CN115441801B - Synchronous camera starting method based on rotor flux linkage orientation - Google Patents
Synchronous camera starting method based on rotor flux linkage orientation 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
- H02P21/34—Arrangements for starting
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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
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P21/06—Rotor flux based control 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
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/26—Power factor control [PFC]
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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
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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Abstract
The invention relates to a synchronous phase-regulating machine starting method based on rotor flux linkage orientation, which is used for calculating and obtaining a stator current value under a d-q two-phase synchronous rotation coordinate system according to three-phase current, exciting current, rotor position angle and load angle of a synchronous phase-regulating machine stator obtained by sampling; controlling the torque of the modulation camera by controlling the q-axis stator current component; the d-axis stator current component given value and the rotor exciting current given value are adjusted, so that the power factor adjustment is realized on the premise of ensuring the air gap magnetic field to be constant; calculating to obtain reference voltage by using errors between given values and actual values of the stator current d and q axes through a proportional integral PI controller and a dq axis decoupling algorithm; obtaining 6 paths of pulse signals by adopting an SVPWM modulation strategy; the exciting circuit current is subjected to proportional-integral control calculation to obtain an exciting voltage given value, then 4 paths of pulse signals are obtained by adopting an SPWM (sinusoidal pulse width modulation) strategy, and the 4 paths of pulse signals are sent into a single-phase two-level converter to realize the control of the exciting circuit current.
Description
Technical Field
The invention belongs to the field of motor control, relates to a starting technology of a synchronous camera, and particularly relates to a starting method of a synchronous camera based on rotor flux linkage orientation.
Background
Synchronous generators are the most common rotating equipment in an electric power system, can generate reactive power while generating active power, and are the most excellent reactive power sources. The synchronous phase regulator is a synchronous generator in a special running state, when the synchronous phase regulator is applied to a power system, reactive power output can be automatically increased when the voltage at the power grid side is reduced, reactive power can be automatically absorbed when the voltage at the power grid side is increased according to the needs of the system, the voltage value is kept stable, the stability of the power system is further improved, and the power supply quality of the system is improved. In the modern power grid regulation process, the synchronous camera can not only rapidly and flexibly realize various functions such as load dynamic change tracking, peak regulation and valley filling, frequency modulation, phase modulation, accident standby and the like, but also is environment-friendly and energy-saving. With the importance of smart grid construction and new energy development in recent years in China, the development potential of synchronous cameras in China is becoming larger and larger.
The starting mode of the synchronous camera is different from that of a conventional generator, because the camera does not have a starting moment, the synchronous camera cannot be started automatically, other starting methods are needed, and the following four methods are mainly adopted: (1) directly starting; (2) asynchronous starting; (3) starting a motor; (4) the frequency converter is started. For the direct starting method, the starting current is large, the motor is impacted greatly, and the method is only used for starting a small-sized unit. The motor starting method is not suitable for starting a synchronous motor because of the problem of insufficient starting capacity due to the limitation of the maximum power of a starter motor and a fluid coupling. For the starting of the frequency converter, the method has the advantages of soft start, frequent start, wide speed regulation range and the like. However, as the load torque increases (the rotational speed is unchanged), the motor voltage increases and the power factor decreases; the counter potential during start-up is too great and the stationary frequency converter cannot provide a sufficiently large voltage, resulting in the need for a larger capacity stationary frequency converter.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a synchronous camera starting control method which is simple in principle and can realize the given accurate control of a power factor and the stable operation of a system, so that the efficiency is improved, and the capacity of a static frequency converter is reduced.
The invention solves the technical problems by adopting the following technical scheme:
a synchronous camera starting method based on rotor flux orientation comprises current closed-loop control, rotating speed closed-loop control, field weakening control, coordinate transformation and SVPWM algorithm module of a synchronous camera under the rotor flux orientation; the rotor flux linkage is overlapped with d-q two-phase synchronous rotation coordinate system d-axis, q-axis advances by 90 degrees, and stator three-phase current is converted from ABC three-phase static coordinate system to d-q two-phase synchronous rotation coordinate system according to synchronous modulation stator three-phase current, exciting current, rotor position angle and load angle obtained by sampling; controlling the torque of the modulation camera by controlling the q-axis stator current component; the d-axis stator current component given value and the rotor exciting current given value are adjusted, so that the power factor adjustment is realized on the premise of ensuring the air gap magnetic field to be constant; calculating to obtain reference voltage by using errors between given values and actual values of the stator current d and q axes through a current loop proportional integral (Proportional Integral is abbreviated as PI) controller and a dq axis decoupling algorithm; adopting an SVPWM modulation strategy to obtain 6 paths of pulse signals for controlling the power device switch in the static frequency converter; the exciting circuit current is subjected to proportional integral control calculation to obtain an exciting voltage given value, then 4 paths of pulse signals are obtained by adopting an SPWM (sinusoidal pulse width modulation, SPWM for short) modulation strategy, and the 4 paths of pulse signals are sent into a single-phase two-level converter to realize the control of the exciting circuit current.
Furthermore, the processing unit is configured to,
the calculation of the speed sensor is that the actual rotation speed value obtained by differentiating the position sensor signal on the rotor shaft and the given rotation speed value are calculated by a proportion calculation controller.
The coordinate transformation from the three-phase stationary coordinate system to the two-phase synchronous rotation coordinate system is realized by calculating according to the collected three-phase current value of the motor stator and the rotor position angle by using a coordinate transformation formula, and the control of the motor is changed into the respective control of the current and the torque oriented according to the rotor flux linkage position.
The actual power factor is calculated according to the actually sampled load angle, wherein the actual power factor angle is the included angle between the stator induced electromotive force and the stator current vector, and the angle is equal to the included angle (load angle) between the rotor magnetic chain shaft and the air gap magnetic field vector, and the power factor of the synchronous camera can be observed through the size of the load angle.
The given value of exciting current is calculated according to the given value of exciting component of stator current, the given value of exciting component of stator current when power factor is needed is calculated, and the given value of exciting current is obtained by adding the given value of exciting current to the reference value of exciting current. Using excitation current set points
And the actual value i f Comparing the excitation voltage set value +.>
An excitation voltage is provided for the rotor windings of the synchronous motor.
Moreover, the synchronous camera starting method based on rotor flux orientation comprises the following steps:
(1) Target rotational speed n and power factor given by start demand
(2) Closed-loop control is carried out on the target rotating speed n by a speed loop PI controller to obtain an electromagnetic torque given value
Then calculating the given value +.>
(3) According to a given power factor
Stator voltage vector angle parameterExamination value->
Calculating the stator current excitation component setpoint value for starting at this power factor +.>
(4) By the given value of the excitation component of the stator current
Excitation current reference value->
Obtaining the rotor exciting current set value +.>
Regulating the exciting current of the rotor to increase or remove magnetism, and maintaining the air gap flux linkage constant;
(5) For a given value of the excitation component of the stator current
Stator current torque component setpoint->
Rotor excitation current set point +.>
Closed-loop control is carried out, and a d-axis stator voltage reference value under a stator d-q two-phase synchronous rotation coordinate system is output by a regulator
q-axis stator voltage reference value->
And excitation voltage set point>
At the same time, for->
Performing polar coordinate transformation to obtain stator voltage vectorAngle reference value->
(6) Exciting voltage set value
4 paths of pulse signals are obtained by adopting an SPWM synthesis mode and are sent into a single-phase two-level converter to realize the control of exciting loop current;
(7) Reference value of d-axis voltage
q-axis voltage reference value->
Transforming the d-q two-phase synchronous rotation coordinate system into an alpha-beta two-phase static coordinate system to obtain an alpha-axis voltage reference value +.>
Beta-axis voltage reference->
As the reference voltage input value of the SVPWM module, 6 paths of pulse signals are generated through a space vector pulse width modulation algorithm and sent to a static frequency converter, so that the frequency conversion starting control of the synchronous camera is realized.
The invention has the advantages and positive effects that:
1. compared with the traditional method, the control strategy has the advantages that the air gap flux linkage always keeps the amplitude and the phase constant, the amplitude and the phase constant are not changed along with the change of the load, and only the stator q-axis current generates electromagnetic torque, so that the air gap flux linkage observation link of the load is omitted, and the method is simpler, more convenient and easier to implement in an actual system.
2. The starting method of the invention can dynamically adjust the power factor, realize the starting operation of the synchronous camera in the state of the maximum power factor, reduce the required capacity of the static frequency converter, improve the efficiency and save the cost.
3. The starting method of the invention avoids the use of complex flux linkage observation algorithm in the actual system and is simpler in the actual application.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a vector control block diagram of a synchronous modulator based on rotor flux orientation;
FIG. 3 is a vector diagram of stator voltage and current space under d-q shafting of synchronous speed regulator
FIG. 4 stator current excitation component setpoint
And->
Time space vector contrast diagram
Detailed Description
The invention will now be described in further detail by way of specific examples with reference to the accompanying drawings, which are given by way of illustration only and not by way of limitation, and thus do not limit the scope of the invention.
A synchronous camera starting method based on rotor flux linkage orientation comprises the following steps:
(1) The target rotation speed n and the power factor are set by the target demand
(2) Closed-loop control is carried out on the given target rotating speed n, and the rotating speed loop PI controller calculates the given value of the stator current torque component
The method comprises the following steps:
from the above, it can be seen that the electromagnetic torque
And->
Is proportional, thus can control/>
To realize the control of electromagnetic torque.
(3) According to a given power factor
Solving to obtain a power factor angle by using an inverse cosine function>
As shown in fig. 3
Performing polar coordinate transformation on the stator d-q axis voltage reference value, and calculating a stator voltage vector angle reference value
The given value of the excitation component of the stator current can be calculated by the relation between the space stator voltage vector and the current vector
The following is shown:
(4) As shown in FIG. 4, F in FIG. 4 qs For stator q-axis flux linkage, F df Generating flux linkage for exciting current, F s Is the stator flux linkage, and ψ is the composite air gap flux linkage. Holding
Unchanged, change stator current excitation component given value +.>
Varying stator currentAmplitude and phase, adjusting the power factor. Meanwhile, the magnetic field generated by the exciting component of the stator current is counteracted by reversely increasing the exciting current on the d axis to keep the constant of the composite air gap magnetic field. Wherein the excitation current compensation amount is equal to->
The assignment is the same, the phase difference is 180 DEG, thereby obtaining the given value of the exciting current
In the method, in the process of the invention,
for exciting current reference value, K dif Is the proportionality coefficient of the exciting current reference value, +.>
And (5) exciting a flux linkage reference value for the rotor.
By rotor flux linkage orientation, passage can be achieved
And controlling the torque. By changing the given value of the exciting current component of the stator, the power factor of the motor can be adjusted at the same time, and the torque and power factor control of the motor can be changed into current control oriented according to the flux linkage position of the rotor.
(5) For a pair of
Is>
Closed loop control is performed, will->
And->
With the actual value i of the fed-back d-q axis current ds 、i qs And the actual value i of exciting current f The generated deviation signal is sent to an exciting current PI controller to obtain a stator d-q axis voltage reference value +.>
And excitation voltage set point>
Wherein->
And +.>
Obtained by the following calculation
In U qs_PI Stator q-axis voltage, U, output by a q-axis stator current PI controller ds_PI Stator d-axis voltage, K output by a d-axis stator current PI controller iqs For integral gain, K in q-axis stator current PI controller ids K is the integral gain flow in the d-axis stator current PI controller pqs For proportional gain, K in q-axis stator current PI controller pds For the proportional gain in the d-axis stator current PI controller, s is the complex frequency.
The stator d-q axis voltage reference value is
Wherein R is s Is stator resistance omega m Mechanical angular velocity of rotor, L ds For stator d-axis inductance, flux is stator flux linkage.
Exciting voltage given value
Wherein K is Pf For proportional gain, K in excitation current PI controller if Is the integral gain in the excitation current PI controller.
The exciting voltage set value is then synthesized by SPWM to obtain 4 pulse signals, which are fed into single-phase two-level converter to control exciting loop current, wherein U is f_dc Is the DC voltage of the exciting circuit.
The actual value of the stator d-q axis current is calculated from the actual stator three-phase current u as 、u bs 、u cs Through coordinate transformation to obtain
Wherein i is αs I is the stator current alpha-axis component βs Is the stator current beta-axis component.
(6) For stator voltage reference value
Coordinate transformation is carried out to obtain an alpha-axis stator voltage reference value under a two-phase static coordinate system>
Beta-axis stator voltage reference value->
Wherein the calculation formula of the coordinate transformation module is as follows
Taking the obtained voltage reference vector as the input of a two-level SVPWM algorithm, and then sending the signals of the obtained 6 paths of driving power devices into a static frequency converter, wherein U dc And providing three-phase alternating current power supply for the synchronous camera for the direct current bus voltage, and finally realizing control of the synchronous camera.
The method can meet the requirement that the synchronous regulator starts with the maximum power factor, reduces the capacity of the static frequency converter and avoids the starting failure caused by the fact that the output voltage of the static frequency converter cannot reach a given value.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (5)
1. A synchronous camera starting method based on rotor flux orientation is characterized in that: the system comprises a current closed-loop control, a rotating speed closed-loop control, a field weakening control, a coordinate transformation and SVPWM algorithm module of a synchronous camera under the condition of rotor flux linkage; the rotor flux linkage is overlapped with d-q two-phase synchronous rotation coordinate system d-axis, q-axis advances by 90 degrees, and stator three-phase current is converted from ABC three-phase static coordinate system to d-q two-phase synchronous rotation coordinate system according to synchronous modulation stator three-phase current, exciting current, rotor position angle and load angle obtained by sampling; controlling the torque of the modulation camera by controlling the q-axis stator current component; the d-axis stator current component given value and the rotor exciting current given value are adjusted, so that the power factor adjustment is realized on the premise of ensuring the air gap magnetic field to be constant; calculating to obtain reference voltage by using errors between given values and actual values of the stator current d and q axes through a current loop proportional integral PI controller and a dq axis decoupling algorithm; adopting an SVPWM modulation strategy to obtain 6 paths of pulse signals for controlling the power device switch in the static frequency converter; the exciting circuit current is subjected to proportional-integral control calculation to obtain an exciting voltage given value, 4 paths of pulse signals are obtained by adopting an SPWM (sinusoidal pulse width modulation) strategy, and the 4 paths of pulse signals are sent into a single-phase two-level converter to realize the control of the exciting circuit current;
the method comprises the following steps:
(1) Target rotational speed n and power factor given by start demand
(2) Closed-loop control is carried out on the target rotating speed n by a speed loop PI controller to obtain an electromagnetic torque given value
Then calculating the given value +.>
(3) According to a given power factor
And a stator voltage vector angle reference value +.>
Calculating the stator current excitation component setpoint value for starting at this power factor +.>
(4) By the given value of the excitation component of the stator current
Excitation current reference value->
Obtaining the rotor exciting current set value +.>
Regulating the exciting current of the rotor to increase or remove magnetism, and maintaining the air gap flux linkage constant;
(5) For a given value of the excitation component of the stator current
Stator current torque component setpoint->
Rotor excitation current set point +.>
Closed-loop control is carried out, and a regulator outputs a d-axis stator voltage reference value +_ under a stator d-q two-phase synchronous rotation coordinate system>
q-axis stator voltage reference value->
And excitation voltage set point>
At the same time, for->
Performing polar coordinate transformation to obtain a stator voltage vector angle reference value +.>
(6) Exciting voltage set value
By usingThe SPWM synthesis mode obtains 4 paths of pulse signals and sends the pulse signals into a single-phase two-level converter to realize the control of exciting loop current;
(7) Reference value of d-axis stator voltage
q-axis stator voltage reference value->
Transforming the d-q two-phase synchronous rotation coordinate system into an alpha-beta two-phase static coordinate system to obtain an alpha-axis stator voltage reference value +.>
Beta-axis stator voltage reference value
As the reference voltage input value of the SVPWM module, 6 paths of pulse signals are generated through a space vector pulse width modulation algorithm and sent to a static frequency converter, so that the frequency conversion starting control of the synchronous camera is realized;
wherein step (3) is specifically to be based on a given power factor
Using the cosine function cos -1 Solving to obtain the power factor angle->
Stator current excitation component set value
Calculated according to the following formula:
in the method, in the process of the invention,
for the reference value of the vector angle of the stator voltage, the specific calculation formula is as follows:
2. the method according to claim 1, characterized in that: step (2) is specifically to perform closed-loop control on a given target rotation speed n, and calculate a given value of a stator current torque component by a speed loop PI controller
The method comprises the following steps:
in the method, in the process of the invention,
for the electromagnetic torque set value, ">
K is the reference value of the rotor excitation flux linkage Teiqs The ratio coefficient of electromagnetic torque and stator current torque components is adopted; wherein (1)>
The d-axis flux linkage set value is determined by the exciting current value when the stator terminal voltage is increased to the power grid voltage under the rated rotation speed of the synchronous regulator.
3. The method according to claim 1, characterized in that: step (4) is specifically a given value of exciting current of the rotor
The calculation formula of (2) is as follows:
in the method, in the process of the invention,
for exciting current reference value, K dif Is the proportionality coefficient of the exciting current reference value, +.>
And (5) exciting a flux linkage reference value for the rotor.
4. The method according to claim 1, characterized in that: step (5) is to set the given value of the excitation component of the stator current under the d-q two-phase synchronous rotation coordinate system
Stator current torque component setpoint->
Is>
D-axis stator current actual value i of d-q two-phase synchronous rotation coordinate system with feedback ds Stator electricity of q axisStream actual value i qs And the actual value i of exciting current f The generated deviation signal is sent to a PI controller to obtain a d-axis stator voltage reference value +.>
q-axis stator voltage reference value
Excitation voltage setpoint +.>
Wherein->
Obtained by the following calculation
In U qs_PI Stator q-axis voltage, U, output by a q-axis stator current PI controller ds_PI Stator d-axis voltage, K output by a d-axis stator current PI controller iqs For integral gain, K in q-axis stator current PI controller ids K is the integral gain flow in the d-axis stator current PI controller pqs For proportional gain, K in q-axis stator current PI controller pds The proportional gain in the PI controller is d-axis stator current, s is complex frequency; the stator d-q axis voltage reference value is
Wherein R is s Is stator resistance omega m Mechanical angular velocity of rotor, L ds The motor is a stator d-axis inductor, and ftux is a stator flux linkage;
Wherein K is Pf For proportional gain, K in excitation current PI controller if An integral gain in the excitation current PI controller;
5. the method according to claim 1, characterized in that: the specific coordinate transformation in the step (6) is realized by the following formula:
in θ r For the angle of the rotor position,
for the alpha-axis stator voltage reference, +.>
For the beta-axis stator voltage reference, +.>
For d-axis stator voltage reference, +.>
Is the q-axis stator voltage reference.
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|---|---|---|---|---|
| CN102545766B (en) * | 2012-01-17 | 2014-12-24 | 河南工程学院 | Novel speed regulating system suitable for driving electric automobile and current distributing method |
| CN103560735B (en) * | 2013-09-27 | 2014-11-12 | 南车株洲电力机车研究所有限公司 | Control method for electro-magnetic synchronous motor |
| CN111682819B (en) * | 2020-06-18 | 2023-03-31 | 天津理工大学 | Asynchronous motor current inner ring decoupling control method based on improved LADRC |
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