CN114844437A - Motor control system and seabed power system - Google Patents

Motor control system and seabed power system Download PDF

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Publication number
CN114844437A
CN114844437A CN202210646940.2A CN202210646940A CN114844437A CN 114844437 A CN114844437 A CN 114844437A CN 202210646940 A CN202210646940 A CN 202210646940A CN 114844437 A CN114844437 A CN 114844437A
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China
Prior art keywords
motor
frequency converter
subsea
frequency
voltage
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Chinese (zh)
Inventor
吕晶剑
刘太元
王善芬
王永
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Qingdao Marine Engineering Underwater Equipment Testing Co ltd
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Qingdao Marine Engineering Underwater Equipment Testing Co ltd
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Priority to CN202210646940.2A priority Critical patent/CN114844437A/en
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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
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • 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
    • H02P27/047—V/F converter, wherein the voltage is controlled proportionally with the frequency
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The embodiment of the application provides a motor control system and a seabed power system. The motor control system is for controlling a subsea motor, the motor control system comprising: a controller, a frequency converter; the controller is electrically connected with the frequency converter, and the frequency converter is electrically connected with the submarine motor through a submarine cable; the controller is used for controlling the submarine motor through the frequency converter according to a first control mode under the condition that the submarine motor is in a first state; and under the condition that the submarine motor is in the second state, controlling the submarine motor through the frequency converter according to a second control mode.

Description

Motor control system and seabed power system
Technical Field
The application relates to the technical field of motor control, in particular to a motor control system and a seabed power system.
Background
With the development of science and technology, the exploitation of ocean oil and gas is gradually increased. Generally, when the ocean oil gas is exploited, a submarine motor is arranged on the sea bottom, the submarine motor is electrically connected with a controller on the land through a submarine cable, and the controller can send commands through the submarine motor to control the submarine motor. However, when controlling the subsea motor, the control of the subsea motor is usually not accurate enough.
Disclosure of Invention
The embodiment of the application provides a motor control system and a submarine power system, and aims to solve the problem that the control of a submarine motor is not accurate enough when the submarine motor is controlled in the related art.
In order to solve the technical problem, the present application is implemented as follows:
an embodiment of the present application provides a motor control system for controlling a subsea motor, the motor control system includes: a controller, a frequency converter;
the controller is electrically connected with the frequency converter, and the frequency converter is electrically connected with the submarine motor through a submarine cable;
the controller is used for controlling the submarine motor through the frequency converter according to a first control mode under the condition that the submarine motor is in a first state; and under the condition that the submarine motor is in a second state, controlling the submarine motor through the frequency converter according to a second control mode.
Optionally, the motor control system further comprises: a compensation control device;
the compensation control device is electrically connected with the frequency converter and is used for compensating the variable frequency voltage and the variable frequency current output by the frequency converter at the frequency converter so as to enable the submarine motor to operate according to the set power.
Optionally, the compensation control device is further configured to obtain a variable frequency current and a variable frequency voltage output by the frequency converter, determine a voltage drop of the submarine cable, determine a difference between the variable frequency voltage and the voltage drop, and compensate the variable frequency voltage and the variable frequency current output by the frequency converter according to the difference, so that the submarine motor operates at a set power.
Optionally, the compensation control device is further configured to adjust the variable-frequency voltage and the variable-frequency current output by the frequency converter according to the difference value, so that the voltage at the input end of the subsea motor is equal to the set voltage corresponding to the set power, and the current at the input end of the subsea motor is equal to the set current corresponding to the set power.
Optionally, the compensation control device is further configured to obtain an inductance of the submarine cable, a resistance of the submarine cable, and a frequency of the output power of the frequency converter, and determine a voltage drop of the submarine cable according to the frequency conversion current output by the frequency converter, the frequency of the output power of the frequency converter, the inductance of the submarine cable, and the resistance of the submarine cable.
Optionally, the compensation control means determines the voltage drop of the submarine cable according to:
Figure BDA0003684405520000021
wherein, U d Is the voltage drop of the submarine cable, I f A frequency conversion current, R, output by the frequency converter l Is the resistance, L, of the submarine cable f Is the inductance of the submarine cable, and f is the frequency of the electric energy output by the frequency converter.
Optionally, the compensation control device is configured to compensate the variable-frequency voltage and the variable-frequency current output by the frequency converter when the controller controls the subsea motor through the frequency converter according to a first control mode, and is further configured to compensate the variable-frequency voltage and the variable-frequency current output by the frequency converter when the controller controls the subsea motor through the frequency converter according to a second control mode.
Optionally, the controller is configured to control the subsea motor to start, and determine that the subsea motor is in the first state for a first time period after the subsea motor starts, and determine that the subsea motor is in the second state for any time period after the first time period.
Optionally, the first control mode is a constant voltage frequency ratio mode, and the second control mode is a magnetic field orientation control mode.
In a second aspect, embodiments of the present application provide a subsea power system comprising a subsea motor and a motor control system according to any of the above first aspects;
the submarine motor is electrically connected with the frequency converter through a submarine cable.
In the embodiment of the application, since the controller is electrically connected with the frequency converter, and the frequency converter is electrically connected with the subsea motor through the subsea cable, the controller can control the subsea motor through the frequency converter. Specifically, the controller controls the subsea motor through the frequency converter according to a first mode when the subsea motor is in a first state, and controls the subsea motor through the frequency converter according to a second control mode when the subsea motor is in a second state. That is, in this application embodiment, the controller can adopt different control modes to control the subsea motor according to the different states of the subsea motor, so that the control to the subsea motor is more accurate.
Drawings
FIG. 1 illustrates one of the schematic diagrams of a motor control system provided by embodiments of the present application;
fig. 2 illustrates a second schematic diagram of a motor control system according to an embodiment of the present application;
fig. 3 illustrates a third schematic diagram of a motor control system according to an embodiment of the present application;
fig. 4 shows a schematic diagram of a controller for controlling a subsea motor in a first mode according to an embodiment of the present application
Fig. 5 shows a schematic diagram of a controller for controlling a subsea motor in a second mode according to an embodiment of the present application.
Reference numerals:
10: a controller; 20: a frequency converter; 30: a subsea motor; 40: and a compensation control device.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Referring to fig. 1, there is shown one of schematic diagrams of a motor control system provided in an embodiment of the present application; referring to fig. 2, a second schematic diagram of a motor control system according to an embodiment of the present application is shown; referring to fig. 3, a third schematic diagram of a motor control system according to an embodiment of the present application is shown; referring to fig. 4, a schematic diagram of a controller for controlling a subsea motor in a first mode according to an embodiment of the present application is shown; referring to fig. 5, a schematic diagram of a controller for controlling a subsea motor in a second mode according to an embodiment of the present application is shown. The motor control system is used for controlling a subsea motor, as shown in fig. 1 to 5, and includes: a controller 10 and a frequency converter 20.
The controller 10 is electrically connected to a frequency converter 20, which frequency converter 20 is adapted to be electrically connected to a subsea motor 30 via a subsea cable. The controller 10 is configured to control the subsea motor 30 through the frequency converter 20 in a first control mode in a case where the subsea motor 30 is in a first state; in case the subsea motor 30 is in the second state, the subsea motor 30 is controlled by the frequency converter 20 in accordance with the second control mode.
In the embodiment of the present application, since the controller 10 is electrically connected to the frequency converter 20, and the frequency converter 20 is electrically connected to the subsea motor 30 through the subsea cable, the controller 10 can control the subsea motor 30 through the frequency converter 20. Specifically, the controller 10 controls the subsea motor 30 through the frequency converter 20 in a first mode in case the subsea motor 30 is in the first state, and controls the subsea motor 30 through the frequency converter 20 in a second control mode in case the subsea motor 30 is in the second state. That is, in the embodiment of the present application, the controller 10 may control the subsea motor 30 in different control modes according to different states of the subsea motor 30, so that the control for the subsea motor 30 is more accurate.
In addition, in the embodiment of the present application, the frequency converter 20 may include an inverter and a filter, which are electrically connected, and the inverter and the controller 10 are electrically connected, and the filter is electrically connected with the subsea motor 30 through a subsea cable. Wherein the inverter is used to change the type of current to change the direct current sent by the controller 10 into alternating current, i.e. to change the type of electrical signal sent by the controller, thereby controlling the subsea motor 30. The filter is used to filter out noise in the electrical signal so that the electrical signal passed into the subsea motor 30 has less noise.
In addition, in the embodiment of the present application, the frequency converter 20 may be a current source type frequency converter.
In addition, in the embodiment of the present application, the subsea motor 30 may be an asynchronous motor, and of course, the subsea motor 30 may also be a synchronous motor, and the embodiment of the present application is not limited herein.
It should be noted that, as shown in fig. 4 and 5, the pi model is the submarine cable, and the CSI is the inverter.
In addition, in the present embodiment, the controller may be composed of two different controllers, i.e., a V/F controller and a FOC controller, or may be a single controller that can control the subsea motor in two modes. Wherein, the V/F controller is a constant voltage frequency ratio controller, and the FOC controller is a magnetic field orientation controller.
In addition, in the embodiment of the present application, the first Control mode is a constant voltage frequency ratio mode, and the second Control mode is a Field-Oriented Control (FOC) mode. In addition, the first state may be a starting state of the motor, and the second state may be a normal operation state of the motor.
When the first control mode is the constant voltage frequency ratio mode and the first state is the starting state of the motor, the subsea motor 30 is controlled through the constant voltage frequency ratio mode, and when the subsea motor 30 is controlled in the constant voltage frequency ratio mode, the frequency converter 20 can output a fixed value, so that the problem that the subsea motor 30 is subjected to more interference from the subsea environment during the starting process can be avoided, that is, the problem that the subsea motor 30 is not disturbed by the subsea environment during the starting process can be avoided. When the second control mode is the magnetic field orientation control mode and the second state is the running state of the motor, the subsea motor 30 is controlled through the magnetic field orientation control mode, the magnetic field orientation control mode belongs to fine control, and the magnetic field orientation control mode has the advantages of flexible control, high precision and high-speed dynamic response, so that when the subsea motor 30 runs normally, the subsea motor 30 can be finely controlled, and the control for the subsea motor 30 is more accurate.
Of course, in the embodiment of the present application, the first state may also be another state, and the second state may also be another state, for example, the first state is a state in which the rotation speed of the subsea motor 30 is within a first rotation speed range, and the second state is a state in which the rotation speed of the subsea motor 30 is within a second rotation speed range, and the maximum value of the first rotation speed range is less than or equal to the minimum value of the second rotation speed range. The embodiments of the present application are not limited to the first state and the second state.
Additionally, in some embodiments, the controller 10 may be configured to control the subsea motor 30 to start, and determine that the subsea motor 30 is in the first state for a first time period after the subsea motor 30 starts, and determine that the subsea motor 30 is in the second state for any time period after the first time period.
Here, during a first time period after the subsea motor 30 is started, which corresponds to when the subsea motor 30 is just started, the subsea motor 30 may be in a first state, i.e. the subsea motor 30 may be in a started state. After the first period of time has elapsed, the subsea motor 30 starts to operate normally, so that the subsea motor 30 operates normally at any period of time after the first period of time, and it can be determined that the subsea motor 30 is in the second state, i.e., the subsea motor 30 is in the normal operation state.
For example, the first time period is 1 minute, the controller 10 determines that the subsea motor 30 is in the activated state, i.e., the subsea motor 30 is in the first state, within 1 minute after the controller 10 controls the subsea motor 30 to be activated, and the controller 10 determines that the subsea motor 30 is in the normal operation state, i.e., the subsea motor 30 is in the second state, after 1 minute.
Additionally, in some embodiments, the motor control system may further include: and a compensation control device 40. The compensation control device 40 is electrically connected to the frequency converter 20, and the compensation control device 40 is used for compensating the variable frequency voltage and the variable frequency current output by the frequency converter 20 at the frequency converter 20 so as to enable the subsea motor 30 to operate according to the set power.
After the frequency converter 20 outputs the variable frequency voltage and the variable frequency current, that is, the frequency converter 20 outputs the electric energy, and the electric energy is often transmitted through the submarine cable, the submarine cable may cause a certain loss to the electric energy, so that when the electric energy is transmitted to the submarine motor 30, the operating power of the submarine motor 30 may not be operated according to the set power, and the operating power of the submarine motor 30 may be lower than the set power. In the embodiment of the present application, the compensation control device 40 is electrically connected to the frequency converter 20, so that after the frequency converter 20 outputs the variable frequency voltage and the variable frequency current, the compensation control device 40 can compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20, so that the submarine cable can compensate for the loss of the electric energy through the compensation control device 40, and thus the voltage and the current transmitted to the submarine motor 30 are both preset values, and the submarine motor 30 can operate according to the set power. That is, by providing the compensation control device 40, the variable frequency voltage and the variable frequency current outputted from the frequency converter 20 can be compensated, so that the operation of the subsea motor 30 according to the set power can be facilitated.
Note that, when the frequency converter 20 includes an inverter and a filter, the compensation control device 40 may be electrically connected to the filter.
In the embodiment of the present application, when the compensation control device 40 compensates the inverter voltage and the inverter current output from the inverter 20, the compensation control device 40 may acquire the inverter voltage and the inverter current output from the inverter 20, and the compensation control device 40 may transmit a command to the inverter 20 to change the inverter voltage and the inverter current output from the inverter 20, thereby compensating the inverter voltage and the inverter current output from the inverter 20.
For example, the frequency conversion voltage output by the frequency converter 20 is 5V, the frequency conversion current is 1A, and after the compensation control device 40 obtains 5V and 1A, the compensation control device 40 may send an instruction to the frequency converter 20 to adjust the frequency conversion voltage output by the frequency converter 20 to be 6V and the frequency conversion current to be 1.5A, so that the compensation control device 40 compensates the frequency conversion voltage and the frequency conversion current output by the frequency converter 20, so that the voltage transmitted to the submarine cable is 6V and the current is 1.5A.
In the embodiment of the present application, when the compensation control device 40 compensates the inverter voltage and the inverter current output from the inverter 20, the compensation control device 40 may obtain the inverter voltage and the inverter current output from the inverter 20, and the compensation control device 40 may directly compensate the inverter voltage and the inverter current, that is, the compensation control device 40 may output the voltage and the current to compensate the inverter voltage and the inverter current.
For example, the frequency conversion voltage output by the frequency converter 20 is 5V, the frequency conversion current is 1A, and after the compensation control device 40 obtains 5V and 1A, the compensation control device 40 outputs 1V and 0.5A to the output end of the frequency converter 20, so that the voltage transmitted to the submarine cable is 6V, and the current is 1.5A.
In addition, in some embodiments, the compensation control device 40 may be further configured to obtain the variable frequency current and the variable frequency voltage output by the frequency converter 20, determine a voltage drop of the submarine cable, determine a difference between the variable frequency voltage and the voltage drop, and compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20 according to the difference, so that the submarine motor 30 operates at the set power.
When the compensation control device 40 obtains the variable frequency current and the variable frequency voltage output by the frequency converter 20 and the compensation control device 40 determines the voltage drop of the submarine cable, the compensation control device 40 may determine a difference between the variable frequency voltage and the voltage drop, where the difference represents an actual voltage transmitted to the submarine motor 30, and then the compensation control device 40 may compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20 according to the difference, so that the voltage transmitted to the submarine motor 30 is equal to a voltage corresponding to the set power, and the current transmitted to the submarine motor 30 is equal to a current corresponding to the set power.
Wherein, when the compensation control device 40 compensates the variable frequency voltage and the variable frequency current output by the frequency converter 20 according to the difference, the compensation control device 40 can adjust the variable frequency voltage output by the frequency converter 20 so that the difference between the variable frequency voltage and the voltage drop of the submarine cable after adjustment is equal to the voltage corresponding to the set power, and the compensation control device 40 can also adjust the variable frequency current output by the frequency converter 20 so that the current transmitted to the submarine motor 30 is equal to the current corresponding to the set power. It should be noted that the compensation control device 40 can obtain the current and the voltage corresponding to the set power of the subsea motor 30, so that the compensation control device 40 can compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20, such that the voltage delivered to the subsea motor 30 is equal to the voltage corresponding to the set power, and the current delivered to the subsea motor 30 is equal to the current corresponding to the set power.
In addition, in the embodiment of the present application, the compensation control device 40 may be further configured to adjust the variable-frequency voltage and the variable-frequency current output by the frequency converter 20 according to the difference value, so that the voltage at the input end of the subsea motor 30 is equal to the set voltage corresponding to the set power, and the current at the input end of the subsea motor 30 is equal to the set current corresponding to the set power.
The compensation control device 40 can obtain the voltage and the current of the subsea motor 30 under the set power operation, so that the compensation control device 40 can adjust the variable frequency voltage and the variable frequency current output by the frequency converter 20 according to the difference value, so that the voltage at the input end of the subsea motor 30 is equal to the set voltage corresponding to the set power, and the current at the input end of the subsea motor 30 is equal to the set current corresponding to the set power.
For example, the frequency conversion voltage output by the frequency converter 20 is 5V, the frequency conversion current is 1A, the compensation control device 40 determines that the voltage drop of the submarine cable is 3V, the set voltage corresponding to the set power is 5V, and the set current corresponding to the set power is 1.5A, after the compensation control device 40 obtains 5V and 1A, the compensation control device 40 adjusts the frequency conversion voltage 8V output by the frequency converter 20 so that the voltage transmitted to the submarine motor 30 is 5V, and in addition, the compensation control device 40 adjusts the current output by the frequency converter 20 to be 1.5A so that the current transmitted to the submarine motor 30 is 1.5A.
It should be noted that the set power may be the rated power of the subsea motor 30, and may also be the power set separately for the subsea motor 30, which is not limited herein in the embodiment of the present application.
Additionally, in some embodiments, the compensation control device 40 may determine the voltage drop of the submarine cable by: the compensation control device 40 is further configured to obtain the inductance of the submarine cable, the resistance of the submarine cable, and the frequency of the power output by the frequency converter 20, and determine the voltage drop of the submarine cable according to the frequency conversion current output by the frequency converter 20, the frequency of the power output by the frequency converter 20, the inductance of the submarine cable, and the resistance of the submarine cable.
Wherein the inductance of the submarine cable, the resistance of the submarine cable may be pre-stored in the compensation control device 40, so that the compensation control device 40 may directly read the inductance and the resistance of the submarine cable when the voltage drop of the submarine cable needs to be determined. In addition, the compensation control is electrically connected to the inverter 20, and therefore, the compensation control device 40 can acquire the frequency of the electric power output from the inverter 20. In addition, the compensation control device 40 has acquired the frequency-converted current output by the frequency converter, so that after the compensation control device 40 has acquired the inductance of the submarine cable, the resistance of the submarine cable, and the frequency of the power output by the frequency converter 20, the compensation control device 40 can determine the voltage drop of the submarine cable.
Additionally, in some embodiments, the compensation control means 40 determines the voltage drop of the submarine cable according to:
Figure BDA0003684405520000101
wherein, U d For the voltage drop of submarine cables, I f A frequency-conversion current, R, output by the frequency converter l Is the resistance of the submarine cable, L f Is the inductance of the submarine cable, and f is the frequency of the electrical energy output by the frequency converter.
In addition, in some embodiments, the compensation control device 40 may be configured to compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20 when the controller 10 controls the subsea motor 30 through the frequency converter 20 according to the first control mode, and also configured to compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20 when the controller 10 controls the subsea motor 30 through the frequency converter 20 according to the second control mode. That is, the compensation control device 40 can compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20 when the controller 10 controls the subsea motor 30 according to the first mode, so that the subsea motor 30 can operate according to the set power when the subsea motor 30 is in the first state, which is beneficial for controlling the subsea motor 30 when the subsea motor 30 is in the first state. Similarly, the compensation control device 40 can compensate the variable frequency voltage and the variable frequency current output by the frequency converter 20 when controlling the subsea motor 30 according to the second mode, so that the subsea motor 30 can operate according to the set power when the subsea motor 30 is in the second state, which is beneficial to controlling the subsea motor 30 when the subsea motor 30 is in the second state.
When the subsea motor is an asynchronous motor, the following description is made for the switching of two control modes:
the mathematical equation of the asynchronous motor in the alpha beta static coordinate system is shown as the formula (1):
Figure BDA0003684405520000111
in the formula: l is m Mutual inductance between the stator and the rotor; u. of α1 、u β1 Is the stator voltage component on the alpha beta axis of the asynchronous motor; l is s 、L r The self-inductance of the stator and the rotor is obtained; r is 1 、r 2 Is a stator-rotor resistor; n is p Is the number of pole pairs; d is friction resistance moment coefficient; j is the rotational inertiaAn amount; t is L Is the load torque.
Order to
Figure BDA0003684405520000115
T e ＝n p L m (i β1 i α2 -i β2 i α1 )；
Figure BDA0003684405520000113
Formula (1) is thus converted into formula (2):
Figure BDA0003684405520000114
the common Lyapunov function is relatively easy to construct if the various subsystems of the system can be designed with the required coordinate transformation by the common backstepping method. The switching system is divided into a subsystem 1: systems using V/F control; and (3) subsystem 2: a system using the FOC control system. Firstly, establishing a switching model as the following formulas (3) and (4):
subsystem 1:
Figure BDA0003684405520000121
and (3) subsystem 2:
Figure BDA0003684405520000122
first step, define z 1 ＝x 1 ，z 2 ＝x 2 -x 2d X is to be 2d Setting as virtual control, taking a stabilizing function:
Figure BDA0003684405520000123
let the common Lyapunov function of the first order of sub-equations (3) (4) be:
Figure BDA0003684405520000124
its derivative with time is:
Figure BDA0003684405520000125
Figure BDA0003684405520000126
and due to the stabilization function x 2d Is known, therefore
Figure BDA0003684405520000127
Figure BDA0003684405520000128
Second step, define z 2 ＝x 2 ，z 3 ＝x 3 -x 3d To V 1 Performing augmentation to form a second-order common Lyapunov function of (3) and (4):
Figure BDA0003684405520000129
V 2 the derivative with respect to time is as follows:
Figure BDA00036844055200001210
Figure BDA0003684405520000131
get the new stabilization function x 3d As shown in formula (8):
Figure BDA0003684405520000132
then
Figure BDA0003684405520000133
Third step, define z 3 ＝x 3 ，z 4 ＝x 4 -x 4d To V 2 Augmentation was performed to form a third-order common Lyapunov function of (3) (4):
Figure BDA0003684405520000134
V 3 the derivative with respect to time is as follows:
Figure BDA0003684405520000135
get the new stabilization function x 4d As shown in formula (10):
Figure BDA0003684405520000136
then the
Figure BDA0003684405520000137
The fourth step, define z 4 ＝x 4 ，z 5 ＝x 5 -x 5d To V 3 Performing augmentation to form a fourth-order common Lyapunov function of (3) and (4):
Figure BDA0003684405520000138
V 4 the derivative with respect to time is as follows:
Figure BDA0003684405520000139
get the new stabilization function x 5d As shown in formula (12):
Figure BDA0003684405520000141
then
Figure BDA0003684405520000142
The fifth step, define z 5 ＝x 5 To V pair 3 Augmentation is performed to form a fifth order common Lyapunov function of equation (3):
Figure BDA0003684405520000143
V 5 the derivatives over time are as follows:
Figure BDA0003684405520000144
and sixthly, taking the integral Lyapunov function of the subsystem 1:
Figure BDA0003684405520000145
V 6 the derivative with respect to time is as follows:
Figure BDA0003684405520000146
get control law T evf Such as (15)
Figure BDA0003684405520000147
Then
Figure BDA0003684405520000148
The overall Lyapunov function for the same equation (4) is:
Figure BDA0003684405520000149
get control law T efoc As shown in(17)
Figure BDA00036844055200001410
Then
Figure BDA00036844055200001411
It can be seen from equations (14) and (18) that subsystem 1 and subsystem 2 have a common Lyapunov function, and the Lyapunov functions of subsystem 1 and subsystem 2
Figure BDA0003684405520000151
The system equilibrium point is asymptotically stable. In summary, the switching system is asymptotically stable under the action of any switching signal. That is, it is possible that the controller 10 switches between the first mode and the second mode when the controller 10 controls the subsea motor 30, i.e. the controller may switch between the first mode and the second mode to control the subsea motor 30.
In the embodiment of the present application, since the controller 10 is electrically connected to the frequency converter 20, and the frequency converter 20 is electrically connected to the subsea motor 30 through the subsea cable, the controller 10 can control the subsea motor 30 through the frequency converter 20. Specifically, the controller 10 controls the subsea motor 30 through the frequency converter 20 in a first mode in case the subsea motor 30 is in the first state, and controls the subsea motor 30 through the frequency converter 20 in a second control mode in case the subsea motor 30 is in the second state. That is, in the embodiment of the present application, the controller 10 may control the subsea motor 30 in different control modes according to different states of the subsea motor 30, so that the control for the subsea motor 30 is more accurate.
Embodiments of the present application provide a subsea power system comprising a subsea motor and a motor control system as in any of the embodiments above. The submarine motor is electrically connected with the frequency converter through a submarine cable.
In the embodiment of the present application, since the controller 10 is electrically connected to the frequency converter 20, and the frequency converter 20 is electrically connected to the subsea motor 30 through the subsea cable, the controller 10 can control the subsea motor 30 through the frequency converter 20. Specifically, the controller 10 controls the subsea motor 30 through the frequency converter 20 in a first mode in case the subsea motor 30 is in the first state, and controls the subsea motor 30 through the frequency converter 20 in a second control mode in case the subsea motor 30 is in the second state. That is, in the embodiment of the present application, the controller 10 may control the subsea motor 30 in different control modes according to different states of the subsea motor 30, so that the control for the subsea motor 30 is more precise.
It should be noted that, in this specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same as and similar to each other in each embodiment may be referred to.
While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or terminal apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or terminal device comprising the element.
The technical solutions provided in the present application are described in detail above, and the principles and embodiments of the present application are described herein by using specific examples, and meanwhile, for a person of ordinary skill in the art, according to the principles and implementation manners of the present application, changes may be made in the specific embodiments and application ranges.

Claims (10)

1. A motor control system for controlling a subsea motor, the motor control system comprising: a controller, a frequency converter;
the controller is electrically connected with the frequency converter, and the frequency converter is electrically connected with the submarine motor through a submarine cable;
the controller is used for controlling the submarine motor through the frequency converter according to a first control mode under the condition that the submarine motor is in a first state; and under the condition that the submarine motor is in a second state, controlling the submarine motor through the frequency converter according to a second control mode.
2. The motor control system of claim 1, further comprising: a compensation control device;
the compensation control device is electrically connected with the frequency converter and is used for compensating the variable frequency voltage and the variable frequency current output by the frequency converter at the frequency converter so as to enable the submarine motor to operate according to the set power.
3. The motor control system of claim 2, wherein the compensation control device is further configured to obtain a variable frequency current and a variable frequency voltage output by the frequency converter, determine a voltage drop of the subsea cable, determine a difference between the variable frequency voltage and the voltage drop, and compensate the variable frequency voltage and the variable frequency current output by the frequency converter according to the difference, so that the subsea motor operates at a set power.
4. The motor control system of claim 3, wherein the compensation control device is further configured to adjust the variable frequency voltage and the variable frequency current output by the frequency converter according to the difference value, so that the voltage at the input end of the subsea motor is equal to a set voltage corresponding to the set power, and the current at the input end of the subsea motor is equal to a set current corresponding to the set power.
5. The motor control system of claim 3 wherein the compensation control means is further configured to obtain the inductance of the submarine cable, the resistance of the submarine cable, and the frequency of the power output by the frequency converter, and determine the voltage drop across the submarine cable based on the converted current output by the frequency converter, the frequency of the power output by the frequency converter, the inductance of the submarine cable, and the resistance of the submarine cable.
6. A motor control system according to claim 5, wherein the compensation control means determines the voltage drop of the submarine cable according to:
Figure FDA0003684405510000021
wherein, U d Is the voltage drop of the submarine cable, I f A frequency conversion current, R, output by the frequency converter l Is the resistance, L, of the submarine cable f Is the inductance of the submarine cable, and f is the frequency of the electric energy output by the frequency converter.
7. The motor control system of claim 2 wherein the compensation control means is configured to compensate the variable frequency voltage and variable frequency current output by the inverter when the controller controls the subsea motor via the inverter in a first control mode, and is configured to compensate the variable frequency voltage and variable frequency current output by the inverter when the controller controls the subsea motor via the inverter in a second control mode.
8. A motor control system according to any of claims 1-7, wherein the controller is adapted to control the subsea motor to start and to determine that the subsea motor is in the first state for a first period of time after the subsea motor starts and to determine that the subsea motor is in the second state for any period of time after the first period of time.
9. The motor control system of any of claims 1-7, wherein the first control mode is a constant voltage to frequency ratio mode and the second control mode is a field oriented control mode.
10. A subsea power system, characterized in that the subsea power system comprises a subsea motor and a motor control system according to any of claims 1-9;
the submarine motor is electrically connected with the frequency converter through a submarine cable.
CN202210646940.2A 2022-06-08 2022-06-08 Motor control system and seabed power system Pending CN114844437A (en)

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