CN115360953A - Induction motor oscillation suppression method based on rotor flux linkage orientation - Google Patents
Induction motor oscillation suppression method based on rotor flux linkage orientation Download PDFInfo
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- CN115360953A CN115360953A CN202211016312.2A CN202211016312A CN115360953A CN 115360953 A CN115360953 A CN 115360953A CN 202211016312 A CN202211016312 A CN 202211016312A CN 115360953 A CN115360953 A CN 115360953A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention discloses an induction motor oscillation suppression method based on rotor flux linkage orientation, which is based on an induction motor inverse tau model and based on rotor flux linkage orientation, wherein an orientation angle is completely coincided with a real flux linkage angle, i sq Exactly the excitation current, i sd Also exactly the moment current. So i sq The oscillation of (a) reflects the oscillation of the flux linkage, for i sq The oscillation suppression is carried out, so that the oscillation of the motor can be suppressed, and the oscillation suppression effect is better. The invention provides a current closed loop rotating speed tracking scheme, and the method has better performance because the current closed loop control is carried out, thereby avoiding the overcurrent phenomenon.
Description
Technical Field
The invention belongs to the field of intelligent control, and particularly relates to an induction motor oscillation suppression method based on rotor flux linkage orientation.
Background
In the industrial field, induction motors are widely used because of their high durability, low cost, and low maintenance cost. The VF control method needs less parameter information and has a simple control structure, so that the VF control method is suitable for occasions without speed sensors, such as fans, pumps, blowers and the like, which do not need high dynamic performance. However, since VF control is open-loop control, the motor will oscillate due to inaccurate structure, parameters, and voltage output of the motor, which requires an oscillation suppression algorithm.
However, the existing oscillation suppression algorithm is usually based on stator flux linkage orientation, and due to the existence of stator leakage inductance, an orientation angle is not consistent with a real flux linkage angle, which results in i sq Non-true excitation current, i sq The oscillation of the magnetic linkage cannot be truly reflected, so that the oscillation suppression effect is influenced. Therefore, the invention provides an induction motor oscillation suppression method based on rotor flux linkage orientation to improve the oscillation suppression effect.
In order to solve the problems, the invention discloses an oscillation suppression method based on rotor flux linkage orientation.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an induction motor oscillation suppression method based on rotor flux linkage orientation is characterized by comprising the following steps:
s1, according to the received second output voltage value U s2 A phase stator current i a B-phase stator current i b And c-phase stator current i c Alpha axis stator current i is obtained by calculation sα Beta axis stator current i sβ Angle of orientation theta E ；
S2, according to the alpha axis stator current i sα Beta axis stator current i sβ And an orientation angle theta E Q-axis stator current i is obtained through calculation sq ；
S3, according to the received q-axis stator current i sq Calculating to obtain an oscillation component delta i of the q-axis stator current sq ；
S4, according to the first output voltage value U output by the controller s1 And q-axis current oscillation component Δ i sq Calculating to obtain a second output voltage value U s2 Carrying out oscillation suppression;
s5, circulating the steps S1-S4;
in a further improvement, in said S1, the orientation angle θ E Calculated by the following steps:
s1.1, according to the received a-phase stator current i a B-phase stator current i b And c-phase stator current i c Calculating to obtain alpha axis stator current i sα Beta axis stator current i sβ ：
Wherein i a For a phase stator current, i b Is a b-phase stator current, i c Is a phase c stator current;
s1.2, according to the received second output voltage value U s2 Calculating to obtain a second output voltage U of an alpha axis sα Beta axis second output voltage U sβ ：
Theta is an angle;
s1.2, according to the received second output voltage value U s2 Alpha axis stator current i sα Beta axis stator current i sβ And calculating the actual values of the alpha-axis rotor voltage and the beta-axis rotor voltage according to the motor parameters known in advance:
wherein E is mα Is the actual value of the alpha-axis rotor voltage, E mβ The actual value of the beta axis rotor voltage is obtained; the motor parameters known in advance include the alpha axis second output voltage U sα Beta axis second output voltage U sβ Stator resistor R s And stator transient inductance L σ Frequency given value omega e ；
S1.3, according to the calculated actual value E of the alpha-axis rotor voltage mα Beta-axis rotor voltage actual value E mβ Calculating to obtain the phase angle theta of the rotor voltage E ；
Wherein, theta E The phase angle of the rotor voltage.
In a further improvement, in the S2, the q-axis stator current i sq Calculated by the following method:
i sq ＝i sβ cosθ E -i sα sinθ E
wherein i sq Is the q-axis stator current.
In a further improvement, in the S3, an oscillation component Δ i of the q-axis stator current sq Calculated by the following method:
wherein, Δ i sq Is the oscillation component of the q-axis stator current, s is the Laplace operator, τ 1 、τ 2 Is a filter time constant and 1 ＜τ 2 。
in a further improvement, τ 1 ＝0.00159，τ 2 ＝0.159。
In a further improvement, in S4, the second output voltage value U s2 Calculated by the following method:
U s2 ＝U s1 -kΔi sq
where k is the oscillation suppression coefficient.
In a further improvement, the value range of k is (0, 10).
The invention has the advantages that:
compared with the prior art, the method for suppressing the oscillation of the induction motor based on the rotor flux linkage orientation is based on the inverse tau model of the induction motor and the rotor flux linkage orientation, the orientation angle is completely consistent with the real rotor flux linkage angle under the model, i sq I.e. the true excitation current, i sq The oscillation of the magnetic linkage is reflected, so that the oscillation suppression effect is better, and the current waveform is closer to sine during operation.
Drawings
Fig. 1 is a flowchart of an induction motor oscillation suppression method based on rotor flux linkage orientation according to an embodiment of the present invention;
FIG. 2 is a detailed flowchart of step S1 in FIG. 1;
FIG. 3 is an iq current waveform without oscillation suppression;
fig. 4 is an iq current waveform with oscillation suppression.
Detailed Description
Examples
An induction motor oscillation suppression method based on rotor flux linkage orientation is characterized by comprising the following steps:
s1, according to the received second output voltage value U s2 A phase stator current i a B-phase stator current i b And c-phase stator current i c Calculating to obtain the alpha-axis stator electricityStream i sα Beta axis stator current i sβ Angle of orientation theta E ：
S1.1, according to the received a-phase stator current i a B-phase stator current i b And c-phase stator current i c Alpha axis stator current i is obtained by calculation sα Beta axis stator current i sβ ：
Wherein i a For a phase stator current, i b Is a b-phase stator current, i c Is a phase c stator current;
s1.2, according to the received second output voltage value U s2 Calculating to obtain a second output voltage U of the alpha axis sα Beta axis second output voltage U sβ ：
Theta is an angle;
s1.2, according to the received second output voltage value U s2 Alpha axis stator current i sα Beta axis stator current i sβ And calculating the actual values of the alpha-axis rotor voltage and the beta-axis rotor voltage according to the motor parameters known in advance:
wherein E is mα Is the actual value of the alpha-axis rotor voltage, E mβ The actual value of the beta axis rotor voltage is obtained; the motor parameters known in advance include the alpha axis second output voltage U sα Beta axis second output voltage U sβ Stator resistor R s And stator transient inductance L σ Frequency given value omega e ；
S1.3, obtaining an actual value E of the alpha-axis rotor voltage according to calculation mα Beta axis rotor voltage actual value E mβ Calculating to obtain the phase angle theta of the rotor voltage E ；
Wherein, theta E The phase angle of the rotor voltage.
S2, according to the alpha axis stator current i sα Beta axis stator current i sβ And an orientation angle theta E Q-axis stator current i is obtained through calculation sq ；
i sq ＝i sβ cosθ E -i sα sinθ E
Wherein i sq Is the q-axis stator current.
S3, according to the received q-axis stator current i sq Calculating to obtain an oscillation component delta i of the q-axis stator current sq ；
Oscillation component Δ i of q-axis stator current sq Calculated by the following method:
wherein, Δ i sq Is the oscillation component of the q-axis stator current, s is the Laplace operator, τ 1 、τ 2 For the filter time constant, τ 1 ＝0.00159，τ 2 ＝0.159
S4, according to the first output voltage value U output by the controller s1 And a q-axis current oscillation component Δ i sq Calculating to obtain a second output voltage value U s2 Carrying out oscillation suppression;
second output voltage value U s2 Calculated by the following method:
U s2 ＝U s1 -kΔi sq
wherein k is an oscillation suppression coefficient, and the numeric area of k is (0, 10) ]
And S5, circulating the steps S1 to S4.
Specific effects are shown in fig. 3 and 4, fig. 3 shows the iq current waveform without oscillation suppression, and fig. 4 shows the iq current waveform with oscillation suppression.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. An induction motor oscillation suppression method based on rotor flux linkage orientation is characterized by comprising the following steps:
s1, according to the received second output voltage value U s2 A-phase stator current i a B-phase stator current i b And c-phase stator current i c Calculating to obtain alpha axis stator current i sα Beta axis stator current i sβ Angle of orientation theta E ；
S2, stator current i according to alpha axis sα Beta axis stator current i sβ And an orientation angle theta E Q-axis stator current i is obtained through calculation sq ；
S3, according to the received q-axis stator current i sq Calculating to obtain oscillation components delta i of the q-axis stator current sq ；
S4, according to the first output voltage value U output by the controller s1 And q-axis current oscillation component Δ i sq Calculating to obtain a second output voltage value U s2 Carrying out oscillation suppression;
s5, circulating the steps S1-S4.
2. The method of claim 1, wherein in S1, the orientation angle θ is E Calculated by the following steps:
s1.1, upon receptionTo a phase stator current i a B-phase stator current i b And c-phase stator current i c Alpha axis stator current i is obtained by calculation sα Beta axis stator current i sβ ：
Wherein i a For a phase stator current, i b Is a b-phase stator current, i c Is a phase c stator current;
s1.2, according to the received second output voltage value U s2 Calculating to obtain a second output voltage U of an alpha axis sα Beta axis second output voltage U sβ ：
Theta is an angle;
s1.2, according to the received second output voltage value U s2 Alpha axis stator current i sα Beta axis stator current i sβ And calculating the actual values of the alpha-axis rotor voltage and the beta-axis rotor voltage according to the motor parameters known in advance:
wherein E is mα Is the actual value of the alpha-axis rotor voltage, E mβ The actual value of the beta axis rotor voltage is obtained; the motor parameters known in advance include the alpha axis second output voltage U sα Beta axis second output voltage U sβ Stator resistor R s And stator transient inductance L σ Given value of frequency omega e ；
S1.3, obtaining an actual value E of the alpha-axis rotor voltage according to calculation mα Beta axis rotor voltage actual value E mβ Calculating to obtain the phase angle theta of the rotor voltage E ；
Wherein, theta E The phase angle of the rotor voltage.
3. The method of claim 2, wherein in S2, q-axis stator current i sq Calculated by the following method:
i sq ＝i sβ cosθ E -i sα sinθ E
wherein i sq Is the q-axis stator current.
4. The rotor flux orientation based oscillation suppression method for an induction motor according to claim 1, wherein in S3, an oscillation component Δ i of a q-axis stator current sq Calculated by the following method:
wherein, Δ i sq Is the oscillation component of the q-axis stator current, s is the Laplace operator, τ 1 、τ 2 Is a filter time constant and 1 ＜τ 2 。
5. the method of claim 4 wherein τ is 1 ＝0.00159，τ 2 ＝0.159。
6. The method of claim 1, wherein in S4, the second output voltage value U is used for suppressing oscillation of the induction motor based on the orientation of the rotor flux linkage s2 Calculated by the following method:
U s2 ＝U s1 -kΔi sq
where k is the oscillation suppression coefficient.
7. The rotor flux orientation based oscillation suppression method for an induction motor according to claim 6, wherein k has a value in a range of (0, 10].
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Citations (6)
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| US4980625A (en) * | 1988-06-02 | 1990-12-25 | Seiko Instruments Inc. | Apparatus and method for servo control system |
| CN101425777A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Voltage orienting frequency conversion controller for open loop non-speed sensor |
| CN103701385A (en) * | 2013-12-17 | 2014-04-02 | 中冶南方（武汉）自动化有限公司 | Method for restraining V/F (Voltage/Frequency) open-loop controlled oscillation of induction motor |
| US20160226420A1 (en) * | 2013-09-16 | 2016-08-04 | Eaton Corporation | V/f control method for suppressing current oscillation of induction motor |
| CN106208860A (en) * | 2016-07-26 | 2016-12-07 | 五邑大学 | The suppressing method of asynchronous machine V/F speed governing underloading vibration and V/F governing system |
| CN107026593A (en) * | 2017-05-23 | 2017-08-08 | 大连创为电机有限公司 | Asynchronous machine becomes excitation vector control method |
-
2022
- 2022-08-24 CN CN202211016312.2A patent/CN115360953B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4980625A (en) * | 1988-06-02 | 1990-12-25 | Seiko Instruments Inc. | Apparatus and method for servo control system |
| CN101425777A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Voltage orienting frequency conversion controller for open loop non-speed sensor |
| US20160226420A1 (en) * | 2013-09-16 | 2016-08-04 | Eaton Corporation | V/f control method for suppressing current oscillation of induction motor |
| CN103701385A (en) * | 2013-12-17 | 2014-04-02 | 中冶南方（武汉）自动化有限公司 | Method for restraining V/F (Voltage/Frequency) open-loop controlled oscillation of induction motor |
| CN106208860A (en) * | 2016-07-26 | 2016-12-07 | 五邑大学 | The suppressing method of asynchronous machine V/F speed governing underloading vibration and V/F governing system |
| CN107026593A (en) * | 2017-05-23 | 2017-08-08 | 大连创为电机有限公司 | Asynchronous machine becomes excitation vector control method |
Non-Patent Citations (2)
| Title |
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| GWON-JAE JO ET AL.: "Rotor Field-Oriented V/ f Drive System Implementation With Oscillation Suppression Compensator in Induction Motors", 《IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 》 * |
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