CN102170262A - Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine - Google Patents

Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine Download PDF

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CN102170262A
CN102170262A CN201110113834XA CN201110113834A CN102170262A CN 102170262 A CN102170262 A CN 102170262A CN 201110113834X A CN201110113834X A CN 201110113834XA CN 201110113834 A CN201110113834 A CN 201110113834A CN 102170262 A CN102170262 A CN 102170262A
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control method
direct
rotor
electromotive force
sensor control
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CN102170262B (en
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杨育林
陈毅东
孙俊杰
王立乔
齐效文
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Yanshan University
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Abstract

The invention relates to a non-speed sensor control method of a direct-drive permanent-magnet synchronous wind turbine, characterized in that the control method calculates a rotor-position angle through a formula that Theta<gamma> equals to 2* arctan (E5beta/(E5+E5alpha))+arcos ((U<2>+E0<2>-(X5*I0)<2>)/2UE0)-Pi/2, and calculates a rotor electric angular velocity through a formula that Omega<epsilon> equals to (R*i<d>-u<d>)/Lqi<q>; wherein, R represents a resistance, E5 represents a stator potential, E5alpha and E5beta represent the alpha and beta axis components of the stator potential, E0 represents a no-load potential and X5 represents a reactance. The non-speed sensor control method of the direct-drive permanent-magnet synchronous wind turbine has the advantages of low cost, strong operationality, convenience and practicality, etc.

Description

The synchronous wind-powered electricity generation unit of a kind of direct-drive permanent-magnetism Speedless sensor control method
Technical fieldThe present invention relates to the permagnetic synchronous motor field, particularly a kind of control method of measuring motor rotor position and rotor electric angle speed Speedless sensor in the synchronous wind-powered electricity generation unit of direct-drive permanent-magnetism.
Background technologyThe synchronous wind-powered electricity generation unit of direct-drive permanent-magnetism is commonly employed in current wind power system.For the power of the harmonic current that reduces the generating pusher side, the copper loss that reduces generator and iron loss, raising system acquisition, the accurate control of realization rotating speed, what motor side adopted is the PWM rectifying device.Simultaneously, adopt rotor field-oriented vector control technology.Rotor position detection is the key of control accurately.Measurement mechanisms such as photoelectric encoder or resolver are installed in the rotating shaft of permagnetic synchronous motor are usually measured rotor speed and position angle, yet these extra measurement mechanisms increased system cost, increased system's moment of inertia, simultaneously (as: rainwater high humidity, vibration are strong, high low temperature etc.) can reduce the reliability that the precision of measuring influences system under exceedingly odious operating mode, increased maintenance cost.Therefore, the control method of Speedless sensor just seems particularly important.
In the prior art, (patent No.: what 200810243652.2) adopt is method for normalizing between the three-phase back electromotive force to Chinese patent " method of fast detecting position of non-position sensor three-phase permanent magnet synchronous motor rotor "; " control method of Speedless sensor permanent magnet synchronous motor-air conditioner compressor system " (patent No.: what 200410078141.1) adopt is the method for the compound control of torque instruction electric current, and sensorless technology is used for the convertible frequency air-conditioner technical field; " a kind of permanent-magnet synchronous motor rotor position sensing method and position sensing device " (patent No.: 200510020607.7) adopt resolver and resolve the unit and calculate rotor position angle, and sensorless technology is used for field of automobile control as transducer." non-velocity transducer inverse control variable frequency speed regulator of permagnetic synchronous motor and structured approach " (patent No.: 200810124095.2) and " Speedless sensor inverse controller of permagnetic synchronous motor " (patent No.: what 200820037559.1) adopt all is that the method for EKF calculates rotor position angle and rotating speed; " position sensorless drive that is used for permagnetic synchronous motor " (patent No.: what 200580004124.6) adopt is blending algorithm; " megawatt permanent magnetism synchronous directly-driving-wind motor group non-speed sensor control method " (patent No.: what 200810025169.7) adopt is the phase-locked around-France of stator voltage vector oriented, is used for the megawatt permanent magnetism synchronous directly-driving-wind group of motors.But above-mentioned various Speedless sensors calculate very complicated in the method for asking for rotor electric angle speed and rotor position angle, and controller has been proposed very high requirement.At the problems referred to above, the present invention has proposed the synchronous wind-powered electricity generation unit of a kind of easy direct-drive permanent-magnetism Speedless sensor control method and has asked for rotor position angle and rotor electric angle speed from actual engineering application angle.
Summary of the inventionThe objective of the invention is to overcome the shortcoming and defect of prior art, proposed a kind of realize simple, workable, reliability is high, the direct calculating rotor position angle of very strong engineering using value and the Speedless sensor control method of rotor electric angle speed are arranged.
Control method of the present invention is passed through formula
Figure 201110113834X100002DEST_PATH_IMAGE002
=
Figure 201110113834X100002DEST_PATH_IMAGE004
Obtain rotor position angle, pass through formula
Figure 201110113834X100002DEST_PATH_IMAGE006
Obtain rotor electric angle speed; Wherein For resistance,
Figure 201110113834X100002DEST_PATH_IMAGE010
For the stator electromotive force, And
Figure 201110113834X100002DEST_PATH_IMAGE014
For the stator electromotive force
Figure 201110113834X100002DEST_PATH_IMAGE016
The axle component, For no-load emf,
Figure 201110113834X100002DEST_PATH_IMAGE020
Be reactance.
This control method realizes by the following method:
Step 1:, determine that electric angle speed and rotor electric angle speed that stator magnetic linkage produces equate by permanent-magnetic synchronous motor stator electromotive force equation and relevant knowledge.
By permanent-magnetic synchronous motor stator electromotive force equation (a is example mutually) as can be known:
Figure 201110113834X100002DEST_PATH_IMAGE022
(
Figure 201110113834X100002DEST_PATH_IMAGE024
: motor terminal voltage,
Figure 801968DEST_PATH_IMAGE008
: armature resistance: armature supply,
Figure 201110113834X100002DEST_PATH_IMAGE028
: stator magnetic linkage).Wherein,
Figure 201110113834X100002DEST_PATH_IMAGE030
Comprise two parts electromotive force, be respectively no-load emf (
Figure 201110113834X100002DEST_PATH_IMAGE032
) and the electromotive force that produced of armature reaction.The electromotive force that armature reaction produced also comprise the electromotive force that two parts are respectively main flux and produce (
Figure DEST_PATH_IMAGE034
) and the electromotive force that produces of leakage flux (
Figure DEST_PATH_IMAGE036
),
Promptly
Figure DEST_PATH_IMAGE038
(1)
The Mathematical Modeling of permagnetic synchronous motor is under three phase coordinate systems:
Figure DEST_PATH_IMAGE040
（2）
Wherein:
Figure DEST_PATH_IMAGE042
（3）
Figure DEST_PATH_IMAGE044
（4）
By equation (2) as can be known, inductance comprises shown in self-induction and the mutual inductance that wherein self-induction comprises the inductance of two parts main flux generation and the leakage inductance that leakage flux produces.
In equation (2), armature supply adopts rotor field-oriented vector control technology to obtain three symmetrical sinusoidal currents as can be known by the PWM rectifying device:
Figure DEST_PATH_IMAGE046
（5）
And have:
Figure DEST_PATH_IMAGE048
=
Figure 217643DEST_PATH_IMAGE002
(6)
By the vector correlation theory as can be known, any two resulting composite vector frequencies of same sinusoidal quantity addition frequently are constant.By (3) (4) (5) stator magnetic linkage as can be known It also is a sinusoidal quantity according to the rotation of rotor electric angle speed.(as shown in Figure 1)
Wherein:
Figure DEST_PATH_IMAGE052
: terminal voltage,
Figure DEST_PATH_IMAGE054
: armature supply,
Figure 810430DEST_PATH_IMAGE050
: stator magnetic linkage, self-induction:
Figure DEST_PATH_IMAGE056
, mutual inductance:
Figure DEST_PATH_IMAGE058
;
Figure DEST_PATH_IMAGE060
: rotor flux, : rotor position angle,
Figure DEST_PATH_IMAGE062
: the armature supply angular frequency,
Figure DEST_PATH_IMAGE064
: a phase stator electromotive force.
Step 2: stator magnetic linkage and its electromotive force angular frequency that is produced equate, and the lag behind position angle of its electromotive force of stator magnetic linkage is.
The relation of stator electromotive force and stator magnetic linkage:
（7）
Step 3: by step 1 three phase static coordinate system and the conversion of two-phase rest frame (be called for short: 3/2 changes) being calculated the stator electromotive force
Figure 388053DEST_PATH_IMAGE016
The axle component
Figure 148199DEST_PATH_IMAGE012
With
Figure DEST_PATH_IMAGE070
Can obtain the permagnetic synchronous motor Mathematical Modeling by 3/2 variation:
Figure DEST_PATH_IMAGE072
（8）
Appearance obtains:
（9）
Step 4: (be called for short: the position angle of the K/P conversion) calculating the stator electromotive force by rectangular coordinate/polar coordinate transform
Figure DEST_PATH_IMAGE076
By step 3 stator electromotive force as can be known
Figure 225352DEST_PATH_IMAGE016
The axle component
Figure 361935DEST_PATH_IMAGE012
With
Figure 30814DEST_PATH_IMAGE070
Bring following formula into:
Figure DEST_PATH_IMAGE078
（10）
Wherein:
Figure DEST_PATH_IMAGE080
Step 5: rotor position angle
Figure 148811DEST_PATH_IMAGE002
Ask for.
By step 4 stator electromotive force position angle as can be known
Figure 591556DEST_PATH_IMAGE076
, as can be known by Fig. 1 and Fig. 2;
For Surface Mount scholar non salient pole machine, by equation in the step 1 (1) as can be known electromotive force equation (negligible resistance) following equation is arranged:
Figure DEST_PATH_IMAGE084
（11）
With
Figure 453202DEST_PATH_IMAGE064
Angle be the merit angle
Figure DEST_PATH_IMAGE088
, by electromagnetic relationship (as shown in Figure 2) as can be known:
（12）
The merit angle Shown in Fig. 2, as can be known by the cosine law:
（13）
Can obtain rotor position angle by (10) (12) (13):
Figure 160094DEST_PATH_IMAGE002
=?
Figure 339402DEST_PATH_IMAGE004
（14）
Step 6: rotor electric angle speed
Figure DEST_PATH_IMAGE096
Ask for.
To permagnetic synchronous motor Mathematical Modeling in the step 1, obtain synchronously according to rotor field-oriented
Figure DEST_PATH_IMAGE098
Expression formula under the coordinate system:
（15）
First expression formula just can obtain rotor electric angle speed in the through type (15):
（16）
Compared with the prior art, beneficial effect of the present invention is: cost is low, strong operability, low to the controller requirement, and can just can draw rotor angular displacement comparatively accurately by simple computation
Figure 427575DEST_PATH_IMAGE002
With rotor electric angle speed
Figure 8729DEST_PATH_IMAGE096
, have good actual Practical significance.
Description of drawings
Fig. 1 is a rotor field-oriented control polar plot of the present invention.
Fig. 2 is the electromotive force vectogram of synchronous generator of the present invention.
Fig. 3 is a system of the present invention control block diagram.
Fig. 4 is a systems soft ware flow chart of the present invention.
Embodiment
1, under a certain initial condition, knows rotating speed
Figure DEST_PATH_IMAGE104
(pairing frequency
Figure DEST_PATH_IMAGE106
), by measuring the armature supply of this initial time And motor terminal voltage
Figure DEST_PATH_IMAGE110
, it is carried out
Figure 154015DEST_PATH_IMAGE098
Change obtain and
Figure DEST_PATH_IMAGE114
, for three symmetrical alternating currents
Figure DEST_PATH_IMAGE116
, through type (15) obtains resistance
（17）
2, can obtain motor at a certain rotating speed by the short circuit experiment and the no load test of motor
Figure 446719DEST_PATH_IMAGE104
(pairing frequency
Figure 712484DEST_PATH_IMAGE106
) synchronous reactance
Figure DEST_PATH_IMAGE120
, as can be known:
Figure 148144DEST_PATH_IMAGE020
== （18）
3, in the formula 13 Have two kinds of methods to obtain:
(1) obtains no-load emf by look-up table
Figure 698127DEST_PATH_IMAGE018
Satisfy following equation:
Figure DEST_PATH_IMAGE126
（19）
Wherein,: the armature winding effective turn, : rotor flux should be worth constant for permagnetic synchronous motor.Can obtain no-load emf like this is:
Figure DEST_PATH_IMAGE134
（20）
By equation (20) as can be known, no-load emf
Figure 331365DEST_PATH_IMAGE018
Only be rotor electric angle speed
Figure 683849DEST_PATH_IMAGE096
Function.Consider and ask for rotor flux
Figure 564080DEST_PATH_IMAGE132
Have certain degree of difficulty, adopt before experiment, to obtain different by measuring different rotating speeds
Figure 687501DEST_PATH_IMAGE018
, set up one to one relation, when Speedless sensor is controlled by calculating rotor electric angle speed Can obtain no-load emf
(2) direct algorithm
At first measure rotor flux
Figure 818771DEST_PATH_IMAGE132
, the armature winding effective turn, calculate electric angle speed
Figure 905993DEST_PATH_IMAGE096
Just can directly obtain no-load emf by equation (20).
General employing scheme (1) in actual experiment, the data of earlier a model machine being tested to obtain being correlated with experimentize again, have simple to operate.
4, when the wind speed of measuring during greater than the incision wind speed, the synchronous wind-powered electricity generation unit of direct-drive permanent-magnetism is started working.Obtain terminal voltage by the voltage and current hall measurement And armature supply, this tittle is carried out A/D be converted to and carry out second-order low-pass filter after the corresponding digital amount and can obtain terminal voltage and armature supply first-harmonic composition.
5, the first-harmonic composition with resulting voltage and current in the step 4 carries out 3/2 variation respectively, can obtain
Figure DEST_PATH_IMAGE140
,
Figure DEST_PATH_IMAGE142
With
Figure DEST_PATH_IMAGE144
.Through type (9) just can be obtained the electromotive force that stator magnetic linkage is responded to
Figure DEST_PATH_IMAGE148
With , just can calculate the position angle of the electromotive force of stator magnetic linkage induction by equation (10)
Figure DEST_PATH_IMAGE152
6, just can obtain the merit angle by step 2,3,4 measured correlation substitution equatioies (13)
Figure 347250DEST_PATH_IMAGE088
7, the position angle of the electromotive force of the stator magnetic linkage induction that step 5,6 is calculated
Figure 818552DEST_PATH_IMAGE152
With the merit angle
Figure 168762DEST_PATH_IMAGE088
Substitution equation (14) just can obtain rotor position angle
Figure 196760DEST_PATH_IMAGE002
8, as can be known, calculate as can be known by no load test and short circuit experiment by step 2
Figure 66759DEST_PATH_IMAGE020
, and
Figure 194115DEST_PATH_IMAGE020
=.At a certain rotating speed
Figure 846999DEST_PATH_IMAGE104
So just can obtain, for Surface Mount scholar non-salient pole permagnetic synchronous motor
Figure DEST_PATH_IMAGE158
9, when resulting electric current is symmetrical three-phase alternating current
Figure 709519DEST_PATH_IMAGE116
, equation (16) can be expressed as like this:
Figure 70093DEST_PATH_IMAGE006
(21)
Relevant parameter substitution following formula just can be obtained rotor electric angle speed
Figure 644163DEST_PATH_IMAGE096
10, as shown in Figure 4, in the rotor electric angle speed and rotor position angle substitution Fig. 3 that calculate, relevant program is write among the DSP, working procedure sends SPWM Waveform Control PWM rectifier.Whether determining program stops: not, restart computing from step 2.Be terminator.

Claims (1)

1. the synchronous wind-powered electricity generation unit of direct-drive permanent-magnetism Speedless sensor control method, it is characterized in that: described control method is passed through formula
Figure 201110113834X100001DEST_PATH_IMAGE002
=
Figure 201110113834X100001DEST_PATH_IMAGE004
Obtain rotor position angle, pass through formula
Figure 201110113834X100001DEST_PATH_IMAGE006
Obtain rotor electric angle speed; Wherein
Figure 201110113834X100001DEST_PATH_IMAGE008
For resistance,
Figure 201110113834X100001DEST_PATH_IMAGE010
For the stator electromotive force,
Figure 201110113834X100001DEST_PATH_IMAGE012
And
Figure 201110113834X100001DEST_PATH_IMAGE014
For the stator electromotive force
Figure 201110113834X100001DEST_PATH_IMAGE016
The axle component, For no-load emf,
Figure 201110113834X100001DEST_PATH_IMAGE020
Be reactance.
CN201110113834XA 2011-05-04 2011-05-04 Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine Expired - Fee Related CN102170262B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102510260A (en) * 2011-11-17 2012-06-20 华中科技大学 Induction machine vector control method taking account of iron loss
CN103198191A (en) * 2013-04-09 2013-07-10 华北电力大学 Simulation model simplification structure of permanent magnetic direct drive wind generation set and based on power system computer aided design (PSCAD)
CN103595328A (en) * 2013-11-11 2014-02-19 中广核工程有限公司 Control method and system of permanent magnet synchronous motor
CN104362930A (en) * 2014-12-09 2015-02-18 南京国电南自新能源科技有限公司 Stator counter electromotive force-based fast calculation method of synchronous motor rotating speeds
CN109802618A (en) * 2019-01-25 2019-05-24 燕山大学 Permanent-magnetic synchronous motor rotor initial position discrimination method based on reactive filter

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CN101123352A (en) * 2007-08-30 2008-02-13 中国科学院电工研究所 Rear change converter of wind power generation system and its loop current control method
CN101282102A (en) * 2008-04-29 2008-10-08 合肥阳光电源有限公司 Control method for megawatt permanent magnetism synchronous directly-driving-wind motor group non-speed sensor
CN101505130A (en) * 2009-03-17 2009-08-12 国网电力科学研究院 Rotor position estimation and correction method for permanent magnet synchronous generator
CN101764567A (en) * 2010-01-29 2010-06-30 合肥阳光电源有限公司 Composite vector control method for permanent magnet synchronous wind generator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101123352A (en) * 2007-08-30 2008-02-13 中国科学院电工研究所 Rear change converter of wind power generation system and its loop current control method
CN101282102A (en) * 2008-04-29 2008-10-08 合肥阳光电源有限公司 Control method for megawatt permanent magnetism synchronous directly-driving-wind motor group non-speed sensor
CN101505130A (en) * 2009-03-17 2009-08-12 国网电力科学研究院 Rotor position estimation and correction method for permanent magnet synchronous generator
CN101764567A (en) * 2010-01-29 2010-06-30 合肥阳光电源有限公司 Composite vector control method for permanent magnet synchronous wind generator

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102510260A (en) * 2011-11-17 2012-06-20 华中科技大学 Induction machine vector control method taking account of iron loss
CN102510260B (en) * 2011-11-17 2014-03-12 华中科技大学 Induction machine vector control method taking account of iron loss
CN103198191A (en) * 2013-04-09 2013-07-10 华北电力大学 Simulation model simplification structure of permanent magnetic direct drive wind generation set and based on power system computer aided design (PSCAD)
CN103198191B (en) * 2013-04-09 2015-10-21 华北电力大学 Based on the permanent magnet direct-drive Wind turbines simulation model system of PSCAD
CN103595328A (en) * 2013-11-11 2014-02-19 中广核工程有限公司 Control method and system of permanent magnet synchronous motor
CN103595328B (en) * 2013-11-11 2016-05-11 中广核工程有限公司 A kind of control method of permagnetic synchronous motor and system
CN104362930A (en) * 2014-12-09 2015-02-18 南京国电南自新能源科技有限公司 Stator counter electromotive force-based fast calculation method of synchronous motor rotating speeds
CN109802618A (en) * 2019-01-25 2019-05-24 燕山大学 Permanent-magnetic synchronous motor rotor initial position discrimination method based on reactive filter
CN109802618B (en) * 2019-01-25 2020-08-28 燕山大学 Filter-free permanent magnet synchronous motor rotor initial position identification method

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