wherein L ismTo excite the inductance, τrIs the time constant of the rotor and is,
ψrfor rotor flux linkage, LrFor rotor leakage inductance, RrIs the rotor resistance.
The high-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method voltage observation model unit comprises a low-pass filter, and the high-voltage high-power frequency converter speed vector-free control flux linkage observer and observation method psirα(u)And Ψrβ(u)The formula is as follows:
wherein u issαStator voltage of alpha axis, usβStator voltage of beta axis, RSIs stator resistance, LmFor exciting inductance, LrFor rotor leakage inductance, LsFor stator leakage inductance, isαStator current of alpha axis, isβStator current of beta axis, p differential operator, Tcσ is the leakage coefficient, which is the filter cutoff frequency.
According to the high-voltage high-power frequency converter flux linkage observer without speed vector control and the observation method, a low-pass filter is adopted to replace a pure integral link in a voltage model flux linkage observer, so that the condition that flux linkage observation is inaccurate when a voltage model is at a low speed of a motor at a high speed in the prior art is overcome; the flux linkage observer is dynamically switched through the filter, so that the rotor flux linkage orientation can be accurately carried out on the motor at different rotating speeds. Meanwhile, the magnetic flux linkage monitoring device can realize simultaneous observation of the rotating speed and the magnetic flux linkage, has higher precision and dynamic performance, and is simple in structure and easy to realize.
Example 3
Example 3 is experimental data verification performed on the basis of example 1, and specifically includes the following steps:
an asynchronous motor with the rated voltage of 380V, 50HZ and the number of magnetic pole pairs of 2 pairs of poles is used. The internal parameters of the motor are as follows: the stator resistance Rs is 0.6 Ω, and the rotor resistance Rr is 0.425 Ω. Excitation inductance Lm is 0.12H, stator leakage inductance Ls is 0.011, and rotor leakage inductance Lr is 0.011. The filter cut-off time constant Ts of the flux linkage observer for the dual mode switching is 1/62.8. I.e. a filter cut-off frequency of 10 hz.
Fig. 6, 7, 8, 9, 10 and 11 are comparisons of the magnetic flux linkage with the current observation model and the voltage observation model at different frequencies, respectively.
Fig. 6 shows the observed flux linkage value of the current model at 1HZ and the output flux linkage comparison waveform of the present invention, and fig. 7 shows the observed flux linkage of the voltage model and the output flux linkage comparison waveform of the present invention. It can be seen that in the low frequency case, the final output value of flux linkage is mainly constituted by flux linkage values observed by the current model.
As shown in fig. 8, the flux linkage value observed for the current model at 10HZ and the output flux linkage comparison waveform of the present invention, and as shown in fig. 9, the flux linkage observed for the voltage model at 10HZ and the output flux linkage comparison waveform of the present invention. The 10HZ is the filter cut-off frequency set by the system, so at this frequency the flux linkage output value has a large relationship with both models.
As shown in fig. 10, a comparative waveform of the flux linkage value observed for the current model at 50HZ and the output flux linkage of the present invention; as shown in fig. 11, the flux linkage value was observed for the voltage model at 50HZ compared to the output flux linkage of the present invention. The output value of the flux linkage is mainly obtained by a voltage observation model.
It can be seen from this embodiment 3 that the present invention can stably and dynamically switch the ratio of two flux linkage observation models at different frequencies to obtain an accurate flux linkage value, and can provide accurate information for the magnetic field orientation and rotation speed estimation without velocity sensor vector control, thereby ensuring the accuracy and stability of the system.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The high-voltage high-power frequency converter non-speed vector control flux linkage observation method is characterized by comprising the following steps of:
step S1: obtaining rotor flux linkage values of different coordinate axes through a current flux linkage observation model under the two-phase static coordinate, and defining the rotor flux linkage values of the different coordinate axes obtained through the current flux linkage observation model under the two-phase static coordinate as current rotor flux linkage values;
step S2: obtaining rotor flux linkage values of different coordinate axes through a voltage flux linkage observation model under a two-phase static coordinate; defining the rotor flux linkage values of different coordinate axes obtained by the voltage flux linkage observation model under the two-phase static coordinate as voltage rotor flux linkage values;
step S3: filtering the current rotor flux linkage value and the voltage rotor flux linkage value according to a set filtering cut-off frequency value to obtain a rotor flux linkage value;
wherein the different coordinate axes comprise an alpha axis and a beta axis;
obtaining a current rotor flux linkage value psi of an alpha axis under a current flux linkage observation modelrα(i)；
Obtaining a current rotor flux linkage value psi of a beta axis under a current flux linkage observation modelrβ(i)；
Obtaining a voltage rotor flux linkage value psi of an alpha axis under a voltage flux linkage observation modelrα(u)；
Obtaining a voltage rotor flux linkage value psi of a beta axis under a voltage flux linkage observation modelrβ(u)。
2. The method for observing flux linkage without velocity vector control of high-voltage high-power frequency converter according to claim 1, wherein said step S1 comprises the following sub-steps:
substep S11: stator for collecting stator current passing through alpha axis under synchronous rotation coordinateCurrent isαAnd stator current i through the beta axissβAnd then with the estimated rotor angular frequency omegarObtaining a flux linkage observed by a current model under a two-phase static coordinate system under the combined action;
substep S12: enabling the synchronous rotation speed omega under the synchronous rotation coordinateeObtaining rotor flux linkage values psi of different coordinate axesrα(i)And Ψrβ(i)Said Ψrα(i)And Ψrβ(i)The formula is as follows:
wherein L ismTo excite the inductance, τrIs the rotor time constant.
3. The method for observing flux linkage without velocity vector control of high-voltage high-power frequency converter according to claim 1, wherein the voltage flux linkage observation model adopts a low-pass filter, and the Ψ isrα(u)And Ψrβ(u)The formula is as follows:
wherein u issαStator voltage of alpha axis, usβStator voltage of beta axis, RSIs stator resistance, LmFor exciting inductance, LrFor rotor leakage inductance, LsFor stator leakage inductance, isαStator current of alpha axis, isβStator current of beta axis, p differential operator, Tcσ is the leakage coefficient, which is the filter cutoff frequency.
4. The high-voltage high-power frequency converter non-speed vector control flux linkage observation method according to claim 3, wherein the flux leakage coefficient formula is as follows:
5. a flux linkage observer without speed vector control for a high-voltage high-power frequency converter is characterized by comprising:
the current observation model unit is used for passing current rotor flux linkage values of different coordinate axes under the two-phase static coordinate;
the voltage observation model unit is used for passing voltage rotor flux linkage values of different coordinate axes under the two-phase static coordinate;
the filtering module is used for filtering the current rotor flux linkage value and the voltage rotor flux linkage value according to a set filtering cut-off frequency value to obtain a rotor flux linkage value;
wherein the different coordinate axes comprise an alpha axis and a beta axis;
obtaining a current rotor flux linkage value psi of an alpha axis under a current flux linkage observation modelrα(i)；
Obtaining a current rotor flux linkage value psi of a beta axis under a current flux linkage observation modelrβ(i)；
Obtaining a voltage rotor flux linkage value psi of an alpha axis under a voltage flux linkage observation modelrα(u)；
Obtaining a voltage rotor flux linkage value psi of a beta axis under a voltage flux linkage observation modelrβ(u)。
6. The flux observer without velocity vector control of a high-voltage high-power frequency converter according to claim 5, wherein the current observation model unit comprises:
collecting stator current i of stator current passing through alpha axis under synchronous rotation coordinatesαStator current i through beta axissβAnd the angular frequency ω of the rotor observed by the closed-loop systemrObtaining a flux linkage observed by a current model under a two-phase static coordinate system under the combined action;
enabling the synchronous rotation speed omega under the synchronous rotation coordinateeObtaining rotor flux linkage values psi of different coordinate axesrα(i)And Ψrβ(i)Said Ψrα(i)And Ψrβ(i)The formula is as follows:
wherein L ismTo excite the inductance, τrIs the rotor time constant.
7. The high-voltage high-power frequency converter non-velocity vector control flux linkage observer according to claim 5, wherein the voltage observation model unit comprises a low-pass filter, and the Ψ isrα(u)And Ψrβ(u)The formula is as follows:
wherein u issαStator voltage of alpha axis, usβStator voltage of beta axis, RSIs stator resistance, LmFor exciting inductance, LrFor rotor leakage inductance, LsFor stator leakage inductance, isαStator current of alpha axis, isβStator current of beta axis, p differential operator, Tcσ is the leakage coefficient, which is the filter cutoff frequency.
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| CN117040345A (en) * | 2023-10-09 | 2023-11-10 | 希望森兰科技股份有限公司 | Method for switching non-speed vector control by direct current control for elevator |
| CN117040345B (en) * | 2023-10-09 | 2023-12-15 | 希望森兰科技股份有限公司 | Method for switching non-speed vector control by direct current control for elevator |
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