CN109150051A - A kind of Flux Observation Method and system of electric excitation synchronous motor - Google Patents
A kind of Flux Observation Method and system of electric excitation synchronous motor Download PDFInfo
- Publication number
- CN109150051A CN109150051A CN201811149907.9A CN201811149907A CN109150051A CN 109150051 A CN109150051 A CN 109150051A CN 201811149907 A CN201811149907 A CN 201811149907A CN 109150051 A CN109150051 A CN 109150051A
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- voltage
- stator
- axis component
- electric excitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H02P21/141—Flux estimation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of Flux Observation Method of electric excitation synchronous motor and systems, include: the mathematical model according to electric excitation synchronous motor under dq two-phase rotating coordinate system, the state equation of electric excitation synchronous motor is established using its stator magnetic linkage, rotor flux and damping magnetic linkage as state variable；According to state equation and default feedback matrix, the full rank flux observer of modern control theory building electric excitation synchronous motor is utilized；The excitation voltage of electric excitation synchronous motor and the d axis component and q axis component of stator voltage are obtained, and obtains the exciting current of electric excitation synchronous motor and the d axis component of stator current and q axis component；According to the voltage and the magnitude of current of the rotor of acquisition and stator, the magnetic linkage of electric excitation synchronous motor is observed using full rank flux observer.The magnetic linkage of electric excitation synchronous motor is observed as it can be seen that the application establishes full rank flux linkage model, stable state accuracy and dynamic property are all more excellent, to ensure that the high performance control of electric machine control system.
Description
Technical field
The present invention relates to High-power AC drives fields, more particularly to a kind of flux observation side of electric excitation synchronous motor
Method and system.
Background technique
Electric excitation synchronous motor has power factor as a kind of typical AC Drive motor, compared to asynchronous machine
The advantages that height, electric efficiency are high, overload magnification is high and rotary inertia is small, therefore it is obtained extensively in High-power AC drives field
Using.Currently, there are mainly two types of the control modes of electric excitation synchronous motor: vector control mode based on field orientation and being based on
The Direct Torque Control mode of torque.In order to which high-performance realizes the control strategy of electric machine control system, both control modes are equal
Need to obtain the magnetic linkage of electric excitation synchronous motor, and the accuracy of the magnetic linkage obtained has been largely fixed the controlling of system
Can, therefore, accurate Flux Observation Method is extremely crucial for the control performance of system.
In the prior art, there are mainly two types of the Flux Observation Models of electric excitation synchronous motor: open loop flux linkage model and being based on
The mixing flux linkage model of voltage and current.For open loop flux linkage model, open loop flux linkage model using open loop magnetic linkage
Observation method, vulnerable to the influence of the parameter of electric machine, and the parameter of electric machine can change with the variation of temperature and operating condition, therefore open loop magnetic
The accuracy that chain model observes magnetic linkage is lower.For mixing flux linkage model, mixing flux linkage model is substantially a depression of order
Flux linkage model, stable state accuracy and dynamic property are all not excellent enough, not can guarantee the high performance control of electric machine control system.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that those skilled in the art needs to solve at present
The problem of.
Summary of the invention
The object of the present invention is to provide a kind of Flux Observation Method of electric excitation synchronous motor and systems, establish full rank magnetic linkage
Model is observed the magnetic linkage of electric excitation synchronous motor, compared to open loop flux linkage model and mixing flux linkage model, stable state accuracy
It is all more excellent with dynamic property, to ensure that the high performance control of electric machine control system.
In order to solve the above technical problems, the present invention provides a kind of Flux Observation Methods of electric excitation synchronous motor, comprising:
According to mathematical model of the electric excitation synchronous motor under dq two-phase rotating coordinate system, with its stator magnetic linkage, rotor magnetic
Chain and damping magnetic linkage are the state equation that state variable establishes the electric excitation synchronous motor；
According to the state equation and default feedback matrix, the electric excitation synchronous motor is constructed using modern control theory
Full rank flux observer；
The excitation voltage of the electric excitation synchronous motor and the d axis component of stator voltage and q axis component are obtained, and obtains institute
State the exciting current of electric excitation synchronous motor and the d axis component of stator current and q axis component；
According to the voltage and the magnitude of current of the rotor of acquisition and stator, the electricity is encouraged using the full rank flux observer
The magnetic linkage of magnetic-synchro motor is observed.
Preferably, the state equation specifically:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable, and A, B, C are to be
Matrix number, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfFor rotor flux, ψDTo damp magnetic linkage
D axis component, ψQFor the q axis component for damping magnetic linkage, usdFor the d axis component of stator voltage, usqFor the q axis component of stator voltage,
ufFor excitation voltage, isdFor the d axis component of stator current, isqFor the q axis component of stator current, ifFor exciting current；
The then full rank flux observer specifically:
Wherein, ^ indicates State Viewpoint measurement, and G is the default feedback matrix.
Preferably, the process of the d axis component and q axis component that obtain the stator voltage of the electric excitation synchronous motor is specific
Are as follows:
Previously according to the corresponding DC voltage of three-phase inverter and arteries and veins in the control system of the electric excitation synchronous motor
Rush vector setting phase-voltage reconstruction relational expression；
The phase voltage of the stator input is reconstructed using the phase-voltage reconstruction relational expression, and by the phase voltage through coordinate
Transformation obtains the d axis component and q axis component of stator voltage.
Preferably, the phase-voltage reconstruction relational expression specifically:
Wherein, uan、ubn、ucnCorrespond to electric excitation synchronous motor stator voltage under abc three-phase static coordinate system
A phase component, b phase component, c phase component, UdcFor the DC voltage, SjFor tri-level switch function, ia、ib、icCorrespond to institute
Stating electric excitation synchronous motor a phase component of stator current, b phase component, c phase component, Δ U under abc three-phase static coordinate system is
Default error voltage.
Preferably, the process of the excitation voltage of the electric excitation synchronous motor is obtained specifically:
The excitation voltage of the electric excitation synchronous motor is obtained using voltage sensor.
Preferably, the process of the excitation voltage of the electric excitation synchronous motor is obtained specifically:
Utilize default excitation voltage Remodeling formula uf=0.9*u1* (1+cos α) * 0.5 reconstructs the electrical excitation and synchronizes electricity
The excitation voltage of machine；Wherein, ufFor excitation voltage, u1For the peak value of the corresponding AC-input voltage of power supply of the rotor, α is
Pilot angle.
Preferably, the default feedback matrix specifically:
Wherein, g1、g2、g3、g4、g5For 5 freedom degrees of feedback matrix G, installation warrants are the full rank flux observation
The pole location that device is configured.
In order to solve the above technical problems, the present invention also provides a kind of flux observation system of electric excitation synchronous motor, packet
It includes:
State equation establishes unit, for the mathematical modulo according to electric excitation synchronous motor under dq two-phase rotating coordinate system
Type establishes the state equation of the electric excitation synchronous motor using its stator magnetic linkage, rotor flux and damping magnetic linkage as state variable；
Observer construction unit, for utilizing modern control theory structure according to the state equation and default feedback matrix
Build the full rank flux observer of the electric excitation synchronous motor；
Voltage and current acquiring unit, for obtaining the excitation voltage of the electric excitation synchronous motor and the d axis of stator voltage
Component and q axis component, and obtain the exciting current of the electric excitation synchronous motor and the d axis component of stator current and q axis component；
Flux observation unit, for utilizing the full rank magnetic according to the rotor of acquisition and the voltage of stator and the magnitude of current
Chain observer is observed the magnetic linkage of the electric excitation synchronous motor.
Preferably, the state equation specifically:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable, and A, B, C are to be
Matrix number, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfFor rotor flux, ψDTo damp magnetic linkage
D axis component, ψQFor the q axis component for damping magnetic linkage, usdFor the d axis component of stator voltage, usqFor the q axis component of stator voltage,
ufFor excitation voltage, isdFor the d axis component of stator current, isqFor the q axis component of stator current, ifFor exciting current；
The then full rank flux observer specifically:
Wherein, ^ indicates State Viewpoint measurement, and G is the default feedback matrix.
Preferably, the default feedback matrix specifically:
Wherein, g1、g2、g3、g4、g5For 5 freedom degrees of feedback matrix G, installation warrants are the full rank flux observation
The pole location that device is configured.
The present invention provides a kind of Flux Observation Methods of electric excitation synchronous motor, comprising: according to electric excitation synchronous motor
Mathematical model under dq two-phase rotating coordinate system is established using its stator magnetic linkage, rotor flux and damping magnetic linkage as state variable
The state equation of electric excitation synchronous motor；According to state equation and default feedback matrix, encouraged using modern control theory building electricity
The full rank flux observer of magnetic-synchro motor；Obtain the excitation voltage of electric excitation synchronous motor and the d axis component and q of stator voltage
Axis component, and obtain the exciting current of electric excitation synchronous motor and the d axis component of stator current and q axis component；According to acquisition
The voltage and the magnitude of current of rotor and stator are observed the magnetic linkage of electric excitation synchronous motor using full rank flux observer.
The magnetic linkage of electric excitation synchronous motor is observed as it can be seen that the application establishes full rank flux linkage model, compared to open loop magnetic linkage mould
Type and mixing flux linkage model, stable state accuracy and dynamic property are all more excellent, to ensure that the high-performance control of electric machine control system
System.
The present invention also provides a kind of flux observation systems of electric excitation synchronous motor, have with above-mentioned Flux Observation Method
Identical beneficial effect.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of the Flux Observation Method of electric excitation synchronous motor provided by the invention；
Fig. 2 (a) is a kind of d axis equivalent electricity of the electric excitation synchronous motor provided by the invention under dq two-phase rotating coordinate system
Lu Tu；
Fig. 2 (b) is a kind of q axis equivalent electricity of the electric excitation synchronous motor provided by the invention under dq two-phase rotating coordinate system
Lu Tu；
Fig. 3 is a kind of three dimensional vector diagram of electric excitation synchronous motor provided by the invention；
Fig. 4 is a kind of connection circuit diagram of three-phase tri-level inverter and motor stator provided by the invention；
Fig. 5 (a) is a kind of d axis component actual value of the air gap flux linkage of electric excitation synchronous motor provided by the invention and observation
The comparison diagram of value；
Fig. 5 (b) is a kind of q axis component actual value of the air gap flux linkage of electric excitation synchronous motor provided by the invention and observation
The comparison diagram of value；
Fig. 6 is a kind of structural schematic diagram of the flux observation system of electric excitation synchronous motor provided by the invention.
Specific embodiment
Core of the invention is to provide the Flux Observation Method and system of a kind of electric excitation synchronous motor, establishes full rank magnetic linkage
Model is observed the magnetic linkage of electric excitation synchronous motor, compared to open loop flux linkage model and mixing flux linkage model, stable state accuracy
It is all more excellent with dynamic property, to ensure that the high performance control of electric machine control system.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of flow chart of the Flux Observation Method of electric excitation synchronous motor provided by the invention.
The Flux Observation Method of the electric excitation synchronous motor includes:
Step S1: according to mathematical model of the electric excitation synchronous motor under dq two-phase rotating coordinate system, with its stator magnetic linkage,
Rotor flux and damping magnetic linkage are the state equation that state variable establishes electric excitation synchronous motor.
Specifically, mathematical model of the electric excitation synchronous motor under three-phase static coordinate system is converted to dq two-phase first and is revolved
Turn to be analyzed under coordinate system, mathematical model of the electric excitation synchronous motor under dq two-phase rotating coordinate system is as follows:
Flux linkage equations:
Voltage equation:
Torque equation:
Te=ψsdisq-ψsqisd；
Electricity is synchronized according to the available electrical excitation of mathematical model of the electric excitation synchronous motor under dq two-phase rotating coordinate system
Equivalent circuit of the machine under dq two-phase rotating coordinate system.(a) and Fig. 2 (b) referring to figure 2., Fig. 2 (a) are provided by the invention one
D axis equivalent circuit diagram of the kind electric excitation synchronous motor under dq two-phase rotating coordinate system, Fig. 2 (b) are one kind provided by the invention
Q axis equivalent circuit diagram of the electric excitation synchronous motor under dq two-phase rotating coordinate system.
The above analysis, the three dimensional vector diagram of available electric excitation synchronous motor, referring to figure 3., Fig. 3 are the present invention
A kind of three dimensional vector diagram of the electric excitation synchronous motor provided.In Fig. 3, ωr=ω.
Wherein, ψsFor stator magnetic linkage, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfTo turn
Sub- magnetic linkage, ψDFor the d axis component for damping magnetic linkage, ψQFor the q axis component for damping magnetic linkage, ψδFor air gap flux linkage, ψδdFor air gap flux linkage
D axis component, ψδqFor the q axis component of air gap flux linkage, LsdFor stator d axis synchronous inductance, LsqFor stator q axis synchronous inductance, LadFor d
Armature axis reacts inductance, LaqInductance, L are reacted for q armature axisfFor rotor synchronous inductance, LDTo damp d axis synchronous inductance, LQFor resistance
Buddhist nun's q axis synchronous inductance, LslFor stator leakage reactance, isFor stator current, isdFor the d axis component of stator current, isqFor stator current
Q axis component, ifFor exciting current, iadFor d armature axis kinetic current, iaqFor q armature axis kinetic current, iDFor the d of damping current
Axis component, iQFor the q axis component of damping current, usFor stator voltage, usdFor the d axis component of stator voltage, usqFor stator voltage
Q axis component, ufFor excitation voltage, uDFor the d axis component of Damping voltage, uQFor the q axis component of Damping voltage, RsFor stator electricity
Resistance, RfFor rotor resistance, RDFor the d axis component of damping resistance, RQFor the q axis component of damping resistance, ωrFor the angular speed of motor,
TeFor the torque of motor.
Based on this, it is contemplated that the magnetic linkage of electric excitation synchronous motor is the key variables in motor work, so being encouraged according to electricity
Mathematical model of the magnetic-synchro motor under dq two-phase rotating coordinate system, using its stator magnetic linkage, rotor flux and damping magnetic linkage as shape
State variable establishes the state equation of electric excitation synchronous motor, and state equation can specifically:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable；
Wherein, coefficient matrices A, B, C are respectively as follows:
Wherein, LsσFor stator leakage reactance, LfσFor rotor leakage reactance,
LDσTo damp d axis leakage reactance, LQσTo damp q axis leakage reactance.
Step S2: according to state equation and default feedback matrix, electric excitation synchronous motor is constructed using modern control theory
Full rank flux observer.
It should be noted that the default of the application sets in advance, it is only necessary to which setting is primary, unless according to practical feelings
Condition needs to modify, and does not otherwise need to reset.
Specifically, the feedback matrix set according to the state equation of electric excitation synchronous motor and in advance is controlled using the modern times
System theory can construct the full rank flux observer of electric excitation synchronous motor, and concrete outcome is as follows:
Wherein, ^ indicates State Viewpoint measurement, and G is feedback matrix.For full rank flux observer, feedback matrix is determined
Its performance in order to accurately observe the magnetic linkage value of electric excitation synchronous motor need to rationally design feedback matrix.
Step S3: the excitation voltage of electric excitation synchronous motor and the d axis component of stator voltage and q axis component are obtained, and is obtained
Take the exciting current of electric excitation synchronous motor and the d axis component of stator current and q axis component.
Specifically, it was known that needing to know the rotor of electric excitation synchronous motor and the voltage of stator in full rank flux observer
And the magnitude of current, it is just able to the magnetic linkage of observation electric excitation synchronous motor, so the application obtains the excitation electricity of electric excitation synchronous motor
The d axis component and q axis component of pressure and stator voltage, and obtain the exciting current of electric excitation synchronous motor and the d axis of stator current
Component and q axis component, in order to accurately observe the magnetic linkage of electric excitation synchronous motor using full rank flux observer.Turn as obtaining
The concrete mode of the voltage and the magnitude of current of son and stator, the application is not particularly limited herein, according to the actual situation depending on.
Step S4: according to the voltage and the magnitude of current of the rotor of acquisition and stator, electricity is encouraged using full rank flux observer
The magnetic linkage of magnetic-synchro motor is observed.
Specifically, the application can utilize full rank magnetic after the rotor of acquisition and the voltage of stator and the magnitude of current
The magnetic linkage of chain observer observation electric excitation synchronous motor.Since the application is using full rank flux observer, so magnetic linkage is seen
Measured value is influenced small, strong robustness by the parameter of electric machine；It is strong to the vulnerability to jamming of external signal, there is very strong adaptability；And stable state accuracy
It is all more excellent with dynamic property, to ensure that the high performance control of electric machine control system.
The present invention provides a kind of Flux Observation Methods of electric excitation synchronous motor, comprising: according to electric excitation synchronous motor
Mathematical model under dq two-phase rotating coordinate system is established using its stator magnetic linkage, rotor flux and damping magnetic linkage as state variable
The state equation of electric excitation synchronous motor；According to state equation and default feedback matrix, encouraged using modern control theory building electricity
The full rank flux observer of magnetic-synchro motor；Obtain the excitation voltage of electric excitation synchronous motor and the d axis component and q of stator voltage
Axis component, and obtain the exciting current of electric excitation synchronous motor and the d axis component of stator current and q axis component；According to acquisition
The voltage and the magnitude of current of rotor and stator are observed the magnetic linkage of electric excitation synchronous motor using full rank flux observer.
The magnetic linkage of electric excitation synchronous motor is observed as it can be seen that the application establishes full rank flux linkage model, compared to open loop magnetic linkage mould
Type and mixing flux linkage model, stable state accuracy and dynamic property are all more excellent, to ensure that the high-performance control of electric machine control system
System.
On the basis of the above embodiments:
As a kind of preferred embodiment, state equation specifically:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable, and A, B, C are to be
Matrix number, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfFor rotor flux, ψDTo damp magnetic linkage
D axis component, ψQFor the q axis component for damping magnetic linkage, usdFor the d axis component of stator voltage, usqFor the q axis component of stator voltage,
ufFor excitation voltage, isdFor the d axis component of stator current, isqFor the q axis component of stator current, ifFor exciting current；
Then full rank flux observer specifically:
Wherein, ^ indicates State Viewpoint measurement, and G is default feedback matrix.
Specifically, for the introduction of the present embodiment, above-described embodiment has elaborated, and details are not described herein by the application.
As a kind of preferred embodiment, the d axis component and q axis component of the stator voltage of electric excitation synchronous motor are obtained
Process specifically:
It is sweared previously according to the corresponding DC voltage of three-phase inverter in the control system of electric excitation synchronous motor and pulse
Amount setting phase-voltage reconstruction relational expression；
Using the phase voltage of phase-voltage reconstruction relational expression reconstruct stator input, and phase voltage is obtained into stator through coordinate transform
The d axis component and q axis component of voltage.
Specifically, referring to figure 4., Fig. 4 is a kind of company of three-phase tri-level inverter and motor stator provided by the invention
Connect circuit diagram.Three-phase tri-level inverter in the control system of electric excitation synchronous motor includes power supply, intermediate capacitance (C1、C2)
And each switch, the opening state adjustment by changing each switch are input to the three-phase alternating current of motor stator.
Based on this, process of the application in the d axis component and q axis component for obtaining the stator voltage of electric excitation synchronous motor
In, in order to save cost, voltage sensor is not installed in stator side, but passes through the corresponding DC voltage of three-phase inverter
(i.e. the voltages at intermediate capacitance both ends) and pulse vector (controlling the switch function of the opening state of each switch) reconstruct stator electricity
Pressure.Specifically, the application is closed according to the corresponding DC voltage of three-phase inverter and pulse vector setting phase-voltage reconstruction in advance
It is formula.When obtaining the d axis component and q axis component of motor stator voltage, stator is reconstructed first with phase-voltage reconstruction relational expression
The phase voltage (stator voltage under three-phase static coordinate system) of input, then by phase voltage through coordinate transform (three phase static coordinate
System-two-phase stationary coordinate system-two-phase rotating coordinate system) obtain the d axis component and q axis component of motor stator voltage.
As a kind of preferred embodiment, phase-voltage reconstruction relational expression specifically:
Wherein, uan、ubn、ucnCorrespond to a phase of electric excitation synchronous motor stator voltage under abc three-phase static coordinate system
Component, b phase component, c phase component, UdcFor DC voltage, SjFor tri-level switch function, ia、ib、icIt is same to correspond to electrical excitation
Motor a phase component of stator current, b phase component, c phase component under abc three-phase static coordinate system are walked, Δ U is default error electricity
Pressure.
Further, high-power circuit mostly uses three-level structure, and the application introduces voltage weight by taking three-level structure as an example
Structure, other level blocks can and so on.
Tri-level switch function is as follows:
The phase voltage then reconstructed are as follows:
Wherein, it is contemplated that the phase voltage of the non-linear phase voltage that can make reconstruct and stator input of dead time and switching tube
Between there are a little error, the application step-up error voltage Δ U in phase-voltage reconstruction relational expression, to reduce mistake between the two
Difference.
As a kind of preferred embodiment, the process of the excitation voltage of electric excitation synchronous motor is obtained specifically:
The excitation voltage of electric excitation synchronous motor is obtained using voltage sensor.
Specifically, the excitation voltage of the electric excitation synchronous motor of the application can be obtained by installation voltage sensor.
As a kind of preferred embodiment, the process of the excitation voltage of electric excitation synchronous motor is obtained specifically:
Utilize default excitation voltage Remodeling formula uf=0.9*u1* (1+cos α) * 0.5 reconstructs electric excitation synchronous motor
Excitation voltage；Wherein, ufFor excitation voltage, u1For the peak value of the corresponding AC-input voltage of power supply of rotor, α is pilot angle.
Similarly, other than installation voltage sensor obtains the excitation voltage of electric excitation synchronous motor, the application may be used also
To reconstruct excitation voltage.Specifically, excitation voltage Remodeling formula u is arranged in the application in advancef=0.9*u1*(1+cosα)*0.5
(α determines the turn-on time of the corresponding switching tube of rotor, and then determines the input voltage of rotor), when acquisition motor excitation voltage
When, motor excitation voltage can be reconstructed using excitation voltage Remodeling formula.
As a kind of preferred embodiment, feedback matrix is preset specifically:
Wherein, g1、g2、g3、g4、g5For 5 freedom degrees of feedback matrix G, installation warrants are full rank flux observer institute
The pole location of configuration.
Specifically, it was known that feedback matrix determines the performance of full rank flux observer, in order to obtain accurate magnetic linkage value, it is necessary to
Feedback matrix is reasonably designed:
Firstly the need of the form for determining feedback matrix, because state variable has 5, output variable has 3, therefore can be true
Determining feedback matrix should be the matrix of a 5*3；Simultaneity factor is a 5 levels system, so feedback matrix can have 5 freedom degrees
Configuration.Wherein, rotor flux and rotor current (i.e. exciting current) strong correlation, can individually be corrected with the error of rotor current
Rotor flux, rotor current is single-phase DC amount, so only needing one degree of freedom；Stator magnetic linkage and stator current strong correlation,
Stator magnetic linkage can be corrected with the error of stator current, stator current is symmetrical three-phase current, it is therefore desirable to two freedom
Degree；Since damping current can not be surveyed, so having no idea to correct damping magnetic linkage with damping current, while feedback matrix there remains
Two freedom degrees, therefore the application corrects damping magnetic linkage using the error of stator current, it is relatively reasonable.
To sum up, for convenient for calculating, the form of available feedback matrix is as follows:
Then it needs to be determined that the value of feedback matrix, feedback matrix decide the pole location of full rank flux observer, i.e.,
Decide the performance of full rank flux observer.It, can will be complete in order to make full rank flux observer magnetic linkage practical than motor restrain fastly
The POLE PLACEMENT USING of rank flux observer is at k times of original motor pole.Since k value is bigger, the convergence speed of full rank flux observer
Spend it is faster, but simultaneously can be more sensitive to external interference, thus the selection of k need rapidity and disturbance, noise sensitivity it
Between compromise, set by rule of thumb.
It, can be using full scalariform in modern control theory after the position of the form and desired pole that determine feedback matrix
The design method of state observer calculates feedback matrix.Since system is 5 levels system, the analytical expression of feedback matrix is extremely huge
Greatly, therefore the application can be used the Numerical Computation Functions of the mathematical tools such as maple or matlab and seek feedback matrix, to make complete
Rank flux observer accurately observes the magnetic linkage value of motor.
(a) and Fig. 5 (b) referring to figure 5., Fig. 5 (a) are a kind of air gap flux linkage of electric excitation synchronous motor provided by the invention
D axis component actual value and observation comparison diagram, Fig. 5 (b) be a kind of air gap of electric excitation synchronous motor provided by the invention
The q axis component actual value of magnetic linkage and the comparison diagram of observation.From Fig. 5 (a) and Fig. 5 (b) as can be seen that being seen by full rank flux linkage model
Unanimously, i.e., the air gap flux linkage and the actual air gap flux linkage of motor of survey are either still able to maintain in dynamic process in steady-state process
Full rank flux linkage model has good stable state accuracy and dynamic property, illustrates the validity and accuracy of full rank flux linkage model.
Fig. 6 is please referred to, Fig. 6 is a kind of structural representation of the flux observation system of electric excitation synchronous motor provided by the invention
Figure.
The flux observation system of the electric excitation synchronous motor includes:
State equation establishes unit 1, for the mathematical modulo according to electric excitation synchronous motor under dq two-phase rotating coordinate system
Type establishes the state equation of electric excitation synchronous motor using its stator magnetic linkage, rotor flux and damping magnetic linkage as state variable；
Observer construction unit 2, for constructing electricity using modern control theory according to state equation and default feedback matrix
The full rank flux observer of excitation magnetic synchronization motor；
Voltage and current acquiring unit 3, for obtaining the excitation voltage of electric excitation synchronous motor and the d axis component of stator voltage
And q axis component, and obtain the exciting current of electric excitation synchronous motor and the d axis component of stator current and q axis component；
Flux observation unit 4, for being seen using full rank magnetic linkage according to the rotor of acquisition and the voltage of stator and the magnitude of current
Device is surveyed to be observed the magnetic linkage of electric excitation synchronous motor.
As a kind of preferred embodiment, state equation specifically:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable, and A, B, C are to be
Matrix number, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfFor rotor flux, ψDTo damp magnetic linkage
D axis component, ψQFor the q axis component for damping magnetic linkage, usdFor the d axis component of stator voltage, usqFor the q axis component of stator voltage,
ufFor excitation voltage, isdFor the d axis component of stator current, isqFor the q axis component of stator current, ifFor exciting current；
Then full rank flux observer specifically:
Wherein, ^ indicates State Viewpoint measurement, and G is default feedback matrix.
As a kind of preferred embodiment, feedback matrix is preset specifically:
Wherein, g1、g2、g3、g4、g5For 5 freedom degrees of feedback matrix G, installation warrants are full rank flux observer institute
The pole location of configuration.
The introduction of flux observation system provided by the invention please refers to the embodiment of above-mentioned Flux Observation Method, and the present invention exists
This is repeated no more.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of Flux Observation Method of electric excitation synchronous motor characterized by comprising
According to mathematical model of the electric excitation synchronous motor under dq two-phase rotating coordinate system, with its stator magnetic linkage, rotor flux and
Damping magnetic linkage is the state equation that state variable establishes the electric excitation synchronous motor；
According to the state equation and default feedback matrix, the complete of the electric excitation synchronous motor is constructed using modern control theory
Rank flux observer；
The excitation voltage of the electric excitation synchronous motor and the d axis component of stator voltage and q axis component are obtained, and obtains the electricity
The exciting current of excitation magnetic synchronization motor and the d axis component of stator current and q axis component；
It is same to the electrical excitation using the full rank flux observer according to the voltage and the magnitude of current of the rotor of acquisition and stator
The magnetic linkage of step motor is observed.
2. the Flux Observation Method of electric excitation synchronous motor as described in claim 1, which is characterized in that the state equation tool
Body are as follows:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable, and A, B, C are coefficient square
Battle array, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfFor rotor flux, ψDFor the d axis for damping magnetic linkage
Component, ψQFor the q axis component for damping magnetic linkage, usdFor the d axis component of stator voltage, usqFor the q axis component of stator voltage, ufTo encourage
Magnetoelectricity pressure, isdFor the d axis component of stator current, isqFor the q axis component of stator current, ifFor exciting current；
The then full rank flux observer specifically:
Wherein, ^ indicates State Viewpoint measurement, and G is the default feedback matrix.
3. the Flux Observation Method of electric excitation synchronous motor as claimed in claim 2, which is characterized in that obtain the electrical excitation
The d axis component of the stator voltage of synchronous motor and the process of q axis component specifically:
It is sweared previously according to the corresponding DC voltage of three-phase inverter in the control system of the electric excitation synchronous motor and pulse
Amount setting phase-voltage reconstruction relational expression；
The phase voltage of the stator input is reconstructed using the phase-voltage reconstruction relational expression, and by the phase voltage through coordinate transform
Obtain the d axis component and q axis component of stator voltage.
4. the Flux Observation Method of electric excitation synchronous motor as claimed in claim 3, which is characterized in that the phase-voltage reconstruction
Relational expression specifically:
Wherein, uan、ubn、ucnCorrespond to a phase of electric excitation synchronous motor stator voltage under abc three-phase static coordinate system
Component, b phase component, c phase component, UdcFor the DC voltage, SjFor tri-level switch function, ia、ib、icIt corresponds to described
Electric excitation synchronous motor a phase component of stator current, b phase component, c phase component, Δ U under abc three-phase static coordinate system are pre-
If error voltage.
5. the Flux Observation Method of electric excitation synchronous motor as claimed in claim 4, which is characterized in that obtain the electrical excitation
The process of the excitation voltage of synchronous motor specifically:
The excitation voltage of the electric excitation synchronous motor is obtained using voltage sensor.
6. the Flux Observation Method of electric excitation synchronous motor as claimed in claim 4, which is characterized in that obtain the electrical excitation
The process of the excitation voltage of synchronous motor specifically:
Utilize default excitation voltage Remodeling formula uf=0.9*u1* (1+cos α) * 0.5 reconstructs the electric excitation synchronous motor
Excitation voltage；Wherein, ufFor excitation voltage, u1For the peak value of the corresponding AC-input voltage of power supply of the rotor, α is control
Angle.
7. the Flux Observation Method of electric excitation synchronous motor as claimed in any one of claims 1 to 6, which is characterized in that described pre-
If feedback matrix specifically:
Wherein, g1、g2、g3、g4、g5For 5 freedom degrees of feedback matrix G, installation warrants are the full rank flux observer institute
The pole location of configuration.
8. a kind of flux observation system of electric excitation synchronous motor characterized by comprising
State equation establishes unit, for the mathematical model according to electric excitation synchronous motor under dq two-phase rotating coordinate system, with
Its stator magnetic linkage, rotor flux and damping magnetic linkage are the state equation that state variable establishes the electric excitation synchronous motor；
Observer construction unit, for constructing institute using modern control theory according to the state equation and default feedback matrix
State the full rank flux observer of electric excitation synchronous motor；
Voltage and current acquiring unit, for obtaining the excitation voltage of the electric excitation synchronous motor and the d axis component of stator voltage
And q axis component, and obtain the exciting current of the electric excitation synchronous motor and the d axis component of stator current and q axis component；
Flux observation unit, for being seen using the full rank magnetic linkage according to the rotor of acquisition and the voltage of stator and the magnitude of current
Device is surveyed to be observed the magnetic linkage of the electric excitation synchronous motor.
9. the flux observation system of electric excitation synchronous motor as claimed in claim 8, which is characterized in that the state equation tool
Body are as follows:
Wherein, x is state variable,For the derivative of state variable, u is input variable, and y is output variable, and A, B, C are coefficient square
Battle array, ψsdFor the d axis component of stator magnetic linkage, ψsqFor the q axis component of stator magnetic linkage, ψfFor rotor flux, ψDFor the d axis for damping magnetic linkage
Component, ψQFor the q axis component for damping magnetic linkage, usdFor the d axis component of stator voltage, usqFor the q axis component of stator voltage, ufTo encourage
Magnetoelectricity pressure, isdFor the d axis component of stator current, isqFor the q axis component of stator current, ifFor exciting current；
The then full rank flux observer specifically:
Wherein, ^ indicates State Viewpoint measurement, and G is the default feedback matrix.
10. such as the flux observation system of the described in any item electric excitation synchronous motors of claim 8-9, which is characterized in that described
Default feedback matrix specifically:
Wherein, g1、g2、g3、g4、g5For 5 freedom degrees of feedback matrix G, installation warrants are the full rank flux observer institute
The pole location of configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811149907.9A CN109150051B (en) | 2018-09-29 | 2018-09-29 | Flux linkage observation method and system for electrically excited synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811149907.9A CN109150051B (en) | 2018-09-29 | 2018-09-29 | Flux linkage observation method and system for electrically excited synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109150051A true CN109150051A (en) | 2019-01-04 |
| CN109150051B CN109150051B (en) | 2021-04-02 |
Family
ID=64813878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811149907.9A Active CN109150051B (en) | 2018-09-29 | 2018-09-29 | Flux linkage observation method and system for electrically excited synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109150051B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113472252A (en) * | 2021-06-15 | 2021-10-01 | 江苏大学 | High-precision electromagnetic synchronous motor flux linkage observation method |
| CN113783492A (en) * | 2021-09-18 | 2021-12-10 | 苏州伟创电气科技股份有限公司 | Learning method, device and equipment for motor permanent magnet flux linkage and storage medium |
| CN114257149A (en) * | 2021-12-23 | 2022-03-29 | 华中科技大学 | Feedback matrix parameter selection method for speed-sensorless induction motor |
| CN114665772A (en) * | 2022-05-23 | 2022-06-24 | 四川奥库科技有限公司 | Control method of permanent magnet synchronous motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1086936A (en) * | 1993-11-26 | 1994-05-18 | 清华大学 | AC/AC (alternating current) variable-frequency synchronous motor damping flux linkage orientation control damping flux observer |
| KR20130084843A (en) * | 2012-01-18 | 2013-07-26 | 엘에스산전 주식회사 | Method and apparatus for controlling a ipmsm based on the full order observer |
| US9525377B2 (en) * | 2013-06-28 | 2016-12-20 | Eaton Corporation | System and method of rotor time constant online identification in an AC induction machine |
| CN107104620A (en) * | 2017-04-24 | 2017-08-29 | 湖北汽车工业学院 | A kind of sensor-free control system of permanent magnet synchronous motor |
| CN107834927A (en) * | 2017-11-17 | 2018-03-23 | 美的集团股份有限公司 | Motor driven systems and the synchronous of reconstruct phase current phase voltage calculate method, apparatus |
-
2018
- 2018-09-29 CN CN201811149907.9A patent/CN109150051B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1086936A (en) * | 1993-11-26 | 1994-05-18 | 清华大学 | AC/AC (alternating current) variable-frequency synchronous motor damping flux linkage orientation control damping flux observer |
| KR20130084843A (en) * | 2012-01-18 | 2013-07-26 | 엘에스산전 주식회사 | Method and apparatus for controlling a ipmsm based on the full order observer |
| US9525377B2 (en) * | 2013-06-28 | 2016-12-20 | Eaton Corporation | System and method of rotor time constant online identification in an AC induction machine |
| CN107104620A (en) * | 2017-04-24 | 2017-08-29 | 湖北汽车工业学院 | A kind of sensor-free control system of permanent magnet synchronous motor |
| CN107834927A (en) * | 2017-11-17 | 2018-03-23 | 美的集团股份有限公司 | Motor driven systems and the synchronous of reconstruct phase current phase voltage calculate method, apparatus |
Non-Patent Citations (3)
| Title |
|---|
| KYOUNG-GU LEE, JUNE-SEOK LEE, AND KYO-BEUM LEE: "SPMSM Sensorless Control for Wide Speed Range Using Full-Order Flux Observer", 《2014 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)》 * |
| XIN LUO, ANWEN SHEN, WENCHAO CAO, WENPEI RAO: "Full Order State Observer of Stator Flux for Permanent Magnet Synchronous Motor Based on Parameter Adaptive Identification", 《2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS(ICIEA)》 * |
| 朱茂森: "电励磁同步电动机调速***研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113472252A (en) * | 2021-06-15 | 2021-10-01 | 江苏大学 | High-precision electromagnetic synchronous motor flux linkage observation method |
| CN113783492A (en) * | 2021-09-18 | 2021-12-10 | 苏州伟创电气科技股份有限公司 | Learning method, device and equipment for motor permanent magnet flux linkage and storage medium |
| CN114257149A (en) * | 2021-12-23 | 2022-03-29 | 华中科技大学 | Feedback matrix parameter selection method for speed-sensorless induction motor |
| CN114257149B (en) * | 2021-12-23 | 2024-04-19 | 华中科技大学 | Feedback matrix parameter selection method for speed sensor-free induction motor |
| CN114665772A (en) * | 2022-05-23 | 2022-06-24 | 四川奥库科技有限公司 | Control method of permanent magnet synchronous motor |
| CN114665772B (en) * | 2022-05-23 | 2022-10-04 | 四川奥库科技有限公司 | Control method of permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109150051B (en) | 2021-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109150051A (en) | A kind of Flux Observation Method and system of electric excitation synchronous motor | |
| CN109217764A (en) | A kind of the Air-gap-flux orientated control method and system of electric excitation synchronous motor | |
| CN106849797B (en) | A kind of electric current passive control method of double inertia permanent magnet synchronous motors | |
| Nak et al. | Performance investigation of extended Kalman filter based observer for PMSM using in washing machine applications | |
| Ding et al. | Comparison of transient and steady-state performances analysis for a dual-channel switched reluctance machine operation under different modes | |
| CN106992732B (en) | A kind of motor magnetic coenergy model foundation system | |
| CN104811117A (en) | Permanent magnetic synchronous motor rotor speed estimation method | |
| Li et al. | A novel sensorless for switched reluctance motor based on sliding mode observer | |
| CN102170262B (en) | Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine | |
| CN108521246A (en) | The method and device of permanent magnet synchronous motor single current sensor predictive current control | |
| CN106169895B (en) | A kind of permanent magnet linear synchronous motor measurement of electric parameter method | |
| Bhangu et al. | Control strategy for electric starter generators embedded in gas turbine engine for aerospace applications | |
| Zhao et al. | A torque control strategy of brushless direct current motor with current observer | |
| Tao et al. | Simulation of vector control frequency converter of induction motor based on Matlab/Simulink | |
| CN102368674A (en) | Method and system for resolving position of switched reluctance motor rotor | |
| CN105718654A (en) | Permanent magnet shape designing method of permanent magnet synchronous linear motor | |
| Feifei et al. | Sensorless speed control of permanent magnet synchronous motor based on RBF neural network | |
| Sarde et al. | Speed control of induction motor using vector control technique | |
| Brock et al. | Reducing Energy Losses for Fan Applications with V/f control of PMSMs | |
| CN112910327A (en) | Design method of fault-tolerant observer of brushless direct current motor under rotor eccentric fault | |
| CN106301107B (en) | A kind of pump-storage generator stationary frequency starting rotor position estimate method | |
| Brock et al. | Energy-optimal V/f control of permanent magnet synchronous motors for fan applications | |
| Çelteklİgİl et al. | Modeling, Simulation and Analysis of Bipolar Driven BLDC Motor | |
| Stika et al. | A robust method for stepper motor stall detection | |
| Huangfu et al. | Rapid development controller design for PMSM based on hardware-in-the-loop |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |