CN110460284A - Food cooking machine, motor driven systems, the control method of induction machine and device - Google Patents
Food cooking machine, motor driven systems, the control method of induction machine and device Download PDFInfo
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- CN110460284A CN110460284A CN201810420234.XA CN201810420234A CN110460284A CN 110460284 A CN110460284 A CN 110460284A CN 201810420234 A CN201810420234 A CN 201810420234A CN 110460284 A CN110460284 A CN 110460284A
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- target current
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
-
- 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
-
- 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
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention proposes the control method and device of a kind of food cooking machine and its motor driven systems and induction machine, wherein control method is the following steps are included: obtain the spinner velocity of d-axis target current and quadrature axis target current and induction machine；Slippage is carried out to d-axis target current and quadrature axis target current to calculate to obtain slippage revolving speed, and the spinner velocity of induction machine is superimposed with slippage revolving speed to obtain synchronous rotational speed；Direct-axis voltage and quadrature-axis voltage are obtained according to d-axis target current, quadrature axis target current, synchronous rotational speed and preset motor model；Direct-axis voltage and quadrature-axis voltage are coordinately transformed to obtain α shaft voltage and β shaft voltage；Inverter is controlled to control induction machine according to α shaft voltage and β shaft voltage.Induction machine is controlled by electric voltage feed forward mode as a result, can be improved the maximum voltage that inverter can export.
Description
Technical field
The present invention relates to technical field of electric appliances, in particular to a kind of control method of induction machine, a kind of induction machine
The motor driven systems and a kind of food cooking machine of control device, a kind of food cooking machine.
Background technique
The high-performance AC motor driven systems of the relevant technologies generally use vector controlled, i.e., by being mounted on motor
Position or velocity sensor, the accurate position for obtaining motor or velocity information, obtain the three of motor in conjunction with the mode that hardware samples
Phase current carries out Field orientable control or Direct Torque Control.
But it is found by the applicant that the relevant technologies have problems in that, when carrying out vector controlled to motor, to " 000 "
The action time of vector has length limitation to require, and the time, error occurred in the too short current sample that may cause, and overlong time will lead to
The problem of inverter can not export maximum voltage, and motor is caused to cannot achieve high-speed cruising and load capacity decline.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of control method of induction machine, by electric voltage feed forward side
Formula controls induction machine, can be improved the maximum voltage that inverter can export.
Second object of the present invention is to propose a kind of control device of induction machine.
Third object of the present invention is to propose a kind of motor driven systems of food cooking machine.
Fourth object of the present invention is to propose a kind of food cooking machine.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of control method of induction machine,
In, the induction machine is by Driven by inverter, and the control method is the following steps are included: obtain d-axis target current and quadrature axis
The spinner velocity of target current and the induction machine；The d-axis target current and the quadrature axis target current are slided
Difference is calculated to obtain slippage revolving speed, and the spinner velocity of the induction machine is superimposed with the slippage revolving speed to obtain synchronous turn
Speed；It is obtained according to the d-axis target current, the quadrature axis target current, the synchronous rotational speed and preset motor model straight
Shaft voltage and quadrature-axis voltage；The direct-axis voltage and quadrature-axis voltage are coordinately transformed to obtain α shaft voltage and β shaft voltage；
The inverter is controlled to control the induction machine according to the α shaft voltage and β shaft voltage.
The control method of induction machine according to an embodiment of the present invention first obtains d-axis target current and quadrature axis target current
And the spinner velocity of induction machine, meanwhile, slippage is carried out to d-axis target current and quadrature axis target current and is calculated to obtain cunning
Differential speed, and the spinner velocity of induction machine is superimposed with slippage revolving speed to obtain synchronous rotational speed, and then according to d-axis target electricity
Stream, quadrature axis target current, synchronous rotational speed and preset motor model obtain direct-axis voltage and quadrature-axis voltage, then to direct-axis voltage
Be coordinately transformed with quadrature-axis voltage to obtain α shaft voltage and β shaft voltage, and according to α shaft voltage and β shaft voltage to inverter into
Row control is to control induction machine.Induction machine is controlled by electric voltage feed forward mode as a result, does not depend on phase current sampling
Value, and then the most short action time without limiting " 000 " vector, effectively improve the maximum voltage that inverter can export, reachable
To theoretic maximum output voltage, control performance is promoted, also, in weak magnetic control, can guarantee output voltage unsaturation
And there is not situation out of control.
In addition, the control method of above-mentioned induction machine can also have the following additional technical features: according to the present invention
According to one embodiment of present invention, the preset motor model are as follows:
Wherein,The respectively described direct-axis voltage and the quadrature-axis voltage,The respectively described d-axis target current
With the quadrature axis target current, RsFor stator resistance, ω1For the synchronous rotational speed, σ is magnetic leakage factor, LS,LMRespectively stator
Mutual inductance between inductance and Stator and Rotor Windings, LrFor inductor rotor.
According to one embodiment of present invention, the slippage revolving speed is obtained according to the following formula:
Wherein,The respectively described d-axis target current and the quadrature axis target current, ωsFor the slippage revolving speed, Tr
For rotor time constant.
According to one embodiment of present invention, the acquisition d-axis target current and quadrature axis target current include: according to mesh
The spinner velocity is adjusted to obtain target torque value in mark speed；Electric current distribution and magnetic are carried out to the target torque value
Logical control is to obtain the d-axis target current and quadrature axis target current.
According to one embodiment of present invention, the acquisition d-axis target current and quadrature axis target current further include: according to
Target velocity is adjusted the spinner velocity to obtain the quadrature axis target current；Magnetic flux control is carried out to the induction machine
System obtains the d-axis target current according to the rotor flux to obtain the rotor flux of the induction machine.
According to one embodiment of present invention, the acquisition d-axis target current and quadrature axis target current further include: obtain
Preset target torque value；Electric current distribution and flux regulator are carried out to obtain the d-axis target current to the target torque value
With quadrature axis target current.
According to one embodiment of present invention, the acquisition d-axis target current and quadrature axis target current further include: obtain
The preset quadrature axis target current；Flux regulator is carried out to obtain the rotor magnetic of the induction machine to the induction machine
Chain, and the d-axis target current is obtained according to the rotor flux.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of control device of induction machine, wherein
The induction machine is by Driven by inverter, and the control system is the following steps are included: first obtains module, for obtaining d-axis
Target current and quadrature axis target current；Second obtains module, for obtaining the spinner velocity of the induction machine；Slippage calculates mould
Block is calculated for carrying out slippage to the d-axis target current and the quadrature axis target current to obtain slippage revolving speed；Superposition mould
Block, for being superimposed the spinner velocity of the induction machine with the slippage revolving speed to obtain synchronous rotational speed；Voltage computing module,
For being obtained according to the d-axis target current, the quadrature axis target current, the synchronous rotational speed and preset motor model
Direct-axis voltage and quadrature-axis voltage；Coordinate transformation module, for being coordinately transformed the direct-axis voltage and quadrature-axis voltage to obtain
Take α shaft voltage and β shaft voltage；Control module, for being controlled according to the α shaft voltage and β shaft voltage the inverter
To control the induction machine.
The control device of induction machine according to an embodiment of the present invention obtains module by first and obtains d-axis target current
The spinner velocity that module obtains induction machine is obtained with quadrature axis target current and by second, and by slippage computing module to straight
Axis target current and quadrature axis target current carry out slippage and calculate to obtain slippage revolving speed, and pass through laminating module for induction machine
Spinner velocity is superimposed to obtain synchronous rotational speed with slippage revolving speed, and by voltage computing module according to d-axis target current, quadrature axis
Target current, synchronous rotational speed and preset motor model obtain direct-axis voltage and quadrature-axis voltage, and pass through coordinate transformation module
Direct-axis voltage and quadrature-axis voltage are coordinately transformed to obtain α shaft voltage and β shaft voltage, and then by control module according to α
Shaft voltage and β shaft voltage control to control induction machine inverter.It is controlled as a result, by electric voltage feed forward mode
Induction machine does not depend on phase current sampling value, and then the most short action time without limiting " 000 " vector, effectively improves inversion
The maximum voltage that device can export can reach theoretic maximum output voltage, promote control performance, also, control in weak magnetic
When, it can guarantee that output voltage is unsaturated and situation out of control does not occur.
In addition, the control device of above-mentioned induction machine can also have the following additional technical features: according to the present invention
According to an embodiment of the present invention, the preset motor model are as follows:
Wherein,The respectively described direct-axis voltage and the quadrature-axis voltage,The respectively described d-axis target current
With the quadrature axis target current, RsFor stator resistance, ω1For the synchronous rotational speed, σ is magnetic leakage factor, LS,LMRespectively stator
Mutual inductance between inductance and Stator and Rotor Windings, LrFor inductor rotor.
According to one embodiment of present invention, the slippage revolving speed is obtained according to the following formula:
Wherein,The respectively described d-axis target current and the quadrature axis target current, ωsFor the slippage revolving speed, Tr
For rotor time constant.
According to one embodiment of present invention, the first acquisition module includes: the first adjuster, for according to target speed
The spinner velocity is adjusted to obtain target torque value in degree；The distribution of first electric current and flux regulator unit, for institute
It states target torque value and carries out electric current distribution and flux regulator to obtain the d-axis target current and quadrature axis target current.
According to one embodiment of present invention, the first acquisition module includes: the second adjuster, for according to target speed
Degree is adjusted the spinner velocity to obtain the quadrature axis target current；First flux regulator unit, for the sense
Motor is answered to carry out flux regulator to obtain the rotor flux of the induction machine；First electric current acquiring unit, for according to
Rotor flux obtains the d-axis target current.
According to one embodiment of present invention, the first acquisition module includes: first acquisition unit, default for obtaining
Target torque value；The distribution of second electric current and flux regulator unit, for carrying out electric current distribution and magnetic to the target torque value
Logical control is to obtain the d-axis target current and quadrature axis target current.
According to one embodiment of present invention, the first acquisition module includes: second acquisition unit, default for obtaining
The quadrature axis target current；Second flux regulator unit, it is described to obtain for carrying out flux regulator to the induction machine
The rotor flux of induction machine；Second electric current acquiring unit, for obtaining the d-axis target current according to the rotor flux.
In order to achieve the above objectives, a kind of motor driven systems for food cooking machine that third aspect present invention embodiment proposes
Control device including above-mentioned induction machine.
The motor driven systems of the food cooking machine proposed according to embodiments of the present invention, using the control of above-mentioned induction machine
Device controls induction machine by electric voltage feed forward mode, does not depend on phase current sampling value, and then without limiting " 000 " vector
Most short action time effectively improves the maximum voltage that inverter can export, and can reach theoretic maximum output voltage, is promoted
Control performance, also, in weak magnetic control, it can guarantee that output voltage is unsaturated and situation out of control does not occur.
In order to achieve the above objectives, a kind of food cooking machine that fourth aspect present invention embodiment proposes comprising above-mentioned sense
Answer the control device of motor.
The food cooking machine proposed according to embodiments of the present invention passes through voltage using the control device of above-mentioned induction machine
Feed-forward mode controls induction machine, does not depend on phase current sampling value, and then the most short action time without limiting " 000 " vector,
The maximum voltage that inverter can export is effectively improved, can reach theoretic maximum output voltage, promotes control performance, and
And in weak magnetic control, it can guarantee that output voltage is unsaturated and situation out of control does not occur.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the control block diagram of IM (Induction Motor, induction machine) two close cycles vector controlled in the related technology；
Fig. 2 is the schematic illustration of the current sample of two measuring cell of lower bridge arm in the related technology；
Fig. 3 is in the related technology using the schematic diagram at current sample " 000 " moment of two measuring cell of lower bridge arm；
Fig. 4 is in the related technology using the timing diagram of the vector controlled of two measuring cell sampling plan of lower bridge arm；
Fig. 5 is the flow diagram according to the control method of the induction machine of the embodiment of the present invention；
Fig. 6 is the control block diagram according to the control method of the induction machine of first embodiment of the invention；
Fig. 7 is to be illustrated according to the process for obtaining d-axis target current and quadrature axis target current of first embodiment of the invention
Figure；
Fig. 8 is the control block diagram according to the control method of the induction machine of second embodiment of the invention；
Fig. 9 is to be illustrated according to the process for obtaining d-axis target current and quadrature axis target current of second embodiment of the invention
Figure；
Figure 10 is the method control block diagram according to the control of the induction machine of third embodiment of the invention；
Figure 11 is to be shown according to the acquisition d-axis target current of third embodiment of the invention and the process of quadrature axis target current
It is intended to；
Figure 12 is the control block diagram according to the control method of the induction machine of four embodiment of the invention；
Figure 13 is to be shown according to the acquisition d-axis target current of four embodiment of the invention and the process of quadrature axis target current
It is intended to；
Figure 14 is the block diagram according to the control device of the induction machine of the embodiment of the present invention；
Figure 15 is the block diagram for obtaining module according to the first of first embodiment of the invention；
Figure 16 is the block diagram for obtaining module according to the first of second embodiment of the invention；
Figure 17 is the block diagram for obtaining module according to the first of third embodiment of the invention；
Figure 18 is the block diagram for obtaining module according to the first of four embodiment of the invention；
Figure 19 is the block diagram according to the motor driven systems of the food cooking machine of the embodiment of the present invention；
Figure 20 is the food cooking machine block diagram according to the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
First the two close cycles vector controlled of induction machine is simply introduced below.
Fig. 1 show the control block diagram of IM (Induction Motor, induction machine) two close cycles vector controlled, wherein
ωo,ωfRespectively speed command and velocity feedback, TeoFor torque instruction, Ido,IqoRespectively two-phase synchronous rotating frame (dq
Shafting) in current-order, Idf,IqfCurrent feedback respectively in dq shafting, Iαt,IβfRespectively two-phase stationary coordinate system (α β
Shafting) in current feedback, ia,ib,icRespectively three-phase current, idcFor bus sample rate current, Vdo,VqoRespectively adjuster is defeated
The voltage instruction in dq shafting out, Vαo,VβoVoltage instruction respectively in α β shafting, ωh,ωtRespectively slip speed and
Synchronizing speed, θfFor rotor field angle.
Specifically, the principle of above-mentioned two close cycles vector controlled is: being adjusted according to the difference of speed command and velocity feedback
Section is instructed with output torque, velocity close-loop control is completed, in addition, torque instruction obtains dq shafting by way of calculating or tabling look-up
Current-order, instructed after being adjusted with the current feedback of dq shafting with output voltage, complete closed-loop current control, Jin Ertong
Inverter module output voltage is crossed to motor, driving motor operation.
It can be seen that in such a way that vector control technology needs that hardware is combined to sample from the principle of two close cycles vector controlled
Obtain the three-phase current of motor.Mostly use the current sample side of two measuring cell of lower bridge arm as shown in Figure 2 greatly in the related technology
Case.
In conjunction with Fig. 2, Fig. 3 and Fig. 4, in " 000 " vector, three lower bridge arms can be formed the current sample scheme of the relevant technologies
Closed circuit, and sample biphase current therein and (be enumerated as i hereina,ib), and then pass through three-phase current and be zero, to obtain
Three-phase current.
Present inventor has found and recognizes, when " 000 " vector action time is too short or when being zero, the current sample side
Inverter in case can export theoretic maximum voltage, but current sample may adopt the value of mistake, so that electric current control
System goes wrong.When " 000 " vector action time is too long, then the maximum voltage that inverter can export can be reduced, electricity is caused
Not the problems such as machine high speed, which is run, not to increase, and load capacity declines.
Based on this, the present invention proposes the control of a kind of new food cooking machine and its motor driven systems and induction machine
Method and apparatus.
Below with reference to the accompanying drawings the food cooking machine and its motor driven systems and induction machine of the embodiment of the present invention are described
Control method and device.
Fig. 5 is the flow diagram according to the control method of the induction machine of the embodiment of the present invention.
Wherein, induction machine can be by Driven by inverter, as shown in figure 5, the control method of induction machine includes following step
It is rapid:
S101 obtains the spinner velocity of d-axis target current and quadrature axis target current and induction machine.
Optionally, rotor speed omega can be obtained by the velocity sensor being previously installed on induction machiner。
S102 carries out slippage to d-axis target current and quadrature axis target current and calculates to obtain slippage revolving speed, and will induction
The spinner velocity of motor is superimposed with slippage revolving speed to obtain synchronous rotational speed.
It should be noted that according to one embodiment of present invention, obtaining slippage revolving speed according to the following formula:
Wherein,Respectively d-axis target current and quadrature axis target current, ωsFor slippage revolving speed, TrIt is normal for rotor time
Number.
It should be noted that rotor time constant can be obtained according to the following formula:
Wherein, TrFor rotor time constant, RrFor rotor resistance, LrFor inductor rotor.
Further, the slippage rotational speed omega that will be obtained by formulasWith rotor speed omegarSuperposition is to obtain synchronous rotational speed
ω1, i.e. ω1=ωs+ωr。
In addition, can be by synchronous rotational speed ω1" angle calculation " (such as being realized by integral calculation etc.) is carried out to turn to obtain
Sub- magnetic field angle θr。
S103 obtains d-axis according to d-axis target current, quadrature axis target current, synchronous rotational speed and preset motor model
Voltage and quadrature-axis voltage.
It should be noted that according to one embodiment of present invention, preset motor model are as follows:
Wherein,Respectively direct-axis voltage and quadrature-axis voltage,Respectively d-axis target current and quadrature axis target electricity
Stream, RsFor stator resistance, ω1For synchronous rotational speed, σ is magnetic leakage factor, LS,LMRespectively between stator inductance and Stator and Rotor Windings
Mutual inductance, LrFor inductor rotor.
S104 is coordinately transformed direct-axis voltage and quadrature-axis voltage to obtain α shaft voltage and β shaft voltage.
That is, can be calculated according to preset motor modelVoltage, i.e. direct-axis voltage and quadrature-axis voltage, and
In conjunction with to synchronous rotational speed ω1The rotor field angle, θ for carrying out " angle calculation " and obtainingr, rightThat is direct-axis voltage and quadrature axis
Voltage is coordinately transformed, i.e. progress Park inverse transformation, to obtainVoltage, i.e. α shaft voltage and β shaft voltage.
S105 controls to control induction machine inverter according to α shaft voltage and β shaft voltage.
Specifically, PWM (Pulse Width Modulation, pulse width tune can be carried out to α shaft voltage and β shaft voltage
System) modulation such as SVPWM (Space Vector Pulse Width Modulation, space vector pulse width modulation) modulation with
Output pwm signal to inverter, inverter can be run according to the pwm signal driving motor received.That is, α shaft voltage
It, to inverter, can be run with β shaft voltage by " PWM generation " output pwm signal with driving motor.
Further, below with reference to the accompanying drawings the control method of the induction machine of the embodiment of the present invention is described.
According to first embodiment of the invention, as shown in Figure 6 and Figure 7, d-axis target current and quadrature axis target electricity are obtained
Stream includes:
S201 is adjusted to obtain target torque value spinner velocity according to target velocity.
That is, according to rotating speed of targetThe rotor speed omega that velocity sensor is obtainedrBe adjusted (such as pass through
Pi regulator carries out PI adjusting etc.), to obtain target torque value
S202 carries out electric current distribution and flux regulator to target torque value to obtain d-axis target current and quadrature axis target electricity
Stream.
That is, the target torque value that can will be obtainedCarry out " electric current distribution and flux regulator " (such as by from
After line computation, table look-up online), to obtain d-axis target currentWith quadrature axis target current
It should be noted that by target torque valueThe principle for carrying out " electric current distribution and flux regulator " is according to target
Torque valueMotor torque-current formula, electric efficiency optimisation strategy and high speed weak magnetic control strategy determine d-axis target electricity
StreamQuadrature axis target currentSuch as when motor speed is lower, target torque can be carried out according to electric efficiency optimisation strategy
D-axis, quadrature axis current distribution；When motor speed is higher, feelings can be utilized according to motor synchronizing speed or inverter busbar voltage
Condition reduces d-axis target current, calculates quadrature axis target current further according to target torque value and d-axis target current adjusted,
Wherein, target torque valueMotor synchronizing speed and d-axis target currentQuadrature axis target currentRelationship can first pass through
Off-line calculation obtains, and is stored in a tabular form, to be tabled look-up online when motor operation.
Specifically, in conjunction with Fig. 6 and Fig. 7 rotor speed ω can be obtained by velocity sensorr, and according to rotating speed of targetThe rotor speed omega that velocity sensor is obtainedr(such as PI adjusting etc. is carried out by pi regulator) is adjusted, to obtain
Target torque valueAnd to obtained target torque valueProgress " electric current distribution and flux regulator " (such as by counting offline
After calculation, table look-up online), to obtain d-axis target currentWith quadrature axis target currentAnd it willCurrent-order passes through " sliding
Difference calculates " obtain slippage rotational speed omegas, and with rotor speed ωrSuperposition, to obtain synchronous rotational speed ω1, and pass through " angle calculation "
(such as being realized by integral calculation etc.), obtains rotor field angle, θr, and according toCurrent-order, synchronous rotational speed ω1And
" motor model " of IM, obtainsVoltage instruction, in conjunction with rotor field angle, θr, Park inverse transformation is carried out, to obtainVoltage instruction, and willCarry out " PWM generations " (such as SVPWM modulation etc. realization), output pwm signal to inverter,
Driving motor operation.
Second embodiment according to the present invention obtains d-axis target current and quadrature axis target electricity as shown in Figure 8 and Figure 9
Stream includes:
S301 is adjusted spinner velocity according to target velocity to obtain quadrature axis target current.
That is, can be according to rotating speed of targetThe rotor speed omega that velocity sensor is obtainedrBe adjusted (such as it is logical
Cross pi regulator and carry out PI adjusting etc.), to obtain quadrature axis target current
S302 carries out flux regulator to induction machine to obtain the rotor flux of induction machine, and is obtained according to rotor flux
Cut-off axis target current.
That is, flux regulator directly can be carried out to induction machine, to obtain the rotor flux instruction of induction machine
And d-axis target current can be obtained by following formula:
Wherein,For d-axis target current,It is instructed for the rotor flux of induction machine, LMIt is mutual between Stator and Rotor Windings
Sense.
It should be noted that the principle of " flux regulator " is to directly give rotor flux instruction according to weak magnetic control strategyAnd then determine d-axis target currentWhen motor speed is lower, rotor flux instructionIt may be set to fixed value, and work as
It, can be according to motor synchronizing speed ω using weak magnetic control strategy when motor speed is higher1Or inverter busbar voltage utilization power
Further decrease rotor flux instructionWith d-axis target current
Specifically, in conjunction with Fig. 8 and Fig. 9 rotor speed ω can be obtained by velocity sensorr, and according to rotating speed of targetThe rotor speed omega that velocity sensor is obtainedr(such as PI adjusting etc. is carried out by pi regulator) is adjusted, to obtain
Quadrature axis target currentAnd directly by carrying out flux regulator to induction machine, to obtain the rotor flux of induction machineAnd
According to rotor fluxD-axis target current is calculatedAnd it willCurrent-order obtains slippage by " slippage calculating " and turns
Fast ωs, and with rotor speed ωrSuperposition, to obtain synchronous rotational speed ω1, and process " angle calculation " (such as pass through integral calculation
Deng realization) obtain rotor field angle, θr, and according toCurrent-order, synchronous rotational speed ω1And " motor model " of IM, it obtains
It arrivesVoltage instruction, then willVoltage instruction combination rotor field angle, θr, to carry out Park inverse transformation, to obtainVoltage instruction, and will" PWM generation " (such as SVPWM modulation etc. is realized) is carried out, output pwm signal is to inversion
Device, driving motor operation.
Third embodiment according to the present invention obtains d-axis target current and quadrature axis target as shown in Figure 10 and Figure 11
Electric current includes:
S401 obtains preset target torque value.
S402 carries out electric current distribution and flux regulator to target torque value to obtain d-axis target current and quadrature axis target electricity
Stream.
That is, can be by preset target torque valueCarry out " electric current distribution and flux regulator " (such as by from
After line computation, table look-up online), to obtain d-axis target currentWith quadrature axis target current
It should be noted that by target torque valueThe principle for carrying out " electric current distribution and flux regulator " is according to target
Torque valueMotor torque-current formula, electric efficiency optimisation strategy and high speed weak magnetic control strategy determine d-axis target electricity
StreamQuadrature axis target currentSuch as when motor speed is lower, target torque can be carried out according to electric efficiency optimisation strategy
D-axis, quadrature axis current distribution；When motor speed is higher, feelings can be utilized according to motor synchronizing speed or inverter busbar voltage
Condition reduces d-axis target current, calculates quadrature axis target current further according to target torque value and d-axis target current adjusted,
Wherein, target torque valueMotor synchronizing speed and d-axis target currentQuadrature axis target currentRelationship can first pass through
Off-line calculation obtains, and is stored in a tabular form, to be tabled look-up online when motor operation.
Specifically, in conjunction with Figure 10 and Figure 11, the control method is by preset target torque valueCarry out " electric current distribution with
And flux regulator " (such as by off-line calculation after, table look-up online), to obtain d-axis target currentWith quadrature axis target currentAnd it willCurrent-order obtains slippage rotational speed omega by " slippage calculating "s, and with rotor speed ωrSuperposition, it is same to obtain
Walk rotational speed omega1, and rotor field angle, θ is obtained by " angle calculation " (such as realizing by integral calculation etc.)r, and according toCurrent-order, synchronous rotational speed ω1And " motor model " of IM, it obtainsVoltage instruction, then willVoltage instruction
In conjunction with rotor field angle, θr, to carry out Park inverse transformation, to obtainVoltage instruction, and willCarry out " PWM life
At " (such as SVPWM modulation etc. is realized), output pwm signal is run to inverter, driving motor, thus, turned with preset target
Square valueObtain d-axis target currentWith quadrature axis target currentMode, formed torque control model.
4th embodiment according to the present invention obtains d-axis target current and quadrature axis target as shown in Figure 12 and Figure 13
Electric current includes:
S501 obtains preset quadrature axis target current.
S502 carries out flux regulator to induction machine to obtain the rotor flux of induction machine, and is obtained according to rotor flux
Cut-off axis target current.
That is, flux regulator directly can be carried out to induction machine, to obtain the rotor flux instruction of induction machine
And d-axis target current can be obtained by following formula:
Wherein,For d-axis target current,It is instructed for the rotor flux of induction machine, LMIt is mutual between Stator and Rotor Windings
Sense.
It should be noted that the principle of " flux regulator " is to directly give rotor flux instruction according to weak magnetic control strategyAnd then determine d-axis target currentWhen motor speed is lower, rotor flux instructionIt may be set to fixed value, and work as
When motor speed is higher, using weak magnetic control strategy, can according to motor synchronizing speed or inverter busbar voltage utilization power into
One step reduces rotor flux instructionWith d-axis target current
Specifically, the control method is directly by carrying out flux regulator to induction machine, in conjunction with Figure 12 and Figure 13 to obtain
The rotor flux of induction machine is taken to instructAnd d-axis target current is obtained by calculationTo combine preset quadrature axis mesh
Mark electric currentSlippage rotational speed omega is obtained by " slippage calculating "s, and with rotor speed ωrSuperposition, to obtain synchronous rotational speed ω1,
And rotor field angle, θ is obtained by " angle calculation " (such as realizing by integral calculation etc.)r, and pass throughCurrent-order,
Synchronous rotational speed ω1And " motor model " of IM, it obtainsVoltage instruction, then willVoltage instruction combination rotor field angle
Spend θr, to carry out Park inverse transformation, to obtainVoltage instruction, and willProgress " PWM generation " (such as SVPWM tune
System etc. is realized), output pwm signal is run to inverter, driving motor, thus, with preset quadrature axis target current" magnetic flux
Control " obtains d-axis target currentWith quadrature axis target currentMode, formed current control mode.
To sum up, the control method of induction machine according to an embodiment of the present invention first obtains d-axis target current and quadrature axis mesh
Mark the spinner velocity of electric current and induction machine, meanwhile, to d-axis target current and quadrature axis target current carry out slippage calculate with
Slippage revolving speed is obtained, and the spinner velocity of induction machine is superimposed with slippage revolving speed to obtain synchronous rotational speed, and then according to d-axis
Target current, quadrature axis target current, synchronous rotational speed and preset motor model obtain direct-axis voltage and quadrature-axis voltage, then to straight
Shaft voltage and quadrature-axis voltage are coordinately transformed to obtain α shaft voltage and β shaft voltage, and according to α shaft voltage and β shaft voltage to inverse
Become device to be controlled to control induction machine.Induction machine is controlled by electric voltage feed forward mode as a result, does not depend on mutually electricity
Sampled value, and then the most short action time without limiting " 000 " vector are flowed, the maximum electricity that inverter can export is effectively improved
Pressure can reach theoretic maximum output voltage, promote control performance, also, in weak magnetic control, can guarantee output voltage
It is unsaturated and situation out of control do not occur.
Corresponding with the control method of induction machine that above-mentioned several embodiments provide, a kind of embodiment of the invention also mentions
Control device and above-mentioned several realities for a kind of control device of induction machine, due to induction machine provided in an embodiment of the present invention
The control method for applying the induction machine of example offer is corresponding, therefore also fits in the embodiment of the control method of aforementioned induction machine
For the control device of the present embodiment induction machine, it is not described in detail in the present embodiment.
Figure 14 is the block diagram according to the control device of the induction machine of the embodiment of the present invention.Wherein, induction machine
Can be by Driven by inverter, as shown in figure 14, the control device 100 of induction machine includes: that the first acquisition module 1, second obtains
Module 2, slippage computing module 3, laminating module 4, voltage computing module 5, coordinate transformation module 6 and control module 7.
Wherein, the first acquisition module 1 is for obtaining d-axis target currentWith quadrature axis target currentSecond obtains module 2
For obtaining the rotor speed omega of induction machiner；Slippage computing module 3 is used for d-axis target currentWith quadrature axis target currentSlippage is carried out to calculate to obtain slippage rotational speed omegas；Laminating module 4 is used for the rotor speed omega of induction machinerWith slippage revolving speed
ωsSuperposition is to obtain synchronous rotational speed ω1；Voltage computing module 5 is used for according to d-axis target currentQuadrature axis target currentTogether
Walk rotational speed omega1And preset motor model obtains direct-axis voltageAnd quadrature-axis voltageCoordinate transformation module 6 is used for d-axis
VoltageAnd quadrature-axis voltageIt is coordinately transformed to obtain α shaft voltageWith β shaft voltageControl module 7 is used for according to α axis
VoltageWith β shaft voltageInverter is controlled to control induction machine.
Further, according to one embodiment of present invention, preset motor model are as follows:
Wherein,Respectively direct-axis voltage and quadrature-axis voltage,Respectively d-axis target current and quadrature axis target electricity
Stream, RsFor stator resistance, ω1For synchronous rotational speed, σ is magnetic leakage factor, LS,LMRespectively between stator inductance and Stator and Rotor Windings
Mutual inductance, LrFor inductor rotor.
Further, according to one embodiment of present invention, slippage revolving speed is obtained according to the following formula:
Wherein,Respectively d-axis target current and quadrature axis target current, ωsFor slippage revolving speed, TrIt is normal for rotor time
Number.
Further, according to first embodiment of the invention, as shown in figure 15, the first acquisition module 1 includes: the first tune
Save device 101 and the distribution of the first electric current and flux regulator unit 102.
Wherein, as shown in fig. 6, the first adjuster 101 is used to that spinner velocity to be adjusted to obtain according to target velocity
Target torque value；The distribution of first electric current and flux regulator unit 102 are used to carry out electric current distribution and magnetic flux control to target torque value
System is to obtain d-axis target current and quadrature axis target current.
Further, according to first embodiment of the invention, as shown in figure 16, the first acquisition module 1 includes: the second tune
Save device 103, the first flux regulator unit 104 and the first electric current acquiring unit 105.
Wherein, as shown in figure 8, the second adjuster 103 is used for according to target velocityTo rotor speed omegarBe adjusted with
Obtain quadrature axis target currentFirst flux regulator unit 104 is used to carry out flux regulator to induction machine to obtain induction machine
Rotor fluxFirst electric current acquiring unit 105 is used for according to rotor fluxObtain d-axis target current
Further, according to first embodiment of the invention, as shown in figure 17, the first acquisition module 1 includes: first to obtain
It takes unit 106 and the second electric current distributes and flux regulator unit 107.
Wherein, as shown in Figure 10, first acquisition unit 106 is for obtaining preset target torque valueSecond electric current point
Match and flux regulator unit 107 is used for target torque valueElectric current distribution and flux regulator are carried out to obtain d-axis target currentWith quadrature axis target current
Further, according to first embodiment of the invention, as shown in figure 18, the first acquisition module 1 includes: second to obtain
Take unit 108, the second flux regulator unit 109 and the second electric current acquiring unit 110.
Wherein, as shown in figure 12, second acquisition unit 108 is for obtaining preset quadrature axis target currentSecond magnetic flux control
Unit 109 processed is used to carry out flux regulator to induction machine to obtain the rotor flux of induction machineSecond electric current obtains single
Member 110 is for according to rotor fluxObtain d-axis target current
To sum up, the control device of induction machine according to an embodiment of the present invention obtains module by first and obtains d-axis mesh
It marks electric current and quadrature axis target current and obtains module by second and obtain the spinner velocity of induction machine, and mould is calculated by slippage
Block carries out slippage to d-axis target current and quadrature axis target current and calculates to obtain slippage revolving speed, and will be incuded by laminating module
The spinner velocity of motor is superimposed to obtain synchronous rotational speed with slippage revolving speed, and by voltage computing module according to d-axis target electricity
Stream, quadrature axis target current, synchronous rotational speed and preset motor model obtain direct-axis voltage and quadrature-axis voltage, and are become by coordinate
Mold changing block is coordinately transformed direct-axis voltage and quadrature-axis voltage to obtain α shaft voltage and β shaft voltage, and then passes through control module
Inverter is controlled to control induction machine according to α shaft voltage and β shaft voltage.Pass through electric voltage feed forward side as a result,
Formula controls induction machine, does not depend on phase current sampling value, and then the most short action time without limiting " 000 " vector, effectively mentions
The maximum voltage that high inverter can export can reach theoretic maximum output voltage, promote control performance, also, weak
When magnetic control, it can guarantee that output voltage is unsaturated and situation out of control does not occur.
Figure 19 is the block diagram according to the motor driven systems of the food cooking machine of the embodiment of the present invention.Such as Figure 19 institute
Show, the motor driven systems 1000 of food cooking machine include the control device 100 of above-mentioned induction machine.
The motor driven systems of the food cooking machine proposed according to embodiments of the present invention pass through the control of above-mentioned induction machine
Device processed controls induction machine by electric voltage feed forward mode, does not depend on phase current sampling value, and then without limiting " 000 " vector
Most short action time, effectively improve the maximum voltage that inverter can export, can reach theoretic maximum output voltage, mention
Control performance is risen, also, in weak magnetic control, can guarantee that output voltage is unsaturated and situation out of control does not occur.
Figure 20 is the block diagram according to the food cooking machine of the embodiment of the present invention.As shown in figure 20, food cooking machine
2000 include the control device 100 of above-mentioned induction machine.
The food cooking machine proposed according to embodiments of the present invention passes through electricity by the control device of above-mentioned induction machine
It presses feed-forward mode to control induction machine, does not depend on phase current sampling value, and then when the most short effect without limiting " 000 " vector
Between, the maximum voltage that inverter can export is effectively improved, can reach theoretic maximum output voltage, promotes control performance,
Also, in weak magnetic control, it can guarantee output voltage unsaturation-and not occur situation out of control.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
It can be combined in any suitable manner in a or multiple embodiment or examples.In addition, without conflicting with each other, the technology of this field
The feature of different embodiments or examples described in this specification and different embodiments or examples can be combined by personnel
And combination.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (16)
1. a kind of control method of induction machine, which is characterized in that the induction machine passes through Driven by inverter, the controlling party
Method the following steps are included:
Obtain the spinner velocity of d-axis target current and quadrature axis target current and the induction machine；
It carries out slippage to the d-axis target current and the quadrature axis target current to calculate to obtain slippage revolving speed, and by the sense
The spinner velocity of motor is answered to be superimposed with the slippage revolving speed to obtain synchronous rotational speed；
It is obtained according to the d-axis target current, the quadrature axis target current, the synchronous rotational speed and preset motor model
Direct-axis voltage and quadrature-axis voltage；
The direct-axis voltage and quadrature-axis voltage are coordinately transformed to obtain α shaft voltage and β shaft voltage；
The inverter is controlled to control the induction machine according to the α shaft voltage and β shaft voltage.
2. the control method of induction machine according to claim 1, which is characterized in that the preset motor model are as follows:
Wherein,The respectively described direct-axis voltage and the quadrature-axis voltage,The respectively described d-axis target current and described
Quadrature axis target current, RsFor stator resistance, ω1For the synchronous rotational speed, σ is magnetic leakage factor, LS,LMRespectively stator inductance and
Mutual inductance between Stator and Rotor Windings, LrFor inductor rotor.
3. the control method of induction machine according to claim 1, which is characterized in that obtain the cunning according to the following formula
Differential speed:
Wherein,The respectively described d-axis target current and the quadrature axis target current, ωsFor the slippage revolving speed, TrTo turn
Sub- time constant.
4. the control method of induction machine according to any one of claim 1-3, which is characterized in that the acquisition d-axis
Target current and quadrature axis target current include:
The spinner velocity is adjusted to obtain target torque value according to target velocity；
Electric current distribution and flux regulator are carried out to the target torque value to obtain the d-axis target current and quadrature axis target electricity
Stream.
5. the control method of induction machine according to any one of claim 1-3, which is characterized in that the acquisition d-axis
Target current and quadrature axis target current include:
The spinner velocity is adjusted according to target velocity to obtain the quadrature axis target current；
Flux regulator is carried out to obtain the rotor flux of the induction machine to the induction machine, and according to the rotor flux
Obtain the d-axis target current.
6. the control method of induction machine according to any one of claim 1-3, which is characterized in that the acquisition d-axis
Target current and quadrature axis target current include:
Obtain preset target torque value；
Electric current distribution and flux regulator are carried out to the target torque value to obtain the d-axis target current and quadrature axis target electricity
Stream.
7. the control method of induction machine according to any one of claim 1-3, which is characterized in that the acquisition d-axis
Target current and quadrature axis target current include:
Obtain the preset quadrature axis target current；
Flux regulator is carried out to obtain the rotor flux of the induction machine to the induction machine, and according to the rotor flux
Obtain the d-axis target current.
8. a kind of control device of induction machine, which is characterized in that the induction machine passes through Driven by inverter, the control system
System the following steps are included:
First obtains module, for obtaining d-axis target current and quadrature axis target current；
Second obtains module, for obtaining the spinner velocity of the induction machine；
Slippage computing module is calculated for carrying out slippage to the d-axis target current and the quadrature axis target current to obtain cunning
Differential speed；
Laminating module, for being superimposed the spinner velocity of the induction machine with the slippage revolving speed to obtain synchronous rotational speed；
Voltage computing module, for according to the d-axis target current, the quadrature axis target current, the synchronous rotational speed and pre-
If motor model obtain direct-axis voltage and quadrature-axis voltage；
Coordinate transformation module, for being coordinately transformed to the direct-axis voltage and quadrature-axis voltage to obtain α shaft voltage and β axis electricity
Pressure；
Control module, for being controlled the inverter to the induction machine according to the α shaft voltage and β shaft voltage
It is controlled.
9. the control device of induction machine according to claim 8, which is characterized in that the preset motor model are as follows:
Wherein,The respectively described direct-axis voltage and the quadrature-axis voltage,The respectively described d-axis target current and institute
State quadrature axis target current, RsFor stator resistance, ω1For the synchronous rotational speed, σ is magnetic leakage factor, LS,LMRespectively stator inductance
Mutual inductance between Stator and Rotor Windings, LrFor inductor rotor.
10. the control device of induction machine according to claim 8, which is characterized in that described in obtaining according to the following formula
Slippage revolving speed:
Wherein,The respectively described d-axis target current and the quadrature axis target current, ωsFor the slippage revolving speed, TrTo turn
Sub- time constant.
11. the control device of the induction machine according to any one of claim 8-10, which is characterized in that described first obtains
Modulus block includes:
First adjuster, for being adjusted the spinner velocity to obtain target torque value according to target velocity；
The distribution of first electric current and flux regulator unit, for carrying out electric current distribution and flux regulator to the target torque value to obtain
Take the d-axis target current and quadrature axis target current.
12. the control device of the induction machine according to any one of claim 8-10, which is characterized in that described first obtains
Modulus block includes:
Second adjuster, for the spinner velocity being adjusted according to target velocity to obtain the quadrature axis target current；
First flux regulator unit, for carrying out flux regulator to the induction machine to obtain the rotor magnetic of the induction machine
Chain；
First electric current acquiring unit, for obtaining the d-axis target current according to the rotor flux.
13. the control device of the induction machine according to any one of claim 8-10, which is characterized in that described first obtains
Modulus block includes:
First acquisition unit, for obtaining preset target torque value；
The distribution of second electric current and flux regulator unit, for carrying out electric current distribution and flux regulator to the target torque value to obtain
Take the d-axis target current and quadrature axis target current.
14. the control device of the induction machine according to any one of claim 8-10, which is characterized in that described first obtains
Modulus block includes:
Second acquisition unit, for obtaining the preset quadrature axis target current；
Second flux regulator unit, for carrying out flux regulator to the induction machine to obtain the rotor magnetic of the induction machine
Chain；
Second electric current acquiring unit, for obtaining the d-axis target current according to the rotor flux.
15. a kind of motor driven systems of food cooking machine, which is characterized in that described in any item including such as claim 8-14
The control device of induction machine.
16. a kind of food cooking machine, which is characterized in that the control device including induction machine as claimed in claim 15.
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| CN201810420234.XA CN110460284A (en) | 2018-05-04 | 2018-05-04 | Food cooking machine, motor driven systems, the control method of induction machine and device |
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| CN105490602A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Motor control method and device and servo driver |
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| JP2008141835A (en) * | 2006-11-30 | 2008-06-19 | Denso Corp | Motor control method and motor control device using the same |
| CN103026615A (en) * | 2010-07-28 | 2013-04-03 | 三菱电机株式会社 | Control apparatus of AC rotating machine |
| CN103023421A (en) * | 2012-12-24 | 2013-04-03 | 深圳市汇川技术股份有限公司 | Power calculation based slip estimation system and power calculation based slip estimation method |
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