CN100377492C - Asynchronous electric motor speed adjusting method based on dynamic potential control with kinetic force - Google Patents
Asynchronous electric motor speed adjusting method based on dynamic potential control with kinetic force Download PDFInfo
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- CN100377492C CN100377492C CNB2005100131935A CN200510013193A CN100377492C CN 100377492 C CN100377492 C CN 100377492C CN B2005100131935 A CNB2005100131935 A CN B2005100131935A CN 200510013193 A CN200510013193 A CN 200510013193A CN 100377492 C CN100377492 C CN 100377492C
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Abstract
The present invention relates to an asynchronous motor speed regulation method based on dynamic electromotive force control; orienting a magnetic field and controlling the rotary speed of the asynchronous motor are realized by controlling the dynamic electromotive force. The method comprises the following steps: the output of a speed regulator is used as the expected value of the dynamic electromotive force; the expected value of the dynamic electromotive force divided by the expected value of oriented magnetic flux is the expected value of slip frequency; the current excitation component and the torque component of a stator of the motor are figured out by using the expected value of the oriented magnetic flux, the expected value of the slip frequency, the expected value of the dynamic electromotive force and the parameter of the motor. The present invention has the advantages of simple control structure and simple and easy calculation; the orientation of a rotor magnetic field, an air gap magnetic field and a stator magnetic field can be realized, and the orientation of any magnetic field can even be realized; the present invention can be used for constant torque control and constant power control; the problem of the saturation of current and voltages oftentimes arises in the conventional magnetic field orientation control, but when the present invention is used for constant power control, the problem can be avoided without need for adding additional control.
Description
Technical Field
The invention relates to a speed regulating method of an asynchronous motor, in particular to a method for realizing speed control of the asynchronous motor by controlling a moving potential.
Background
The asynchronous motor is the main power of industrial and agricultural production, along with the development of science and the progress of human beings, higher and higher requirements are put forward on the speed control of the asynchronous motor, and the traditional speed regulation method of the asynchronous motor is realized by directly controlling the electromagnetic torque of the motor. In practical industrial applications, the conventional speed regulation method generally includes two methods: i.e. scalar control for lower dynamic performance and field-oriented control (also called vector control) for high dynamic performance. The magnetic field orientation control usually comprises three different control modes of rotor magnetic field orientation, stator magnetic field orientation and air gap magnetic field orientation, and the basic method for controlling the rotating speed of the asynchronous motor is as follows: obtaining stator current excitation (or direct axis) component according to the directional magnetic field expected value; the speed regulator obtains a torque expected value, and further obtains a stator current torque (or quadrature axis) component, thereby realizing the decoupling of the torque and the magnetic flux.
On the other hand, in the prior art, according to the above three ways of obtaining the position angle of the directional magnetic field in the magnetic field directional control, the magnetic field directional control is generally divided into an indirect magnetic field directional control way and a direct magnetic field directional control way; in the indirect magnetic field orientation mode, slip frequency is calculated by stator current torque (or quadrature axis) component expected value, stator current excitation (or direct axis) component expected value, orientation magnetic flux expected value and motor parameter, and then is added with the speed obtained by a speed sensor (or observer) to obtain expected stator current frequency, and the frequency is integrated to obtain the position angle of the orientation magnetic field; in the direct magnetic field orientation control mode, the position angle of the orientation magnetic field can be obtained by direct measurement or by adopting an observer. And combining the obtained current and the magnetic field orientation position angle to realize the speed control of the asynchronous motor.
The speed regulation method adopted by the prior art designs the controller directly from the torque, and has the defect that the current and voltage saturation problem often occurs when the vector control is adopted for constant power (or weak magnetic) operation, so that the complexity of the control is increased.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art, and providing a method for regulating speed of an asynchronous motor based on a electromotive force control, which controls the electromotive force of the asynchronous motor to control the speed of the asynchronous motor.
The invention provides an asynchronous motor speed regulating method based on movement electromotive force control, which realizes magnetic field orientation and controls the rotating speed of an asynchronous motor by controlling movement electromotive force, and comprises the following steps:
taking the output of the speed regulator as the expected value of the movement electromotive force;
dividing the expected value of the motion electromotive force by the expected value of the directional magnetic flux to obtain an expected value of slip frequency;
and calculating the stator current excitation component and the torque component of the motor by using the expected value of the directional magnetic flux, the expected value of the slip frequency, the expected value of the motion electromotive force and the parameters of the motor.
Compared with the prior art, the speed regulation method of the asynchronous motor based on the movement electromotive force control is simple and easy in control structure and calculation, can achieve the performance of traditional vector control, can realize rotor magnetic field orientation, air gap magnetic field orientation and stator magnetic field orientation, even any magnetic field orientation, and can realize conversion among the rotor magnetic field orientation, the air gap magnetic field orientation and the stator magnetic field orientation by changing the value of a coefficient; the method can be used for constant torque operation and constant power (or weak magnetic) operation, and particularly can avoid the current and voltage saturation problem which often occurs when the traditional vector control is used for the constant power operation without special control when the method is used for the constant power (or weak magnetic) operation.
The technical solution of the present invention will be described in detail with reference to the following embodiments and accompanying drawings.
Drawings
FIG. 1 is a block diagram of the current decoupling of an arbitrary magnetic field orientation system constructed in accordance with the present invention;
FIG. 2 is an indirect rotor field orientation control system constructed in accordance with the present invention;
FIG. 3 is an indirect air gap field orientation control system constructed in accordance with the present invention;
fig. 4 is an indirect stator field orientation control system constructed in accordance with the present invention.
Detailed Description
The invention provides a speed regulating method of an asynchronous motor based on motion electromotive force control, which has the main working principle that: taking the output of the speed regulator as the expected value of the movement electromotive force; dividing the expected value of the motion electromotive force by the expected value of the directional magnetic flux to obtain an expected value of slip frequency; the stator current excitation (or direct axis) component and the torque (or quadrature axis) component are calculated from the expected values of the directional magnetic flux, the slip frequency, the kinetic electromotive force and the parameters of the motor.
In any synchronous rotating coordinate system, the mathematical model of the asynchronous motor after any magnetic flux is oriented is as follows:
wherein a is a real constant, u d a Is the stator winding voltage d-axis component; u. of q a Is the stator winding voltage q-axis component; i.e. i d a The d-axis (or field current) component of the stator winding current for any field orientation; i.e. i q a Stator winding current q-axis (or torque current) components for any magnetic field orientation; psi m a Is a randomly oriented magnetic flux; omega 1 Is the stator winding current frequency; omega sl Is the angular frequency of the rotation difference; r is s A stator winding resistor; l is s A stator winding inductance; l is a radical of an alcohol m Is an excitation inductance; l is r Converting the rotor winding inductance to the stator winding;
R r to translate the rotor winding resistance to the stator winding.
According to the different values of a, the asynchronous motor speed regulation method based on the movement electromotive force control can form independent rotor magnetic field orientation, air gap magnetic field orientation and stator magnetic field orientation control, and can also form composite control capable of realizing mutual conversion among the rotor magnetic field orientation, the air gap magnetic field orientation and the stator magnetic field orientation; the method can be used for controlling a current source inverter and a voltage source inverter; not only can constitute indirect vector control, but also can constitute direct vector control; further, a speed sensorless control may also be configured.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments in various magnetic field orientation systems.
The block diagram of current decoupling based on arbitrary magnetic field orientation of the asynchronous motor controlled by the electromotive force of motion, which is formed by equations (1) and (2) mentioned according to the above working principle, is shown in fig. 1, where in fig. 1, ω is * For desired rotational speed of the motor, ω is asynchronous motorActual speed of rotation of the machine, 1 being a speed regulator, the output of which is the desired value e of the controlled electromotive force of the motion r * The speed regulator can be a PI, PID, fuzzy or neural network regulator and the like; 2 is a function generator whose output is the desired value psi of any directional flux m a (ii) a 4 is a division operation which expresses the relationship that the expected value of the kinetic electromotive force is divided by the expected value of the directional magnetic flux to obtain the expected value omega of the slip frequency sl * ；T r ＝L r /R r Is the rotor time constant, p is the derivative sign,
expected value i of field current component d a* And desired value i of torque current component q a* Calculated from the expected value of the arbitrarily oriented magnetic flux and the expected value of the kinetic electromotive force, 5 and 8 in the figure are addition operations, 6 and 7 are multiplication operations, participate in the operations,respectively obtaining expected values i of stator current excitation components d a* And desired value i of stator current torque component q a* 。
The following describes the block diagrams of three different control systems of the asynchronous motor based on the control of the moving electromotive force, namely rotor magnetic field orientation, air gap magnetic field orientation and stator magnetic field orientation.
If a = L m /L r Substituting into fig. 1 can constitute asynchronous motor rotor field orientation control based on motion electromotive force control, and its indirect rotor field orientation control system that constitutes is shown in fig. 2.
In FIG. 2, i d r* The expected value of the d-axis (or excitation current) component of the stator winding current when the rotor field is oriented; i all right angle q r* The desired value of the stator winding current q-axis (or torque current) component when the rotor field is oriented; psi r * A desired value for rotor flux orientation; the other physical quantities are as before. 9, adding slip frequency and rotor speed to obtain stator current frequency; 10 is integral operation, and the frequency of the stator current is integrated to obtainRotor flux angle θ; the stator current excitation component and the torque component are subjected to coordinate transformation 11, and the stator current or the stator voltage is calculated so as to feed the asynchronous motor through a current source inverter or a voltage source inverter 12, in the same way as in the conventional vector control. 13 is a three-phase asynchronous motor; and 14 is a speed sensor.
If a =1 is substituted into fig. 1, the asynchronous motor air-gap field orientation control based on the movement electromotive force control can be formed, and an indirect air-gap field orientation control system is formed as shown in fig. 3.
In the context of figure 3 of the drawings,
i d m* the desired value of the d-axis (or field current) component of the stator winding current for air gap field orientation; i.e. i q m* A desired value for the stator winding current q-axis (or torque current) component when oriented for the air gap field; psi m * A desired value for the air gap flux orientation; the other physical quantities are as before. 9, adding the slip frequency and the rotor rotating speed to obtain the stator current frequency; 10, integrating the current frequency of the stator to obtain an air gap flux angle theta; calculating a stator current excitation component expected value and a torque component expected value through adders 5 and 8 and multipliers 6 and 7; the stator current excitation component and the torque component are coordinate transformed 11 and the stator current or stator voltage is calculated to feed the asynchronous motor through a current source inverter or a voltage source inverter 12 in the same way as in the conventional vector control. 13 is a three-phase asynchronous motor; and 14 is a speed sensor.
If a = L s /L m Substituting into fig. 1 can constitute asynchronous motor stator magnetic field orientation control based on motion electromotive force control, and its indirect stator magnetic field orientation control system that constitutes is shown in fig. 4.
In the context of figure 4 of the drawings,i d s* stator winding current d-axis (excitation) for stator field orientationCurrent) componentThe expected value of (d); i.e. i q s* The desired value of the stator winding current q-axis (torque current) component when the stator field is oriented; psi s * A desired value for stator flux orientation; the other physical quantities are as before. 9, adding the slip frequency and the rotor rotating speed to obtain the stator current frequency; 10, integrating operation, namely integrating the current frequency of the stator to obtain a magnetic flux angle theta of the stator; calculating a stator current excitation component expected value and a torque component expected value through adders 5 and 8 and multipliers 6 and 7; the stator current excitation component and the torque component are coordinate-transformed 11 and the stator current or stator voltage is calculated to feed the asynchronous motor through a current source inverter or a voltage source inverter 12 in the same way as in the conventional vector control. 13 is a three-phase asynchronous motor; and 14 is a speed sensor.
The above method is only a part of the method, and in addition, a magnetic flux closed loop, a moving electromotive force closed loop, a current closed loop, a direct magnetic field orientation control and the like can be formed, and other methods are basically the same as the traditional magnetic field orientation control except for the differences indicated above.
The above-mentioned embodiments are only examples of the present invention, and the present invention is not limited to the system and method of the present invention, and the scope of the present invention is defined by the following claims. Various obvious modifications or changes in form and detail could be made by those skilled in the art without departing from the spirit and scope of the invention and shall fall within the protection scope of the invention.
Claims (6)
1. A speed regulating method of asynchronous motor based on motion electromotive force control, in the magnetic field orientation control system, by controlling the motion electromotive force, realize the magnetic field orientation, and control the asynchronous motor rotational speed, the method includes the following steps:
taking the output of the speed regulator as the expected value of the movement electromotive force;
dividing the expected value of the motion electromotive force by the expected value of the directional magnetic flux to obtain an expected value of slip frequency;
and calculating the stator current excitation component and the torque component of the motor by using the expected value of the directional magnetic flux, the expected value of the slip frequency, the expected value of the motion electromotive force and the parameters of the motor.
2. The method for governing an asynchronous motor based on emf control as in claim 1 further comprising a current decoupling process of said field oriented control system comprising the steps of:
adding the slip frequency and the rotor rotating speed to obtain the stator current frequency;
integrating the current frequency of the stator to obtain an oriented magnetic flux angle;
and carrying out coordinate transformation on the stator current excitation component and the torque component, calculating the stator current or the stator voltage, and feeding power to the asynchronous motor through a current source inverter or a voltage source inverter.
3. The method of claim 1 wherein the field-oriented control system is a rotor field-oriented control system.
4. The method of claim 1 wherein the field-oriented control system is an air-gap field-oriented control system.
5. A method of regulating speed of an asynchronous motor based on bemf control as recited in claim 1 wherein said field-oriented control system is a stator field-oriented control system.
6. A method of regulating speed of an asynchronous motor based on emf control as recited in claim 1 wherein the asynchronous motor is a three phase asynchronous motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100131935A CN100377492C (en) | 2005-02-07 | 2005-02-07 | Asynchronous electric motor speed adjusting method based on dynamic potential control with kinetic force |
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| CNB2005100131935A CN100377492C (en) | 2005-02-07 | 2005-02-07 | Asynchronous electric motor speed adjusting method based on dynamic potential control with kinetic force |
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| CN100377492C true CN100377492C (en) | 2008-03-26 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1249077A (en) * | 1997-03-19 | 2000-03-29 | 株式会社日立制作所 | Apparatus and method for controlling induction motor |
| US6084377A (en) * | 1998-07-01 | 2000-07-04 | Samsung Electronics Co., Ltd. | Voltage vector overmodulation technique considering counter electromotive force of motor |
| JP2001238499A (en) * | 2000-02-24 | 2001-08-31 | Hitachi Ltd | Speed control method of induction motor |
| US6598008B2 (en) * | 2001-07-06 | 2003-07-22 | Samsung Electronics Co., Ltd. | Method of estimating speed of induction motor and magnetic flux of rotor |
| CN1469542A (en) * | 2002-07-10 | 2004-01-21 | 日立空调***株式会社 | Speed controller for synchronous machine |
-
2005
- 2005-02-07 CN CNB2005100131935A patent/CN100377492C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1249077A (en) * | 1997-03-19 | 2000-03-29 | 株式会社日立制作所 | Apparatus and method for controlling induction motor |
| US6084377A (en) * | 1998-07-01 | 2000-07-04 | Samsung Electronics Co., Ltd. | Voltage vector overmodulation technique considering counter electromotive force of motor |
| JP2001238499A (en) * | 2000-02-24 | 2001-08-31 | Hitachi Ltd | Speed control method of induction motor |
| US6598008B2 (en) * | 2001-07-06 | 2003-07-22 | Samsung Electronics Co., Ltd. | Method of estimating speed of induction motor and magnetic flux of rotor |
| CN1469542A (en) * | 2002-07-10 | 2004-01-21 | 日立空调***株式会社 | Speed controller for synchronous machine |
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| CN1819444A (en) | 2006-08-16 |
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