CN112701980A - Energy efficiency optimization method of constant-voltage frequency ratio speed regulation system of induction motor - Google Patents

Energy efficiency optimization method of constant-voltage frequency ratio speed regulation system of induction motor Download PDF

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CN112701980A
CN112701980A CN202011288253.5A CN202011288253A CN112701980A CN 112701980 A CN112701980 A CN 112701980A CN 202011288253 A CN202011288253 A CN 202011288253A CN 112701980 A CN112701980 A CN 112701980A
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motor
voltage
speed
energy efficiency
induction motor
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夏加宽
梁宗伟
宋孟霖
刘思琪
张子璇
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Shenyang 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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • 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
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract

The energy efficiency optimizing method for constant voltage-frequency ratio speed regulating system of induction motor is characterized by that on the basis of mathematical model of iron loss of induction motor the expression of relationship between torque input power ratio and rotating speed and slip in induction motor control system is analyzed, and the optimum slip frequency correspondent to maximum torque input power ratio is obtained, and said optimum slip frequency can be used for regulating operation of motor so as to attain the goal of raising energy efficiency level of motor operation. The energy efficiency level of the motor is improved, the stability and the anti-interference capability of the system are enhanced, and the system is easy to realize.

Description

一种感应电机恒压频比调速系统的能效优化方法An energy efficiency optimization method for an induction motor constant voltage frequency ratio speed control system

技术领域technical field

本发明属于交流感应电机及其控制技术领域，具体涉及一种多条件限制下的，感应电机恒压频比调速系统的能效优化方法。The invention belongs to the technical field of an AC induction motor and its control, and in particular relates to an energy efficiency optimization method for an induction motor constant voltage-frequency ratio speed regulation system under the restriction of multiple conditions.

背景技术Background technique

交流电机变频调速方法主要包括恒压频比和变压变频，变压变频调速方法又分为矢量控制和直接转矩控制。采用恒压频比的调速系统，由于其原理简单、软硬件易于实现、维修方便，并且能够满足拖动负载的性能要求而得到了广泛的应用。The variable frequency speed regulation method of AC motor mainly includes constant voltage frequency ratio and variable voltage variable frequency, and the variable voltage variable frequency speed regulation method is further divided into vector control and direct torque control. The speed regulation system with constant voltage-frequency ratio has been widely used because of its simple principle, easy implementation of software and hardware, convenient maintenance, and can meet the performance requirements of dragging loads.

感应电机恒压频比控制的原理为:当电机在基频以下运行时，定子电压与电流频率的比值需要保持恒定。当需要调速时，根据转速对应的角频率和比值调整定子输入的电压幅值，再根据频率和电压幅值通过PWM调制，可以实现感应电机的交流调速。The principle of constant voltage-frequency ratio control of induction motor is: when the motor runs below the fundamental frequency, the ratio of stator voltage to current frequency needs to be kept constant. When speed regulation is required, the voltage amplitude of the stator input is adjusted according to the angular frequency and ratio corresponding to the rotational speed, and then the AC speed regulation of the induction motor can be achieved by PWM modulation according to the frequency and voltage amplitude.

感应电机工作区间一般分为两部分：恒转矩区和恒功率区。恒转矩区是指电机运行频率在基频以下，在该区域运行时，电机的励磁电流保持恒定，电机可以输出恒定的电磁转矩；电机在基频以上运行时，受于电机设计和输入电压的限制，电压不可再升高，转矩与转速乘积即功率保持恒定。The working area of induction motor is generally divided into two parts: constant torque area and constant power area. The constant torque zone means that the motor operating frequency is below the fundamental frequency. When running in this area, the excitation current of the motor remains constant, and the motor can output a constant electromagnetic torque; when the motor runs above the fundamental frequency, it is subject to the design and input of the motor. The voltage is limited, the voltage can no longer be increased, and the product of torque and speed, that is, power, remains constant.

感应电机恒压频比控制调速系统，通常采用转速闭环的转差控制系统来控制电机。在此控制系统中，可以通过调节转差的控制量，调节电机的运行，从而提高电机的能效水平。有文献提出以感应电机数学模型为基础，分析电机转速、转差与电机效率的关系，提出了最优转差的能效优化控制策略。然而，这个方法没有考虑电机的铁耗参数，仅以电机的效率为优化目标，忽略了电机励磁发热的损耗，这些问题使得实际的能效优化效果并不理想。Induction motor constant voltage frequency ratio control speed regulation system, usually adopts the speed closed loop slip control system to control the motor. In this control system, the operation of the motor can be adjusted by adjusting the control amount of the slip, thereby improving the energy efficiency of the motor. Some literatures propose to analyze the relationship between motor speed, slip and motor efficiency based on the mathematical model of induction motor, and propose an optimal control strategy for energy efficiency with optimal slip. However, this method does not consider the iron loss parameters of the motor, and only takes the efficiency of the motor as the optimization goal, ignoring the loss of the motor excitation and heating. These problems make the actual energy efficiency optimization effect unsatisfactory.

发明内容SUMMARY OF THE INVENTION

针对上述存在的问题，结合感应电机考虑铁耗的数学模型，本发明提供一种感应电机恒压频比调速系统的能效优化方法，它是在感应电机考虑铁耗的数学模型的基础上，分析转矩输入功率比与感应电机控制系统中转速和转差关系的表达式，并求出转矩输入功率比最大时对应的最优转差频率，用这个最优转差频率来调节电机的运行，达到提高电机运行能效水平的目的。In view of the above-mentioned existing problems, combined with the mathematical model of the induction motor considering iron loss, the present invention provides an energy efficiency optimization method for the constant voltage-frequency ratio speed regulation system of the induction motor. Analyze the expression of the relationship between the torque input power ratio and the speed and slip in the induction motor control system, and find the optimal slip frequency corresponding to the maximum torque input power ratio, and use this optimal slip frequency to adjust the motor's slip frequency. operation to achieve the purpose of improving the energy efficiency level of motor operation.

为了实现本发明的感应电机能效优化效果，本发明提供一种感应电机恒压频比调速系统的能效优化方法，具体为：In order to realize the energy efficiency optimization effect of the induction motor of the present invention, the present invention provides an energy efficiency optimization method for an induction motor constant voltage frequency ratio speed control system, specifically:

电机先以恒定的压频比值K启动，给定转速

Figure RE-GDA0002983823640000021
与实际转速ωr的差，经过PI调节器之后，加上实际转速得到同步转速ω1，此时电压幅值：Us＝K×ω1，Us与ω1的值送入PWM模块， PWM模块调制出满足控制要求的脉冲电压输入到电机，当电机达到稳态运行一段时间后，启动最优转差能效优化模块。The motor first starts with a constant voltage-frequency ratio K, and the speed is given.
Figure RE-GDA0002983823640000021
The difference with the actual speed ω r , after passing through the PI regulator, adds the actual speed to obtain the synchronous speed ω 1 , at this time the voltage amplitude: U s =K×ω 1 , the values of U s and ω 1 are sent to the PWM module, The PWM module modulates the pulse voltage that meets the control requirements and inputs it to the motor. When the motor reaches a steady state for a period of time, the optimal slip energy efficiency optimization module is activated.

其中，压频比的值

Figure RE-GDA0002983823640000022
UsN是电机的额定电压，ω1N是电机的额定同步转速。Among them, the value of the voltage-to-frequency ratio
Figure RE-GDA0002983823640000022
U sN is the rated voltage of the motor and ω 1N is the rated synchronous speed of the motor.

最优转差能效优化模块尚的功能是根据电机的运行参数，计算出最优转差角频率，并与实际转差角频率做差后，经过PI调节器输出补偿电压，Us经补偿电压后再输入到PWM模块中，最优转差的计算式为：

Figure RE-GDA0002983823640000023
The function of the optimal slip energy efficiency optimization module is to calculate the optimal slip angular frequency according to the operating parameters of the motor, and after making a difference with the actual slip angular frequency, the PI regulator outputs the compensation voltage, and the U s compensated voltage Then input it into the PWM module, the calculation formula of the optimal slip is:
Figure RE-GDA0002983823640000023

本发明的具体技术效果体现如下：The concrete technical effect of the present invention is embodied as follows:

1)提高了感应电机恒压频比调速系统运行时的能效水平，通过最大转矩输入功率比的方式来计算最优转差角频率，并将其转化成补偿电压，实现了感应电机运行的能效优化。1) The energy efficiency level of the induction motor constant voltage frequency ratio speed control system is improved. The optimal slip angle frequency is calculated by the maximum torque input power ratio and converted into a compensation voltage to realize the induction motor operation. energy efficiency optimization.

2)增强了感应电机恒压频比控制系统的稳定性和抗干扰能力，并且在软硬件上易于实现，成本低廉却效果显著。2) The stability and anti-interference ability of the constant voltage-frequency ratio control system of the induction motor are enhanced, and it is easy to implement in software and hardware, and the cost is low but the effect is remarkable.

总的来说，与传统的最优转差计算方法相比，本方法考虑更全面，既考虑了感应电机中铁耗的影响，又通过一定负载转矩下使电机输入功率最小，来达到减小电机损耗的目的。提高了电机的能效水平，增强了系统的稳定性和抗干扰能力，而且易于实现。In general, compared with the traditional optimal slip calculation method, this method considers more comprehensively. It not only considers the influence of iron loss in the induction motor, but also minimizes the motor input power under a certain load torque to achieve reduction. The purpose of motor loss. It improves the energy efficiency level of the motor, enhances the stability and anti-interference ability of the system, and is easy to implement.

附图说明Description of drawings

图1是感应电机基于最大转矩输入功率比的恒压频比调速系统的原理示意图；Fig. 1 is a schematic diagram of the principle of the constant voltage-frequency ratio speed regulation system of the induction motor based on the maximum torque input power ratio;

图2是感应电机基于最大转矩输入功率比的恒压频比调速系统运行的流程图；Fig. 2 is a flow chart of the operation of the constant voltage-frequency ratio speed control system of the induction motor based on the maximum torque input power ratio;

图3是本方法的实验波形图。Fig. 3 is the experimental waveform diagram of this method.

具体实施方式Detailed ways

为了更加清楚明白展示本发明的目的、技术方案及效果，以下结合附图及实施例，对本发明进行进一步详细说明。应当知道，此处所描述的具体实施例仅是用来解释本发明，并未限定本发明。此外，在下面所描述的本发明各个实施方式中，所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to more clearly demonstrate the objectives, technical solutions and effects of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, in the various embodiments of the present invention described below, the related technical features can be combined with each other as long as there is no conflict with each other.

为了提高感应电机恒压频比控制系统的能效水平，本发明提出了一种基于最大转矩输入功率比的最优转差计算方法。In order to improve the energy efficiency level of the constant voltage-frequency ratio control system of the induction motor, the present invention proposes an optimal slip calculation method based on the maximum torque input power ratio.

当感应电机考虑铁耗时,dq坐标系中的数学模型如下所示：When the induction motor takes iron time into account, the mathematical model in the dq coordinate system is as follows:

电压方程：

Figure RE-GDA0002983823640000031
Voltage equation:
Figure RE-GDA0002983823640000031

电流方程：

Figure RE-GDA0002983823640000032
Current equation:
Figure RE-GDA0002983823640000032

磁链方程：

Figure RE-GDA0002983823640000033
The flux linkage equation:
Figure RE-GDA0002983823640000033

转矩方程：

Figure RE-GDA0002983823640000034
Torque equation:
Figure RE-GDA0002983823640000034

电机输入功率方程：Pinput＝usdisd+usqisq (5)Motor input power equation: P input =u sd i sd +u sq i sq (5)

在式(1)-(5)中，ω1是同步转速角频率；ωr是转子转速角频率；ωsl＝ω1-ωr是转差角频率； Rs、Rr和Rm分别是定、转子电阻、铁损耗等效电阻；Ls、Lr、Lm分别是定、转子自感和互感； Lls、Llr分别是定转子漏感；isd、isq、ird、irq分别是dq轴的定、转子电流；iRmd、iRmq分别是 dq轴铁损等效电流；iLmd、iLmq分别是dq轴励磁电流；usd、usq分别是dq轴定子电压；ψsd、ψsq、ψrd、ψrq分别是dq轴定转子磁链，nP是电机的极对数。In equations (1)-(5), ω 1 is the synchronous rotational speed angular frequency; ω r is the rotor rotational speed angular frequency; ω sl =ω 1 -ω r is the slip angular frequency; R s , R r and R m are respectively are the stator and rotor resistance and the equivalent resistance of iron loss; L s , L r , and L m are the stator and rotor self-inductance and mutual inductance, respectively; L ls , L lr are the stator-rotor leakage inductance; i sd , i sq , i rd , i rq are the stator and rotor currents of the dq axis respectively; i Rmd and i Rmq are the equivalent current of the dq axis iron loss respectively; i Lmd and i Lmq are the excitation current of the dq axis respectively; usd and u sq are the dq axis stator respectively Voltage; ψ sd , ψ sq , ψ rd , and ψ rq are the dq-axis stator and rotor flux linkages, respectively, and n P is the number of pole pairs of the motor.

当坐标系是转子磁场定向且稳态运行时有：

Figure RE-GDA0002983823640000035
When the coordinate system is rotor field orientation and steady-state operation, there are:
Figure RE-GDA0002983823640000035

将式(6)代入式(1)-(5)中，可得：Substituting equation (6) into equations (1)-(5), we can get:

usd＝Rsisd (9)u sd =R s is sd (9)

Figure RE-GDA0002983823640000036
Figure RE-GDA0002983823640000036

Figure RE-GDA0002983823640000037
Figure RE-GDA0002983823640000037

Te＝Aωslisd 2 (12)T e =Aω sl i sd 2 (12)

其中，

Figure RE-GDA0002983823640000038
in,
Figure RE-GDA0002983823640000038

根据式(9)-(10),电机的输入功率可以表示为：According to equations (9)-(10), the input power of the motor can be expressed as:

Figure RE-GDA0002983823640000041
Figure RE-GDA0002983823640000041

其中：

Figure RE-GDA0002983823640000042
in:
Figure RE-GDA0002983823640000042

Figure RE-GDA0002983823640000043
Figure RE-GDA0002983823640000043

Figure RE-GDA0002983823640000044
Figure RE-GDA0002983823640000044

根据式(12)和式(13)，转矩与输入功率的比为：According to equations (12) and (13), the ratio of torque to input power is:

Figure RE-GDA0002983823640000045
Figure RE-GDA0002983823640000045

由式(14)可知，电机稳定运行时，转矩输入功率的比是电机转速和转差角频率的函数。而当电机的转矩和速度一定时即输出功率一定时，输入功率越小，说明损耗功率越少，电机的能效水平也就越高。由此可见，定有一个最优的转差角频率，使得在该负载转矩下的损耗最小，即使得转矩损耗功率比最大。It can be known from equation (14) that when the motor is running steadily, the ratio of torque input power is a function of motor speed and slip angular frequency. When the torque and speed of the motor are constant, that is, when the output power is constant, the smaller the input power, the less power loss, and the higher the energy efficiency level of the motor. It can be seen that there is an optimal slip angle frequency, which makes the loss under the load torque the smallest, that is, the torque loss power ratio is the largest.

令

Figure RE-GDA0002983823640000046
可得：make
Figure RE-GDA0002983823640000046
Available:

Figure RE-GDA0002983823640000047
Figure RE-GDA0002983823640000047

通过对感应电机在dq坐标系中，基于转子磁场定向的考虑铁耗的数学模型进行分析，获得了考虑铁耗的转矩和输入功率的表达式，将转矩与输入功率的比对转差角频率求偏导数，得到了对应最大转矩输入功率比的最优转差角频率的表达式。这个最优转差即可实现感应电机的高能效运行。By analyzing the mathematical model considering iron loss based on rotor magnetic field orientation in the dq coordinate system of induction motor, the expressions of torque and input power considering iron loss are obtained, and the ratio of torque and input power is compared to the slip The partial derivative of the angular frequency is obtained, and the expression of the optimal slip angular frequency corresponding to the maximum torque input power ratio is obtained. This optimum slip enables energy-efficient operation of the induction motor.

将上述方法与感应电机的恒压频比调速系统相结合，设计了基于最大转矩输入功率比的感应电机恒压频比能效优化控制系统。Combining the above method with the constant voltage-frequency ratio speed regulation system of the induction motor, a constant voltage-frequency ratio energy efficiency optimization control system of the induction motor based on the maximum torque input power ratio is designed.

系统实现原理框图如图1所示。它包括转差PI调节器1、最优转差计算模块2、补偿电压PI调节器3、压频比值的计算模块4、脉冲调制PWM模块5、三相电压源逆变器6、光电编码器7、感应电机8。The principle block diagram of the system implementation is shown in Figure 1. It includes slip PI regulator 1, optimal slip calculation module 2, compensation voltage PI regulator 3, voltage-frequency ratio calculation module 4, pulse modulation PWM module 5, three-phase voltage source inverter 6, photoelectric encoder 7. Induction motor 8.

由于采用恒压频比控制方式，转矩与转差成正比关系，所以转速的给定

Figure RE-GDA0002983823640000048
与实际的转速ωr的差，经过转差PI调节器1处理之后，与实际转速相加得到同步转速ω1，实现转速闭环。同步转速ω1经过压频比值的计算模块之后4，得到此时电压幅值Us。将电机的实时转速送入最优转差计算模块2中，依据式(15)计算当前的最优转差
Figure RE-GDA0002983823640000051
与电机的实时转差做差，差值送入补偿电压PI调节器3中，计算出补偿电压Us′。Us经补偿电压后，与ω1一起送入脉冲调制PWM模块5。脉冲调制PWM模块5调制出满足控制要求的六组脉冲，送给三相电压源逆变器6。三相电压源逆变器6逆变出的电压输入到感应电机8，使得电机满足控制要求并且稳定高效运行。光电编码器7负责实时检测感应电机8的转速并反馈回控制系统中。Due to the constant voltage-frequency ratio control method, the torque is proportional to the slip, so the given speed
Figure RE-GDA0002983823640000048
The difference from the actual rotational speed ω r is processed by the slip PI regulator 1 and added to the actual rotational speed to obtain the synchronous rotational speed ω 1 , which realizes the rotational speed closed-loop. After the synchronous rotation speed ω 1 passes through the calculation module of the voltage-frequency ratio 4 , the voltage amplitude U s is obtained at this time. The real-time speed of the motor is sent to the optimal slip calculation module 2, and the current optimal slip is calculated according to formula (15).
Figure RE-GDA0002983823640000051
The difference is made with the real-time slip of the motor, and the difference is sent to the compensation voltage PI regulator 3 to calculate the compensation voltage U s '. After U s is compensated for the voltage, it is sent to the pulse modulation PWM module 5 together with ω 1 . The pulse modulation PWM module 5 modulates six groups of pulses that meet the control requirements and sends them to the three-phase voltage source inverter 6 . The voltage converted by the three-phase voltage source inverter 6 is input to the induction motor 8, so that the motor meets the control requirements and operates stably and efficiently. The photoelectric encoder 7 is responsible for detecting the rotational speed of the induction motor 8 in real time and feeding it back to the control system.

图2是本方法基于最大转矩输入功率比能效优化控制策略与恒压频比结合的控制系统的运行流程图。FIG. 2 is a flow chart of the operation of the control system based on the combination of the maximum torque input power ratio energy efficiency optimization control strategy and the constant voltage frequency ratio of the method.

图3是本方法的实验结果图。在图3是感应电机从空载到100N.m、转速从50rad/s到140rad/s运行过程中，采用本方法与传统恒压频比调速方法的对比结果图，为更加形象的体现本发明的效果，以损耗功率的变化曲线作为对比，其中虚线表示的是传统恒压频比调速系统的损耗功率变化曲线，实线为本发明的损耗变化曲线图。Figure 3 is a graph of the experimental results of this method. Figure 3 shows the comparison results between this method and the traditional constant voltage-frequency ratio speed regulation method during the operation of the induction motor from no-load to 100N.m and the rotational speed from 50rad/s to 140rad/s. The effect of the invention is compared with the change curve of power loss, wherein the dotted line represents the change curve of power loss of the traditional constant voltage-frequency ratio speed control system, and the solid line is the change curve of loss of the present invention.

本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而己，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc. , should be included within the protection scope of the present invention.

Claims (4)

1.一种感应电机恒压频比调速系统的能效优化方法，其特征在于：所述方法步骤如下：1. an energy efficiency optimization method of an induction motor constant voltage frequency ratio speed control system, it is characterized in that: described method steps are as follows: 第一步、先以恒定的压频比值K启动电机，给定转速
Figure FDA0002783065910000011
与实际转速ωr的差，经过PI调节器之后，加上实际转速得到同步转速ω1；The first step is to start the motor with a constant voltage-frequency ratio K, and set the speed
Figure FDA0002783065910000011
The difference from the actual rotational speed ω r , after passing through the PI regulator, is added to the actual rotational speed to obtain the synchronous rotational speed ω 1 ; 第二步、同步转速ω1经过压频比值的计算模块，得到此时电压幅值Us；In the second step, the synchronous rotational speed ω1 obtains the voltage amplitude U s at this time through the calculation module of the voltage-frequency ratio; 第三步、计算补偿电压U′s，即上述Us经电压补偿后，与ω1的值送入PWM模块，PWM模块调制出满足控制要求的脉冲电压输入到电机。The third step is to calculate the compensation voltage U' s , that is, after the voltage compensation of the above U s , the value of ω 1 is sent to the PWM module, and the PWM module modulates the pulse voltage that meets the control requirements and inputs it to the motor. 2.根据权利要求1所述的一种感应电机恒压频比调速系统的能效优化方法，其特征在于：2. the energy efficiency optimization method of a kind of induction motor constant voltage frequency ratio speed regulation system according to claim 1, is characterized in that: 第三步中的计算补偿电压U′s的方法为：The method of calculating the compensation voltage U 's in the third step is: 第二步得到“此时电压幅值Us”后将电机的实时转速送入最优转差计算模块中，计算当前的最优转差
Figure FDA0002783065910000012
Figure FDA0002783065910000013
与电机的实时转差做差，差值送入补偿电压PI调节器中，计算出补偿电压U′s。The second step is to get "the voltage amplitude U s at this time" and then send the real-time speed of the motor to the optimal slip calculation module to calculate the current optimal slip
Figure FDA0002783065910000012
Figure FDA0002783065910000013
Make a difference with the real-time slip of the motor, and send the difference into the compensation voltage PI regulator to calculate the compensation voltage U' s . 3.根据权利要求2所述的一种感应电机恒压频比调速系统的能效优化方法，其特征在于：3. the energy efficiency optimization method of a kind of induction motor constant voltage frequency ratio speed regulation system according to claim 2, is characterized in that: 计算当前的最优转差
Figure FDA0002783065910000014
的计算式为：Calculate the current optimal slip
Figure FDA0002783065910000014
The calculation formula is:
Figure FDA0002783065910000015
Figure FDA0002783065910000015
 其中ωr是转子转速角频率；Rs、Rr和Rm分别是定、转子电阻、铁损耗等效电阻；Ls、Lr、Lm分别是定、转子自感和互感。Among them, ω r is the angular frequency of the rotor speed; R s , R r and R m are the stator, rotor resistance, and iron loss equivalent resistance, respectively; L s , L r , and L m are the stator and rotor self-inductance and mutual inductance, respectively. 4.根据权利要求3所述的一种感应电机恒压频比调速系统的能效优化方法，其特征在于：4. the energy efficiency optimization method of a kind of induction motor constant voltage frequency ratio speed regulation system according to claim 3, is characterized in that: 基于最大转矩输入功率比的原理，将考虑铁耗的转矩与输入功率的比表示为：Based on the principle of maximum torque input power ratio, the ratio of torque and input power considering iron loss is expressed as:
Figure FDA0002783065910000016
Figure FDA0002783065910000016
 其中：
Figure FDA0002783065910000017
in:
Figure FDA0002783065910000017
Figure FDA0002783065910000021
Figure FDA0002783065910000021
Figure FDA0002783065910000022
Figure FDA0002783065910000022
Figure FDA0002783065910000023
Figure FDA0002783065910000023
 并令
Figure FDA0002783065910000024
得到最优转差的计算式and order
Figure FDA0002783065910000024
The formula to get the optimal slip 其中转矩方程：Te＝Aωslisd 2，电机输入功率方程：Pinput＝usdisd+usqisq；ωsl＝ω1-ωr是转差角频率；ω1是同步转速角频率；isd是d轴定子电流；isq是d轴转子电流；usd、usq分别是dq轴定子电压；nP是电机的极对数；Ls、Lr、Lm分别是定、转子自感和互感。Wherein the torque equation: T e =Aω sl i sd 2 , the motor input power equation: P input =u sd i sd +u sq i sq ; ω sl =ω 1 -ω r is the slip angular frequency; ω 1 is the synchronization Speed angular frequency; i sd is the d-axis stator current; i sq is the d-axis rotor current; u sd and u sq are the dq-axis stator voltages respectively; n P is the number of pole pairs of the motor; L s , L r , and L m are respectively are the stator and rotor self-inductance and mutual inductance.
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