CN101795109B - Asynchronous motor vector controller - Google Patents
Asynchronous motor vector controller Download PDFInfo
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- CN101795109B CN101795109B CN2010101143061A CN201010114306A CN101795109B CN 101795109 B CN101795109 B CN 101795109B CN 2010101143061 A CN2010101143061 A CN 2010101143061A CN 201010114306 A CN201010114306 A CN 201010114306A CN 101795109 B CN101795109 B CN 101795109B
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Abstract
The invention relates to an asynchronous motor vector controller, which comprises a DSP control board, an I / O board, an optical fiber board and a conditioning plate, wherein an integrator is positioned in an asynchronous motor model observation module, consists of a feedforward part and a feedback part, and comprises an integral orthogonality detection module, an orthogonal compensation PI regulator module, a conversion module of Cartesian coordinates to polar coordinates, a conversion module of polar coordinates to Cartesian coordinates, and a flux linkage amplitude limiting module. The asynchronous motor vector controller with the integrator not only has the effects of improving a back electromotive force integral initial value and DC offset, but also solves the problem of integration phase bias, improves the flux linkage control effect of the asynchronous motor, improves the observation precision of stator flux linkage and the stability of the motor under the rated load, and has relatively simple structure and easy implementation.
Description
Technical field
The present invention relates to a kind of asynchronous motor vector controller, is a kind of AC speed regulating equipment, belongs to the electric machines control technology field.
Background technology
In the design of asynchronous motor vector controller; The algorithm of controller is its core; In at present general Vector Control System of Induction Motor algorithm, very important to the observation of rotor magnetic linkage, directly influence asynchronous machine control effect and motor runnability; Rotor flux observation can be through coming realization indirectly to the amplitude of stator magnetic linkage and the observation of phase place, and the observation procedure of stator magnetic linkage mainly contains following 3 kinds:
1) direct computing method, this method is simple, dynamic response is fast, but the parameter of electric machine that relies on is more, and uncompensated for open loop, cause result of calculation to become inaccurate easily with the motor operating condition;
2) based on the method for various observers; When the estimating system state; For making system's overall situation stable; The observer of different operational speed range need be taked different gain matrixs. and this method receives the influence of the parameter of electric machine very big, extra presence observer need be set to estimate in real time the parameter of electric machine, has increased the complexity of system configuration;
3) based on the method for back-emf integration, this method only relies on the motor stator resistance parameter, realizes very simply, but low-speed performance is bad.
Summary of the invention
The objective of the invention is to; Overcome the shortcoming of prior art, provide a kind of and make the reliable precision operation of asynchronous machine control, improve back-emf integration initial value and direct current offset, also improve the integrate phase offset issue simultaneously, improve asynchronous machine magnetic linkage control effect, improve the accuracy of observation of stator magnetic linkage and the asynchronous motor vector controller of the stability of motor when nominal load.
Technical scheme of the present invention is: a kind of asynchronous motor vector controller; It comprises a DSP control board; This DSP control board has adopted the Vector Control System of Induction Motor algorithm with integrator; An I/O plate that is used for IO amount and rate signal observing and controlling, one is used for the fibre optic plate that PWM drives and braking drives, a conditioning plate that is used for DC bus-bar voltage and output current signal observing and controlling; Said integrator is in asynchronous machine model observation module; Form by feedforward part and feedback fraction two parts; Comprise integration orthogonality detection module, quadrature compensation PI adjustment module, cartesian coordinate is tied to the polar coordinates modular converter; Polar coordinate system is to the cartesian coordinate modular converter, magnetic linkage amplitude amplitude limit module;
Described integration orthogonality detection module is a α through obtaining behind calculating back-emf and its integration, the detection module that the orthogonality error of β axle stator magnetic linkage component detects; Adding the quadrature detection compensation rate in the integrator is stator magnetic linkage amplitude compensation amount, is used for that the stator magnetic linkage component is calculated the phase deviation that produces and compensates; Described quadrature compensation PI adjustment module is that an orthogonality error that is used for obtaining through detection computations is carried out the module that the PI adjusting obtains stator magnetic linkage amplitude compensation value.
Further technical scheme is:
Described asynchronous motor vector controller, its quadrature detection compensation rate is smaller or equal to 0.02 times of stator magnetic linkage amplitude rated value.
Described asynchronous motor vector controller; Its DSP control board comprises the DSP digital signal processor, preserve data and fault message the nonvolatile memory that extends out, the input of monitoring I/O plate the switching signal state and notify programmable logic device that the DSP digital signal processor in time handles, analog to digital converter, with the RS485 serial communication device of programmable logic controller (PLC) communication, (pulse-width signal processor in addition.
Described asynchronous motor vector controller, its I/O plate comprises photoelectric encoder, input state signal detector, and the isolation and the level conversion processing apparatus of output switch actuating signals.
Described asynchronous motor vector controller, its fibre optic plate comprises the fiber optic connector spare between control loop and the power cell, and control unit powers on and the protection device of power down process.
Described asynchronous motor vector controller; The connecting relation of its DSP control board, I/O plate, fibre optic plate, conditioning plate is: the I/O plate connects with programmable logic device in the DSP control board; Pulse-width signal processor output in fibre optic plate and the DSP control board connects, and conditioning plate connects with analog to digital converter in the DSP control board.
Described asynchronous motor vector controller, its conditioning plate comprise isolation, filtering device and the level conversion to output current and DC bus-bar voltage analog signal, possess the device of current/voltage protection simultaneously.Described asynchronous motor vector controller, its cartesian coordinate are tied to the polar coordinates modular converter and are one and realize α, β axle stator magnetic linkage to the magnetic linkage amplitude with and the module of magnetic linkage angular transition; Described polar coordinate system is one to the cartesian coordinate modular converter and realizes stator magnetic linkage amplitude and magnetic linkage angle to α, the module of β axle stator magnetic linkage component conversion; Described magnetic linkage amplitude amplitude limit module is one and realizes stator magnetic linkage amplitude amplitude limit, eliminates the module of stator magnetic linkage integral offset and integration initial value influence.
Technique effect of the present invention is: improved back-emf integration initial value and direct current offset; Also improved simultaneously the integrate phase offset issue; Also improve asynchronous machine magnetic linkage control effect, improved the accuracy of observation and the stability of motor when nominal load of stator magnetic linkage.The present invention has done corresponding improvement on prior art, relatively simple for structure, does not relate to the quantity of parameters of asynchronous machine, is easy to realize.
Description of drawings
Fig. 1 is a controller architecture theory diagram of the present invention;
Fig. 2 is the DSP control board vector control system structured flowchart of one embodiment of the invention;
Fig. 3 is the amplitude compensation integrator schematic diagram of prior art;
Fig. 4 is integrator structure figure of the present invention;
Fig. 5 is the magnetic linkage control design sketch of prior art;
Fig. 6 is an one embodiment of the invention magnetic linkage control design sketch;
Fig. 7 is one embodiment of the invention asynchronous machine nominal load electric current and voltage figure.
The name of each mark is called among the figure: the 1-DSP control board; 1.0-DSP digital signal processor; 1.1-analog to digital converter; 1.2-digital to analog converter; 1.3-static random access memory; 1.4-nonvolatile memory; 1.5-serial communication device; 1.6-lan controller; 1.7-programmable logic device; 1.8-pulse-width signal processor; The 2-I/O plate; The 3-fibre optic plate; The 4-conditioning plate; The 5-programmable logic controller (PLC); The 6-man-machine interface; 7-integration orthogonality detection module; 8-quadrature compensation PI adjustment module; The 9-cartesian coordinate is tied to the polar coordinates modular converter; The 10-polar coordinate system is to the cartesian coordinate modular converter; 11-magnetic linkage amplitude amplitude limit module.
Embodiment
In conjunction with accompanying drawing and embodiment the present invention is described further as follows:
As shown in the figure; A kind of asynchronous motor vector controller of the present invention; It has a DSP control board 1, and this DSP control board 1 has adopted the Vector Control System of Induction Motor algorithm with integrator, an I/O plate 2 that is used for IO amount and rate signal observing and controlling; One is used for PWM and drives and brake the conditioning plate 4 that 3, one of fibre optic plates that drive are used for DC bus-bar voltage and output current signal observing and controlling; As shown in Figure 4; Said integrator is made up of feedforward part and feedback fraction two parts in asynchronous machine model observation module, and an integration orthogonality detection module 7 is arranged; Quadrature compensation PI adjustment module 8; Cartesian coordinate is tied to polar coordinates modular converter 9, and polar coordinate system is to cartesian coordinate modular converter 10, magnetic linkage amplitude amplitude limit module 11.Described integration orthogonality detection module 7 is the α through obtaining behind calculating back-emf and its integration, the detection module that the orthogonality error of β axle stator magnetic linkage component detects; Adding the quadrature detection compensation rate in the integrator is stator magnetic linkage amplitude compensation amount, is used for that the stator magnetic linkage component is calculated the phase deviation that produces and compensates.Described quadrature detection compensation rate is smaller or equal to 0.02 times of stator magnetic linkage amplitude rated value, and present embodiment quadrature detection compensation rate is 0.02 times of rated value (rated value is 1), can elect 0.01 times as required as, can also uncompensation.Described DSP control board 1; Its composition comprises DSP digital signal processor 1.0, preserve data and fault message the nonvolatile memory that extends out 1.4, the input of monitoring I/O plate the switching signal state and notify programmable logic devices 1.7 that DSP digital signal processor 1.0 in time handles, analog to digital converter 1.1, with the RS485 serial communication device 1.5 of programmable logic controller (PLC) 5 communications, pulse-width signal processor 1.8 in addition.Described I/O plate 2, its composition comprises photoelectric encoder, input state signal detector, and the isolation and the level conversion processing apparatus of output switch actuating signals.Described asynchronous motor vector controller, its fibre optic plate 3 comprises the fiber optic connector spare between control loop and the power cell, and control unit powers on and the protection device of power down process.The connecting relation of described DSP control board 1, I/O plate 2, fibre optic plate 3, conditioning plate 4 is: I/O plate 2 connects with programmable logic device 1.7 in the DSP control board 1; Pulse-width signal processor 1.8 outputs in fibre optic plate 3 and the DSP control board 1 connect, and conditioning plate 4 connects with analog to digital converter 1.1 in the DSP control board 1.Described conditioning plate 4, its composition comprise isolation, filtering device and the level conversion to output current and DC bus-bar voltage analog signal, possess the device of current/voltage protection merit simultaneously; Described quadrature compensation PI adjustment module 8 is that an orthogonality error that is used for obtaining through detection computations is carried out the module that the PI adjusting obtains stator magnetic linkage amplitude compensation value.Described cartesian coordinate is tied to polar coordinates modular converter 9, be one and realize α, β axle stator magnetic linkage to the magnetic linkage amplitude with and the module of magnetic linkage angular transition; Described polar coordinate system is one and realizes stator magnetic linkage amplitude and magnetic linkage angle to α, the module of β axle stator magnetic linkage component conversion to cartesian coordinate modular converter 10; Described magnetic linkage amplitude amplitude limit module 11 is one and realizes stator magnetic linkage amplitude amplitude limit, eliminates the module of stator magnetic linkage integral offset and the influence of integration initial value, adopted this improvement integrator the magnetic field observation technical guarantee accurate surveying in asynchronous machine rotor magnetic field.
Principle of the present invention, technical scheme and good effect are described further as follows:
Asynchronous motor vector controller of the present invention; Realize the integrate phase compensation to the calculating of integrating detector as close-loop feedback; In integrator, add the quadrature detection compensation rate, realized the complete quadrature of stator magnetic linkage vector and back-emf, improved the flux observation precision.Asynchronous motor vector controller of the present invention adopts algorithm structure as shown in Figure 2; Obtain asynchronous machine given rotating speed and non-synchronous motor parameter by man-machine interface 6; Calculate α through the clarke conversion module, β shaft current component is observed the rotor field of asynchronous machine in conjunction with the reconstruct to the controller output voltage; Thereby obtain the decoupling zero that the rotor field angle realizes exciting current and torque current; Carry out the PI computing in conjunction with given rotating speed and asynchronous machine actual speed and obtain the given of torque current, it is given that the given and actual magnetic linkage amplitude of magnetic linkage amplitude PI computing obtains exciting current, and it is given that the control through electric current loop calculates output voltage; Obtain the pwm control signal of asynchronous machine control at last through space vector modulation algorithm, realize accurate control asynchronous machine.
As shown in Figure 1, be the control principle block diagram of a kind of asynchronous motor vector controller of the present invention, DSP control board 1 its algorithmic system block diagram is as shown in Figure 2; Algorithm of the present invention is the vector control algorithm that adopts the integrator improved, and controlling object is the 300KW asynchronous machine, and load is a 300KW AC self-exciting synchronous generator unit; Rated voltage was 380V when asynchronous machine triangle shape connect method; Rated current is 526A, and rated voltage was 658V when asynchronous machine had been adopted star connection, and rated current is 304A.The integrator of as shown in Figure 3 is prior art amplitude compensation carries out stator magnetic linkage and calculates, and the motor run with load is when 30hz, and rotor flux circle control effect as shown in Figure 5 is relatively poor.Effect behind the improved integrator that adds the integration quadrature compensation of the present invention shown in Figure 4, under same operating mode, rotor flux control effect as shown in Figure 6 has had very big improvement.As shown in Figure 7, during stator magnetic linkage calculated, back-emf and stator magnetic linkage integration quadrature had very big deviation when adopting the improvement integrator of amplitude compensation; And along with the increase of output frequency, it is big more that quadrature phase detects skew, the operation of frequency converter band simulator; Band carries output frequency integration quadrature phase deviation when 30hz; Maximum deviation is near 8, after employing the present invention adds the improvement integrator of quadrature compensation, under the same operating mode; Back-emf and stator magnetic linkage integration orthogonality are greatly improved, and are converged in basically near the null value; Aspect the motor band carries; When adopting the integrator of amplitude compensation, the constant inadequately and integrate phase effects of rotor flux amplitude control as shown in the figure is along with the increase of motor running frequency; Magnetic linkage amplitude fluctuations and integrate phase deviation are increasing; And cause that finally output current fluctuation is excessive, and causing the output current overcurrent, motor can not reach the rated condition operation; After adopting the present invention to add the improved integrator of integration quadrature compensation, the frequency converter output voltage current waveform when motor operates in rated condition is as shown in Figure 7; Adopt integrator of the present invention not only to have its intrinsic effect of improving integration initial value and direct current offset; Also improved simultaneously the integrate phase offset issue; Guaranteed the complete orthogonality of back-emf integration; Improve asynchronous machine magnetic linkage control effect, improved the accuracy of observation and the stability of motor when nominal load of stator magnetic linkage.
Claims (6)
1. asynchronous motor vector controller is characterized in that it comprises:
A DSP control board (1), this DSP control board (1) has adopted the Vector Control System of Induction Motor algorithm with integrator;
An I/O plate (2) that is used for IO amount and rate signal observing and controlling;
One is used for the fibre optic plate (3) that PWM drives and braking drives;
A conditioning plate (4) that is used for DC bus-bar voltage and output current signal observing and controlling;
Said integrator is in asynchronous machine model observation module; Form by feedforward part and feedback fraction two parts; Comprise integration orthogonality detection module (7), quadrature compensation PI adjustment module (8), cartesian coordinate are tied to polar coordinates modular converter (9); Polar coordinate system is to cartesian coordinate modular converter (10), magnetic linkage amplitude amplitude limit module (11);
Described integration orthogonality detection module (7) is a α through obtaining behind calculating back-emf and its integration, the detection module that the orthogonality error of β axle stator magnetic linkage component detects; Adding the quadrature detection compensation rate in the integrator is stator magnetic linkage amplitude compensation amount, is used for that the stator magnetic linkage component is calculated the phase deviation that produces and compensates; Described quadrature compensation PI adjustment module (8) is that an orthogonality error that is used for obtaining through detection computations is carried out the module that the PI adjusting obtains stator magnetic linkage amplitude compensation value.
2. asynchronous motor vector controller as claimed in claim 1 is characterized in that, described quadrature detection compensation rate is smaller or equal to 0.02 times of stator magnetic linkage amplitude rated value.
3. asynchronous motor vector controller as claimed in claim 1; It is characterized in that; Described DSP control board (1); Its composition comprises DSP digital signal processor (1.0), preserve data and fault message the nonvolatile memory that extends out (1.4), the input of monitoring I/O plate the switching signal state and notify programmable logic device (1.7) that DSP digital signal processor (1.0) in time handles, analog to digital converter (1.1), with the RS485 serial communication device (1.5) of programmable logic controller (PLC) (5) communication, pulse-width signal processor (1.8) in addition.
4. asynchronous motor vector controller as claimed in claim 1 is characterized in that, described I/O plate (2), and its composition comprises photoelectric encoder, input state signal detector, and the isolation and the level conversion processing apparatus of output switch actuating signals.
5. asynchronous motor vector controller as claimed in claim 1 is characterized in that, described fibre optic plate (3), and its composition comprises the fiber optic connector spare between control loop and the power cell, and control unit powers on and the protection device of power down process.
6. asynchronous motor vector controller as claimed in claim 1; It is characterized in that; The connecting relation of described DSP control board (1), I/O plate (2), fibre optic plate (3), conditioning plate (4) is: I/O plate (2) connects with programmable logic device (1.7) in the DSP control board (1); Pulse-width signal processor (1.8) output in fibre optic plate (3) and the DSP control board (1) connects, and conditioning plate (4) connects with analog to digital converter (1.1) in the DSP control board (1).
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| CN103532473B (en) * | 2013-10-13 | 2016-08-17 | 中国船舶重工集团公司第七一二研究所 | Suppression polyphase induction machine cuts through the method for current break when running online |
| CN104052370A (en) * | 2014-05-16 | 2014-09-17 | 中国东方电气集团有限公司 | Electric vehicle asynchronous motor control parameter design method based on minimum resonance peak algorithm |
| CN104601080B (en) * | 2015-01-12 | 2017-01-11 | 西安工程大学 | Offset calculation and feedback compensation method for stator flux linkage voltage model |
| CN108075704B (en) * | 2017-12-18 | 2019-12-27 | 合肥工业大学 | Voltage model stator flux linkage estimation method |
| CN108054974A (en) * | 2018-01-04 | 2018-05-18 | 湖南大学 | The magnetic linkage optimal control method and system of track traffic induction machine |
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| JP2002360970A (en) * | 2001-06-07 | 2002-12-17 | Toshiba Corp | Washing machine |
| CN1858988A (en) * | 2006-05-22 | 2006-11-08 | 南京航空航天大学 | Permanent magnet synchronous motor vector control system |
| CN101119090A (en) * | 2007-06-28 | 2008-02-06 | 北京合康亿盛科技有限公司 | High voltage synchronous machine whole digitization vector control device |
| CN101630939A (en) * | 2009-08-31 | 2010-01-20 | 天津工业大学 | Simple direct torque controller for motor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002360970A (en) * | 2001-06-07 | 2002-12-17 | Toshiba Corp | Washing machine |
| CN1858988A (en) * | 2006-05-22 | 2006-11-08 | 南京航空航天大学 | Permanent magnet synchronous motor vector control system |
| CN101119090A (en) * | 2007-06-28 | 2008-02-06 | 北京合康亿盛科技有限公司 | High voltage synchronous machine whole digitization vector control device |
| CN101630939A (en) * | 2009-08-31 | 2010-01-20 | 天津工业大学 | Simple direct torque controller for motor |
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Inventor after: Liu Zhongju Inventor after: Wang Wei Inventor after: Hu Chuanxi Inventor after: Li Ruichang Inventor after: Song Fei Inventor after: Zhang Wei Inventor before: Liu Zhongju Inventor before: Jiang Wei Inventor before: Hu Chuanxi Inventor before: Li Ruichang Inventor before: Song Fei Inventor before: Zhang Wei |
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Free format text: CORRECT: INVENTOR; FROM: LIU ZHONGJU JIANG WEI HU ZHUANXI LI RUICHANG SONG FEI ZHANG WEI TO: LIU ZHONGJU WANG WEI HU ZHUANXI LI RUICHANG SONG FEI ZHANG WEI |
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Effective date of registration: 20151009 Address after: 430064, Wuhan City, Hubei province Hongshan District Lion Hill Street South Lake (steam School Village) Patentee after: Wuhan Changhai electric propulsion and chemical power supply Co., Ltd. Address before: 430064 Hubei City, Hongshan District, lion street, steam school, a village Patentee before: No.712 Inst., China Ship Heavy Industry Group Co. |