CN113285642A - Method for dead-voltage-containing belt speed re-throwing system of three-phase inverter with asynchronous motor terminal - Google Patents

Method for dead-voltage-containing belt speed re-throwing system of three-phase inverter with asynchronous motor terminal Download PDF

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CN113285642A
CN113285642A CN202110431970.7A CN202110431970A CN113285642A CN 113285642 A CN113285642 A CN 113285642A CN 202110431970 A CN202110431970 A CN 202110431970A CN 113285642 A CN113285642 A CN 113285642A
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phase
voltage
asynchronous motor
residual voltage
current
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金浩
潘冬华
李武杰
夏永强
姚川
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WUHAN HUAHAI GENERAL ELECTRIC CO Ltd
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WUHAN HUAHAI GENERAL ELECTRIC CO Ltd
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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
    • 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
    • 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
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P27/08—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 with pulse width modulation
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a belt speed re-throwing system and a method for a three-phase inverter with an asynchronous motor terminal containing residual voltage, wherein the system comprises the following steps: the system comprises a direct-current power supply, a three-phase inverter bridge, a three-phase asynchronous motor, a motor load and an LC filter circuit; a three-phase inverter bridge integrated control device; the method utilizes the control device to realize the rapid estimation of the voltage amplitude, the frequency and the phase of the motor stator residual voltage based on the control of the PI regulator, and controls the voltage amplitude, the frequency and the phase of the inverter during the restarting and the recognized amplitude V of the motor stator residual voltaged0Frequency we0And phase thetae0And finally, completing the rapid re-switching by adopting a voltage and current double closed-loop structure. The invention realizes the rapid re-casting with speed under the condition that residual voltage exists at the motor end when the three-phase inverter is stopped due to faults.

Description

Method for dead-voltage-containing belt speed re-throwing system of three-phase inverter with asynchronous motor terminal
Technical Field
The invention relates to the field of motor control, in particular to a method for a three-phase inverter with a speed-reset system with asynchronous motor terminals containing residual voltage.
Background
When the three-phase inverter runs at a high speed with an asynchronous motor, when the inverter is in fault shutdown, in order to ensure that the work of the asynchronous motor does not affect the whole system, the inverter needs to be restarted immediately, the motor still rotates at a high speed at the moment, the three-phase inverter needs to be put into the motor again at the speed of the motor, and because the time from the system fault to the time of putting into the motor again is short, residual voltage still exists on the terminal of the motor at the moment, and the residual voltage persists for a longer time along with the increase of the power of the motor, therefore, the inverter is put into the motor again at the speed of the motor on the order of millisecond, and only the terminal voltage and the rotating speed of the motor can be detected.
Disclosure of Invention
In view of the above, the invention provides a method for a belt speed re-switching system of a three-phase inverter with an asynchronous motor terminal containing residual voltage, aiming at the situation that the inverter stops due to faults and the motor terminal contains residual voltage in the running of the asynchronous motor, so that the estimation of the rotating speed, the voltage amplitude, the frequency and the phase of the motor is quickly completed under the situation that the inverter fails, and the stable, quick and stable re-switching of the three-phase inverter is ensured under the belt speed.
The system provided by the invention comprises: the system comprises a direct-current power supply, a three-phase inverter bridge, a three-phase asynchronous motor, a motor load and an LC filter circuit;
an LC filter circuit; the LC filter circuit comprises a filter inductor L and a filter capacitor C;
the direct-current power supply is electrically connected with the input end of the three-phase inverter bridge; the output end of the three-phase inverter bridge is electrically connected with the input end of the LC filter circuit; the output end of the LC filter circuit is electrically connected with the three-phase asynchronous motor; the three-phase asynchronous motor is connected with a motor load through a coupler; the three-phase inverter bridge integrated control device is digitally controlled by a DSP chip;
and after the control device rapidly estimates the amplitude of the stator residual voltage at the end of the three-phase asynchronous motor, the phase of the stator residual voltage and the frequency of the stator residual voltage based on the PI regulator, the rapid re-casting of the motor is completed through a voltage and current double closed-loop structure.
A three-phase inverter takes the asynchronous machine terminal to contain the fast heavy throw method of the residual voltage, realize through the controlling device specifically; the control principle of the control device is as follows:
the input end of the voltage closed loop obtains a feedback voltage signal V of the three-phase asynchronous motordAnd VqObtaining a given voltage signal VdA and Vq*；
Feedback voltage signal VdAnd VqAnd obtaining a given voltage signal VdA and VqAfter passing through the digital PI regulator, a given current signal I of a current closed-loop input end is outputdA and Iq*；
The input end of the current closed loop obtains a feedback current signal I of the three-phase asynchronous motordAnd Iq；
Feedback current signal IdAnd IqWith a given current signal IdA and IqAfter passing through the digital PI regulator, the control signal u of the voltage closed-loop output end is outputdAnd uq；
Control signal udAnd uqIs transformed into u under an alpha and beta coordinate system through inverse PARK transformationalfaAnd ubeta；
ualfaAnd ubetaObtaining a driving waveform through SVPWM modulation; the driving waveform drives the three-phase inverter bridge to work, and further controls the three-phase asynchronous motor to work.
Further, the given voltage signal VdA and VqObtaining a preset three-phase asynchronous motor VF curve;
the feedback voltage signal VdAnd VqThe voltage of the filter capacitor C is detected by a voltage sensor and is used as the three-phase voltage V at the end of the three-phase asynchronous motora、Vb、Vc，Then the obtained product is obtained by CLARK transformation and PARK transformation.
Further, the feedback current signal IdAnd IqA current feedback signal i under an alpha beta coordinate system of a two-phase static coordinate systemαAnd iβIs obtained by PARK conversion; phase angle of PARK transform is thetae；
Current feedback signal iαAnd iβThe current of the three-phase inductor is detected by the current sensor to be used as the three-phase current i at the end of the three-phase asynchronous motora、ib、icAnd then the obtained product is obtained through CLARK transformation.
The feedback voltage signal VdAnd VqIs represented by formula (1):
Figure BDA0003031718650000031
in the formula (1), uαAnd uβFor three-phase voltage V at the end of a three-phase asynchronous motora、Vb、VcObtained through CLARK transformation; thetaerr＝θr-θestWherein thetarThe phase is the real stator residual voltage phase of the three-phase asynchronous motor; thetaestFor the estimated stator residual voltage phase; vmThe amplitude of the residual voltage of the stator at the end of the three-phase asynchronous motor is quickly estimated by a control device based on PI regulation, and specifically, an input signal theta of the PI regulator iserrAnd setting the phase tracking value to be 0, namely finishing the phase tracking of the stator residual voltage, and further obtaining the amplitude value of the stator residual voltage through the phase.
VmIs represented by formula (2):
Figure BDA0003031718650000032
in the formula (2), LmThe stator and the rotor are mutually inducted; t isrIs the rotor time constant; i isrt0For the initial time t of the fault of the three-phase inverter0The space vector modulus of the rotor current; w is arIs the electrical angular velocity of the rotor.
The beneficial effects provided by the invention are as follows: when the three-phase inverter is stopped due to faults, the motor end can be quickly and quickly reset under the condition that residual voltage exists.
Drawings
FIG. 1 is a block diagram of a belt speed re-throwing system of a three-phase inverter with asynchronous motor terminals containing residual voltage according to the present invention;
FIG. 2 is a control block diagram of a three-phase inverter with motor of the present invention;
FIG. 3 is a block diagram of the estimation principle of the present invention based on a PI regulator;
FIG. 4 is a block diagram of an embodiment of the present invention based on PI regulation of stator voltage amplitude, phase and frequency;
FIG. 5 is a waveform of a motor speed simulation of inverter shutdown and re-trip;
FIG. 6 is a partial enlarged view of a motor speed simulation waveform for stopping and restarting the inverter;
FIG. 7 is a waveform of a motor current simulation for inverter shutdown and re-trip;
FIG. 8 is a partial enlarged view of a motor current simulation waveform for inverter shutdown and re-trip;
fig. 9 is a waveform diagram of an output voltage simulation of the inverter shutdown and re-trip.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, a belt speed re-switching system for a three-phase inverter with an asynchronous motor terminal containing residual voltage includes the following:
the system comprises a direct-current power supply, a three-phase inverter bridge, a three-phase asynchronous motor, a motor load and an LC filter circuit;
an LC filter circuit; the LC filter circuit comprises a filter inductor L and a filter capacitor C;
the direct-current power supply is electrically connected with the input end of the three-phase inverter bridge; the output end of the three-phase inverter bridge is electrically connected with the input end of the LC filter circuit; the output end of the LC filter circuit is electrically connected with the three-phase asynchronous motor; the three-phase asynchronous motor is connected with a motor load through a coupler; the three-phase inverter bridge integrated control device is digitally controlled by a DSP chip;
and after the control device rapidly estimates the amplitude of the stator residual voltage at the end of the three-phase asynchronous motor, the phase of the stator residual voltage and the frequency of the stator residual voltage based on the PI regulator, the rapid re-casting of the motor is completed through a voltage and current double closed-loop structure.
Referring to fig. 2, fig. 2 is a control block diagram of a three-phase inverter with an asynchronous motor according to the present invention.
The input end of the voltage closed loop obtains a feedback voltage signal V of the three-phase asynchronous motordAnd VqObtaining a given voltage signal VdA and Vq*；
Feedback voltage signal VdAnd VqAnd obtaining a given voltage signal VdA and VqAfter passing through the digital PI regulator, a given current signal I of a current closed-loop input end is outputdA and Iq*；
The input end of the current closed loop obtains a feedback current signal I of the three-phase asynchronous motordAnd Iq；
Feedback current signal IdAnd IqWith a given current signal IdA and IqAfter passing through the digital PI regulator, the control signal u of the voltage closed-loop output end is outputdAnd uq；
Control signal udAnd uqIs transformed into u under an alpha and beta coordinate system through inverse PARK transformationalfaAnd ubeta；
ualfaAnd ubetaObtaining a driving waveform through SVPWM modulation; the driving waveform drives the three-phase inverter bridge to work, and further controls the three-phase asynchronous motor to work.
The given voltage signal VdA and VqObtaining a preset three-phase asynchronous motor VF curve;
the feedback voltage signal VdAnd VqThree-phase voltage V at three-phase asynchronous motor end detected by filter capacitor Ca、Vb、VcObtained after CLARK transformation and PARK transformation.
The feedback current signal IdAnd IqA current feedback signal i under an alpha beta coordinate system of a two-phase static coordinate systemαAnd iβIs obtained by PARK conversion; phase angle of PARK transform is thetae；
Current feedback signal iαAnd iβThe current of the three-phase inductor is detected by the current sensor to be used as the three-phase current i at the end of the three-phase asynchronous motora、ib、icAnd then the obtained product is obtained through CLARK transformation.
When the three-phase inverter stops outputting suddenly, the stator current of the asynchronous motor becomes zero at the moment, a corresponding magnetic field corresponding to the magnetic field change can be induced by a motor rotor loop, and the magnetic field generated by the current of the rotor loop slows down the magnetic flux change caused by the disappearance of the stator current.
The motor rotor generates a magnetic field and the rotor is rotating, which causes an electromotive force to be induced in the stator winding, i.e., the inverter stops outputting the stator residual voltage of the instant asynchronous motor.
The terminal voltage of the asynchronous motor decreases with the time, the amplitude, the frequency and the phase are all time-varying, and the mathematical expression of the terminal voltage residual voltage is as follows:
Figure BDA0003031718650000061
in the above formula, ua、ub、ucOutputting the instantaneous motor stator residual voltage for the inverter; l ismThe stator and the rotor are mutually inducted; t isrIs the rotor time constant; i isrt0For the initial time t of the fault of the three-phase inverter0The space vector modulus of the rotor current; w is arIs the electrical angular velocity of the rotor; theta0Is t0The included angle between the rotor axis and the stator axis at the moment,
Figure BDA0003031718650000062
λ0is an initial time t0The initial phase of the rotor current.
Converting the residual voltage of the motor stator into a two-phase stationary coordinate system under an alpha beta coordinate system through CLARK conversion:
Figure BDA0003031718650000063
the residual voltage of the motor stator after the output of the inverter is stopped can be known by the expression of the residual voltage of the motor stator
Figure BDA0003031718650000064
It is determined that the amplitude decays exponentially with increasing time and decreases as the speed of the motor rotor decreases.
The inverter needs to realize the tape speed re-switching when the motor stator residual voltage exists, and the amplitude, the frequency and the phase of the output voltage when the inverter is started are close to the amplitude, the frequency and the phase of the motor stator residual voltage, otherwise, the starting current of the inverter is too large or the motor shakes and the like, so that the re-switching failure of the inverter is caused.
Here, the present invention rapidly estimates the amplitude of the stator residual voltage, the phase of the stator residual voltage, and the frequency of the stator residual voltage at the three-phase asynchronous motor terminal using the PI-based regulator of the control device.
The residual voltage amplitude of the motor stator is VmThe expression is:
Figure BDA0003031718650000071
the voltage phase of the residual voltage of the motor stator is thetarThe expression is:
Figure BDA0003031718650000072
wherein, theta0Is t0The included angle between the rotor axis and the stator axis at the moment,
Figure BDA0003031718650000073
λ0is an initial time t0The initial phase of the rotor current.
The motor stator residual voltage expression can be simplified as follows:
Figure BDA0003031718650000074
referring to fig. 3, fig. 3 is a block diagram of the estimation principle of the present invention based on the PI regulator;
input quantity theta of PI regulatorerr＝θr-θest，θrThe phase is the real stator residual voltage phase of the three-phase asynchronous motor; thetaestFor the estimated stator residual voltage phase;
will uαAnd uβObtaining the voltage under a dq system of a two-phase rotating coordinate system through PARK conversion:
Figure BDA0003031718650000075
let sin θ be when the phase estimation deviation is smallerr≈θerrI.e. phase estimation error theta by PI regulatorerrThe adjustment to zero, i.e. the estimated stator residual voltage phase is equal to the true stator residual voltage phase, is achieved.
Applying the estimation block diagram of FIG. 3 in a specific embodiment, please refer to FIG. 4; FIG. 4 is a block diagram of the actual control of stator voltage amplitude, phase and frequency based on PI regulation in an embodiment of the present invention;
in the running process of the motor, after the inverter is stopped due to a fault, the inverter needs to be quickly reset in a short time, and because the voltage at the motor end still has residual voltage in a short time after the inverter stops outputting, the voltage amplitude, the frequency and the phase position of the residual voltage of the stator of the motor can be quickly identified by an estimation method based on a PI regulator, and the voltage amplitude, the frequency and the phase position of the reset time of the inverter and the identified amplitude V of the residual voltage of the stator of the motor are controlledd0Frequency we0And phase thetae0The motor rotating speed is calculated through the identified voltage frequency, the corresponding output voltage is inquired according to the motor rotating speed and a preset VF curve, and then the inverse is carried outThe output voltage of the converter is controlled to the voltage corresponding to the current rotating speed (namely, voltage and current double closed-loop control), the smooth re-switching work of the inverter is completed at this moment, and then the inverter is subjected to frequency-up and voltage-up control according to the originally set VF curve.
The present invention provides an embodiment as follows:
referring to fig. 5-9, fig. 5 is a waveform diagram illustrating the simulation of the rotational speed of the motor after the inverter is stopped and then restarted; FIG. 6 is a partial enlarged view of a motor speed simulation waveform for stopping and restarting the inverter; FIG. 7 is a waveform of a motor current simulation for inverter shutdown and re-trip; FIG. 8 is a partial enlarged view of a motor current simulation waveform for inverter shutdown and re-trip; fig. 9 is a simulated waveform diagram of the output voltage of the inverter shutdown and re-trip, and it can be seen that the process of the inverter shutdown and re-trip is relatively smooth.
In this embodiment, the parameters of the three-phase asynchronous motor are as follows: rated power of 10kW, rated voltage of 380V, rated current of 15A, rated frequency of 100Hz, rated rotating speed of 2920rpm, number of pole pairs of motor of 2 and stator resistance R of the motors2.261 Ω, rotor resistance Rr1.157 Ω, stator inductance Ls0.0787H, rotor inductance Lr0.0779H, equivalent mutual inductance Lm0.0765H, moment of inertia J0.02.
And adding a load of 10Nm at the time of 0.7s, stopping sending PWM waves at the time of 0.9s, stopping outputting by the inverter at the moment, restarting the inverter at the time of 0.905s, wherein the rotating speed of the motor is 1370rpm, the voltage residual amplitude on a line of a motor terminal is about 180V, and restarting the inverter at a belt speed under the condition that the three-phase asynchronous motor terminal contains residual voltage.
The invention has the beneficial effects that: when the three-phase inverter is stopped due to faults, the motor end can be quickly and quickly reset under the condition that residual voltage exists.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. The utility model provides a three-phase inverter takes asynchronous machine terminal to contain fast system of throwing again of area of residual voltage, includes DC power supply, three-phase inverter bridge, three-phase asynchronous machine and motor load, its characterized in that: further comprising:
an LC filter circuit; the LC filter circuit comprises a filter inductor L and a filter capacitor C;
the direct-current power supply is electrically connected with the input end of the three-phase inverter bridge; the output end of the three-phase inverter bridge is electrically connected with the input end of the LC filter circuit; the output end of the LC filter circuit is electrically connected with the three-phase asynchronous motor; the three-phase asynchronous motor is connected with a motor load through a coupler;
the three-phase inverter bridge is integrated with the control device and is digitally controlled by a DSP chip;
and after the control device rapidly estimates the amplitude of the stator residual voltage at the end of the three-phase asynchronous motor, the phase of the stator residual voltage and the frequency of the stator residual voltage based on the PI regulator, the rapid re-casting of the motor is completed through a voltage and current double closed-loop structure.
2. A tape speed re-throwing method of a three-phase inverter with residual voltage of an asynchronous motor terminal is applied to the tape speed re-throwing system of the three-phase inverter with residual voltage of the asynchronous motor terminal according to claim 1, and is characterized in that: the control device completes the quick re-switching of the motor through a voltage and current double-closed-loop structure, and the control device specifically comprises the following components:
the input end of the voltage closed loop obtains a feedback voltage signal V of the three-phase asynchronous motordAnd VqObtaining a given voltage signal VdA and Vq*；
Feedback voltage signal VdAnd VqAnd obtaining a given voltage signal VdA and VqAfter passing through the digital PI regulator, a given current signal I of a current closed-loop input end is outputdA and Iq*；
The input end of the current closed loop obtains a feedback current signal I of the three-phase asynchronous motordAnd Iq；
Feedback current signal IdAnd IqWith a given current signal IdA and IqAfter passing through a digital PI regulatorControl signal u of output voltage closed-loop output terminaldAnd uq；
Control signal udAnd uqIs transformed into u under an alpha and beta coordinate system through inverse PARK transformationalfaAnd ubeta；
ualfaAnd ubetaObtaining a driving waveform through SVPWM modulation; the driving waveform drives the three-phase inverter bridge to work, and further controls the three-phase asynchronous motor to work.
3. The belt speed re-throwing method of the three-phase inverter with the asynchronous motor terminal containing residual voltage as claimed in claim 2, characterized in that:
the given voltage signal VdA and VqObtaining a preset three-phase asynchronous motor VF curve;
the feedback voltage signal VdAnd VqThe voltage of the filter capacitor C is detected by a voltage sensor and is used as the three-phase voltage V at the end of the three-phase asynchronous motora、Vb、Vc，Then the obtained product is obtained by CLARK transformation and PARK transformation.
4. The belt speed re-throwing method of the three-phase inverter with the asynchronous motor terminal containing residual voltage as claimed in claim 2, characterized in that:
the feedback current signal IdAnd IqA current feedback signal i under an alpha beta coordinate system of a two-phase static coordinate systemαAnd iβIs obtained by PARK conversion; phase angle of PARK transform is thetae；
Current feedback signal iαAnd iβThe current of the three-phase inductor is detected by the current sensor to be used as the three-phase current i at the end of the three-phase asynchronous motora、ib、icAnd then the obtained product is obtained through CLARK transformation.
5. The belt speed re-throwing method of the three-phase inverter with the asynchronous motor terminal containing residual voltage as claimed in claim 3, characterized in that: the feedback voltage signal VdAnd VqIs represented by the formula (1)The following steps:
Figure FDA0003031718640000021
in the formula (1), uαAnd uβFor three-phase voltage V at the end of a three-phase asynchronous motora、Vb、VcObtained through CLARK transformation; thetaerr＝θr-θestWherein thetarThe phase is the real stator residual voltage phase of the three-phase asynchronous motor; thetaestFor the estimated stator residual voltage phase; vmThe amplitude of the residual voltage of the stator at the end of the three-phase asynchronous motor is quickly estimated by a control device based on PI regulation, and specifically, an input signal theta of the PI regulator iserrAnd setting the phase tracking value to be 0, namely finishing the phase tracking of the stator residual voltage, and further obtaining the amplitude value of the stator residual voltage through the phase.
6. The belt speed re-throwing method of the three-phase inverter with the asynchronous motor terminal containing residual voltage as claimed in claim 5, characterized in that: residual voltage amplitude V of statormIs represented by formula (2):
Figure FDA0003031718640000031
in the formula (2), LmThe stator and the rotor are mutually inducted; t isrIs the rotor time constant; i isrt0For the initial time t of the fault of the three-phase inverter0The space vector modulus of the rotor current; w is arIs the electrical angular velocity of the rotor.
CN202110431970.7A 2021-04-21 2021-04-21 Method for dead-voltage-containing belt speed re-throwing system of three-phase inverter with asynchronous motor terminal Pending CN113285642A (en)

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