CN117277878A - Motor load starting control method based on phase angle compensation - Google Patents
Motor load starting control method based on phase angle compensation Download PDFInfo
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- CN117277878A CN117277878A CN202311077932.1A CN202311077932A CN117277878A CN 117277878 A CN117277878 A CN 117277878A CN 202311077932 A CN202311077932 A CN 202311077932A CN 117277878 A CN117277878 A CN 117277878A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
The invention discloses a motor load starting control method based on phase angle compensation, which comprises the following specific steps: s1, in the starting process, acquiring real-time data of motor stator current through a current sampling resistor; s2, calculating the torque and the torque angle change of the motor based on the information data acquired in the step S1; s3, combining the relation between the torque and the power angle of the motor with a phase angle matching principle; s4, using the calculation result in the step S3 to a control algorithm, enabling the system to accurately adjust control parameters of the motor, automatically performing phase angle compensation, and keeping matching between the torque and the torque angle. The invention uses the adaptability relationship between the motor torque and the power angle to keep the torque-power angle matching in the starting process, and under different load conditions, the power angle of the motor can be automatically adjusted so as to balance the output electromagnetic torque and the load torque; not only is the motor operation controlled more accurately, but also the problems of delay and noise caused by real-time monitoring are avoided.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a motor load starting control method based on phase angle compensation.
Background
In the field of permanent magnet synchronous motor control, the problem of stable on-load starting is a core problem of a permanent magnet synchronous motor, and the reliable starting and the stable running of the motor directly determine the excellent performance of the system in the field of industrial driving systems or other multiple fields. From electric drive, transportation and to the continuously rising renewable energy field, the motor is used as an indispensable core driving element, the starting performance and the stability of the motor become more and more remarkable, and the efficiency and the reliability of the whole system are directly molded.
The existing motor starting strategy has the problem of insufficient stability in the on-load starting process, so that the starting process is unstable, and the performance and reliability of the system are easily affected. In practical application, in order to realize stable on-load starting of the permanent magnet synchronous motor under different load conditions, an IF (intermediate frequency) control strategy with a rotating speed open loop and a current closed loop is commonly used, but the IF control strategy with the rotating speed open loop and the current closed loop has the problems of torque and phase angle mismatch, the motor is not high in strong-dragging starting stability, the rotating speed is mainly increased through high torque, the rotating speed is regulated after reaching an expected value, and the starting process is not scientific.
Disclosure of Invention
In order to make up the defects of the prior art, the invention aims to provide a motor load starting control method based on phase angle compensation, which ensures that the motor can always maintain correct torque and phase angle matching in the starting process based on the phase angle matching principle, and realizes stable load starting of the motor under different constant load conditions.
A motor load starting control method based on phase angle compensation comprises the following specific steps:
s1, in the starting process, acquiring real-time data of motor stator current through a current sampling resistor;
s2, calculating the torque and the torque angle change of the motor based on the information data acquired in the step S1;
s3, combining the relation between the torque and the power angle of the motor with a phase angle matching principle;
s4, using the calculation result in the step S3 to a control algorithm, enabling the system to accurately adjust control parameters of the motor, automatically performing phase angle compensation, and keeping matching between the torque and the torque angle.
Further, the motor is a three-phase permanent magnet synchronous motor, and comprises an A phase, a B phase and a C phase, when the motor runs, exciting windings on a rotor generate exciting currents under the influence of exciting voltages, the exciting currents are defined as d-axis along the axis of an exciting magnetic pole, q-axis orthogonal to the d-axis, dq-axis are fixed on the rotor, and when the motor runs, the dq-axis synchronously rotates along with the rotor, coordinate transformation is carried out on two input voltages, and d-axis and q-axis voltages in a rotor coordinate system rotating along with the rotor are converted into alpha-axis and beta-axis voltages of a direct current coordinate system:
the stator voltage equation of the synchronous motor is:
the rotor voltage equation is:
the flux linkage equation on the dq two-phase rotation coordinate system is:
the electromagnetic torque equation is obtained after finishing:
T e ＝n p L md I f i sq +n p (L sd -L sq )i sd i sq +n p (L md i rd i sq -L mq i rq i sd )。
further, when the motor rotates at a positive direction speed, the direction of the stator current is denoted as i s While the d-axis direction represents the direction of the rotor magnetic field, the stator current i is on the d-axis and q-axis of the rotating coordinate system s The components produced by the projection are respectively i d And i q ，i q The component is in the direction of the d-axis of rotation and is mainly used for generating magnetic flux, and is the magnetic flux component of the stator current, and the rest part of rotor magnetic flux is generated by the permanent magnet; i.e q The component is orthogonal to the rotor flux, it plays a role in generating torque, pushing the rotation of the motor, as the torque component of the stator current; these three components, i s 、i d And i q There is a relationship between:
further, the power angle in the step S2 is an included angle between the stator current and the d-axis of the rotor magnetic field direction; when the motor operates, the change of the power angle is directly mapped to the output torque, and the larger the power angle is, the larger the output torque is; and the smaller the work angle, the lower the output torque.
Further, the control system adopts a method of rotating speed open loop and current closed loop to output a certain q-axis current set value, and integrates a rotating speed command signal at the same time to generate an automatic accumulated angle signal.
Further, in the method of rotating speed open loop and current closed loop, each parameter such as current value and angle is generated in a virtual rotating coordinate system, the virtual coordinate system can be understood as a dq coordinate system simulated by software, in the virtual coordinate system, a superscript is used to indicate that a phase difference is necessarily present between the virtual coordinate system and an actual position coordinate system of the rotor, the phase difference is defined as delta theta, that is, a phase difference between the virtual coordinate system and a coordinate system where an actual rotor position is located is delta theta, and an angle complementary to the phase difference is called a power angle:
under different load conditions, the power angle of the motor can be automatically adjusted so that the output electromagnetic torque is balanced with the load torque.
Compared with the prior art, the invention has the following advantages:
(1) Unlike traditional methods, the method does not need to pay excessive attention to specific parameters of the motor, but uses the adaptive relation between the motor torque and the power angle to keep the torque-power angle matching in the starting process, thereby ensuring the stability;
(2) Under different load conditions, the power angle of the motor can be automatically adjusted so that the output electromagnetic torque and the load torque are balanced; when the load torque changes, the self-adaptive change of the power angle can lead the electromagnetic torque output by the motor to be correspondingly adjusted so as to realize a new balance state; the characteristics can automatically cope with the change of external load without additional control operation, and only the stability of the amplitude value of the output current and the accuracy of the self-adding angle in closed-loop control are ensured; not only is the motor operation controlled more accurately, but also the problems of delay and noise caused by real-time monitoring are avoided.
Drawings
FIG. 1 is a control block diagram of a control method of the present invention;
fig. 2 is a phasor diagram of a permanent magnet synchronous motor according to the present invention;
FIG. 3 is a control block diagram of a prior art IF control strategy;
fig. 4 is a torque angle phase relationship diagram of the present invention.
Detailed Description
The motor load starting control method based on phase angle compensation is further described below with reference to the accompanying drawings.
As shown in fig. 1, a motor load starting control method based on phase angle compensation specifically comprises the following steps:
step 1: in the starting process, real-time data of stator current is obtained through a current sampling resistor, and torque angle change of the motor are calculated.
The motor is a three-phase permanent magnet synchronous motor, motor windings are distributed in three phases, three phases are respectively defined as an A phase, a B phase and a C phase, when the motor runs, a rotor rotates at a certain angular speed, exciting windings on the rotor generate exciting currents under the influence of exciting voltages, the exciting currents are defined as a d axis along the axis of an exciting magnetic pole, a q axis orthogonal to the d axis, dq two axes are fixed on the rotor, and when the motor runs, the dq two axes synchronously rotate along with the rotor. Coordinate transformation is carried out on the two input voltages, and d-axis and q-axis voltages in a rotor coordinate system rotating along with the rotor are converted into alpha-axis and beta-axis voltages of a direct-current coordinate system:
the stator voltage equation of the synchronous motor is:
the rotor voltage equation is:
the flux linkage equation on the dq two-phase rotation coordinate system is:
the electromagnetic torque equation is obtained after finishing:
T e ＝n p L md I f i sq +n p (L sd -L sq )i sd i sq +n p (L md i rd i sq -L mq i rq i sd )
when the motor rotates at a positive direction speed, the direction of the stator current is denoted as i s While the d-axis direction represents the direction of the rotor magnetic field, the stator current i is on the d-axis and q-axis of the rotating coordinate system s The components produced by the projection are respectively i d And i q 。
Here, i q The component is mainly used to generate magnetic flux in the direction of the d-axis of rotation, and is therefore also called the magnetic flux component of the stator current, while the remainder of the rotor flux is generated by the permanent magnets; at the same time, i q The component is orthogonal to the rotor flux, which plays a role in generating torque, pushing the rotation of the motor, and is therefore also referred to as the torque component of the stator current.
These three components, i s 、i d And i q There is a relationship between:
step 2: and phase angle compensation is automatically carried out in the running process of the motor. The relation between the torque and the power angle of the motor is combined with the phase angle matching principle, and the calculated results of the torque and the torque angle of the motor are used for a control algorithm, so that the system can accurately adjust the control parameters of the motor, and the matching between the torque and the torque angle is maintained.
Based on the data, the control system calculates the torque and torque angle variation of the motor by reconstructing the motor model and combining the relationship between the power angle and the torque angle to perform phase angle compensation.
Where work angle is the bond between angle and power, and refers to the effect of angle change on the work consumed or produced during motor operation, as shown in fig. 2. The magnitude of the power angle directly influences the output torque of the motor, and the larger the power angle is, the larger the output torque is; and the smaller the work angle, the lower the output torque. When the motor is running, the change of the power angle is directly mapped to the output torque, so that the overall performance of the motor is affected, and the motor is often called a torque angle.
As shown in fig. 3, the control system adopts a method of rotating speed open loop and current closed loop to realize a certain q-axis current set value output, and integrates the rotating speed command signal at the same time to generate an automatic accumulated angle signal. In this control strategy, parameters such as current values, angles are generated in a virtual rotational coordinate system, which can be understood as a software-simulated dq coordinate system. In this virtual coordinate system, a superscript (') is used.
There is necessarily a phase difference between the virtual coordinate system and the actual position coordinate system of the rotor, the phase difference is defined as Δθ, that is, the phase difference between the virtual coordinate system and the coordinate system where the actual rotor position is located is Δθ, and the angle complementary to the phase difference is called the work angle:
as shown in fig. 4, the phase difference is consistent with the previous definition of the power angle, that is, the angle between the stator current and the d-axis (the direction of the rotor magnetic field) is the power angle. In the control strategy, the control and stable operation of the motor can be realized by processing the current and angle signals in the virtual coordinate system. Because the electromagnetic torque equation of the three-phase permanent magnet synchronous motor contains various parameters of the motor, the electromagnetic torque equation needs to be replaced by a projection component of a virtual coordinate system value under a rotor coordinate system under an IF control strategy so as to realize more accurate calculation. Thus, there is a close relationship between the electromagnetic torque equation and the phase relationship of the virtual coordinate system and the angle in the actual coordinate system of the rotor.
It can be understood that the electromagnetic torque and the load torque in the torque equation of the motor reach balance, and the acceleration term considers the influence of the change of the rotating speed; according to the change of the load torque, the angle difference of the virtual synchronous coordinate system also changes, so that the output of the electromagnetic torque is affected; this phase angle compensation feature is actually enabled to accommodate changes in external loads by adjusting the work angle.
The method is based on sampling resistance data and model calculation, and is used for estimating and predicting the state of the motor at discrete time points, so that accurate control is realized. The method has the core that the relation between the torque and the power angle of the motor is combined with the phase angle matching principle, and the control system can more accurately adjust the operation of the motor in the starting process by reconstructing a motor model and calculating the change of the torque and the torque angle of the motor, so that the instability caused by parameter mismatch is avoided. The method is not only limited to the starting stage, but also suitable for the stable operation of the motor under the constant load switching working condition.
In the starting process, a motor model is reconstructed through stator current information, and the change of motor torque and torque angle is calculated, so that the phase angle matching method can effectively inhibit oscillation and instability in the starting stage, and stable on-load starting is realized. Under different load conditions, the power angle of the motor can be automatically adjusted so that the output electromagnetic torque and the load torque are balanced; when the load torque changes, the self-adaptive change of the power angle can lead the electromagnetic torque output by the motor to be correspondingly adjusted so as to realize a new balance state; the characteristics can automatically cope with the change of external load without additional control operation, and only the stability of the amplitude value of the output current and the accuracy of the self-adding angle in closed-loop control are ensured; not only is the motor operation controlled more accurately, but also the problems of delay and noise caused by real-time monitoring are avoided.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention 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 or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The motor load starting control method based on phase angle compensation is characterized by comprising the following specific steps:
s1, in the starting process, acquiring real-time data of motor stator current through a current sampling resistor;
s2, calculating the torque and the torque angle change of the motor based on the information data acquired in the step S1;
s3, combining the relation between the torque and the power angle of the motor with a phase angle matching principle;
s4, using the calculation result in the step S3 to a control algorithm, enabling the system to accurately adjust control parameters of the motor, automatically performing phase angle compensation, and keeping matching between the torque and the torque angle.
2. The motor load starting control method based on phase angle compensation according to claim 1, wherein the motor is a three-phase permanent magnet synchronous motor, and comprises an a phase, a B phase and a C phase, when the motor is in operation, exciting windings on a rotor generate exciting currents under the influence of exciting voltages, the exciting currents are defined as d-axis along the axis of exciting magnetic poles, q-axis orthogonal to the d-axis, dq two axes are fixed on the rotor, and when the motor is in operation, the dq two axes synchronously rotate with the rotor, coordinate transformation is performed on two input voltages, and d-axis and q-axis voltages in a rotor coordinate system rotating along with the rotor are converted into alpha-axis and beta-axis voltages in a direct current coordinate system:
the stator voltage equation of the synchronous motor is:
the rotor voltage equation is:
the flux linkage equation on the dq two-phase rotation coordinate system is:
the electromagnetic torque equation is obtained after finishing:
T e ＝n p L md I f i sq +n p (L sd -L sq )i sd i sq +n p (L md i rd i sq -L mq i rq i sd )。
3. the method of phase angle compensation based motor load start control according to claim 2, wherein the direction of the stator current is denoted as i when the motor rotates at a positive direction speed s While the d-axis direction represents the direction of the rotor magnetic field, the stator current i is on the d-axis and q-axis of the rotating coordinate system s The components produced by the projection are respectively i d And i q ，i q The component is in the direction of the d-axis of rotation and is mainly used for generating magnetic flux, and is the magnetic flux component of the stator current, and the rest part of rotor magnetic flux is generated by the permanent magnet; i.e q The component is orthogonal to the rotor flux, it plays a role in generating torque, pushing the rotation of the motor, as the torque component of the stator current; these three components, i s 、i d And i q There is a relationship between:
4. the motor load starting control method based on phase angle compensation according to claim 2, wherein the power angle in the step S3 is an included angle between a stator current and a d-axis of a rotor magnetic field direction; when the motor operates, the change of the power angle is directly mapped to the output torque, and the larger the power angle is, the larger the output torque is; and the smaller the work angle, the lower the output torque.
5. The motor load starting control method based on phase angle compensation according to claim 3, wherein the control algorithm in step S4 adopts a method of rotating speed open loop and current closed loop to output a certain q-axis current set value, and integrates a rotating speed command signal at the same time to generate an automatically accumulated angle signal.
6. The motor load starting control method based on phase angle compensation according to claim 4, wherein in the method of rotating speed open loop and current closed loop, each parameter such as current value and angle is generated in a virtual rotating coordinate system, the virtual coordinate system can be understood as a dq coordinate system simulated by software, in the virtual coordinate system, a superscript is used to indicate that a phase difference is necessarily existed between the virtual coordinate system and an actual position coordinate system of a rotor, the phase difference is defined as delta theta, namely, the phase difference between the virtual coordinate system and the coordinate system where an actual rotor position is located is delta theta, and the angle complementary to the phase difference is called a power angle:
under different load conditions, the power angle of the motor can be automatically adjusted so that the output electromagnetic torque is balanced with the load torque.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117559849A (en) * | 2024-01-11 | 2024-02-13 | 天津飞旋科技股份有限公司 | Permanent magnet synchronous motor open-loop stable starting method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117559849A (en) * | 2024-01-11 | 2024-02-13 | 天津飞旋科技股份有限公司 | Permanent magnet synchronous motor open-loop stable starting method, device, equipment and storage medium |
| CN117559849B (en) * | 2024-01-11 | 2024-04-02 | 天津飞旋科技股份有限公司 | Permanent magnet synchronous motor open-loop stable starting method, device, equipment and storage medium |
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