WO2015035801A1 - 一种抑制感应电动机电流振荡的v/f控制方法 - Google Patents
一种抑制感应电动机电流振荡的v/f控制方法 Download PDFInfo
- Publication number
- WO2015035801A1 WO2015035801A1 PCT/CN2014/078882 CN2014078882W WO2015035801A1 WO 2015035801 A1 WO2015035801 A1 WO 2015035801A1 CN 2014078882 W CN2014078882 W CN 2014078882W WO 2015035801 A1 WO2015035801 A1 WO 2015035801A1
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- coefficient
- angular frequency
- component
- control method
- reactive current
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Classifications
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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
- H02P27/047—V/F converter, wherein the voltage is controlled proportionally with the frequency
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
Definitions
- the present invention relates to a control method for an induction motor, and more particularly to a V/F control method for an induction motor. Background technique
- An induction motor also called an asynchronous motor, is an alternating current motor in which a rotating magnetic field formed by a stator winding interacts with a magnetic field of an induced current in a rotor winding to generate electromagnetic torque to drive the rotor to rotate.
- the equivalent circuit of the induction motor ⁇ Figure 1.
- variable frequency speed control When performing induction motor speed regulation, it is usually necessary to keep the air gap flux constant. If the magnetic flux is too weak, the core of the motor is not fully utilized, and a large torque cannot be output. If the magnetic flux is too large, the motor core is saturated, causing the excitation current to be too large, which may damage the motor in severe cases. Therefore, the variable frequency speed control must be performed on the premise of keeping the air gap flux constant.
- Fj represents the current operating frequency or stator current frequency
- N s represents the number of turns of the stator windings per phase
- k Ns represents the stator fundamental winding coefficient
- ⁇ ⁇ indicates the amplitude of the flux at each pole.
- the basic V/F control is shown in Figure 2. After setting the frequency, set the voltage amplitude according to the V/F curve, and then control the inverter to output the three-phase AC voltage through PWM modulation to control the motor operation.
- the basic V/F specific control method is shown in Figure 3. Among them is the angular velocity obtained according to the frequency set by the user. According to the above, to maintain l / y; unchanged to maintain a constant flux linkage, you only need to keep the value of ⁇ A3 ⁇ 4 unchanged (representing the voltage base value, ⁇ 3 ⁇ 4 represents the angular frequency base value). Therefore, multiply / get the given stator voltage ⁇ /. The above is integrated to obtain the stator voltage vector rotation angle ⁇ .
- the two quantities are used for coordinate transformation (including the transformation of the rotating orthogonal coordinate system to the stationary two-phase orthogonal coordinate system ⁇ and the transformation between the two-phase orthogonal coordinate system to the three-phase coordinate system), and the three-phase stator phase is obtained after the transformation.
- the voltages ⁇ , U B and f / e output 6 channels of WM waveforms via voltage space vector PWM (S) control technology.
- the 6-way WM wave controls the switching tube of the three-phase inverter to realize the control of the induction motor.
- Dead zone factor Due to the dead time set in the inverter to prevent the inverter bridge arm from being through, the dead time has an influence on the fundamental voltage, which increases the low-order harmonic component and causes current distortion, especially when the motor is unloaded. Therefore, it is easy to generate oscillation when it is idling.
- V/F control belongs to the current open-loop control, there is no closed-loop control according to the feedback current. When the current has slight fluctuations, the corresponding adjustment cannot be made. The current fluctuation becomes larger and larger, eventually causing the current to oscillate until the inverter alarms. .
- the V/F control is an open-loop control, and its output needs to be adjusted when there is a slight fluctuation in current.
- the method of suppressing the oscillating current of the motor mainly focuses on the two directions of fine-tuning the voltage output and fine-tuning the frequency output.
- the specific implementation process of suppressing the oscillation of the trimming voltage output is to obtain the reactive current or the active current ⁇ of the sample, set the appropriate cutoff frequency, extract the resonance component through the filter, and obtain the voltage compensation amount according to the resonance component. Specifically, the disturbance component of the stator current is extracted and added to the given stator voltage for compensation.
- the specific implementation process of fine-tuning the frequency output to suppress the oscillation is to obtain the reactive current or the active current ⁇ of the sample, set the appropriate cutoff frequency, and extract the resonance component through the filter. The quantity is then multiplied by a different multiple according to the requirements to obtain the frequency compensation amount of the resonance component. Specifically, the disturbance component of the stator current is extracted and added to the given frequency end for compensation.
- An object of the present invention is to provide an induction motor V/F control method capable of further improving the effect of suppressing oscillation.
- the invention provides a V/F control method for an induction motor, comprising:
- step 4) performing low-pass filtering on the result of step 3) to obtain a compensation amount
- the first coefficient and the second coefficient are the same. According to the control method provided by the present invention, the first coefficient and the second coefficient are different. According to the control method provided by the present invention, in step 5), the compensation amount is superimposed to the original given angular frequency to obtain an output angular frequency, and the output angular frequency is integrated to obtain a stator voltage vector rotation angle.
- the ratio of the voltage base value to the angular frequency base value is constant, the ratio is multiplied by the original given angular frequency to obtain a given stator voltage.
- the invention also provides a V/F control device for an induction motor, comprising:
- a differential device configured to differentially process the extracted reactive current and active current respectively to obtain a reactive current micro component and an active current micro component
- a coefficient processing device configured to multiply the reactive current differential component and the active current differential component by a preset first coefficient and a second coefficient
- a summing device configured to sum the reactive current micro-component multiplied by the first coefficient and the active current micro-component multiplied by the second coefficient; a low-pass filter for low-pass filtering the result of the output of the summing device to obtain a compensation amount; and a superimposing device for superimposing the compensation amount to the original given angular frequency for V/F control.
- the superimposing means superimposes the compensation amount on the original given angular frequency, and then obtains an output angular frequency, and integrates the output angular frequency to obtain a stator voltage vector rotation angle.
- Figure 1 is an equivalent circuit of an induction motor
- FIG. 2 is a schematic diagram of a V/F control method
- Figure 3 is a schematic flow chart of a specific V/F control method
- FIG. 4 is a schematic flow chart of a control method according to an embodiment of the present invention.
- Fig. 5 is a dominant pole distribution diagram of a V/F control method in which a motor is not subjected to suppression oscillation
- Fig. 6 is a diagram showing a dominant pole distribution after a V/F control method for suppressing oscillation according to the present invention
- Figure 7 is a comparison of the current and bus voltage waveforms of a 15 kW motor with and without the control method according to the present invention. detailed description
- the embodiment provides a V/F control method for an induction motor, and the control block diagram thereof is as shown in FIG. 4, and includes the following steps:
- the low-pass filtering is performed by the filter, wherein the interception frequency is obtained, and after filtering, the compensation amount of the real-time rotation angular frequency is obtained;
- step 6) After the step 5) is transformed, the three-phase stator phase voltages t/, U B and f/ c are outputted by a voltage space vector PWM (SVPWM) control technique, and the six-way waveform is controlled by the six-way wave control three-phase inverter. Tube, to achieve control of the induction motor.
- SVPWM voltage space vector PWM
- the extracted reactive current i sd and the active current i sq are separately differentiated, and then different coefficients ⁇ and can be directly and flexibly multiplied according to requirements.
- the compensation amount ⁇ « of the real-time rotation angular frequency is obtained, the compensation amount ⁇ « is superimposed to the original given angular frequency, and then the stator voltage vector rotation angle is integrated. Since the two coefficients can be multiplied before entering the filter, the number of variables is larger and the variation is more flexible, so that the effect of suppressing the oscillation can be further improved.
- the invention also provides a V/F control device for an induction motor, comprising:
- the data processing device ⁇ and ⁇ comprising a differential device and a coefficient processing device, wherein the differential device is configured to differentially process the extracted reactive current and active current to obtain a reactive current micro component and an active current micro component, and the coefficient processing device And is configured to multiply the reactive current micro component and the active current micro component by a preset first coefficient and a second coefficient, respectively;
- a summing device for summing the reactive current differential component multiplied by the first coefficient and the active current differential component multiplied by the second coefficient
- the V/F control device can be implemented by a variety of means known in the art, such as hardware, software, or a combination of hardware and software.
- the Matlab simulation result ⁇ ⁇ ⁇ ⁇ is provided below.
- the Matlab simulation is based on voltage orientation. Since the stator voltage is given by the inverter, the accuracy of the voltage orientation can be guaranteed. The result of this analysis is more meaningful.
- the state of operation of the motor can be judged based on the dynamic mathematical model of the motor operation. A 5th-order motor operating ⁇ ⁇ state
- the small-signal mathematical model equation of the motor is obtained according to the state equation of the motor operation, and the pole of the small signal matrix is solved to determine whether the system is stable. If the poles fall within the negative half of the coordinate system, the system is stable.
- the 5th order motor operating equation contains all the information about the operation of the motor:
- Equation (1-9) is re-described as:
- the motor operation small signal equation is obtained.
- the system is analyzed to determine whether the system is stable. If the poles fall within the negative half of the coordinate system, the system is stable.
- the dominant pole distribution diagram of the V/F control method in which the motor is not subjected to suppression oscillation is shown in Fig. 5.
- the dominant pole distribution diagram shows that when the coefficient sum is equal to 0, the system is unstable and stable at 110-185md/s (17.5Hz ⁇ 29.4Hz).
- the dominant pole profile of a 15 kW motor after using the V/F control method for suppressing oscillation of the present invention is shown in FIG.
- Figure 7 shows a comparison of the current and bus voltage waveforms of the 15KW motor in the unused (left half of Figure 7) and the top (right half of Figure 7) control method according to the present embodiment, As can be seen from the comparison, the control method provided by the present invention can effectively suppress the oscillation of the motor.
- the coefficients of two independent variations can be multiplied before entering the filter (the coefficients can be the same or different), the number of variables is larger and the variation is more flexible, and the effect of suppressing the oscillation can be further improved.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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DE112014004230.7T DE112014004230T5 (de) | 2013-09-16 | 2014-05-30 | Frequenzumrichtersteuerungsverfahren zum Unterdrücken von Stromoszillationen eines Induktionsmotors |
US15/021,335 US10135378B2 (en) | 2013-09-16 | 2014-05-30 | V/F control method for suppressing current oscillation of induction motor |
Applications Claiming Priority (2)
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CN201310421736.1 | 2013-09-16 | ||
CN201310421736.1A CN104467597B (zh) | 2013-09-16 | 2013-09-16 | 一种抑制感应电动机电流振荡的v/f控制方法 |
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WO2015035801A1 true WO2015035801A1 (zh) | 2015-03-19 |
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PCT/CN2014/078882 WO2015035801A1 (zh) | 2013-09-16 | 2014-05-30 | 一种抑制感应电动机电流振荡的v/f控制方法 |
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US (1) | US10135378B2 (zh) |
CN (1) | CN104467597B (zh) |
DE (1) | DE112014004230T5 (zh) |
WO (1) | WO2015035801A1 (zh) |
Cited By (3)
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CN106899249A (zh) * | 2017-03-01 | 2017-06-27 | 杭州之山智控技术有限公司 | 力矩电机的控制方法 |
CN109728757A (zh) * | 2019-02-28 | 2019-05-07 | 华中科技大学 | 直线感应电机任意双矢量模型预测推力控制方法及系统 |
CN112953325A (zh) * | 2021-03-22 | 2021-06-11 | 华中科技大学 | 一种无刷双馈发电系统及其控制方法 |
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CN108988387A (zh) * | 2018-07-30 | 2018-12-11 | 国网湖南省电力有限公司电力科学研究院 | 基于转子电流移相平均的双馈风电机组次同步谐振抑制方法 |
CN112039383B (zh) * | 2019-05-14 | 2022-03-29 | 麦克维尔空调制冷(武汉)有限公司 | 电机的控制方法、电机的控制装置和电机系统 |
CN112564576B (zh) * | 2020-12-10 | 2022-08-26 | 苏州英威腾电力电子有限公司 | 异步电机的控制方法、装置、设备和计算机可读存储介质 |
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CN114268265B (zh) * | 2021-11-16 | 2023-09-26 | 上海电力大学 | 变频电机高频开关振荡电流靶向主动抑制方法及装置 |
CN115360953B (zh) * | 2022-08-24 | 2023-05-09 | 威胜能源技术股份有限公司 | 一种基于转子磁链定向的感应电机振荡抑制方法 |
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- 2013-09-16 CN CN201310421736.1A patent/CN104467597B/zh active Active
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- 2014-05-30 US US15/021,335 patent/US10135378B2/en active Active
- 2014-05-30 WO PCT/CN2014/078882 patent/WO2015035801A1/zh active Application Filing
- 2014-05-30 DE DE112014004230.7T patent/DE112014004230T5/de active Pending
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106899249A (zh) * | 2017-03-01 | 2017-06-27 | 杭州之山智控技术有限公司 | 力矩电机的控制方法 |
CN106899249B (zh) * | 2017-03-01 | 2020-04-21 | 杭州之山智控技术有限公司 | 力矩电机的控制方法 |
CN109728757A (zh) * | 2019-02-28 | 2019-05-07 | 华中科技大学 | 直线感应电机任意双矢量模型预测推力控制方法及系统 |
CN109728757B (zh) * | 2019-02-28 | 2020-11-24 | 华中科技大学 | 直线感应电机任意双矢量模型预测推力控制方法及系统 |
CN112953325A (zh) * | 2021-03-22 | 2021-06-11 | 华中科技大学 | 一种无刷双馈发电系统及其控制方法 |
CN112953325B (zh) * | 2021-03-22 | 2021-12-03 | 华中科技大学 | 一种无刷双馈发电系统及其控制方法 |
Also Published As
Publication number | Publication date |
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US10135378B2 (en) | 2018-11-20 |
CN104467597A (zh) | 2015-03-25 |
US20160226420A1 (en) | 2016-08-04 |
DE112014004230T5 (de) | 2016-05-25 |
CN104467597B (zh) | 2018-08-14 |
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