CN116526912A - Super-rotating algorithm-based asynchronous motor rotor flux linkage observation method - Google Patents
Super-rotating algorithm-based asynchronous motor rotor flux linkage observation method Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- 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
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
-
- 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 relates to the technical field of motor control, in particular to a Super-rotating algorithm-based asynchronous motor rotor flux linkage observation method, which comprises a speed loop controller and a current loop controller design module; the pulse width modulation module is used for realizing inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit; the rotor flux linkage identification module is used for realizing rotor flux linkage closed-loop observation by utilizing a second-order synovial membrane observer. The scheme can solve the pure integral problem of the pure existence of the traditional voltage type flux linkage observer, and the special second-order synovial membrane observer is used, so that the advantages of the traditional synovial membrane are maintained, and only the information of a sliding mode surface s is needed. Meanwhile, shake of the system is restrained, the limit of relative orders is removed, the control precision of the system is improved, a speed sensor is not needed, and therefore cost is reduced.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a Super-rotating algorithm-based asynchronous motor rotor flux linkage observation method.
Background
Asynchronous motors have become the most widely used motors in various industries and people's daily lives because of the advantages of simple structure, reliable operation, convenient maintenance and the like. With the development of the power electronic technology and the innovation of the motor control theory, the application occasions of the asynchronous motor are also developed from the original non-speed-adjustable dragging system to the dragging system with adjustable speed. The asynchronous motor speed regulation control technology is controlled by an early constant voltage frequency ratio, and the trend of mainly vector control and secondarily direct torque control is formed.
The conventional method uses a sensor to obtain the position of the rotor, the high-precision sensor is expensive, and the low-quality sensor can seriously affect the control performance. In addition, the sensor needs to be maintained regularly, and even a diagnosis algorithm is needed for the sensor of some application occasions, so that the control is complex. Therefore, in the sensorless technology of the induction motor, the rotor flux linkage is usually used as an intermediate variable to realize the estimation of the rotating speed of the rotor, and a rotor magnetic field orientation method is often adopted in vector control, so that the identification of the rotor flux linkage is particularly important for the rotor magnetic field orientation control. The synovial membrane observer is widely applied to the field of motor control because of the simple structure and strong robustness to motor parameter change and external disturbance. Most of the existing synovial membrane observers are first-order observers, so that the problem of shake of the system exists, and the control precision is low.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an asynchronous motor rotor flux linkage observation method based on a Super-rotating algorithm. The method is used for solving the technical problems of shake, removal of relative-order restriction and low system control precision of the traditional system.
The above purpose is realized by the following technical scheme:
the asynchronous motor rotor flux linkage observation method based on the Super-rotating algorithm comprises the following steps:
the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a pi controller, and the current ring adopts decoupling control;
the pulse width modulation module is used for realizing inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit;
the rotor rotating speed estimation module adopts a model reference self-adaption method to take a voltage model as a reference model, takes a current model as an adjustable model, and forms a self-adaption law by utilizing errors of output quantities of the reference model and the adjustable model so as to realize a rotating speed tracking reference model;
and the rotor flux linkage identification module adopts a Super-rotating sliding film algorithm, a sliding die surface is constructed through known stator voltage and current information, and a design control rate is input into an observer model to obtain a rotor flux linkage observation value.
Further, the Super-rotating algorithm-based asynchronous motor rotor flux linkage observation method is characterized by adopting a second-order synovial membrane observer design and comprising the following steps of:
step (1) obtaining a fourth-order nonlinear differential equation of the squirrel-cage asynchronous motor under a two-phase static coordinate system according to a motor model;
step (2), designing a synovial membrane observer by taking the current error as a sliding mode surface according to the fourth-order differential equation in the step (1);
and (3) bringing the designed synovial membrane control rate into an observer model to obtain a rotor flux open-loop estimation expression based on the spiral synovial membrane observer.
Further, the step (1) specifically comprises the following steps:
and obtaining a fourth-order nonlinear differential equation rotor rotating speed first-order differential equation of the squirrel-cage asynchronous motor under a two-phase static coordinate system according to a motor model, wherein the first-order differential equation comprises the following formula:
wherein the method comprises the steps of，R s Represents the stator resistance, R r Is rotor resistance; l (L) m Is mutual inductance; sigma=1-L m 2 /L s L r Is the leakage magnetic coefficient; psi phi type ra 、ψ rβ Is the alpha, beta axis component of the rotor flux linkage; i.e sα ,i sβ Is the alpha, beta axis component of the stator current.
Further, the step (2) specifically comprises:
taking the current error as a sliding mode surface, designing the following sliding film observer:
further, the step (3) brings the control rate of the output of the synovial observer into the observer model to obtain an open-loop estimation expression of the rotor flux linkage based on the spiral synovial observer:
in the method, in the process of the invention,estimated values of stator current and rotor flux linkage in alpha and beta components, i sα ,i sβ ,U sα ,U sβ Is a known quantity for the system. Spiral synovial observer is designed to be i sα ,i sβ For input quantity, < >>As feedback quantity, z 11 ,z 12 ,z 21 ,z 22 Is a control signal output by the observer.
Further, subtracting the observation model from the original model of the motor can obtain an error model:
further, taking the component of the magnetic linkage of the stator current and the rotor in the alpha axis as an example, the sliding mode surface is formed Selecting Lyapunov function:
wherein,,the first derivative of V (x) with respect to time is: />Wherein:
if->Omega. Then 1 ＞0,Ω 2 ＞0,h i > 0, then there is: 4h 2 h 4 ＞(8h 2 +9h 1 2 )h 3 2 . According to Lyapunov theorem, only systems meeting the above conditions need to be consistently progressive stable.
Further, the pulse width modulation module realizes inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit, specifically: the stator voltage reference value output by the voltage loop is input to a pulse width modulation module, and the on-off of six switching devices in a three-phase full-bridge circuit is controlled to realize inversion by a space vector pulse width modulation method, and the method comprises the following steps:
judging the sector according to the components of the stator voltage on d and q axes;
calculating the action time of the main vector and the auxiliary vector of each sector;
each sector vector switching time is calculated.
Further, the rotor rotation speed estimation module adopts a model reference self-adaptive method to take a voltage model as a reference model, and the formula is as follows:
further, the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a pi controller, and the current ring adopts conventional decoupling control;
advantageous effects
The invention provides an asynchronous motor rotor flux linkage observation method based on a Super-rotating algorithm. Has the following advantages:
1. as a special second order synovial membrane observer, the advantages of the traditional synovial membrane are maintained, and only the information of the sliding surface s is needed. Meanwhile, shake of the system is restrained, the limit of relative orders is removed, and the control precision of the system is improved.
2. Essentially belongs to a nonlinear observer, and for an asynchronous motor model, the characteristics of multivariable, strong coupling and nonlinearity are superior to those of a linear observer. Observer design does not rely entirely on motor models.
3. Aiming at the problems of low recognition efficiency, the system cost and complexity are increased by using a speed sensor, the reliability of the system is reduced, and the rotor rotating speed is estimated by using a model reference self-adaptive technology, so that the speed sensor is not needed, and the cost is reduced.
Drawings
FIG. 1 is a schematic diagram of a system structure of an asynchronous motor rotor flux linkage observation method based on a Super-rotating algorithm;
FIG. 2 is a block diagram of open-loop estimation of rotor flux in an asynchronous motor rotor flux observation method based on Super-rotating algorithm;
FIG. 3 is a block diagram of closed-loop estimation of rotor flux in the method for observing rotor flux of asynchronous motor based on Super-rotating algorithm
FIG. 4 is a response curve of an estimated value and an actual value of a stator current alpha axis in the asynchronous motor rotor flux linkage observation method based on the Super-rotating algorithm;
FIG. 5 is a response curve of an estimated value and an actual value of a stator current beta axis in an asynchronous motor rotor flux linkage observation method based on a Super-rotating algorithm;
FIG. 6 is a response curve of an estimated value and an actual value of a rotor flux alpha axis in the Super-rotating algorithm-based asynchronous motor rotor flux observation method;
FIG. 7 is a response curve of an estimated value and an actual value of a rotor flux beta axis in the Super-rotating algorithm-based asynchronous motor rotor flux observation method;
FIG. 8 is an error response curve of an estimated value and an actual value of a rotor flux alpha axis in the Super-rotating algorithm-based asynchronous motor rotor flux observation method;
FIG. 9 is an error response curve of an estimated value and an actual value of a rotor flux beta axis in an asynchronous motor rotor flux observation method based on a Super-rotating algorithm;
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. The described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in FIG. 1, the method for observing the rotor flux linkage of the asynchronous motor based on the Super-rotating algorithm mainly comprises a controller design module, a pulse width modulation module, a rotor rotating speed estimation module and a rotor flux linkage identification module, wherein:
the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a pi controller, and the current ring adopts decoupling control;
the pulse width modulation module realizes inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit;
the rotor rotating speed estimation module adopts a model reference self-adaptive method to take a voltage model as a reference model, takes a current model as an adjustable model, and utilizes errors of output quantities of the reference model and the adjustable model to form a self-adaptive law so as to realize a rotating speed tracking reference model;
the rotor flux linkage identification module adopts a Super-rotating sliding film algorithm, a sliding film surface is constructed through known stator voltage and current information, and a design control rate is input into an observer model to obtain a rotor flux linkage observation value.
Wherein, asynchronous motor parameters are as shown in table 1:
table 1 asynchronous machine parameters
The method for observing the flux linkage of the asynchronous motor rotor based on the Super-rotating algorithm in the embodiment adopts a second-order synovial membrane observer design and comprises the following steps:
step (1) obtaining a fourth-order nonlinear differential equation of the squirrel-cage asynchronous motor under a two-phase static coordinate system according to a motor model;
step (2), designing a synovial membrane observer by taking the current error as a sliding mode surface according to the fourth-order differential equation in the step (1);
and (3) bringing the designed synovial membrane control rate into an observer model to obtain a rotor flux open-loop estimation expression based on the spiral synovial membrane observer.
The step (1) specifically comprises the following steps:
suppose 1: spatial harmonics are ignored. The three-phase windings are symmetrically arranged, the mutual difference in space is 120 degrees, and the generated magnetomotive force is distributed along the circumference of the air gap according to a sine rule;
suppose 2: neglecting magnetic circuit saturation, considering the self inductance and mutual inductance of each winding to be constant;
suppose 3: neglecting core loss;
and obtaining a fourth-order nonlinear differential equation rotor rotating speed first-order differential equation of the squirrel-cage asynchronous motor under a two-phase static coordinate system according to a motor model, wherein the first-order differential equation comprises the following formula:
wherein R is s Represents the stator resistance, R r Is rotor resistance; l (L) m Is mutual inductance; sigma=1-L m 2 /L s L r Is the leakage magnetic coefficient; psi phi type ra 、ψ rβ Is the alpha, beta axis component of the rotor flux linkage; i.e sα ,i sβ Is the alpha, beta axis component of the stator current.
The step (2) specifically comprises the following steps:
taking the current error as a sliding mode surface, designing the following sliding film observer:
the step (3) brings the control rate output by the synovial membrane observer into an observer model to obtain a rotor flux linkage open-loop estimation expression based on the spiral synovial membrane observer:
in the method, in the process of the invention,estimated values of stator current and rotor flux linkage in alpha and beta components, i sα ,i sβ ,U sα ,U sβ Is a known quantity for the system. Spiral synovial observer is designed to be i sα ,i sβ For input quantity, < >>As feedback quantity, z 11 ,z 12 ,z 21 ,z 22 Is a control signal output by the observer.
Further, subtracting the observation model from the original model of the motor can obtain an error model:
further, taking the component of the magnetic linkage of the stator current and the rotor in the alpha axis as an example, the sliding mode surface is formed Selecting Lyapunov function:
wherein,,the first derivative of V (x) with respect to time is: />Wherein:
if->Omega. Then 1 ＞0,Ω 2 ＞0,h i > 0, then there is: 4h 2 h 4 ＞(8h 2 +9h 1 2 )h 3 2 . According to Lyapunov theorem, only systems meeting the above conditions need to be consistently progressive stable.
The flux linkage observation model has stronger robustness, but is of an open-loop structure in nature, and the solution of the rotor flux linkage comprises a pure integration link, and integration drift and initial value errors exist. And the sliding film control rate contains an estimated amount of rotor flux linkage, so that the uncertainty range of a model is increased, the observation load of an observer is increased, and a large control gain is often required to ensure rapid convergence and meet the control precision.
For the shortcomings of rotor flux linkage open-loop estimation based on a spiral synovial membrane observer, a model-compensated spiral synovial membrane observer is provided. The rotor flux linkage value observed by the spiral sliding film observer is taken as a feedback quantity to be brought into a first-order differential equation of the stator current estimated value, so that the range of the observed quantity is reduced, the observation precision and the convergence speed are improved, and the original open-loop structure is changed into a flux linkage closed-loop. The structure of the observer under the flux linkage closed loop then becomes:
thus, a rotor flux linkage closed-loop estimation expression based on the spiral sliding film observer can be obtained:
in this embodiment, the pulse width modulation module controls on-off of six switching devices in the three-phase full-bridge circuit to implement inversion, which specifically includes: the stator voltage reference value output by the voltage loop is input to a pulse width modulation module, and the on-off of six switching devices in a three-phase full-bridge circuit is controlled to realize inversion by a space vector pulse width modulation method, and the method comprises the following steps:
judging the sector according to the components of the stator voltage on d and q axes;
calculating the action time of the main vector and the auxiliary vector of each sector;
each sector vector switching time is calculated.
In this embodiment, the rotor rotation speed estimation module uses a model reference adaptive method to take a voltage model as a reference model, and the formula is as follows:
the current model is used as an adjustable model, the two models have the same output quantity rotor flux linkage, and the parameters of the adjustable model are adjusted in real time by utilizing the output errors of the two models to form a proper self-adaptive law so as to achieve the purpose of controlling the output tracking reference model of the object.
In order to verify the effectiveness of the controller, a simulation model of vector control of an asynchronous motor is built in MATLAB (MATLAB is commercial mathematical software available from MathWorks company, usa, used in the fields of data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robotics, control systems, etc.).
It was found experimentally that under the same data conditions:
fig. 8-9 show that the proposed rotor flux algorithm observes rotor flux to true value errors within 0.15 wb.
Therefore, the invention can improve the control precision of the asynchronous motor under vector control and realize the accurate orientation of the rotor magnetic field.
The above description is for the purpose of illustrating the embodiments of the present invention and is not to be construed as limiting the invention, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principle of the invention.
Claims (10)
1. The method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm is characterized by comprising the following steps of:
the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a pi controller, and the current ring adopts decoupling control;
the pulse width modulation module is used for realizing inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit;
the rotor rotating speed estimation module adopts a model reference self-adaption method to take a voltage model as a reference model, takes a current model as an adjustable model, and forms a self-adaption law by utilizing errors of output quantities of the reference model and the adjustable model so as to realize a rotating speed tracking reference model;
and the rotor flux linkage identification module adopts a Super-rotating sliding film algorithm, a sliding die surface is constructed through known stator voltage and current information, and a design control rate is input into an observer model to obtain a rotor flux linkage observation value.
2. The method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm as claimed in claim 1, wherein the method for observing the flux linkage of the rotor of the asynchronous motor adopts a second-order synovial membrane observer design and comprises the following steps:
step (1) obtaining a fourth-order nonlinear differential equation of the squirrel-cage asynchronous motor under a two-phase static coordinate system according to a motor model;
step (2), designing a synovial membrane observer by taking the current error as a sliding mode surface according to the fourth-order differential equation in the step (1);
and (3) bringing the designed synovial membrane control rate into an observer model to obtain a rotor flux open-loop estimation expression based on the spiral synovial membrane observer.
3. The method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm according to claim 2, wherein the step (1) is specifically as follows:
and obtaining a fourth-order nonlinear differential equation rotor rotating speed first-order differential equation of the squirrel-cage asynchronous motor under a two-phase static coordinate system according to a motor model, wherein the first-order differential equation comprises the following formula:
wherein R is s Represents the stator resistance, R r Is rotor resistance; l (L) m Is mutual inductance; sigma=1-L m 2 /L s L r Is a magnetic leakage systemA number; psi phi type ra 、ψ rβ Is the alpha, beta axis component of the rotor flux linkage; i.e sα ,i sβ Is the alpha, beta axis component of the stator current.
4. The method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm according to claim 3, wherein the step (2) is specifically as follows:
taking the current error as a sliding mode surface, designing the following sliding film observer:
5. the Super-rotating algorithm-based asynchronous motor rotor flux linkage observation method according to claim 4, wherein the control rate output by the synovial observer is brought into an observer model to obtain a rotor flux linkage open-loop estimation expression based on the spiral synovial observer:
in the method, in the process of the invention,estimated values of stator current and rotor flux linkage in alpha and beta components, i sα ,i sβ ,U sα ,U sβ Is a known quantity for the system. Spiral synovial observer is designed to be i sα ,i sβ For input quantity, < >>As feedback quantity, z 11 ,z 12 ,z 21 ,z 22 Is a control signal output by the observer.
6. The method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm according to any one of claims 4 and 5, wherein an error model can be obtained by subtracting an observation model from an original model of the motor:
7. the method for observing rotor flux linkage of asynchronous motor based on Super-rotating algorithm as defined in claim 6, wherein the slip form surface is formed by taking the component of stator current and rotor flux linkage in alpha axis as an example Selecting Lyapunov function:
wherein,,
the first derivative of V (x) with respect to time is:wherein:
if->Omega. Then 1 ＞0,Ω 2 ＞0,h i > 0, then there is: 4h 2 h 4 ＞(8h 2 +9h 1 2 )h 3 2 . According to Lyapunov theorem, only systems meeting the above conditions need to be consistently progressive stable.
8. The method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm according to claim 1, wherein the pulse width modulation module realizes inversion by controlling the on-off of six switching devices in a three-phase full-bridge circuit, specifically comprises the following steps: the stator voltage reference value output by the voltage loop is input to a pulse width modulation module, and the on-off of six switching devices in a three-phase full-bridge circuit is controlled to realize inversion by a space vector pulse width modulation method, and the method comprises the following steps:
judging the sector according to the components of the stator voltage on d and q axes;
calculating the action time of the main vector and the auxiliary vector of each sector;
each sector vector switching time is calculated.
9. The method for observing the flux linkage of the asynchronous motor rotor based on the Super-rotating algorithm according to claim 1, wherein the rotor rotating speed estimation module adopts a model reference adaptive method to take a voltage model as a reference model, and the formula is as follows:
10. the method for observing the flux linkage of the rotor of the asynchronous motor based on the Super-rotating algorithm according to claim 1, wherein the controller design module comprises a rotating speed ring design and a current ring design, the rotating speed ring adopts a pi controller, and the current ring adopts conventional decoupling control.
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