CN112701980A - Energy efficiency optimization method of constant-voltage frequency ratio speed regulation system of induction motor - Google Patents
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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
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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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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- 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
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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
- 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
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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
Technical Field
The invention belongs to the technical field of alternating current induction motors and control thereof, and particularly relates to an energy efficiency optimization method of a constant-voltage frequency ratio speed regulation system of an induction motor under the limitation of multiple conditions.
Background
The variable-frequency speed regulation method of the alternating current motor mainly comprises a constant-voltage frequency ratio and a variable-voltage variable-frequency, and the variable-voltage variable-frequency speed regulation method is divided into vector control and direct torque control. The speed regulating system adopting the constant-voltage frequency ratio is widely applied due to the simple principle, easy realization of software and hardware, convenient maintenance and capability of meeting the performance requirement of dragging loads.
The principle of constant voltage frequency ratio control of induction motors is that the ratio of stator voltage to current frequency needs to be kept constant when the motor is operated below fundamental frequency. When speed is required to be adjusted, the voltage amplitude input by the stator is adjusted according to the angular frequency and the specific value corresponding to the rotating speed, and then the alternating current speed adjustment of the induction motor can be realized through PWM modulation according to the frequency and the voltage amplitude.
The induction motor operating range is generally divided into two parts: a constant torque zone and a constant power zone. The constant torque area means that the running frequency of the motor is below the fundamental frequency, the exciting current of the motor keeps constant when the motor runs in the area, and the motor can output constant electromagnetic torque; when the motor operates above the fundamental frequency, the voltage can not be increased any more due to the limitation of the motor design and the input voltage, and the product of the torque and the rotating speed, namely the power, is kept constant.
The constant voltage frequency ratio control speed regulating system of induction motor usually adopts the slip control system of rotational speed closed loop to control the motor. In the control system, the operation of the motor can be adjusted by adjusting the control quantity of the slip, so that the energy efficiency level of the motor is improved. The literature provides an energy efficiency optimization control strategy for optimal slip by analyzing the relationship between the motor rotation speed, slip and motor efficiency based on a mathematical model of an induction motor. However, this method does not consider the iron loss parameter of the motor, only takes the efficiency of the motor as an optimization target, neglects the loss of excitation heating of the motor, and these problems make the actual energy efficiency optimization effect not ideal.
Disclosure of Invention
Aiming at the existing problems, the invention provides an energy efficiency optimization method of a constant voltage frequency ratio speed regulating system of an induction motor by combining a mathematical model of the induction motor considering iron loss, which is characterized in that on the basis of the mathematical model of the induction motor considering iron loss, an expression of the relation between the torque input power ratio and the rotating speed and slip in an induction motor control system is analyzed, the optimal slip frequency corresponding to the maximum torque input power ratio is solved, the operation of the motor is regulated by using the optimal slip frequency, and the aim of improving the operation energy efficiency level of the motor is fulfilled.
In order to realize the energy efficiency optimization effect of the induction motor, the invention provides an energy efficiency optimization method of a constant voltage-frequency ratio speed regulation system of the induction motor, which comprises the following steps:
the motor is started at a constant voltage-frequency ratio K and at a given rotating speed
With the actual speed omegarAfter passing through the PI regulator, the difference is added with the actual rotation speed to obtain the synchronous rotation speed omega1At this time, the voltage amplitude is: u shapes＝K×ω1，UsAnd omega1The value of the voltage is sent to a PWM module, the PWM module modulates pulse voltage meeting the control requirement and inputs the pulse voltage to the motor, and when the motor reaches steady state operation for a period of time, an optimal slip energy efficiency optimization module is started.
Wherein the value of the pressure-frequency ratio
UsNIs the rated voltage, omega, of the motor1NIs the nominal synchronous speed of the motor.
The optimal slip energy efficiency optimization module has the functions of calculating the optimal slip angular frequency according to the operation parameters of the motor, and outputting compensation voltage U through a PI regulator after the optimal slip angular frequency is differed from the actual slip angular frequencysAfter the compensation voltage is input into the PWM module, the calculation formula of the optimal slip is as follows:
the specific technical effects of the invention are embodied as follows:
1) the energy efficiency level of the induction motor during the operation of the constant voltage-frequency ratio speed regulating system is improved, the optimal slip angular frequency is calculated in a mode of inputting the power ratio through the maximum torque, and the optimal slip angular frequency is converted into the compensation voltage, so that the energy efficiency optimization of the induction motor during the operation is realized.
2) The stability and the anti-interference capability of the constant voltage frequency ratio control system of the induction motor are enhanced, the control system is easy to realize in software and hardware, the cost is low, and the effect is obvious.
In general, compared with the traditional optimal slip calculation method, the method has more comprehensive consideration, not only considers the influence of iron loss in the induction motor, but also achieves the purpose of reducing the loss of the motor by minimizing the input power of the motor under certain load torque. 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.
Drawings
FIG. 1 is a schematic diagram of a constant voltage frequency ratio speed control system for an induction motor based on a maximum torque input power ratio;
FIG. 2 is a flow chart of the operation of the constant voltage to frequency ratio governor system of the induction motor based on the maximum torque to input power ratio;
fig. 3 is an experimental waveform diagram of the method.
Detailed Description
In order to clearly and clearly show the objects, technical solutions and effects of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, in the embodiments of the present invention described below, the technical features may be combined with each other as long as they do not conflict with each other.
In order to improve the energy efficiency level of a constant voltage frequency ratio control system of an induction motor, the invention provides an optimal slip calculation method based on a maximum torque input power ratio.
When the induction machine takes into account iron time, the mathematical model in the dq coordinate system is as follows:
voltage equation:
current equation:
the flux linkage equation:
the torque equation:
the motor input power equation: pinput＝usdisd+usqisq (5)
In the formulae (1) to (5), ω1Is the synchronous rotational speed angular frequency; omegarIs the rotor speed angular frequency; omegasl＝ω1-ωrIs the angular frequency of the rotation difference; rs、RrAnd RmRespectively a stator resistor, a rotor resistor and an iron loss equivalent resistor; l iss、Lr、LmThe self inductance and mutual inductance of the stator and the rotor are respectively; l isls、LlrRespectively determining leakage inductance of the stator and the rotor; i.e. isd、isq、ird、irqStator and rotor currents of dq axes, respectively; i.e. iRmd、iRmqThe dq axis iron loss equivalent currents are respectively; i.e. iLmd、iLmqAre dq-axis excitation currents, respectively; u. ofsd、usqThe dq-axis stator voltages, respectively; psisd、ψsq、ψrd、ψrqRespectively a dq-axis stator-rotor magnetic chain, nPIs the pole pair number of the motor.
When the coordinate system is rotor field oriented and in steady state operation:
the formula (6) can be substituted into the formulae (1) to (5):
usd＝Rsisd (9)
Te＝Aωslisd 2 (12)
wherein,
according to equations (9) - (10), the input power of the motor can be expressed as:
wherein:
according to equations (12) and (13), the ratio of torque to input power is:
from equation (14), the ratio of torque to input power is a function of the motor speed and the slip angular frequency when the motor is operating steadily. When the torque and the speed of the motor are constant, namely the output power is constant, the lower the input power is, the lower the loss power is, and the higher the energy efficiency level of the motor is. It follows that an optimum slip angular frequency is determined so that the losses at the load torque are minimal, i.e. so that the torque-to-power ratio is maximal.
Order to
The following can be obtained:
by analyzing a mathematical model of the induction motor in a dq coordinate system based on the rotor magnetic field orientation and considering the iron loss, an expression of torque and input power considering the iron loss is obtained, and a partial derivative is obtained by comparing the torque and the input power and calculating the slip angular frequency, so that an 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.
The method is combined with a constant-voltage frequency ratio speed regulating system of the induction motor, and a constant-voltage frequency ratio energy efficiency optimization control system of the induction motor based on the maximum torque input power ratio is designed.
A schematic block diagram of the system implementation is shown in fig. 1. The device comprises a slip PI regulator 1, an optimal slip calculation module 2, a compensation voltage PI regulator 3, a voltage-frequency ratio calculation module 4, a pulse modulation PWM module 5, a three-phase voltage source inverter 6, a photoelectric encoder 7 and an induction motor 8.
The rotation speed is given because of the constant pressure frequency ratio control mode and the direct proportion relation between the torque and the slip
With actual speed omegarAfter being processed by the slip PI regulator 1, the difference is added with the actual rotating speed to obtain the synchronous rotating speed omega1And the rotating speed closed loop is realized. Synchronous speed omega1The voltage amplitude U at the moment is obtained through a voltage-frequency ratio calculation module 4s. The real-time rotating speed of the motor is sent into an optimal slip calculation module 2, and the current optimal slip is calculated according to the formula (15)
Making a difference with the real-time slip of the motor, sending the difference value into a compensation voltage PI regulator 3, and calculating a compensation voltage Us′。UsAfter compensating for the voltage, with omega1Are sent to the pulse modulation PWM module 5. The pulse modulation PWM module 5 modulates six groups of pulses meeting the control requirement and sends the six groups of pulses to the three-phase voltage source inverter 6. The voltage inverted by the three-phase voltage source inverter 6 is input to the induction motor 8, so that the motor meets the control requirement and operates stably and efficiently. The photoelectric encoder 7 is responsible for detecting the rotating speed of the induction motor 8 in real time and feeding the rotating speed back to the control system.
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.
FIG. 3 is a graph showing the results of the experiment of the present method. Fig. 3 is a comparison result graph of the method and the conventional constant voltage frequency ratio speed regulation method in the process of operating the induction motor from no load to 100n.m and rotating speed from 50rad/s to 140rad/s, in order to more vividly embody the effect of the present invention, the change curve of the loss power is taken as the comparison, wherein the dotted line represents the change curve of the loss power of the conventional constant voltage frequency ratio speed regulation system, and the solid line represents the change curve of the loss power of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. An energy efficiency optimization method of a constant voltage-frequency ratio speed regulation system of an induction motor is characterized by comprising the following steps: the method comprises the following steps:
firstly, starting a motor at a constant voltage-frequency ratio K, and setting the rotating speed
With the actual speed omegarAfter passing through the PI regulator, the difference is added with the actual rotation speed to obtain the synchronous rotation speed omega1；
Second, synchronous speed omega1Obtaining the voltage amplitude U at the moment through a voltage-frequency ratio calculation modules；
Thirdly, calculating a compensation voltage U'sI.e. the above-mentioned UsAfter voltage compensation, with omega1The value of the voltage is sent to a PWM module, and the PWM module modulates pulse voltage meeting the control requirement and inputs the pulse voltage to the motor.
2. The energy efficiency optimization method of the constant voltage-frequency ratio speed regulating system of the induction motor according to claim 1, characterized in that:
calculating the compensation voltage in the third stepU′sThe method comprises the following steps:
the second step obtains the voltage amplitude U at this timesSending the real-time rotating speed of the motor into an optimal slip calculation module to calculate the current optimal slip
Making a difference with the real-time slip of the motor, sending the difference value into a compensation voltage PI regulator, and calculating a compensation voltage U's。
3. The energy efficiency optimization method of the constant voltage-frequency ratio speed regulating system of the induction motor according to claim 2, characterized in that:
calculating the current optimum slip
The calculation formula of (A) is as follows:
wherein ω isrIs the rotor speed angular frequency; rs、RrAnd RmRespectively a stator resistor, a rotor resistor and an iron loss equivalent resistor; l iss、Lr、LmThe self inductance and mutual inductance of the stator and the rotor are respectively.
4. The energy efficiency optimization method of the constant voltage-frequency ratio speed regulating system of the induction motor according to claim 3, characterized in that:
based on the principle of maximum torque to input power ratio, the ratio of torque to input power considering iron loss is expressed as:
wherein:
and order
Calculation formula for obtaining optimal slip
Wherein the torque equation: t ise＝Aωslisd 2The motor input power equation: pinput＝usdisd+usqisq；ωsl＝ω1-ωrIs the angular frequency of the rotation difference; omega1Is the synchronous rotational speed angular frequency; i.e. isdIs the d-axis stator current; i.e. isqIs the d-axis rotor current; u. ofsd、usqThe dq-axis stator voltages, respectively; n isPIs the number of pole pairs of the motor; l iss、Lr、LmThe self inductance and mutual inductance of the stator and the rotor are respectively.
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| CN202011288261.XA Active CN112671292B (en) | 2019-11-18 | 2020-11-17 | Energy efficiency optimization method of vector control speed regulation system of induction motor |
| CN202011288253.5A Pending CN112701980A (en) | 2019-11-18 | 2020-11-17 | Energy efficiency optimization method of constant-voltage frequency ratio speed regulation system of induction motor |
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| CN102882466A (en) * | 2012-10-09 | 2013-01-16 | 南京工业大学 | Energy-saving frequency converter of induction motor direct torque control speed regulating system and construction method |
| CN103746631A (en) * | 2014-01-13 | 2014-04-23 | 上海海事大学 | Energy-saving control method of asynchronous motor |
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| CN102255598B (en) * | 2011-06-27 | 2013-05-29 | 浙江大学 | Method for controlling electronic pole inversion of multiphase induction motor on basis of vector control |
| CN103718451B (en) * | 2011-08-10 | 2016-06-15 | 松下电器产业株式会社 | The control device of electric motor |
| CN102510260B (en) * | 2011-11-17 | 2014-03-12 | 华中科技大学 | Induction machine vector control method taking account of iron loss |
| CN103227604A (en) * | 2012-11-01 | 2013-07-31 | 东方日立(成都)电控设备有限公司 | Speed sensorless vector control method for induction motor |
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| CN102882466A (en) * | 2012-10-09 | 2013-01-16 | 南京工业大学 | Energy-saving frequency converter of induction motor direct torque control speed regulating system and construction method |
| CN103746631A (en) * | 2014-01-13 | 2014-04-23 | 上海海事大学 | Energy-saving control method of asynchronous motor |
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