CN115001342B - Method, device and system for estimating rotating speed of induction motor - Google Patents
Method, device and system for estimating rotating speed of induction motor Download PDFInfo
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- CN115001342B CN115001342B CN202210808011.7A CN202210808011A CN115001342B CN 115001342 B CN115001342 B CN 115001342B CN 202210808011 A CN202210808011 A CN 202210808011A CN 115001342 B CN115001342 B CN 115001342B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
- H02P21/18—Estimation of position or speed
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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
- H02P21/20—Estimation of torque
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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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- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the invention relates to a method, a device and a system for estimating the rotating speed of an induction motor, wherein the method comprises the following steps: when the induction motor is restarted at the belt speed, determining a first rotor back electromotive force under a target shafting according to exciting current, torque current, a first estimated synchronous angular speed, a first configuration parameter and a second configuration parameter; determining a second rotor back electromotive force under the target shafting according to the exciting current, the torque current, the first estimated synchronous angular speed, the first configuration parameter and the second configuration parameter; compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor to obtain a counter potential of the third rotor; performing supercoiled sliding mode control operation according to the counter potential of the third rotor, and obtaining a second estimated synchronous angular speed corresponding to the induction motor; and estimating the rotating speed of the induction motor according to the second estimated synchronous angular speed. The method can accurately estimate the rotating speed of the induction motor without a speed sensor.
Description
Technical Field
The embodiment of the invention relates to the technical field of power electronics, in particular to a method, a device and a system for estimating the rotating speed of an induction motor.
Background
The induction motor (also called as an asynchronous motor) has the characteristics of simple structure, high reliability, less maintenance and low price, and is widely applied to the industrial fields such as rail transit, wind power generation and the like. In order to realize high performance control of an induction motor, vector control is generally adopted, and speed information in the vector control is indispensable, and the speed information is obtained by detecting a speed sensor mounted on the induction motor. However, in the fields of rail transit, wind power generation and the like, the working environment of the induction motor is generally severe, and factors such as mechanical vibration, humidity, temperature change and the like can cause a speed sensor to fail, so that the whole transmission system fails.
Currently, a sensorless control method is generally adopted to solve the above problems caused by the failure of the speed sensor. However, in the industrial fields of rail transit, wind power generation and the like, there is a problem of restarting the induction motor at a belt speed under an idle working condition, that is, restarting the induction motor in a rotating state at an initial rotation speed. In conventional speed-sensor control, the initial rotational speed can be obtained by a speed sensor. In the control of the speed sensor, the initial rotating speed is unknown, and if the inverter is started under the condition that the rotating speed of the induction motor is unknown, overvoltage or overcurrent faults occur, so that the system is inevitably out of control, and the normal starting cannot be performed.
Disclosure of Invention
The application provides a method, a device and a system for estimating the rotating speed of an induction motor, which are used for solving the technical problems of part or all of the prior art.
In a first aspect, the present application provides a method for estimating a rotational speed of an induction motor, where the method is applied to an application scenario of belt speed re-casting without a speed sensor, the method includes:
when the induction motor is restarted at a belt speed, determining a first rotor back electromotive force under a target shafting according to exciting current, torque current, a first estimated synchronous angular speed, a first configuration parameter corresponding to a stator in the induction motor and a second configuration parameter corresponding to a rotor in the induction motor;
determining a second rotor back electromotive force under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back electromotive force and the second rotor back electromotive force are rotor back electromotive forces corresponding to different axes under the target shafting;
compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor to obtain a counter potential of the third rotor;
performing supercoiled sliding mode control operation according to the counter potential of the third rotor, and obtaining a second estimated synchronous angular speed corresponding to the induction motor;
And estimating the rotating speed of the induction motor according to the second estimated synchronous angular speed.
In one possible embodiment, the first configuration parameters include at least a stator inductance, a stator resistance, a mutual inductance between the stator and the rotor, the second configuration parameters include at least a rotor inductance, the excitation current includes a desired excitation current and an actual excitation current, and the torque current includes an actual torque current;
determining a first rotor back emf under a target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, a first configuration parameter corresponding to a stator in the induction motor, and a second configuration parameter corresponding to a rotor in the induction motor, comprising:
determining a first stator voltage according to the expected exciting current and the actual exciting current;
the first rotor back-emf is determined based on the first stator voltage, the actual field current, the actual torque current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity.
In one possible embodiment, the torque current further includes a desired torque current, and the determining the second rotor back-emf under the target shafting based on the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter, and the second configuration parameter specifically includes:
Determining a second stator voltage based on the desired torque current and the actual torque current;
and determining the counter potential of the second rotor according to the second stator voltage, the actual torque current, the actual exciting current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor and the first estimated synchronous angular speed.
In one possible embodiment, the first rotor back-emf is compensated according to the first rotor back-emf and the second rotor back-emf, and the third rotor back-emf is obtained, specifically by the following formula:
where α=arctan (e rd /e rq )，e′ rd To compensate the counter potential of the first rotor, a third rotor counter potential, e' rq To compensate the counter potential of the second rotor, a fourth counter potential e is generated rd E is the counter potential of the first rotor rq And counter potential for the second rotor.
In one possible implementation, the supercoiled sliding mode control operation is performed according to the counter potential of the third rotor, and the second estimated synchronous angular velocity is obtained, in particular, by the following formula:
pu 1 ＝-ρsign(e′ rd )
wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, λ and ρ are both preconfigured sliding mode coefficients, sign is a sign function, e' rd For the third rotor back emf, p is the differential operator.
In one possible embodiment, after performing the supercoiled sliding mode control operation according to the counter potential of the third rotor, the method further comprises:
determining a first rotor back electromotive force of the next period by using the second estimated synchronous angular speed, the actual exciting current and the actual torque current, the first configuration parameter and the second configuration parameter which are acquired in the current period;
and determining a second rotor back electromotive force of the next period by using the second estimated synchronous angular velocity, the actual exciting current, the actual torque current, the first configuration parameter and the second configuration parameter acquired in the present period.
In a second aspect, the present application provides a rotational speed estimation device of an induction motor, the device comprising:
the processing module is used for determining a first rotor counter potential under a target shafting according to exciting current, torque current, a first estimated synchronous angular speed, a first configuration parameter corresponding to a stator in the induction motor and a second configuration parameter corresponding to a rotor in the induction motor when the induction motor is restarted at a belt speed;
determining a second rotor back electromotive force under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back electromotive force and the second rotor back electromotive force are rotor back electromotive forces corresponding to different axes under the target shafting;
The compensation module is used for compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor to obtain the counter potential of the third rotor;
the rotating speed estimation module is used for executing supercoiled sliding mode control operation according to the counter potential of the third rotor and obtaining a second estimated synchronous angular speed corresponding to the induction motor;
and estimating the rotating speed of the induction motor according to the second estimated synchronous angular speed.
In one possible implementation manner, the rotational speed estimation module is specifically configured to obtain the second estimated synchronous angular velocity by using the following formula:
pu 1 ＝-ρsign(e′ rd )
wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, λ and ρ are both preconfigured sliding mode coefficients, sign is a sign function, e' rd For the third rotor back emf, p is the differential operator.
In a third aspect, a rotational speed estimation system of an induction motor is provided, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor, configured to implement the steps of the method for estimating a rotational speed of an induction motor according to any one of the embodiments of the first aspect when executing a program stored in a memory.
In a fourth aspect, a computer readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for estimating the rotational speed of an induction motor according to any of the embodiments of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the method, when the induction motor is restarted at the belt speed, the first rotor back electromotive force and the second rotor back electromotive force are determined according to the exciting current, the torque current, the first estimated synchronous angular speed, the first configuration parameters corresponding to the stator in the induction motor and the second configuration parameters corresponding to the rotor in the induction motor. And compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor, and obtaining the counter potential of the third rotor. Further, the supercoiled sliding mode control operation is performed according to the counter potential of the third rotor, the second estimated synchronous angular velocity of the induction motor is obtained, and the rotating speed of the induction motor is estimated according to the second estimated synchronous angular velocity. By this method, the actual rotational speed of the induction motor can be accurately determined without a speed sensor. And further, the occurrence of the situation that the system is out of control and cannot be started normally due to the overvoltage or overcurrent faults of the inverter under the condition that the rotating speed of the induction motor is unknown is avoided, and the system can be started and operated safely.
Drawings
Fig. 1 is a flow chart of a method for estimating a rotational speed of an induction motor according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for determining counter-potential of a first rotor according to the present invention;
FIG. 3 is a schematic flow chart of a method for determining counter-potential of a second rotor according to the present invention;
FIG. 4 is a schematic diagram of an example structure of a rotational speed estimation of an induction motor according to the present invention;
FIG. 5 is a schematic diagram of a specific structure of a rotational speed estimation link according to the present invention;
FIG. 6 is a schematic diagram of the current and speed waveforms of the stator with speed re-casting during steady state provided by the present invention;
FIG. 7 is a schematic diagram of the current and speed waveforms of the stator with speed re-casting in the dynamic process provided by the invention;
fig. 8 is a schematic structural diagram of a rotation speed estimation device of an induction motor according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a rotational speed estimation system of an induction motor according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For the purpose of facilitating an understanding of the embodiments of the present invention, reference will now be made to the following description of specific embodiments, taken in conjunction with the accompanying drawings, which are not intended to limit the embodiments of the invention.
In view of the technical problems mentioned in the background art, the embodiment of the application provides a method for estimating the rotational speed of an induction motor, and particularly referring to fig. 1, fig. 1 is a flow chart of a method for estimating the rotational speed of an induction motor according to an embodiment of the invention. The method is mainly applied to an application scene of belt speed re-casting under the condition of no speed sensor. The method mainly considers that in an application scene of belt speed re-casting, if a speed sensor is not provided, the rotating speed of the induction motor during belt speed re-casting cannot be obtained. If the inverter is started under the condition that the rotating speed of the induction motor is unknown, overvoltage or overcurrent faults occur, the system is inevitably out of control, and the normal starting cannot be performed. In order to avoid this, the rotational speed of the induction motor can be determined by the following method steps. The specific implementation flow is as follows:
step 110, when the induction motor is restarted at a belt speed, determining a first rotor back electromotive force under a target shafting according to the exciting current, the torque current, the first estimated synchronous angular speed, a first configuration parameter corresponding to a stator in the induction motor, and a second configuration parameter corresponding to a rotor in the induction motor.
And step 120, determining a second rotor back electromotive force under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back electromotive force and the second rotor back electromotive force are rotor back electromotive forces corresponding to different axes under the target shafting.
Specifically, in an alternative example, the first configuration parameter includes at least a stator inductance, a stator resistance, and a mutual inductance between the stator and the rotor, and the second configuration parameter includes at least a rotor inductance. The field current includes a desired field current and an actual field current, and the torque current includes an actual torque current.
The method for determining the counter potential of the first rotor under the target shafting according to the exciting current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter corresponding to the stator in the induction motor and the second configuration parameter corresponding to the rotor in the induction motor can be realized in a specific manner as shown in fig. 2, and comprises the following method steps:
step 210, determining a first stator voltage according to the expected exciting current and the actual exciting current.
Step 220, determining a first rotor back-emf based on the first stator voltage, the actual excitation current, the actual torque current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity.
Optionally, on the basis of the above, the torque current further comprises a desired torque current.
And determining the counter potential of the second rotor under the target shafting according to the exciting current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the counter potential of the second rotor under the target shafting can be obtained through a method flow diagram shown in fig. 3. Referring specifically to fig. 3, the method comprises the steps of:
step 310, a second stator voltage is determined based on the desired torque current and the actual torque current.
Step 320, determining a second rotor back-emf based on the second stator voltage, the actual torque current, the actual excitation current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity.
Specifically, the target axis coordinate system may include, for example, a d-axis and a q-axis, and the desired exciting current is, for example(d-axis desired current), desired exciting current +.>And the actual exciting current i sd After passing the current controller, a first stator voltage can be determined +.>(d-axis stator voltage), the specific implementation process belongs to the prior art, and is not repeated here; likewise, the desired torque current is, for example +.>(q-axis desired current), desired torque current +. >And the actual torque current i sq After passing through the current controller, the second stator voltage can be determined/>(q-axis stator voltage) the specific implementation is also prior art and will not be explained here too much.
According to the actual exciting current i sd Actual torque current i sq First stator voltageStator resistor R s Stator inductance L s Rotor inductance L r Mutual inductance L between stator and rotor m And a first estimated synchronous angular velocity +.>Determining a first rotor back-emf e rd (d-axis rotor back electromotive force);
and according to the actual torque current i sq Actual exciting current i sd Second stator voltageStator resistor R s Stator inductance L s Rotor inductance L r Mutual inductance L between stator and rotor m And a first estimated synchronous angular velocity +.>Determining the second rotor back-emf e rq (q-axis rotor back emf), then each needs to be obtained by:
first, according to the desired exciting currentAnd a first stator voltage->Desired torque current +.>And a second stator voltage->Determining the actual exciting currents i respectively sd And the actual torque current i sq . First acquiring first electronic voltage +.>If so, directly according to the expected exciting current +.>Obtaining a similar theory, obtaining a second electron voltage for the first time +. >In this case, too, the desired torque current is directly dependent on +.>And (5) obtaining. In other cases than this, since the actual exciting current i can be already obtained sd And the actual torque current i sq Therefore, the first stator voltage is acquired at a later time>Second stator voltage->And is obtained in the manner described above.
Then, according to the actual exciting current i sd Actual torque current i sq First stator voltageStator resistor R s Stator inductance L s Rotor inductance L r Mutual inductance L between stator and rotor m And a first estimated synchronous angular velocity +.>Acquiring the counter potential e of the first rotor rd (d-axis rotor back electromotive force in the target axis coordinate system).
And according to the actual exciting current i sd Actual torque current i sq Second stator voltageStator resistor R s Stator inductance L s Rotor inductance L r Mutual inductance L between stator and rotor m And a first estimated synchronous angular velocity +.>Obtaining the counter potential e of the second rotor rq (q-axis rotor back emf in the target axis coordinate system).
Namely the first rotor back electromotive force e rd And obtaining the second rotor back electromotive force e rq And (5) counter electromotive force of the rotor corresponding to different shafts under the target shaft system.
In a specific example, see in particular fig. 4.
Desired exciting current (and actual excitation current i) sd ) After passing the current controller 21 a first stator voltage can be obtained>Desired torque current +.>(and actual Torque Current i) sq ) The second stator voltage +_ can be obtained after passing the current controller 21>First stator voltage->And a second stator voltage->By the inverse park variation 22 +.>And->(And->Is a stator voltage component in a two-phase stationary coordinate system), and then a pulse signal is obtained through a pulse width modulation (Pulse width modulation, abbreviated as PWM) strategy 23, the pulse signal is transmitted to the inverter 24, and the inverter 24 outputs three-phase voltages to the induction motor. The output of the inverter 24 is provided with a current sensor and a sampling circuit (not shown in fig. 4) by which two phases i of the actual three-phase current of the stator of the induction motor can be obtained sa And i sc . Whereas i in a three-phase circuit sb Then it can pass through i sa And i sc Acquisition, wherein i sb Equal to-i sa -i sc . The sampled three-phase current is subjected to a clark transformation 26 to obtain two-phase current i of alpha axis and beta axis sα And i sβ . Then the current of d axis and q axis is obtained by park transformation 27, namely the actual exciting current i sd Actual torque current i sq 。
Among them, the clark conversion, the park conversion, the inverse park conversion, etc. are all of the prior art, and are not focused on the study of the present application, so they will not be described here too much. While at the determination of the first rotor back-emf e rd And a second rotor back electromotive force e rq The calculation can be performed by the following formulas:
in a specific example, the first rotor back emf e rd And a second rotor back electromotive force e rq The calculation equation can be found, for exampleThe following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,and p is a differential operator and is the total leakage magnetic coefficient.
Optionally, the induction motor adopts the excitation magnetic field directional control as shown in fig. 4, and from the principle of rotor magnetic field directional control of the induction motor, considering that the rotor magnetic field is accurate in orientation when the estimated rotation speed tracks the actual rotation speed in the process of belt speed re-casting, the d-axis rotor flux linkage and the q-axis rotor flux linkage are respectively psi rd ＝ψ r ，ψ rq =0, i.e. rotor flux linkage ψ r All falling on the d-axis. E, according to the relation between the counter potential of the rotor and the flux linkage of the rotor rd ＝pψ rd -ω s ψ rq Wherein p is a differential operator, the d-axis rotor flux linkage ψ at this time rd Is of constant value psi r The differential value is zero, so there is e rd =0, i.e. the d-axis rotor back-emf converges to zero when the rotor field orientation is accurate.
Therefore, the control target with speed re-casting under the control of the speed-free sensor of the induction motor can be converted into the control d-axis excitation counter electromotive force e rd Capable of tracking a desired target trajectory e rd ＝0。
Angular velocity of rotor of induction motor during start-upThe initial value is set to 0, q-axis desired torque current +.>Set to 0, the slip in vector control is defined as +. >Wherein (1)>For the desired value of the rotor flux linkage, when +.>When 0, omega sl The initial value of (2) is 0 due to +.>In the process of re-administration->Equal to->The initial value is given by the rated rotor flux value, < >>
Since the equivalent gain of the counter-potential of the first rotor is low during the establishment of the flux linkage of the rotor, and the dynamic performance is poor, especially at high speed, the convergence time is long, it is also necessary to compensate the counter-potential of the first rotor, that is, step 130 is performed.
And 130, compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor, and obtaining the counter potential of the third rotor.
Specific compensation measures are as follows:
where α=arctan (e rd /e rq ) Wherein e' rd To compensate the counter potential of the first rotor, a third rotor counter potential, e' rq And compensating the counter potential of the second rotor to generate a counter potential of the fourth rotor.Since the fourth rotor back electromotive force is not required later in the present embodiment, it will not be described here too much.
And 140, performing supercoiled sliding mode control operation according to the counter potential of the third rotor, and obtaining a second estimated synchronous angular speed of the induction motor.
Specifically, the supercoiled sliding mode control operation can be realized by referring to the following formula:
pu 1 ＝-ρsign(e′ rd ) (equation 5)
Wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, λ and ρ are both preconfigured sliding mode coefficients, sign is a sign function, e' rd For the third rotor back emf, p is the differential operator.
In an alternative example, λ may take the value of 1.5L 1/2 ρ is 1.1L, where L is the disturbance boundary, taking a positive real number.
The block diagram of the estimated rotation speed is shown in fig. 4, and the supercoiled sliding mode algorithm has a certain low-pass filter characteristic, so that the estimated rotation speed does not need to pass through an additional low-pass filter.
And step 150, estimating the rotating speed of the induction motor according to the second estimated synchronous angular speed.
Specifically, when the rotational speed of the induction motor is estimated according to the second estimated synchronous angular velocity, as shown in fig. 5, the rotational speed is the synchronous angular velocity minus the slip, and the synchronous angle is obtained by mainly performing an integration operation, that is, by integrating the estimated synchronous angular velocity, the synchronous angle is obtained, and then the rotational speed of the induction motor is obtained according to the synchronous angle and the slip. Referring specifically to fig. 5, in addition to the rotational speed of the motor, the synchronization angle required for vector control may be acquired. This process is the prior art and is not described in detail herein.
Further alternatively, as shown in fig. 4, the induction motor performs a supercoiled sliding mode control operation according to the counter potential of the third rotor, and after obtaining the second estimated synchronous angular velocity, the method further includes:
determining a first rotor back electromotive force of the next period by using the second estimated synchronous angular speed, the actual exciting current and the actual torque current, the first configuration parameter and the second configuration parameter which are acquired in the current period;
and determining a second rotor back electromotive force of the next period by using the second estimated synchronous angular velocity, the actual exciting current and the actual torque current acquired in the present period, the first configuration parameter, and the second configuration parameter.
The specific implementation process is similar to the process of acquiring the counter potential of the first rotor and the counter potential of the second rotor in the present period, and will not be repeated here.
Specifically, referring to fig. 5, fig. 5 illustrates a process of calculating a counter electromotive force of a rotor, executing a compensation strategy, performing a supercoiled sliding mode operation to a first counter electromotive force, and so on, and fig. 5 is a refinement operation of the rotational speed estimation link in fig. 4, and a detailed implementation process has been described above, so that redundant description is omitted here.
Further optionally, the method can also be used for controlling a normal operation condition after the restarting without a speed sensor, and can realize the application of a single control strategy from the belt speed restarting condition to the normal operation condition without any switching.
Referring specifically to fig. 6, fig. 6 shows a waveform of a stator current and a rotational speed with speed re-casting in a steady state process, the upper graph is a three-phase stator current, the lower graph is a comparison of an actual rotor frequency and an estimated rotor frequency (the rotor frequency is proportional to the rotor angular velocity), pulse blocking is performed at 5.5s, pulse restarting is performed at 7s, and it can be seen from the graph that the estimated rotor frequency can quickly and accurately track the actual rotor frequency, and the stator current is smooth and has no impact. After the successful re-throwing, stable operation can be kept, and no switching of the control strategy occurs in the whole process.
Fig. 7 shows the stator current and the rotational speed waveform of the belt speed re-casting in the dynamic process, the upper graph is the three-phase stator current, the lower graph is the actual rotor frequency and the estimated rotor frequency, the rotor frequency is proportional to the rotor angular velocity, the pulse is blocked at 5.5s, the pulse is opened at 7s for restarting, and it can be seen from the graph that the estimated rotor frequency can still track the actual rotor frequency rapidly and accurately in the process of decreasing the rotational speed of the induction motor, and the stator current is smooth and has no impact. After the successful re-throwing, stable operation can be kept, and no switching of the control strategy occurs in the whole process.
According to the method for estimating the rotating speed of the induction motor, when the induction motor is restarted at the belt speed, the first rotor back electromotive force and the second rotor back electromotive force are determined according to the exciting current, the torque current, the first estimated synchronous angular speed, the first configuration parameters corresponding to the stator in the induction motor and the second configuration parameters corresponding to the rotor in the induction motor. And compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor, and obtaining the counter potential of the third rotor. Further, the supercoiled sliding mode control operation is performed according to the counter potential of the third rotor, the second estimated synchronous angular velocity of the induction motor is obtained, and the rotating speed of the induction motor is estimated according to the second estimated synchronous angular velocity. By this method, the actual rotational speed of the induction motor can be accurately determined without a speed sensor. And further, the occurrence of the situation that the system is out of control and cannot be started normally due to the overvoltage or overcurrent faults of the inverter under the condition that the rotating speed of the induction motor is unknown is avoided, and the system can be started and operated safely.
In addition, the rotating speed estimation method of the induction motor provided by the invention can be used for rapidly and accurately estimating the rotating speed of the induction motor in the rotating process of the induction motor, and has the advantages of simplicity in implementation, high reliability and strong robustness. Meanwhile, the method can also be used for controlling the normal operation working condition of the induction motor after the restarting without a speed sensor, can realize the application without any control strategy switching and any control parameter adjustment in the process from the belt speed restarting working condition to the normal operation working condition, and has wide industrial application prospect.
In the above, for the embodiments of the method for estimating the rotational speed of the induction motor provided in the present application, other embodiments for estimating the rotational speed of the induction motor provided in the present application are described below, specifically, see the following.
Fig. 8 is a rotational speed estimation device of an induction motor according to an embodiment of the present invention, where the device includes: a processing module 801, a compensation module 802, and a rotational speed estimation module 803.
The processing module 801 is configured to determine a first rotor back electromotive force under a target shafting according to an excitation current, a torque current, a first estimated synchronous angular velocity, a first configuration parameter corresponding to a stator in the induction motor, and a second configuration parameter corresponding to a rotor in the induction motor when the induction motor is restarted at a belt speed;
determining a second rotor back electromotive force under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back electromotive force and the second rotor back electromotive force are rotor back electromotive forces corresponding to different axes under the target shafting;
the compensation module 802 is configured to compensate the counter-potential of the first rotor according to the counter-potential of the first rotor and the counter-potential of the second rotor, so as to obtain a counter-potential of the third rotor;
The rotation speed estimation module 803 is configured to perform a supercoiled sliding mode control operation according to the counter potential of the third rotor, and obtain a second estimated synchronous angular speed corresponding to the induction motor;
and estimating the rotating speed of the induction motor according to the second estimated synchronous angular speed.
Optionally, the first configuration parameters at least comprise a stator inductance, a stator resistance and mutual inductance between the stator and the rotor, the second configuration parameters at least comprise a rotor inductance, the exciting current comprises a desired exciting current and an actual exciting current, and the torque current comprises an actual torque current;
a processing module 801, specifically configured to determine a first stator voltage according to the desired excitation current and the actual excitation current;
the first rotor back-emf is determined based on the first stator voltage, the actual field current, the actual torque current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity.
Optionally, the torque current further comprises a desired torque current;
a processing module 801, specifically configured to determine a second stator voltage according to the desired torque current and the actual torque current;
and determining the counter potential of the second rotor according to the second stator voltage, the actual torque current, the actual exciting current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor and the first estimated synchronous angular speed.
Optionally, the compensation module 802 is specifically configured to obtain the counter potential of the third rotor by the following formula:
where α=arctan (e rd /e rq )，e′ rd To compensate the counter potential of the first rotor, a third rotor counter potential, e' rq To compensate the counter potential of the second rotor, a fourth counter potential e is generated rd E is the counter potential of the first rotor rq And counter potential for the second rotor.
Optionally, the rotational speed estimation module 803 is specifically configured to obtain the second estimated synchronous angular velocity by the following formula:
pu 1 ＝-ρsign(e′ rd ) (equation 8)
Wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, λ and ρ are both preconfigured sliding mode coefficients, sign is a sign function, e' rd For the third rotor back emf, p is the differential operator.
Optionally, the processing module 801 is further configured to: determining a first rotor back electromotive force of the next period by using the second estimated synchronous angular speed, the actual exciting current and the actual torque current, the first configuration parameter and the second configuration parameter which are acquired in the current period;
and determining a second rotor back electromotive force of the next period by using the second estimated synchronous angular velocity, the actual exciting current and the actual torque current acquired in the present period, the first configuration parameter, and the second configuration parameter.
The functions performed by each component in the device for estimating the rotation speed of the induction motor provided by the embodiment of the present invention are described in detail in any of the above method embodiments, so that no further description is given here.
According to the rotating speed estimation device of the induction motor, when the belt speed of the induction motor is reset, the first rotor back electromotive force and the second rotor back electromotive force are determined according to the preconfigured expected exciting current, the expected torque current, the first estimated synchronous angular speed, the first configuration parameters corresponding to the stator in the induction motor and the second configuration parameters corresponding to the rotor in the induction motor. And compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor, and obtaining the counter potential of the third rotor. Further, the supercoiled sliding mode control operation is performed according to the counter potential of the third rotor, the second estimated synchronous angular velocity of the induction motor is obtained, and the rotating speed of the induction motor is estimated according to the second estimated synchronous angular velocity. By this method, the actual rotational speed of the induction motor can be accurately determined without a speed sensor. And further, the occurrence of the situation that the system is out of control and cannot be started normally due to the overvoltage or overcurrent faults of the inverter under the condition that the rotating speed of the induction motor is unknown is avoided, and the system can be started and operated safely.
In addition, the rotating speed estimation device of the induction motor provided by the invention can rapidly and accurately estimate the rotating speed of the induction motor in the rotating process of the induction motor, and has the advantages of simplicity in implementation, high reliability and strong robustness. Meanwhile, the method can also be used for controlling the normal operation working condition of the induction motor after the restarting without a speed sensor, can realize the application without any control strategy switching and any control parameter adjustment in the process from the belt speed restarting working condition to the normal operation working condition, and has wide industrial application prospect.
As shown in fig. 9, the embodiment of the application provides a system for estimating the rotational speed of an induction motor, which includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 communicate with each other through the communication bus 114.
A memory 113 for storing a computer program;
in one embodiment of the present application, the processor 111 is configured to implement the method for estimating the rotational speed of the induction motor according to any one of the foregoing method embodiments when executing the program stored in the memory 113, where the method includes:
when the induction motor is restarted at a belt speed, determining a first rotor back electromotive force under a target shafting according to exciting current, torque current, a first estimated synchronous angular speed, a first configuration parameter corresponding to a stator in the induction motor and a second configuration parameter corresponding to a rotor in the induction motor;
Determining a second rotor back electromotive force under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back electromotive force and the second rotor back electromotive force are rotor back electromotive forces corresponding to different axes under the target shafting;
compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor to obtain a counter potential of the third rotor;
performing supercoiled sliding mode control operation according to the counter potential of the third rotor, and obtaining a second estimated synchronous angular speed corresponding to the induction motor;
and estimating the rotating speed of the induction motor according to the second estimated synchronous angular speed.
Optionally, the first configuration parameters at least comprise a stator inductance, a stator resistance and mutual inductance between the stator and the rotor, the second configuration parameters at least comprise a rotor inductance, the exciting current comprises a desired exciting current and an actual exciting current, and the torque current comprises an actual torque current;
determining a first rotor back emf under a target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, a first configuration parameter corresponding to a stator in the induction motor, and a second configuration parameter corresponding to a rotor in the induction motor, comprising:
Determining a first stator voltage according to the expected exciting current and the actual exciting current;
the first rotor back-emf is determined based on the first stator voltage, the actual field current, the actual torque current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity.
Optionally, the torque current further includes a desired torque current, and determining a second rotor back emf under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter, and the second configuration parameter specifically includes:
determining a second stator voltage based on the desired torque current and the actual torque current;
and determining the counter potential of the second rotor according to the second stator voltage, the actual torque current, the actual exciting current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor and the first estimated synchronous angular speed.
Optionally, the counter potential of the first rotor is compensated according to the counter potential of the first rotor and the counter potential of the second rotor, and the counter potential of the third rotor is obtained, which is specifically realized by the following formula:
where α=arctan (e rd /e rq )，e′ rd To compensate the counter potential of the first rotor, a third rotor counter potential, e' rq To compensate the counter potential of the second rotor, a fourth counter potential e is generated rd For the first rotationSub-back emf, e rq And counter potential for the second rotor.
Optionally, the supercoiled sliding mode control operation is performed according to the counter potential of the third rotor, and the second estimated synchronous angular velocity is obtained, specifically by the following formula:
pu 1 ＝-ρsign(e′ rd ) (equation 11)
Wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, λ and ρ are both preconfigured sliding mode coefficients, sign is a sign function, e' rd For the third rotor back emf, p is the differential operator.
Optionally, after performing the supercoiled sliding mode control operation according to the counter potential of the third rotor and obtaining the second estimated synchronous angular velocity, the method further includes:
determining a first rotor back electromotive force of the next period by using the second estimated synchronous angular speed, the actual exciting current and the actual torque current, the first configuration parameter and the second configuration parameter which are acquired in the current period;
and determining a second rotor back electromotive force of the next period by using the second estimated synchronous angular velocity, the actual exciting current and the actual torque current acquired in the present period, the first configuration parameter, and the second configuration parameter.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for estimating a rotational speed of an induction motor provided in any one of the method embodiments described above.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of embodiments of the present invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The method is applied to an application scene of belt speed restarting under a speed-free sensor, and comprises the following steps:
when the induction motor is restarted at a belt speed, determining a first rotor back electromotive force under a target shafting according to exciting current, torque current, a first estimated synchronous angular speed, a first configuration parameter corresponding to a stator in the induction motor and a second configuration parameter corresponding to a rotor in the induction motor;
determining a second rotor back-emf under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back-emf and the second rotor back-emf are rotor back-emf corresponding to different axes under the target shafting;
compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor to obtain a counter potential of a third rotor;
performing supercoiled sliding mode control operation according to the counter potential of the third rotor, and obtaining a second estimated synchronous angular speed corresponding to the induction motor;
Estimating the rotation speed of the induction motor according to the second estimated synchronous angular speed;
the first configuration parameters at least comprise stator inductance, stator resistance and mutual inductance between the stator and the rotor, the second configuration parameters at least comprise rotor inductance, the exciting current comprises expected exciting current and actual exciting current, and the torque current comprises actual torque current;
the determining the first rotor counter potential under the target shafting according to the exciting current, the torque current, the first estimated synchronous angular speed, the first configuration parameter corresponding to the stator in the induction motor and the second configuration parameter corresponding to the rotor in the induction motor specifically comprises the following steps:
determining a first stator voltage according to the expected exciting current and the actual exciting current;
determining the first rotor back-emf according to the first stator voltage, the actual excitation current, the actual torque current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity;
the torque current further includes a desired torque current, and the determining a second counter-potential of the rotor under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter, and the second configuration parameter specifically includes:
Determining a second stator voltage based on the desired torque current and the actual torque current;
determining the second rotor back-emf based on the second stator voltage, the actual torque current, the actual field current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity;
and compensating the counter potential of the first rotor according to the counter potential of the first rotor and the counter potential of the second rotor to obtain a counter potential of the third rotor, wherein the counter potential of the third rotor is realized by the following formula:
where α=arctan (e rd /e rq )，e ′ rd To compensate the counter potential of the first rotor, the generated counter potential of the third rotor, e ′ rq To compensate the counter potential of the second rotor, a fourth counter potential e is generated rd E is the counter potential of the first rotor rq Counter potential for the second rotor;
and performing supercoiled sliding mode control operation according to the counter potential of the third rotor to obtain a second estimated synchronous angular speed, wherein the second estimated synchronous angular speed is realized by the following formula:
pu 1 ＝-ρsign(e ′ rd )
wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, lambda and rho are both preconfigured sliding mode coefficients, sign is a sign function, e ′ rd And p is a differential operator for the third rotor counter potential.
2. The method of claim 1, wherein the performing a supercoiled sliding mode control operation from the third rotor back emf, after obtaining a second estimated synchronous angular velocity, further comprises:
determining a first rotor back electromotive force of a next period by using a second estimated synchronous angular speed, an actual exciting current and an actual torque current which are acquired in the current period, the first configuration parameter and the second configuration parameter;
and determining a second rotor back electromotive force of the next period by using the second estimated synchronous angular velocity obtained in the present period, the actual exciting current, the actual torque current, the first configuration parameter and the second configuration parameter.
3. A rotational speed estimation device of an induction motor, the device comprising:
the processing module is used for determining a first rotor counter potential under a target shafting according to exciting current, torque current, a first estimated synchronous angular speed, a first configuration parameter corresponding to a stator in the induction motor and a second configuration parameter corresponding to a rotor in the induction motor when the induction motor is restarted at a belt speed;
Determining a second rotor back-emf under the target shafting according to the excitation current, the torque current, the first estimated synchronous angular velocity, the first configuration parameter and the second configuration parameter, wherein the first rotor back-emf and the second rotor back-emf are rotor back-emf corresponding to different axes under the target shafting;
the compensation module is used for compensating the counter-potential of the first rotor according to the counter-potential of the first rotor and the counter-potential of the second rotor to obtain a counter-potential of the third rotor;
the rotating speed estimation module is used for executing supercoiled sliding mode control operation according to the counter potential of the third rotor and obtaining a second estimated synchronous angular speed corresponding to the induction motor;
estimating the rotation speed of the induction motor according to the second estimated synchronous angular speed;
the first configuration parameters at least comprise stator inductance, stator resistance and mutual inductance between the stator and the rotor, the second configuration parameters at least comprise rotor inductance, the exciting current comprises expected exciting current and actual exciting current, and the torque current comprises actual torque current and expected torque current;
The processing module is specifically configured to determine a first stator voltage according to the expected excitation current and the actual excitation current; determining the first rotor back-emf according to the first stator voltage, the actual excitation current, the actual torque current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity; determining a second stator voltage based on the desired torque current and the actual torque current; determining the second rotor back-emf based on the second stator voltage, the actual torque current, the actual field current, the stator inductance, the rotor inductance, the stator resistance, the mutual inductance between the stator and the rotor, and the first estimated synchronous angular velocity;
the compensation module is specifically configured to obtain the counter potential of the third rotor according to the following formula:
where α=arctan (e rd /e rq )，e ′ rd To compensate the counter potential of the first rotor, the generated counter potential of the third rotor, e ′ rq To compensate the counter potential of the second rotor, a fourth counter potential e is generated rd E is the counter potential of the first rotor rq Counter potential for the second rotor;
the rotation speed estimation module is specifically configured to obtain the second estimated synchronous angular speed according to the following formula:
pu 1 ＝-ρsign(e ′ rd )
wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, lambda and rho are both preconfigured sliding mode coefficients, sign is a sign function, e ′ rd And p is a differential operator for the third rotor counter potential.
4. The apparatus according to claim 3, wherein the rotational speed estimation module is configured to obtain the second estimated synchronous angular velocity by:
pu 1 ＝-ρsign(e ′ rd )
wherein, the liquid crystal display device comprises a liquid crystal display device,for the second estimated synchronous angular velocity, lambda and rho are both preconfigured sliding mode coefficients, sign is a sign function, e ′ rd And p is a differential operator for the third rotor counter potential.
5. The system is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the method for estimating the rotational speed of an induction motor according to claim 1 or 2 when executing a program stored in a memory.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of estimating the rotational speed of an induction motor according to claim 1 or 2.
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