CN108418488A - Rotating speed computational algorithm based on rotor flux - Google Patents
Rotating speed computational algorithm based on rotor flux Download PDFInfo
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- CN108418488A CN108418488A CN201810176274.4A CN201810176274A CN108418488A CN 108418488 A CN108418488 A CN 108418488A CN 201810176274 A CN201810176274 A CN 201810176274A CN 108418488 A CN108418488 A CN 108418488A
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- rotor
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- magnetic linkage
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Classifications
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention provides a kind of rotating speed computational algorithm based on rotor flux, for improving rotor orientation accuracy.Rotating speed computational algorithm provided by the invention, includes the following steps：Step 1, after stator voltage and stator resistance and stator current product are calculated and stator inductance LsStator inductance isIt is poor that product is made, and obtains the rotor flux calculated value in static two phase coordinates；The cutoff frequency adjusted in real time is substituted into compensation rate calculation formula by step 2, and using obtained numerical value as compensation magnetic linkage value；The current rotor magnetic linkage value under current exciting current is calculated according to rotor flux calculated value and compensation magnetic linkage value in step 3；Adjustable rotor magnetic linkage value is calculated according to rotor flux α, beta -axis component, stator resistance, inductor rotor and mutual inductance, stator inductance, differential operator in step 4；The rotating speed of motor is calculated according to current rotor magnetic linkage value and adjustable rotor magnetic linkage value for step 5.
Description
Technical field
Present invention relates particularly to a kind of rotating speed computational algorithm based on rotor flux.
Background technology
It is proposed with modern ac drive control theory with promote and the development of power electronic devices, with asynchronous machine and
Synchronous motor is that the AC power dragging system of main control object is gradually adjusted from non-dimmable speed to adjustable speed even high-precision
Fast direction transition, and increasingly focus on the power savings such as system energy utilization rate.High-performance speed governing has become AC power and drags
The development trend of dynamic system.To reach accurate speed governing and energy-efficient purpose, closed-loop control need to be carried out to motor speed, need to obtain thus
Take the real-time rotary speed information of motor, such as with the universal frequency converter wind turbine of device, water pump system and tesla's pure electric vehicle vapour in order to control
Vehicle power-driven system.
Usually using the rotary speed information for being installed at speed probe on motor body and obtaining motor, at present on the market for
The speed probe of selection has photoelectric encoder, rotary encoder and novel magnetic coder etc..Luminous point encoder using grid with
Infrared emission/reception can take rotary speed information incremental form output or absolute form to export pipe structure.Because grid belongs to essence
Accessory is processed, is easy to be failed by such environmental effects in use, such as temperature, humidity and dust concentration.In addition
There is the concentricity problem with motor in photoelectric encoder, rotary encoder, magnetic coder belongs to integrated component, to environment such as temperature
Factor it is more demanding.In short, the increase of these devices undoubtedly makes system reliability reduce, asynchronous machine script structure is lost
Simply, the advantages such as reliable operation also add the hardware cost of system in addition.
Inconvenient and failure risk, state's dispatch from foreign news agency are installed to solve the problems, such as that speed probe is existing in actual application
The engineer of machine controller factory has carried out Speedless sensor experiment.This technology is intended to through motor mathematical model itself
Or the methods of establish observer and rotating speed is estimated, to obtain rotary speed information；When using the MRAS methods of rotor flux,
Since there are pure integral operationes for the reference models of MRAS methods, the accumulation of error and dc shift can be led to, and in electricity
When machine low-speed running, observed quantity amplitude and phase error make the accuracy of flux linkage orientation be deteriorated.
Invention content
The present invention is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide a kind of tachometer based on rotor flux
Algorithm is calculated, for improving rotor orientation accuracy.
The present invention provides a kind of rotating speed computational algorithm based on rotor flux, has the feature that, including following step
Suddenly：Step 1, after stator voltage and stator resistance and stator current product are calculated and stator inductance LsStator inductance isProduct
It is poor to make, and obtains the rotor flux calculated value in static two phase coordinates；The cutoff frequency adjusted in real time is substituted into compensation rate by step 2
Calculation formula, and using obtained numerical value as compensation magnetic linkage value；Step 3, according to rotor flux calculated value and compensation magnetic linkage value
The current rotor magnetic linkage value under current exciting current is calculated；Step 4, according to rotor flux α, beta -axis component, stator resistance,
Adjustable rotor magnetic linkage value is calculated in inductor rotor and mutual inductance, stator inductance, differential operator；Step 5, according to current rotor magnetic
The rotating speed of motor is calculated in chain value and adjustable rotor magnetic linkage value.
In the rotating speed computational algorithm provided by the invention based on rotor flux, it can also have the feature that：Wherein,
The calculation formula of rotor flux calculated value is：
ψrFor rotor flux, usFor stator voltage vector, isFor stator current vector, RsFor stator resistance, LrFor rotor electricity
Sense, LmFor mutual inductance,
LsFor stator inductance.
In the rotating speed computational algorithm provided by the invention based on rotor flux, it can also have the feature that：Wherein,
Compensation rate calculation formula is
ωcFor cutoff frequency.
In the rotating speed computational algorithm provided by the invention based on rotor flux, it can also have the feature that：Wherein,
Current rotor magnetic linkage value is
For synchronizing frequency calculated value, It is cut to be calculated according to synchronizing frequency
The only function of frequency.
The effect of invention
According to the rotating speed computational algorithm according to the present invention based on rotor flux, because of the cutoff frequency that will be adjusted in real time
Compensation rate calculation formula is substituted into, and using obtained numerical value as compensation magnetic linkage value, so, it is of the invention to be turned based on rotor flux
Fast computational algorithm magnetic linkage value and adjusts cutoff frequency in real time by the way that compensation is added to current rotor magnetic linkage value is calculated, not only
Can be obviously improved the observed result of system rotor magnetic linkage, and then improve the accuracy of motor speed estimated value, can also meet compared with
Accurate speed governing requirement in wide velocity interval.
Description of the drawings
Fig. 1 is the schematic diagram of improved current rotor magnetic linkage algorithm in the embodiment of the present invention；
Fig. 2 is improved current rotor flux linkage calculation modular concept figure in the embodiment of the present invention；
Fig. 3 is the flux observation waveform that current rotor flux linkage calculation obtains in pure integral MRAS methods in background technology；
Fig. 4 is the flux observation waveform that current rotor flux linkage calculation obtains in the embodiment of the present invention；
Fig. 5 is compared with actual speed using the speed waveform being calculated in pure integral MRAS methods in background technology；
And
Fig. 6 is the speed waveform and actual speed pair that current rotor magnetic linkage method is calculated in the embodiment of the present invention
Than.
Specific implementation mode
It is real below in order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand
Example combination attached drawing is applied to be specifically addressed the rotating speed computational algorithm the present invention is based on rotor flux.
Fig. 1 is the schematic diagram of improved current rotor magnetic linkage algorithm in the embodiment of the present invention.
The rotating speed computational algorithm based on rotor flux of the present embodiment comprises the steps of：
Step 1, after stator voltage and stator resistance and stator current product are calculated and stator inductance LsStator inductance
isIt is poor that product is made, and obtains the rotor flux calculated value in static two phase coordinates.
ψrFor rotor flux, usFor stator voltage vector, isFor stator current vector, RsFor stator resistance, LrFor rotor electricity
Sense, LmFor mutual inductance,LsFor stator inductance.
The cutoff frequency adjusted in real time is substituted into compensation rate calculation formula by step 2, and using obtained numerical value as compensation
Magnetic linkage value.
The rotor flux got will be calculated according to exciting current passes through a ωc/(s+ωc) observation is used as after filter
Offset.Its expression formula is at this time：
For observation before compensation,For flux compensation signal, and work asShi YouI.e. voltage model is calculated rotor flux and is correctly compensated at this time.
Compensation rate calculation formula is
ωcFor cutoff frequency.In view of stator voltage and the value precision of electric current and pace of change difference, in voltage vector
Biasing effect is less than current phasor, therefore, to obtain preferable cutoff frequency value, can distinguish voltage vector and current phasor
It is handled, and different cutoff frequencies is set, general voltage link ωcCutoff frequency can be set to compared with electric current link ωcCut-off
Frequency is small.To increase compensation effect as possible.
Step 3 is calculated under current exciting current according to rotor flux calculated value and compensation magnetic linkage value and works as forward
Sub- magnetic linkage value.
Current rotor magnetic linkage value is
For synchronizing frequency calculated value, To be calculated according to synchronizing frequency
The function of cutoff frequency.
Fig. 2 is improved current rotor flux linkage calculation modular concept figure in the embodiment of the present invention.
As shown in Fig. 2, input is divided into three parts usAnd Rs·is、Rsis、isd, whole flow process be divided into up and down two branches, on
Face branch is flux linkage calculation process, is inputted as stator voltage usWith stator resistance and stator current product Rs·is, through low pass link
1/(s+ωc) output and with stator inductance LsStator inductance isIt is poor that product is made, and result is multiplied by inductor rotor LrWith mutual inductance LmThan
Value coefficient most obtains the rotor flux calculated value in static two phase coordinates through 3/2 transformation (Clarke transformation) afterwardsIt props up below
Road is flux compensation link calculating process, is inputted as the d axis components i in stator current two-phase rotating coordinate systemsdThrough single order link
Lm/(1+TrS) flux compensation value is obtained, flux compensation value is then obtained in static two-phase by 2/2 transformation (Park inverse transformations)
Value, most afterwards through low pass link ωc/(s+ωc) obtain final flux compensation valueAnd with branch flux linkage calculation value above
Summation, result ψrSystem, which is substituted into, as flux observation value carries out operation.
Step 4 is calculated according to rotor flux α, beta -axis component, stator resistance, inductor rotor and mutual inductance, stator inductance, differential
Adjustable rotor magnetic linkage value is calculated in son.
Adjustable rotor magnetic linkage value calculation formula is as follows：
ψrα、ψrβFor rotor flux α, beta -axis component, Rs、LrAnd LmFor stator resistance, inductor rotor and mutual inductance,LsFor stator inductance, p is differential operator, isαThe static two phase coordinate systems α axis of stator current point
Amount, isβThe static two phase coordinate systems beta -axis component of stator current, TrExpression has turned time constant Tr=Lr/Rr, RrFor rotor resistance.By
Comprising the rotational speed omega that need to be estimated in above formula, therefore it is considered as adjustable model.
The rotating speed of motor is calculated according to current rotor magnetic linkage value and adjustable rotor magnetic linkage value for step 5.
Rotating speed calculating formula is:
ψrαFor the static two phase coordinate systems α axis components of rotor flux, ψrβFor the static two phase coordinate systems beta -axis component of rotor flux,
LrFor inductor rotor, LmFor mutual inductance, usαFor the static two phase coordinate systems α axis components of stator voltage, usβFor the static two-phase of stator voltage
Coordinate system beta -axis component, RsFor stator inductance, ωcFor cutoff frequency, TrFor rotor time constant, ω is rotor rotating speed, isd
For two phase coordinate system d axis components of stator current synchronous rotary, magnetic leakage factor：
Fig. 3 is the flux observation waveform that current rotor flux linkage calculation obtains in pure integral MRAS methods in background technology；Fig. 4
It is the flux observation waveform that current rotor flux linkage calculation obtains in the embodiment of the present invention.
Fig. 3 is ψ in pure integral MRAS methodsrAmplitude observation waveform, Fig. 4 are improved flux linkage observation waveform,
Be held essentially constant in view of magnetic linkage after 0.4s, thus only emulate 0~0.4s in magnetic linkage situation of change, compare two figures it is recognized that while
The speed that the two magnetic field value is established is similar, but model observation can faster converge on stationary value (t=0.15s), and arteries and veins after improvement
Dynamic smaller, this illustrates that the method for the present embodiment improves flux observation value accuracy rate.
Fig. 5 is compared with actual speed using the speed waveform being calculated in pure integral MRAS methods in background technology；
And Fig. 6 is that the speed waveform that current rotor magnetic linkage method is calculated in the embodiment of the present invention is compared with actual speed.
Simulation model is disposed as：Motor starts by stationary state, when setting speed 200r/min, 0.5s, if
Determine rotating speed and sports 600r/min.In whole process, load torque is T alwaysL=1.5N.m.As shown in Figure 5, Figure 6, two kinds of moulds
The estimation rotating speed of type can preferably follow actual speed, but the estimation rotating speed delay of the current rotor magnetic linkage method in embodiment with
It is small and substantially without steady-state error, illustrate that the current rotor magnetic linkage method in embodiment has better identification precision.
To sum up, it can be seen that the current rotor magnetic linkage method in embodiment can meet the accurate speed governing in wider velocity interval
It is required that.
The effect of embodiment
The rotating speed computational algorithm based on rotor flux involved by the present embodiment, because of the cutoff frequency that will be adjusted in real time
Rate substitute into compensation rate calculation formula, and using obtained numerical value as compensate magnetic linkage value, so, the present embodiment based on rotor flux
Rotating speed computational algorithm by compensation magnetic linkage value being added and adjusting cutoff frequency in real time to current rotor magnetic linkage value is calculated,
It can be not only obviously improved the observed result of system rotor magnetic linkage, and then improve the accuracy of motor speed estimated value, can also be expired
Accurate speed governing requirement in the wider velocity interval of foot.
The above embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (4)
1. a kind of rotating speed computational algorithm based on rotor flux, which is characterized in that include the following steps：
Step 1, after stator voltage and stator resistance and stator current product are calculated and stator inductance LsStator inductance isMultiply
It is poor that product is made, and obtains the rotor flux calculated value in static two phase coordinates；
The cutoff frequency adjusted in real time is substituted into compensation rate calculation formula by step 2, and using obtained numerical value as compensation magnetic linkage
Value；
Working as under current exciting current is calculated according to the rotor flux calculated value and the compensation magnetic linkage value in step 3
Preceding rotor flux value；
Step 4, according to rotor flux α, beta -axis component, stator resistance, inductor rotor and mutual inductance, stator inductance, differential operator meter
Calculation obtains adjustable rotor magnetic linkage value；
The rotating speed of motor is calculated according to the current rotor magnetic linkage value and the adjustable rotor magnetic linkage value for step 5.
2. rotating speed computational algorithm according to claim 1, it is characterised in that：
Wherein, the calculation formula of the rotor flux calculated value is：
ψrFor rotor flux, usFor stator voltage vector, isFor stator current vector, RsFor stator resistance, LrFor inductor rotor, Lm
For mutual inductance,LsFor stator inductance.
3. rotating speed computational algorithm according to claim 2, it is characterised in that：
Wherein, the compensation rate calculation formula is
ωcFor cutoff frequency.
4. rotating speed computational algorithm according to claim 2, it is characterised in that：
Wherein, the current rotor magnetic linkage value is
For synchronizing frequency calculated value, To calculate cutoff frequency according to synchronizing frequency
The function of rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810176274.4A CN108418488A (en) | 2018-03-03 | 2018-03-03 | Rotating speed computational algorithm based on rotor flux |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810176274.4A CN108418488A (en) | 2018-03-03 | 2018-03-03 | Rotating speed computational algorithm based on rotor flux |
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| CN108418488A true CN108418488A (en) | 2018-08-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110350832A (en) * | 2019-07-03 | 2019-10-18 | 东南大学 | Memory electrical machine stator flux observer and method with error compensation |
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| CN101043194A (en) * | 2006-03-23 | 2007-09-26 | 上海格立特电力电子有限公司 | Vector control method and apparatus for induction motor |
| CN106849799A (en) * | 2017-03-20 | 2017-06-13 | 江苏大学 | A kind of method of induction-type bearingless motor flux linkage observation and Speed Identification |
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2018
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| CN101043194A (en) * | 2006-03-23 | 2007-09-26 | 上海格立特电力电子有限公司 | Vector control method and apparatus for induction motor |
| CN106849799A (en) * | 2017-03-20 | 2017-06-13 | 江苏大学 | A kind of method of induction-type bearingless motor flux linkage observation and Speed Identification |
| CN107276476A (en) * | 2017-08-09 | 2017-10-20 | 上海应用技术大学 | A kind of method of the asynchronous machine low speed control based on MRAS |
Non-Patent Citations (2)
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| 杨雯越: "基于MRAS的牵引电机无速度传感器矢量控制技术研究", 《中国优秀硕士学位论文全文数据库》 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110350832A (en) * | 2019-07-03 | 2019-10-18 | 东南大学 | Memory electrical machine stator flux observer and method with error compensation |
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Application publication date: 20180817 |