CN115347829A - Induction motor control method, system, device, electronic equipment and storage medium - Google Patents
Induction motor control method, system, device, electronic equipment and storage medium Download PDFInfo
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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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
Abstract
The application provides an induction motor control method, a system, a device, an electronic device and a storage medium. Obtaining a stator current vector and a stator voltage vector of the induction motor, and determining a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector; calculating to obtain electromagnetic torque according to the stator flux linkage vector and the stator current vector; acquiring the motor rotating speed of the induction motor, and acquiring a load torque according to the electromagnetic torque and the motor rotating speed; obtaining a flux linkage predicted value according to the stator voltage vector, the stator flux linkage vector and the stator current vector; obtaining a rotating speed predicted value according to the electromagnetic torque, the load torque and the rotating speed of the motor; and calculating a value function according to the flux linkage predicted value and the rotating speed predicted value, outputting an optimal voltage vector and determining a driving signal for controlling the induction motor according to the optimal voltage vector. The method and the device realize the simultaneous control of the speed and the flux linkage of different time scales by the single controller, obviously improve the control effect and ensure the stability and the robustness of the system.
Description
Technical Field
The present application relates to the field of control technology of induction motors, and in particular, to a method, a system, an apparatus, an electronic device, and a storage medium for controlling an induction motor.
Background
Model Predictive Control (MPC) is an online optimization Control algorithm with a simple concept, and attracts a large number of scholars to research the application of the Model Predictive Control (MPC) in the field of electric power transmission in recent years due to the advantages of simple principle, easiness in processing nonlinear constraints, easiness in realizing multivariable Control and the like. The traditional method for controlling the speed of the induction motor needs two control loops and uses a PI (Proportional Integral) linear controller in an external speed loop, and the method has the problems of slow dynamic response, bandwidth limitation and the like. Therefore, it is necessary to develop a simple and practical method for improving the versatility and practicality of the method while obtaining better motor control performance.
Disclosure of Invention
In view of the above, the present application is directed to an induction motor control method, system, device, electronic apparatus and storage medium.
Based on the above object, the present application provides an induction motor control method, comprising:
obtaining a stator current vector and a stator voltage vector of the induction motor, and determining a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector;
calculating to obtain electromagnetic torque according to the stator flux linkage vector and the stator current vector;
acquiring the motor rotating speed of the induction motor, and acquiring a load torque according to the electromagnetic torque and the motor rotating speed; wherein the load torque is obtained by a pre-established load torque observer;
obtaining a flux linkage predicted value according to the stator voltage vector, the stator flux linkage vector and the stator current vector;
obtaining a predicted rotating speed value according to the electromagnetic torque, the load torque and the rotating speed of the motor;
calculating a cost function according to the predicted value of the flux linkage and the predicted value of the rotating speed, and outputting an optimal voltage vector; wherein the optimal voltage vector is a stator voltage vector that minimizes a value of a cost function;
and determining a driving signal of the induction motor according to the optimal voltage vector so as to control the induction motor.
Optionally, the calculating an electromagnetic torque according to the stator flux linkage vector and the stator current vector includes:
the electromagnetic torque is calculated by adopting the following formula:
wherein, T e Is electromagnetic torque, p is induction machine pole pair number psi s Is a stator flux linkage vector, i s Is the stator current vector.
Further, the method further comprises establishing the load torque observer by:
selecting a quantity of state
Input quantity u = T e Output y = ω r (ii) a Wherein, ω is r Is the motor speed, T L For load torque, T e Is an electromagnetic torque;
according to the equation of motion of induction motors
Obtaining:
wherein p is the pole pair number of the induction motor, and J is the rotational inertia of the motor;
order to
C＝[1 0]D =0, result in
Will be provided with
Substituting to obtain:
wherein, L is a given coefficient and is obtained by solving the characteristic value of the A-LC matrix;
is provided with
To obtain
Wherein, the first and the second end of the pipe are connected with each other,
for the motor speed observed by the load torque observer,
the load torque observed by the load torque observer.
Specifically, the predicted value of the flux linkage and the predicted value of the rotation speed are respectively obtained through the following mathematical models:
wherein the content of the first and second substances,
the stator flux linkage vector at time k +1,
stator flux linkage vector at time k, T sc To adoptThe time of the sampling is as follows,
stator voltage vector at time k, R s Is a resistance of the stator, and is,
is the stator current vector at time k;
the motor rotating speed at the moment of k +1, p is the induction motor pole pair number, J is the motor rotational inertia,
electromagnetic torque at time k, T L In order to be a load torque,
the motor speed at time k.
Optionally, the calculating a cost function according to the predicted flux linkage value and the predicted rotation speed value includes:
calculating the cost function using the following formula:
wherein k is ψ Is a flux linkage weight coefficient and is a flux linkage weight coefficient,
is a reference value of the magnetic linkage of the stator,
is the stator flux linkage vector at time k +1,
is a reference value of the rotating speed of the motor,
the motor speed at the moment k + 1.
Further, the method further comprises:
performing slope processing on the motor rotating speed reference value; wherein, the slope of the slope is SI.Wb/(+ -0.1), and SI.Wb is the rated rotating speed of the induction motor.
In view of the above, the present application also provides an induction motor control system including a digital signal processor, which executes the induction motor control method according to any one of the above embodiments to control the induction motor.
In view of the above object, the present application also provides an induction motor control apparatus including:
a stator flux linkage vector module configured to obtain a stator current vector and a stator voltage vector of the induction motor and determine a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector;
an electromagnetic torque module configured to calculate an electromagnetic torque from the stator flux linkage vector and the stator current vector;
the load torque module is configured to acquire the motor rotating speed of the induction motor and obtain load torque according to the electromagnetic torque and the motor rotating speed; wherein the load torque is obtained by a pre-established load torque observer;
a flux linkage prediction module configured to derive a flux linkage prediction value from the stator voltage vector, the stator flux linkage vector, and the stator current vector;
the rotating speed prediction module is configured to obtain a rotating speed prediction value according to the electromagnetic torque, the load torque and the motor rotating speed;
the output module is configured to calculate a cost function according to the flux linkage predicted value and the rotating speed predicted value and output an optimal voltage vector; wherein the optimal voltage vector is a stator voltage vector when the cost function value is minimized;
a drive signal determination module configured to determine a drive signal of the induction motor according to the optimal voltage vector to control the induction motor.
In view of the above object, the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for controlling an induction motor according to any of the above embodiments.
In view of the above, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the induction machine control method according to any one of the above embodiments.
From the above, according to the induction motor control method, the induction motor control system, the induction motor control device, the induction motor control electronic device and the storage medium, after the stator flux linkage vector is obtained, the flux linkage is predicted according to the stator flux linkage vector and the stator current vector, the load torque is obtained by observing through the load torque observer, and the motor rotation speed is predicted by applying the motion equation; and obtaining an optimal voltage vector by selecting the minimum value of the cost function so as to determine a driving signal for controlling the induction motor. The method ensures the stability and robustness of the system, remarkably improves the control effect, has faster dynamic response, and simultaneously reduces the steady-state torque ripple and the current ripple of the motor.
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In order to more clearly illustrate the technical solutions in the present application or the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of an induction motor control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic block diagram of an induction motor control method according to an embodiment of the present disclosure;
FIG. 3 is a graph showing the experimental results of the no-load starting of the motor from 0 to 150r/min at a sampling rate of 15kHz by using the control method of the induction motor provided by the embodiment of the present application;
FIG. 4 is a diagram showing the result of an idle-load start-up experiment for controlling a motor from 0 to 150r/min at a sampling rate of 15kHz by using a conventional induction motor control method;
FIG. 5 is a graph showing the steady state experimental results when the induction motor control method provided by the embodiment of the present application is adopted to control the motor to operate at 750r/min at a sampling rate of 15 kHz;
FIG. 6 is a graph showing the results of a steady state experiment performed by controlling the motor to operate at 750r/min at a sampling rate of 15kHz using a conventional induction motor control method;
FIG. 7 is a graph showing the experimental results of the no-load start-up of the motor from 0 to 1500r/min at a sampling rate of 15kHz by using the control method of the induction motor provided by the embodiment of the present application;
FIG. 8 is a diagram showing the experimental results of no-load starting of a motor from 0 to 1500r/min under a sampling rate of 15kHz by using a conventional induction motor control method;
FIG. 9 is a graph showing experimental results of sudden increase and sudden decrease of rated load when the motor is controlled to operate at 1500r/min under a 15kHz sampling rate by using the control method of the induction motor provided by the embodiment of the present application;
FIG. 10 is a graph showing the results of an experiment of sudden increase and sudden decrease of rated load when the motor is controlled to operate at 1500r/min under a sampling rate of 15kHz by using a conventional induction motor control method;
FIG. 11 is a graph showing experimental results when a motor is controlled to operate from +1500r/min to-1500 r/min at a sampling rate of 15kHz by using the control method of the induction motor provided by the embodiment of the present application;
FIG. 12 is a graph showing the experimental results of controlling the motor from +1500r/min to-1500 r/min at a sampling rate of 15kHz using a conventional induction motor control method;
FIG. 13 is a graph illustrating the comparison of total harmonic distortion of current for an induction motor control method according to an embodiment of the present application and a conventional induction motor control method;
fig. 14 to 21 are specific current total harmonic distortion analysis results of an induction motor control method and a conventional induction motor control method provided in an embodiment of the present application under four experimental conditions;
fig. 22 is a schematic diagram of a hardware structure of a speed regulation control system of an induction motor according to an embodiment of the present application;
fig. 23 is a schematic diagram of an induction motor control apparatus according to an embodiment of the present application;
fig. 24 is a schematic diagram of an induction motor control electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with specific embodiments.
It should be noted that technical terms or scientific terms used in the embodiments of the present application should have a general meaning as understood by those having ordinary skill in the art to which the present application belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Similar to a vector control method, the traditional model prediction control method is divided into a current loop and a speed loop, flux linkage and torque are respectively controlled, a double-loop control structure is slightly complex, the problems of slow dynamic response and bandwidth limitation exist, and the universality and the practicability of a control algorithm are greatly limited. Some researchers have proposed solutions to these problems, but most of them are complicated and not practical. For example, the document "Full differential clamped Speed and Current Control of an index Machine" proposes a method for avoiding the use of a PI controller, and uses a motor motion equation to reversely derive a q-axis reference Current so as to determine a reference torque. Meanwhile, in order to improve the Control performance of the System, some methods provide a stepless joint Model prediction Speed Control method, and an MPC (multi-Control unit) is combined with a super-local Model, for example, in a Non-masked Model-free Predictive Speed Control of SMPMSM Drive System, the method realizes the simultaneous Control of speeds and currents with different time scales by a single controller, but the constraint of a value function is more, and the parameter setting is more complex. In other methods, the input of a controlled object is selected according to a predicted Speed error, and a secondary Control target, namely maximum torque tracking per ampere is considered, for example, in the document 'Model Predictive Direct Speed Control with complete Control Set of PMSM Drive Systems', the method has more constraints on value functions, has more complex parameter setting and still depends on higher real-time calculation capability of a Control system.
At present, no better method can simultaneously meet the following requirements: removing a linear PI controller, and adopting a cascade-free structure; only one control loop is included, and under different operating conditions, the speed and flux linkage of different time scales can be simultaneously controlled by a single controller, so that the stability and robustness of the system are ensured, and the steady-state control performance is improved; the vector selection mode is easy to understand and does not need complex calculation; the modulation mode is easy to be unified with other control methods, and different control modes are easy to realize under a unified control program framework.
In order to solve the problems, the application provides an induction motor control method, a system, a device, electronic equipment and a storage medium, a stepless control structure is adopted, only one control loop is included, a double closed-loop cascade speed regulation structure in the traditional control method is omitted, and the simultaneous control of speeds and magnetic chains with different time scales by a single controller is realized.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an induction motor control method according to an embodiment of the present application, where the method includes:
s101: and obtaining a stator current vector and a stator voltage vector of the induction motor, and determining a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector.
The whole system adopts a stepless joint control structure, and does not need a torque instruction T * . Under the basic speed, the flux linkage of the stator is referenced without considering the weak magnetic operation
Set to nominal value, based on stator current vector i s And stator voltage vector u s Observing by using a Longberger observer to obtain a stator flux linkage vector psi s 。
S102: and calculating to obtain the electromagnetic torque according to the stator flux linkage vector and the stator current vector.
Calculating to obtain electromagnetic torque T according to a motor mathematical model e The calculation formula is as follows:
wherein, T e Is electromagnetic torque, p is induction machine pole pair number psi s Is a stator flux linkage vector, i s Is the stator current vector.
S103: and acquiring the motor rotating speed of the induction motor, and acquiring a load torque according to the electromagnetic torque and the motor rotating speed.
Obtaining load torque T by applying load torque observer L The load torque observer is established as follows:
selecting a quantity of state
Input quantity u = T e Output y = ω r (ii) a Wherein, ω is r Is the motor speed, T L For load torque, T e Is an electromagnetic torque;
according to the motion of induction motorProgram for programming
Obtaining:
wherein p is the pole pair number of the induction motor, and J is the rotational inertia of the motor;
order to
C＝[1 0]D =0, resulting in a lunberger observer form:
will be provided with
Substituting to obtain:
wherein L is a given coefficient, and is obtained by solving the characteristic value of the A-LC matrix and determining the stability of the system by applying Lyapunov;
is provided with
To obtain
Wherein, the first and the second end of the pipe are connected with each other,
for the motor speed observed by the load torque observer,
the load torque observed by the load torque observer.
S104: and obtaining a flux linkage predicted value according to the stator voltage vector, the stator flux linkage vector and the stator current vector.
As shown in fig. 2, according to the stator flux linkage vector ψ s Stator current vector i s And stator voltage vector u s Predicting the flux linkage by using a motor mathematical model to obtain a flux linkage predicted value at the moment k +1, wherein the mathematical model used for flux linkage prediction is as follows:
wherein the content of the first and second substances,
is the stator flux linkage vector at time k + 1,
stator flux linkage vector at time k, T sc In order to be the time of the sampling,
stator voltage vector at time k, R s As the resistance of the stator,
is the stator current vector at time k.
S105: and obtaining a rotating speed predicted value according to the electromagnetic torque, the load torque and the motor rotating speed.
According to the electromagnetic torque T, as shown in FIG. 2 e Load torque T L And motor speed omega r And predicting the rotating speed by using a motor motion equation to obtain a rotating speed predicted value at the moment of k +1, wherein the equation used for predicting the rotating speed is as follows:
wherein the content of the first and second substances,
the motor rotating speed at the moment of k +1, p is the induction motor pole pair number, J is the motor rotational inertia,
electromagnetic torque at time k, T L In order to be the load torque,
the motor speed at time k.
It can be understood that the load torque T L Is slow and therefore is responsive to the load torque T L Is not limited. In addition, in some embodiments, when the flux linkage and the motor rotation speed are predicted in steps S104 and S105, in order to ensure high prediction accuracy, a sampling time/time is taken as a step size for iteration.
S106: and calculating a cost function according to the predicted value of the flux linkage and the predicted value of the rotating speed, and outputting an optimal voltage vector.
As shown in fig. 2, the cost function is calculated using the following formula:
wherein k is ψ Is a flux linkage weight coefficient and is a flux linkage weight coefficient,
is a reference value of the flux linkage of the stator,
the stator flux linkage vector at time k + 1,
is a reference value of the rotating speed of the motor,
the motor speed at the moment k + 1.
At one endIn some embodiments, the flux linkage weight coefficient k ψ It is obtained empirically through simulation and experiment and may be 100. In addition, when the cost function is applied, the current is too large due to the fact that the difference value between the starting rotating speed reference value and the predicted rotating speed of the motor is too large, so that the rotating speed reference value needs to be subjected to slope processing, and the slope of the slope is SI.Wb/(+ -0.1), wherein SI.Wb is the rated rotating speed of the induction motor.
It should be noted that, when the optimal voltage vector is selected for output, the stator voltage vector that minimizes the cost function is selected as the optimal voltage vector U opt 。
S107: and determining a driving signal of the induction motor according to the optimal voltage vector so as to control the induction motor.
And determining a driving signal for driving each switching tube of the inverter according to the obtained optimal voltage vector, and further controlling the operation of the induction motor.
The technical effects of the induction motor control method provided by the embodiment of the application are summarized as follows:
(1) The double closed-loop cascade speed regulation structure in the traditional control scheme is omitted, and a new single-loop structure is adopted, so that the system structure is simplified.
(2) Compared with the traditional scheme, the method does not need to carry out complicated PI parameter setting, and the control algorithm is simple and practical.
(3) The modulation mode is easy to be unified with other control methods, and different control modes are easy to realize under a unified control program framework.
(4) The provided cost function controls the rotating speed and the flux linkage of the motor, so that the electromagnetic torque, the rotating speed pulsation and the current harmonic of the motor are reduced when the motor reaches a steady state, and the simultaneous control of the speed and the flux linkage of different time scales by a single controller is realized.
The effectiveness of the method proposed in the present application is illustrated below by experimental result graphs (see fig. 3 to 21) comparing two motor control methods.
Two motor Control methods adopted in an experiment are provided, one is the Control method provided by the application and can also be called a Model Predictive Direct Speed Control (MPDSC) method of a single-loop Model of a single-vector finite state set induction motor, and the other is a traditional finite state set Model Predictive Torque Control (MPTC) method.
FIG. 3 is a diagram showing the result of an empty load start experiment by controlling the operation of a motor from 0 to 150r/min under a sampling rate of 15kHz by using the MPDSC method, and FIG. 4 is a diagram showing the result of an experiment by using the MPTC method under the same experimental conditions. Comparing fig. 3 and fig. 4, it can be seen that the MPDSC method is used to control the electromagnetic torque T when the motor operates e Pulsation and motor speed ω r The pulsation is smaller.
FIGS. 5 and 6 are graphs of steady-state experimental results when the motor is controlled to operate at 750r/min under the sampling rate of 15kHz by adopting two methods respectively. Comparing fig. 5 and fig. 6, it can be seen that the MPDSC method is used to control the motor speed ω when the motor operates r The pulsations are significantly less than when the MPTC method is employed. Since the friction torque is present during the operation of the test equipment, the torque may not be completely 0 during idling.
FIGS. 7 and 8 are graphs of the results of no-load starting experiments for controlling the motor from 0 to 1500r/min at 15kHz sampling rate by two methods, respectively. As can be seen by comparing FIG. 7 and FIG. 8, both methods can reach the designated rotation speed quickly, and the motor rotation speed ω of both methods is high when the motor is running at high speed r Electromagnetic torque T e The pulsation difference is small and the MPDSC method is slightly better than the MPTC method, which can be confirmed by the steady state partial experimental results plots of fig. 9 and 10 when not loaded.
Fig. 9 and fig. 10 are graphs showing the experimental results of sudden increase and sudden decrease of rated load when the motor is controlled to operate at 1500r/min under the sampling rate of 15kHz by adopting two methods. In this experiment, the motor was first run at 1500r/min without load, then the rated load was suddenly applied, and finally the entire load was removed. Comparing fig. 9 and fig. 10, it can be seen that the output torque responses rapidly, the system has good anti-interference capability to the external load torque, and the motor speed ω of the MPDSC method is not loaded or is loaded r The pulsation is smaller than that of the MPTC method, and the rotating speed can be quickly recovered to the rated value after the load is suddenly increased or decreased.
FIGS. 11 and 12 are graphs showing experimental results of two methods for controlling the motor to operate from +1500r/min to-1500 r/min at a sampling rate of 15kHz, respectively. Comparing fig. 11 and fig. 12, it can be seen that the two methods control the forward and reverse rotation of the motor to be stable.
Fig. 13 is a graph showing a comparison of Total Harmonic Distortion (THD) between the MPDSC method and the MPTC method. Table 1 shows the specific experimental analysis results, and fig. 14 to 21 can be seen. As can be seen by combining the specific data summarized in table 1, the current THD of the MPDSC method is all smaller than that of the MPTC method, which indicates that the current harmonic content of the MPDSC method is lower and the current waveform is more sinusoidal.
It should be noted that the four experimental conditions in table 1, i.e., 5Hz, 25Hz, and 50Hz (respectively corresponding to the rotation speeds of 150r/min, 750r/min, and 1500r/min in fig. 13) and the load rating, respectively correspond to the experimental conditions of the load rating increase and the load rating decrease at 150r/min, 750r/min, 1500r/min, and 1500 r/min.
Table 1: summary of THD results of MPDSC and MPTC
| THD | MPDSC | MPTC |
| 5Hz | 11.8626％ | 12.085％ |
| 25Hz | 10.1298％ | 11.0262％ |
| 50Hz | 9.9791％ | 10.5327％ |
| Load rating | 7.1089％ | 7.9182％ |
In summary, compared with the conventional control method, the induction motor control method provided by the application has similar rapid dynamic performance, and meanwhile has smoother torque and rotating speed waveforms and more sinusoidal stator current in a steady state.
It should be noted that the method of the embodiment of the present application may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment, and the multiple devices interact with each other to complete the method.
It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same technical concept, the application also provides an induction motor control system corresponding to the method of any embodiment.
As shown in fig. 22, the system may include an induction motor 2201, a drive circuit 2202, a Digital Signal Processor (DSP) 2203, a voltage-current sampling circuit 2204, a three-phase voltage source 2205, a three-phase diode rectifier bridge 2206, a dc side capacitor 2207, and a three-phase inverter bridge 2208. The voltage and current sampling circuit 2204 respectively collects the voltage at the direct current side and the phase current a and the phase current b of the induction motor 2201 by using the voltage hall sensor and the current hall sensor, and the sampling signal enters the digital signal processor 2203 after passing through the signal conditioning circuit and is converted into a digital signal. The digital signal processor 2203 performs the operations of the induction motor control method proposed in the present application, outputs multiple (e.g., six) switching pulses, and then obtains the final driving signals of multiple (e.g., six) switching tubes of the inverter through the driving circuit 2202 to control the operation of the induction motor.
Based on the same technical concept, the application also provides an induction motor control device corresponding to the method of any embodiment.
Referring to fig. 23, the induction motor control apparatus includes:
a stator flux linkage vector module configured to obtain a stator current vector and a stator voltage vector of the induction motor, and determine a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector;
an electromagnetic torque module configured to calculate an electromagnetic torque from the stator flux linkage vector and the stator current vector;
the load torque module is configured to obtain the motor rotating speed of the induction motor and obtain load torque according to the electromagnetic torque and the motor rotating speed; wherein the load torque is obtained by a pre-established load torque observer;
a flux linkage prediction module configured to derive a flux linkage prediction value from the stator voltage vector, the stator flux linkage vector, and the stator current vector;
the rotating speed prediction module is configured to obtain a rotating speed prediction value according to the electromagnetic torque, the load torque and the motor rotating speed;
the output module is configured to calculate a cost function according to the flux linkage predicted value and the rotating speed predicted value and output an optimal voltage vector; wherein the optimal voltage vector is a stator voltage vector when the cost function value is minimized;
a drive signal determination module configured to determine a drive signal of the induction motor according to the optimal voltage vector to control the induction motor.
For convenience of description, the above devices are described as being divided into various modules by functions, which are described separately. Of course, the functionality of the various modules may be implemented in the same one or more pieces of software and/or hardware in the practice of the present application.
The device of the above embodiment is used to implement the corresponding control method of the induction motor in any of the foregoing embodiments, and has the beneficial effects of the corresponding control method embodiment, which are not described herein again.
Based on the same technical concept, corresponding to any embodiment of the method, the application further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the method for controlling the induction motor according to any embodiment of the method is implemented.
Fig. 24 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static Memory device, a dynamic Memory device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (for example, USB, network cable, etc.), and can also realize communication in a wireless mode (for example, mobile network, WIFI, bluetooth, etc.).
The bus 1050 includes a path to transfer information between various components of the device, such as the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only the components necessary to implement the embodiments of the present disclosure, and need not include all of the components shown in the figures.
The electronic device of the above embodiment is used to implement the corresponding method for controlling the induction motor in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Based on the same technical concept, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the induction motor control method according to any one of the above embodiments, corresponding to any one of the above-described embodiment methods.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the induction motor control method according to any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, and are not described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the context of the present application, technical features in the above embodiments or in different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the application. Further, devices may be shown in block diagram form in order to avoid obscuring embodiments of the application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the application are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures, such as Dynamic RAM (DRAM), may use the discussed embodiments.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present application are intended to be included within the scope of the present application.
Claims (10)
1. An induction motor control method, comprising:
obtaining a stator current vector and a stator voltage vector of the induction motor, and determining a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector;
calculating to obtain electromagnetic torque according to the stator flux linkage vector and the stator current vector;
acquiring the motor rotating speed of the induction motor, and acquiring a load torque according to the electromagnetic torque and the motor rotating speed; wherein the load torque is obtained by a pre-established load torque observer;
obtaining a flux linkage predicted value according to the stator voltage vector, the stator flux linkage vector and the stator current vector;
obtaining a predicted rotating speed value according to the electromagnetic torque, the load torque and the rotating speed of the motor;
calculating a value function according to the predicted value of the flux linkage and the predicted value of the rotating speed, and outputting an optimal voltage vector; wherein the optimal voltage vector is a stator voltage vector that minimizes a value of a cost function;
and determining a driving signal of the induction motor according to the optimal voltage vector so as to control the induction motor.
2. The method of claim 1, wherein calculating an electromagnetic torque from the stator flux linkage vector and the stator current vector comprises:
calculating the electromagnetic torque by adopting the following formula:
wherein, T e Is electromagnetic torque, p is induction machine pole pair number psi s Is stator flux linkage vector, i s Is the stator current vector.
3. The method of claim 1, further comprising establishing the load torque observer by:
selecting a quantity of state
Input quantity u = T e Output y = ω r (ii) a Wherein, ω is r Is the motor speed, T L For load torque, T e Is the electromagnetic torque;
according to the equation of motion of induction motor
Obtaining:
wherein p is the pole pair number of the induction motor, and J is the rotational inertia of the motor;
order to
C＝[1 0]D =0, result in
Will be provided with
Substituting to obtain:
wherein, L is a given coefficient and is obtained by solving the characteristic value of the A-LC matrix;
is provided with
To obtain
Wherein, the first and the second end of the pipe are connected with each other,
for the motor speed observed by the load torque observer,
the load torque observed by the load torque observer.
4. The method of claim 1, wherein the flux linkage predicted value and the rotation speed predicted value are obtained by the following mathematical models, respectively:
wherein the content of the first and second substances,
is the stator flux linkage vector at time k +1,
stator flux linkage vector at time k, T sc In order to be the time of sampling,
stator voltage vector at time k, R s Is a resistance of the stator, and is,
is the stator current vector at time k;
the motor rotating speed at the moment of k +1, p is the induction motor pole pair number, J is the motor rotational inertia,
electromagnetic torque at time k, T L In order to be the load torque,
the motor speed at time k.
5. The method of claim 1, wherein the calculating a cost function based on the flux linkage predictor and the rotation speed predictor comprises:
calculating the cost function using the following formula:
wherein k is ψ Is a flux linkage weight coefficient and is a flux linkage weight coefficient,
is a reference value of the magnetic linkage of the stator,
is the stator flux linkage vector at time k +1,
is a reference value of the rotating speed of the motor,
the motor speed at the time k + 1.
6. The method of claim 5, further comprising:
performing slope processing on the motor rotating speed reference value; wherein the slope is SI.Wb/(+ -0.1), and SI.Wb is the rated rotating speed of the induction motor.
7. An induction motor control system comprising a digital signal processor that executes the induction motor control method of any one of claims 1 to 6 to control the induction motor.
8. An induction motor control apparatus, comprising:
a stator flux linkage vector module configured to obtain a stator current vector and a stator voltage vector of the induction motor and determine a stator flux linkage vector of the induction motor according to the stator current vector and the stator voltage vector;
an electromagnetic torque module configured to calculate an electromagnetic torque from the stator flux linkage vector and the stator current vector;
the load torque module is configured to acquire the motor rotating speed of the induction motor and obtain load torque according to the electromagnetic torque and the motor rotating speed; wherein the load torque is obtained by a pre-established load torque observer;
a flux linkage prediction module configured to derive a flux linkage prediction value from the stator voltage vector, the stator flux linkage vector, and the stator current vector;
the rotating speed prediction module is configured to obtain a rotating speed prediction value according to the electromagnetic torque, the load torque and the motor rotating speed;
the output module is configured to calculate a cost function according to the flux linkage predicted value and the rotating speed predicted value and output an optimal voltage vector; wherein the optimal voltage vector is a stator voltage vector that minimizes a value of a cost function;
a drive signal determination module configured to determine a drive signal of the induction motor according to the optimal voltage vector to control the induction motor.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the program.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 6.
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