CN1322397A - 用于控制整流电机的方法 - Google Patents
用于控制整流电机的方法 Download PDFInfo
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- CN1322397A CN1322397A CN99811891A CN99811891A CN1322397A CN 1322397 A CN1322397 A CN 1322397A CN 99811891 A CN99811891 A CN 99811891A CN 99811891 A CN99811891 A CN 99811891A CN 1322397 A CN1322397 A CN 1322397A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
-
- 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
- H02P6/28—Arrangements for controlling 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—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
-
- 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
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
Abstract
本发明涉及用于控制交流电机的方法,该电机被电流控制的交流源供电,在本方法中,在电机内产生的谐波力矩的作用被补偿。根据本发明,电机的扭矩通过电流基准来调节,且电流基准被校正以补偿谐波力矩。
Description
本发明涉及权利要求1的前序部分定义的方法。
交流电机的扭矩是通过一般为定子的电枢电路、电源电压和一般为转子的励磁电路产生。电源电压被供入配装在定子槽内的定子线圈。励磁是通过永久磁铁或配装在转子槽内的励磁线圈产生。扭矩的稳定性取决于在电机的气隙中产生的场与正弦形状如何接近。与正弦形状不同的曲线形状产生以由包含在其内的谐波分量所决定的频率的扭矩变化,产生机械振动和噪音。
除了电源电压,气隙场的形状取决于连同其他的因素的由励磁产生的场的形状。此外,在每相位和极面具有较少数量的槽的电机中,显著的问题为由在每个槽内流动的电流产生的所谓的槽谐波场。例如,在每相位具有一个槽的三相电机,六重电机电源频率是成问题的。
公开的专利申请WO 98/26643提出了一种方案,其中由谐波电压产生的力矩通过向电机电源电压加入谐波来消除,该谐波将补偿由槽谐波产生的扰动力矩。在这个方案中,加到电源电压内的谐波电压产生与扰动力矩脉动相同的力矩,但是相位相反。然而,应用中,对于电机调整,在公开文本中所述的方案难于实现并且该装置包括大量的元件。
本发明的目的是提出一种方案,该方案允许简单的调整而无需过多的电压转换,且同时减少所需的测量和控制电路。为实现此方案,本发明的方法特征在于权利要求1的特征部分所述的特征,一些优选实施例的特征在从属权利要求中陈述。
根据本发明,电机的谐波力矩(harmonic moment)通过将一辅助量加到电流基准而被有效地消除,该辅助量将产生与电机的扰动力矩相位相反的力矩。
根据本发明的一实施例,电流调节器的饱和通过将电流的第三谐波供给到电流调节器内进行补偿。
对于每个电梯,例如可试验性地确定所需的相位偏移和振幅。
以下,参照附图借助于实施例对本发明加以描述,其中
图1示出根据本发明的用于电机控制的示意图;
图2说明了电流基准的产生;以及
图3示出用于电流调节器的饱和补偿的电路。
图1示出根据本发明的用于实现电机控制的实施例,其中永磁同步电机2通过变频器4供电。该同步电机2被用于通过连接到其轴上的牵引轮13和配装在牵引轮上的绳索15驱动电梯轿箱11。变频器4由控制单元6控制,该控制单元产生经由导体8施加到变频器4的开关(switch)的控制脉冲。反馈量为实际的电流值10和转子位置角12。
根据本发明,利用电流控制反向器(inverter)7实现永磁同步电机2的调节。电机中的转子角度反馈与转子磁铁的位置同步。这就提供了关于电机的d-q坐标的位置的信息。通过模拟技术实现电流控制。利用微控制器实现速度和扭矩控制器,是由于其容易参数化。通过施加三相矢量控制,避免了从定子坐标向转子坐标的复杂转换,反之亦然。
在永磁同步电机中,产生对应于六倍电机电源频率的扰动力矩。电流基准由存储在内存22(ROM)中的表形成,相应于角度20的电流值从中读取。优选地,第五和第七谐波被存储在相同的表内。从表内读取的量24在四象限乘法器28中乘以扭矩基准26,其输出提供了电流基准30。此外,第11和第13谐波以相同方式补偿。其他的周期扰动力矩可相应地被补偿。
当使用第五谐波时,电流基准30为Iref=I*(sin(ωt)+k*sin(5*ωt-δ))的形式,式中系数k和相移ω被用来确定消除扭矩脉动所需的力矩的大小。在差分元件(differential element)32中,相电流的实际值30从电流基准30中减去。差分元件32的输出被送入放大器36,并从放大器进一步送入加法元件38。反向器的半导体开关由加法元件38的输出确定的脉冲宽度调制控制。
为了补偿电流调节器的饱和,产生一具有三倍于电流基准的基本频率的频率的信号40。信号40为Isat=sin(ωt)-φ的形式,式中φ为各个驱动特定的相移。信号40以与上面结合确定电流基准所述的相应的方式通过从一表中读取而形成。信号在乘法器42中乘以扭矩基准26,其输出被送入加法元件38,在此其相加于由电流基准确定的量。
电机的起动扭矩必须被调节到与负载对应的值,以便当制动释放时避免在轿箱内产生急动(jerk)。这一般是通过测量负载并将扭矩调节到与负载相应的值来实现。然而,在应用中,由于负载测量的不精确,确实会发生由于加速的突然变化而产生的急动。这个问题可以通过用精确和快速的位置传感器来测量转子位置来解决,该位置的时间导数之一提供加速度数据。基于此,产生一校正力矩来限制加速度。校正力矩与用于控制电机的预定起动扭矩合并。由于传感器和加速度数据以几十毫秒量级的间隔更新,轿箱运动中的急动可以被限制在一毫米以下的大小,其很难被在轿箱内的乘客察觉。
本发明已借助于其的一些实施例描述。然而,本描述不被认为构成对专利保护的限制,而是在权利要求书所限定的本发明的范围内可以对本发明的
实施例进行变动。
Claims (8)
1.一种用于控制交流电机的方法,该电机由电流控制的交流源供电,在该方法中,电机内产生的谐波力矩的作用被补偿,其特征在于,电机的扭矩通过一电流基准来调节,且电流基准被校正以补偿谐波力矩。
2.如权利要求1所述的方法,其特征在于,产生与谐波力矩大小相等且相反的力矩的电流基准分量被加到电流基准上。
3.如权利要求1或2所述的方法,其特征在于,电源频率的第五或第七谐波被加到电流基准上。
4.如权利要求1或2所述的方法,其特征在于,电源频率的第十一或第十三谐波被加到电流基准上。
5.如权利要求3或4所述的方法,其特征在于,加到电源频率上的谐波相对基波的谐波在相位上偏移。
6.如权利要求1到5中任一项所述的方法,其特征在于,第三谐波被馈送到电流调节器中。
7.如权利要求6所述的方法,其特征在于,第三谐波被施加到电流调节器的输出上。
8.如权利要求5或6所述的方法,其特征在于,第三谐波相对基波的第三谐波在相位上偏移。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI981905A FI112891B (fi) | 1998-09-04 | 1998-09-04 | Menetelmä virtasäädetyn moottorin ohjaamiseksi |
FI981905 | 1998-09-04 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1322397A true CN1322397A (zh) | 2001-11-14 |
CN1271780C CN1271780C (zh) | 2006-08-23 |
Family
ID=8552428
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB998118915A Expired - Fee Related CN1271780C (zh) | 1998-09-04 | 1999-09-02 | 用于控制整流电机的方法 |
Country Status (13)
Country | Link |
---|---|
US (1) | US6515444B1 (zh) |
EP (1) | EP1110301B1 (zh) |
JP (1) | JP2002525021A (zh) |
KR (1) | KR100429301B1 (zh) |
CN (1) | CN1271780C (zh) |
AT (1) | ATE288634T1 (zh) |
AU (1) | AU753038B2 (zh) |
BR (1) | BR9913448A (zh) |
DE (1) | DE69923569T2 (zh) |
ES (1) | ES2233067T3 (zh) |
FI (1) | FI112891B (zh) |
HK (1) | HK1038442A1 (zh) |
WO (1) | WO2000014864A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103718452A (zh) * | 2011-06-03 | 2014-04-09 | Trw有限公司 | 具有电压谐波整形的电动机控制 |
CN112134495A (zh) * | 2020-08-19 | 2020-12-25 | 湖州慧微电子科技有限公司 | 永磁同步电机电流的开环谐波补偿方法 |
Families Citing this family (12)
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JP3499786B2 (ja) * | 1999-11-25 | 2004-02-23 | 株式会社日立製作所 | 超高速永久磁石式回転電機システム |
JP4656267B2 (ja) * | 2000-09-20 | 2011-03-23 | 富士電機システムズ株式会社 | 交流電動機のベクトル制御装置 |
US20030161735A1 (en) * | 2002-02-28 | 2003-08-28 | Samsung Electronics Co., Ltd. | Apparatus and method of controlling linear compressor |
KR100451233B1 (ko) * | 2002-03-16 | 2004-10-02 | 엘지전자 주식회사 | 왕복동식 압축기의 운전제어방법 |
KR20060120015A (ko) * | 2003-10-07 | 2006-11-24 | 가부시키가이샤 제이텍트 | 전동 파워 스티어링 장치 |
JP2005289532A (ja) * | 2004-03-31 | 2005-10-20 | Mitsubishi Electric Corp | エレベータ制御装置 |
JP2005304237A (ja) * | 2004-04-14 | 2005-10-27 | Denso Corp | 交流回転電機の磁気音制御方法 |
DE102004033074A1 (de) * | 2004-07-08 | 2006-02-02 | Dieter Miehlich | Trainingsgerät |
US8960371B2 (en) | 2009-06-30 | 2015-02-24 | Otis Gmbh & Co. Ohg | Gravity driven start phase in power limited elevator rescue operation |
GB201006404D0 (en) * | 2010-04-16 | 2010-06-02 | Trw Ltd | Motor control with voltage harmonic shaping |
JP6064207B2 (ja) * | 2012-12-17 | 2017-01-25 | 株式会社ミツバ | ブラシレスモータ制御方法及びブラシレスモータ制御装置並びに電動パワーステアリング装置 |
JP6334427B2 (ja) * | 2015-02-13 | 2018-05-30 | 三菱電機株式会社 | 交流モータ駆動装置 |
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DE2234681C3 (de) * | 1972-07-14 | 1975-07-31 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Verfahren und Schaltungsanordnung zum Herabsetzen der Drehmomenten-Welligkeit einer Drehfeldmaschine |
US4066938A (en) * | 1976-10-06 | 1978-01-03 | General Electric Company | Input current modulation to reduce torque pulsations in controlled current inverter drives |
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JPH01321893A (ja) * | 1988-06-22 | 1989-12-27 | Mitsubishi Electric Corp | 密閉形圧縮機の制御装置 |
US5285144A (en) * | 1988-09-02 | 1994-02-08 | Board Of Regents, The University Of Texas System | Generation of multi-phase multiple-order harmonics of a fundamental frequency source with adjustable phase angle capability |
EP0448610B1 (de) * | 1988-12-15 | 1994-06-29 | Papst Licensing GmbH | Verfahren und anordnung zur ansteuerung elektromechanischer wandler |
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JP3395814B2 (ja) * | 1995-06-07 | 2003-04-14 | 富士電機株式会社 | 永久磁石形同期電動機の駆動装置 |
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-
1998
- 1998-09-04 FI FI981905A patent/FI112891B/fi not_active IP Right Cessation
-
1999
- 1999-09-02 AT AT99941670T patent/ATE288634T1/de not_active IP Right Cessation
- 1999-09-02 KR KR10-2001-7002828A patent/KR100429301B1/ko not_active IP Right Cessation
- 1999-09-02 JP JP2000569499A patent/JP2002525021A/ja active Pending
- 1999-09-02 US US09/786,202 patent/US6515444B1/en not_active Expired - Lifetime
- 1999-09-02 BR BR9913448A patent/BR9913448A/pt not_active Application Discontinuation
- 1999-09-02 CN CNB998118915A patent/CN1271780C/zh not_active Expired - Fee Related
- 1999-09-02 WO PCT/FI1999/000715 patent/WO2000014864A1/en active IP Right Grant
- 1999-09-02 ES ES99941670T patent/ES2233067T3/es not_active Expired - Lifetime
- 1999-09-02 DE DE1999623569 patent/DE69923569T2/de not_active Expired - Lifetime
- 1999-09-02 EP EP99941670A patent/EP1110301B1/en not_active Expired - Lifetime
- 1999-09-02 AU AU55196/99A patent/AU753038B2/en not_active Ceased
-
2001
- 2001-12-27 HK HK01109143A patent/HK1038442A1/xx not_active IP Right Cessation
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103718452A (zh) * | 2011-06-03 | 2014-04-09 | Trw有限公司 | 具有电压谐波整形的电动机控制 |
CN103718452B (zh) * | 2011-06-03 | 2018-04-03 | Trw有限公司 | 具有电压谐波整形的电动机控制 |
CN112134495A (zh) * | 2020-08-19 | 2020-12-25 | 湖州慧微电子科技有限公司 | 永磁同步电机电流的开环谐波补偿方法 |
Also Published As
Publication number | Publication date |
---|---|
FI981905A (fi) | 2000-03-05 |
BR9913448A (pt) | 2001-10-09 |
FI981905A0 (fi) | 1998-09-04 |
AU753038B2 (en) | 2002-10-03 |
HK1038442A1 (en) | 2002-03-15 |
ES2233067T3 (es) | 2005-06-01 |
DE69923569T2 (de) | 2005-08-18 |
US6515444B1 (en) | 2003-02-04 |
FI112891B (fi) | 2004-01-30 |
EP1110301B1 (en) | 2005-02-02 |
CN1271780C (zh) | 2006-08-23 |
JP2002525021A (ja) | 2002-08-06 |
KR20010079738A (ko) | 2001-08-22 |
ATE288634T1 (de) | 2005-02-15 |
WO2000014864A1 (en) | 2000-03-16 |
AU5519699A (en) | 2000-03-27 |
EP1110301A1 (en) | 2001-06-27 |
DE69923569D1 (de) | 2005-03-10 |
KR100429301B1 (ko) | 2004-04-29 |
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