CN117335710A - Variable frequency starting control method and system suitable for synchronous motor with large initial resistance moment - Google Patents

Variable frequency starting control method and system suitable for synchronous motor with large initial resistance moment Download PDF

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Publication number
CN117335710A
CN117335710A CN202311254441.XA CN202311254441A CN117335710A CN 117335710 A CN117335710 A CN 117335710A CN 202311254441 A CN202311254441 A CN 202311254441A CN 117335710 A CN117335710 A CN 117335710A
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CN
China
Prior art keywords
rotor
synchronous motor
stator
position angle
starting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311254441.XA
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Chinese (zh)
Inventor
胡静
原晓琦
简优宗
王小红
滕贤亮
杨合民
王新春
王国雨
袁亚洲
张寅�
吴彦飞
徐伟
吉同军
郭海山
霍峙昕
邸卉芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nari Technology Co Ltd
NARI Nanjing Control System Co Ltd
Original Assignee
Nari Technology Co Ltd
NARI Nanjing Control System Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nari Technology Co Ltd, NARI Nanjing Control System Co Ltd filed Critical Nari Technology Co Ltd
Priority to CN202311254441.XA priority Critical patent/CN117335710A/en
Publication of CN117335710A publication Critical patent/CN117335710A/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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • 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
    • H02P6/20—Arrangements for starting

Abstract

The invention provides a variable frequency starting control method and a variable frequency starting control system suitable for a large initial resistance moment synchronous motor.

Description

Variable frequency starting control method and system suitable for synchronous motor with large initial resistance moment
Technical Field
The invention relates to the field of synchronous motor control, in particular to a control method and a control system suitable for variable frequency starting of a synchronous motor with large initial resistance moment.
Background
The synchronous motor is an ac motor that generates torque by interaction between an exciting magnetic field supplied with dc and a rotating magnetic field of an armature, and rotates at a synchronous rotational speed. Compared with the direct current motor with the same capacity, the motor has the advantages of small volume, high efficiency, small moment of inertia, easy maintenance and the like; compared with an asynchronous motor, the motor has the advantages of large air gap between a stator and a rotor, good control performance, high power factor and the like, and is widely applied to the fields of camera adjustment, pumping storage, combustion engines and the like.
When the synchronous motor is applied to the distributed camera, as the unit does not have a top shaft oil system, the lubricating oil between the large rotor shaft and the bearing bush cannot form a uniform oil film, so that the friction force is larger during rotation; when the synchronous motor is applied to the fields of pumping and storage and water pumps, the situation that the synchronous motor needs to be started with water during initial starting often occurs, and the starting resistance moment is larger; all of the above results in a failure of the synchronous motor to start using conventional control methods.
Disclosure of Invention
The invention aims to: the invention aims to provide a control method and a control system suitable for variable frequency starting of a synchronous motor with large initial resistance moment.
The technical scheme is as follows: a control method suitable for variable frequency starting of a synchronous motor with large initial resistance moment comprises the following steps:
s1, under the static state of the synchronous motor, calculating an initial position angle of a rotor by utilizing three-phase induced electromotive force of a stator;
s2, according to the initial position angle of the rotor, corresponding two phases of currents are communicated to the stator, so that the rotor obtains maximum torque, and initial starting is carried out;
s3, after initial starting, starting the rotor to rotate, and starting the synchronous motor at a low frequency through open loop control;
and S4, when the rotating speed of the rotor exceeds a set value, the synchronous motor is changed from open-loop control to closed-loop control, and grid connection of the synchronous motor is completed.
Specifically, the step S1 specifically includes the following substeps:
s101, stator current is 0 in a static state, three-phase stator line voltage obtained by sampling is equal to induced electromotive force, and the three-phase stator line voltage is converted into voltage in a static coordinate system after CLARK conversion
Wherein: u (U) U 、U V 、U W Respectively three-phase stator line voltages, U α 、U β Is the voltage in the stationary coordinate system;
s102, integrating the voltages in the static coordinate system to obtain the flux linkage in the static coordinate system
Wherein:is a flux linkage in a static coordinate system; dt is the derivative of time;
s103, obtaining initial position angle of rotor through arctangent solving
Wherein: θ 0 Is the rotor initial position angle.
Specifically, in the step S2, the method for obtaining the maximum torque of the rotor is as follows: the torque is directly proportional to the magnetomotive force of the stator, the magnetomotive force of the rotor and the sine value of the included angle between the magnetomotive force and the magnetomotive force, the maximum torque is obtained when the included angle is 90 degrees, the direction of the magnetomotive force of the rotor is unchanged in the static state, and the two phases of the stator needing to be fed with current are determined according to the initial position angle of the rotor
Wherein: t is torque, K is a constant value, F S For stator magnetomotive force F r For the magnetomotive force of the rotor,is F S And F is equal to r Included angle between them is theoretically->At right angles, the torque tmax.
Specifically, in the step S3, the open loop control specifically includes selecting two phases of the stator requiring current to be introduced according to the real-time position angle of the rotor, and calculating the estimated position angle of the rotor as follows
Wherein: θ is the estimated position angle of the rotor, T e Is the dynamic moment of the low-frequency stage, T L The moment of resistance in the low frequency phase is J, the moment of inertia of the rotor, and t, the pulse duration.
Specifically, in the step S4, the closed-loop control is that the synchronous motor is connected to the grid after reaching the set rotation speed, and the synchronous motor is controlled according to the set value of the unit.
A variable frequency start control system for a high initial drag torque synchronous motor, the system comprising:
the rotor initial position angle calculation module is used for calculating the rotor initial position angle by utilizing the three-phase induced electromotive force of the stator in a static state;
the initial starting module is used for introducing current to the corresponding two phases of the stator so as to enable the rotor to obtain maximum torque and perform initial starting;
the low-frequency starting module is used for starting the synchronous motor in an open-loop control mode at a low frequency after the rotor rotates;
and the closed-loop control module is used for converting the open-loop control of the synchronous motor into closed-loop control when the rotating speed of the unit exceeds a set value.
Specifically, the rotor initial position angle calculation module includes:
the voltage conversion module is used for converting the sampled three-phase stator line voltage into voltage under a static coordinate system;
the voltage integration module is used for integrating the voltages under the static coordinate system to obtain the flux linkage value under the static coordinate system;
and the arctangent solving module is used for processing the flux linkage value to solve the initial position angle of the rotor.
Specifically, the initial starting module calculates two phases corresponding to the stator, wherein the included angle between the magnetomotive force of the rotor and the magnetomotive force of the stator is closest to a right angle, according to the initial position angle of the rotor.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the control method for variable frequency starting of a synchronous motor with a large initial resistance moment when executing the computer program.
A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the control method for variable frequency starting of a synchronous motor adapted to a large initial resistance moment.
The beneficial effects are that: compared with the prior art, the invention has the remarkable effects that: the control method and the system solve the problem of difficult starting of the synchronous motor under the use condition of large initial resistance moment, and improve the success rate of starting.
Drawings
FIG. 1 is a flow chart of a variable frequency start control method of the present invention.
FIG. 2 is a graph of torque, drag torque, rotor position versus time for the start-up phase of an embodiment of the present invention.
Detailed Description
The invention is further elucidated below in connection with the drawings and the detailed description.
Referring to fig. 1, the present embodiment provides a control method for variable frequency starting of a synchronous motor with large initial resistance moment, which includes the following steps:
s1, under the static state of the synchronous motor, calculating an initial position angle of a rotor by utilizing three-phase induced electromotive force of a stator;
s2, according to the initial position angle of the rotor, corresponding two phases of currents are communicated to the stator, so that the rotor obtains maximum torque, and initial starting is carried out;
s3, after initial starting, starting the rotor to rotate, and starting the synchronous motor at a low frequency through open loop control;
and S4, when the rotating speed of the rotor exceeds a set value, the synchronous motor is changed from open-loop control to closed-loop control, and grid connection of the synchronous motor is completed.
The step S1 specifically comprises the following substeps:
s101, stator current is 0 in a static state, three-phase stator line voltage obtained by sampling is equal to induced electromotive force, and the three-phase stator line voltage is converted into voltage in a static coordinate system after CLARK conversion
Wherein: u (U) U 、U V 、U W Respectively three-phase stator line voltages, obtained directly by measurement, U α 、U β Is the voltage in the stationary coordinate system;
s102, integrating the voltages in the static coordinate system to obtain the flux linkage in the static coordinate system
Wherein:is a flux linkage in a static coordinate system;
s103, obtaining initial position angle of rotor through arctangent solving
Wherein: θ 0 Is the rotor initial position angle.
In the step S2, the method for obtaining the maximum torque of the stator is as follows: according to the unified theory of electromechanics, the rotating motor can generate torque as long as the magnetomotive force of the stator and the rotor is relatively static in space and has a certain included angle. As shown in the following formula, the torque is proportional to the values of the magnetomotive force and the sine of the included angle, and obviously, the maximum torque is obtained when the included angle is 90 degrees, but in practice, the change of the magnetomotive force direction of the stator is not smoothly changed, so that the two phases of the stator end with the included angle closest to 90 degrees are selected to be introduced with current; the magnetomotive force direction of the rotor is unchanged in a static state, and two phases of the stator needing to be electrified can be determined according to the initial position angle of the rotor
Wherein: t is torque, K is a constant value, F S For stator magnetomotive force F r For the magnetomotive force of the rotor,is F S And F is equal to r An included angle between the two.
In the step S3, the open loop control is specifically to select two phases of the stator requiring current to be introduced according to the real-time position angle of the rotor, and the estimated position angle of the rotor is calculated as follows
Wherein: θ is the estimated position angle of the rotor, T e Is low-frequency dynamic moment, T L The moment of resistance at low frequency, J is the moment of inertia of the rotor, and t is the pulse duration.
In the step S4, the closed-loop control is that the synchronous motor is connected to the grid after reaching the set rotation speed, and the synchronous motor is controlled according to the set value of the unit.
The large initial provided according to the above embodimentVariable frequency starting control method of resistance moment synchronous motor, wherein the working parameters required to be clear have power moment T 'in initial starting stage' e And a resistance moment T' L Moment T of power at low frequency start-up phase e And resistance moment T L Initial start-up duration t' 1 Moment of inertia J, rotor initial position θ 0 。
Of the above parameters, the resistance moment T 'at the initial start-up stage' L Moment T of power at low frequency start-up phase e And resistance moment T L The rotational inertia J is obtained by unit parameters provided by manufacturers; rotor initial position theta 0 The measurement and calculation in the method are applied; moment T 'of initial start-up phase' e Initial start-up duration t' 1 Further analytical determinations are required.
Referring to fig. 2, in order to prevent the start-up effect from being affected by the fact that the initial resistance moment is large, the acceleration moment in the initial start-up stage should be consistent with the acceleration moment in the low-frequency start-up stage (i.e. the difference between the acceleration moment and the resistance moment), namely:
T′ e -T′ L ＝T e -T L
from this, the power moment T 'of the initial start-up phase is determined' e 。
And for an initial start-up duration t' 1 Ideally should be equal to the first set of pulse durations t 1 However, in actual operation, since an oil film is formed on the rotor shaft contact surface after the synchronous motor rotates, the static friction resistance is larger than the dynamic friction resistance after the synchronous motor rotates during starting, and therefore the synchronous motor rest time and the synchronous motor rotation time exist in the first group of pulse duration, and the initial starting duration t' 1 In fact slightly smaller than the first set of pulse durations t 1 The rest time is obtained by measurement, so as to obtain the initial starting duration t' 1 。
Referring to FIG. 2, a first set of pulse durations t 1 At a theoretical rotor position of θ, the actual initial start-up duration is t' 1 The actual rotor position is θ'.
In addition, the embodiment also provides a variable frequency starting control system suitable for the large initial resistance moment synchronous motor, which comprises:
1. the rotor initial position angle calculation module is used for calculating the rotor initial position angle by utilizing the three-phase induced electromotive force of the stator in a static state;
2. the initial starting module is used for introducing current to the corresponding two phases of the stator so as to enable the rotor to obtain maximum torque and perform initial starting;
3. the low-frequency starting module is used for starting the synchronous motor in an open-loop control mode at a low frequency after the rotor rotates;
4. and the closed-loop control module is used for converting the open-loop control of the synchronous motor into closed-loop control when the rotating speed of the unit exceeds a set value.
Specifically, the rotor initial position angle calculation module includes:
the voltage conversion module is used for converting the sampled three-phase stator line voltage into voltage under a static coordinate system;
the voltage integration module is used for integrating the voltages under the static coordinate system to obtain the flux linkage value under the static coordinate system;
and the arctangent solving module is used for processing the flux linkage value to solve the initial position angle of the rotor.
Specifically, the initial starting module calculates two phases corresponding to the stator, wherein the included angle between the magnetomotive force of the rotor and the magnetomotive force of the stator is closest to a right angle, according to the initial position angle of the rotor.
The embodiment also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor realizes the steps of the control method suitable for the variable frequency starting of the synchronous motor with large initial resistance moment when executing the computer program.
The present embodiment also provides a computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the above-described control method for variable frequency starting of a synchronous motor with a large initial resistance torque.

Claims (10)

1. The control method suitable for the variable frequency starting of the synchronous motor with large initial resistance moment is characterized by comprising the following steps of:
s1, under the static state of the synchronous motor, calculating an initial position angle of a rotor by utilizing three-phase induced electromotive force of a stator;
s2, according to the initial position angle of the rotor, corresponding two phases of currents are communicated to the stator, so that the rotor obtains maximum torque, and initial starting is carried out;
s3, after initial starting, starting the rotor to rotate, and starting the synchronous motor at a low frequency through open loop control;
and S4, when the rotating speed of the rotor exceeds a set value, the synchronous motor is changed from open-loop control to closed-loop control, and grid connection of the synchronous motor is completed.
2. The control method according to claim 1, characterized in that: the step S1 specifically comprises the following substeps:
s101, stator current is 0 in a static state, three-phase stator line voltage obtained by sampling is equal to induced electromotive force, and the three-phase stator line voltage is converted into voltage in a static coordinate system after CLARK conversion
Wherein: u (U) U 、U V 、U W Respectively three-phase stator line voltages, U α 、U β Is the voltage in the stationary coordinate system;
s102, integrating the voltages in the static coordinate system to obtain the flux linkage in the static coordinate system
Wherein:is a flux linkage in a static coordinate system; dt is the derivative of time;
s103, obtaining initial position angle of rotor through arctangent solving
Wherein: θ 0 Is the rotor initial position angle.
3. The control method according to claim 1, characterized in that: in the step S2, the method for obtaining the maximum torque of the rotor is that according to the calculation formula of the torque
Wherein: t is torque, K is a constant value, F S For stator magnetomotive force F r For the magnetomotive force of the rotor,is F S And F is equal to r Included angle between them is theoretically->At right angles, the torque tmax.
4. The control method according to claim 2, characterized in that: in the step S3, the open loop control is specifically to select two phases of the stator requiring current to be introduced according to the real-time position angle of the rotor, and the estimated position angle of the rotor is calculated as follows
Wherein: theta isRotor estimated position angle, T e Is the dynamic moment of the low-frequency stage, T L The moment of resistance in the low frequency phase is J, the moment of inertia of the rotor, and t, the pulse duration.
5. The control method according to claim 1, characterized in that: in the step S4, the closed-loop control is that the synchronous motor is connected to the grid after reaching the set rotation speed, and the synchronous motor is controlled according to the set value of the unit.
6. A variable frequency start control system for a high initial drag torque synchronous motor, said system comprising:
the rotor initial position angle calculation module is used for calculating the rotor initial position angle by utilizing the three-phase induced electromotive force of the stator in a static state;
the initial starting module is used for introducing current to the corresponding two phases of the stator so as to enable the rotor to obtain maximum torque and perform initial starting;
the low-frequency starting module is used for starting the synchronous motor in an open-loop control mode at a low frequency after the rotor rotates;
and the closed-loop control module is used for converting the open-loop control of the synchronous motor into closed-loop control when the rotating speed of the unit exceeds a set value.
7. The variable frequency start control system of claim 6, wherein: the rotor initial position angle calculation module includes:
the voltage conversion module is used for converting the sampled three-phase stator line voltage into voltage under a static coordinate system;
the voltage integration module is used for integrating the voltages under the static coordinate system to obtain the flux linkage value under the static coordinate system;
and the arctangent solving module is used for processing the flux linkage value to solve the initial position angle of the rotor.
8. The variable frequency start control system of claim 6, wherein: and the initial starting module calculates two corresponding phases of the stator which enable the included angle between the magnetomotive force of the rotor and the magnetomotive force of the stator to be closest to a right angle according to the initial position angle of the rotor.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed by the processor.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
CN202311254441.XA 2023-09-26 2023-09-26 Variable frequency starting control method and system suitable for synchronous motor with large initial resistance moment Pending CN117335710A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311254441.XA CN117335710A (en) 2023-09-26 2023-09-26 Variable frequency starting control method and system suitable for synchronous motor with large initial resistance moment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311254441.XA CN117335710A (en) 2023-09-26 2023-09-26 Variable frequency starting control method and system suitable for synchronous motor with large initial resistance moment

Publications (1)

Publication Number Publication Date
CN117335710A true CN117335710A (en) 2024-01-02

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