WO1998009370A1 - Improved current control process and device for a voltage converter - Google Patents
Improved current control process and device for a voltage converter Download PDFInfo
- Publication number
- WO1998009370A1 WO1998009370A1 PCT/DE1997/001743 DE9701743W WO9809370A1 WO 1998009370 A1 WO1998009370 A1 WO 1998009370A1 DE 9701743 W DE9701743 W DE 9701743W WO 9809370 A1 WO9809370 A1 WO 9809370A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- current component
- forming
- flux
- current
- machine
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53875—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
-
- 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
Definitions
- the invention relates to a current control method for a voltage-impressing converter, wherein a determined flux-forming current component and a determined torque-forming current component of an actual current vector of a field machine regulate in each case to a flux-forming current component setpoint and a torque-forming current component setpoint of a setpoint current vector of the induction machine are, in each case as a function of a determined current component control deviation, a controller manipulated variable is determined, from which voltage components of a desired voltage vector are respectively formed by superimposing a pre-control variable, and on a device for carrying out this method.
- EP 0 633 653 AI known.
- the advantages of a two-component current control and an active current control are combined without their disadvantages, without having to switch between the two controls.
- the two-component current control is expanded by a shunt arm that connects the output voltage of the controller in the active axis to the controller voltage in the blind axis via a delay element. This means that the output of the controller in the active axis not only changes the active voltage (as with two-component current control), but also causes the voltage pointer to rotate (as with active current control) by changing the reactive voltage.
- this shunt arm ensures that a change in the output voltage in the active axis does not affect the reactive current, that is, it decouples the control loops are.
- the slow balancing processes typical of the two-component current control with a detuned pilot control network therefore no longer occur.
- the time constant of the delay element has been chosen equal to the short-circuit time constant of the motor and the gain is changed in proportion to the stator frequency.
- the new structure has the same good dynamic behavior as the two-component current control, but is less sensitive to a detuned pilot control network. When the voltage ceiling is reached, it automatically changes into the behavior of the active current control, without the need for a structure changeover.
- the current vector of the induction machine is regulated in its two components by means of two current controllers to the desired setpoint.
- the vector control requires knowledge of the sizes of the equivalent circuit diagram of the induction machine (stator resistance R s , leakage inductance L ⁇ and main inductance L H ).
- R s stator resistance
- L ⁇ leakage inductance
- L H main inductance
- the machine flow vector which is reproduced from the terminal sizes of the induction machines by means of the actual value computer, on which the voltage model is based, is error-prone, the error being particularly noticeable in the phase angle of the machine flow vector. Since the flow-forming current component lies in the direction of the machine flow vector, this error has a full effect on the flow-forming current component.
- EP 0 317 869 A1 discloses a method for emulating the actual load angle value of a induction machine and a circuit arrangement for carrying out the method.
- this method for emulating the actual load angle value of a three-phase machine the terminal voltages and conductor currents of at least two phases of the stator of the three-phase machine, which each represent stator-oriented alternating variables, are transformed into a first and a second stator current component of the machine current vector and in an amount of the machine flow vector, the respectively are field-oriented sizes.
- the faulty first stator current component of the actual value computer is corrected.
- This corrected first current component also referred to as a flux-forming current component, consists of a stationary and a dynamic component.
- the steady-state current component of this corrected flux-forming current component is determined from the amount of the machine flow vector divided by the value of the main machine inductance, the dynamic component equal to the high-frequency portion of the flux-forming current comm. component. Because the corrected first stator current component consists of two components, namely a stationary and a dynamic component, a very good simulation of the actual load angle value is obtained over the entire control range of the induction machine.
- the invention is based on the object of improving known current control methods and the device for carrying out this method in such a way that the sensitivity to parameters is further improved.
- additional pilot variables are formed when determining the pilot variables, which are added component by component to the pilot variables.
- additional pilot control variables result in an ideal pilot control network which is insensitive to detuning of the machine parameters leakage inductance L ⁇ , stator resistance R s and main inductance L H.
- the parameter insensitivity is retained even at the voltage limit (field weakening range), so that stability problems no longer occur without these additional pilot variables. This effect occurs even though the parameter setting of the pilot control network and not the actual parameter values of the operated AC machine are used in the calculation of the additional pilot variables.
- These additional pre-control values ensure that the two current controller outputs of the two-component current control become stationary at zero. Another advantage of this total feedforward control is that there are no more limit cycles in the area of voltage limitation.
- the flux-forming current component actual value in addition to the set machine parameters of the pilot control network, the flux-forming current component actual value, the exact flux-forming current component actual value and a determined stator equivalence are used.
- a differential current component is determined from the two current component actual values, which is then weighted with a machine parameter, a weighted differential current component then being multiplied by the stator frequency.
- This determined residual current component is a measure of the detuning of the machine parameters. This makes it possible to calculate exact pilot control variables even though the motor parameters are out of tune.
- FIG. 1 shows an equivalent circuit diagram of a first embodiment of the device for carrying out the current control method according to the invention, wherein in
- FIG. 2 shows a block diagram of a device for forming the exact flow-forming current component according to FIG. 1 and is illustrated
- FIG. 3 shows an equivalent circuit diagram of a second embodiment of the device for carrying out the current control method according to the invention
- FIG. 4 showing a block diagram of a device for forming additional pilot control variables according to FIG.
- FIG. 1 shows a block diagram of a device for carrying out the current control method according to the invention for a voltage-impressing converter.
- the stator currents i R , i s , i ⁇ of a three-phase machine are regulated in a coordinate system oriented with the stator frequency (Os rotating, generally based on the flux angle ⁇ 's.
- Such a regulation is referred to as vector regulation, with which it is possible to achieve a To control the induction machine similar to a DC machine, using transformation equations for a multi-phase machine to set up a two-phase model in which the flux-forming current component i sp and the torque-forming one
- Current component i sq can be controlled independently. If the load changes, the torque-forming current component i sq is immediately regulated to its new value, while the flux-forming current component i sp ten maintains.
- the manipulated variable of the current control method are via components u * sp and u * S q of the stator voltage vector u * s in this coordinate system, since the control is intended for a voltage-impressing converter, for example a pulse converter or direct converter.
- the vector control requires knowledge of the sizes of the equivalent circuit diagram of the induction machine (stator resistance R s , leakage inductance L ⁇ and main inductance L H ).
- the stand-oriented alternating variables u R , u s , ip are determined by means of an actual value computer 2. and transform i s into field-oriented equals i s , i E q, I ⁇ s I and e j ⁇ s .
- the determined current component i sp is fed to a device 4 for forming an exact flow-forming current component i sp ⁇ .
- the current components i sp) c and i sq determined are each fed to a comparator 8 and 10, at the non-inverting inputs of which a current component setpoint i * sp and i * sq are present.
- the comparator 8 or 10 is linked to a current controller 12 or 14, which is connected on the output side to an adder 16 or 18.
- a proportional-integral controller is provided as controller 12 or 14.
- These current controllers 12 and 14 are supported by a pilot control network 20 in that pilot control variables u * Bpv ⁇ r and u * sqv ⁇ r are determined, each corresponding to the
- Adders 16 and 18 are supplied.
- the current regulators 12 and 14 only have to deliver the voltage ⁇ u * sp and ⁇ u * sq at their outputs, which are not determined by the pilot control network 20, for example dynamic components, errors etc.
- the outputs of the two adders 16 and 18 become a vector rotator 22 supplied with downstream coordinate converter 24.
- the pending voltage components u * sp and u * sq are first converted into stator-oriented voltage components u 1 u * ed converted, which are perpendicular to each other.
- These Cartesian stand-oriented voltage components u * s ⁇ and u * E ß are then transformed into polar voltage components u * s and ⁇ * s .
- This control method is also referred to as two-component current control and has been described in detail in the specified manuscript.
- the pilot control network 20 which is also referred to as a decoupling network, has also been described and described in detail in this lecture manuscript, so that only the essential is mentioned here.
- the pilot control network requires the following input variables: rotor frequency ⁇ b , flux-forming current component setpoint ⁇ * ⁇ p and torque- forming current component setpoint ⁇ * sq .
- this pilot control network 20 requires the values of the parameters stator resistance R s ,
- the pilot network 20 calculates the expected voltage u * SP shares before and u * SQV or / to the Entla ⁇ stung the current controller are connected up to the controller 12 and outputs fourteenth If the parameters R s , L ⁇ and L H of the pilot control network 20 are set correctly, the current regulators 12 and 14 deliver a regulator manipulated variable ⁇ u * sp and ⁇ u * ⁇ q at their outputs, which are each equal to zero. The total, ⁇ for the desired current components * sp * and ⁇ sq ER ford variable voltage components u * sp and u * sq is calculated from the pilot network 20th
- This two-component current control is extended by a transverse branch 26 which connects the output voltage ⁇ u * sq of the current regulator 14 in the active axis to the regulator voltage ⁇ u * sp of the current regulator 12 in the flower roof.
- This cross branch 26 contains two multipliers 28 and 30 and a low pass 32, also referred to as a delay element.
- the multipliers 28 and 30 are each connected to an input of the transverse branch 26, the low-pass filter 32 being an output of the transverse branch
- the multiplier links one
- Input signal stator frequency CDs with the coefficient time constant ⁇ and gain factor k.
- the frequency variable generated is multiplied by the second multiplier 30 by the second input variable ⁇ u * sq .
- the generated frequency-dependent voltage component is switched to the adder 16 in the blind axis by means of the delay element 32.
- the p component of the current regulator 12 delivers zero at the output.
- the integral part of the controller 12 would run away. This can be prevented by limiting the integral component in a frequency-dependent manner in such a way that the integral component is made zero at the modulation limit.
- the current regulator 12 is provided with a limiter 34, the control input of which is connected to an output of a characteristic curve generator 36, at whose input the stator frequency Cfrequenz s is present.
- the device 4 for forming an exact flow-forming current component i sp k is fed not only the determined flow-forming current component i Bp but also the value of the main machine inductance L H and the amount of the machine flow vector Iv S I. 2 shows a block diagram of the device 4
- This device 4 has a high-pass filter 38, a quotient 40 and an adder 42.
- the time constant T of this high-pass filter 38 is approximately equal to the flux time constant L 2 / R 2 of the induction machine.
- the second input of this adder 42 is linked to the output of the quotient generator 40, the first input x of which is the amount of the machine flow vector
- Adders 42 is present, thus contains a stationary and dynamic component ⁇ sps and ⁇ sp .
- the dynamic part ⁇ spd has hardly any effect, but when the load on a machine changes, ie in the dynamic operating state, the dynamic part can no longer be neglected.
- FIG 3 is a block diagram of a second exporting ⁇ approximate shape of the device for carrying out the erfmdungsge- reasonably current control method shown.
- This embodiment differs from the embodiment according to FIG 1 there ⁇ by, that a device controlling large 6 to form additional advantages spz u * and u * ⁇ q7 and two additional adders 44 and 46 are provided.
- the generated pilot control variable u * spV or u * sq in front of the pilot network 20 and the additional pilot variable u * spz or u * sq2 of the device 6 formed.
- the further adder 44 or 46 is linked to the adder 16 or 18.
- the flux-forming current component i sp of the actual value computer 2 the exact flux-forming current component i sp of the device 4 and the stator frequency C0s determined are present at the inputs of the device 6.
- the device 6 In order to form the additional pilot control variables u * ⁇ pz and u * sqz , the device 6 requires the parameters stator resistance R s and leakage inductance L ⁇ of the induction machine . These parameter values are adopted by the pilot network 20.
- This device 6 has a comparator 48, two weighting factors 50 and 52 and a multiplier 54.
- the comparator 48 is arranged on the input side of the device 6, the flow-forming current component i sp formed by the actual value computer 2 being present at the non-inverting input of the comparator 48, whereas the exact flow-forming current component i sp formed by the device 4 is present at its inverting input.
- this comparator 48 is connected on the one hand to the input of the weighting factor tors 50 and on the other hand connected to the input of the weighting factor 52.
- the output of the weighting factor 52 is linked to an input of the multiplier 54, whereas the stator frequency CD is present at its second input.
- the additional pilot variable u * spz At the output of the weighting factor 50 there is the additional pilot variable u * sqz and at the output of the multiplier 54 the additional pilot variable u * sqz .
- the value of the stator resistance R s is provided as the weighting factor 50, whereas the value of the leakage inductance L ⁇ is provided as the weighting factor 52.
- the comparator 48 of the device 6 generates a differential current component i ⁇ Pdk , which is then weighted by the weighting factor 50 or 52.
- This differential current component i spd k is a measure of the error which arises from the detuning of the machine parameters of the induction machine and the parameters set in the pilot control network 20. This is true because in order to determine this difference current component i sp dk the faulty and exact flux-forming current component i sp and i used ⁇ p k.
- the device 4 or 6 is part of the actual value computer 2 or the pilot control network 20.
- the embodiment according to FIG. 3 can be implemented by a high-performance microcontroller.
- the Para ⁇ meter is insensitivity of the two-component current control significantly improved, so that no longer occur in the steady operation at detuning of the machine parameters Streuinduktivitat L ⁇ and main inductance L H moment error.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA002263984A CA2263984A1 (en) | 1996-08-30 | 1997-08-13 | Improved current control process and device for a voltage converter |
EP97938766A EP0922326A1 (en) | 1996-08-30 | 1997-08-13 | Improved current control process and device for a voltage converter |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19635235A DE19635235C1 (en) | 1996-08-30 | 1996-08-30 | Current control method e.g. for Simovert master drives VC |
DE19635235.5 | 1996-08-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998009370A1 true WO1998009370A1 (en) | 1998-03-05 |
Family
ID=7804210
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1997/001743 WO1998009370A1 (en) | 1996-08-30 | 1997-08-13 | Improved current control process and device for a voltage converter |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0922326A1 (en) |
CN (1) | CN1232581A (en) |
CA (1) | CA2263984A1 (en) |
DE (1) | DE19635235C1 (en) |
WO (1) | WO1998009370A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7078051B2 (en) * | 2017-09-29 | 2022-05-31 | 日本電産株式会社 | Power converter, motor drive unit and electric power steering device |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0633653A1 (en) * | 1993-07-09 | 1995-01-11 | Siemens Aktiengesellschaft | Method of current regulation and device for a voltage converter |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI884512A (en) * | 1987-11-25 | 1989-05-26 | Siemens Ag | FOERFARANDE FOER EFTERBILDNING AV EN BELASTNINGSVINKELS NUVAERDE HOS EN VRIDFAELTSMOTOR SAMT ETT KOPPLINGSSCHEMA FOER FOERVERKLIGANDE AV DETTA FOERFARANDE. |
EP0529120A1 (en) * | 1991-08-24 | 1993-03-03 | ABUS Kransysteme GmbH & Co. KG. | Control method for the drive of a lifting device |
-
1996
- 1996-08-30 DE DE19635235A patent/DE19635235C1/en not_active Expired - Fee Related
-
1997
- 1997-08-13 CN CN97198581A patent/CN1232581A/en active Pending
- 1997-08-13 EP EP97938766A patent/EP0922326A1/en not_active Withdrawn
- 1997-08-13 WO PCT/DE1997/001743 patent/WO1998009370A1/en not_active Application Discontinuation
- 1997-08-13 CA CA002263984A patent/CA2263984A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0633653A1 (en) * | 1993-07-09 | 1995-01-11 | Siemens Aktiengesellschaft | Method of current regulation and device for a voltage converter |
Also Published As
Publication number | Publication date |
---|---|
DE19635235C1 (en) | 1997-08-28 |
CA2263984A1 (en) | 1998-03-05 |
CN1232581A (en) | 1999-10-20 |
EP0922326A1 (en) | 1999-06-16 |
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