CN117318572A - Belt speed starting method, system, equipment and storage medium of asynchronous motor - Google Patents

Belt speed starting method, system, equipment and storage medium of asynchronous motor Download PDF

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Publication number
CN117318572A
CN117318572A CN202311247525.0A CN202311247525A CN117318572A CN 117318572 A CN117318572 A CN 117318572A CN 202311247525 A CN202311247525 A CN 202311247525A CN 117318572 A CN117318572 A CN 117318572A
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CN
China
Prior art keywords
rotor
asynchronous motor
axis component
electromotive force
current
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Pending
Application number
CN202311247525.0A
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Chinese (zh)
Inventor
蒋玉华
沈文
王二峰
高瞻
吴轩钦
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Shenzhen Invt Electric Co Ltd
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Shenzhen Invt Electric Co Ltd
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Priority to CN202311247525.0A priority Critical patent/CN117318572A/en
Publication of CN117318572A publication Critical patent/CN117318572A/en
Pending legal-status Critical Current

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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
    • H02P21/34—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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
    • H02P1/30—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor by progressive increase of frequency of supply to primary circuit of motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The application discloses a method, a system, equipment and a storage medium for starting an asynchronous motor at a belt speed, which are applied to the technical field of motor control and comprise the following steps: current is led into the asynchronous motor which is rotating freely; judging whether the d-axis component of the detected rotor back electromotive force is 0; if so, determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor; otherwise, carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor; and taking the determined rotating speed of the asynchronous motor as an initial rotating speed, and controlling the asynchronous motor based on a normal operation mode. By applying the scheme, the rotating speed of the asynchronous motor can be accurately determined, abnormal conditions such as stator current overcurrent, direct-current side bus voltage overvoltage and the like in the starting process are effectively avoided, the scheme flow is not complex, the application is convenient, and the universality is strong.

Description

Belt speed starting method, system, equipment and storage medium of asynchronous motor
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a method, a system, an apparatus, and a storage medium for starting an asynchronous motor with a speed.
Background
In recent years, the frequency converter is widely applied to fans, pumps and other equipment in various industries, and plays an important role in reducing energy consumption, improving electric energy quality and the like. Besides the performance requirement of normal operation, the frequency converter also has a response scheme for abnormal operation conditions. In practical application, due to the external effect, the fan and other devices can be in a free rotation condition before being started. In addition, especially for large-scale equipment, free shutdown can be caused due to sudden power failure, frequency converter fault and the like, and due to the large inertia of the equipment, the complete shutdown of the motor can take several tens of minutes or even hours.
In order to rapidly start the rotating motor, the current rotation speed of the motor needs to be obtained to prevent the abnormal conditions such as overcurrent of the stator current of the frequency converter or overvoltage of the bus voltage at the direct current side in the starting process, so that the frequency converter is required to have a rotation speed tracking function.
For example, in the current frequency converter, current with a set frequency can be output first, then according to the output frequency of the frequency converter, the voltage value of the V/F curve of the motor is calculated, when the output voltage of the frequency converter is greater than or equal to the voltage value of the V/F curve, the output voltage and the output frequency of the frequency converter are kept unchanged, and the search is ended. If the output voltage of the frequency converter is smaller than the voltage value of the V/F curve, the set frequency is changed to execute the process again, and in the scheme, if the accurate motor speed is required to be obtained, a smaller search step length is required to be set, so that the search time is long. In the scheme, the searching can only be carried out according to the direction of the set frequency, and if the direction of the searched frequency is opposite to the direction of the motor, the speed of the motor cannot be searched.
The existing rotation speed tracking function of the frequency converter is large in error generally, and part of schemes are complex to execute and long in time consumption, so that the starting of the rotating motor is not facilitated to be completed rapidly and reliably.
In summary, how to quickly and effectively implement the starting of the rotating motor, and avoid the abnormal situations of the over-current of the stator current of the frequency converter or the overvoltage of the bus voltage at the direct current side in the starting process, is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method, a system, equipment and a storage medium for starting an asynchronous motor at a belt speed, so as to quickly and effectively realize the starting of the rotating motor and avoid the abnormal conditions of over-current of a stator current of a frequency converter or overvoltage of a bus voltage at a direct current side and the like in the starting process.
In a first aspect, the present invention provides a belt speed starting method for an asynchronous motor, including:
current is introduced into the asynchronous motor which is rotating freely so that the asynchronous motor generates rotor back electromotive force;
detecting d-axis component and q-axis component of rotor back electromotive force of the asynchronous motor;
judging whether the d-axis component of the counter electromotive force of the rotor is 0;
If so, determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
if not, carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
and taking the determined rotating speed of the asynchronous motor as an initial rotating speed, and controlling the asynchronous motor based on a normal running mode.
In one embodiment, the supplying current to the asynchronous motor that is rotating freely so that the asynchronous motor generates a rotor back emf includes:
and (3) introducing direct current to the asynchronous motor which is rotating freely so that the asynchronous motor generates rotor back electromotive force.
In one embodiment, the supplying direct current to the asynchronous motor that is rotating freely, so that the asynchronous motor generates a rotor back electromotive force, includes:
the method comprises the steps of adopting rotor magnetic field directional control to an asynchronous motor which is rotating freely;
acquiring a preset rated no-load current value corresponding to an excitation current reference value;
acquiring a preset current value corresponding to a torque current reference value;
And performing closed-loop regulation of double currents of exciting current and torque current according to the preset rated no-load current value and the preset current value so as to supply direct current to the asynchronous motor which is rotating freely, so that the asynchronous motor generates rotor back electromotive force.
In one embodiment, the method further comprises:
before entering a normal operation mode, setting a torque command as a first command so that an error between a stator angular frequency of the asynchronous motor and a rotor angular frequency of the asynchronous motor is within a preset error range.
In one embodiment, the determining the rotation speed of the asynchronous motor based on the q-axis component of the back emf of the rotor includes:
determining the stator angular frequency according to the q-axis component of the counter electromotive force of the rotor and the rotor flux linkage amplitude;
and determining the rotating speed of the asynchronous motor according to the stator angular frequency.
In one embodiment, the determining the stator angular frequency from the q-axis component of the back emf of the rotor and the magnitude of the flux linkage of the rotor includes:
determining a rotor back electromotive force equation before simplification, and obtaining a simplified rotor back electromotive force equation after neglecting a differential term in the rotor back electromotive force equation;
Determining the stator angular frequency according to the q-axis component of the rotor back electromotive force and the rotor flux linkage amplitude in the simplified rotor back electromotive force equation;
wherein, the rotor back electromotive force equation before simplification is expressed as:
after ignoring the derivative term, the simplified rotor back emf equation is expressed as:
when the d-axis component of the back emf of the rotor is equal to 0, ψ rq =0, and the rotor back emf equation satisfies:
wherein e rd E being the d-axis component of the back emf of the rotor rq For the q-axis component of the back EMF of the rotor, u sd As the d-axis component of the stator voltage, u sq R is the q-axis component of the stator voltage s Is the stator resistance, i sd I is the d-axis component of the stator current sq L is the q-axis component of the stator current σ As leakage inductance coefficient, ψ rd Is the d-axis component of the rotor flux linkage amplitude, ψ rq Is the q-axis component, ω, of the rotor flux linkage amplitude s Is the stator angular frequency.
In one embodiment, the feedback adjustment of the d-axis component of the back emf of the rotor comprises
After the proportional coefficient and the integral coefficient of the PI feedback control are preset, based on the PI feedback control mode, taking the d-axis component of the counter electromotive force of the rotor as 0 as an adjusting target of the PI feedback control, taking the actual value of the d-axis component of the counter electromotive force of the rotor as the feedback quantity of the PI feedback control, and carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor.
In a second aspect, the present invention also provides a belt speed starting system of an asynchronous motor, including:
the current input module is used for introducing current to the asynchronous motor which is rotating freely so as to enable the asynchronous motor to generate rotor back electromotive force;
the rotor counter electromotive force detection module is used for detecting a d-axis component and a q-axis component of rotor counter electromotive force of the asynchronous motor;
the judging module is used for judging whether the d-axis component of the counter electromotive force of the rotor is 0;
if yes, triggering a first execution module, wherein the first execution module is used for determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
if not, triggering a second execution module, wherein the second execution module is used for carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
and the normal operation module is used for taking the determined rotating speed of the asynchronous motor as an initial rotating speed and controlling the asynchronous motor based on a normal operation mode.
In a third aspect, the present invention also provides a belt speed starting apparatus of an asynchronous motor, including:
A memory for storing a computer program;
and a processor for executing the computer program to implement the steps of the method for starting an asynchronous motor with speed as described above.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for starting an asynchronous motor with speed as described above.
By applying the technical scheme provided by the embodiment of the invention, the starting of the rotating motor can be rapidly and effectively realized, and particularly the belt speed starting of the asynchronous motor is realized. In the scheme of the application, when the d-axis component of the counter electromotive force of the rotor is considered to be 0, the rotating speed of the asynchronous motor is very accurately determined based on the q-axis component of the counter electromotive force of the rotor, so that the abnormal conditions of over-current of the stator current of the frequency converter, overvoltage of the bus voltage at the direct current side and the like in the starting process can be effectively avoided. Because the rotation speed of the rotating asynchronous motor needs to be tracked based on the counter electromotive force of the rotor, current is firstly required to be introduced into the asynchronous motor which is rotating freely, so that the asynchronous motor can generate the counter electromotive force of the rotor, and then if the d-axis component of the counter electromotive force of the rotor of the asynchronous motor is detected to be 0, the rotation speed of the asynchronous motor can be accurately determined based on the q-axis component of the counter electromotive force of the rotor. Furthermore, in some occasions, the magnetic field orientation may not be accurate, so that the d-axis component of the rotor back electromotive force of the asynchronous motor is not 0, that is, an error exists at the moment, so that in order to ensure the accuracy of a result, the scheme of the application can calibrate, that is, feedback adjustment is performed on the d-axis component of the rotor back electromotive force until the d-axis component of the rotor back electromotive force is 0, which indicates that the rotating speed of the asynchronous motor can be accurately determined based on the q-axis component of the rotor back electromotive force at present. After the accurate rotating speed of the asynchronous motor is obtained, the accurate rotating speed can be used as the initial rotating speed of the asynchronous motor, and the asynchronous motor enters a normal running mode to realize the control of the asynchronous motor under normal working conditions. In addition, the scheme of the application is used, whether the motor rotates at a high speed or a low speed, and whether the motor rotates positively or negatively, the rotating speed of the asynchronous motor can be accurately determined, so that the scheme of the application is high in universality.
In summary, because the scheme of the application can accurately determine the rotating speed of the asynchronous motor, the abnormal conditions of overcurrent of the stator current of the frequency converter or overvoltage of the busbar voltage at the direct current side and the like in the starting process can be effectively avoided, and the scheme is not complex in flow, convenient to apply and high in universality.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an implementation of a belt speed starting method of an asynchronous motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a principle of injecting direct current into an asynchronous motor which is rotating freely by adopting rotor magnetic field directional control and adopting a double-current closed-loop regulation mode according to the embodiment of the invention;
fig. 3 is a schematic diagram of an anti- Γ equivalent circuit of an asynchronous motor according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a belt speed starting system of an asynchronous motor according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a belt speed starting device of an asynchronous motor according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a method for starting an asynchronous motor at a belt speed, which can accurately determine the rotating speed of the asynchronous motor, thereby effectively avoiding the abnormal conditions of over-current of a stator of a frequency converter or overvoltage of a bus voltage at a direct current side in the starting process, and the scheme has the advantages of uncomplicated flow, convenient application and strong universality.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart of an implementation of a belt speed starting method of an asynchronous motor according to an embodiment of the present invention, where the belt speed starting method of an asynchronous motor may include the following steps:
Step S101: current is supplied to the asynchronous motor that is rotating freely so that the asynchronous motor generates a rotor back emf.
Specifically, in the subsequent steps of the present application, it is necessary to detect the counter electromotive force of the rotor of the asynchronous motor, so that it is necessary to control the asynchronous motor to generate the counter electromotive force of the rotor, and since the rotor of the asynchronous motor is freely rotating at this time, it is possible to supply current to the asynchronous motor that is freely rotating, so that the asynchronous motor generates the counter electromotive force of the rotor.
The specific implementation mode of supplying current to the asynchronous motor which is rotating freely can be various, and the current can be set and adjusted according to actual needs. However, it should be noted that direct current is usually required to be fed instead of alternating current, which considers that if alternating current is fed, the current direction is continuously changed, so that the current control process is relatively complex, which is not beneficial to the subsequent guarantee of the stability of the generated counter electromotive force of the rotor, and even the abnormal conditions such as overcurrent of the stator current of the frequency converter or overvoltage of the bus voltage at the direct current side are easily caused directly. Therefore, in practical application, direct current can be supplied to the asynchronous motor which is freely rotating.
And when direct current is fed into the asynchronous motor which is freely rotating, a mode of feeding direct voltage or direct current can be selected, and implementation of the scheme can be guaranteed. Of course, in practical application, an embodiment of supplying direct current may be generally adopted, because when current is supplied to the asynchronous motor that is rotating freely, so that when the asynchronous motor generates the counter electromotive force of the rotor, the q-axis component of the stator current may be selectively controlled near 0, that is, the d-axis component of the counter electromotive force of the rotor may be near 0, so that feedback adjustment of the d-axis component of the counter electromotive force of the rotor is facilitated in the subsequent step, that is, if the d-axis component of the counter electromotive force of the rotor is near 0 when step S101 is executed, it is convenient to perform feedback adjustment in the subsequent operation of step S105. In order to control the q-axis component of the stator current to be around 0, a set dc current is applied.
Therefore, in one embodiment of the present invention, in order to be able to conveniently control the q-axis component of the stator current to be around 0, this may be achieved by passing a direct current, that is, in this one embodiment of the present invention, step S101 may specifically include:
And D, introducing direct current into the asynchronous motor which is rotating freely, so that the asynchronous motor generates rotor back electromotive force.
Of course, if the direct current voltage is selected, the purpose of controlling the q-axis component of the stator current to be near 0 can be achieved by converting the direct current voltage into the direct current and then controlling the direct current, without affecting the implementation of the present invention.
Further, as described above, when the direct current is supplied to the asynchronous motor that is rotating freely, the q-axis component of the stator current should be controlled to be near 0 as the control target, and thus, in one embodiment of the present invention, step S101 may specifically include:
the method comprises the steps of adopting rotor magnetic field directional control to an asynchronous motor which is rotating freely;
acquiring a preset rated no-load current value corresponding to an excitation current reference value;
acquiring a preset current value corresponding to a torque current reference value;
and performing closed-loop regulation of double currents of exciting current and torque current according to a preset rated no-load current value and a preset current value to supply direct current to the asynchronous motor which is rotating freely, so that the asynchronous motor generates rotor back electromotive force.
In this embodiment, it is considered that in order to control the q-axis component of the stator current to be around 0, rotor magnetic field orientation control is required so that the magnetic field orientation angle can be set around 0. In order to set the magnetic field orientation angle near 0, it is necessary to specifically set the excitation current reference value and the torque current reference value. In this regard, in this embodiment, the exciting current reference value is set to a rated idle current value, and the torque current reference value is set to a preset current value, and it is understood that the preset current value described herein should be a value equal to or close to 0, and then, by obtaining the rated idle current value as the exciting current reference value and the preset current value as the torque current reference value, the closed-loop adjustment of the double currents of the exciting current and the torque current is performed based on the preset rated idle current value and the preset current value.
That is, in this embodiment, the exciting current reference value is specifically set to the rated no-load current value, and the specific value of the rated no-load current value may be determined in advance, and may be generally specificallyψ r For rotor flux linkage amplitude, L m For the mutual inductance of the motor, i.e. excitation current reference value +. >Set to->
Since the q-axis component of the stator current needs to be controlled near 0, the preset current value corresponding to the obtained torque current reference value should be 1 value equal to or close to 0, and in a general scenario, the torque current reference value will be directly set to 0, that is, in this embodiment, the preset current value corresponding to the obtained torque current reference value is usually 0.
In this embodiment, a dual-current closed-loop regulation embodiment shown in fig. 2 is adopted, and fig. 2 is a schematic diagram of a principle of injecting direct current into an asynchronous motor which is rotating freely by adopting a rotor magnetic field directional control mode provided by the embodiment of the invention through the dual-current closed-loop regulation mode. The detected stator current is converted into a d-q coordinate system (rotational coordinate system) to obtain a d-axis component and a q-axis component of the stator current, and i is used sd Representing the d-axis component, i, of the stator current sq Representing the q-axis component of the stator current. For the d-axis component of the stator current, this embodiment is performed byFor control purposes, i.e.)>Target value +.>Or a reference value of the d-axis component called stator current +.>And it should be noted that the d-axis component of the stator current may also be referred to as the excitation current, thus,/- >May also be referred to as an excitation current reference value.
For the q-axis component of the stator current, 0 may be generally used as a control target, and 0 may be directly used as a target value of the q-axis component of the stator currentOr a reference value of the q-axis component called stator current +.>And it should be noted that the q-axis component of the stator current may also be referred to as torque current, thus,/->May also be referred to as a torque current reference. As described above, since 0 can be directly used as the torque current reference value, the preset current value corresponding to the obtained torque current reference value is typically 0.
According to the preset rated no-load current value and the preset current valueThe double-current closed-loop adjustment of the exciting current and the torque current can be performed, and the double-current PI closed-loop adjustment is specifically adopted in FIG. 2. In addition, the rotational speed tracking algorithm module in FIG. 2 outputsThe magnetic field orientation angle is shown, and in the driving control of the inverter, a modulation scheme of SVPWM (Space Vector Pulse Width Modulation ) is specifically adopted in fig. 2.
Step S102: the d-axis component and the q-axis component of the rotor back emf of the asynchronous motor are detected.
And (3) introducing current to the asynchronous motor which is freely rotating, so that after the asynchronous motor generates rotor back electromotive force, the d-axis component and the q-axis component of the rotor back electromotive force of the asynchronous motor can be detected.
Step S103: judging whether the d-axis component of the counter electromotive force of the rotor is 0 or not; if yes, the operation of step S104 is performed, and if no, the operation of step S105 is performed.
Step S104: the speed of the asynchronous motor is determined based on the q-axis component of the back emf of the rotor.
Step S105: and carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor.
Specifically, after the d-axis component of the counter electromotive force of the rotor of the asynchronous motor is detected, it may be determined whether the d-axis component of the counter electromotive force of the rotor is 0, and if the d-axis component of the counter electromotive force of the rotor is 0, it indicates that the rotation speed of the asynchronous motor may be accurately determined directly based on the q-axis component of the current counter electromotive force of the rotor, that is, the operation of step S103 may be directly performed.
In practice, furthermore, if a direct current is applied to the asynchronous motor which is rotating freely so that the asynchronous motor generates a rotor back emf, and the excitation current reference value is as described in the above embodimentsAnd torque current reference->Are respectively set as->The preset rated no-load current value corresponding to 0, namely the exciting current reference value is specifically The d-axis component of the detected rotor back electromotive force of the asynchronous motor is usually 0 or a value close to 0, so that only small-amplitude calibration is usually needed.
After the d-axis component of the counter electromotive force of the rotor of the asynchronous motor is detected, if the d-axis component of the counter electromotive force of the rotor is judged to be not 0, the error exists at the moment, so that the scheme of the application can calibrate in order to ensure the accuracy of the result, namely, the d-axis component of the counter electromotive force of the rotor can be subjected to feedback adjustment at the moment, and the rotating speed of the asynchronous motor can be accurately determined based on the q-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0.
In a specific embodiment of the present invention, the operation of determining the rotation speed of the asynchronous motor based on the q-axis component of the back electromotive force of the rotor described above may specifically include:
step one: determining the stator angular frequency according to the q-axis component of the counter electromotive force of the rotor and the rotor flux linkage amplitude;
step two: and determining the rotating speed of the asynchronous motor according to the angular frequency of the stator.
In this embodiment, when the d-axis component of the counter electromotive force of the rotor is 0, the association relationship between the q-axis component of the counter electromotive force of the rotor and the rotor flux linkage amplitude and the stator angular frequency can be determined, that is, the stator angular frequency can be determined according to the q-axis component of the counter electromotive force of the rotor and the rotor flux linkage amplitude, and the determined stator angular frequency can be ensured to be more accurate. And because the corresponding relation exists between the stator angular frequency and the rotating speed of the asynchronous motor, the rotating speed of the asynchronous motor can be determined according to the stator angular frequency after the stator angular frequency is determined.
Further, in an embodiment of the present invention, the step one may specifically include:
determining a rotor back electromotive force equation before simplification, and obtaining a simplified rotor back electromotive force equation after neglecting a differential term in the rotor back electromotive force equation;
determining the stator angular frequency according to the q-axis component of the rotor back electromotive force and the rotor flux linkage amplitude in the simplified rotor back electromotive force equation;
wherein, the rotor back electromotive force equation before simplification is expressed as:
after ignoring the derivative term, the simplified rotor back emf equation is expressed as:
when the d-axis component of the back emf of the rotor is equal to 0, ψ rq =0, and the rotor back emf equation satisfies:
wherein e rd Is the d-axis component of the back electromotive force of the rotor, e rq As q-axis component of back electromotive force of rotor, u sd As the d-axis component of the stator voltage, u sq R is the q-axis component of the stator voltage s Is the stator resistance, i sd I is the d-axis component of the stator current sq L is the q-axis component of the stator current σ As leakage inductance coefficient, ψ rd Is the d-axis component of the rotor flux linkage amplitude, ψ rq Is the q-axis component of the rotor flux linkage amplitude.
In particular, this embodiment considers that the correlation between the q-axis component of the rotor back emf and the rotor flux amplitude, and the stator angular frequency, can be accurately reflected in the rotor back emf equation, so that the rotor back emf equation before simplification is determined in this embodiment,
After the rotor back electromotive force equation before simplification is determined, the calculated amount of directly solving the equation is considered to be large, so that under the condition that the accuracy influence is small, in the embodiment, simplification in the rotor back electromotive force equation is performed, namely, the simplified rotor back electromotive force equation is obtained after the differential term in the rotor back electromotive force equation is ignored.
After simplifying the rotor back EMF equation, when the condition that the d-axis component of the rotor back EMF is equal to 0 is brought into the simplified rotor back EMF equation, the determination can be made by the simplificationIt can also be seen that when the d-axis component of the back emf of the rotor is equal to 0, due to ψ rq =0, thus can be directly based on +.>Determining ω by calculation means of (2) s And further determines that the position corresponds to omega s The rotating speed of the asynchronous motor is very simple and convenient in calculation. Wherein omega s For stator angular frequency e rq Is the q-axis component of the back EMF of the rotor, ψ r Is the rotor flux linkage amplitude.
Specifically, referring to fig. 3, a schematic diagram of an anti- Γ equivalent circuit of an asynchronous motor according to an embodiment of the present invention may determine a dynamic equivalent mathematical model of the motor, which is expressed as:l in the formula σ As leakage inductance coefficient, R s For stator resistance u s I is the stator voltage vector s Is stator current, ψ r For rotor magnetChain amplitude, e r For the back emf of the rotor, J is the rotation matrix. Furthermore R in FIG. 3 R For rotor resistance, omega r Is the rotor frequency.
From the following componentsThe rotor back emf equation, i.e., the rotor back emf equation before simplification, can be determined as: />Wherein e is rd Is the d-axis component of the back electromotive force of the rotor, e rq As q-axis component of back electromotive force of rotor, u sd As the d-axis component of the stator voltage, u sq R is the q-axis component of the stator voltage s Is the stator resistance, i sd I is the d-axis component of the stator current sq L is the q-axis component of the stator current σ As leakage inductance coefficient, ψ rd Is the d-axis component of the rotor flux, ψ rq For the q-axis component, ω, of the rotor flux linkage s Is the stator angular frequency.
It should also be noted that the present application considers that the dynamic response speed of the stator current is greater than the dynamic response speed of the back emf of the rotor, so the stator current differentiation term in the above equation can be ignored without generating excessive errors. Thus, after ignoring the derivative term, the resulting simplified rotor back emf equation can be expressed as:and because when the d-axis component of the back electromotive force of the rotor is equal to 0, ψ is rq =0, the rotor back emf equation can be satisfied:
in particular, when rotor magnetic field orientation control is adopted, a theoretical psi should be adopted rd ＝ψ r And psi is rq =0, i.e. so that the d-axis component e of the back emf of the rotor rd 0, at this time based onCan determine +.>Due to the angular frequency omega of the stator s The corresponding relation with the rotating speed of the asynchronous motor can be determined, so that the accurate rotating speed of the asynchronous motor can be obtained.
In some cases, the magnetic field orientation may be inaccurate, resulting in a q-axis rotor flux linkage that is not equal to 0, and thus the d-axis component e of the back EMF of the rotor rd At this point, if the value is not 0, in the solution of the present application, feedback adjustment is needed to implement error correction, for example, in a specific embodiment of the present invention, feedback adjustment is performed on the d-axis component of the counter electromotive force of the rotor as described in step S105, which may specifically include
After the proportional coefficient and the integral coefficient of the PI feedback control are preset, based on the PI feedback control mode, taking the d-axis component of the counter electromotive force of the rotor as 0 as an adjusting target of the PI feedback control, taking the actual value of the d-axis component of the counter electromotive force of the rotor as the feedback quantity of the PI feedback control, and carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor.
In this embodiment, specifically, a PI feedback control manner is adopted to perform feedback adjustment on the d-axis component of the counter electromotive force of the rotor, so that the d-axis component of the counter electromotive force of the rotor gradually becomes 0. In this embodiment, when the control of the frequency converter is performed, since the framework of PI feedback control is relatively easy to implement, and the typical frequency converter has a ready architecture, the d-axis component of the counter electromotive force of the rotor can be implemented to perform feedback adjustment according to the framework, for example, in an actual situation, PI feedback control of the counter electromotive force of the rotor can be implemented based on the framework of fig. 2, and this process can be expressed as:omega here s ' represents the angular frequency, k, of the stator after PI feedback control p And k i Respectively in such an embodimentThe proportional coefficient and the integral coefficient of PI feedback control are the adjustment target of PI feedback control, wherein the d-axis component of the counter electromotive force of the rotor is 0, the actual value of the d-axis component of the counter electromotive force of the rotor is used as the feedback quantity of PI feedback control, and the d-axis component of the counter electromotive force of the rotor is feedback-adjusted.
Step S105: and taking the determined rotating speed of the asynchronous motor as an initial rotating speed, and controlling the asynchronous motor based on a normal operation mode.
Based on the steps of the method, the accurate rotating speed of the asynchronous motor can be obtained, namely, the scheme of the method can realize accurate rotating speed tracking of the asynchronous motor, and then the normal operation mode can be entered. When entering the normal running mode, the current determined rotating speed of the asynchronous motor is required to be used as an initial rotating speed, so that the control of the asynchronous motor in the normal running mode is realized. It can be understood that, before entering the normal operation mode, that is, in the process of executing the steps S101 to S104, the method can be in a rotation speed tracking mode, and when accurate rotation speed tracking of the asynchronous motor can be achieved, the determined rotation speed of the asynchronous motor can be used as an initial rotation speed, so that the normal operation mode is entered.
In one embodiment of the present invention, the method may further include: setting a torque command as a first command so that an error between a stator angular frequency of the asynchronous motor and a rotor angular frequency of the asynchronous motor is within a preset error range.
Such an embodiment further allows for, in order to ensure reliable execution of the solution of the present application, and by means of the stator angular frequency ω s The rotational speed of the asynchronous motor can be conveniently obtained, and the torque can be kept at 0 or a value close to 0 before entering the normal operation mode, namely in the rotational speed tracking mode. Thus, the torque command may be set to a first command, for example, the first command is specifically 0 or a value near 0, so that the torque is kept around 0. When the torque is kept around 0, the error between the stator angular frequency of the asynchronous motor and the rotor angular frequency of the asynchronous motor can be considered to be within a preset error range, i.e. can be based on the stator angular frequency omega s And accurately and effectively determining the rotating speed of the asynchronous motor. Of course, in practical application, the torque command may be directly set to 0 so that the slip ω sl ＝ω s -ω r ＝0，ω r For rotor frequency omega sl The slip frequency may also be referred to as motor slip frequency. It can be seen that by letting ω sl Kept at 0 so that the stator angular frequency ω calculated in the present application s The rotational speed of the asynchronous motor.
In a simulation scene, an experimental motor is dragged to a certain rotating speed, then the frequency converter is blocked to be in a free rotating state after being output, at the moment, the rotating speed tracking is realized according to the scheme of the application, the actual rotating speed of the current motor can be accurately obtained, and then the rotating speed of the motor is taken as an initial speed and is put into a normal vector control operation mode. It can be determined by simulation that no excessive current surge or voltage surge is generated regardless of whether the motor is at the forward high speed, the forward low speed, the reverse high speed, or the reverse low speed.
By applying the technical scheme provided by the embodiment of the invention, the starting of the rotating motor can be rapidly and effectively realized, and particularly the belt speed starting of the asynchronous motor is realized. In the scheme of the application, when the d-axis component of the counter electromotive force of the rotor is considered to be 0, the rotating speed of the asynchronous motor is very accurately determined based on the q-axis component of the counter electromotive force of the rotor, so that the abnormal conditions of over-current of the stator current of the frequency converter, overvoltage of the bus voltage at the direct current side and the like in the starting process can be effectively avoided. Because the rotation speed of the rotating asynchronous motor needs to be tracked based on the counter electromotive force of the rotor, current is firstly required to be introduced into the asynchronous motor which is rotating freely, so that the asynchronous motor can generate the counter electromotive force of the rotor, and then if the d-axis component of the counter electromotive force of the rotor of the asynchronous motor is detected to be 0, the rotation speed of the asynchronous motor can be accurately determined based on the q-axis component of the counter electromotive force of the rotor. Furthermore, in some occasions, the magnetic field orientation may not be accurate, so that the d-axis component of the rotor back electromotive force of the asynchronous motor is not 0, that is, an error exists at the moment, so that in order to ensure the accuracy of a result, the scheme of the application can calibrate, that is, feedback adjustment is performed on the d-axis component of the rotor back electromotive force until the d-axis component of the rotor back electromotive force is 0, which indicates that the rotating speed of the asynchronous motor can be accurately determined based on the q-axis component of the rotor back electromotive force at present. After the accurate rotating speed of the asynchronous motor is obtained, the accurate rotating speed can be used as the initial rotating speed of the asynchronous motor, and the asynchronous motor enters a normal running mode to realize the control of the asynchronous motor under normal working conditions. In addition, the scheme of the application is used, whether the motor rotates at a high speed or a low speed, and whether the motor rotates positively or negatively, the rotating speed of the asynchronous motor can be accurately determined, so that the scheme of the application is high in universality.
In summary, because the scheme of the application can accurately determine the rotating speed of the asynchronous motor, the abnormal conditions of overcurrent of the stator current of the frequency converter or overvoltage of the busbar voltage at the direct current side and the like in the starting process can be effectively avoided, and the scheme is not complex in flow, convenient to apply and high in universality.
Corresponding to the above method embodiment, the embodiment of the invention also provides a belt speed starting system of an asynchronous motor, which can be correspondingly referred to above.
Referring to fig. 4, a schematic structural diagram of a belt speed starting system of an asynchronous motor according to an embodiment of the present invention includes:
a current input module 401 for supplying current to the asynchronous motor which is rotating freely so that the asynchronous motor generates a rotor back electromotive force;
a rotor back electromotive force detection module 402, configured to detect a d-axis component and a q-axis component of a rotor back electromotive force of an asynchronous motor;
a judging module 403, configured to judge whether the d-axis component of the counter electromotive force of the rotor is 0;
if yes, triggering a first executing module 404, wherein the first executing module 404 is used for determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
if not, triggering a second execution module 405, wherein the second execution module 405 is used for performing feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
And the normal operation module 406 is configured to take the determined rotation speed of the asynchronous motor as an initial rotation speed, and perform control of the asynchronous motor based on a normal operation mode.
In one embodiment of the present invention, the current input module 401 is specifically configured to:
and D, introducing direct current into the asynchronous motor which is rotating freely, so that the asynchronous motor generates rotor back electromotive force.
In one embodiment of the present invention, the current input module 401 includes:
a rotor magnetic field orientation control unit for adopting rotor magnetic field orientation control for the asynchronous motor which is rotating freely;
the rated no-load current value acquisition unit is used for acquiring a preset rated no-load current value corresponding to the exciting current reference value;
a preset current value obtaining unit, configured to obtain a preset current value corresponding to the torque current reference value;
and the double-current closed-loop adjusting unit is used for carrying out closed-loop adjustment on double currents of exciting current and torque current according to a preset rated no-load current value and a preset current value so as to supply direct current to the asynchronous motor which is rotating freely, so that the asynchronous motor generates rotor back electromotive force.
In a specific embodiment of the present invention, the torque setting module is further configured to:
Before entering a normal operation mode, setting a torque command as a first command so that an error between a stator angular frequency of the asynchronous motor and a rotor angular frequency of the asynchronous motor is within a preset error range.
In one embodiment of the present invention, the first execution module 404 includes:
the stator angular frequency determining unit is used for determining the stator angular frequency according to the q-axis component of the counter electromotive force of the rotor and the amplitude of the flux linkage of the rotor;
and the asynchronous motor rotating speed determining unit is used for determining the rotating speed of the asynchronous motor according to the stator angular frequency.
In one embodiment of the present invention, the stator angular frequency determining unit is specifically configured to:
determining a rotor back electromotive force equation before simplification, and obtaining a simplified rotor back electromotive force equation after neglecting a differential term in the rotor back electromotive force equation;
determining the stator angular frequency according to the q-axis component of the rotor back electromotive force and the rotor flux linkage amplitude in the simplified rotor back electromotive force equation;
wherein, the rotor back electromotive force equation before simplification is expressed as:
after ignoring the derivative term, the simplified rotor back emf equation is expressed as:
when the d-axis component of the back emf of the rotor is equal to 0, ψ rq =0, and the rotor back emf equation satisfies:
wherein e rd Is the d-axis component of the back electromotive force of the rotor, e rq As q-axis component of back electromotive force of rotor, u sd As the d-axis component of the stator voltage, u sq R is the q-axis component of the stator voltage s Is the stator resistance, i sd I is the d-axis component of the stator current sq L is the q-axis component of the stator current σ As leakage inductance coefficient, ψ rd Is the d-axis component of the rotor flux linkage amplitude, ψ rq Is the q-axis component, ω, of the rotor flux linkage amplitude s Is the stator angular frequency.
In one embodiment of the present invention, the second execution module 405 performs feedback adjustment on the d-axis component of the back emf of the rotor, specifically for:
after the proportional coefficient and the integral coefficient of the PI feedback control are preset, based on the PI feedback control mode, taking the d-axis component of the counter electromotive force of the rotor as 0 as an adjusting target of the PI feedback control, taking the actual value of the d-axis component of the counter electromotive force of the rotor as the feedback quantity of the PI feedback control, and carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor.
Corresponding to the above method and system embodiments, the embodiments of the present invention also provide a belt speed starting apparatus for an asynchronous motor and a computer readable storage medium, which can be referred to in correspondence with the above.
Referring to fig. 5, a schematic structural diagram of a belt speed starting device of an asynchronous motor according to an embodiment of the present invention includes:
a memory 501 for storing a computer program;
a processor 502 for executing a computer program to implement the steps of the method for starting up an asynchronous motor with a speed as in any of the embodiments described above.
The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the belt speed starting method of an asynchronous motor as in any of the embodiments described above. The computer readable storage medium as described herein includes Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It should also be noted that in this application relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element. Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of function in order to clearly illustrate the interchangeability of hardware and software. 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 invention.
The principles and embodiments of the present invention are described in this application by applying specific examples, and the description of the above examples is only for helping to understand the technical solution of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that the present invention may be modified and practiced without departing from the spirit of the present invention.

Claims (10)

1. A belt speed starting method of an asynchronous motor, comprising:
current is introduced into the asynchronous motor which is rotating freely so that the asynchronous motor generates rotor back electromotive force;
detecting d-axis component and q-axis component of rotor back electromotive force of the asynchronous motor;
judging whether the d-axis component of the counter electromotive force of the rotor is 0;
if so, determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
if not, carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
and taking the determined rotating speed of the asynchronous motor as an initial rotating speed, and controlling the asynchronous motor based on a normal running mode.
2. A method of starting an asynchronous motor with a speed according to claim 1, wherein said supplying current to the asynchronous motor being rotated freely so that said asynchronous motor generates a rotor back emf comprises:
and (3) introducing direct current to the asynchronous motor which is rotating freely so that the asynchronous motor generates rotor back electromotive force.
3. The method for starting an asynchronous motor with a speed according to claim 2, wherein the supplying a direct current to the asynchronous motor which is rotating freely so that the asynchronous motor generates a counter electromotive force of a rotor comprises:
the method comprises the steps of adopting rotor magnetic field directional control to an asynchronous motor which is rotating freely;
acquiring a preset rated no-load current value corresponding to an excitation current reference value;
acquiring a preset current value corresponding to a torque current reference value;
and performing closed-loop regulation of double currents of exciting current and torque current according to the preset rated no-load current value and the preset current value so as to supply direct current to the asynchronous motor which is rotating freely, so that the asynchronous motor generates rotor back electromotive force.
4. The belt speed starting method of an asynchronous motor according to claim 1, further comprising:
Before entering a normal operation mode, setting a torque command as a first command so that an error between a stator angular frequency of the asynchronous motor and a rotor angular frequency of the asynchronous motor is within a preset error range.
5. A belt speed starting method of an asynchronous motor according to any one of claims 1 to 4, characterized in that the determination of the rotational speed of the asynchronous motor based on the q-axis component of the rotor back emf comprises:
determining the stator angular frequency according to the q-axis component of the counter electromotive force of the rotor and the rotor flux linkage amplitude;
and determining the rotating speed of the asynchronous motor according to the stator angular frequency.
6. The method of claim 5, wherein determining the stator angular frequency based on the q-axis component of the back emf of the rotor and the magnitude of the flux linkage of the rotor comprises:
determining a rotor back electromotive force equation before simplification, and obtaining a simplified rotor back electromotive force equation after neglecting a differential term in the rotor back electromotive force equation;
determining the stator angular frequency according to the q-axis component of the rotor back electromotive force and the rotor flux linkage amplitude in the simplified rotor back electromotive force equation;
Wherein, the rotor back electromotive force equation before simplification is expressed as:
after ignoring the derivative term, the simplified rotor back emf equation is expressed as:
when the d-axis component of the back emf of the rotor is equal to 0, ψ rq =0, and the rotor back emf equation satisfies:
wherein e rd E being the d-axis component of the back emf of the rotor rq For the q-axis component of the back EMF of the rotor, u sd As the d-axis component of the stator voltage, u sq R is the q-axis component of the stator voltage s Is the stator resistance, i sd I is the d-axis component of the stator current sq L is the q-axis component of the stator current σ As leakage inductance coefficient, ψ rd Is the d-axis component of the rotor flux linkage amplitude, ψ rq Is the q-axis component, ω, of the rotor flux linkage amplitude s Is the stator angular frequency.
7. A belt speed starting method of an asynchronous motor according to any one of claims 1 to 4, wherein the feedback adjustment of the d-axis component of the rotor back emf comprises
After the proportional coefficient and the integral coefficient of the PI feedback control are preset, based on the PI feedback control mode, taking the d-axis component of the counter electromotive force of the rotor as 0 as an adjusting target of the PI feedback control, taking the actual value of the d-axis component of the counter electromotive force of the rotor as the feedback quantity of the PI feedback control, and carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor.
8. A belt speed starting system for an asynchronous motor, comprising:
the current input module is used for introducing current to the asynchronous motor which is rotating freely so as to enable the asynchronous motor to generate rotor back electromotive force;
the rotor counter electromotive force detection module is used for detecting a d-axis component and a q-axis component of rotor counter electromotive force of the asynchronous motor;
the judging module is used for judging whether the d-axis component of the counter electromotive force of the rotor is 0;
if yes, triggering a first execution module, wherein the first execution module is used for determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
if not, triggering a second execution module, wherein the second execution module is used for carrying out feedback adjustment on the d-axis component of the counter electromotive force of the rotor until the d-axis component of the counter electromotive force of the rotor is 0, and determining the rotating speed of the asynchronous motor based on the q-axis component of the counter electromotive force of the rotor;
and the normal operation module is used for taking the determined rotating speed of the asynchronous motor as an initial rotating speed and controlling the asynchronous motor based on a normal operation mode.
9. A belt speed starting apparatus of an asynchronous motor, comprising:
A memory for storing a computer program;
a processor for executing the computer program to carry out the steps of the method for starting an asynchronous motor with speed according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the belt speed starting method of an asynchronous motor according to any of claims 1 to 7.
CN202311247525.0A 2023-09-25 2023-09-25 Belt speed starting method, system, equipment and storage medium of asynchronous motor Pending CN117318572A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311247525.0A CN117318572A (en) 2023-09-25 2023-09-25 Belt speed starting method, system, equipment and storage medium of asynchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311247525.0A CN117318572A (en) 2023-09-25 2023-09-25 Belt speed starting method, system, equipment and storage medium of asynchronous motor

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CN117318572A true CN117318572A (en) 2023-12-29

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