CN103746631B - A kind of energy-saving control method of asynchronous machine - Google Patents

A kind of energy-saving control method of asynchronous machine Download PDF

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Publication number
CN103746631B
CN103746631B CN201410013071.5A CN201410013071A CN103746631B CN 103746631 B CN103746631 B CN 103746631B CN 201410013071 A CN201410013071 A CN 201410013071A CN 103746631 B CN103746631 B CN 103746631B
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asynchronous machine
phase
motor
angular frequency
energy
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CN103746631A (en
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王步来
陈雪琴
季文彪
高响
高鹏
史晓永
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Step one motor (Wuxi) Co.,Ltd.
Shanghai Institute of Technology
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Abstract

An energy-saving control method for asynchronous machine, this asynchronous machine is by inverter power supply, and speed regulator controls, and inverter comprises power model and the control module containing digital signal processor DSP; By given motor angular velocity ω *with the difference of the angular velocity omega of the motor reality recorded, send into speed regulator, speed regulator output variable is the given electromagnetic torque T of motor e *; ω s *for the optimum slip angular frequency that asynchronous machine runs; By given electromagnetic torque T e *with optimum slip angular frequency ω s *through calculating the torque current component Isq of motor under two-phase rotating coordinate system; By torque current component Isq and optimum slip angular frequency ω s *obtain the excitation current component Isd of asynchronous machine; Stator two-phase voltage U sd and Usq under steady-state operating condition is obtained respectively according to the torque current component Isq of stator current and excitation current component Isd; Again through villain gram computing ipark, namely obtain the two-phase component of voltage Us α of asynchronous machine under two-phase rest frame and Us β, and then through space vector pulse width modulation control inverter, realize the Energy Saving Control of asynchronous machine.

Description

A kind of energy-saving control method of asynchronous machine
Technical field
The present invention relates to electric machines control technology, particularly a kind of energy-saving control method of asynchronous machine.
Background technology
Asynchronous machine is most widely used due to advantages such as structure is simple, high reliability in various motor, and its frequency conversion speed-adjusting system has obtained universal gradually since the eighties in last century, and in the speed governing of blower fan, load of the pumps drives, energy-saving effect is remarkable.
When the asynchronous machine of inverter power supply runs under off-nominal behavior, efficiency is often than low during specified operation, especially all the more so under low speed light condition, and the motor in actual motion often works in light condition, the i.e. state of so-called " low load with strong power ", the old problem run into when this is motor operation, frequency control rear motor runs into such problem equally, especially occupy the blower fan water pump load of significant proportion, show particularly outstanding during low cruise.According to statistics, motor power consumption accounts for 60% ~ 70% of commercial power total amount.In practical application, the overall operation situation of China's motor, have a long way to go with abroad comparing, unit efficiency is about 75%, than low by about 10% abroad; Running efficiency of system is 30 ~ 40%, lower than international most advanced level by 20 ~ 30%.Therefore, the motor application of China has great energy-saving potential, carries out electrical machine energy-saving imperative.The Energy Saving Control of motor becomes study hotspot.
Be one of hot issue of studying of scientific research personnel since the Energy Saving Control self frequency-changing speed adjusting technique application of motor always, but but almost do not have which kind of Energy Saving Control strategy to be applied in engineering veritably so far.The people such as Kusko and Galler, Rowan and Lipo and Daniel are the pioneers that asynchronous machine Energy Saving Control runs, and they have studied the efficiency optimization problem of asynchronous machine based on simple loss model.The various efficiency-optimization control strategy of asynchronous machine is all control magnetic flux reduce with load and decline in itself, thus the loss of motor is declined, and efficiency and power factor improve thereupon, but its thinking is different, and performance also has his own strong points.
Existingly carry out in the document of energy saving research to asynchronous machine, main method can be divided into two large classes: namely minimal losses model cootrol and search control.
Minimal losses model cootrol is based on mathematical description, by setting up asynchronous machine loss model, analytically obtain the smallest point of total losses, run when controlling and can adopt slip angular frequency regulable control, power factor controlling and vector control etc. according to the optimizing operation point that the loss of electric machine is minimum.
In existing slip angular frequency regulable control, the asynchronous machine Mathematical Modeling based on stable state have ignored the core loss of motor.By analyzing loss and the efficiency of asynchronous machine, derive slip angular frequency during efficiency optimization.And core loss accounts for about the 20%-40% of motor total losses during asynchronous machine operation, its energy-saving effect of energy-saving control method therefore ignoring core loss will inevitably be had a greatly reduced quality.
Summary of the invention
The object of the present invention is to provide a kind of energy-saving control method of asynchronous machine, according to the optimum slip angular frequency of the parameter determination asynchronous machine such as resistance, inductance of motor, control motor and run this optimum slip angular frequency, to reach asynchronous machine energy-saving run.
For achieving the above object, technical scheme of the present invention is:
The present invention considers the actual conditions of motor, according to the stable state motor mathematical model considering core loss, proposes a kind of power-economizing method of the asynchronous machine based on optimum slip angular frequency.
Concrete, a kind of energy-saving control method of asynchronous machine, this asynchronous machine by inverter power supply, and is controlled by speed regulator, and speed regulator regulates, controls, and inverter comprises power model and the control module containing digital signal processor DSP; By given motor angular velocity ω *with the difference of the angular velocity omega of the motor reality recorded, send into speed regulator, speed regulator output variable is the given electromagnetic torque of motor ω s *for the optimum slip angular frequency that asynchronous machine runs, when namely motor runs with this slip angular frequency, after motor moves to stable state, the operational efficiency of motor is the highest; Optimum slip angular frequency ω s *for:
ω s * = R r 2 ( R s + R f e ) R s L r 2 + R r L m 2 + R f e L r L 1 r ,
Wherein, R sfor the every phase resistance of controlled asynchronous machine stator, R rfor the every phase resistance of rotor, R fefor characterizing every phase resistance, the L of electric machine iron core loss lrfor the every phase leakage inductance of rotor, L rfor converting the every phase self-induction of the rotor after orthogonal two-phase to, L mfor the mutual inductance between coaxial stator and rotor winding;
By given electromagnetic torque with optimum slip angular frequency ω s *through calculating the torque current component Isq of motor under two-phase rotating coordinate system: wherein n pfor the number of pole-pairs of asynchronous motor;
By torque current component Isq and optimum slip angular frequency ω s *calculate and ask for the excitation current component Isd of asynchronous machine under two-phase rotating coordinate system:
Stator two-phase voltage U sd and Usq under steady-state operating condition is obtained respectively according to the torque current component Isq of stator current and excitation current component Isd:
u s d = R s i s d - ω 1 ( L s - L m 2 L r ) i s q + R f e i s d u s q = R s i s q + ω 1 L s i s d + R f e i s q ( 1 - L m L r )
Wherein, L sbe the every phase self-induction of stator winding under two phase coordinate systems, ω 1for power supply angular frequency, it equals optimum slip angular frequency ω s *with the angular velocity omega sum of motor reality; Power supply angular frequency obtains the rotation angle θ of rotor through integral operation; Two-phase voltage U sd and Usq and rotation angle θ are through villain gram computing ipark, namely the two-phase component of voltage Us α of asynchronous machine under two-phase rest frame and Us β is obtained, and then through space vector pulse width modulation SVPWM control inverter, realize the Energy Saving Control of asynchronous machine.
Further, the angular velocity omega of motor reality can detect and obtain by Negotiation speed transducer, or by the speed of the method identifying motors such as the electric current, voltage application model reference adaptive method, synovial membrane observer method and the EKF method that detect motor.
Again, described velocity transducer comprises photoelectric encoder, resolver or tachogenerator etc.
Described asynchronous machine is by inverter power supply, and inverter INV. is by powered by direct current.
In addition, described direct current from lithium battery, super capacitor, or can be obtained through diode rectification by alternating current.
The power model of described inverter is insulated gate bipolar transistor IGBT, or metal-oxide layer semiconductcor field effect transistor MOSFET.
During steady operation asynchronous machine T-shape equivalent circuit diagram in, the resistance and the magnetizing inductance that characterize core loss have in parallel and two kinds of processing modes of connecting.The present invention adopts rear a kind of mode, and namely core loss resistance is connected as Fig. 1 with magnetizing inductance.
Beneficial effect of the present invention:
The present invention runs on optimum slip angular frequency by controlling asynchronous machine, makes asynchronous machine run on peak efficiency.Apply energy-saving control method of the present invention, make the asynchronous machine of inverter power supply no matter run on which kind of operating mode, can the minimum state of running wastage, be particularly suitable for the operational site that the load of blower fan water pump class or low speed are in underloading often.Particularly more applicable than more sensitive application places for service time of once charging to pure electronic rotor craft, electric automobile etc.
The inventive method can be combined with search control.Namely near optimum slip angular frequency among a small circle in implement search control, to improve Energy Saving Control effect further.
The inventive method had both been applicable to the Induction Motor System of speed sensor, was also suitable for the Induction Motor System of Speedless sensor.
Accompanying drawing explanation
Fig. 1 is asynchronous machine equivalent circuit diagram of the present invention.
Fig. 2 is the schematic diagram of the embodiment of the present invention.
Embodiment
See Fig. 1, Fig. 2, the energy-saving control method of a kind of asynchronous machine of the present invention, this asynchronous machine M is powered by inverter INV., and inverter INV. is by direct current U dcpower supply; And speed regulator PI regulates, controls, inverter INV. comprises power model and the control module 1 containing digital signal processor DSP; By given motor angular velocity ω *with the difference of the angular velocity omega of the motor reality recorded, send into speed regulator PI, speed regulator PI output variable is the given electromagnetic torque of motor ω s *for the optimum slip angular frequency that asynchronous machine runs, when namely motor runs with this slip angular frequency, after motor moves to stable state, the operational efficiency of motor is the highest; Optimum slip angular frequency ω s *for:
ω s * = R r 2 ( R s + R f e ) R s L r 2 + R r L m 2 + R f e L r L 1 r ,
Wherein, R sthe every phase resistance of controlled asynchronous machine stator, R rthe every phase resistance of rotor, R fecharacterize every phase resistance, the L of electric machine iron core loss lrthe every phase leakage inductance of rotor, L rconvert the every phase self-induction of the rotor after orthogonal two-phase to, L mmutual inductance between coaxial stator and rotor winding;
By given electromagnetic torque with optimum slip angular frequency ω s *through calculating the torque current component Isq of motor under two-phase rotating coordinate system: wherein n pfor the number of pole-pairs of asynchronous motor;
By torque current component Isq and optimum slip angular frequency ω s *calculate and ask for the excitation current component Isd of asynchronous machine under two-phase rotating coordinate system:
Stator two-phase voltage U sd and Usq under steady-state operating condition is obtained respectively according to the torque current component Isq of stator current and excitation current component Isd:
u s d = R s i s d - ω 1 ( L s - L m 2 L r ) i s q + R f e i s d u s q = R s i s q + ω 1 L s i s d + R f e i s q ( 1 - L m L r )
Wherein, L sbe the every phase self-induction of stator winding under two phase coordinate systems, ω 1for power supply angular frequency, it equals optimum slip angular frequency ω s *with the angular velocity omega sum of motor reality; Power supply angular frequency obtains the rotation angle θ of rotor through integral operation; By two-phase voltage U sd and Usq and rotation angle θ through villain gram computing ipark, namely the two-phase component of voltage Us α of asynchronous machine under two-phase rest frame and Us β is obtained, and then through space vector pulse width modulation SVPWM control inverter INV., realize the Energy Saving Control of asynchronous machine M.
Further, the angular velocity omega of motor reality can detect and obtain by Negotiation speed transducer, or by the speed of the method identifying motors such as the electric current, voltage application model reference adaptive method, synovial membrane observer method and the EKF method that detect motor.
Described velocity transducer comprises photoelectric encoder or or resolver, tachogenerator etc.
Described direct current U dcfrom lithium battery, super capacitor, or can be obtained through diode rectification by alternating current.
The power model of described inverter INV. is insulated gate bipolar transistor IGBT, or metal-oxide layer semiconductcor field effect transistor MOSFET.
In sum, the present invention runs on optimum slip angular frequency by controlling asynchronous machine, makes asynchronous machine run on peak efficiency.

Claims (6)

1. an energy-saving control method for asynchronous machine, this asynchronous machine by inverter power supply, and is regulated by speed regulator, controls, and inverter comprises power model and the control module containing digital signal processor DSP; By the difference of given motor angular velocity ω * with the angular velocity omega of the motor reality recorded, send into speed regulator, speed regulator output variable is the given electromagnetic torque T of motor e*; ω s* be the optimum slip angular frequency that asynchronous machine runs, when namely motor runs with this slip angular frequency, after motor moves to stable state, the operational efficiency of motor is the highest; Optimum slip angular frequency ω s* be:
ω s * = R r 2 ( R s + R f e ) R s L r 2 + R r L m 2 + R f e L r L 1 r ,
Wherein, R sfor the every phase resistance of controlled asynchronous machine stator, R rfor the every phase resistance of rotor, R fefor characterizing every phase resistance, the L of electric machine iron core loss lrfor the every phase leakage inductance of rotor, L rfor converting the every phase self-induction of the rotor after orthogonal two-phase to, L mfor the mutual inductance between coaxial stator and rotor winding;
By given electromagnetic torque T e* with optimum slip angular frequency ω s* through calculating the torque current component Isq of motor under two-phase rotating coordinate system: wherein n pfor the number of pole-pairs of asynchronous motor;
By torque current component Isq and optimum slip angular frequency ω s* calculate and ask for the excitation current component Isd of asynchronous machine under two-phase rotating coordinate system:
Stator two-phase voltage U sd and Usq under steady-state operating condition is obtained respectively according to the torque current component Isq of stator current and excitation current component Isd:
u s d = R s i s d - ω 1 ( L s - L m 2 L r ) i s q + R f e i s d u s q = R s i s q + ω 1 L s i s d + R f e i s q ( 1 - L m L r )
Wherein, L sbe the every phase self-induction of stator winding under two phase coordinate systems, ω 1for power supply angular frequency, it equals optimum slip angular frequency ω s* with the angular velocity omega sum of motor reality; Power supply angular frequency obtains the rotation angle θ of rotor through integral operation; By two-phase voltage U sd and Usq and rotation angle θ through villain gram computing ipark, namely the two-phase component of voltage Us α of asynchronous machine under two-phase rest frame and Us β is obtained, and then through space vector pulse width modulation SVPWM control inverter, realize the Energy Saving Control of asynchronous machine.
2. the energy-saving control method of asynchronous machine as claimed in claim 1, it is characterized in that, the angular velocity omega Negotiation speed transducer of described asynchronous machine reality detects and obtains, or by the electric current of detection asynchronous machine, the angular velocity omega of voltage employing adaptive method, synovial membrane observer method or EKF method identification asynchronous machine.
3. the energy-saving control method of asynchronous machine as claimed in claim 2, it is characterized in that, described velocity transducer comprises photoelectric encoder or resolver, tachogenerator.
4. the energy-saving control method of asynchronous machine as claimed in claim 1, it is characterized in that, described asynchronous machine is by inverter power supply, and inverter is by direct current U dcpower supply.
5. the energy-saving control method of asynchronous machine as claimed in claim 4, is characterized in that, direct current U dcfrom lithium battery, super capacitor or obtained through over commutation by alternating current.
6. the energy-saving control method of asynchronous machine as claimed in claim 1, it is characterized in that, the power model of described inverter is insulated gate bipolar transistor IGBT or metal-oxide layer semiconductcor field effect transistor MOSFET.
CN201410013071.5A 2014-01-13 2014-01-13 A kind of energy-saving control method of asynchronous machine Expired - Fee Related CN103746631B (en)

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CN104811116B (en) * 2015-04-24 2017-07-14 上海新时达电气股份有限公司 A kind of asynchronous machine slip method of estimation and system
CN105217053B (en) * 2015-09-18 2020-12-18 海宁伊满阁太阳能科技有限公司 Parallel speed regulation method for asynchronous motor multi-shaft aircraft with transformer and product
CN106849812B (en) * 2017-02-28 2019-04-30 湘潭电机股份有限公司 A kind of asynchronous motor control method based on flux compensation
CN107026593B (en) * 2017-05-23 2019-03-19 大连创为电机有限公司 Asynchronous machine becomes excitation vector control method
CN108054975B (en) * 2017-12-22 2021-07-30 中国矿业大学 Parameter identification method for energy consumption model of double-motor-driven belt conveyor
CN112398396B (en) * 2019-11-18 2023-11-07 沈阳工业大学 Maximum torque current ratio field weakening control method considering iron loss of induction motor

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JPH0767399A (en) * 1993-08-25 1995-03-10 Nissan Motor Co Ltd Induction motor controller
EP1149727A1 (en) * 2000-04-28 2001-10-31 Ecostar Electric Drive Systems L.L.C. System for high efficiency motor control
CN1833355A (en) * 2003-08-06 2006-09-13 西门子公司 Method for the controlled application of a stator-current target value and a torque target value for a polyphase machine that is supplied by an electronic power converter
CN101938246A (en) * 2010-09-29 2011-01-05 重庆交通大学 Fuzzy fusion identification method of rotating speed of sensorless motor

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH0767399A (en) * 1993-08-25 1995-03-10 Nissan Motor Co Ltd Induction motor controller
EP1149727A1 (en) * 2000-04-28 2001-10-31 Ecostar Electric Drive Systems L.L.C. System for high efficiency motor control
CN1833355A (en) * 2003-08-06 2006-09-13 西门子公司 Method for the controlled application of a stator-current target value and a torque target value for a polyphase machine that is supplied by an electronic power converter
CN101938246A (en) * 2010-09-29 2011-01-05 重庆交通大学 Fuzzy fusion identification method of rotating speed of sensorless motor

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