CN117175993A - Asynchronous motor control method and device, asynchronous motor controller and storage medium - Google Patents
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Abstract
The application is suitable for the technical field of asynchronous motor control, and provides an asynchronous motor control method, an asynchronous motor control device, an asynchronous motor controller and a storage medium, wherein the first flux linkage of a kth period is obtained according to stator phase voltage and stator phase current of the kth period and the first flux linkage and the second flux linkage of the kth-1 period; obtaining a second flux linkage of the kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage and the second flux linkage; obtaining a third flux linkage of the kth period according to the first flux linkage and the second flux linkage of the kth period; according to the third flux linkage of the kth period, obtaining the flux linkage angle and the stator frequency of the kth period; obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage; according to the stator frequency and the slip frequency of the kth period, the rotating speed of the kth period is obtained; and according to the flux linkage angle and the rotating speed of the kth period, the feedback control is carried out on the asynchronous motor in the kth+1 period, and the control precision and the reliability are high.
Description
Technical Field
The application belongs to the technical field of asynchronous motor control, and particularly relates to an asynchronous motor control method and device, an asynchronous motor controller and a storage medium.
Background
With the development of power electronics technology and alternating current motor transmission technology, a variable speed transmission system consisting of a frequency converter and an alternating current motor is widely applied to the fields of rail transit, electric automobiles, machining, household appliances and the like. Asynchronous motors (also known as induction motors) in ac motors are widely used transmission devices in variable speed transmission systems due to their low cost, high reliability, ease of maintenance, and the like.
In an asynchronous motor transmission system, a rotating speed closed-loop control generally needs to install a rotating speed sensor (e.g. an encoder) for detecting the rotating speed of a motor on a motor shaft, the introduction of the rotating speed sensor increases the cost, reduces the reliability of the system, and in some special occasions (e.g. workshops with high temperature, high humidity and multiple dust, mines), the rotating speed sensor cannot be installed for use. How to accurately estimate the flux linkage and the rotating speed of an asynchronous motor control system without a rotating speed sensor becomes a problem to be solved urgently.
Disclosure of Invention
The embodiment of the application provides an asynchronous motor control method, an asynchronous motor control device, an asynchronous motor controller and a storage medium, which are used for solving the problem that an existing asynchronous motor control system without a rotating speed sensor is difficult to accurately estimate a flux linkage and a rotating speed.
A first aspect of an embodiment of the present application provides a method for controlling an asynchronous motor, including:
obtaining a first flux linkage of a kth period according to the stator phase voltage of the kth period, the stator phase current of the kth period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
obtaining a second flux linkage of a kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
obtaining a third flux linkage of the kth period according to the first flux linkage of the kth period and the second flux linkage of the kth period;
according to the third flux linkage of the kth period, obtaining a flux linkage angle of the kth period and a stator frequency of the kth period;
obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage of the kth period;
obtaining the rotating speed of the kth period according to the stator frequency of the kth period and the slip frequency of the kth period;
according to the flux linkage angle of the kth period and the rotating speed of the kth period, carrying out feedback control on the asynchronous motor in the (k+1) th period;
wherein k is any positive integer.
A second aspect of an embodiment of the present application provides an asynchronous motor control apparatus, including:
A first flux linkage estimation unit for obtaining a first flux linkage of a kth period according to the stator phase voltage of the kth period and the stator phase current of the kth period, and the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
a second flux linkage estimation unit for obtaining a second flux linkage of the kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
a third flux linkage estimation unit, configured to obtain a third flux linkage of a kth period according to the first flux linkage of the kth period and the second flux linkage of the kth period;
the flux linkage angle and stator frequency estimation unit is used for obtaining the flux linkage angle of the kth period and the stator frequency of the kth period according to the third flux linkage of the kth period;
the slip frequency estimation unit is used for obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage of the kth period;
a rotation speed estimation unit, configured to obtain a rotation speed of the kth period according to the stator frequency of the kth period and the slip frequency of the kth period;
the feedback control unit is used for carrying out feedback control on the asynchronous motor in the (k+1) th period according to the flux linkage angle of the kth period and the rotating speed of the kth period;
Wherein k is any positive integer.
A third aspect of the embodiments of the present application provides an asynchronous motor controller, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the asynchronous motor control method according to the first aspect of the embodiments of the present application when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the asynchronous motor control method according to the first aspect of the embodiments of the present application.
According to the asynchronous motor control method provided by the first aspect of the embodiment of the application, the first flux linkage of the kth period is obtained according to the stator phase voltage and the stator phase current of the kth period and the first flux linkage and the second flux linkage of the kth-1 period; obtaining a second flux linkage of the kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage and the second flux linkage; obtaining a third flux linkage of the kth period according to the first flux linkage and the second flux linkage of the kth period; according to the third flux linkage of the kth period, obtaining the flux linkage angle and the stator frequency of the kth period; obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage; according to the stator frequency and the slip frequency of the kth period, the rotating speed of the kth period is obtained; according to the flux linkage angle and the rotating speed of the kth period, feedback control is carried out on the asynchronous motor in the kth+1 period, the flux linkage angle and the rotating speed of the asynchronous motor can be accurately estimated, feedback control is carried out on the asynchronous motor based on the estimated values of the flux linkage angle and the rotating speed, and the control precision and the reliability are high, so that the method is applicable to an asynchronous motor control system with a rotating speed sensor and a speed-free sensor.
It will be appreciated that the advantages of the second to fourth aspects may be found in the relevant description of the first aspect and are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an asynchronous motor control method provided by an embodiment of the application;
fig. 2 is a schematic logic structure diagram of an asynchronous motor control device according to an embodiment of the present application;
fig. 3 is a schematic logic structure diagram of a first asynchronous motor control system according to an embodiment of the present application;
fig. 4 is a schematic logic structure diagram of a second asynchronous motor control system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an asynchronous motor controller according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The embodiment of the application provides an asynchronous motor control method which can be executed by a processor of an asynchronous motor controller when a corresponding computer program is run, can accurately estimate the flux linkage angle and the rotating speed of an asynchronous motor, and performs feedback control on the asynchronous motor based on the estimated values of the flux linkage angle and the rotating speed, has high control precision and reliability, and is suitable for an asynchronous motor control system with a rotating speed sensor and a speed-free sensor.
In application, the motor controller can be applied to the fields of rail transit, electric automobiles, machining, household appliances and the like, wherein the household appliances can be air conditioners, fans, washing machines, refrigerators and the like, and the motor controller can be a frequency converter.
In application, the principle of the motor controller controlling the rotation of the asynchronous motor is as follows:
the motor controller comprises a current sensor, an inverter and a processor;
the current sensor is electrically connected with the negative electrode of the direct current bus and is used for detecting bus current on the direct current bus, and the current sensor can be realized through a sampling resistor connected in series with the negative electrode of the direct current bus;
the first input end of the inverter is electrically connected with the positive electrode of the direct current bus, the second input end of the inverter is electrically connected with the negative electrode of the direct current bus, and the inverter can comprise a two-phase bridge arm or a three-phase bridge arm;
when the inverter comprises two-phase bridge arms, four controlled ends of the inverter are electrically connected with the processor, and two output ends of the inverter are respectively and electrically connected with two phase current and phase voltage input ends of the two-phase asynchronous motor;
when the inverter comprises a three-phase bridge arm, six controlled ends of the inverter are electrically connected with the processor, and three output ends of the inverter are respectively electrically connected with three phase current and phase voltage input ends of the three-phase asynchronous motor;
Each phase bridge arm of the inverter comprises two switching tubes (an upper switching tube and a lower switching tube), wherein the input ends of all the upper switching tubes are connected together to form a first input end of the inverter, the output ends of all the lower switching tubes are connected together to form a second input end of the inverter, the controlled end of each switching tube forms a controlled end of the inverter, and the output ends of the upper switching tubes and the input ends of the lower switching tubes of each phase bridge arm are connected together to form an output end of the inverter;
the processor is used for:
obtaining a stator phase voltage required to be applied to a stator according to a target rotating speed required to be achieved by the asynchronous motor so as to generate corresponding stator phase current in the stator;
a space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) method is adopted, a target voltage vector is determined according to the rotor angle and the target stator phase voltage, a comparison value is obtained through a comparison value calculation method based on the SVPWM method according to the target voltage vector amplitude and the phase angle, then a triangular carrier wave is adopted to compare with the comparison value obtained through calculation, a pulse width modulation (Pulse Width Modulation, PWM) signal for driving an inverter is generated, the on-off state of a switching tube of the inverter is controlled according to the PWM signal, so that the actual voltage of a bus voltage acting on a stator is equivalent to the target stator phase voltage, correspondingly, the actual current of a bus current acting on the stator is equivalent to the target stator phase current, and further the stator generates a corresponding magnetic field to drive the rotor to rotate at a target rotating speed;
In order to improve the control precision of the asynchronous motor, the bus current on the direct current bus is acquired through a current sensor, and the bus current on the direct current bus is obtained, so that the actual stator phase current applied to the stator can be estimated according to the bus current, the target stator phase current can be adjusted according to the deviation between the actual stator phase current and the target stator phase current by comparing the actual stator phase current and the target stator phase current, the adjusted target stator phase voltage can be obtained based on the adjusted target stator phase current, the adjusted target voltage vector can be determined by combining a space vector pulse width modulation method, an adjusted pulse width modulation signal is generated according to the adjusted target voltage vector, the on-off state of a switching tube of the inverter is controlled according to the adjusted pulse width modulation signal, and finally the feedback control of the asynchronous motor is realized.
In application, the switch tube has the function of being turned on or off under the triggering of PWM signals, is used for playing the role of an electronic switch, and can be specifically an insulated gate bipolar transistor (Insulated Gate Bipolar Transistor, IGBT), a triode (Bipolar Junction Transistor, BJT), a field effect transistor (Field Effect Transistor, FET), a Thyristor (Thyristor) and the like, wherein the insulated gate bipolar transistor is a composite fully-controlled voltage-driven power semiconductor device consisting of a bipolar triode and an insulated gate field effect transistor, and has the advantages of high input impedance of the insulated gate field effect transistor and low conduction voltage drop of the bipolar triode, and the field effect transistor can be specifically a Metal-oxide semiconductor field effect transistor (Metal-Oxide Semiconductor FET, MOS-FET for short).
As shown in fig. 1, the method for controlling an asynchronous motor provided by the embodiment of the application includes the following steps S101 to S107:
step S101, obtaining a first flux linkage of a kth period according to the stator phase voltage of the kth period and the stator phase current of the kth period, a first flux linkage of the kth-1 period and a second flux linkage of the kth-1 period, and entering step S103;
step S102, obtaining a second flux linkage of the kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period, and entering step S103.
In the application, k is any positive integer, and the kth period can be any asynchronous motor control period, for example, the kth period can be the current asynchronous motor control period, and the kth-1 period is the last asynchronous motor control period before the current asynchronous motor control period. When k is 1, the k period is the 1 st asynchronous motor control period, the k-1 th period is the 0 th asynchronous motor control period, and the 0 th asynchronous motor control period is the time when the periodic control of the asynchronous motor is not started, so that the rotating speed, the first magnetic linkage and the second magnetic linkage of the 0 th asynchronous motor control period can be 0 or preset values set according to actual needs in advance. For an asynchronous motor provided with a rotation speed sensor, the rotation speed of the 0 th asynchronous motor control period can also be detected by the rotation speed sensor.
In application, the stator phase current can be detected by a motor phase current reconstruction method based on a current sensor and a single bus current detection technology, and the stator phase voltage can be obtained by conversion calculation according to the stator phase current.
In application, the first flux linkage of the k-1 period is obtained according to the stator phase voltage of the k-1 period and the stator phase current of the k-1 period, and the first flux linkage of the k-2 period and the second flux linkage of the k-2 period, which are the same as the obtaining principle of the first flux linkage of the k-1 period; similarly, the second flux linkage of the k-1 th period is obtained based on the stator phase current of the k-1 th period, the rotation speed of the k-2 th period, the first flux linkage of the k-2 th period, and the second flux linkage of the k-2 th period, as well as the principle of the second flux linkage of the k-1 th period.
In one embodiment, step S101 includes:
the first flux linkage of the kth period is obtained according to the stator phase voltage of the kth period, the stator phase current of the kth period, the rotor inductance of the kth period, the mutual inductance of the kth period, the total leakage inductance of the kth period and the stator resistance of the kth period, and the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period.
In application, the first flux linkage of the kth cycle is specifically obtained from the stator phase voltage, the stator phase current, the rotor inductance, the mutual inductance, the total leakage inductance and the stator resistance of the cycle, and the first flux linkage of the kth-1 cycle and the second flux linkage of the kth-1 cycle.
In one embodiment, the calculation formula of the first flux linkage of the kth period is:
wherein p represents the derivative operator,alpha of the first flux linkage respectively representing the kth period in two-phase stationary coordinate systemAn axis component, a beta axis component, L r,k 、L m,k 、L σ,k 、R s,k Rotor inductance, mutual inductance, total leakage inductance, stator resistance, v, respectively representing the kth period sα,k 、v sβ,k Respectively representing alpha-axis component, beta-axis component and i of stator phase voltage of kth period under two-phase static coordinate system sα,k 、i sβ,k Respectively representing an alpha-axis component and a beta-axis component of stator phase current of a kth period under a two-phase static coordinate system,respectively representing an alpha-axis component and a beta-axis component of the first flux linkage of the k-1 period under a two-phase static coordinate system,respectively representing alpha-axis component and beta-axis component of the second magnetic linkage of the K-1 period under a two-phase static coordinate system, K 1 Representing a first feedback matrix, k 1α 、k 1β Representing the feedback coefficients of the first feedback matrix.
In one embodiment, step S102 includes:
the second flux linkage of the kth period is obtained according to the stator phase current of the kth period, the mutual inductance of the kth period and the rotor time constant of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period.
In application, the second flux linkage of the kth cycle is obtained in particular from the stator phase current, the mutual inductance and the rotor time constant of the cycle, and the rotational speed of the kth-1 cycle, the first flux linkage of the kth-1 cycle and the second flux linkage of the kth-1 cycle.
In one embodiment, the calculation formula of the second flux linkage of the kth period is:
wherein p represents the derivative operator,respectively representing the alpha-axis component and the beta-axis component of the second magnetic linkage of the kth period under the two-phase static coordinate system, < >>Represents the rotational speed of the k-1 th period, L m,k 、τ r,k Mutual inductance and rotor time constant, i respectively representing the kth period sα,k 、i sβ,k Respectively representing alpha-axis component, beta-axis component and +.>The first flux linkage of the k-1 period is respectively represented by an alpha axis component and a beta axis component under a two-phase static coordinate system, +.>Respectively representing alpha-axis component and beta-axis component of the second magnetic linkage of the K-1 period under a two-phase static coordinate system, K 2 Representing a second feedback matrix, k 2α 、k 2β Representing the feedback coefficients of the second feedback matrix.
In application, the rotor time constant of the asynchronous motor can be calculated according to the mutual inductance of the asynchronous motor, and the first feedback matrix and the second feedback matrix are feedback gain matrices.
In application, the first flux linkage of the k-1 period is obtained according to the stator phase voltage, the stator phase current, the rotor inductance, the mutual inductance, the total leakage inductance and the stator resistance of the period, and the first flux linkage of the k-2 period and the second flux linkage of the k-2 period, which are the same as the obtaining principle of the first flux linkage of the k-1 period; the second flux linkage of the k-1 th period is obtained according to the stator phase current, mutual inductance and rotor time constant of the period, the rotating speed of the k-2 th period, the first flux linkage of the k-2 th period and the second flux linkage of the k-2 th period, in particular, the same principle as the second flux linkage of the k-1 th period. Since the 0 th asynchronous motor control period is when the periodic control of the asynchronous motor is not started yet, all parameters of the 0 th asynchronous motor control period which need to be used can be 0 or set values which are set in advance according to actual needs.
In the application, the calculation formula of the first flux linkage is an expression of a first flux linkage calculation model, the calculation formula of the second flux linkage is an expression of a second flux linkage calculation model, the calculation process of the first flux linkage in the kth period needs to be used for the first flux linkage obtained based on the first flux linkage calculation model and the second flux linkage obtained based on the second flux linkage calculation model in the kth period, and correspondingly, the calculation process of the second flux linkage in the kth period also needs to be used for the first flux linkage obtained based on the first flux linkage calculation model and the second flux linkage obtained based on the second flux linkage calculation model in the kth period.
Step S103, obtaining a third flux linkage of the kth period according to the first flux linkage of the kth period and the second flux linkage of the kth period, and proceeding to steps S104 and S105.
In application, after the estimated value of the first flux linkage in the kth period and the estimated value of the second flux linkage in the kth period are obtained, fusion processing can be further performed on the estimated value of the first flux linkage and the estimated value of the second flux linkage, so as to obtain the estimated value of the third flux linkage. In each asynchronous motor control period, the estimated value of the first flux linkage and the estimated value of the second flux linkage can be weighted average or filtered to obtain the estimated value of the third flux linkage. The estimated value of the first flux linkage and the estimated value of the second flux linkage are initial estimated values of the rotor flux linkage, and the estimated value of the third flux linkage is final estimated value of the rotor flux linkage.
In one embodiment, step S103 includes:
carrying out weighted average on the first flux linkage of the kth period and the second flux linkage of the kth period to obtain a third flux linkage of the kth period;
or, performing high-pass filtering on one of the first flux linkage of the kth period and the second flux linkage of the kth period, and performing low-pass filtering on the other one to obtain a third flux linkage of the kth period.
In one embodiment, the calculation formula of the third flux linkage of the kth period is:
wherein,a third flux linkage respectively representing a kth period, a first flux linkage of the kth period, and a second flux linkage of the kth period, f 1 、f 2 The sub-function terms of the weighted average function corresponding to the weighting coefficients 1-, m are represented by 0.ltoreq.m.ltoreq.1, respectively, or f 1 、f 2 The other one representing a high pass filter function and the other one representing a low pass filter function.
In one embodiment, f 1 、f 2 The calculation formula of the third flux linkage of the kth period is as follows:
step S104, according to the third flux linkage of the kth period, the flux linkage angle of the kth period and the stator frequency of the kth period are obtained, and the steps S106 and S107 are carried out.
In an application, after obtaining the estimated value of the third flux linkage, further obtaining an estimated value of the flux linkage angle and an estimated value of the stator frequency according to the estimated value of the third flux linkage. The third flux linkage can be input into a phase-locked loop to obtain the flux linkage angle and the stator frequency output by the phase-locked loop; the alpha axis component and the beta axis component of the third flux linkage under the two-phase static coordinate system can be reversely cut to obtain the flux linkage angle, then the flux linkage angle is processed based on the transfer function of the first-order high-pass filter to obtain the stator frequency, or the flux linkage angle is sequentially subjected to differential and low-pass filtering to obtain the stator frequency.
In one embodiment, step S104 includes:
obtaining a flux linkage angle of the kth period and a stator frequency of the kth period through a phase-locked loop according to the third flux linkage of the kth period;
or, obtaining the inverse cut value of the alpha axis component and the beta axis component of the third flux linkage of the kth period under a two-phase static coordinate system to obtain the flux linkage angle of the kth period;
obtaining the stator frequency of the kth period according to the transfer function of the first-order high-pass filter and the flux linkage angle of the kth period;
or, obtaining the inverse cut value of the alpha axis component and the beta axis component of the third flux linkage of the kth period under a two-phase static coordinate system to obtain the flux linkage angle of the kth period;
and sequentially carrying out differentiation and low-pass filtering on the flux linkage angle of the kth period to obtain the stator frequency of the kth period.
In one embodiment, the calculation formula of the flux linkage angle of the kth period is:
wherein,the flux linkage angle, tan, representing the kth period -1 Representing the inverse tangent function, ++>Respectively representing an alpha-axis component and a beta-axis component of the third flux linkage of the kth period under a two-phase static coordinate system.
In one embodiment, the stator frequency of the kth period is calculated by the following formula:
wherein,respectively represent stator frequency of kth period and flux linkage of kth period Angle omega c Representing the cut-off frequency of the first order high pass filter, s representing the s term of the transfer function of the first order high pass filter.
Step S105, obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage of the kth period, and proceeding to step S106.
In an application, after obtaining the estimated value of the third flux linkage, further obtaining an estimated value of the slip frequency according to the estimated value of the third flux linkage and the detected stator phase current.
In one embodiment, the calculation formula of the slip frequency of the kth period is:
wherein,L m,k 、τ r,k respectively representing the slip frequency of the kth period, the mutual inductance of the kth period, the rotor time constant of the kth period,/and->Respectively representing the alpha-axis component, the beta-axis component and the i of the third flux linkage of the kth period under a two-phase static coordinate system sα,k 、i sβ,k Respectively representing the alpha-axis component and the beta-axis component of the stator phase current of the kth period under a two-phase static coordinate system.
Step S106, according to the stator frequency of the kth period and the slip frequency of the kth period, the rotating speed of the kth period is obtained, and the step S107 is performed.
In an application, after obtaining the estimated value of the stator frequency and the estimated value of the slip frequency, the estimated value of the rotational speed is further obtained from the estimated value of the stator frequency and the estimated value of the slip frequency. The estimated value of the rotational speed is the difference between the estimated value of the stator frequency and the estimated value of the slip frequency.
In one embodiment, the calculation formula of the rotation speed of the kth period is:
wherein,the rotation speed of the kth period, the stator frequency of the kth period, and the slip frequency of the kth period are respectively represented.
And step S107, carrying out feedback control on the asynchronous motor in the k+1 period according to the flux linkage angle of the k period and the rotating speed of the k period.
In the application, the motor controller adjusts the stator phase voltage required to be applied to the stator in the next period according to the estimated value of the flux linkage angle and the estimated value of the rotating speed obtained in the current period, so as to perform feedback control on the actual rotating speed of the asynchronous motor in the next period.
In one embodiment, after step S106 and before step S107, the method further includes:
and carrying out low-pass filtering on the rotating speed of the kth period.
In the application, before the motor controller performs feedback control on the asynchronous motor according to the estimated value of the rotating speed, the estimated value of the rotating speed can be subjected to low-pass filtering through a low-pass filter so as to filter high-frequency interference signals in the estimated value of the rotating speed, thereby improving the control precision and reliability of the asynchronous motor.
It should be understood that flux linkage in embodiments of the present application refers to rotor flux linkage. The k-1 period, the k period and the k+1 period may be three consecutive periods in one asynchronous motor control period, or the k-1 period and the k period may be combined into one longer period, so that the k-1 period, the k period and the k+1 period may be equivalent to two periods, wherein the duration of one period is equal to the sum of the durations of the k-1 period and the k period. For any period, if the parameter of the previous period is needed in calculating the parameter of the period, the parameters can be obtained in the previous period or set values set in advance according to actual needs can be directly used, so that the parameter is not required to be obtained in a period.
According to the asynchronous motor control method provided by the embodiment of the application, the estimated value of the first magnetic linkage of the current period is obtained according to the voltage of the stator phase of the current period, the current of the stator phase of the current period and the estimated values of the first magnetic linkage and the second magnetic linkage of the previous period; obtaining an estimated value of a second magnetic linkage of the current period according to the current of the stator phase of the current period, the estimated value of the rotating speed of the previous period and the estimated value of the first magnetic linkage of the previous period; obtaining an estimated value of a third flux linkage of the current period according to the estimated value of the first flux linkage of the current period and the estimated value of the second flux linkage of the current period; obtaining an estimated value of the flux linkage angle of the current period and an estimated value of the stator frequency of the current period according to the estimated value of the third flux linkage of the current period; obtaining an estimated value of slip frequency of the current period according to the current of the stator phase of the current period and the estimated value of the third magnetic linkage of the current period; according to the estimated value of the stator frequency of the current period and the estimated value of the slip frequency of the current period, the estimated value of the rotating speed of the current period is obtained, and finally, according to the estimated value of the flux linkage angle of the current period and the estimated value of the rotating speed of the current period, the rotating speed of the asynchronous motor in the next period is subjected to feedback control, so that the control precision and the reliability are high, and the method is applicable to an asynchronous motor control system with a rotating speed sensor and a speed-free sensor.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
The embodiment of the application also provides an asynchronous motor control device which is applied to the asynchronous motor controller and is used for executing the method steps in the method embodiment. The device may be a virtual device (virtual appliance) in the asynchronous motor controller, operated by a processor of the asynchronous motor controller, or the asynchronous motor controller itself.
As shown in fig. 2, an asynchronous motor control device 100 provided in an embodiment of the present application includes:
a first flux linkage estimation unit 101, configured to obtain a first flux linkage of a kth period according to the stator phase voltage of the kth period and the stator phase current of the kth period, and the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period, and enter a third flux linkage estimation unit 103;
a second flux linkage estimation unit 102, configured to obtain a second flux linkage of a kth period according to the stator phase current of the kth period, the rotation speed of the kth-1 period, the first flux linkage of the kth-1 period, and the second flux linkage of the kth-1 period, and enter a third flux linkage estimation unit 103;
A third flux linkage estimation unit 103, configured to obtain a third flux linkage of a kth period according to the first flux linkage of the kth period and the second flux linkage of the kth period, and enter a flux linkage angle and stator frequency estimation unit 104 and a slip frequency estimation unit 105;
a flux linkage angle and stator frequency estimation unit 104, configured to obtain a flux linkage angle of a kth period and a stator frequency of the kth period according to the third flux linkage of the kth period, and enter a rotation speed estimation unit 106 and a feedback control unit 107;
a slip frequency estimation unit 105, configured to obtain a slip frequency of a kth period according to a stator phase current of the kth period and a third flux linkage of the kth period, and enter a rotation speed estimation unit 106;
a rotation speed estimation unit 106, configured to obtain a rotation speed of the kth period according to the stator frequency of the kth period and the slip frequency of the kth period, and enter a feedback control unit 107;
a feedback control unit 107, configured to perform feedback control on the asynchronous motor in a kth+1 cycle according to the flux linkage angle of the kth cycle and the rotation speed of the kth cycle;
wherein k is any positive integer.
In one embodiment, the asynchronous motor control apparatus further includes:
and the low-pass filtering unit is used for carrying out low-pass filtering on the rotating speed of the kth period.
In application, each component in the above device may be a software program unit, or may be implemented by different logic circuits integrated in a processor or separate physical components connected with the processor, or may be implemented by multiple distributed processors. For example, the first flux linkage estimation unit and the second flux linkage estimation unit may each include one subtracter or share one subtracter, the flux linkage angle and stator frequency estimation unit may be a phase-locked loop, the rotation speed estimation unit may be a subtracter, the feedback control unit may be a feedback controller, and the low-pass filter unit may be a low-pass filter.
As shown in fig. 3, a schematic diagram of the logic structure of the first asynchronous motor control system is exemplarily shown, which includes a first feedback gain matrix 201, a second feedback gain matrix 202, a first flux linkage calculation model 203, a second flux linkage calculation model 204, a first subtractor 205, a third flux linkage estimation unit 206, a flux linkage angle and stator frequency estimation unit 207, a slip frequency estimation unit 208, a second subtractor 209, a low pass filter unit 210, a feedback control unit 211, and an asynchronous motor 212.
As shown in fig. 4, a logic structure diagram of a second type of asynchronous motor control system is exemplarily shown, which further includes a rotation speed sensor 213, a first change-over switch 214, and a second change-over switch 215 on the basis of the first type of asynchronous motor control system.
In application, the first switch and the second switch are used for realizing the gating function of one or two, and can be realized by a software program unit, an electronic switch tube or a logic gate circuit.
As shown in fig. 5, an embodiment of the present application further provides an asynchronous motor controller 300, including: at least one processor 301 (only one processor is shown in fig. 5), a memory 302 and a computer program 303 stored in the memory 302 and executable on the at least one processor 302, the steps of the various asynchronous motor control method embodiments described above being implemented when the computer program 303 is executed by the processor 302.
In applications, the asynchronous motor controller may include, but is not limited to, a processor and a memory, and may also include a current sensor, an inverter, a rectifier, an analog-to-digital converter, a high pass filter, a low pass filter, a subtractor, a proportional integrator, a phase locked loop, a switch, and the like. It will be appreciated by those skilled in the art that fig. 5 is merely an example of an asynchronous motor controller and is not meant to be limiting, and may include more or fewer components than shown, or may combine certain components, or may include different components, for example, input-output devices, network access devices, etc. The network access device may comprise a communication module for the asynchronous motor controller to communicate with the user terminal.
In application, the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In applications, the memory may in some embodiments be an internal storage unit of the asynchronous motor controller, such as a hard disk or a memory of the asynchronous motor controller. The memory may in other embodiments also be an external storage device of the asynchronous motor controller, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the asynchronous motor controller. The memory may also comprise both an internal memory unit and an external memory device of the asynchronous motor controller. The memory is used to store an operating system, application programs, boot Loader (Boot Loader), data, and other programs, etc., such as program code for a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
In application, the communication module may be configured as any device capable of directly or indirectly performing long-distance wired or wireless communication with the client according to actual needs, for example, the communication module may provide a solution of communication including wireless local area network (Wireless Localarea Networks, WLAN) (such as Wi-Fi network), bluetooth, zigbee, mobile communication network, global navigation satellite system (Global Navigation Satellite System, GNSS), frequency modulation (Frequency Modulation, FM), short-distance wireless communication technology (Near Field Communication, NFC), infrared technology (IR), and the like, which are applied to the network device. The communication module may include an antenna, which may have only one element, or may be an antenna array including a plurality of elements. The communication module can receive electromagnetic waves through the antenna, frequency-modulate and filter the electromagnetic wave signals, and send the processed signals to the processor. The communication module can also receive the signal to be transmitted from the processor, frequency modulate and amplify the signal, and convert the signal into electromagnetic waves through the antenna to radiate.
In application, the low-pass filter may be any type of filter with a cut-off frequency that is satisfactory, for example, a butterworth filter (Butterworth filter) or a chebyshev filter, as the case may be.
In application, the analog-to-digital converter can select any type of analog-to-digital converter with sampling precision meeting the requirement according to actual needs, for example, a parallel comparison type, a successive approximation type or a double integration type analog-to-digital converter. The sampling accuracy of the analog-to-digital converter is determined by the resolution thereof, and the resolution can be selected according to actual needs, for example, eight bits, twelve bits or twenty-four bits. When the analog-to-digital converter with switchable resolution is selected, a user can switch the resolution of the analog-to-digital converter through a man-machine interaction device of an asynchronous motor controller or a user terminal according to actual needs so as to adapt to different application scenes.
It should be noted that, because the content of information interaction and execution process between the above devices/modules is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The functional modules in the embodiment may be integrated in one processing module, or each module may exist alone physically, or two or more modules may be integrated in one module, where the integrated modules may be implemented in a form of hardware or a form of software functional modules. In addition, the specific names of the functional modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiments of the present application also provide a computer readable storage medium, in which a computer program is stored, where the computer program, when executed by a processor, may implement the steps of the above-mentioned method embodiments.
Embodiments of the present application provide a computer program product enabling an asynchronous motor controller to carry out the steps of the method embodiments described above when the computer program product is run on the asynchronous motor controller.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above-described embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to the asynchronous motor controller, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or modules, which may be in electrical, mechanical or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (12)
1. An asynchronous motor control method, comprising:
obtaining a first flux linkage of a kth period according to the stator phase voltage of the kth period, the stator phase current of the kth period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
Obtaining a second flux linkage of a kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
obtaining a third flux linkage of the kth period according to the first flux linkage of the kth period and the second flux linkage of the kth period;
according to the third flux linkage of the kth period, obtaining a flux linkage angle of the kth period and a stator frequency of the kth period;
obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage of the kth period;
obtaining the rotating speed of the kth period according to the stator frequency of the kth period and the slip frequency of the kth period;
according to the flux linkage angle of the kth period and the rotating speed of the kth period, carrying out feedback control on the asynchronous motor in the (k+1) th period;
wherein k is any positive integer.
2. The method of controlling an asynchronous motor according to claim 1, wherein the obtaining the first flux linkage of the kth period based on the stator phase voltage of the kth period and the stator phase current of the kth period, and the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period, comprises:
the first flux linkage of the kth period is obtained according to the stator phase voltage of the kth period, the stator phase current of the kth period, the rotor inductance of the kth period, the mutual inductance of the kth period, the total leakage inductance of the kth period and the stator resistance of the kth period, and the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period.
3. The asynchronous motor control method according to claim 2, wherein the calculation formula of the first flux linkage of the kth period is:
wherein p represents the derivative operator,respectively representing alpha-axis component, beta-axis component and L of the first magnetic linkage of the kth period under a two-phase static coordinate system r,k 、L m,k 、L σ,k 、R s,k Rotor inductance, mutual inductance, total leakage inductance, stator resistance, v, respectively representing the kth period sα,k 、v sβ,k Respectively representing alpha-axis component, beta-axis component and i of stator phase voltage of kth period under two-phase static coordinate system sα,k 、i sβ,k Respectively representing an alpha-axis component and a beta-axis component of stator phase current of a kth period under a two-phase static coordinate system,respectively representing an alpha-axis component and a beta-axis component of the first flux linkage of the k-1 period under a two-phase static coordinate system,separate tableThe second flux linkage of the K-1 th period shows an alpha-axis component and a beta-axis component in a two-phase stationary coordinate system, K 1 Representing a first feedback matrix, k 1α 、k 1β Representing the feedback coefficients of the first feedback matrix.
4. The method of controlling an asynchronous motor according to claim 1, wherein the obtaining the second flux linkage of the kth period based on the stator phase current of the kth period, and the rotation speed of the kth-1 period, the first flux linkage of the kth-1 period, and the second flux linkage of the kth-1 period, comprises:
The second flux linkage of the kth period is obtained according to the stator phase current of the kth period, the mutual inductance of the kth period and the rotor time constant of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period.
5. The method of claim 4, wherein the calculation formula of the second flux linkage of the kth period is:
wherein p represents the derivative operator,respectively representing the alpha-axis component and the beta-axis component of the second magnetic linkage of the kth period under the two-phase static coordinate system, < >>Represents the rotational speed of the k-1 th period, L m,k 、τ r,k Mutual inductance and rotor time constant, i respectively representing the kth period sα,k 、i sβ,k Respectively represent the kth periodAlpha-axis component, beta-axis component, and +.>The first flux linkage of the k-1 period is respectively represented by an alpha axis component and a beta axis component under a two-phase static coordinate system, +.>Respectively representing alpha-axis component and beta-axis component of the second magnetic linkage of the K-1 period under a two-phase static coordinate system, K 2 Representing a second feedback matrix, k 2α 、k 2β Representing the feedback coefficients of the second feedback matrix.
6. The asynchronous motor control method according to claim 1, wherein the obtaining a third flux linkage of a kth cycle from the first flux linkage of the kth cycle and the second flux linkage of the kth cycle includes:
Carrying out weighted average on the first flux linkage of the kth period and the second flux linkage of the kth period to obtain a third flux linkage of the kth period;
or, performing high-pass filtering on one of the first flux linkage of the kth period and the second flux linkage of the kth period, and performing low-pass filtering on the other one to obtain a third flux linkage of the kth period.
7. The method of controlling an asynchronous motor according to claim 1, wherein the obtaining the flux linkage angle of the kth period and the stator frequency of the kth period according to the third flux linkage of the kth period includes:
obtaining a flux linkage angle of the kth period and a stator frequency of the kth period through a phase-locked loop according to the third flux linkage of the kth period;
or, obtaining the inverse cut value of the alpha axis component and the beta axis component of the third flux linkage of the kth period under a two-phase static coordinate system to obtain the flux linkage angle of the kth period;
obtaining the stator frequency of the kth period according to the transfer function of the first-order high-pass filter and the flux linkage angle of the kth period;
or, obtaining the inverse cut value of the alpha axis component and the beta axis component of the third flux linkage of the kth period under a two-phase static coordinate system to obtain the flux linkage angle of the kth period;
and sequentially carrying out differentiation and low-pass filtering on the flux linkage angle of the kth period to obtain the stator frequency of the kth period.
8. The asynchronous motor control method according to claim 1, wherein the obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage of the kth period includes:
and obtaining the slip frequency of the kth period according to the stator phase current of the kth period, the third flux linkage of the kth period, the mutual inductance of the kth period and the rotor time constant of the kth period.
9. The asynchronous motor control method according to claim 8, wherein the calculation formula of the slip frequency of the kth period is:
wherein,L m,k 、τ r,k respectively representing the slip frequency of the kth period, the mutual inductance of the kth period, the rotor time constant of the kth period,/and->Respectively representing the alpha-axis component, the beta-axis component and the i of the third flux linkage of the kth period under a two-phase static coordinate system sα,k 、i sβ,k Respectively representing the alpha-axis component and the beta-axis component of the stator phase current of the kth period under a two-phase static coordinate system.
10. An asynchronous motor control device, characterized by comprising:
a first flux linkage estimation unit for obtaining a first flux linkage of a kth period according to the stator phase voltage of the kth period and the stator phase current of the kth period, and the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
A second flux linkage estimation unit for obtaining a second flux linkage of the kth period according to the stator phase current of the kth period, the rotating speed of the kth-1 period, the first flux linkage of the kth-1 period and the second flux linkage of the kth-1 period;
a third flux linkage estimation unit, configured to obtain a third flux linkage of a kth period according to the first flux linkage of the kth period and the second flux linkage of the kth period;
the flux linkage angle and stator frequency estimation unit is used for obtaining the flux linkage angle of the kth period and the stator frequency of the kth period according to the third flux linkage of the kth period;
the slip frequency estimation unit is used for obtaining the slip frequency of the kth period according to the stator phase current of the kth period and the third flux linkage of the kth period;
a rotation speed estimation unit, configured to obtain a rotation speed of the kth period according to the stator frequency of the kth period and the slip frequency of the kth period;
the feedback control unit is used for carrying out feedback control on the asynchronous motor in the (k+1) th period according to the flux linkage angle of the kth period and the rotating speed of the kth period;
wherein k is any positive integer.
11. An asynchronous motor controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the asynchronous motor control method according to any one of claims 1 to 9 when the computer program is executed.
12. A computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the asynchronous motor control method according to any one of claims 1 to 9.
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