CN112994552B - Slip compensation method for alternating current asynchronous motor - Google Patents
Slip compensation method for alternating current asynchronous motor Download PDFInfo
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- CN112994552B CN112994552B CN202110271880.6A CN202110271880A CN112994552B CN 112994552 B CN112994552 B CN 112994552B CN 202110271880 A CN202110271880 A CN 202110271880A CN 112994552 B CN112994552 B CN 112994552B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust 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
- H02P21/14—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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a slip compensation method of an alternating current asynchronous motor, which comprises the steps of obtaining synchronous frequency by adding the encoder measuring speed of a rotor according to a slip formula of vector control, and obtaining a flux linkage angle by integrating the synchronous frequency; when the magnetic field is not oriented correctly, the dq axis deviates from the real dq axis by an angle theta err The flux linkage relationship between the dq axis and the true dq axis is the observed q-axis flux linkage psi rq Is a real magnetic linkage
Projection of (2): the angle of the magnetic field lags behind the actual angle, the q-axis observation angle is a positive value, and at the moment, the slip frequency needs to be increased to enable the angle of the magnetic field to be consistent with the actual angle; the invention has the beneficial effects that: when the flux linkage orientation angle is accurate, the flux linkage psi of the q-axis rq The sliding frequency omega is 0, and the implementation method of the scheme realizes the sliding frequency omega through the PI controller and the amplitude limiting controller s And compensating to realize flux linkage orientation angle compensation and correction after synchronous frequency integration.
Description
Technical Field
The invention relates to a slip compensation method for an alternating current asynchronous motor, and belongs to the technical field of control of alternating current asynchronous motors.
Background
The accuracy of magnetic field orientation during vector control of an alternating current asynchronous motor influences the control performance. However, the accurate orientation angle is the rotor flux linkage vector angle, which is difficult to measure directly, so that the estimation, i.e. indirect orientation vector control, is generally performed by adopting an indirect calculation method. In the industrial vehicle field, the wiring harness of the encoder is very low, and is often only 64 lines or 80 lines. The wiring harness of the encoder is low, so that an error exists in speed measurement, the synchronous rotation angle is deviated when indirect orientation control is adopted, so that magnetic field orientation is inaccurate, the magnetic flux linkage and the torque of the alternating current asynchronous motor are greatly influenced due to the magnetic field orientation inaccuracy, and the orientation angle needs to be corrected by performing slip compensation aiming at the defect.
In order to solve the technical problems, a new technical scheme is especially provided.
Disclosure of Invention
The present invention is directed to a method for compensating slip of an ac asynchronous motor, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a method of slip compensation for an ac asynchronous machine, the method comprising the steps of:
step one, according to a slip formula of vector control, adding a coder measuring speed of a rotor to obtain a synchronous frequency, and integrating the synchronous frequency to obtain a flux linkage angle;
the slip formula is:
the synchronous frequency formula is as follows: omega e ＝ω s +ω r
Step two, when the magnetic field is not oriented correctly, the dq axis and the real dq axis have deviation, and the deviation angle is theta err The flux linkage relationship between the dq axis and the true dq axis is the observed q-axis flux linkage psi rq Is a real magnetic linkage
Projection of (2):
the flux linkage of the q axis has the size and the sign which can represent the orientation deviation angle of the magnetic field to a certain extent;
the angle of the magnetic field lags behind the actual angle, the q-axis observation angle is a positive value, and at the moment, the slip frequency needs to be increased to enable the angle of the magnetic field to be consistent with the actual angle;
the angle of the magnetic field is ahead of the actual angle, the q-axis observation angle is a negative value, and at the moment, the slip frequency needs to be reduced to enable the angle of the magnetic field to be consistent with the actual angle;
step three, the magnetic linkage psi of the q axis rq The estimation adopts a mixed model estimation method:
according to the voltage model of the alternating current asynchronous machine, the equation of the flux linkage on an alpha-beta coordinate system is as follows:
wherein psi rα ，ψ rβ Is the flux linkage of the rotor at alpha-beta. Psi rα ，ψ rβ A flux linkage for the stator at alpha-beta;
according to an alternating current asynchronous machine current model, an equation of a flux linkage on an alpha-beta coordinate system is as follows:
ψ rα ，ψ rβ the estimation and estimation method comprises the steps of carrying out low-pass filtering on a voltage model to replace pure integration, and compensating a calculation result of the voltage model after carrying out high-pass filtering on a current model;
step four, estimating to obtain psi rα ，ψ rβ Then according to the coordinate change by psi rq ＝cos(θ)ψ rβ -sin(θ)ψ rα Calculation of formula
Preferably, in the slip formula of step one, ω is s Is the slip frequency; t is r Is the rotor time constant;
preferably, in the synchronous frequency formula of step one, ω e Is a synchronous frequency; omega r The rotor speed.
Compared with the prior art, the invention has the beneficial effects that: when the flux linkage orientation angle is accurate, the flux linkage psi rq of the q axis should be 0, and the method for realizing the scheme realizes the slip frequency omega through a PI controller and an amplitude limiting controller s And compensating to realize flux linkage orientation angle compensation and correction after synchronous frequency integration.
Drawings
FIG. 1 is a magnetic chain diagram of the invention when misaligned.
FIG. 2 is a block diagram of slip compensation control according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme that: a slip compensation method for an alternating current asynchronous motor is characterized in that a magnetic field calculation method of indirect directional vector control comprises the following steps: and according to a slip formula of vector control, adding the encoder measuring speed of the rotor to obtain synchronous frequency, and integrating the synchronous frequency to obtain a flux linkage angle.
According to the vector model of the alternating current asynchronous machine, the slip formula is as follows:
wherein, ω is s Is the slip frequency; t is r Is the rotor time constant;
the speed of the rotor is calculated by measuring through an encoder, and common calculation methods include an M method, a T method and an MT method. However, when the resolution of the encoder is relatively low, there is a certain error in any of the velocity measurement methods.
When the vector is controlled indirectly, the synchronous frequency is as follows:
ω e ＝ω s +ω r
wherein, ω is e Is a synchronous frequency; omega r The rotor speed.
When the magnetic field is not oriented correctly, the dq axis deviates from the real dq axis by an angle theta err The flux linkage relationship between the dq axis and the true dq axis is shown in FIG. 1, and the observed q-axis flux linkage ψ rq Is a real magnetic linkage
Projection of (2):
the flux linkage of the q axis has the size and the sign which can represent the orientation deviation angle of the magnetic field to a certain extent;
the angle of the magnetic field lags behind the actual angle, the q-axis observation angle is a positive value, and at the moment, the slip frequency needs to be increased to enable the angle of the magnetic field to be consistent with the actual angle;
the angle of the magnetic field is ahead of the actual angle, the q-axis observation angle is a negative value, and at the moment, the slip frequency needs to be reduced to enable the angle of the magnetic field to be consistent with the actual angle;
flux linkage psi of q-axis rq The estimation adopts a mixed model estimation method:
according to the voltage model of the alternating current asynchronous machine, the equation of the flux linkage on an alpha-beta coordinate system is as follows:
wherein psi rα ，ψ rβ Is the flux linkage of the rotor at alpha-beta. Psi rα ，ψ rβ A flux linkage for the stator at alpha-beta;
according to an alternating current asynchronous machine current model, an equation of a flux linkage on an alpha-beta coordinate system is as follows:
ψ rα ，ψ rβ the estimation and estimation method comprises the steps of carrying out low-pass filtering on a voltage model instead of pure integration, and compensating a calculation result of the voltage model after carrying out high-pass filtering on a current model;
estimate to obtain psi rα ，ψ rβ Then according to the coordinate change by psi rq ＝cos(θ)ψ rβ -sin(θ)ψ rα The formula calculates the flux linkage ψ rq of the q-axis.
As shown in fig. 2, the motor is driven by two-phase stationary coordinate current i α ，i β And two-phase stationary coordinate voltage U α ，U β Estimation of the flux linkage psi of the q-axis rq 。
Flux linkage psi of q-axis rq And filtering, wherein the filtering can be first-order low-pass filtering, second-order low-pass filtering or other filters, and the method selects the first-order low-pass filter.
When the flux linkage orientation angle is accurate, the flux linkage psi of the q-axis rq The sliding frequency omega is 0, and the implementation method of the scheme realizes the sliding frequency omega through the PI controller and the amplitude limiting controller s And compensating to realize flux linkage orientation angle compensation and correction after synchronous frequency integration.
In the upper diagram, the slip is calculated based on the motor rotation coordinate current i d ，i q And calculating by adopting the formula (1). Omega r The real-time rotating speed of the motor is obtained by collecting and calculating the encoder.
The PI controller may be P (proportional) control or PI (proportional-integral control). The scheme adopts P control. The PI controller is given a fixed 0 and the feedback is the estimated flux linkage psi of the q-axis rq 。
And the output of the PI controller is subjected to amplitude limitation, the maximum value of the limiting controller is the rated slip frequency of the asynchronous motor, and the minimum value is the negative rated slip frequency.
As shown in fig. 2, the output θ is not only the flux linkage orientation angle after calibration, but also is used for vector control decoupling of the asynchronous motor.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. A method for compensating slip in an ac asynchronous motor, the method comprising the steps of:
step one, according to a slip formula of vector control, adding a coder measuring speed of a rotor to obtain a synchronous frequency, and integrating the synchronous frequency to obtain a flux linkage angle;
the slip formula is:
the synchronous frequency formula is as follows: omega e ＝ω s +ω r
Step two, when the magnetic field is not oriented correctly, the dq axis and the real dq axis have deviation, and the deviation angle is theta err The flux linkage relationship between the dq axis and the true dq axis is the observed q-axis flux linkage psi rq Is a real magnetic linkage
Projection of (2):
the flux linkage of the q axis has the size and the sign which can represent the orientation deviation angle of the magnetic field to a certain extent;
the angle of the magnetic field lags behind the actual angle, the q-axis observation angle is a positive value, and at the moment, the slip frequency needs to be increased to enable the angle of the magnetic field to be consistent with the actual angle;
the angle of the magnetic field is ahead of the actual angle, the q-axis observation angle is a negative value, and at the moment, the slip frequency needs to be reduced to enable the angle of the magnetic field to be consistent with the actual angle;
step three, flux linkage psi of q-axis rq The estimation adopts a mixed model estimation method:
according to the voltage model of the alternating current asynchronous machine, the equation of the flux linkage on an alpha-beta coordinate system is as follows:
wherein psi rα ，ψ rβ For the flux linkage of the rotor at alpha-beta, psi sα ，ψ sβ A flux linkage for the stator at alpha-beta;
according to an alternating current asynchronous machine current model, an equation of a flux linkage on an alpha-beta coordinate system is as follows:
ψ rα ，ψ rβ the estimation method comprises the steps of carrying out low-pass filtering on a voltage model instead of pure integration, and compensating a calculation result of the voltage model after carrying out high-pass filtering on a current model;
step four, estimating to obtain psi rα ，ψ rβ Then according to the coordinate change by psi rq ＝cos(θ)ψ rβ -sin(θ)ψ rα Calculating a magnetic linkage psi rq of a q axis by a formula; in the slip formula of the step one, ω s Is the slip frequency; t is r Is the rotor time constant;
in the synchronous frequency formula of the step one, ω e Is a synchronous frequency; omega r The rotor speed.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120025749A1 (en) * | 2010-07-29 | 2012-02-02 | Lai Yen-Shin | Control system of three phase induction motor driver and field weakening control method thereof |
| CN103036500A (en) * | 2012-12-07 | 2013-04-10 | 深圳市安邦信电子有限公司 | Vector control method of alternating current asynchronous motor non-speed sensor |
| CN103326659A (en) * | 2013-07-05 | 2013-09-25 | 合肥工业大学 | Control method for directionally correcting rotor field of asynchronous motor |
| CN104283477A (en) * | 2014-09-28 | 2015-01-14 | 廖启新 | Asynchronous motor vector controlling magnetic field orientation correcting method based on torque observation |
| CN112436774A (en) * | 2020-11-24 | 2021-03-02 | 华中科技大学 | Control method of asynchronous motor driven by non-speed sensor |
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- 2021-03-13 CN CN202110271880.6A patent/CN112994552B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120025749A1 (en) * | 2010-07-29 | 2012-02-02 | Lai Yen-Shin | Control system of three phase induction motor driver and field weakening control method thereof |
| CN103036500A (en) * | 2012-12-07 | 2013-04-10 | 深圳市安邦信电子有限公司 | Vector control method of alternating current asynchronous motor non-speed sensor |
| CN103326659A (en) * | 2013-07-05 | 2013-09-25 | 合肥工业大学 | Control method for directionally correcting rotor field of asynchronous motor |
| CN104283477A (en) * | 2014-09-28 | 2015-01-14 | 廖启新 | Asynchronous motor vector controlling magnetic field orientation correcting method based on torque observation |
| CN112436774A (en) * | 2020-11-24 | 2021-03-02 | 华中科技大学 | Control method of asynchronous motor driven by non-speed sensor |
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