CN107026593B - Asynchronous machine becomes excitation vector control method - Google Patents

Asynchronous machine becomes excitation vector control method Download PDF

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CN107026593B
CN107026593B CN201710368525.4A CN201710368525A CN107026593B CN 107026593 B CN107026593 B CN 107026593B CN 201710368525 A CN201710368525 A CN 201710368525A CN 107026593 B CN107026593 B CN 107026593B
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torque
current
formula
motor
rotor
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CN107026593A (en
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胡家龙
方奕晨
肖金亮
薛芳
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Dalian Wound Is Electric Machine Co Ltd
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Dalian Wound Is Electric Machine Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/02—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for optimising the efficiency at low load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

Asynchronous machine becomes excitation vector control method, belongs to drive and control of electric machine technical field.The vector control method are as follows: transformed to high-order, non-linear, close coupling multi-variable system on orthogonal two phase coordinate system by rotating coordinate transformation, wherein coordinate transform includes two or three transformation and synchronous rotation transformation；The excitation current component Id for being applied to motor stator is calculated by setting curve according to the size of load torque T, when load torque T is zero in curve, the excitation current component Id for being applied to motor is minimum value, the maximum value of Id is obtained as the excitation current component Id that the increase of load torque T is applied to motor is gradually increased, the system of this control method reduces the copper loss and iron loss of asynchronous machine zero load and underloading, reduce electric system fever, the efficiency for improving drive system has played the safe and reliable easy-maintaining advantages such as at low cost of Induction Motor System.

Description

Asynchronous machine becomes excitation vector control method
Technical field
The invention belongs to drive and control of electric machine technical fields, and in particular to become excitation vector controlled to a kind of asynchronous machine Method.
Background technique
With the rapid development of modern power electronics technology and microprocessing, asynchronous motor control field is constantly progressive, Asynchronous machine mainly has V/f control, vector controlled and Direct Torque Control at present.Control for exciting current, conventional measures Using fundamental frequency as separation, fundamental frequency is hereinafter, exciting current given value is fixed as no-load current；It is more than fundamental frequency, anti-according to synchronizing frequency Ratio changes the size of exciting current to guarantee that back-emf is constant for maximum value.It is unloaded and different at light load under the control mode It walks motor power factor and efficiency is relatively low.
Summary of the invention
The object of the invention provides a kind of asynchronous machine change excitation vector control method, mainly solves asynchronous machine conventional vector The unloaded defect relatively low with asynchronous motor power factor at light load and efficiency of control.
The present invention is that asynchronous machine is accomplished by the following way to become excitation vector control method, and asynchronous machine mainly has V/f The modes such as control, vector controlled and Direct Torque Control.Vector control method is the method by rotating coordinate transformation by one High-order, non-linear, close coupling multi-variable system transform on mutually perpendicular two phase coordinate system, to greatly simplify system Mathematical model realizes the decoupling control of magnetic linkage and torque.Coordinate transform includes three-phase/two phase inversions and synchronous rotation transformation.When When empty load of motor, it is first determined then current given torque T corresponds to 10% He of rated exciting current according to zero torque reference 50% Rated motor torque reference corresponds to rated exciting current, obtains the linear relationship of torque and exciting current, secondly according to the line Sexual intercourse calculates currently given exciting current setting iSd,Wherein it is steady should to follow motor for the linear relationship of torque and exciting current Principle that state is run and torque is not jumped continuously, obtains the Slope relationship of torque and exciting current.
In the synchronous rotating frame by rotor flux linkage orientation, stator voltage can be expressed as follows:
u sd = (R s + L s p)·i sd - ω 1·L s·i sq + L m·pi rd - ω 1·L m·i rq(1)
u sq = (R s + L s p)·i sq+ω 1·L s·i sd + ω 1·L m·i rd + L m·pi rq(2) in formula:u sd、u sq For stator d, q shaft voltage,i sd、i sqFor stator d, q shaft current,i rd、i rqFor rotor d, q shaft current,R s、L sFor stator resistance and Inductance,ω 1For stator synchronizing frequency,pFor differential operator.
Flux linkage equations in synchronous rotating frame are as follows:
ψ rd = L m·i sd + L r·i rd = ψ r(3)
ψ rq = L m·i sq + L r·i rqIn=0 (4) formula:ψ rd、ψ rqFor rotor d, q axis magnetic linkage,ψ rFor the total magnetic linkage of rotor,L rFor inductor rotor.
It can be obtained according to Induction Motor System state equation:
ω s = L m·i sq/(T r*ψ r)(7)
ψ r = L m·i sd/(T r p + 1)(8)
T e = n p·L m·i sq·ψ r/L r (9) in formula:ω sFor slip frequency,T r = L r/R rFor the rotor electromagnetism time Constant, wherein RrFor rotor resistance,T eFor electromagnetic torque,n pFor motor number of pole-pairs；Formula (8) showsψ rOnly encouraged by stator current Magnetic componenti sdIt generates, with torque componenti sqIt is unrelated.Formula (9) shows electromagnetic torque and torque when exciting current is fixed Electric currenti sqIt is related.The slip frequency according to encoder feedback revolving speed and currently calculatedω s, calculate current synchronizing frequencyω 1；
According to the parameter of electric machineL s、L m、R r、L rWithL m·i sd = ψ r, obtain stable state formula are as follows:
Usd = R s·i sd - ω 1·(L s·L r - L m 2)/L r·i sq (5)
Usq = R s·i sq + ω 1·(L s·L r - L m 2)/L r·i sd+ ω 1·L m/L r·ψ r (6) in formula: Usd、Usq For stator d, q shaft voltage under stable state.Formula (5) and formula (6) in the steady state adds respective dynamic regulation, obtains to the end UsdAnd Usq；According to synchronizing frequencyω 1With last Usd、Usq, by control space voltage vector PWM inverter SVPWM modulation Three-phase alternating current is obtained, so that asynchronous machine be driven to run.
Control for exciting current, conventional measures are using fundamental frequency as separation, and fundamental frequency is hereinafter, exciting current given value is fixed For no-load current；More than fundamental frequency, according to synchronizing frequencyω 1Inverse proportion change exciting current size be to guarantee that back-emf is constant Maximum value.Under the control mode, due to the natural disadvantage of asynchronous machine, system effectiveness is slightly lower compared with permanent magnet synchronous motor.This Vector control method suitably reduces exciting current, encourages for asynchronous machine inherent characteristic when motor is in unloaded or light load Magnetoelectricity stream is directly proportional with payload size.In becoming exciting current control, when load torque is smaller, exciting current is controlled compared to tradition Mode processed is small, by formula (8) it is found that stable state lower rotor part magnetic linkageψ rAmplitude decline, and output voltage at this time can be obtained by formula (5) and (6) Reduce.Under same system, if traditional control method can operate normally, becoming exciting current control mode also can stable operation. At this point, the switching loss of drive system and the copper loss of motor and iron loss can reduce since exciting current reduces.
Beneficial effects of the present invention are the copper that asynchronous machine zero load and underloading are reduced using the system of this control method Loss and iron loss reduce electric system fever, improve the efficiency of drive system, played Induction Motor System and safely may be used By the easy-maintaining advantages such as at low cost.
Detailed description of the invention
Fig. 1 is exciting currenti dWith the variation relation of load torque T；
Fig. 2 is conventional method IsdWith rated frequency feVariation relation；
Fig. 3 is traditional control method and the excitation current component I for becoming excitation con-trol mode asynchronous machine statorsdWith operation frequency The comparison of rate curve.
Specific embodiment
Asynchronous machine becomes excitation vector control method, and asynchronous machine mainly has V/f control, vector controlled and Direct torque The modes such as system.Vector control method is by the method for rotating coordinate transformation by a high-order, non-linear, close coupling multivariable On system changeover to mutually perpendicular two phase coordinate system, to greatly simplify the mathematical model of system, magnetic linkage and torque are realized Decoupling control.Coordinate transform includes three-phase/two phase inversions and synchronous rotation transformation.
When empty load of motor, it is first determined then current given torque T corresponds to rated excitation electricity according to zero torque reference 10% and 50% Rated motor torque reference of stream corresponds to rated exciting current, obtains the linear relationship of torque and exciting current, It is secondary that currently given exciting current setting i is calculated according to the linear relationshipSd,Wherein the linear relationship of torque and exciting current should It follows motor steady-state operation and torque is not jumped continuously principle, obtain the Slope relationship of torque and exciting current.
In the synchronous rotating frame by rotor flux linkage orientation, stator voltage can be expressed as follows:
u sd = (R s + L s p)·i sd - ω 1·L s·i sq + L m·pi rd - ω 1·L m·i rq(1)
u sq = (R s + L s p)·i sq+ω 1·L s·i sd + ω 1·L m·i rd + L m·pi rq(2) in formula:u sd、u sq For stator d, q shaft voltage,i sd、i sqFor stator d, q shaft current,i rd、i rqFor rotor d, q shaft current,R s、L sFor stator resistance and Inductance,ω 1For stator synchronizing frequency,pFor differential operator.
Flux linkage equations in synchronous rotating frame are as follows:
ψ rd = L m·i sd + L r·i rd = ψ r(3)
ψ rq = L m·i sq + L r·i rqIn=0 (4) formula:ψ rd、ψ rqFor rotor d, q axis magnetic linkage,ψ rFor the total magnetic linkage of rotor,L rFor inductor rotor.
It can be obtained according to Induction Motor System state equation:
ω s = L m·i sq/(T r*ψ r)(7)
ψ r = L m·i sd/(T r p + 1)(8)
T e = n p·L m·i sq·ψ r/L r (9) in formula:ω sFor slip frequency,T r = L r/R rFor the rotor electromagnetism time Constant, wherein RrFor rotor resistance,T eFor electromagnetic torque,n pFor motor number of pole-pairs；Formula (8) showsψ rOnly encouraged by stator current Magnetic componenti sdIt generates, with torque componenti sqIt is unrelated.Formula (9) shows electromagnetic torque and torque when exciting current is fixed Electric currenti sqIt is related.The slip frequency according to encoder feedback revolving speed and currently calculatedω s, calculate current synchronizing frequencyω 1；
According to the parameter of electric machineL s、L m、R r、L rWithL m·i sd = ψ r, obtain stable state formula are as follows:
Usd = R s·i sd - ω 1·(L s·L r - L m 2)/L r·i sq (5)
Usq = R s·i sq + ω 1·(L s·L r - L m 2)/L r·i sd+ ω 1·L m/L r·ψ r (6) in formula: Usd、Usq For stator d, q shaft voltage under stable state.Formula (5) and formula (6) in the steady state adds respective dynamic regulation, obtains to the end UsdAnd Usq；According to synchronizing frequencyω 1With last Usd、Usq, by control space voltage vector PWM inverter SVPWM modulation Three-phase alternating current is obtained, so that asynchronous machine be driven to run.

Claims (1)

1. asynchronous machine becomes excitation vector control method, which is characterized in that the vector control method are as follows:
Step 1: when empty load of motor, it is first determined then current given torque T corresponds to specified encourage according to zero torque reference 10% and 50% Rated motor torque reference of magnetoelectricity stream corresponds to rated exciting current, obtains the linear pass of torque and exciting current Secondly system calculates currently given exciting current setting i according to the linear relationshipSd,The wherein linear pass of torque and exciting current Principle that system should follow motor steady-state operation and torque is not jumped continuously, obtains the Slope relationship of torque and exciting current；
Step 2: stator voltage can be expressed as follows in the synchronous rotating frame by rotor flux linkage orientation:
u sd = (R s + L s p)·i sd - ω 1·L s·i sq + L m·pi rd - ω 1·L m·i rq(1),
u sq = (R s + L s p)·i sq+ω 1·L s·i sd + ω 1·L m·i rd + L m·pi rq(2), in formula:u sd、u sqIt is fixed Sub- d, q shaft voltage,i sd、i sqFor stator d, q shaft current,i rd、i rqFor rotor d, q shaft current,R s、L sFor stator resistance and inductance,ω 1For stator synchronizing frequency,pFor differential operator,L mThe mutual inductance between rotor；
Flux linkage equations in synchronous rotating frame are as follows:ψ rd = L m·i sd + L r·i rd = ψ r(3),ψ rq = L m·i sq +L r·i rq=0 (4), in formula:ψ rd、ψ rqFor rotor d, q axis magnetic linkage,ψ rFor the total magnetic linkage of rotor,L rFor inductor rotor；
Step 3: can be obtained according to Induction Motor System state equation:ω s = L m·i sq/(T r*ψ r)(7),ψ r = L m·i sd/ (T r p + 1)(8),T e = n p·L m·i sq·ψ r/L r (9), in formula:ω sFor slip frequency,T r = L r/RrFor rotor electricity Magnetic time constant, wherein RrFor rotor resistance,T eFor electromagnetic torque,n pFor motor number of pole-pairs；Formula (8) showsψ rOnly by stator Current excitation componenti sdIt generates, with torque componenti sqUnrelated, formula (9) shows that, when exciting current is fixed, electromagnetic torque is only With torque currenti sqIt is related；
Step 4: working asi rdWhen being zero, the formula (3) can be equivalent toL m·i sd = ψ r, further according to current given exciting current Settingi sd, currently set torque currenti sqAnd the parameter of electric machineL m、Rr、L r, the slip frequency of current motor is calculated by formula (7) Rateω s；
Step 5: the slip frequency according to encoder feedback revolving speed and currently calculatedω s, calculate current synchronizing frequencyω 1；
Step 6: according to the parameter of electric machineL s、L m、R s、L rWithL m·i sd = ψ r, obtain UsdAnd UsqSteady-state equation are as follows:
Usd = R s·i sd - ω 1·(L s·L r - L m 2)/L r·i sq (5),
Usq = R s·i sq + ω 1·(L s·L r - L m 2)/L r·i sd+ ω 1·L m/L r·ψ r (6), in formula: Usd、UsqIt is steady Stator d, q shaft voltage under state；
Step 7: formula (5) and formula (6) in the steady state adds respective dynamic regulation, U to the end is obtainedsdAnd Usq；
Step 8: according to synchronizing frequencyω 1With last Usd、Usq, by controlling space voltage vector PWM inverter SVPWM tune System obtains three-phase alternating current, so that asynchronous machine be driven to run.
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EP3462600A1 (en) * 2017-09-29 2019-04-03 Siemens Aktiengesellschaft Energy efficient asynchronous machine
CN109981020B (en) * 2018-07-27 2021-09-24 苏州伟创电气科技股份有限公司 Load self-adaption method
CN109687790B (en) * 2019-01-24 2022-07-19 渤海大学 Vector control implementation method of three-phase asynchronous motor
CN111146994B (en) * 2019-12-25 2023-04-14 上海电力大学 Asynchronous motor speed sensorless vector control method
CN111865165B (en) * 2020-08-03 2021-07-30 上海电气风电集团股份有限公司 Control method, system, medium and electronic device of squirrel-cage asynchronous generator
CN115360953B (en) * 2022-08-24 2023-05-09 威胜能源技术股份有限公司 Induction motor oscillation suppression method based on rotor flux orientation

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