CN116915107A - Variable frequency soft start control method for vector start automatic VF switching control - Google Patents
Variable frequency soft start control method for vector start automatic VF switching control Download PDFInfo
- Publication number
- CN116915107A CN116915107A CN202311161876.XA CN202311161876A CN116915107A CN 116915107 A CN116915107 A CN 116915107A CN 202311161876 A CN202311161876 A CN 202311161876A CN 116915107 A CN116915107 A CN 116915107A
- Authority
- CN
- China
- Prior art keywords
- control
- vector
- voltage
- under
- frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007704 transition Effects 0.000 claims abstract description 27
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000004907 flux Effects 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
Abstract
The invention provides a variable frequency soft start control method for vector start automatic VF switching control, which relates to the field of variable frequency speed regulation control 1 Coefficient of voltage switchingK 1 The method comprises the steps of carrying out a first treatment on the surface of the Meanwhile, judging whether the current running frequency meets the switching condition, and calculating a control vector angle theta under VF control after the current running frequency meets the switching condition 2 Voltage transition coefficientK 2 Transition voltageUBy adjusting the voltage transition coefficientK 2 And finishing the smooth switching of the vector control to the VF control. The invention realizes the smooth start of the frequency converter at low speed, is applied to the purpose of controlling the speed, and does not need to control the accuracyAn energy-saving frequency converter such as a blower, a pump and the like which are too high is needed.
Description
Technical Field
The invention relates to the field of variable frequency speed regulation control, in particular to a variable frequency soft start control method for vector start automatic cut VF control.
Background
The control speed is used as the aim, and the control accuracy does not need to be too high, and the energy-saving frequency converter of a fan and a pump is mostly controlled by VF. However, the method adopts an open loop control mode, and at low frequency, the torque is influenced by the voltage drop of the stator resistor, so that the maximum output torque is reduced, torque compensation is needed to change the low frequency torque characteristic, and at low frequency, the performance is reduced and the stability is poor due to the existence of the dead zone effect of the stator resistor and the inverter. The vector control principle is to simulate the control principle of a direct current motor, and according to a dynamic mathematical model of an asynchronous motor, a series of coordinate transformation is utilized to decompose a stator current vector into an excitation component and a torque component, the torque current component and the excitation component of the motor are respectively controlled, and after the rotor magnetic field is oriented, the decoupling of the magnetic field and the torque is realized, so that the aim of controlling the torque of the asynchronous motor is achieved, and the asynchronous motor is enabled to obtain control performance close to that of the excited direct current motor. The vector control can output 100% of torque at low speed, so that the problem that the V/F control cannot work due to insufficient torque at low speed can be solved, but the control algorithm is complex, and high calculation amount is required for acquiring the information of the real-time space vector of the motor.
Disclosure of Invention
The invention provides a variable frequency soft start control method for vector start automatic VF switching control, which aims to solve the defects that VF control performance is reduced and stability is poor when the variable frequency soft start control method is used in low frequency in application occasions such as fans and pump energy-saving frequency converters, control is complex when vector control is used in high frequency, and high calculation amount is required for acquiring real-time space vector information of a motor.
In order to achieve the above object, the present invention provides the following solutions:
a variable frequency soft start control method for vector start automatic VF switching control comprises the following steps:
step S1, vector control starts up a frequency converter, and a rotor flux linkage observed value under vector control is calculated、/>Control vector angle->；
Step S2, according to the current operating frequencyCalculating the output voltage under VF control>Voltage switching coefficient->；
Step S3, judging the current operating frequencyIf the frequency switching condition is met, the step S4 is carried out, otherwise, the step S1 is carried out;
step S4, calculating the control vector angle under the control of VFVoltage transition coefficient->Transition voltageU；
Step S5, judging whether the voltage switching condition is met or not, and if the voltage switching condition is not met, entering step S4; the voltage switching condition is satisfied, and the vector control is smoothly switched to VF control.
Further, in the step S1, the rotor flux linkage observed value under vector control、/>Control vector angle->The calculation formula of (2) is as follows:
，
，
，
wherein ,、/>for the rotor flux linkage observations under vector control, < + >>、/>For the component of the output voltage under vector control in the alpha beta coordinate axis,/and/or>For stator resistance>、/>For the vector controlled output current component in the alpha beta coordinate axis,is the leakage inductance of the motor>For controlling the vector angle under vector control,din the case of a differential operator,tfor time (I)>In order to integrate the sign of the symbol,arctan is an arctangent function.
Further, in the step S2, the output voltage under VF controlVoltage switching coefficient->The calculation formula of (2) is as follows:
，
，
wherein ,for the output voltage under VF control, +.>For the current operating frequency, +.>Rated voltage of motor, ">For the rated frequency of the motor, < >>Is a voltage switching coefficient, ">Is the output voltage amplitude under vector control.
Further, in the step S3, the frequency switching condition is: current operating frequencyfGreater than or equal to the frequency switch valueA，AIn order to set the frequency switching value, the value range of A is 0.1-50.
Further, in the step S4, the control vector angle under VF controlVoltage transition systemCount->The calculation formula of the transition voltage U is as follows:
，
，
，
wherein ,for the control vector angle under VF control, +.>For controlling vector angle under vector control, +.>In order to integrate the sign of the symbol,πis of circumference rate>For the operating frequency in the current state,din the case of a differential operator,tfor time (I)>The initial value of the transition coefficient is +.>，mFor the step size of the transition coefficient,Ufor the transition voltage>Is the output voltage under VF control.
Further, in the step S5, the voltage switching condition is:equal to 1, wherein->Is the voltage transition coefficient.
The invention has the beneficial effects that: the energy-saving frequency converter of the fan and the pump is controlled by vector start automatic cut VF, so that the frequency conversion soft start function is realized, the switching process is smooth, and the impact is small; vector control is adopted at low frequency, 100% of torque is output, and the problem that the V/F control torque is insufficient and cannot work at low speed is solved; the V/F control is adopted under high frequency, and the control circuit has simple structure and low cost.
Drawings
FIG. 1 is a flow chart of a variable frequency soft start control method for vector start automatic cut VF control provided by the invention;
fig. 2 is a switching waveform diagram of a variable frequency soft start control method for vector start automatic cut VF control according to the present invention.
Detailed Description
The following is only a preferred embodiment of the present invention. The present invention will be described in further detail with reference to the drawings and detailed description below to facilitate understanding of the present invention by those skilled in the art, and it should be noted that all the inventions which make use of the inventive concept are protected by the present invention insofar as the various changes are within the spirit and scope of the present invention as defined and defined by the appended claims without departing from the principle of the present invention.
Fig. 1 is a flowchart of a variable frequency soft start control method for vector start automatic cut VF control, as shown in fig. 1, and the variable frequency soft start control method for vector start automatic cut VF control includes:
step S1, vector control starts up a frequency converter, and a rotor flux linkage observed value under vector control is calculated、/>Control vector angle->；
Step S2, according to the current operating frequencyCalculating the output voltage under VF control>Voltage switching coefficient->；
Step S3, judging the current operating frequencyIf the frequency switching condition is met, the step S4 is carried out, otherwise, the step S1 is carried out;
step S4, calculating the control vector angle under the control of VFVoltage transition coefficient->Transition voltageU；
Step S5, judging whether the voltage switching condition is met or not, and if the voltage switching condition is not met, entering step S4; the voltage switching condition is satisfied, and the vector control is smoothly switched to VF control.
In the step S1, the rotor flux linkage observation value is vector controlled、/>Control vector angle->The calculation formula of (2) is as follows:
，
，
，
wherein ,、/>for the rotor flux linkage observations under vector control, < + >>、/>For the component of the output voltage under vector control in the alpha beta coordinate axis,/and/or>For stator resistance>、/>For the vector controlled output current component in the alpha beta coordinate axis,is the leakage inductance of the motor>For controlling the vector angle under vector control,din the case of a differential operator,tfor time (I)>In order to integrate the sign of the symbol,arctan is an arctangent function.
In the step S2, the output voltage under VF controlVoltage switching coefficient->The calculation formula of (2) is as follows:
，
，
wherein ,for the output voltage under VF control, +.>For the current operating frequency, +.>Rated voltage of motor, ">For the rated frequency of the motor, < >>Is a voltage switching coefficient, ">Is the output voltage amplitude under vector control.
In the step S3, the frequency switching condition is: current operating frequencyfGreater than or equal to the frequency switch valueA，AIn order to set the frequency switching value, the value range of A is 0.1-50.
In the step S4, the control vector angle under VF controlVoltage transition coefficient->The calculation formula of the transition voltage U is as follows:
，
，
，
wherein ,for the control vector angle under VF control, +.>For controlling vector angle under vector control, +.>In order to integrate the sign of the symbol,πis of circumference rate>For the operating frequency in the current state,din the case of a differential operator,tfor time (I)>The initial value of the transition coefficient is +.>，mFor the step size of the transition coefficient,Ufor the transition voltage>Is the output voltage under VF control.
In the step S5, the voltage switching condition is as follows:equal to 1, wherein->Is the voltage transition coefficient.
FIG. 2 is a switching waveform diagram of a variable frequency soft start control method for vector start automatic cut VF control according to the present invention, wherein waveform a represents a waveform diagram of a frequency converter output voltage, waveform b represents a waveform diagram of a frequency converter output current, and waveform c represents a control vector angle under vector control, as shown in FIG. 2Is represented by the current operating frequency +.>From the graph, the output voltage is continuous at the switching moment, the output current has no abnormal abrupt change, the motor rotation speed has no obvious impact in the switching process, and the switching process is smooth.
According to the variable frequency soft start control method for the vector start automatic VF switching control, disclosed by the invention, the vector control can be smoothly switched to the VF control after the switching condition is judged to be met by observing the data under the vector control to calculate the data under the VF control, so that the smooth start of the frequency converter under the low speed is realized, and the variable frequency soft start control method is applied to occasions of a fan and pump energy-saving frequency converter with the aim of controlling the speed and with no high control precision.
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. A variable frequency soft start control method for vector start automatic VF switching control is characterized by comprising the following steps:
step S1, vector control starts up a frequency converter, and a rotor flux linkage observed value under vector control is calculated、/>Control vector angle->；
Step S2, according to the current operating frequencyCalculating the output voltage under VF control>Voltage switching coefficient->；
Step S3, judging the current operating frequencyIf the frequency switching condition is met, the step S4 is carried out, otherwise, the step S1 is carried out;
step S4, calculating the control vector angle under the control of VFVoltage transition coefficient->Transition voltageU；
Step S5, judging whether the voltage switching condition is met or not, and if the voltage switching condition is not met, entering step S4; the voltage switching condition is satisfied, and the vector control is smoothly switched to VF control.
2. The method for variable frequency soft start control of vector start automatic cut VF control of claim 1, wherein in step S1, the rotor flux linkage observation under vector control、/>Control vector angle->The calculation formula of (2) is as follows:
，
，
，
wherein ,、/>for the rotor flux linkage observations under vector control, < + >>、/>For the component of the output voltage under vector control in the alpha beta coordinate axis,/and/or>For stator resistance>、/>For vector controlled output of the component of the current in the alpha beta coordinate axis +.>Is the leakage inductance of the motor>For controlling the vector angle under vector control,din the case of a differential operator,tfor time (I)>In order to integrate the sign of the symbol,arctan is an arctangent function.
3. The method for variable frequency soft start control of vector start automatic cut VF control of claim 1, wherein in step S2, the output voltage under VF controlVoltage switching coefficient->The calculation formula of (2) is as follows:
，
，
wherein ,for the output voltage under VF control, +.>For the current operating frequency, +.>Rated voltage of motor, ">For the rated frequency of the motor, < >>Is a voltage switching coefficient, ">Is the output voltage amplitude under vector control.
4. The method for controlling variable frequency soft start by vector start automatic cut VF control according to claim 1, wherein in step S3, the frequency switching conditions are: current operating frequencyfGreater than or equal to the frequency switch valueA，AIn order to set the frequency switching value, the value range of A is 0.1-50.
5. The variable frequency soft start control method for vector start automatic cut VF control according to claim 1, wherein in step S4, the vector angle is controlled under VF controlVoltage transition coefficient->The calculation formula of the transition voltage U is as follows:
，
，
，
wherein ,for the control vector angle under VF control, +.>For controlling vector angle under vector control, +.>In order to integrate the sign of the symbol,πis of circumference rate>For the operating frequency in the current state,din the case of a differential operator,tfor time (I)>The initial value of the transition coefficient is +.>，mFor the step size of the transition coefficient,Ufor the transition voltage>Is the output voltage under VF control.
6. The variable frequency soft start control method for vector start automatic cut VF control according to claim 1, wherein in step S5, the voltage switching conditions are:equal to 1, wherein->Is the voltage transition coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311161876.XA CN116915107B (en) | 2023-09-11 | 2023-09-11 | Variable frequency soft start control method for vector start automatic VF switching control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311161876.XA CN116915107B (en) | 2023-09-11 | 2023-09-11 | Variable frequency soft start control method for vector start automatic VF switching control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116915107A true CN116915107A (en) | 2023-10-20 |
| CN116915107B CN116915107B (en) | 2023-11-17 |
Family
ID=88355009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311161876.XA Active CN116915107B (en) | 2023-09-11 | 2023-09-11 | Variable frequency soft start control method for vector start automatic VF switching control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116915107B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1127998A (en) * | 1997-06-30 | 1999-01-29 | Meidensha Corp | Inverter device |
| JP2005039957A (en) * | 2003-07-17 | 2005-02-10 | Yaskawa Electric Corp | Control method and device for synchronous motor |
| JP2008148437A (en) * | 2006-12-08 | 2008-06-26 | Mitsubishi Heavy Ind Ltd | Controller for permanent magnet type synchronous motor |
| CN101425777A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Voltage orienting frequency conversion controller for open loop non-speed sensor |
| CN105703683A (en) * | 2016-03-09 | 2016-06-22 | 广东美的制冷设备有限公司 | Air conditioner, method and device for controlling starting of compressor of air conditioner |
| CN106602962A (en) * | 2017-02-07 | 2017-04-26 | 北京利德华福电气技术有限公司 | Power-variable frequency operation synchronization switching method based on high voltage frequency converter motor control system |
| CN106788066A (en) * | 2016-11-28 | 2017-05-31 | 大禹电气科技股份有限公司 | A kind of method that noninductive PMSM vector controlleds Angular Trackong switching starts compressor |
| CN109039213A (en) * | 2018-06-22 | 2018-12-18 | 卧龙电气集团辽宁荣信高科电气有限公司 | A kind of Fly a car start method based on nine phase motor power frequency shear frequencies |
| CN111030540A (en) * | 2019-12-24 | 2020-04-17 | 新风光电子科技股份有限公司 | Permanent magnet synchronous motor current source and non-inductive vector control seamless switching method |
| CN114221584A (en) * | 2021-12-31 | 2022-03-22 | 中国船舶重工集团公司第七一九研究所 | Permanent magnet synchronous motor controlled by non-speed sensor |
| CN114400951A (en) * | 2022-01-12 | 2022-04-26 | 中冶赛迪电气技术有限公司 | Synchronous switching method of frequency converter based on vector control mode |
| CN114640291A (en) * | 2022-05-19 | 2022-06-17 | 希望森兰科技股份有限公司 | Method for tracking and starting rotating speed of asynchronous motor during short-time shutdown |
| CN116581865A (en) * | 2023-07-13 | 2023-08-11 | 希望森兰科技股份有限公司 | Online undisturbed switching method and double-machine redundant high-voltage variable frequency system |
-
2023
- 2023-09-11 CN CN202311161876.XA patent/CN116915107B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1127998A (en) * | 1997-06-30 | 1999-01-29 | Meidensha Corp | Inverter device |
| JP2005039957A (en) * | 2003-07-17 | 2005-02-10 | Yaskawa Electric Corp | Control method and device for synchronous motor |
| JP2008148437A (en) * | 2006-12-08 | 2008-06-26 | Mitsubishi Heavy Ind Ltd | Controller for permanent magnet type synchronous motor |
| CN101425777A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Voltage orienting frequency conversion controller for open loop non-speed sensor |
| CN105703683A (en) * | 2016-03-09 | 2016-06-22 | 广东美的制冷设备有限公司 | Air conditioner, method and device for controlling starting of compressor of air conditioner |
| CN106788066A (en) * | 2016-11-28 | 2017-05-31 | 大禹电气科技股份有限公司 | A kind of method that noninductive PMSM vector controlleds Angular Trackong switching starts compressor |
| CN106602962A (en) * | 2017-02-07 | 2017-04-26 | 北京利德华福电气技术有限公司 | Power-variable frequency operation synchronization switching method based on high voltage frequency converter motor control system |
| CN109039213A (en) * | 2018-06-22 | 2018-12-18 | 卧龙电气集团辽宁荣信高科电气有限公司 | A kind of Fly a car start method based on nine phase motor power frequency shear frequencies |
| CN111030540A (en) * | 2019-12-24 | 2020-04-17 | 新风光电子科技股份有限公司 | Permanent magnet synchronous motor current source and non-inductive vector control seamless switching method |
| CN114221584A (en) * | 2021-12-31 | 2022-03-22 | 中国船舶重工集团公司第七一九研究所 | Permanent magnet synchronous motor controlled by non-speed sensor |
| CN114400951A (en) * | 2022-01-12 | 2022-04-26 | 中冶赛迪电气技术有限公司 | Synchronous switching method of frequency converter based on vector control mode |
| CN114640291A (en) * | 2022-05-19 | 2022-06-17 | 希望森兰科技股份有限公司 | Method for tracking and starting rotating speed of asynchronous motor during short-time shutdown |
| CN116581865A (en) * | 2023-07-13 | 2023-08-11 | 希望森兰科技股份有限公司 | Online undisturbed switching method and double-machine redundant high-voltage variable frequency system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116915107B (en) | 2023-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111884552B (en) | Permanent magnet synchronous motor flux weakening optimization control method and system based on voltage feedback | |
| WO2019227860A1 (en) | Identification method and identification device for permanent magnet flux linkage of permanent magnet synchronous motor | |
| CN104967382B (en) | A kind of permagnetic synchronous motor method for controlling position-less sensor | |
| CN110311611A (en) | A kind of permanent magnet synchronous motor field weakening control method and system | |
| CN112039024B (en) | Motor demagnetization detection method, motor control system and frequency converter equipment | |
| CN106982022A (en) | A kind of starting method of no electrolytic capacitor inverter permagnetic synchronous motor | |
| CN114389497B (en) | Directional error compensation method for voltage and current hybrid flux linkage observer of asynchronous motor | |
| CN110635740A (en) | Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy | |
| CN112003524A (en) | Method for reducing speed-sensorless sliding mode control buffeting of permanent magnet synchronous motor | |
| CN107994818A (en) | Control single-phase brushless direct-current motor method is adjusted with internal power factor angle real-time closed-loop | |
| CN116915107B (en) | Variable frequency soft start control method for vector start automatic VF switching control | |
| CN109687804B (en) | Direct thrust control method for single current sensor of linear motor | |
| CN114123884A (en) | Control method and control system of range hood | |
| CN113364371A (en) | Method for suppressing torque ripple of brushless direct current motor | |
| CN108768234A (en) | It is a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method | |
| CN116979857A (en) | PWM-DITC control method for switched reluctance motor based on novel multi-level power converter | |
| CN111740670B (en) | Overvoltage prevention control method for driving system of electrolytic capacitor-free permanent magnet synchronous motor | |
| CN109995294B (en) | Current loop control method for full rotating speed range of permanent magnet synchronous motor | |
| CN112524853B (en) | Control method of compressor in variable frequency air conditioner and variable frequency air conditioner | |
| CN111030543B (en) | Zero-speed closed-loop starting method of direct-current variable-frequency air conditioner compressor | |
| CN113037169B (en) | System and method for starting non-inductive FOC control low-frequency band load of permanent magnet synchronous motor | |
| CN115360953B (en) | Induction motor oscillation suppression method based on rotor flux orientation | |
| TW200820579A (en) | Automatic field-weakening controlled permanent-magnet synchronous machine drive and control method thereof | |
| CN115333417B (en) | Method, system and medium for controlling weakening of composite weakening permanent magnet synchronous motor | |
| CN114221593B (en) | Permanent magnet synchronous motor speed sensorless control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |