CN104143937A - Speed sensorless vector control system - Google Patents
Speed sensorless vector control system Download PDFInfo
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- CN104143937A CN104143937A CN201410427575.1A CN201410427575A CN104143937A CN 104143937 A CN104143937 A CN 104143937A CN 201410427575 A CN201410427575 A CN 201410427575A CN 104143937 A CN104143937 A CN 104143937A
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Abstract
The invention provides a speed sensorless vector control system. The speed sensorless vector control system comprises a motor and a control device used for having control over the motor, wherein the motor is a motor set formed by two three-phase asynchronous motors A and B with the same parameters. According to the asynchronous motors A and B, windings are connected in parallel, motor shafts are rigidly connected, and the motor set serves as a controlled object of the control device (1) as a whole. The control device (1) comprises a frequency converter, a vector controller and a rotating-speed estimator, the frequency converter is connected with the asynchronous motors in parallel, the rotating-speed estimator estimates the rotating speed of the motors according to the current of the motor set, the vector controller obtains field current and torque current of the motor set in a decoupling mode according to the current of the motor set, vector control over the field current and the torque current of the motor set is carried out through the frequency converter, and control over the rotating speed of the motors is achieved.
Description
Technical field
The present invention is applied to industrial electric transmission field, relates to speed-less sensor vector control system.
Background technology
The control mode of asynchronous machine has three kinds conventionally, that is, and and V/F control, speed sensor vector control and Speedless sensor vector control.V/F control mode is a kind of macro-control, is widely used in the less demanding field of control characteristic.Speed sensor vector control is owing to rotating speed and two, magnetic field component independently being controlled, and control characteristic is excellent, and especially motor speed surveys out by transducers such as code-discs, and control precision is higher.Speedless sensor vector control is different from above-mentioned two kinds of control modes, have outside the feature that vector control precision is high, because motor speed estimates by identification mode, saved the trouble that code-disc is installed, improve the reliability of system, reduced the cost of system.But the identification of motor speed needs the accurate parameter of electric machine, and the parameter of electric machine is difficult to accurately measure, even if also there is minute differences with the series-produced parameter of electric machine in same model, therefore in one-to-one (controller the is controlled a motor) system that, Speedless sensor vector control is generally used for identifying the parameter of electric machine.
In industries such as mine, metallurgy, be widely used the situation that is jointly driven load (drag many) by multiple electric motors.Now, if using Speedless sensor vector control mode controls separately each motor, although the frequency of each frequency converter output, voltage equates, because the speed ring of each frequency converter is all separate, the calculating error of motor speed and the difference of control characteristic will cause the unbalance of motor output, so that there is in a flash one in acceleration and another also may slow down at certain, there is problems such as " (motor is in motoring condition, and another motor is in generating state) are at loggerheads ".In prior art, the control system of " drag many " only has the less demanding V/F control mode of the parameter of electric machine, is subject to the restriction of V/F control mode, in its control precision, can not meet the demands.
The object of the present invention is to provide a kind of simple in structurely, can control the speed-less sensor vector control system of multiple electric motors simultaneously.
Summary of the invention
Technical scheme of the present invention is a kind of speed-less sensor vector control system, comprise motor and the control device that motor is controlled, it is characterized in that, the group of motors of described motor for being formed by the identical asynchronous machine of two or more parameters, between asynchronous machine, winding parallel connects, motor shaft is rigidly connected, described control device be take group of motors integral body as control object, comprise frequency converter, vector controller, turn count device, between frequency converter and each asynchronous machine, be connected in parallel, turn count device is according to the rotating speed of the electric current estimation motor of group of motors, vector controller is according to the electric current of group of motors, separate exciting current and the torque current of decoupling group of motors, by frequency converter, the exciting current of group of motors and torque current are carried out to vector control, realize the control of motor speed.
In group of motors, between each asynchronous machine, winding parallel, motor shaft are rigidly connected, and the rotating speed of motor, synchronous speed, motor slip ratio are all identical, and the load of motor distributes identical, that is, each motor is in identical state.And vector control and turn count be not with single motor but take group of motors integral body as object, can be because of the difference in parameter between motor, and cause the nonsynchronous phenomenon of motor to occur.Realized with speed-less sensor vector control system and controlled the object to individual motor simultaneously.
Accompanying drawing explanation
Fig. 1 is the block diagram of speed-less sensor vector control system of the present invention.
Embodiment
In the present embodiment, as shown in Figure 1, motor 1a is the group of motors being comprised of two motor A, B.Motor A, B are the threephase asynchronous machine that parameter is identical, and between each motor, winding parallel connects, and motor shaft is rigidly connected.Consider the preferred same model of consistency of the parameter of electric machine or with series-produced motor.
Control device 1 adopts Speedless sensor vector control mode, and the group of motors integral body of take is carried out centralized control and motor speed estimation to motor as object.That is, two motor shafts are rigidly connected, the motor that winding parallel connects, as a motor, carries out vector control and the estimation to motor speed with the electric current of group of motors.Because the motor shaft of two motor A and B is rigidly connected, the rotating speed of two motors is identical, if according to prior art, each motor is carried out respectively to vector control with different control device, difference between two motors on the parameter of electric machine, to cause each control device to occur when estimation motor speed inconsistent, this inconsistent being finally reflected in motor speed, makes to occur nonsynchronous phenomenon between two motors.
In the present embodiment, because winding parallel, motor shaft between motor A and B are rigidly connected, control device 1 is controlled motor A and B as a motor, therefore two motor A are all identical with rotating speed, synchronous speed, the motor slip ratio of B, the load of motor distributes also identical, that is, motor is in identical state.Because motor A and B are the motor that parameter is identical, even if consider to have fine distinction in parameter between motor, the electric current of each motor, torque current, exciting current also there will not be larger difference.Therefore, with the electric current of group of motors, estimate the rotating speed of motor, compare with separate unit motor, also there will not be larger error.Actual use has also verified that take group of motors integral body carries out Speedless sensor vector control as object, single motor is carried out to Speedless sensor vector control compare with man-to-man, the startup of motor and control characteristic are not deteriorated significantly, especially in high-revolving region, shown good control characteristic.In order to improve the starting characteristic of motor, can startup stage, be set shorter start-up time, make motor enter rapidly high speed area.
Due to winding parallel, rigidly connected two motors of motor shaft, can see in essence a motor of two stator winding parallel connections as, the equivalent electric circuit of group of motors is identical with the equivalent electric circuit of separate unit motor, and the parameter of electric machine in equivalent electric circuit is calculated after can be in parallel by the equivalent electric circuit of two motor A and B, therefore can, according to the method identical with separate unit motor, determine every parameter of electric machine.As stator resistance Rs, stator inductance Ls, rotor resistance Rr, inductor rotor Lr, magnetizing inductance are 1/2nd of separate unit motor, open-circuit excitation electric current I 0, stator current Is, rotor current Ir are two times of separate unit motor, and rotor time constant Tr and mutual inductance Lm are basic identical during with separate unit motor.Therefore when setup parameter, if open-circuit excitation electric current I 0 is according to two times of settings of separate unit motor, rotor time constant Tr and mutual inductance Lm are according to the setting parameter of separate unit motor.
Identical with separate unit motor, in present embodiment, the parameter of electric machine also can be identified by the mode of on-line tuning or off-line setting calculation, now, between each motor, the difference of current of electric, torque current, exciting current is very little, does not have larger error and occurs, this point has also been verified in actual use.Concrete control method is identical with the situation of separate unit motor, can utilize existing control device, and motor A and B are controlled.Below, take control device 1 describes the concrete structure of Speedless sensor vector control as example.
Fig. 1 is the system block diagram of control device, as shown in Figure 1, control device 1 is by frequency converter 1b, torque current/exciting current calculator 1c, revolutional slip calculator 1d, turn count device 1e, rotational speed governor 1f, rotating speed pi regulator 1g, Current calculation device 1h is controlled in torque, excitation is controlled Current calculation device 1i, and frequency-variable controller 1j forms.
Torque current/exciting current calculator 1c tries to achieve the torque current it1 of (decoupling zero) motor 1a, exciting current im1 according to the drive current of motor (group of motors) 1a (ia1, ib1, ic1) by the method for Coordinate Conversion.
Revolutional slip calculator 1d is according to the torque current it1 of motor 1a, and exciting current im1 calculates the revolutional slip ω s1 of motor 1a.
Turn count device 1e calculates the estimation rotational speed omega 1 of motor 1a according to the drive current of motor 1a (ia1, ib1, ic1) and driving voltage (va1, vb1, vc1) by the mode of estimation.Evaluation method adopts prior art as utilized the Mathematical Modeling of motor to estimate.
Estimation rotational speed omega 1 feeds back to rotational speed governor 1f.Rotational speed governor 1f calculates the desired value ω ref of rotating speed and the difference between estimation rotational speed omega 1, and this difference, is controlled calculator 1h by torque current and calculated torque current itref1 as controlled quentity controlled variable after rotating speed pi regulator 1g proportional integral (PI) computing.Frequency-variable controller 1j calculates the synchronous speed x of motor 1a according to the revolutional slip ω s1 of motor 1a and estimation rotational speed omega 1, synchronous speed x is carried out to integral operation and try to achieve flux linkage position of the rotor θ, by flux linkage position of the rotor θ, the torque current itref1 of motor 1a and exciting current imref1 are carried out to Coordinate Conversion and produce control signal frequency converter 1b is controlled, the rotating speed of motor 1a and desired value ω ref are consistent.
Above, in the mode of closed loop, the rotating speed of motor 1a is controlled, also can be carried out closed-loop control to the torque current of motor 1a and exciting current as required.Now, by actual torque current it1, exciting current im1 feedback, inputs frequency-variable controller 1j with its difference as controlled quentity controlled variable by torque current itref1 and exciting current imref1.More than sketched Speedless sensor vector control technology of the present invention, as Speedless sensor vector, controlled and can adopt any prior art identical with controlling separate unit motor, its detailed description can, with reference to existing document, not repeat them here.
As from the foregoing, in the present embodiment, due to two motor A are connected with the winding parallel of B, motor shaft is rigidly connected, the vector control of motor and turn count all be take to group of motors integral body to carry out as object, the rotating speed, synchronous speed, the motor slip ratio that have guaranteed each motor are all identical, that is, the load on each motor is identical, and two motors are in identical state.Guarantee motor synchronous operation, realized the object of simultaneously controlling a plurality of motors with speed-less sensor vector control system.Compare with V/F control mode, not only improved control characteristic, owing to having saved the trouble that code-disc is installed, improved the reliability of system, reduced the cost of system.
The foregoing is only preferred embodiment of the present invention; not in order to limit the present invention; as long as within the spirit and principles in the present invention; any modification of doing, be equal to replacement, improvement etc.; within all should being included in protection scope of the present invention; as the drive current of motor (group of motors) 1a (ia1, ib1, ic1) can obtain by direct-detection, also can detect two-phase wherein, another is by calculating.
Claims (5)
1. a speed-less sensor vector control system, comprise motor and the control device that motor is controlled, it is characterized in that, the group of motors of described motor for being formed by the identical asynchronous machine of two or more parameters, between asynchronous machine, winding parallel connects, motor shaft is rigidly connected, described control device be take group of motors integral body as control object, comprise frequency converter, vector controller, turn count device, between frequency converter and each asynchronous machine, be connected in parallel, turn count device is according to the rotating speed of the electric current estimation motor of group of motors, vector controller is according to the electric current of group of motors, separate exciting current and the torque current of decoupling group of motors, by frequency converter, the exciting current of group of motors and torque current are carried out to vector control, realize the control of motor speed.
2. the speed-less sensor vector control system of recording according to claim 1, is characterized in that described vector controller and the Mathematical Modeling of turn count device when carrying out vector control and turn count adopt the Mathematical Modeling identical with single motor.
3. the speed-less sensor vector control system of recording according to claim 2, it is characterized in that, the parameter of electric machine in described Mathematical Modeling, open-circuit excitation electric current I 0 is according to two times of settings of single motor open-circuit excitation electric current, and rotor time constant Tr, mutual inductance Lm are respectively according to the setting parameter of single motor.
4. the speed-less sensor vector control system of recording according to claim 3, is characterized in that, the described parameter of electric machine be take group of motors and identified as the mode that object passes through on-line tuning or off-line setting calculation.
5. the speed-less sensor vector control system of recording according to any one in claim 1 to 4, is characterized in that, has the pi regulator that rotating speed of target and the difference of estimation rotating speed are carried out to proportional integral processing in the speed control ring of described vector controller.
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| CN201410427575.1A CN104143937A (en) | 2014-08-27 | 2014-08-27 | Speed sensorless vector control system |
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| CN201410427575.1A CN104143937A (en) | 2014-08-27 | 2014-08-27 | Speed sensorless vector control system |
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Cited By (5)
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| CN104967387A (en) * | 2015-06-23 | 2015-10-07 | 合肥工业大学 | Online learning optimization design method for photovoltaic water pump system rotation speed adjustor |
| CN110241554A (en) * | 2019-07-12 | 2019-09-17 | 四川虹美智能科技有限公司 | A kind of dewatering and rotary drum washing machine |
| CN110429884A (en) * | 2019-07-16 | 2019-11-08 | 苏州艾思控科技有限公司 | A kind of method of motor parallel control |
| CN110932610A (en) * | 2019-12-20 | 2020-03-27 | 江苏科技大学 | Synchronous control method and system for double asynchronous motors |
| CN111201703A (en) * | 2017-10-27 | 2020-05-26 | 依必安派特穆尔芬根有限两合公司 | Multiple motor operation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104967387A (en) * | 2015-06-23 | 2015-10-07 | 合肥工业大学 | Online learning optimization design method for photovoltaic water pump system rotation speed adjustor |
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| CN111201703A (en) * | 2017-10-27 | 2020-05-26 | 依必安派特穆尔芬根有限两合公司 | Multiple motor operation |
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| CN110241554A (en) * | 2019-07-12 | 2019-09-17 | 四川虹美智能科技有限公司 | A kind of dewatering and rotary drum washing machine |
| CN110241554B (en) * | 2019-07-12 | 2021-04-27 | 四川虹美智能科技有限公司 | Dewatering method and impeller washing machine |
| CN110429884A (en) * | 2019-07-16 | 2019-11-08 | 苏州艾思控科技有限公司 | A kind of method of motor parallel control |
| CN110932610A (en) * | 2019-12-20 | 2020-03-27 | 江苏科技大学 | Synchronous control method and system for double asynchronous motors |
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