CN115360953B - Induction motor oscillation suppression method based on rotor flux orientation - Google Patents
Induction motor oscillation suppression method based on rotor flux orientation Download PDFInfo
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- CN115360953B CN115360953B CN202211016312.2A CN202211016312A CN115360953B CN 115360953 B CN115360953 B CN 115360953B CN 202211016312 A CN202211016312 A CN 202211016312A CN 115360953 B CN115360953 B CN 115360953B
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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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- Engineering & Computer Science (AREA)
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses an induction motor oscillation suppression method based on rotor flux orientation, which is based on an induction motor anti-tau model and on rotor flux orientation, wherein an orientation angle is completely matched with a real flux angle at the moment, i sq Just the exciting current, i sd Also just moment current. So i sq The oscillations of (1) reflect the oscillations of the flux linkage, for i sq The motor oscillation is suppressed by the oscillation suppression, 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 of current closed-loop control and overcurrent phenomenon avoidance.
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 orientation.
Background
In the industrial field, induction motors are widely used because of their high durability, low cost, and low maintenance costs. The VF control method has less parameter information and simple control structure, and is suitable for the occasions without a speed sensor, such as fans, pumps, blowers and the like, which do not need high dynamic performance. However, because VF control is open-loop control, motor structure, inaccurate parameters, inaccurate voltage output, etc. all cause motor oscillation, which requires an oscillation suppression algorithm.
However, the existing oscillation suppression algorithm is generally based on stator flux linkage orientation, and the orientation angle is not consistent with the actual flux linkage angle due to the existence of stator leakage inductance, which results in i sq Not the actual excitation current, i sq The oscillations of the flux linkage are not truly reflected, thereby affecting the oscillation suppression effect. Therefore, the invention provides an induction motor oscillation suppression method based on rotor flux orientation so as to improve the oscillation suppression effect.
In order to solve the problems, the invention discloses an oscillation suppression method based on rotor flux orientation.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
an induction motor oscillation suppression method based on rotor flux 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 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, according to alpha-axis stator current i sα Beta-axis stator current i sβ Orientation angle theta E Calculating to obtain q-axis stator current i sq ；
S3, according to the received q-axis stator current i sq Calculate the oscillation component Δi of the q-axis stator current sq ；
S4, outputting according to the controllerFirst output voltage value U s1 Q-axis current oscillation component Δi sq Calculating to obtain a second output voltage value U s2 Performing oscillation suppression;
s5, circulating the steps S1-S4;
further improvement, in the S1, the orientation angle theta E The method is calculated by the following steps:
s1.1, according to the received a-phase stator current i a B-phase stator current i b C-phase stator current i c Calculating to obtain alpha-axis stator current i sα Beta-axis stator current i sβ ：
Wherein i is a For a-phase stator current, i b For b-phase stator current, i c Is a c-phase 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 Second output voltage U of beta axis sβ ：
θ is the angle;
s1.2, according to the received second output voltage value U s2 Stator current i of alpha-axis sα Beta-axis stator current i sβ And calculating the motor parameters known in advance to obtain an actual value of the alpha-axis rotor voltage and an actual value of the beta-axis rotor voltage:
wherein E is mα Is the actual value of the alpha-axis rotor voltage E mβ Is the actual value of the beta-axis rotor voltage; the motor parameters known in advance include the alpha-axis second output voltage U sα Second output voltage U of beta axis sβ Stator resistor R s And stator transient inductance L σ Frequency given value omega e ；
S1.3, according to the actual value E of the alpha-axis rotor voltage obtained by calculation mα Actual value E of beta-axis rotor voltage mβ Calculating the phase angle theta of the rotor voltage E ；
Wherein θ E Is the phase angle of the rotor voltage.
Further improvement, in S2, the q-axis stator current i sq The method is calculated by the following steps:
i sq ＝i sβ cosθ E -i sα sinθ E
wherein i is sq Is the q-axis stator current.
Further improved, in S3, oscillation component Δi of q-axis stator current sq The method is calculated by the following steps:
wherein Δi sq Is the oscillation component of the q-axis stator current, s is the Laplacian, τ 1 、τ 2 Is the filtering time constant and τ 1 ＜τ 2 。
Further improvement, τ 1 ＝0.00159，τ 2 ＝0.159。
Further improvement, in S4, the second output voltage value U s2 The method is calculated by the following steps:
U s2 ＝U s1 -kΔi sq
where k is the oscillation suppression coefficient.
Further improvement, the value range of k is (0, 10).
The invention has the advantages that:
compared with the prior art, the induction motor oscillation suppression method based on rotor flux orientation is based on the induction motor anti-tau model, and based on rotor flux orientation, the orientation angle is completely matched with the real rotor flux angle under the model, i sq I is the actual exciting current, i sq The oscillation of the flux linkage is reflected, so that the oscillation suppression effect is better, and the current waveform is more approximate to sine during operation.
Drawings
FIG. 1 is a flow chart of a method for suppressing oscillations of an induction motor based on rotor flux orientation according to an embodiment of the present invention;
FIG. 2 is a flowchart showing the step S1 in FIG. 1;
FIG. 3 is an iq current waveform without oscillation suppression;
fig. 4 is an iq current waveform with added oscillation suppression.
Detailed Description
Examples
An induction motor oscillation suppression method based on rotor flux 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 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 ：
S1.1, according to the received a-phase stator current i a B-phase stator current i b C-phase stator current i c Calculating to obtain alpha-axis stator current i sα Beta-axis stator current i sβ ：
Wherein i is a For a-phase stator current, i b For b-phase stator current, i c Is a c-phase stator current;
s1.2, according to the received second output voltage value U s2 Calculating to obtain alpha axisTwo output voltages U sα Second output voltage U of beta axis sβ ：
θ is the angle;
s1.2, according to the received second output voltage value U s2 Stator current i of alpha-axis sα Beta-axis stator current i sβ And calculating the motor parameters known in advance to obtain an actual value of the alpha-axis rotor voltage and an actual value of the beta-axis rotor voltage:
wherein E is mα Is the actual value of the alpha-axis rotor voltage E mβ Is the actual value of the beta-axis rotor voltage; the motor parameters known in advance include the alpha-axis second output voltage U sα Second output voltage U of beta axis sβ Stator resistor R s And stator transient inductance L σ Frequency given value omega e ；
S1.3, according to the actual value E of the alpha-axis rotor voltage obtained by calculation mα Actual value E of beta-axis rotor voltage mβ Calculating the phase angle theta of the rotor voltage E ；
Wherein θ E Is the phase angle of the rotor voltage.
S2, according to alpha-axis stator current i sα Beta-axis stator current i sβ Orientation angle theta E Calculating to obtain q-axis stator current i sq ；
i sq ＝i sβ cosθ E -i sα sinθ E
Wherein i is sq Is the q-axis stator current.
S3, according to the received q-axis statorCurrent i sq Calculate the oscillation component Δi of the q-axis stator current sq ；
Oscillation component Δi of q-axis stator current sq The method is calculated by the following steps:
wherein Δi sq Is the oscillation component of the q-axis stator current, s is the Laplacian, τ 1 、τ 2 For the filtering time constant τ 1 ＝0.00159，τ 2 ＝0.159
S4, outputting a first output voltage value U according to the controller s1 Q-axis current oscillation component Δi sq Calculating to obtain a second output voltage value U s2 Performing oscillation suppression;
second output voltage value U s2 The method is calculated by the following steps:
U s2 ＝U s1 -kΔi sq
wherein k is an oscillation suppression coefficient, and the value of k is (0, 10)
S5, circulating the steps S1-S4.
The specific effects are shown in fig. 3 and 4, the fig. 3 is the iq current waveform without oscillation suppression, and the fig. 4 is the iq current waveform with oscillation suppression.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An induction motor oscillation suppression method based on rotor flux 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 C-phase stator current i c Calculating to obtain alpha-axis stator current i sα Beta-axis stator current i sβ Phase angle theta of rotor voltage E ；
Phase angle theta of rotor voltage E The method is calculated by the following steps:
s1.1, according to the received a-phase stator current i a B-phase stator current i b C-phase stator current i c Calculating to obtain alpha-axis stator current i sα Beta-axis stator current i sβ ：
Wherein i is a For a-phase stator current, i b For b-phase stator current, i c Is a c-phase 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 Second output voltage U of beta axis sβ ：
θ is the angle;
s1.3, according to the received second output voltage U of the alpha axis sα Second output voltage U of beta axis sβ Stator current i of alpha-axis sα Beta-axis stator current i sβ And calculating motor parameters to obtain an actual value of the alpha-axis rotor voltage and an actual value of the beta-axis rotor voltage:
wherein E is mα Is the actual value of the alpha-axis rotor voltage E mβ Is the actual value of the beta-axis rotor voltage; the motor parameters include stator resistance R s And stator transient inductance L σ Frequency given value omega e ；
S1.4, according to the actual value E of the alpha-axis rotor voltage obtained by calculation mα Actual value E of beta-axis rotor voltage mβ Calculating the phase angle theta of the rotor voltage E ；
Wherein θ E Is the phase angle of the rotor voltage;
s2, according to alpha-axis stator current i sα Beta-axis stator current i sβ Phase angle theta of rotor voltage E Calculating to obtain q-axis stator current i sq ；
S3, according to the received q-axis stator current i sq Calculate the oscillation component Δi of the q-axis stator current sq ；
S4, outputting a first output voltage value U according to the controller s1 Oscillation component Δi of q-axis stator current sq Calculating to obtain a second output voltage value U s2 Performing oscillation suppression;
s5, circulating the steps S1-S4.
2. The method of claim 1, wherein in S2, the q-axis stator current i is sq The method is calculated by the following steps:
i sq ＝i sβ cosθ E -i sα sinθ E
wherein i is sq Is the q-axis stator current.
3. The method for suppressing oscillation of an induction motor based on rotor flux orientation according to claim 1, wherein in S3, oscillation component Δi of q-axis stator current is sq By the following methodAnd (3) calculating to obtain:
wherein Δi sq Is the oscillation component of the q-axis stator current, s is the Laplacian, τ 1 、τ 2 Is the filtering time constant and τ 1 ＜τ 2 。
4. A method of suppressing oscillations of an induction machine based on rotor flux orientation according to claim 3, wherein τ 1 ＝0.00159，τ 2 ＝0.159。
5. The method of claim 1, wherein in S4, the second output voltage value U is equal to or greater than the second output voltage value U s2 The method is calculated by the following steps:
U s2 ＝U s1 -kΔi sq
where k is the oscillation suppression coefficient.
6. The method of claim 5, wherein k is in the range of (0, 10).
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Citations (2)
| 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 |
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| CN104467597B (en) * | 2013-09-16 | 2018-08-14 | 伊顿公司 | A kind of V/F control methods inhibiting induction conductivity current oscillation |
| CN103701385B (en) * | 2013-12-17 | 2016-06-08 | 中冶南方（武汉）自动化有限公司 | The suppressing method of induction machine V/F opened loop control vibration |
| 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 |
| CN107026593B (en) * | 2017-05-23 | 2019-03-19 | 大连创为电机有限公司 | Asynchronous machine becomes excitation vector control method |
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Patent Citations (2)
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| Rotor Field-Oriented V/ f Drive System Implementation With Oscillation Suppression Compensator in Induction Motors;Gwon-Jae Jo et al.;《IEEE Journal of Emerging and Selected Topics in Power Electronics 》;第 9卷(第3期);第2745-2758页 * |
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