CN116073726A - Constant magnetic linkage closed-loop energy-saving control algorithm of asynchronous motor without magnetic field orientation - Google Patents
Constant magnetic linkage closed-loop energy-saving control algorithm of asynchronous motor without magnetic field 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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—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
- H02P21/06—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
- H02P21/14—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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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- 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
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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
- H02P2207/01—Asynchronous machines
Abstract
The invention discloses a constant flux linkage closed-loop energy-saving control algorithm of an asynchronous motor without magnetic field orientation, which belongs to the technical field of asynchronous motor control. And solving phase voltage according to the vector relation of motor voltage, calculating impedance voltage drop of the stator winding by considering counter potential generated by a given flux linkage in the stator winding and differential state of the flux linkage with respect to time under steady state condition, and finally, solving the given current value by using an ohmic method. The invention is not affected by motor parameters except the stator resistance, and the stator resistance is convenient to measure, has strong universality and simple realization method.
Description
Technical Field
The invention relates to the technical field of control of three-phase induction type asynchronous motors, in particular to a constant flux linkage current closed-loop energy-saving control algorithm of a non-magnetic-field directional motor without complex parameter calculation.
Background
Along with the rapid development of the modern society, the demand of industry on energy is continuously increasing, and the three-phase induction type asynchronous motor has the advantages of simple structure, excellent speed regulation performance, high reliability and the like, occupies dominant positions in various driving equipment, and is a 'energy consumption consumer' in industrial production.
The current asynchronous motor control technical field, the magnetic field orientation control idea is to obtain the rotor rotation speed and slip to obtain the stator angular velocity, and utilize the stator angular velocity to transform the vector relation of the asynchronous motor to the synchronous rotation dp coordinate system, through the coordinate systemdThe shaft is oriented along the direction of the stator magnetic field, so that the current of the asynchronous motor is decomposed into an exciting current component of a d-axis and a torque current component of a q-axis, and the flux linkage and the electromagnetic torque of the asynchronous motor are controlled independently. In some occasions requiring maintenance and replacement of the frequency converter, the magnetic field is difficult to orient by means of rotor speed feedback due to severe environment or special places where the motor is located by installing the encoder; or by decoupling the counter-potential generated by the flux linkage at the stator windings, which requires a clarification of the electromagnetic parameters of the motor. The motor parameter is partially lost in the long-term equipment, and the slip precision is difficult to ensure under the condition that the motor parameter cannot be disconnected from a load for parameter setting due to a specific working condition, so that the effectiveness of given exciting current and torque current cannot be ensured.
Disclosure of Invention
In order to solve the technical defects, the invention provides a constant flux linkage closed-loop energy-saving control algorithm of an asynchronous motor without magnetic field orientation, which controls stator current through a given flux linkage amplitude value, ensures that the flux linkage is not in an overexcitation state, can realize closed-loop control of the current without complex parameter calculation, improves the utilization rate of a current stator, and reduces energy loss.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the constant magnetic linkage closed-loop energy-saving control algorithm of the asynchronous motor without magnetic field orientation is provided, and is realized by the following steps and principles:
s1, reasonably distributing given current to a self-established dq axis coordinate system, acquiring three-phase current frequency at the current collector side, integrating the three-phase current frequency, obtaining the electrical angle of the motor, and carrying out coordinate transformation of the current according to the electrical angle.
S2, taking a two-phase current of a rotating coordinate system at the motor side as feedback, taking a voltage corresponding to the current as a main factor causing deviation, and compensating the deviation between a given current and an actual current by using a PI controller.
S3, constructing an equation set according to the vector relation of the voltages of the asynchronous motor, and utilizing the voltagesu α Sum voltage ofu β To motor phase voltageu s And (5) performing calculation.
S4, giving flux linkage according to a slope function, determining the response speed of the motor according to the slope of the function, and setting reasonable upper and lower limits.
S5, solving a reasonable current given value according to the pressure drop on the stator winding, and selecting a low-pass filter to optimize high-frequency harmonic components contained in the given current.
Further, in the step S1, the electrical angle calculation and the coordinate transformation are as follows:
where, ε is the integral sign, ω e For the electrical angular velocity of the motor,
and is a differential sign, t is a time constant, and θ is an electrical angle of the motor.
The current matrix after coordinate transformation is:
wherein ,i α 、i β the output currents of the two-phase stationary coordinate system are respectively,i a 、i b 、i c is the output current of the three-phase initial coordinate system,i d 、i q is the output current of the two-phase rotating coordinate system,θthe angular frequency is converted into the motor electrical angle through integration,
is a matrix symbol.
Further, in the step S2, the current closed-loop control is as follows:
wherein ,e(t) For a deviation of a given value from an actual value,i ref (t) For a given value of the current,
as the actual output value of the current,u(t) For the final control quantity, the control quantity,K p is a gain factor of a proportion of the gain,K i is an integral gain coefficient, +.sup.th is an integral sign, +.sup.th>
As a sign of the differential,tis a time constant.
In the step S3, an equation set is constructed according to the vector relation of the voltages of the asynchronous motor, and the voltages are utilizedu α Sum voltage ofu β To motor phase voltageu s And (3) performing calculation:
wherein ,u s for the phase voltage of the motor,u α is stationary coordinatesIs a voltage of the alpha-axis,u β is the static coordinate system beta-axis voltage.
Further, in the step S4, in order to ensure the stability of the system operation, the given flux linkage is a ramp function:
wherein ,φ(t) In order to change the flux linkage constant over time,kas the slope of the flux linkage rise,tis a time constant;
wherein ,E(t) In order to counter-potential with the stator windings,φ s is the magnetic linkage of the motor,ω e for the electrical angular velocity of the motor,tis a time constant;
the response speed of the motor is determined by the slope of a given flux linkage, and according to the requirements of working conditions, the motor is ensured not to cause larger energy loss due to supersaturation of the flux linkage by setting corresponding upper and lower limits.
Further, in the step S5, the differential of the steady state flux linkage with respect to time is zero, the stator resistance is convenient to measure, each parameter in the formula is a known quantity, and the calculation formula of the current given value is as follows:
wherein ,i s in order to output the current flow,u s for the phase voltage of the motor,ω e for the electrical angular velocity of the motor,φ s is the magnetic linkage of the motor,Ris the stator resistance.
The reasonable current set value is solved, and the harmonic current contained in the current set value is optimized by adopting a low-pass filter:
wherein ,h(s) As a transfer function of the low-pass filter,sis a plurality of fields, which are the fields,ais a filter coefficient;
when (when)s=jωThe amplitude response is:
wherein ,h(jω) In order for the amplitude response to be a function,jas an imaginary part thereof,ωthe angular frequency of the input function is set,ais a filter coefficient.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, an electric angle is obtained according to current frequency integration, coordinate transformation of three-phase current is carried out by utilizing the angle, non-directional control of a rotor magnetic field is completed, closed-loop control of current is realized based on the angle, deviation between a given current value and an actual current value is calculated, current is corrected in real time by means of a PI controller, and factors of the deviation are attributed to corresponding voltages;
2. the invention calculates the phase voltage value at the current moment by adopting the instantaneous voltages of the alpha axis and the beta axis based on the vector relation of the motor voltage, calculates the voltage drop of the phase voltage on the stator impedance according to the differential state of the flux linkage to time and the counter-potential generated by the given flux linkage on the stator winding under the steady-state condition, and solves the given current by utilizing an ohmic method so as to realize the constant flux linkage control of the motor.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a block diagram of a constant flux linkage control algorithm provided by the invention;
FIG. 2 is a block diagram of an asynchronous motor control system provided by the invention;
FIG. 3 is a waveform diagram of the current simulation result when the constant flux linkage control is not performed;
FIG. 4 is a waveform diagram of current simulation results using a constant flux linkage control method according to the present invention;
FIG. 5 is a waveform diagram of the flux linkage simulation result when the constant flux linkage control is not performed;
FIG. 6 is a waveform diagram of a flux linkage simulation result using a constant flux linkage control method according to the present invention;
FIG. 7 is a waveform diagram of the simulation result of line voltage without constant flux linkage control according to the present invention;
fig. 8 is a waveform diagram of a simulation result of line voltage using a constant flux linkage control method according to the present invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and examples. It should be noted that all the invention which utilizes the inventive concept is within the scope of the present invention as defined and defined by the appended claims and as long as the variations thereof are within the spirit and scope of the present invention as a person of ordinary skill in the art without departing from the principle of the present invention.
The specific implementation steps are as follows:
a constant magnetic linkage closed-loop energy-saving control algorithm of an asynchronous motor without magnetic field orientation comprises the following steps:
step 1: under the condition of ensuring the current amplitude, reasonably distributing given current to a self-established dq axis coordinate system, collecting three-phase current frequency at the current collector side, integrating the three-phase current frequency, obtaining the electrical angle of the motor, and carrying out coordinate transformation of the current according to the electrical angle:
where, c is the integral symbol,ω e for the electrical angular velocity of the motor,
as a sign of the differential,tas a function of the time constant,θis the electrical angle of the motor;
the current matrix after coordinate transformation is:
wherein ,i α 、i β the output currents of the two-phase stationary coordinate system are respectively,i a 、i b 、i c is the output current of the three-phase initial coordinate system, i d 、i q is the output current of the two-phase rotating coordinate system,θfor the electrical angle of the motor,
is a matrix symbol.
Step 2: in order to prevent the current no-load oscillation from affecting the stability of the system, the two-phase current of a rotating coordinate system at the motor side is used as feedback, the deviation between a given current and an actual current is attributed to the corresponding voltage vector, and the deviation is compensated by using a PI controller:
wherein ,e(t) For a deviation of a given value from an actual value,i ref (t) For a given value of the current,
as the actual output value of the current,u(t) For the final control quantity, the control quantity,K p is a coefficient of proportionality and is used for the control of the power supply,T i as a function of the integration time constant,K i =K p /T i as an integral coefficient of the power supply, let ∈ be the integral symbol ∈ ->
Is a differential sign. />
wherein ,u s for the phase voltage of the motor,u α is the voltage of the alpha-axis of the stationary coordinate system,u β is the static coordinate system beta-axis voltage.
Step 4, in order to ensure the stability of the system operation, the given flux linkage is a ramp function:
wherein ,φ(t) In order to change the flux linkage constant over time,kas the slope of the flux linkage rise,tis a time constant;
wherein ,E(t) In order to change the flux linkage constant over time,φ s for the flux linkage of the motor,ω e for the electrical angular velocity of the motor,tis a time constant;
the response speed of the motor is determined by the slope of a given flux linkage, and according to the requirements of working conditions, the motor is ensured not to cause larger energy loss due to supersaturation of the flux linkage by setting corresponding upper and lower limits.
And 5, establishing a mathematical model of the three-phase induction asynchronous motor, wherein the mathematical model of the asynchronous motor is as follows:
wherein ,u s for the phase voltage of the motor,i s for the output current of the motor,ω e for the electrical angular velocity of the motor,φ s is the flux linkage of the motor，RIs the resistance of the stator and,
as a sign of the differential,tis a time constant;
under steady state conditions, the derivative of motor flux linkage with respect to time is zero, and the motor given current is further expressed as:
wherein ,i s in order to output the current flow,u s for the phase voltage of the motor,ω e for the electrical angular velocity of the motor,φ s is the magnetic linkage of the motor,Ris the stator resistance.
In this embodiment, each parameter of the above formula is a known quantity, for the stability of the system operation, the given flux linkage value is a ramp function, the response speed of the motor is determined by the slope of the given flux linkage, and by setting the corresponding upper and lower limits, it is ensured that the motor will not cause larger energy loss due to oversaturation of the flux linkage, and a reasonable current given value is solved.
In the above process, in order to avoid that harmonic current contained in a given value of current affects given accuracy of current, a low-pass filter is adopted for optimization:
wherein ,h(s) As a transfer function of the low-pass filter,sis a plurality of fields, which are the fields,ais a filter coefficient;
when (when)s=j omega timeThe amplitude response is:
wherein ,h(jω) In order for the amplitude response to be a function,jas an imaginary part thereof,omega isThe angular frequency of the input function is set,ais a filter coefficient.
According to the above equation, the higher the frequency of the input harmonic is under the action of the transfer function, the more the frequency amplitude is reduced, and the amount of calculation of the controller is reduced by reducing the harmonic content. The algorithm is not influenced by motor parameters except the stator resistance, and the stator resistance is convenient to measure, so that the constant flux linkage energy-saving control algorithm has strong universality.
Fig. 1 is a block diagram of a closed-loop energy-saving control algorithm of a constant magnetic flux linkage of an asynchronous motor without magnetic field orientation, which is provided by the invention:
under steady state conditions, the flux linkage differential with respect to time is zero, motor phase voltages are calculated according to a voltage vector relationship, and counter-potential is calculated from a given flux linkage and motor speed, so that a given current is solved under the condition that the system is ensured to be not excessively excessive.
Fig. 2 is a block diagram of a closed-loop energy-saving control algorithm of constant flux linkage of an asynchronous motor without magnetic field orientation, which is provided by the invention, wherein a given current is calculated by the constant flux linkage control algorithm and redistributed to a dq axis, a current error signal is attributed to voltage by a PI controller, an compensated optimal control voltage vector is output, and then a modulation module generates waves to act on a switching device to drive the motor to operate.
Fig. 3 is a waveform diagram of a three-phase current simulation result of an example of the constant flux linkage control algorithm not adopted by the invention, fig. 4 is a waveform diagram of a three-phase current simulation result of the constant flux linkage control algorithm adopted by the invention, and in combination with fig. 3 and 4, it is seen that the current amplitude is larger when the constant flux linkage control algorithm is not adopted by the invention, the fluctuation is more obvious when the constant flux linkage control algorithm reaches a given rotating speed, the current fluctuation after the constant flux linkage control algorithm is adopted by the invention is obviously inhibited, the current amplitude is lower, and the utilization rate is higher.
Fig. 5 is a waveform diagram of a flux linkage simulation result of an example of the constant flux linkage control algorithm not adopted in the invention, and fig. 6 is a waveform diagram of a flux linkage simulation result of the constant flux linkage control algorithm adopted in the invention, and when the current constant flux linkage control algorithm adopted in the invention is adopted, the flux linkage of the motor is close to 1.1Wb and oversaturated, which is shown by combining fig. 5 and fig. 6, the flux linkage is approximately equal to 0.96Wb, and the loss is reduced under the condition of ensuring the normal operation of the system.
Fig. 7 is a waveform diagram of a simulation result of a line voltage provided by the invention and not adopting an example of a constant flux linkage control algorithm, and fig. 8 is a waveform diagram of a simulation result of a line voltage provided by the invention and adopting the constant flux linkage control algorithm, and in combination with fig. 7 and 8, it is seen that the line voltage amplitude is higher when the constant flux linkage control algorithm is not adopted, and the line voltage amplitude after the current harmonic suppression algorithm is obviously reduced, so that the energy consumption is reduced.
Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.
Claims (6)
1. The constant-flux linkage closed-loop energy-saving control algorithm for the asynchronous motor without magnetic field orientation is characterized by comprising the following steps of:
s1, reasonably distributing given current to a self-established dq axis coordinate system, collecting three-phase current frequency at the current collector side, integrating the three-phase current frequency, obtaining the electrical angle of a motor, and carrying out coordinate transformation of the current according to the electrical angle;
s2, taking a two-phase current of a rotating coordinate system at the motor side as feedback, taking a voltage corresponding to the current as a main factor for causing deviation, and compensating the deviation between a given current and an actual current by using a PI controller;
s3, constructing an equation set according to the vector relation of the voltages of the asynchronous motor, and utilizing the voltagesu α Sum voltage ofu β To motor phase voltageu s Calculating;
s4, giving flux linkage according to a slope function, determining the response speed of the motor according to the slope of the function, and setting reasonable upper and lower limits;
s5, solving a reasonable current given value according to the pressure drop on the stator winding, and selecting a low-pass filter to optimize high-frequency harmonic components contained in the given current.
2. The energy-saving control algorithm of the constant flux linkage closed loop of the asynchronous motor without the magnetic field orientation according to claim 1, wherein in the step S1, the electric angle calculation and the coordinate transformation are as follows:
where, ε is the integral sign, ω e For the electrical angular velocity of the motor,
as a sign of the differential,tas a function of the time constant,θis the electrical angle of the motor;
wherein ,i α 、i β the output currents of the two-phase stationary coordinate system are respectively,i a 、i b 、i c is the output current of the three-phase initial coordinate system,i d 、i q is the output current of the two-phase rotating coordinate system,θfor the electrical angle of the motor,
is a matrix symbol.
3. The algorithm of claim 1, wherein in S2, the two-phase current of the rotating coordinate system under the non-oriented magnetic field is used as feedback to prevent the current from oscillating, and the PI controller is used to attribute the current deviation to the voltage factor, and the feedback control model is as follows:
wherein ,e(t) For a deviation of a given value from an actual value,i ref (t) For a given value of the current,
as the actual output value of the current,u(t) For the final control quantity, the control quantity,K p is a coefficient of proportionality and is used for the control of the power supply,K i as an integral coefficient of the power supply, let ∈ be the integral symbol ∈ ->
Is a differential sign，tIs a time constant.
4. The constant flux linkage closed-loop energy-saving control algorithm for asynchronous motors without magnetic field orientation according to claim 1, wherein in S3, the motor phase voltage value is calculated according to the vector relation of voltages:
wherein ,u s for the phase voltage of the motor,u α is the voltage of the alpha-axis of the stationary coordinate system,u β is the static coordinate system beta-axis voltage.
5. The constant flux linkage closed-loop energy-saving control algorithm for an asynchronous motor without magnetic field orientation according to claim 1, wherein in S4, the flux linkage is given by a ramp function:
wherein ,φ(t) In order to change the flux linkage constant over time,kas the slope of the flux linkage rise,tis a time constant;
according to the counter potential in the winding, the voltage drop of the voltage on the resistor is calculated, so that the current set value is calculated, and the equation for calculating the counter potential is as follows:
wherein ,E(t) In order to counter-potential with the stator windings,ω e for the electrical angular velocity of the motor,φ s in order to achieve the magnetic linkage of the motor,tis a time constant.
6. The constant flux linkage closed-loop energy-saving control algorithm for the asynchronous motor without the magnetic field orientation according to claim 1, wherein in the step S5, a mathematical model of the three-phase induction asynchronous motor is as follows:
wherein ,u s for the phase voltage of the motor,i s in order to output the current flow,φ s is the magnetic linkage of the motor,ω e for the electrical angular velocity of the motor,Ris the resistance of the stator and,tas a function of the time constant,
is a differential sign;
under steady state conditions, the derivative of motor flux linkage with respect to time is zero, and the motor given current is further expressed as:
wherein ,i s in order to output the current flow,u s for phase-charging electric machinesThe pressure is applied to the pressure-sensitive adhesive,ω e for the electrical angular velocity of the motor,φ s is the magnetic linkage of the motor,Ris the stator resistance;
the low pass filter transfer function is:
wherein ,h(s) As a transfer function of the low-pass filter,sis a plurality of fields, which are the fields,ais a filter coefficient;
when (when)s=jωThe amplitude response is:
wherein ,h(jω) In order for the amplitude response to be a function,ain order for the filter coefficients to be of a type,jas an imaginary part thereof,ωthe higher the frequency of the input harmonic, the more the frequency amplitude decreases for the angular frequency of the input function.
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