CN105811842A - Feedforward type indirection vector control system and control method for induction motor - Google Patents

Abstract

The invention relates to a feedforward type indirection vector control system and control method for an induction motor. The control system comprises a speed controller, an Lm parameter division method arithmetic unit, a Tr parameter division method arithmetic unit, a low cut-off frequency low-pass filter, a division method computing controller, an additive operation controller, an integral controller, a two-phase rotary/three-phase static coordinate conversion circuit, a current hysteresis loop tracking PWM signal generator, a voltage source type inverter and the induction motor. Compared with the prior art, the control system does not need an Lm parameter multiplication arithmetic unit; instead, the low cut-off frequency low-pass filter is provided additionally; therefore, the problems of strong vibration of the rotor flux linkage vector amplitude, impossibility of well decoupling between the rotor flux linkage and the electromagnetic torque, and impossibility of realizing starting at constant acceleration existing in the conventional control system are solved; consequently, the rotor flux linkage vector amplitude vibration of the induction motor is greatly lowered; the decoupling control between the flux linkage and the torque of the induction motor is actually realized; and the control performance of the system achieves the level of a direct current dual closed-loop speed control system.

Description

A kind of indirect vector control system of induction conductivity feed-forward type and control method thereof

Technical field

The present invention relates to induction conductivity frequency control field, particularly relate to a kind of induction motor variable frequency speed regulation system and control method that utilize vector control technology.

Background technology

Induction conductivity is widely used in commercial Application, due to reasons such as its reliability, robustness, low cost and relatively low maintenances.Motor-driven power consumption accounts for more than the 50% of total electricity in the industry, and the 65% of motor-driven power consumption is above being consumed by induction conductivity.Although the principle of induction conductivity was just grasped by people before 100 years, but sizable progress is still had to realize.This is due to the progress of material, Power Electronic Technique and high speed digital controller.High performance motor drives application to need quick torque response.And the progress of power electronic equipment and high-speed controller, it is provided that quickly induction machine torque response controls.

Vector controlled is the induction conductivity method for controlling frequency conversion of a kind of high dynamic performance.Vector controlled is by controlling voltage, electric current and the frequency of flux linkage vector, amplitude and instantaneous position, it is achieved torque and the uneoupled control of magnetic linkage, controls thus obtaining quick torque response.Vector controlled, also referred to as Field orientable control, was suggested in 1972.Professor K.Hasse of Darmstadt polytechnical university proposes indirect vector controlled, and the F.Blaschke engineer of Siemens Company is in proposing direct vector control.Although being all vector controlled, but the two to realize method different.

Direct vector control adopts magnetic linkage closed-loop control mode, relies on measurement or flux observer to obtain amplitude and the spatial positional information of rotor flux linkage vector, it is achieved the uneoupled control of torque and magnetic linkage；Indirect vector controlled adopts magnetic linkage open loop control mode, the slip frequency computing formula in vector controlled equation is relied on to try to achieve slip frequency, after being added with motor speed, calculated the locus of rotor flux linkage vector by integration, it is achieved the uneoupled control of torque and magnetic linkage.

Indirect vector control method is relatively simple for structure, and can eliminate the fluctuation of torque current in dynamic process, improves the dynamic property of governing system.Meanwhile, indirect vector controlled has higher control accuracy in full speed range, during particularly in low speed.Therefore the vector controlled universal frequency converter of early stage is essentially all the indirect vector control mode of employing.Indirect vector control method has two kinds, and wherein conventional one is the indirect vector controlled of feed-forward type, it is simply that utilize given input signal to realize the calculating of rotor flux linkage vector locus, thus realizing the control to induction conductivity.

Asynchronous motor mathematical model under mt synchronous rotating frame describes as follows:

${\mathrm{\ω}}_s=\frac{L_m}{T_r{\mathrm{\ψ}}_r}{i}_{st}---\left(2\right)$

$T_e=n_p\frac{L_m}{L_r}{i}_{st}{\mathrm{\ψ}}_r---\left(5\right)$

$T_e-T_L=\frac{J}{n_p}\frac{{\mathrm{d\ω}}_r}{dt}---\left(6\right)$

In formula, L_rFor inductor rotor, L_mFor mutual inductance between stator and rotor, L_sFor stator inductance, R_rFor rotor resistance, R_sFor stator resistance, T_rFor rotor time constant, ω_sFor slip angular velocity, ω_rFor rotor velocity, ω₁For synchronous angular velocity, T_eFor electromagnetic torque, T_LFor load torque, J is rotary inertia, n_pFor number of pole-pairs.

ψ_rFor the amplitude of rotor flux linkage vector, i_smFor stator current excitation component, i_stFor stator current torque component, u_smFor stator voltage m axle component, u_stFor stator voltage t axle component.

By rotor field-oriented, stator current is broken down into stator current excitation component i_smWith stator current torque component i_st.Formula (1) is arranged and can obtain

${\mathrm{\ψ}}_r=\frac{L_m{i}_{sm}}{T_{r}s+1}---\left(7\right)$

By formula (7) it can be seen that the amplitude ψ of rotor flux linkage vector_rOnly have stator current excitation component i_smProduce, with stator current torque component i_stUnrelated.

By formula (5) it can be seen that at the amplitude ψ of rotor flux linkage vector_rWhen constant, electromagnetic torque T_eBy stator current torque component i_stUnique decision.Thus as dc motor, it is achieved the uneoupled control of magnetic linkage and electromagnetic torque.

By formula (2) it can be seen that at the amplitude ψ of rotor flux linkage vector_rWhen constant, by controlling slip angular velocity ω_sJust can control stator current torque component i_st, thus the electromagnetic torque of Perceived control induction motor.Indirect vector controlled is exactly the vector control system utilizing the slip formula (2) in vector controlled equation to constitute Machine Slip, it is achieved rotor flux linkage vectorIndirect vector controlled.

Fig. 1 is the indirect vector control system schematic diagram of induction conductivity conventional feed forward type.Its operation principle utilizes rotational speed setup signal exactlyWith feedback signal ω_rDifference Negotiation speed controller obtain the Setting signal of stator current torque componentUtilize the Setting signal of rotor flux linkage vector amplitudePass through L_mParameter divider obtains the Setting signal of stator current excitation component

Utilize the Setting signal of rotor flux linkage vector amplitudeSetting signal with stator current torque componentPass through L_mParameter multiplicative operator, T_rParameter divider and division arithmetic controller obtain the Setting signal of slip angular velocityThe feedback signal ω of recycling rotating speed_rSetting signal with slip angular velocityThe Setting signal of synchronous rotational speed is obtained by additive operation controllerAnd the locus signal of rotor flux linkage vector is obtained by integral controller

Utilize the locus signal of rotor flux linkage vectorBy biphase rotation/three phase static coordinate conversion circuit, the Setting signal of stator current torque componentSetting signal with stator current excitation componentConvert the Setting signal of threephase stator electric current toAnd with the feedback signal i of threephase stator electric current_sa、i_sb、i_scCompare, follow the tracks of PWM signal generator by Hysteresis Current and obtain driving the control signal S of inverter_a、S_b、S_c, utilize control signal S_a、S_b、S_cGo to drive inverter work, thus realizing the uneoupled control to torque and magnetic linkage.

Fig. 2-5 is the rotor flux amplitude waveform of the induction conductivity indirect vector control system of conventional feed forward type, stator current torque component waveform, electromagnetic torque waveform and speed waveform respectively.Can be seen that from Fig. 2-5, start-up period is accelerated at induction conductivity, due to the vibration of rotor flux linkage vector amplitude acutely, cause rotor flux and the electromagnetic torque can not decoupling well, so, although stator current torque component keeps constant maximum value, but electromagnetic torque can not be always maintained at constant maximum value, thus causing that induction conductivity accelerates start-up period and can not start by permanent acceleration as Double closed loop DC speed, reduce the control performance of the induction conductivity indirect vector control system of conventional feed forward type.

Because the defect that the indirect vector control system of above-mentioned existing induction conductivity feed-forward type exists, the present inventor is based on rich experiences for many years and Professional knowledge, actively in addition research and innovation, to founding a kind of novel indirect vector control system of induction conductivity feed-forward type and control method thereof, the defect that general existing control system exists can be improved, make it have more practicality, through constantly research, design, finally create the present invention having practical value.

Summary of the invention

It is an object of the invention to provide a kind of indirect vector control system of induction conductivity feed-forward type and control method thereof, rotor flux linkage vector amplitude to solve the induction conductivity indirect vector control system of conventional feed forward type is vibrated acutely, rotor flux and electromagnetic torque can not well decoupling and induction conductivity accelerate start-up period can not the difficult problem such as permanent acceleration starting, the vibration of induction conductivity rotor flux linkage vector amplitude is greatly reduced, really realize the uneoupled control of induction conductivity magnetic linkage and torque, make the control performance of system reach the level of Double closed loop DC speed.

The object of the invention to solve the technical problems realizes by the following technical solutions.

According to a kind of indirect vector control system of induction conductivity feed-forward type that the present invention proposes, including speed control, L_mParameter divider, T_rParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, additive operation controller, integral controller, biphase rotation/three phase static coordinate conversion circuit, Hysteresis Current follow the tracks of PWM signal generator, voltage source inverter and induction conductivity；

The input of described low cutoff frequency low-pass filter and L_mParameter divider connects, T_rThe input of parameter divider is connected with speed control；The first input end of described division arithmetic controller and T_rParameter divider connects, and the second input is connected with low cutoff frequency low-pass filter；The first input end of described additive operation controller is connected with division arithmetic controller, and the second input is connected with Kind of Speed Measuring Circuit；The input of described integral controller is connected with additive operation controller；

The first input end of described biphase rotation/three phase static coordinate conversion circuit is connected with speed control, the second input and L_mParameter divider connects, and the 3rd input is connected with integral controller；Described Hysteresis Current is followed the tracks of first, second and third input of PWM signal generator and is connected with biphase rotation/three phase static coordinate conversion circuit, and fourth, fifth, six inputs are connected with current measurement circuit；Described Hysteresis Current is followed the tracks of PWM signal generator and is connected with induction conductivity by voltage source inverter.

Aforesaid a kind of indirect vector control system of induction conductivity feed-forward type, wherein, described low cutoff frequency low-pass filter is the Setting signal of the stator current excitation component step sudden changeBecome the m axle component signal of slowly varying given electric currentA kind of wave filter.

Aforesaid a kind of indirect vector control system of induction conductivity feed-forward type, wherein, described T_rParameter divider is exactly the Setting signal stator current torque componentDivided by rotor time constant T_rObtain the t axle component signal of given electric currentA kind of arithmetical unit.

Aforesaid a kind of indirect vector control system of induction conductivity feed-forward type, wherein, described division arithmetic controller is exactly the t axle component signal of given electric currentM axle component signal divided by given electric currentObtain the Setting signal of slip angular velocityA kind of controller.

The object of the invention to solve the technical problems also can realize by the following technical solutions further.

A kind of control method of aforementioned control system, it specifically includes following steps:

(1), setup parameter, specifically include: set rotor flux linkage vector amplitude Setting signalSetting signal with speedThe scale parameter K of setting speed controller_pWith integral parameter K_I, set L_mThe parameter L of parameter divider_m, set T_rThe parameter T of parameter divider_r, set the cut-off frequency ω of low cutoff frequency low-pass filter_c, set Hysteresis Current and follow the tracks of the hysteresis band h of PWM signal generator；

(2), Negotiation speed measuring circuit obtains the feedback signal ω of rotating speed_r；

(3) the feedback signal i of threephase stator electric current, is obtained by current measurement circuit_sa、i_sb、i_sc；

(4) speed control, is utilized to obtain the Setting signal of stator current torque component

(5), L is utilized_mParameter divider calculates the Setting signal of stator current excitation component

Arrangement formula (7) obtains the Setting signal of rotor flux linkage vector amplitudeSetting signal with stator current excitation componentRelational expression:

$i_{sm}^{*}=(T_{r}s+1){\mathrm{\ψ}}_r^{*}/L_m---\left(8\right)$

Setting signal due to rotor flux linkage vector amplitudeBeing constant, therefore, formula (8) can also become

$i_{sm}^{*}={\mathrm{\ψ}}_r^{*}/L_m---\left(9\right)$

(6), T is utilized_rParameter divider calculates the t axle component signal of given electric current

The Setting signal of stator current torque componentT axle component signal with given electric currentRelational expression be

$i_t^{*}=i_{st}^{*}/T_r---\left(10\right)$

(7) low cutoff frequency low-pass filter, is utilized to obtain the m axle component signal of given electric current

The Setting signal of stator current excitation componentM axle component signal with given electric currentRelational expression be

$i_m^{*}=\frac{i_{sm}^{*}}{\frac{1}{{\mathrm{\ω}}_c}s+1}---\left(11\right)$

(8) division arithmetic controller, is utilized to calculate the Setting signal of slip angular velocity

The Setting signal of slip angular velocityT axle component signal with given electric currentM axle component signal with given electric currentRelational expression be

${\mathrm{\ω}}_s^{*}=\frac{i_t^{*}}{i_m^{*}}---\left(12\right)$

(9) additive operation controller, is utilized to calculate the Setting signal of synchronous rotational speed

The Setting signal of synchronous rotational speedFeedback signal ω with rotating speed_rSetting signal with slip angular velocityRelational expression be

${\mathrm{\ω}}_1^{*}={\mathrm{\ω}}_r^{*}+{\mathrm{\ω}}_s^{*}---\left(13\right)$

(10) integral controller, is utilized to calculate the locus signal of rotor flux linkage vector

The locus signal of rotor flux linkage vectorSetting signal with synchronous rotational speedRelational expression is

(11) biphase rotation/three phase static coordinate conversion circuit, is utilized to obtain the Setting signal of threephase stator electric current

Setting signal stator current excitation componentSetting signal with stator current torque componentLocus signal according to rotor flux linkage vectorConvert the Setting signal of threephase stator electric current toThe expression formula of biphase rotation/three phase static coordinate conversion circuit be

(12), utilize Hysteresis Current to follow the tracks of PWM signal generator and generate the control signal S driving inverter_a、S_b、S_c；

Setting signal threephase stator electric currentRespectively with the feedback signal i of threephase stator electric current_sa、i_sb、i_scCompare:

A phase: whenTime, S_a=1；WhenTime, S_a=0.

B phase: whenTime, S_b=1；WhenTime, S_b=0.

C phase: whenTime, S_c=1；WhenTime, S_c=0.

(13) the control signal S driving inverter, is utilized_a、S_b、S_cDriving voltage source type inverter work, it is achieved the control to induction conductivity.

Present invention is characterized in that the Setting signal utilizing low cutoff frequency low-pass filter stator current excitation component(rather than the Setting signal of rotor flux linkage vector amplitude) become giving the m axle component signal of electric currentOnly need to utilize T simultaneously_rParameter divider (and do not recycle L_mParameter multiplicative operator) the Setting signal of stator current torque componentBecome the t axle component signal of given electric currentUtilize division arithmetic controller the t axle component signal of given electric currentM axle component signal with given electric currentIt is divided by and obtains the Setting signal of slip angular velocityUtilize additive operation controller the feedback signal ω of rotating speed_rSetting signal with slip angular velocityIt is added the Setting signal obtaining synchronous rotational speedRecycling integral controller is the Setting signal of synchronous rotational speedBecome the locus signal of rotor flux linkage vectorLocus signal according to rotor flux linkage vectorUtilize biphase rotation/three phase static coordinate conversion circuit and Hysteresis Current to follow the tracks of PWM signal generator and generate the control signal S driving inverter_a、S_b、S_c；Finally utilize the control signal S driving inverter_a、S_b、S_cGo to drive inverter work, thus realizing the uneoupled control to induction conductivity torque and magnetic linkage.

The present invention compared with prior art has clear advantage and beneficial effect, by technique scheme, the control device of the present invention a kind of induction conductivity indirect vector control system of feed-forward type can reach suitable technological progress and practicality, and there is the extensive value in industry, it at least has the advantage that

(1) present invention omits L_mParameter multiplicative operator, only need to utilize T_rParameter divider is the Setting signal of stator current torque componentBecome the t axle component signal of given electric currentNo longer adopt the Setting signal of rotor flux linkage vector amplitudeAs input signal, but adopt the Setting signal of stator current excitation componentAs input signal, increase a low cutoff frequency low-pass filter the Setting signal of stator current excitation componentBecome the m axle component signal of given electric currentThen division arithmetic controller, additive operation controller and integral controller is utilized to calculate the locus signal of rotor flux linkage vectorRealize the control to induction conductivity.

(2) compared with the induction conductivity indirect vector control system of conventional feed forward type, the invention enables the vibration of induction conductivity rotor flux linkage vector amplitude to be greatly reduced, accelerate stator current torque component i_stDynamic response, ensure that and be always maintained at constant maximum value at rotating speed start-up period electromagnetic torque, thus ensure that permanent acceleration of induction conductivity starts, the final uneoupled control really realizing induction conductivity magnetic linkage and torque so that the control performance of system reaches the level of Double closed loop DC speed.Simulation results show has reached intended purpose.

In sum, the one indirect vector control system of induction conductivity feed-forward type of the present invention and control method thereof have significant progress technically, and have obvious good effect, are really a new and innovative, progressive, practical new design.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, and can be practiced according to the content of description, and in order to the above and other purpose of the present invention, feature and advantage can be become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.

Accompanying drawing explanation

Fig. 1. the structural representation of the indirect vector control system of induction conductivity conventional feed forward type.

Fig. 2. the rotor flux amplitude waveform of the indirect vector control system of induction conductivity conventional feed forward type.

Fig. 3. the stator current torque component waveform of the indirect vector control system of induction conductivity conventional feed forward type.

Fig. 4. the electromagnetic torque waveform of the indirect vector control system of induction conductivity conventional feed forward type.

Fig. 5. the speed waveform of the indirect vector control system of induction conductivity conventional feed forward type.

Fig. 6. the structural representation of the indirect vector control system of the novel feed-forward type of induction conductivity.

Fig. 7. the rotor flux amplitude waveform of the indirect vector control system of the novel feed-forward type of induction conductivity.

Fig. 8. the stator current torque component waveform of the indirect vector control system of the novel feed-forward type of induction conductivity.

Fig. 9. the electromagnetic torque waveform of the indirect vector control system of the novel feed-forward type of induction conductivity.

Figure 10. the speed waveform of the indirect vector control system of the novel feed-forward type of induction conductivity.

[main element symbol description]

M: induction conductivity

Detailed description of the invention

For further setting forth that the present invention reaches technological means and effect that predetermined goal of the invention is taked, below in conjunction with accompanying drawing and preferred embodiment, to a kind of indirect vector control system of induction conductivity feed-forward type proposed according to the present invention and control method thereof, its detailed description of the invention, structure, feature and effect thereof, describe in detail as after.

The one indirect vector control system of induction conductivity feed-forward type of the present invention, including speed control, L_mParameter divider, T_rParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, additive operation controller, integral controller, biphase rotation/three phase static coordinate conversion circuit, Hysteresis Current follow the tracks of PWM signal generator, voltage source inverter and induction conductivity；

Wherein, the input of low cutoff frequency low-pass filter and L_mParameter divider connects, T_rThe input of parameter divider is connected with speed control；The first input end of division arithmetic controller and T_rParameter divider connects, and the second input is connected with low cutoff frequency low-pass filter；The first input end of additive operation controller is connected with division arithmetic controller, and the second input is connected with Kind of Speed Measuring Circuit；The input of integral controller is connected with additive operation controller；

The first input end of biphase rotation/three phase static coordinate conversion circuit is connected with speed control, the second input and L_mParameter divider connects, and the 3rd input is connected with integral controller；Described Hysteresis Current is followed the tracks of first, second and third input of PWM signal generator and is connected with biphase rotation/three phase static coordinate conversion circuit, and fourth, fifth, six inputs are connected with current measurement circuit；Hysteresis Current is followed the tracks of PWM signal generator and is connected with induction conductivity by voltage source inverter.

To speed control, L_mParameter divider, T_rParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, additive operation controller, integral controller, biphase rotation/three phase static coordinate conversion circuit and Hysteresis Current are followed the tracks of PWM signal generator and are respectively described below:

(1) speed control

Speed control is by the Setting signal to rotating speedFeedback signal ω with rotating speed_rDifference be adjusted the Setting signal of output stator current torque componentSpeed control adoption rate integral controller, utilizes following formula to realize:

$i_{st}^{*}=K_p({\mathrm{\ω}}_r^{*}-{\mathrm{\ω}}_r)+K_l{\∫}_0^t({\mathrm{\ω}}_r^{*}-{\mathrm{\ω}}_r)dt---\left(16\right)$

After rotor field-oriented induction conductivity electromagnetic torque can be expressed as:

$T_e=n_p\frac{L_m}{L_r}{i}_{st}^{*}{\mathrm{\ψ}}_r^{*}---\left(17\right)$

By formula (17) it can be seen that in rotor flux amplitudeWhen constant, electromagnetic torque and stator current torque componentIt is directly proportional, controls stator current torque component well as long as therefore can follow one's bentJust can control the electromagnetic torque of induction conductivity well, thus obtaining high performance Alternating Current Governor System.

(2)L_mParameter divider

L_mParameter divider is the Setting signal of rotor flux linkage vector amplitudeRotor mutual inductance L divided by induction conductivity_mObtain the Setting signal of stator current excitation component

Arrangement formula (7) obtains the Setting signal of rotor flux linkage vector amplitudeSetting signal with stator current excitation componentRelational expression:

$i_{sm}^{*}=(T_{r}s+1){\mathrm{\ψ}}_r^{*}/L_m---\left(8\right)$

In formula, s is differential operator, due to the Setting signal of rotor flux linkage vector amplitudeIt is constant,

$\frac{{\mathrm{d\ψ}}_r^{*}}{dt}=0$

Therefore, formula (8) can also become

$i_{sm}^{*}=(T_{r}s+1){\mathrm{\ψ}}_r^{*}/L_m=(T_r\frac{{\mathrm{d\ψ}}_r^{*}}{dt}+{\mathrm{\ψ}}_r^{*})/L_m={\mathrm{\ψ}}_r^{*}/L_m---\left(9\right)$

(3)T_rParameter divider

T_rParameter divider is exactly the Setting signal stator current torque componentDivided by rotor time constant T_rObtain the t axle component signal of given electric current

The Setting signal of stator current torque componentT axle component signal with given electric currentRelational expression be

$i_t^{*}=i_{st}^{*}/T_r---\left(10\right)$

(4) low cutoff frequency low-pass filter

Low cutoff frequency low-pass filter is exactly the Setting signal of the stator current excitation component step sudden changeBecome the m axle component signal of slowly varying given electric current

The Setting signal of stator current excitation componentM axle component signal with given electric currentRelational expression be

$i_m^{*}=\frac{i_{sm}^{*}}{\frac{1}{{\mathrm{\ω}}_c}s+1}---\left(11\right)$

(5) division arithmetic controller

Division arithmetic controller is exactly the t axle component signal of given electric currentM axle component signal divided by given electric currentObtain the Setting signal of slip angular velocity

The Setting signal of slip angular velocityT axle component signal with given electric currentM axle component signal with given electric currentRelational expression be

${\mathrm{\ω}}_s^{*}=\frac{i_t^{*}}{i_m^{*}}---\left(12\right)$

(6) additive operation controller

Additive operation controller is exactly the feedback signal ω of rotating speed_rSetting signal with slip angular velocityIt is added the Setting signal obtaining synchronous rotational speed

The Setting signal of synchronous rotational speedFeedback signal ω with rotating speed_rSetting signal with slip angular velocityRelational expression be

${\mathrm{\ω}}_1^{*}={\mathrm{\ω}}_r^{*}+{\mathrm{\ω}}_s^{*}---\left(13\right)$

(7) integral controller

Integral controller is exactly the Setting signal of synchronous rotational speedIntegration obtains the locus signal of rotor flux linkage vector

The locus signal of rotor flux linkage vectorSetting signal with synchronous rotational speedRelational expression is

(8) biphase rotation/three phase static coordinate conversion circuit

Biphase rotation/three phase static coordinate conversion circuit is exactly the locus signal according to rotor flux linkage vectorSetting signal stator current excitation componentSetting signal with stator current torque componentConvert the Setting signal of threephase stator electric current to

The expression formula of biphase rotation/three phase static coordinate conversion circuit is

(9) Hysteresis Current follows the tracks of PWM signal generator

It is exactly the Setting signal threephase stator electric current that Hysteresis Current follows the tracks of PWM signal generatorFeedback signal i with threephase stator electric current_sa、i_sb、i_scCompare and obtain driving the control signal S of inverter_a、S_b、S_c。

Setting signal threephase stator electric currentRespectively with the feedback signal i of threephase stator electric current_sa、i_sb、i_scCompare:

A phase: whenTime, S_a=1；WhenTime, S_a=0.

B phase: whenTime, S_b=1；WhenTime, S_b=0.

C phase: whenTime, S_c=1；WhenTime, S_c=0.

Finally, the control signal S driving inverter is utilized_a、S_b、S_cDriving voltage source type inverter work, it is achieved the control to induction conductivity.

The structural representation of the indirect vector control system of the novel feed-forward type of induction conductivity of the present invention is as shown in Figure 6.

First with speed control the deviation signal of rotating speedBecome the Setting signal of stator current torque componentUtilize L_mParameter divider is the Setting signal of rotor flux linkage vector amplitudeBecome the Setting signal of stator current excitation componentNext utilizes T_rParameter divider is the Setting signal of stator current torque componentBecome the t axle component signal of given electric currentUtilize low cutoff frequency low-pass filter the Setting signal of stator current excitation componentBecome the m axle component signal of given electric currentAgain with division arithmetic controller the t axle component signal of given electric currentM axle component signal with given electric currentIt is divided by and obtains the Setting signal of slip angular velocityUtilize additive operation controller the feedback signal ω of rotating speed_rSetting signal with slip angular velocityIt is added the Setting signal obtaining synchronous rotational speedRecycling integral controller is the Setting signal of synchronous rotational speedBecome the locus signal of rotor flux linkage vectorThen the biphase rotation/three phase static coordinate conversion circuit locus signal according to rotor flux linkage vector is utilizedSetting signal stator current torque componentSetting signal with stator current excitation componentConvert the Setting signal of threephase stator electric current toHysteresis Current is utilized to follow the tracks of PWM signal generator the Setting signal of threephase stator electric currentFeedback signal i with threephase stator electric current_sa、i_sb、i_scCompare and obtain driving the control signal S of inverter_a、S_b、S_c；Finally utilize the control signal S driving inverter_a、S_b、S_cGo to drive inverter work, thus realizing the uneoupled control to torque and magnetic linkage.

Specifically, it contains following steps successively:

1: set the Setting signal of rotor flux linkage vector amplitudeSetting signal with speed

2: the scale parameter K of setting speed controller_pWith integral parameter K_I；

3: set L_mThe parameter L of parameter divider_m；

4: set T_rThe parameter T of parameter divider_r；

5: set the cut-off frequency ω of low cutoff frequency low-pass filter_c；

6: set Hysteresis Current and follow the tracks of the hysteresis band h of PWM signal generator；

7: Negotiation speed measuring circuit obtains the feedback signal ω of rotating speed_r；

8: obtained the feedback signal i of threephase stator electric current by current measurement circuit_sa、i_sb、i_sc；

9: utilize speed control to obtain the Setting signal of stator current torque component

10: utilize L_mParameter divider calculates the Setting signal of stator current excitation component

11: utilize T_rParameter divider calculates the t axle component signal of given electric current

12: utilize low cutoff frequency low-pass filter to obtain the m axle component signal of given electric current

13: utilize division arithmetic controller to calculate the Setting signal of slip angular velocity

14: utilize additive operation controller to calculate the Setting signal of synchronous rotational speed

15: utilize integral controller to calculate the locus signal of rotor flux linkage vector

16: utilize biphase rotation/three phase static coordinate conversion circuit to obtain out the Setting signal of threephase stator electric current

17: utilize Hysteresis Current to follow the tracks of PWM signal generator and generate the control signal S driving inverter_a、S_b、S_c；

18: utilize the control signal S driving inverter_a、S_b、S_cDriving inverter works, it is achieved the control to induction conductivity.

For checking the inventive method, employing MATLAB2010a carries out simulating, verifying.After speed control parameter tuning, K_p=10.3, K_I=21.4.

Fig. 7 is the rotor flux amplitude waveform of the induction conductivity indirect vector control system of novel feed-forward type, and Fig. 8 is the stator current torque component waveform of the induction conductivity indirect vector control system of novel feed-forward type；Fig. 9 is the electromagnetic torque waveform of the induction conductivity indirect vector control system of novel feed-forward type；Figure 10 is the speed waveform of the induction conductivity indirect vector control system of novel feed-forward type.

Comparison diagram 2-5 and Fig. 7-10, it can be seen that the invention enables the vibration of induction conductivity rotor flux linkage vector amplitude to be greatly reduced, accelerates stator current torque component i_stDynamic response, ensure that and be always maintained at constant maximum value at rotating speed start-up period electromagnetic torque, thus ensure that permanent acceleration of induction conductivity starts, the final uneoupled control really realizing induction conductivity magnetic linkage and torque so that the control performance of system reaches the level of Double closed loop DC speed.

The above, it it is only presently preferred embodiments of the present invention, not the present invention is done any pro forma restriction, although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention, any those skilled in the art, without departing within the scope of technical solution of the present invention, when the technology contents of available the disclosure above makes a little change or is modified to the Equivalent embodiments of equivalent variations, in every case it is the content without departing from technical solution of the present invention, according to any simple modification that above example is made by the technical spirit of the present invention, equivalent variations and modification, all still fall within the scope of technical solution of the present invention.

Claims (6)

1. the indirect vector control system of induction conductivity feed-forward type, it is characterised in that it includes speed control, L_mParameter divider, T_rParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, additive operation controller, integral controller, biphase rotation/three phase static coordinate conversion circuit, Hysteresis Current follow the tracks of PWM signal generator, voltage source inverter and induction conductivity；

The input of described low cutoff frequency low-pass filter and L_mParameter divider connects, T_rThe input of parameter divider is connected with speed control；

The first input end of described division arithmetic controller and T_rParameter divider connects, and the second input is connected with low cutoff frequency low-pass filter；

The first input end of described additive operation controller is connected with division arithmetic controller, and the second input is connected with Kind of Speed Measuring Circuit；

The input of described integral controller is connected with additive operation controller；

The first input end of described biphase rotation/three phase static coordinate conversion circuit is connected with speed control, the second input and L_mParameter divider connects, and the 3rd input is connected with integral controller；

Described Hysteresis Current is followed the tracks of first, second and third input of PWM signal generator and is connected with biphase rotation/three phase static coordinate conversion circuit, and fourth, fifth, six inputs are connected with current measurement circuit；

Described Hysteresis Current is followed the tracks of PWM signal generator and is connected with induction conductivity by voltage source inverter.

2. a kind of indirect vector control system of induction conductivity feed-forward type as claimed in claim 1, it is characterised in that described low cutoff frequency low-pass filter is the Setting signal of the stator current excitation component step sudden changeBecome the m axle component signal of given electric currentA kind of wave filter.

3. a kind of indirect vector control system of induction conductivity feed-forward type as claimed in claim 1, it is characterised in that described T_rParameter divider is the Setting signal stator current torque componentDivided by rotor time constant T_rObtain the t axle component signal of given electric currentA kind of arithmetical unit.

4. a kind of indirect vector control system of induction conductivity feed-forward type as claimed in claim 1, it is characterised in that described division arithmetic controller is the t axle component signal of given electric currentM axle component signal divided by given electric currentObtain the Setting signal of slip angular velocityA kind of controller.

5. the control method of a control system as claimed in claim 1, it is characterised in that comprise the following steps:

(1), setup parameter, specifically include: set rotor flux linkage vector amplitude Setting signalSetting signal with speedThe scale parameter K of setting speed controller_pWith integral parameter K_I, set L_mThe parameter L of parameter divider_m, set T_rThe parameter T of parameter divider_r, set the cut-off frequency ω of low cutoff frequency low-pass filter_c, set Hysteresis Current and follow the tracks of the hysteresis band h of PWM signal generator；

(2), Negotiation speed measuring circuit obtains the feedback signal ω of rotating speed_r；

(3) the feedback signal i of threephase stator electric current, is obtained by current measurement circuit_sa、i_sb、i_sc；

(4) speed control, is utilized to obtain the Setting signal of stator current torque component

(5), L is utilized_mParameter divider calculates the Setting signal of stator current excitation component

(6), T is utilized_rParameter divider calculates the t axle component signal of given electric current

(7) low cutoff frequency low-pass filter, is utilized to obtain the m axle component signal of given electric current

(8) division arithmetic controller, is utilized to calculate the Setting signal of slip angular velocity

(9) additive operation controller, is utilized to calculate the Setting signal of synchronous rotational speed

(10) integral controller, is utilized to calculate the locus signal of rotor flux linkage vector

(11) biphase rotation/three phase static coordinate conversion circuit, is utilized to obtain the Setting signal of threephase stator electric current

(12), utilize Hysteresis Current to follow the tracks of PWM signal generator and generate the control signal S driving inverter_a、S_b、S_c；

(13) the control signal S driving inverter, is utilized_a、S_b、S_cDriving voltage source type inverter work, it is achieved the control to induction conductivity.

6. control method as claimed in claim 5, it is characterised in that the m axle component signal of described given electric currentSetting signal with stator current excitation componentRelational expression be:

$i_m^{*}=\frac{i_{sm}^{*}}{\frac{1}{{\mathrm{\ω}}_c}s+1}$