CN1331510A - Frequency-conversion voltage-varying speed control method with high-torque vector control for asynchronous motor - Google Patents
Frequency-conversion voltage-varying speed control method with high-torque vector control for asynchronous motor Download PDFInfo
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- CN1331510A CN1331510A CN00113520A CN00113520A CN1331510A CN 1331510 A CN1331510 A CN 1331510A CN 00113520 A CN00113520 A CN 00113520A CN 00113520 A CN00113520 A CN 00113520A CN 1331510 A CN1331510 A CN 1331510A
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Abstract
A vection control method for regulating speed of asynchronous motor by changing frequency and voltage features that the motor's voltage can be automatically and real-time regulated with the change in vector voltage's value and direction of stator curent on stator resistor to keep the magnetic chain of stator at predefined value, having high-torque vector control performance. It can be used for the high-torque speed regulation system with automatic compensation of rotation difference and no speed sensor, or with the internal closed torque or current ring.
Description
The present invention relates to a kind of speed regulating method of motor, particularly a kind of threephase asynchronous machine frequency-conversion voltage-varying speed method.
In existing asynchronous machine pulse width modulation frequency changing variable voltage speed control method, the relation curve of its electric moter voltage and stator angular frequency is often represented with a broken line, and do not count the material impact that variation brought of stator current vector pressure drop size and direction on stator resistance in real time, its result causes stator magnetic linkage to fluctuate up and down and can not remain on the desired value, stator field is underexcitation or encourage the magnetic saturation electric current that causes excessively all can cause motor torque to descend, and this problem is particularly serious when motor is in start-up period or low-speed stage.The frequency-conversion voltage-varying speed device that for example has, though current overload to 150%, but starting torque will reach 100% still very difficult.It is worthless adopting the way that strengthens the inverter current capacity to improve torque, low with operational efficiency because this can cause product cost to rise significantly, consequently causes the waste of the resource and the energy.
The objective of the invention is: the frequency-conversion voltage-varying speed method that a kind of asynchronous machine is provided, its electric moter voltage is except that outside the Pass having with the stator angular frequency, also following stator current variation of vector pressure drop size and direction on stator resistance automatically adjusts in real time, so that stator magnetic linkage remains on the desired value, thereby has high torque (HT) vector control performance.
It is as follows that technical scheme of the present invention is pressed the level division:
The square root that the voltage V1 of stator equals the first observational variable Z1 is added the transverse axis electric current I Q of electric current I 1 of stator and the resistance R 1 De Cheng Plot value of stator, with the formula table is
Voltage V1 is sent to variable-frequency transformer as voltage control signal; The stator angular frequency W1 that produces is sent to variable-frequency transformer as frequency control signal.
Motor torque ME equals the second observational variable Y1 value divided by the stator angular frequency W1 value that produces.
Slip angular frequency W2 equals a motor torque WE and a constant K K De Cheng Plot value.
The first observational variable Z1 equals the 3rd observational variable Z2 and deducts income value behind the 4th observational variable Z3.
The square value of the stator angular frequency W1 that the 3rd observational variable Z2 equals to produce multiply by the income value behind the square value of magnetic linkage C1 of stator again; The square value that the 4th observational variable Z3 equals direct-axis current ID multiply by the income value behind the square value of resistance R 1 again.
De Cheng Plot value after the second observational variable Y1 equals the 5th observational variable Y2 and 1.5 and multiplies each other; The multiply each other difference of gained after the De Cheng Plot value of equal the 5th observational variable Y2 from voltage V1 and transverse axis electric current I Q multiply each other De Cheng Plot value, the to deduct square value of electric current I 1 and resistance R 1.
The stator angular frequency W1 that produces equals rotating speed angular frequency command value WM0 and slip angular frequency W2 value sum.
The stator angular frequency W1 that produces equals the output W20 value and the rotating speed angular frequency WM value sum of torque controller 20; Torque controller be input as the poor of torque instruction value ME0 and motor torque ME value, and torque instruction value ME0 directly controls from the output of speed regulator 21 or by outer input, speed regulator be input as the poor of rotating speed angular frequency command value WM0 and rotating speed angular frequency WM value.
The stator angular frequency W1 that produces equals the output W21 value and the rotating speed angular frequency WM value sum of current regulator 22; Current regulator be input as the poor of current instruction value IQ0 and transverse axis electric current I Q value, and current instruction value IQ0 directly controls from the output of speed regulator 23 or by outer input, speed regulator be input as the poor of rotating speed angular frequency command value WM0 and rotating speed angular frequency WM value.
Above voltage V1, electric current I 1, magnetic linkage C1 and resistance R 1 is the value (V1, I1 and C1 be amplitude) of stator one in mutually.
Below in conjunction with accompanying drawing the present invention is further elaborated.
Fig. 1 is the phasor diagram of motor.
Fig. 2 is the motor winding diagram.
Fig. 3 is custom system plate figure.
Fig. 4 is source program flow process figure.
Fig. 5 is the frequency-conversion voltage-varying speed system diagram.
In Fig. 1, each vector is phasor1, and establish each vector counter rotation among the figure, W1 * C1 is interior vector electromotive force, I1 * R1 is the vector pressure drop of phase current on the phase resistance of stator of stator, and I1, V1 and C1 are respectively the vector of electric current, voltage and magnetic linkage.Then can get:
IQ×R1ME＝((V1×IQ－11×I1×R1)×1.5)/W1W2＝KK×ME
KK is a constant in the following formula, equals the ratio of specified slip angular frequency and rated motor toroue.(ID among Fig. 1, IQ are respectively the vector of ID and IQ)
The present invention adopts computer software to implement, and further to be write above-listed all formulas as the source program formula as follows for this reason: I0=ID * ID+IQ * IQ, (F1).
Z2＝W1×W1×C1×C1，(F3).Z3＝ID×ID×R1×R1，(F4).Z1＝Z2－Z3，(F5).
Y2＝V1×IQ－I1×I1×R1，(F7).Y1＝Y2×1.5，(F8).ME＝Y1/W1，(F9).W2＝KK×ME，(F10).
In Fig. 2: 01 for to contain 3 phases/2 phasing commutators, coordinate converter, current sensor or to have the variable-frequency transformer of voltage sensor in interior pulse-width modulation simultaneously concurrently, its three-phase output is connected to asynchronous machine 02, also speed probe 03 can be installed on motor shaft as required, speed probe 03 is output as rotating speed angular frequency WM.Variable-frequency transformer 01 has the input signal of the stator angular frequency W1 of generation and voltage V1 to realize its function; Its coordinate converter that contains is outwards exported direct-axis current ID and transverse axis electric current I Q signal in addition.In order to be described in more detail, existing as examples of implementation, adopt the custom system plate U51-A1 of supply on the market, as shown in Figure 3.On the custom system plate 04 in Fig. 3, former one of the INTEL8032 monolithic computer that is equipped with, one of memory EPROM2764 walks abreast and connects 8,255 one, and one of D/A converter DAC0832 and A/D converter are one of 8 ADC0809 of 8 passages.Modern in order to improve operational precision, be that positive and negative 5 volts A/D converter MAX197 removes to replace ADC0809 with 12 in one 8 passage and input voltage; In order to increase the simulation delivery outlet, two D/A converter DAC0832 have also been set up in addition.A/D conversion MAX197 is shared to have removed 5 passages, and stator angular frequency W1, the magnetic linkage C1, control resistance R 1, the direct-axis current ID that are respectively generation provide the sampling input with transverse axis electric current I Q, and potentiometer ST1 and ST2 are respectively for the usefulness of presetting magnetic linkage C1 and phase resistance R1 among the figure.Three D/A converter DAC0832 then are respectively applied for the usefulness of the simulation output of voltage V1, motor torque ME and slip angular frequency W2.Meanwhile parallel interface 8255 also can be made the usefulness of various digital signal input and output flexibly.
In Fig. 4: source program formula (F1)-(F10) with which kind of form is write is thought that compiling system acceptance is then relevant with the monolithic computer language that is adopted, as adopt the BASIC51 high-level language, then only need with " * " multiplication mark in the source program formula (F1)-(F10) change into " * " mark, general
Change " SQR (I0) " and general into
Change " SQR (Z1) " into and get final product, being compiled into the required code of monolithic computer by the BASIC51 compiling system then is target program.Said sampling is meant respectively and is undertaken by A/D converter MAX197 among Fig. 4, and said output is meant respectively to be undertaken by D/A converter DAC0832.
Source program formula (F1)-(F10) is suitable equally to other types monolithic computer or signal processor, only with which kind of form writes and thinks that compiling system acceptance is then relevant with the monolithic computer language that is adopted.
In Fig. 5: 01 from Fig. 2, and 04 from Fig. 3, and direct-axis current ID and the transverse axis electric current I Q of 01 output are sent to 04, and the voltage V1 that 0-4 exports is sent to 01.
In Fig. 5 (A): rotating speed angular frequency instruction WM0 value promptly gets the stator angular frequency W1 that produces and is sent to 01 and 04 respectively, the frequency-conversion voltage-varying speed system of the vector control of the no speed probe of Fig. 5 (A) formation like this with slip angular frequency W2 from 04 after adder-subtracter 10 places addition.
In Fig. 5 (B): the output W20 value of torque controller 20 and rotating speed angular frequency WM value promptly get the stator angular frequency W1 that produces and are sent to 01 and 04 respectively after adder-subtracter 11 places addition; Torque instruction ME0 value promptly gets the input value of torque controller 20 after adder-subtracter 12 places deduct motor torque ME value; When switch S S placed " 1 " position, torque instruction value was from the output of speed regulator 21; When switch S S placed " 2 " position, torque instruction value was from the direct control of outer input; Rotating speed angular frequency instruction WM0 value promptly gets the input value of speed regulator 21 after adder-subtracter 13 places deduct rotating speed angular frequency WM value; So Fig. 5 (B) constitutes the frequency-conversion voltage-varying speed system of the vector control of torque closed loop.
In Fig. 5 (C): the output W21 value of current regulator 22 and rotating speed angular frequency WM value promptly get the stator angular frequency W1 that produces and are sent to 01 and 04 respectively after adder-subtracter 14 places addition; Current-order IQ0 value promptly gets the input value of current regulator 22 after adder-subtracter 15 places deduct transverse axis electric current I Q value; When switch S S placed " 1 " position, current-order IQ0 value was from the output of speed regulator 23; When switch S S placed " 2 " position, current-order IQ0 value was from the direct control of outer input; Rotating speed angular frequency instruction WM0 value promptly gets the input value of speed regulator 23 after adder-subtracter 16 places deduct rotating speed angular frequency WM value; So Fig. 5 (C) constitutes the frequency-conversion voltage-varying speed system of the vector control of current closed-loop.
Adder-subtracter 10-16 among Fig. 5, torque controller 20, current regulator 22 and speed regulator 21,23 (adjuster often adopts ratio, integration, differential principle) both can be realized also can realizing with monolithic computer software with operational amplifier hardware, these software and hardware examples commonly used are found everywhere in prior motor speed governing product or professional book, as realizing, then constitute the full digital governing system with monolithic computer software.
Above analysis all is meant the situation that the magnetic pole logarithm of motor equals 1, and when the magnetic pole logarithm P of motor＞＞1, then motor torque will strengthen P doubly, and rotating speed angular frequency WM will reduce P times, and slip angular frequency then equals (W1-P * WM).
Compare with existing technology, advantage of the present invention is as follows: one, electric moter voltage is followed stator current vector pressure drop on stator resistance automatically
The variation of size and direction is adjusted in real time, so that stator magnetic linkage keeps
On desired value, thereby has high torque (HT) vector controlled performance. Two, a kind of high torque (HT) of speed-sensorless of slip auto-compensation is provided
The frequency-conversion voltage-varying speed system of vector controlled. Three, provide a kind of high-performance high torque (HT) that contains closed loop in torque or the electric current
The frequency-conversion voltage-varying speed system of vector controlled. Four, provide a kind of and contained torque or current closed-loop and by torque or current direct
Meet the frequency-conversion voltage-varying speed system of the zero-speed high starting torque vector controlled of control
System. To satisfy the demand of the class loads such as vehicle traction, power shovel, elevator. Five, the voltage signal of variable-frequency transformer acceptance only has one rather than common the arrow
Amount control needs two voltage signals, and this just implements each for variable-frequency transformer
Planting pulsewidth modulation such as the pulsewidth modulations such as standard optimization, space vector of voltage brings
Great convenience.
Claims (9)
1, a kind of frequency Varying and speed changing method of asynchronous machine, comprise and contain 3 phases/2 phasing commutators, the output transverse axis, the coordinate converter of direct-axis current, current sensor or have the variable-frequency transformer of the transducer of voltage simultaneously concurrently in interior pulse-width modulation, the direction of the transverse axis electric current (IQ) of the electric current of its stator (I1) overlaps with the direction vector of the voltage (V1) of stator and direction vector 90 electric degrees of the direction lagging voltage (V1) of the direct-axis current (ID) of the electric current (I1) of stator, it is characterized in that: the square root that voltage (V1) equals first observational variable (Z1) is added resistance (the R1) De Cheng Plot value of transverse axis electric current (IQ) and stator of the electric current (I1) of stator; Voltage (V1) is sent to variable-frequency transformer as voltage control signal; The stator angular frequency (W1) that produces is sent to variable-frequency transformer as frequency control signal.
2, frequency Varying and speed changing method according to claim 1 is characterized in that: motor torque (ME) equals second observational variable (Y1) value divided by stator angular frequency (W1) value that produces.
3, frequency Varying and speed changing method according to claim 2 is characterized in that: slip angular frequency (W2) equals motor torque (WE) and a constant (KK) De Cheng Plot value.
4, frequency Varying and speed changing method according to claim 1 is characterized in that: first observational variable (Z1) equals the 3rd observational variable (Z2) and deducts the 4th observational variable (Z3) back income value.
5, frequency Varying and speed changing method according to claim 4 is characterized in that: the square value of the stator angular frequency (W1) that the 3rd observational variable (Z2) equals to produce multiply by the income value behind the square value of magnetic linkage (C1) of stator again; The square value that the 4th observational variable (Z3) equals direct-axis current (ID) multiply by the income value behind the square value of resistance (R1) again.
6, frequency Varying and speed changing method according to claim 2 is characterized in that: De Cheng Plot value after second observational variable (Y1) equals the 5th observational variable (Y2) and 1.5 and multiplies each other; The 5th observational variable (Y2) equals to deduct the multiply each other difference of the later gained of De Cheng Plot value of the square value of electric current (I1) and resistance (R1) from voltage (V1) and transverse axis electric current (IQ) multiply each other De Cheng Plot value.
7, frequency Varying and speed changing method according to claim 1 is characterized in that: the stator angular frequency (W1) of generation equals output (W21) value and rotating speed angular frequency (WM) the value sum of current regulator (22); Current regulator be input as the poor of current instruction value (IQ0) and transverse axis electric current (IQ) value, and current instruction value (IQ0) is directly controlled from the output of speed regulator (23) or by outer input, speed regulator be input as the poor of rotating speed angular frequency command value WM0 and rotating speed angular frequency WM value.
8, according to claim 1,2,3 described frequency Varying and speed changing methods, it is characterized in that: the stator angular frequency (W1) of generation equals rotating speed angular frequency command value (WM0) and slip angular frequency (W2) value sum.
9, according to claim 1,2 described frequency Varying and speed changing methods, it is characterized in that: the stator angular frequency (W1) of generation equals output (W20) value and rotating speed angular frequency (WM) the value sum of torque controller (20); Torque controller be input as the poor of torque instruction value (ME0) and motor torque (ME) value, and torque instruction value (ME0) is directly controlled from the output of speed regulator (21) or by outer input, speed regulator be input as the poor of rotating speed angular frequency command value WM0 and rotating speed angular frequency WM value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001135201A CN1225078C (en) | 2000-07-03 | 2000-07-03 | Frequency-conversion voltage-varying speed control method with high-torque vector control for asynchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB001135201A CN1225078C (en) | 2000-07-03 | 2000-07-03 | Frequency-conversion voltage-varying speed control method with high-torque vector control for asynchronous motor |
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| CN1225078C CN1225078C (en) | 2005-10-26 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299174C (en) * | 2003-09-27 | 2007-02-07 | 哈尔滨工业大学 | Motor controlling device |
| CN106067747A (en) * | 2016-06-01 | 2016-11-02 | 哈尔滨工业大学 | A kind of method for designing of the sliding formwork disturbance observer for servo system control |
| CN110190796A (en) * | 2018-02-22 | 2019-08-30 | 法雷奥电机设备公司 | Pass through the method for rotating electric machine auxiliary adjustment Thermal Motor |
| CN113120006A (en) * | 2019-12-31 | 2021-07-16 | 中车永济电机有限公司 | Electric transmission system, variable current control method and electric locomotive |
-
2000
- 2000-07-03 CN CNB001135201A patent/CN1225078C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299174C (en) * | 2003-09-27 | 2007-02-07 | 哈尔滨工业大学 | Motor controlling device |
| CN106067747A (en) * | 2016-06-01 | 2016-11-02 | 哈尔滨工业大学 | A kind of method for designing of the sliding formwork disturbance observer for servo system control |
| CN106067747B (en) * | 2016-06-01 | 2018-08-31 | 哈尔滨工业大学 | A kind of design method of sliding formwork disturbance observer for servo system control |
| CN110190796A (en) * | 2018-02-22 | 2019-08-30 | 法雷奥电机设备公司 | Pass through the method for rotating electric machine auxiliary adjustment Thermal Motor |
| CN113120006A (en) * | 2019-12-31 | 2021-07-16 | 中车永济电机有限公司 | Electric transmission system, variable current control method and electric locomotive |
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| CN1225078C (en) | 2005-10-26 |
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