CN108494309A - Threephase asynchronous machine speed-adjusting and control system and control method based on high frequency injection - Google Patents
Threephase asynchronous machine speed-adjusting and control system and control method based on high frequency injection Download PDFInfo
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- CN108494309A CN108494309A CN201810419725.2A CN201810419725A CN108494309A CN 108494309 A CN108494309 A CN 108494309A CN 201810419725 A CN201810419725 A CN 201810419725A CN 108494309 A CN108494309 A CN 108494309A
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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Abstract
The present invention proposes a kind of threephase asynchronous machine speed-adjusting and control system and method for controlling speed regulation injected based on high frequency, and speed-adjusting and control system includes stator current measuring unit, processor and power switching modules；Processor is connect through driving circuit with power switching modules, and the output end of power switching modules is connect with threephase asynchronous machine；By signal feeding unit given rotating speed Setting signal and excitation Setting signal, by high frequency injection unit, to inject high frequency voltage for stator；High frequency voltage is injected for stator and calculates the stator voltage modulating wave after the injection of three-phase high frequency；The Setting signal of processor acquisition；Stator voltage modulating wave is compared with carrier signal, based on comparative result, the control signal of power switching modules is formed, to control Rotational Speed of Asynchronous Motor.The control system and control method detect rotor rotating speed without using any kind of velocity sensor, can estimate the rotor speed of current motor when high-precision real, and then realize accurate speed closed loop control.
Description
Technical field
The present invention relates to motor control technology fields, and in particular to a kind of threephase asynchronous machine speed governing based on high frequency injection
Control system and control method.
Background technology
Threephase asynchronous machine speed-adjusting and control system, with whether use velocity sensor detection rotor mechanical separator speed for according to
According to velocity sensor speed-adjusting and control system and Speedless sensor speed-adjusting and control system two major classes can be divided into.For electricity
For machine control system, the rotating speed for accurately detecting motor is a particularly important technological difficulties, direct relation control strategy
Selection and control result quality.
There is velocity sensor speed-adjusting and control system, mostly uses the reality that the sensors such as encoder, rotary transformer carry out motor
When velocity measuring.Under actual engineer application occasion, sensor is inevitably present difficult to install, failure, cable connection
Complicated, electric signal transmission has the problems such as interference, reduces the reliability of control system, while increasing the cost of control system.
Speedless sensor speed-adjusting and control system, the frequency control characteristic based on asynchronous machine and torque-output characteristics,
It is divided into two kinds of V/F controls and vector controlled in control method.Wherein, there are apparent defects for V/F controls, that is, when motor is prominent
When loading disturbs, asynchronous machine will produce instantaneous step-out, that is, motor speed will appear serious concussion, this is with regard to very big journey
The carrying load ability of motor is weakened on degree.Vector controlled can make up the defect of V/F controls, but on condition that allow for standard
Really estimate electrical angle of motor rotor and mechanical separator speed.Universal frequency converter in the industry is adopted when using vector control method at present
The rotor mechanical separator speed of motor is estimated with " stator back-EMF observer method " or " flux linkage observation method ", both estimations
Method causes motor rotating speed when the slow-speed of revolution is run to lose there are the estimation precision of two big defect-low engine speed ranges is very low
Control；Another big defect is exactly when motor shock load disturbs, and turn count value cannot accurately track actual value, although unlikely
Dynamic response performance when making motor speed shake, but lead to motor run with load is deteriorated.
Invention content
The present invention is directed to velocity sensor speed-adjusting and control system and Speedless sensor speed regulating control system in the prior art
System there are the drawbacks of, provide a kind of control precision high threephase asynchronous machine Speedless sensor speed-adjusting and control system.
To achieve the goals above, the present invention provides the following technical solutions：
Based on rotation high frequency signal injection threephase asynchronous machine speed-adjusting and control system, including stator current measuring unit,
Processor and power switching modules；Processor is connect through driving circuit with power switching modules, the output end of power switching modules
It is connect with threephase asynchronous machine；Further include signal feeding unit, for give threephase asynchronous machine rotational speed setup signal and encourage
Magnetic Setting signal, and, high frequency injection unit, to inject high frequency voltage for stator；The processor, including：
Voltage modulated wave computing module：For obtaining the given letter of spinner velocity, stator voltage, rotational speed setup signal and excitation
Number, and calculate and generate stator voltage threephase stator voltage modulated wave after high frequency injects；
Carrier signal storage unit：For storing carrier signal；
Switch module control unit：The control of power switching modules is generated based on threephase stator voltage modulated wave and carrier signal
Signal processed.
As preferred：Voltage modulated wave computing module further comprises：
Rotating speed outer shroud adjusts unit：Obtain the rotor rotating speed that rotational speed setup signal and spinner velocity computing unit calculate
Signal, and export rotating speed outer shroud Regulate signal；
Stator current scaling unit：Stator current value to acquire data acquisition unit is converted into two-phase static coordinate
Stator current under system；And further it is converted into the stator current value under synchronous rotating frame；
Excitation inner ring adjusts unit：The stator current under excitation Setting signal and a cordic phase rotator system is obtained, is calculated defeated
Go out stator d shaft voltages under two-phase rotating coordinate system；
Torque inner ring adjusts unit：The stator current under rotating speed outer shroud Regulate signal and another cordic phase rotator system is obtained,
Calculate stator q shaft voltages under output two-phase rotating coordinate system；
Stator voltage computing unit：Stator d shaft voltages and stator q shaft voltages are obtained, is calculated under two-phase stationary coordinate system
Stator voltage；
Voltage modulated unit：Three-phase is modulated to for the stator voltage under the two-phase stationary coordinate system after injecting high frequency to determine
Sub- voltage modulated wave.
As preferred：Processor further comprises：Spinner velocity computing unit：To calculate rotor rotating speed；Voltage
Modulating wave computing module obtains the calculating data of spinner velocity computing unit.
As preferred：Spinner velocity computing unit further comprises：
Bandpass filtering unit：For the stator current under the two-phase stationary coordinate system after converting to stator current scaling unit
Value carries out bandpass filtering；
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；
Heterodyne computing unit：To carry out heterodyne calculating to the current value after synchronism axial system high-pass filtering；
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter；
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor；
Speed calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
As preferred：Spinner velocity computing unit further comprises：
Phase compensation unit, to carry out phase compensation to the current value after high-pass filtering；The heterodyne computing unit obtains
Take phase compensation unit treated data.
Threephase asynchronous machine method for controlling speed regulation, includes the following steps：
Given rotating speed signal and excitation signal；
High frequency voltage is injected for stator and calculates the stator voltage modulating wave after the injection of three-phase high frequency；
Stator voltage modulating wave is compared with high-frequency carrier signal, based on comparative result, forms power switching modules
Control signal.
As preferred：Calculate stator voltage modulating wave method be：
Calculate asynchronous machine rotor rotating speed；
Rotating speed outer shroud regulating calculation：The difference of given tach signal and calculated asynchronous machine rotor tach signal is made
For the input of rotating speed outer shroud regulating calculation, calculating is adjusted, and exports rotating speed outer shroud regulated value；
Measure the stator current I of the arbitrary two-phase of asynchronous machineaAnd Ib；
The stator current of acquisition is converted into the stator current under two-phase stationary coordinate system, and is further converted into synchronous rotation
Turn the stator current under coordinate system；
Excitation inner ring regulating calculation：The difference of stator current and given excitation signal under one cordic phase rotator system is made
For the input of excitation inner ring regulating calculation unit, calculating is adjusted, and exports excitation inner ring regulated value, excitation inner ring regulated value
As stator d shaft voltages U under synchronous rotating framed；
Torque inner ring regulating calculation：By the difference of stator current and rotating speed outer shroud regulated value under another cordic phase rotator system
As the input of torque inner ring regulating calculation unit, calculating, and output torque inner ring regulated value is adjusted, torque inner ring is adjusted
Value is as stator q shaft voltages U under two-phase rotating coordinate systemq；
The stator electricity under two-phase stationary coordinate system is calculated according to the voltage of stator d axis and q axis under synchronous rotating frame
Pressure；
Wherein, UalphaFor the stator voltage of α axis, UbetaFor the stator voltage of β axis, θrFor the rotor electrical angle estimated；
Stator voltage under two-phase stationary coordinate system injects high frequency voltage；
Wherein, U 'alphaFor the α axis stator voltages after injection high frequency transformation, U 'betaIt is fixed for the β axis after injection high frequency voltage
Sub- voltage；V is the amplitude of injecting voltage, and f is the frequency of injecting voltage.
Threephase stator voltage tune is obtained based on the stator voltage modulation under the two-phase stationary coordinate system after injection high frequency voltage
Wave processed；
Threephase stator voltage modulated wave is compared with preset high-frequency carrier signal, based on comparative result, shape
The control signal of success rate switch module.
As preferred：The computational methods of spinner velocity are：
High frequency voltage is injected for motor stator；
Measure the stator current I of the arbitrary two-phase of asynchronous machineaAnd Ib；
Stator current containing radio-frequency component is converted into the stator current under two-phase stationary coordinate system, and is further converted
At the stator current under synchronous rotating frame；
Bandpass filtering is carried out to the stator current under the two-phase stationary coordinate system after conversion；
Shafting high-pass filtering is synchronized to the electric current after progress bandpass filtering, obtains the negative sequence component of high-frequency current；
Heterodyne calculating is carried out to high-frequency current negative sequence component；
Electric motor load torque is calculated based on high-frequency current negative sequence component heterodyne；
Calculate the electromagnetic torque of motor；
Rotor mechanical separator speed is calculated according to the electromagnetic torque of the load torque of motor and motor.
As preferred：Evaluation method further comprises the steps：To synchronize the electric current after shafting high-pass filtering into
Row phase compensation；The method of the phase compensation is：Higher frequency is determined by the Bode diagram of synchronism axial system high pass filter unit
The delayed phase of point carries out vector compensation according to the phase of lag.
As preferred：It is by the method that the stator current of measurement is scaled stator current under two-phase stationary coordinate system：
In above formula, IalphaFor the stator current of α axis；IbetaFor the stator current of β axis, Ialpha、IbetaContain fundamental component
And radio-frequency component；
It is by the method that the stator current of measurement is scaled stator current under synchronous rotating frame：
In above formula, θrFor rotor electrical angle, IdFor stator current I under two-phase stationary coordinate systemalphaCorresponding rotational coordinates
Stator current under system, IqFor stator current I under two-phase stationary coordinate systembetaStator current under corresponding rotating coordinate system.
As preferred：The method of the phase compensation is to be determined by the Bode diagram of synchronism axial system high pass filter unit high
The delayed phase of frequency Frequency point, and phase compensation is carried out by following formula：
In above formula, θ ' is the lagging phase angle determined by Bode diagram, Iαlpha_SHPFAnd Ibeta_SHPFFor the static seat of two-phase
High-frequency current negative sequence component under mark system；I′αlpha_SHPFWith I 'beta_SHPFFor the static seat of two-phase after phase compensation, obtained
High-frequency current negative sequence component under mark system.
As preferred：The method that the negative sequence component of high-frequency current carries out heterodyne calculating is：
ε=I 'beta_SHPFcos(2θr)-I′αlpha_SHPFsin(2θr) (7)
In above formula, ε is calculated outer difference, θrFor the rotor electrical angle estimated；
Calculate rotor mechanical separator speed method be：
Wherein, ω is the mechanical separator speed of rotor, TeFor the electromagnetic torque of motor, TLFor electric motor load torque, J is electricity
The rotary inertia of machine；
Calculate rotor synchronous rotational speed method be：
Calculate the slip ω of motorslip：
Wherein, TrFor rotor time constant, computational methods are：
Wherein, LrFor rotor inductance, RrFor rotor resistance；
Calculate the synchronous rotational speed ω of rotorsyn：
ωsyn=ω+ωslip (11)
The rotor electrical angle of motor is calculated, computational methods are：
Compared with prior art, the advantages and positive effects of the present invention are：
(1) control system is in control method, without using any kind of velocity sensor (such as encoder, rotation
Transformer etc.) detect the mechanical separator speed of rotor, but pass through a kind of " rotor machine based on rotation high frequency signal injection method
Tool rotating speed and rotor electrical angle observer ", when high-precision real, estimate the rotor mechanical separator speed and rotor electrical angle of current motor,
And then realize accurate speed closed loop control；Even when motor shock load disturbs, higher estimation can be still kept
Precision.
(2) control system, due to not using velocity sensor, greatly reduces the cost of system, simultaneously in structure
Effectively increase the reliability of control system；Due to not using velocity sensor, also just there is no lead to electricity because of sensor fault
Machine rotating speed possibility out of control.
(3) on the basis of accurately estimating the rotor mechanical separator speed of current motor with rotor electrical angle, one kind has been used
On the one hand the control method of motor torque and excitation decoupling control substantially increases carrying load ability of the motor in low speed segment,
On the other hand anti-disturbance ability of the motor when low speed segment speed is run is improved so that motor is not in step-out phenomenon,
Also stabilization run with load of the Speed Sensorless Induction Motor system in low speed segment is made to become possibility；
(4) control system only has threephase stator line, therefore versatility is very strong in structure with the interface of motor, is applicable in
In the threephase asynchronous machine of different parameters.
Description of the drawings
Fig. 1 is threephase asynchronous machine speed-adjusting and control system structural schematic diagram of the present invention；
Fig. 2 high-frequency signal injection Control system architecture block diagrams of the present invention；
Fig. 3 is threephase asynchronous machine speed governing flow chart；
Fig. 4 is motor speed estimating system structural schematic diagram；
Fig. 5 is turn count flow diagram of the present invention；
The motor speed response diagram that Fig. 6 a are rotary speed setting value when being 0；
The motor speed response diagram that Fig. 6 b are rotary speed setting value when being 15rpm；
The motor speed response diagram that Fig. 6 c are rotary speed setting value when being 30rpm；
The motor speed response diagram that Fig. 6 d are rotary speed setting value when being 75rpm；
The motor speed response diagram that Fig. 6 e are rotary speed setting value when being 90rpm；
The motor speed response diagram that Fig. 6 f are rotary speed setting value when being 100rpm；
The motor speed response diagram that Fig. 6 g are rotary speed setting value when being 150rpm；
Motor U, V two-phase stator current waveforms figure that Fig. 7 is rotary speed setting value when being 30rpm；
Fig. 8 is that rotary speed setting value is 70rpm, motor speed response when shock load disturbs；
Fig. 9 is that rotary speed setting value is 70rpm, motor U, V two-phase stator current waveforms when shock load disturbs.
Wherein, 1-DC power supply；2-electromagnetic interface filters；3-fuses；4-diodes；5-capacitances；6-electric discharge electricity
Resistance；7-power switching modules；8-motor U phase stator current sensors；9-motor V phase stator current sensors；10-three-phases
Asynchronous machine；11-driving circuits；12-DSP die processors；13-host computers.
Specific implementation mode
Hereinafter, the specific implementation mode of the present invention is further described in conjunction with attached drawing.
The present invention proposes a kind of threephase asynchronous machine Speedless sensor speed-adjusting and control system, which can be used for three
The speed regulating control of phase Induction Machines.
Based on the threephase asynchronous machine Speedless sensor speed-adjusting and control system of rotation high frequency signal injection, structural reference
Fig. 1, including processor and power switching modules 7, in the present embodiment, it is dsp processor 12 that processor, which uses, and processor is through driving
Dynamic circuit 11 is connect with power switching modules 7, and the output end of power switching modules 7 is connect with threephase asynchronous machine 10；Further include
Signal feeding unit, the rotational speed setup signal SpeedRef for giving threephase asynchronous machine and excitation Setting signal IdRef sheets
In embodiment, it is host computer 13 that signal feeding unit, which uses,.
Threephase asynchronous machine speed-adjusting and control system further includes high frequency injection unit, to inject high frequency voltage for stator.
As peripheral structure, speed-adjusting and control system further includes：
DC voltage 1, to power for speed-adjusting and control system；
Electromagnetic interface filter 2, to inhibit the High-frequency Interference ingredient in DC power supply；
Fuse 3, to realize the overcurrent protection of motor, i.e., when over current fault occurs for motor, fuse blows, cut-out
Motor current supply circuit；
Capacitance 5 and discharge resistance 6, to discharge for capacitance.
Processor obtains signal feeding unit given rotational speed setup signal SpeedRef and excitation Setting signal IdRef,
Including：
Spinner velocity computing unit：To calculate rotor rotating speed；
Voltage modulated wave computing module：For obtaining the given letter of spinner velocity, stator voltage, rotational speed setup signal and excitation
Number, and calculate the threephase stator voltage modulated wave after generating high frequency injection；
Carrier signal storage unit：For storing carrier signal；In the present embodiment, the storage of carrier signal storage unit is
High frequency triangle wave signal.
Switch module control unit：The control of power switching modules is generated based on threephase stator voltage modulated wave and carrier signal
Signal processed.
Specifically, the core cell of voltage modulated wave computing module system in order to control, the voltage modulated based on its generation
Wave signal generates the switch control signal of speed regulating control, and with reference to figure 2, voltage modulated wave computing module is specifically included with lower unit：
Rotating speed outer shroud adjusts unit：Obtain the motor that rotational speed setup signal SpeedRef and spinner velocity computing unit calculate
Rotor speed signal, the input of unit is adjusted using the difference of the two as rotating speed outer shroud, and exports rotating speed outer shroud Regulate signal；Specifically
Say, rotating speed outer shroud adjusts unit, and to use be pi regulator, controlled quentity controlled variable is calculated by increment type PI algorithms, as rotating speed PI
The output I of adjusterqRef, the output of rotating speed pi regulator is by the given value as subsequent torque inner ring pi regulator.
Stator current scaling unit：Stator current value to acquire data acquisition unit is converted into two-phase static coordinate
Stator current under system；And further it is converted into the stator current value under synchronous rotating frame；In the present embodiment, acquisition is
The stator current of U phases and V phases, it is U phase stator currents sensor 8 and V phase stator currents sensor 9 to be respectively adopted, and is actually answered
In, the stator current of arbitrary two-phase can be acquired.
Excitation inner ring adjusts unit：The stator current under excitation Setting signal and a cordic phase rotator system is obtained, is calculated defeated
Go out stator d shaft voltages under synchronous rotating frame；Specifically, in the present embodiment, it is rotation that excitation inner ring, which adjusts unit acquisition,
Turn the d axis stator currents under coordinate system, and is modulated according to PI algorithms and generate stator d shaft voltages.
Torque inner ring adjusts unit：The stator current under rotating speed outer shroud Regulate signal and another cordic phase rotator system is obtained,
Calculate stator q shaft voltages under output synchronous rotating frame；In the present embodiment, it is that rotation is sat that excitation inner ring, which adjusts unit acquisition,
Q axis stator currents under mark system, and modulated according to PI algorithms and generate stator q shaft voltages.
Stator voltage computing unit：Stator d shaft voltages and stator q shaft voltages are obtained, is calculated under two-phase stationary coordinate system
Stator voltage；Only there is conventional stator voltage fundamental frequency part, the present invention will be injected for the stator voltage under two-phase stationary coordinate system
High frequency voltage.
Voltage modulated unit：Three-phase is modulated to for the stator voltage under the two-phase stationary coordinate system after injecting high frequency to determine
Sub- voltage modulated wave.
As advanced optimizing for the present invention, processor further comprises：Spinner velocity computing unit：To calculate motor
Rotor speed；Voltage modulated wave computing module obtains the calculating data of spinner velocity computing unit.
Specifically, spinner velocity computing unit calculates the speed of rotor based on stator current, including：
Bandpass filtering unit：For the stator current under the two-phase stationary coordinate system after converting to stator current scaling unit
Value carries out bandpass filtering；
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；
Heterodyne computing unit：To carry out heterodyne calculating to the current value after synchronism axial system high-pass filtering；
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter；
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor；
Speed calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
Further, spinner velocity computing unit further comprises：
Phase compensation unit, to carry out phase compensation to the current value after high-pass filtering；The heterodyne computing unit obtains
Take phase compensation unit treated data.
Based on above system, the speed regulating control of threephase asynchronous machine can be completed.
Threephase asynchronous machine Speedless sensor method for controlling speed regulation is used for the speed regulating control of threephase asynchronous machine, including
Following steps：
(1) signal feeding is controlled.
By host computer, rotational speed setup signal and three phase excitation Setting signal are sent to processor, wherein rotational speed setup is believed
Number be SpeedRef, excitation Setting signal be IdRef。
(2) rotating speed calculates.
This method is calculated by speed calculation unit and obtains motor speed.Specific computational methods will be described in detail later.
(3) rotating speed outer shroud regulating calculation.
Rotating speed outer shroud adjusts unit：Obtain the motor that rotational speed setup signal SpeedRef and spinner velocity computing unit calculate
Rotor speed signal, the input of unit is adjusted using the difference of the two as rotating speed outer shroud, and exports rotating speed outer shroud Regulate signal.
Specifically, it is pi regulator that rotating speed outer shroud, which adjusts unit and uses, and control is calculated by increment type PI algorithms
Amount, the output I as rotating speed pi regulatorqThe output of Ref, rotating speed pi regulator will be as subsequent torque inner ring pi regulators
Given value.It will be described in detail later herein.
(4) stator current converts.
The conversion of stator current includes mainly following two conversions.
First：Stator current converts under two-phase stationary coordinate system.
It measures obtained two-phase stator current and is transferred to processor, in the present embodiment, pass through two stator current sensors
The stator current of U phases and V phases is measured respectively, respectively as IaAnd Ib。
It after stator current is transferred to processor, will convert to it, and be scaled two-phase stationary coordinate system (α β coordinate systems)
Under stator current value, wherein IalphaFor the stator current of α axis, IbetaFor the stator current of β axis, conversion method is as follows.
Second：Stator current converts under synchronous rotating frame.
Stator current conversion under the two-phase stationary coordinate system obtained according to conversion obtains to be determined under synchronous rotating frame
Electron current.
θ in above formularFor rotor electrical angle, in the present embodiment, IdFor the d axis stator currents under synchronous rotating frame, IqFor
Q axis stator currents under synchronous rotating frame.
(5) excitation inner ring regulating calculation.
Excitation given value is obtained, and is subtracted each other with the d axis stator currents under calculated synchronous rotating frame, the difference of the two
Its input is adjusted as excitation inner ring.It is PI algorithms that excitation inner ring adjuster, which uses, is calculated by the PI algorithms of increment type
Go out controlled quentity controlled variable, the i.e. output of excitation inner ring adjuster, as the stator d shaft voltages under synchronous rotating frame.
Specifically, excitation given value IdRef and stator d shaft currents IdThe deviation subtracted each other, as excitation inner ring adjuster
Input, by increment type PI algorithms, calculates the voltage U of stator d axisd；Torque reference signal is IqRef and stator q shaft currents Iq
The deviation subtracted each other calculates stator q shaft voltages U as the input of torque inner ring adjuster by increment type PI algorithmsq。
(6) stator voltage under two-phase stationary coordinate system is calculated.
Specifically computational methods are：
Wherein, UalphaFor the stator voltage of α axis, UbetaFor the stator voltage of β axis, θrFor the rotor electrical angle estimated.
(7) high frequency voltage is injected into the stator voltage under two-phase stationary coordinate system.
The method of injection is：
Wherein, V is the amplitude of injecting voltage, and f is the frequency of injecting voltage.
To inject amplitude for 40V, after the high frequency voltage that frequency is 500Hz for, after injection, under two-phase stationary coordinate system
Stator voltage is：
Wherein, U 'alphaFor the α axis stator voltages after injection high frequency voltage, U 'betaIt is fixed for the β axis after injection high frequency voltage
Sub- voltage.
(8) threephase stator voltage modulated wave is calculated.
Obtain U 'alphaWith U 'betaAfterwards, it is based on SVPWM, i.e. space voltage vector PWM modulator approach obtains threephase stator electricity
Press modulating wave Ta、TbAnd Tc.Due to being filled with high frequency voltage, threephase stator voltage modulated wave T for stator voltagea、TbAnd TcAt
Divide and just contains two parts-fundamental component and high frequency component.
(9) switch control signal is generated.
By Ta、TbAnd TcWith obtain power switch mould shown in Fig. 1 after the high-frequency carrier signal that is set in dsp chip
The drive signal of 6 IGBT of block 7, driving circuit is issued to by GPIO interface, shaping, amplification rear-guard through overdrive circuit
Dynamic 6 IGBT's opening and turning off.In the present embodiment, in dsp chip the high frequency triangle wave of built-in 4.5kHz as carrier signal,
In application process, according to demand, can also other built-in frequencies triangular signal.
It is switched on-off by controlling IGBT, generates the speed regulating control signal of threephase asynchronous machine.Based on this, realize to three
The purpose of phase Induction Machines speed governing.
Fig. 6 a to Fig. 6 g are respectively under different given rotating speeds, when motor is with full-load run, three-phase using the present invention
Asynchronous motor drive control system, when carrying out threephase asynchronous machine speed regulating control, motor speed response diagram.It can from these response diagrams
To find out, control system of the invention and control method have higher control accuracy.
Actual speed response shown in Fig. 7 for when motor shock load disturbs, rotary speed setting value 70rpm, motor
No Load Start then loads 70N.m suddenly to 70rpm, and under the control action of above-mentioned control system and control method, motor turns
Speed reaches stable state 70rpm again within a short period of time, this also demonstrates above-mentioned control system and control method, in motor low speed
There is stronger superiority in the dynamic regulation of section rotating speed.
It is 70rpm that Fig. 8, which show rotary speed setting value, when shock load disturbs, motor speed response diagram, it can be seen that
In the case where the external world has disturbance, motor can respond rapidly, and disturbance is small.Fig. 9 is that rotary speed setting value is 70rpm, impact
Motor U, V two-phase stator current waveforms when load disturbance.
There is provided a kind of computational methods of the spinner velocity based on Speedless sensor for another innovative point of the present invention.With
Under the step of will be discussed in detail this method.
It is Speedless sensor spinner velocity computational methods that the acquisition of spinner velocity of the present invention, which uses, using asynchronous machine
Turn count system, the system are used under the premise of not using speed probe, carry out the estimation of Rotational Speed of Asynchronous Motor.
Evaluation of AC Motor's Speed system is based on processor, high frequency signal injection unit, stator current measuring unit and place
It manages device and realizes, in the present embodiment, using dsp processor.
For wherein high frequency signal injection unit to inject high frequency voltage for motor stator, high frequency voltage is directly superimposed upon fundamental frequency
On voltage, it is applied on the stator of motor together with fundamental frequency voltages.It is filled with high frequency voltage again on fundamental frequency voltages, therefore fixed
Electron current will contain radio-frequency component and fundamental component.
Stator current measuring unit includes two stator current sensors, is respectively used to measure stator biphase current, herein
The two-phase refers to the arbitrary two-phase in three-phase.In the present embodiment, two stator current sensors are respectively used to measure stator U
The stator current of phase and V phases.
Processor is the processing core of whole system, is used for the estimation of rotating speed, including：
Data acquisition unit：To acquire the stator current value of stator current sensor measurement；In the present embodiment, acquisition
For the stator current of stator U phases and V phases.
Stator current scaling unit：Stator current value to acquire data acquisition unit is converted into two-phase static coordinate
The lower stator current of system, the stator current under the two-phase stationary coordinate system conversed equally contain radio-frequency component and fundamental component.
Bandpass filtering unit：Bandpass filtering is carried out for the current value after converting to stator current scaling unit；Band logical is filtered
The purpose of wave is the fundamental component filtered out under two-phase stationary coordinate system in stator current；
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；It is high
The purpose of pass filter is handled the electric current after bandpass filtering, and the negative sequence component of electric current radio-frequency component is obtained；
Heterodyne computing unit：To carry out heterodyne calculating to the current value after high-pass filtering；
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter；
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor；
Torque-calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
As advanced optimizing for the present invention, processor further comprises phase compensation unit, to synchronism axial system height
Current value after pass filter carries out phase compensation；Heterodyne computing unit obtains phase compensation unit treated data, i.e. heterodyne
Computing unit uses the radio-frequency component negative sequence component after phase compensation to carry out heterodyne calculating.
Evaluation of AC Motor's Speed method, this method mainly include the following steps that.
First, high frequency voltage is injected to motor stator, acquires the stator current of arbitrary two-phase, collected stator current contains
There are radio-frequency component and fundamental component.
(1) stator current converts.
Stator current after being injected to high frequency is converted as follows.
First：Stator current converts under two-phase stationary coordinate system.
It measures obtained two-phase stator current and is transferred to processor, in the present embodiment, pass through two stator current sensors
The stator current of U phases and V phases is measured respectively, respectively as IaAnd Ib。
It after stator current is transferred to processor, will convert to it, and be scaled two-phase stationary coordinate system (α β coordinate systems)
Under stator current value, wherein IalphaFor α axis stator currents, IbetaFor β axis stator currents, conversion method is as follows.
Second：Stator current converts under synchronous rotating frame.
Stator current conversion under the two-phase stationary coordinate system obtained according to conversion obtains to be determined under synchronous rotating frame
Electron current.
θ in above formularFor the rotor electrical angle estimated, in the present embodiment, IdD axis stator electricity under synchronous rotating frame
Stream, IqFor the q axis stator currents under synchronous rotating frame.
(2) bandpass filtering.
Stator current I under two-phase stationary coordinate system after conversionalphaAnd IbetaContain fundamental component and radio-frequency component.Place
Reason device will carry out bandpass filtering to it, to be filled into fundamental component.Specifically, processor uses infinite impulse response bandpass filtering
Device, i.e. BPF (Band Pass Filter) in Figure of description Fig. 4 is to Ialpha、IbetaCarry out bandpass filtering, filter out fundamental frequency at
Point to obtain radio-frequency component, in the present embodiment, the frequency range of filter is 400Hz~600Hz.
(3) synchronism axial system high-pass filtering.
Shafting high-pass filtering is synchronized to the stator current radio-frequency component obtained in step (2), to obtain radio-frequency component
Negative sequence component；In the present embodiment, high pass filter unit is SHPF (synchronism axial system high-pass filter), reference explanation book attached drawing figure
4.Wherein, the realization principle of synchronism axial system high-pass filtering is：The direction of rotation of high-frequency current positive sequence component and negative order components
On the contrary, therefore forward-order current ingredient can be filtered out by synchronism axial system high-pass filter (SHPF), i.e., first by high frequency signal current
It is transformed into the reference frame of high-frequency signal voltage synchronous rotary, the positive-sequence component of high-frequency current is made to be rendered as DC quantity,
It recycles high-pass filter to be filtered out, obtains the negative sequence component of high-frequency current, be denoted as respectively：Iαlpha_SHPFAnd Ibeta_SHPF.This
In embodiment, the cutoff frequency of high-pass filtering is 20Hz.
(4) phase compensation.
Phase compensation is carried out to the negative sequence component of high-frequency current under two-phase stationary coordinate system.Pass through synchronism axial system high-pass filtering
The Bode diagram of unit determines the delayed phase of higher frequency point, and carries out phase compensation by following formula.
In above formula, θ ' is the lagging phase angle determined by Bode diagram, Iαlpha_SHPFAnd Ibeta_SHPFIt is obtained for step (2)
High-frequency current negative sequence component under the two-phase stationary coordinate system (α β coordinate systems) arrived；I′αlpha_SHPFWith I 'beta_SHPFAs pass through
After phase compensation, the high-frequency current negative sequence component under obtained two-phase stationary coordinate system (α β coordinate systems).
(5) heterodyne calculates.
Heterodyne calculating is carried out to the negative sequence component of the high-frequency current after phase compensation, computational methods are：
ε=I 'beta_SHPFcos(2θr)-I′αlpha_SHPFsin(2θr) (4)
In above formula, ε is calculated outer difference, θrFor calculated rotor electrical angle.
(6) load torque of motor is calculated.
Using the outer difference being calculated in step (5) as the input of adjuster, the output of pi regulator is that motor is negative
Set torque is denoted as TL.In the present embodiment, adjuster uses pi regulator.
Pi regulator herein has not been the effect for being traditionally used for closed loop adjusting, and the effect of pi regulator is to count
The load torque when motor is calculated, after output reaches stable state, the output of pi regulator is exactly the load torque of motor, that is,
It says, load torque is not measured with torque sensor, is calculated automatically.
(7) electromagnetic torque of motor is calculated.
The electromagnetic torque of motor is calculated according to the following formula.
In above formula, TeFor the electromagnetic torque of motor, p is the number of pole-pairs of motor, LmFor the mutual inductance of motor, LrFor rotor
Inductance, IdAnd IqFor the stator current under synchronous rotating frame, shown in calculation such as formula (2), t is time, TrFor rotor when
Between constant.Wherein, the number of pole-pairs of motor, mutual inductance, inductor rotor can directly obtain by motor nameplate or pass through apparatus measures
It obtains.
In formula (6), θrFor calculated rotor electrical angle；
(8) rotor mechanical separator speed is calculated.
According to electromechanics equation：
In above formula, TLFor electric motor load torque, TeFor the electromagnetic torque of motor, J is the rotary inertia of motor.
The mechanical separator speed ω of rotor is calculated according to formula (7).
(9) the slip ω of motor is calculatedslip。
In above formula, TrFor rotor time constant, computational methods are as follows.
In above formula, LrFor rotor inductance, RrFor rotor resistance.
(10) the synchronous rotational speed ω of motor is calculatedsyn。
ωsyn=ω+ωslip (11)
(11) rotor angle of motor is calculated.
Calculate the rotor angle obtainedrStep (5) will be fed back to, the heterodyne as next calculating cycle calculates defeated
Enter.
The spinner velocity of above-mentioned acquisition, will be used as rotor mechanical separator speed, transfer rotating speed outer shroud in control for asynchronous machine
The regulating calculation of pi regulator.
It is Speedless sensor rotating speed computing system that the present invention, which uses, can accurately calculate rotor speed.Especially it is also suitable
The calculating of rotor speed when the slow-speed of revolution.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
It imitates embodiment and is applied to other fields, but it is every without departing from technical solution of the present invention content, according to the technical essence of the invention
To any simple modification, equivalent variations and remodeling made by above example, the protection domain of technical solution of the present invention is still fallen within.
Claims (12)
1. the threephase asynchronous machine speed-adjusting and control system based on high frequency injection, it is characterised in that：Including stator current measuring unit,
Processor and power switching modules；Processor is connect through driving circuit with power switching modules, the output end of power switching modules
It is connect with threephase asynchronous machine；Further include signal feeding unit, for give threephase asynchronous machine rotational speed setup signal and encourage
Magnetic Setting signal, and, high frequency injection unit, to inject high frequency voltage for stator；The processor, including：
Voltage modulated wave computing module：For obtaining spinner velocity, stator voltage, rotational speed setup signal and excitation Setting signal,
And it calculates and generates threephase stator voltage modulated wave；
Carrier signal storage unit：For storing carrier signal；
Switch module control unit：Power switching modules are generated based on threephase stator voltage modulated wave and high frequency standard wave signal
Control signal.
2. the threephase asynchronous machine speed-adjusting and control system as described in claim 1 based on high frequency injection, it is characterised in that：It is described
Voltage modulated wave computing module further comprises：
Rotating speed outer shroud adjusts unit：Obtain the rotor rotating speed letter that rotational speed setup signal and spinner velocity computing unit calculate
Number, and export rotating speed outer shroud Regulate signal；
Stator current scaling unit：Stator current value to acquire data acquisition unit is converted under two-phase stationary coordinate system
Stator current；And further it is converted into the stator current value under synchronous rotating frame；
Excitation inner ring adjusts unit：The stator current under excitation Setting signal and a cordic phase rotator system is obtained, it is same to calculate output
Walk stator d shaft voltages under rotating coordinate system；
Torque inner ring adjusts unit：The stator current under rotating speed outer shroud Regulate signal and another cordic phase rotator system is obtained, is calculated
Export stator q shaft voltages under synchronous rotating frame；
Stator voltage computing unit：Stator d shaft voltages and stator q shaft voltages are obtained, the stator under two-phase stationary coordinate system is calculated
Voltage；
Voltage modulated unit：For the stator voltage under the two-phase stationary coordinate system after injection rotation high frequency voltage to be modulated to three
Phase stator voltage modulating wave.
3. the threephase asynchronous machine speed-adjusting and control system as described in claim 1 based on high frequency injection, it is characterised in that：It is described
Processor further comprises：Spinner velocity computing unit：To calculate rotor rotating speed；Voltage modulated wave computing module obtains
The calculating data of spinner velocity computing unit.
4. the threephase asynchronous machine speed-adjusting and control system as claimed in claim 3 based on high frequency injection, it is characterised in that：It is described
Spinner velocity computing unit further comprises：
Bandpass filtering unit：For to stator current scaling unit convert after two-phase stationary coordinate system under stator current value into
Row bandpass filtering；
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；
Heterodyne computing unit：To carry out heterodyne calculating to the current value after synchronism axial system high-pass filtering；
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter；
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor；
Speed calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
5. the threephase asynchronous machine speed-adjusting and control system as claimed in claim 4 based on high frequency injection, it is characterised in that：It is described
Spinner velocity computing unit further comprises：
Phase compensation unit, to carry out phase compensation to the current value after high-pass filtering；The heterodyne computing unit obtains phase
Position compensating unit treated data.
6. based on the threephase asynchronous machine method for controlling speed regulation of high frequency injection, described in any one of claim 1 to 5
Based on high frequency injection threephase asynchronous machine speed-adjusting and control system, which is characterized in that include the following steps：
Given rotating speed signal and excitation signal；
High frequency voltage is injected for stator and calculates the stator voltage modulating wave after the injection of three-phase high frequency；
Stator voltage modulating wave is compared with carrier signal, based on comparative result, forms the control letter of power switching modules
Number.
7. the threephase asynchronous machine method for controlling speed regulation as claimed in claim 6 based on high frequency injection, which is characterized in that meter
Calculate stator voltage modulating wave method be：
Calculate asynchronous machine rotor rotating speed；
Rotating speed outer shroud regulating calculation：The difference of given tach signal and calculated asynchronous machine rotor tach signal is used as and is turned
The input of fast outer shroud regulating calculation, is adjusted calculating, and exports rotating speed outer shroud regulated value；
Measure the stator current I of the arbitrary two-phase of asynchronous machineaAnd Ib；
The stator current of acquisition is converted into the stator current under two-phase stationary coordinate system, and is further converted into synchronous rotary seat
Stator current under mark system；
Excitation inner ring regulating calculation：Using the difference of stator current and given excitation signal under a cordic phase rotator system as turn
The input of square inner ring regulating calculation unit, is adjusted calculating, and exports excitation inner ring regulated value, excitation inner ring regulated value conduct
Stator d shaft voltages U under two-phase rotating coordinate systemd；
Torque inner ring regulating calculation：Using the difference of stator current and rotating speed outer shroud regulated value under another cordic phase rotator system as
The input of torque inner ring regulating calculation unit, is adjusted calculating, and output torque inner ring regulated value, and torque inner ring regulated value is made
For stator q shaft voltages U under synchronous rotating frameq；
The stator voltage under two-phase stationary coordinate system is calculated according to the voltage of stator d axis and q axis under synchronous rotating frame；
Wherein, UalphaFor the stator voltage of α axis, UbetaFor the stator voltage of β axis, θrFor the rotor electrical angle estimated；
High frequency voltage is injected in the stator voltage under two-phase stationary coordinate system；
Wherein, U 'alphaFor the α axis stator voltages after injection high frequency transformation, U 'betaFor the β axis stator electricity after injection high frequency voltage
Pressure；V is the amplitude of injecting voltage, and f is the frequency of injecting voltage.
Threephase stator voltage modulated wave is obtained based on the stator voltage modulation under the two-phase stationary coordinate system after injection high frequency voltage；
Threephase stator voltage modulated wave is compared with preset carrier signal, based on comparative result, power is formed and opens
Close the control signal of module.
8. the threephase asynchronous machine method for controlling speed regulation as claimed in claim 7 based on high frequency injection, which is characterized in that turn
The computational methods of sub- speed are：
High frequency voltage is injected for motor stator；
Measure the stator current I of the arbitrary two-phase of asynchronous machineaAnd Ib；
Stator current containing radio-frequency component is converted into the stator current under two-phase stationary coordinate system, and is further converted into same
Walk the stator current under rotating coordinate system；
Bandpass filtering is carried out to the stator current under the two-phase stationary coordinate system after conversion；
Shafting high-pass filtering is synchronized to the electric current after progress bandpass filtering, obtains the negative sequence component of high-frequency current；
Heterodyne calculating is carried out to high-frequency current negative sequence component；
Electric motor load torque is calculated based on high-frequency current negative sequence component heterodyne；
Calculate the electromagnetic torque of motor；
Rotor mechanical separator speed is calculated according to the electromagnetic torque of the load torque of motor and motor.
9. the threephase asynchronous machine method for controlling speed regulation as claimed in claim 8 based on high frequency injection, it is characterised in that：Institute
Evaluation method is stated to further comprise the steps：Phase compensation is carried out to synchronizing the electric current after shafting high-pass filtering；It is described
The method of phase compensation is：The delayed phase of higher frequency point, root are determined by the Bode diagram of synchronism axial system high pass filter unit
Vector compensation is carried out according to the phase of lag.
10. the threephase asynchronous machine method for controlling speed regulation based on high frequency injection as described in claim 8 or 7, feature exist
In：It is by the method that the stator current of measurement is scaled stator current under two-phase stationary coordinate system：
In above formula, IalphaFor the stator current of α axis；IbetaFor the stator current of β axis, Ialpha、IbetaContain fundamental component and height
Frequency ingredient；
It is by the method that the stator current of measurement is scaled stator current under synchronous rotating frame：
In above formula, θrFor rotor electrical angle, IdFor stator current I under two-phase stationary coordinate systemalphaUnder corresponding rotating coordinate system
Stator current, IqFor stator current I under two-phase stationary coordinate systembetaStator current under corresponding rotating coordinate system.
11. the threephase asynchronous machine method for controlling speed regulation as claimed in claim 9 based on high frequency injection, it is characterised in that：
The method of the phase compensation is that the phase steric retardation of higher frequency point is determined by the Bode diagram of synchronism axial system high pass filter unit
Afterwards, and by following formula phase compensation is carried out：
In above formula, θ ' is the lagging phase angle determined by Bode diagram, Iαlpha_SHPFAnd Ibeta_SHPFFor two-phase stationary coordinate system
Under high-frequency current negative sequence component；I′αlpha_SHPFWith I 'beta_SHPFFor the two-phase stationary coordinate system after phase compensation, obtained
Under high-frequency current negative sequence component.
12. the threephase asynchronous machine method for controlling speed regulation as claimed in claim 9 based on rotation high frequency signal injection, it is special
Sign is：The method that the negative sequence component of high-frequency current carries out heterodyne calculating is：
ε=I 'beta_SHPFcos(2θr)-I′αlpha_SHPFsin(2θr) (7)
In above formula, ε is calculated outer difference, θrFor the rotor electrical angle estimated；
Calculate rotor mechanical separator speed method be：
Wherein, ω is the mechanical separator speed of rotor, TeFor the electromagnetic torque of motor, TLFor electric motor load torque, J is motor
Rotary inertia；
Calculate rotor synchronous rotational speed method be：
Calculate the slip ω of motorslip：
Wherein, TrFor rotor time constant, computational methods are：
Wherein, LrFor rotor inductance, RrFor rotor resistance；
Calculate the synchronous rotational speed ω of rotorsyn：
ωsyn=ω+ωslip (11)
The rotor electrical angle of motor is calculated, computational methods are：
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