CN116073726B - Constant magnetic linkage closed-loop energy-saving control method for asynchronous motor without magnetic field orientation - Google Patents
Constant magnetic linkage closed-loop energy-saving control method for 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
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Abstract
The invention discloses a constant flux linkage closed-loop energy-saving control method 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 method 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 encoder is arranged due to severe environment or special place where the motor is positionedThe orientation of the magnetic field by means of rotor speed feedback is difficult to achieve; 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 method for an asynchronous motor without magnetic field orientation, which controls stator current by giving flux linkage amplitude, 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 method for the asynchronous motor without magnetic field orientation is realized by the following steps and principles:
s1, distributing given current to a self-established dq axis coordinate system, collecting the electric angular speed of three-phase current at the motor side, integrating the electric angular speed, calculating the electric angle of the motor, and carrying out coordinate transformation of the current according to the electric angular speed.
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 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 upper and lower limits.
S5, solving a current given value according to the pressure drop on the stator winding, selecting a low-pass filter to optimize high-frequency harmonic components contained in the given current, wherein a mathematical model of the asynchronous motor is as follows:
wherein ,u s for the phase voltage of the motor,i s in order to output the current flow,
is a motor flux linkage>
For the electrical angular velocity of the motor,Ris the resistance of the stator and,tas a function of the time constant,dis 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 expressed as:
wherein ,i s in order to output the current flow,u s for the phase voltage of the motor,
is a motor flux linkage>
For the electrical angular velocity of the motor,Ris the stator resistance.
Further, in the step S1, the electrical angle calculation and the coordinate transformation are as follows:
wherein, the symbol of the integral is ∈,
for the electrical angular velocity of the motor,das 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,θthe angular frequency is converted by integration into the electrical angle of the motor ()'s which are the matrix symbols.
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,
for the 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 the integral gain coefficient, +.,das a sign of the differential,tis a time constant.
Further, 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 the voltage of the alpha-axis of the stationary coordinate system,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 ,
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) For the counter-potential of the stator windings,
is a motor flux linkage>
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,
is a motor flux linkage>
For the electrical angular velocity of the motor,Ris the stator resistance.
The current set value solved by the method is optimized by adopting a low-pass filter aiming at harmonic current contained in the current set value:
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 method 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 method for an asynchronous motor without magnetic field orientation comprises the following steps:
step 1: under the condition of ensuring the current amplitude, distributing a given current to a self-established dq axis coordinate system, collecting the electric angular speed of three-phase current at the motor side, integrating the electric angular speed, calculating the electric angle of the motor, and carrying out coordinate transformation on the current according to the electric angular speed:
where, c is the integral symbol,
for the electrical angular velocity of the motor,das 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,θelectrical 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,
for the 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 for the integral coefficient, +.,dis 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 ,
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) To fixThe counter-potential of the sub-windings,
for the flux linkage of the motor, ">
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 in order to output the current flow,
is a motor flux linkage>
For the electrical angular velocity of the motor,Ris the resistance of the stator and,tas a function of the time constant,dis 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 expressed as:
wherein ,i s in order to output the current flow,u s for the phase voltage of the motor,
is a motor flux linkage>
For the electrical angular velocity 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 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 the current given value is solved by this.
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,ωfor the angular frequency of the input function,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 method is not affected by motor parameters except the stator resistance, and the stator resistance is convenient to measure, so that the constant flux linkage energy-saving control method has strong universality.
Fig. 1 is a block diagram of a closed-loop energy-saving control method of an asynchronous motor constant flux linkage 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 method of an asynchronous motor with constant flux linkage without magnetic field orientation, which is provided by the invention, a given current is calculated by the constant flux linkage control method 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 method not adopted in the invention, and fig. 4 is a waveform diagram of a three-phase current simulation result of the constant flux linkage control method adopted in 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 method is not adopted in the invention, the fluctuation is more obvious when the constant flux linkage control method reaches a given rotating speed, the current fluctuation after the constant flux linkage control method adopted in the invention is obviously inhibited, the current amplitude is lower, and the utilization ratio is higher.
Fig. 5 is a waveform diagram of a flux linkage simulation result of an example of the constant flux linkage control method not adopted in the invention, and fig. 6 is a waveform diagram of a flux linkage simulation result of the constant flux linkage control method adopted in the invention, and in combination with fig. 5 and 6, it is seen that the flux linkage of the motor is close to 1.1Wb and oversaturated when the constant flux linkage control method is not adopted in the invention, and the flux linkage is approximately equal to 0.96Wb after the current constant flux linkage control method is adopted, so that loss is reduced under the condition of ensuring normal operation of the system.
Fig. 7 is a waveform diagram of a simulation result of a line voltage provided by the invention without adopting an example of a constant flux linkage control method, and fig. 8 is a waveform diagram of a simulation result of a line voltage provided by the invention with the constant flux linkage control method, and in combination with fig. 7 and 8, it is seen that the line voltage amplitude is higher without adopting the constant flux linkage control method, and the line voltage amplitude after adopting the current harmonic suppression method 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 magnetic linkage closed-loop energy-saving control method for the asynchronous motor without magnetic field orientation is characterized by comprising the following steps of:
s1, distributing given current to a self-established dq axis coordinate system, collecting the electric angular speed of three-phase current at the motor side, integrating the electric angular speed, calculating the electric angle of the motor, and carrying out coordinate transformation of the current according to the electric angular speed;
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 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 upper and lower limits;
s5, solving a current given value according to the pressure drop on the stator winding, selecting a low-pass filter to filter high-frequency harmonic components contained in the given current for optimization, wherein a mathematical model of the asynchronous motor is as follows:
wherein ,u s for the phase voltage of the motor,i s in order to output the current flow,
is a motor flux linkage>
For the electrical angular velocity of the motor,Ris the resistance of the stator and,tas a function of the time constant,dis 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 expressed as:
wherein ,i s in order to output the current flow,u s for the phase voltage of the motor,
is a motor flux linkage>
For the electrical angular velocity of the motor,Ris the stator resistance.
2. The method for closed-loop energy-saving control of the constant flux linkage of the asynchronous motor without magnetic field orientation according to claim 1, wherein in the step S1, the electric angle calculation and the coordinate transformation are as follows:
wherein, the symbol of the integral is ∈,
for the electrical angular velocity of the motor,das 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,θelectrical angle of the motor, () is a matrix symbol.
3. The method for closed-loop energy-saving control of the constant flux linkage of the asynchronous motor without magnetic field orientation according to claim 1, wherein in the step S2, two-phase current of a rotating coordinate system under the non-oriented magnetic field is used as feedback to prevent current oscillation, a PI controller is used to attribute current deviation to voltage factors, and a feedback control model is as follows:
wherein ,e(t) For a deviation of a given value from an actual value,
for the 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 for the integral coefficient, +.,das a sign of the differential,tis a time constant.
4. The method for closed-loop energy-saving control of the constant flux linkage of the asynchronous motor without magnetic field orientation according to claim 1, wherein in the step S3, the motor phase voltage value is calculated according to the vector relation of the 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 method for closed-loop energy-saving control of a permanent magnet flux linkage of an asynchronous motor without magnetic field orientation according to claim 1, wherein in S4, the flux linkage is given by a ramp function:
wherein ,
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) For the counter-potential of the stator windings,
for the electrical angular velocity of the motor, < >>
In order to achieve the magnetic linkage of the motor,tis a time constant.
6. The method for closed-loop energy-saving control of the constant flux linkage of the asynchronous motor without magnetic field orientation according to claim 1, wherein in S5, the transfer function of the low-pass filter 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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