CN110957946A - Feedforward control speed regulation method suitable for load current conversion inverter driving synchronous motor - Google Patents

Feedforward control speed regulation method suitable for load current conversion inverter driving synchronous motor Download PDF

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CN110957946A
CN110957946A CN201911295212.6A CN201911295212A CN110957946A CN 110957946 A CN110957946 A CN 110957946A CN 201911295212 A CN201911295212 A CN 201911295212A CN 110957946 A CN110957946 A CN 110957946A
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load
speed regulation
synchronous motor
control speed
feedforward
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CN110957946B (en
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高强
寇佳宝
沙志楠
滕咏哮
徐殿国
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Harbin Institute of Technology
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Harbin Institute of Technology
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/005—Arrangements for controlling doubly fed motors
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters

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Abstract

The invention discloses a feedforward control speed regulation method suitable for a load commutation inverter to drive a synchronous motor, belongs to the field of motor control, and aims to solve the problem that the dynamic response capability of a control system to a changing load is weak when the load commutation inverter is adopted to drive the synchronous motor. The method comprises the following steps: load torque T to synchronous machineLObserving and comparing kTLFeedforward to the double closed loop PI control outer loop; k is a feedforward gain coefficient; the load torque TLAccording to transfer function
Figure DDA0002320330630000011
And (6) carrying out observation.

Description

Feedforward control speed regulation method suitable for load current conversion inverter driving synchronous motor
Technical Field
The invention belongs to the field of motor control, and relates to synchronous motor speed regulation control.
Background
The load conversion inverter adopts the thyristor as a power device, so the load conversion inverter has the advantages of large capacity, high reliability, low cost and the like, and is widely applied to medium and high voltage driving occasions such as fan pumps, rolling mills, synchronous phase modulators, large gas turbines, pumped storage power stations and the like. Due to the half-controlled characteristic of the thyristor, the load commutation inverter has slow dynamic response when dealing with load changes, which undoubtedly reduces the stability of the control system. Therefore, the load commutation inverter is mostly applied to starting and grid connection, and is less applied to loaded speed regulation.
For such loads of large gas turbines, the load converter inverter usually uses a light load start to ensure its reliable operation. However, during the starting process, a low-frequency surge problem occurs, which corresponds to the unit being disturbed by a resonant load when the motor reaches a certain speed. If the dynamic response performance of the driver is not good, the phenomenon of starting failure is easy to happen. For loads such as fan pumps, a grid-connected constant-speed operation mode is usually adopted, and the flow rate of gas or liquid is changed by adjusting a mechanical valve. Compared with non-grid-connected speed regulation operation, the mechanical regulation can heat the system, greatly reduces the efficiency of the system and improves the energy consumption. If the controller has good dynamic response characteristics, the system can realize speed regulation operation, so that the defects caused by mechanical regulation are avoided. For the loads such as the rolling mill, the load converter inverter adopts non-grid-connected loaded speed regulation control. The requirement that the unit meets the requirements of small change of the rotating speed and quick speed recovery at the moment of loading and unloading is required. When the load changes, the better dynamic response characteristic can directly improve the quality and the yield of steel products, thereby increasing the economic benefit.
For a starting link, better dynamic response characteristics can effectively resist external interference, and the starting success rate and reliability are improved; for a grid-connected operation link, the better dynamic response characteristic can ensure that the system can reliably realize the on-load speed regulation operation, thereby improving the operation efficiency of the unit and reducing the energy consumption; for the condition of realizing the on-load operation, the better dynamic response characteristic can lead the operation of the system to be more ideal, and the dynamic adjustment time is reduced. In general, it is of great research significance to improve the dynamic response characteristics of a system to load changes in a load commutation inverter driving system.
Disclosure of Invention
The invention provides a feedforward control speed regulation method suitable for a synchronous motor driven by a load commutation inverter, which can improve the dynamic response capability of a control system to a changing load and improve the rotating speed change characteristic when the synchronous motor is loaded or unloaded in the speed regulation process.
The invention relates to a feedforward control speed regulation method suitable for a load commutation inverter to drive a synchronous motor, wherein the synchronous motor adopts the traditional double closed loop PI control speed regulation, and the method comprises the following steps: load torque T to synchronous machineLObserving and comparing kTLFeedforward to the double closed loop PI control outer loop;
k is a feedforward gain coefficient;
the load torque TLAccording to transfer function
Figure BDA0002320330610000021
Carrying out observation;
s is a laplacian operator, and λ is the cut-off frequency of the low-pass filter in the observer;
Teis electromagnetic torque, ωmMechanical speed, and moment of inertia.
Preferably, the load torque TLThe observation value acquisition process comprises the following steps:
the method comprises the following steps: any two-phase line voltage and any two-phase current of the synchronous motor are collected, and the three-phase voltage u of the motor is calculatedAB、uBC、uCAAnd three-phase current iA、iB、iC；
Step two, obtaining the voltage u under αβ 0 shafting through 3/2 transformationα、uβAnd the amount of current iα、iβ；
Step three: according to the result of the step two, combining the resistance parameter of the motor stator to calculate the real-time electromagnetic power Pe；
Step four: electromagnetic power PeAnd a mechanical rotational speed omegamDividing and calculating electromagnetic torque Te；
Step five: calculating the mechanical speed omegamThe result is multiplied by the moment of inertia J to obtain T0；
Step six: electromagnetic torque TeAnd T0Making difference, and introducing the result into a low-pass filter, wherein the output of the low-pass filter is the load torque TLAnd (6) observing the value.
Preferably, the voltage amount u in step twoα、uβAnd the amount of current iα、iβObtained as follows:
Figure BDA0002320330610000022
Figure BDA0002320330610000023
preferably, the electromagnetic power P in the third stepePush button
Figure BDA0002320330610000024
Obtaining;
wherein R issIs the stator resistance.
The invention has the beneficial effects that:
1. the method can improve the stability of the system, thereby better adapting to various complex working conditions required by the operation of the unit.
2. The real-time load torque observation can be realized in the system operation process, so that the system can timely cope with the load change in operation. The input quantity required by load torque observation is a common measurement quantity, so that the hardware cost is not required to be additionally increased.
3. The method is improved on the basis of the traditional double closed-loop PI control, only the real-time value of the load torque is fed forward to the control outer loop, the method is easy to realize, less control resources are occupied, and the method is widely applied to the field control of various synchronous motors.
Drawings
FIG. 1 is a schematic diagram of a conventional dual closed loop PI control;
fig. 2 is an equivalent circuit diagram of the stator side of the synchronous motor;
FIG. 3 is a schematic diagram of a load torque observer in the method of the present invention;
FIG. 4 is a schematic diagram of a synchronous machine feed forward control using the method of the present invention;
FIG. 5 is a loading and unloading simulation waveform under the control of a conventional dual closed-loop PI;
FIG. 6 is a loading unloading simulation waveform under feedforward control in accordance with the present invention;
FIG. 7 is a waveform of a loading and unloading experiment under the control of a conventional dual closed-loop PI;
FIG. 8 is a waveform of a loading and unloading experiment using the feedforward control of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
The first embodiment is as follows: the present embodiment will be described below with reference to fig. 1 to 8.
Referring to fig. 1, in the field of motor drive, a classical PI control adopts a double closed loop PI structure. The outer control loop is speed loop PI control, and the inner control loop is current loop PI control. The control effect can lead the given error of the rotating speed and the rotating speed of the motor to approach to 0. In FIG. 1
Figure BDA0002320330610000031
For a given mechanical speed, idIs a direct current bus current and is used as a direct current bus,
Figure BDA0002320330610000032
for the dc bus current setpoint, α is the rectification angle.
The traditional control mode has poor performance and insufficient dynamic response performance when the load changes suddenly.
The embodiment introduces kT on the basis of the traditional double closed loop PI controlLAnd the feedback is fed to the double closed loop PI control outer loop to improve the dynamic response performance of the system. Referring to FIG. 4, the outer loop PI link output and kTLAdding the obtained product and then entering the next link.
k is a feedforward gain coefficient and is adjusted according to system requirements.
Load torque TLAccording to transfer function
Figure BDA0002320330610000041
Carrying out observation;
as shown in fig. 3, the observer specifically comprises the following processes:
the method comprises the following steps: any two-phase line voltage and any two-phase current of the synchronous motor are collected, and the three-phase line voltage and the three-phase current of the motor are calculated based on the relation between the three-phase voltage and the current of the motor.
uAB+uBC+uCA＝0
iA+iB+iC＝0
Step two: 3/2 transformation is carried out on the obtained three-phase stator line voltage and the three-phase current to obtain the voltage and the current value under the two-phase orthogonal coordinate system. The transformation relation is as follows:
Figure BDA0002320330610000042
Figure BDA0002320330610000043
step three: calculating the real-time electromagnetic power P of the motor according to the obtained voltage and current values under the two-phase orthogonal coordinate systeme。
Figure BDA0002320330610000044
RsSee fig. 2 for stator resistance.
Step four: using calculated electromagnetic power PeAnd the detected mechanical rotational speed omegamCalculating electromagnetic torque Te。
Figure BDA0002320330610000045
Step five: electromagnetic torque TeAnd a mechanical rotational speed omegamCalculating load torque T as input to a load torque observer, observing load torque T in real timeL。
The load torque observer is established based on a mechanical motion equation of the motor, J is the rotational inertia of the motor, and the mechanical motion equation is as follows:
Figure BDA0002320330610000051
is transformed into
Figure BDA0002320330610000052
An input observer with a transfer function of:
Figure BDA0002320330610000053
wherein
Figure BDA0002320330610000054
Is an expression of the transfer function of the low pass filter.
Observing the load torque TLThe change of the observed value is simultaneously with the electromagnetic torque TeAnd a mechanical rotational speed omegamIn this regard, the larger λ is, the better the dynamic response characteristic of the system is, but the observation result is more susceptible to interference of system noise, and in actual use, λ is selected according to the system requirement to achieve both excellent dynamic response characteristic and low system noise interference.
Compared with fig. 5 and fig. 6, when the system load suddenly changes, the feedforward control proposed by the invention has more excellent control effect than the traditional double closed-loop PI control, namely the rotating speed drop at the moment of loading is smaller and the adjusting time is shorter. Comparing fig. 7 and fig. 8, the experimental result is consistent with the simulation result, and it is proved again that the feedforward control proposed by the present invention can effectively improve the dynamic response performance of the system.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (4)

1. The feedforward control speed regulation method is suitable for a synchronous motor driven by a load conversion inverter, the synchronous motor adopts the traditional double closed loop PI control speed regulation, and the feedforward control speed regulation method is characterized in that: load torque T to synchronous machineLObserving and comparing kTLFeedforward to the double closed loop PI control outer loop;
k is a feedforward gain coefficient;
the load torque TLAccording to transfer function
Figure FDA0002320330600000011
Carrying out observation;
s is a laplacian operator, and λ is the cut-off frequency of the low-pass filter in the observer;
Teis electromagnetic torque, ωmMechanical speed, and moment of inertia.
2. The feedforward control speed regulation method suitable for the load conversion inverter driving synchronous motor according to claim 1, characterized in that the load torque TLThe observation value acquisition process comprises the following steps:
the method comprises the following steps: collecting any two-phase line voltage and any two-phase current of synchronous motorCalculating the three-phase voltage u of the motorAB、uBC、uCAAnd three-phase current iA、iB、iC；
Step two, obtaining the voltage u under αβ 0 shafting through 3/2 transformationα、uβAnd the amount of current iα、iβ；
Step three: according to the result of the step two, combining the resistance parameter of the motor stator to calculate the real-time electromagnetic power Pe；
Step four: electromagnetic power PeAnd a mechanical rotational speed omegamDividing and calculating electromagnetic torque Te；
Step five: calculating the mechanical speed omegamThe result is multiplied by the moment of inertia J to obtain T0；
Step six: electromagnetic torque TeAnd T0Making difference, and introducing the result into a low-pass filter, wherein the output of the low-pass filter is the load torque TLAnd (6) observing the value.
3. The feedforward control speed regulation method suitable for the load conversion inverter driving synchronous motor according to claim 2, wherein the voltage u in the second stepα、uβAnd the amount of current iα、iβObtained as follows:
Figure FDA0002320330600000012
Figure FDA0002320330600000013
4. the feedforward control speed regulation method suitable for the load conversion inverter driving synchronous motor according to claim 3, characterized in that the electromagnetic power P in the third stepePush button
Figure FDA0002320330600000021
Obtaining;
wherein R issIs the stator resistance.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023045242A1 (en) * 2021-09-24 2023-03-30 美的威灵电机技术（上海）有限公司 Motor control method, control device, control system and readable storage medium

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Publication number Priority date Publication date Assignee Title
US4600874A (en) * 1985-01-26 1986-07-15 General Electric Company Excitation current control for induction motor drive using load commutated inverter circuit
CN103997272A (en) * 2014-06-09 2014-08-20 浙江理工大学 Load disturbance compensation device and method of permanent magnet synchronous motor
CN104811114A (en) * 2015-05-22 2015-07-29 南车株洲电力机车研究所有限公司 Control system and method for restraining dynamic velocity drop of synchronous motor
CN108233811A (en) * 2018-03-09 2018-06-29 核工业理化工程研究院 Control method and control system without sensor type permanent magnet synchronous motor
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Publication number Priority date Publication date Assignee Title
US4600874A (en) * 1985-01-26 1986-07-15 General Electric Company Excitation current control for induction motor drive using load commutated inverter circuit
CN103997272A (en) * 2014-06-09 2014-08-20 浙江理工大学 Load disturbance compensation device and method of permanent magnet synchronous motor
CN104811114A (en) * 2015-05-22 2015-07-29 南车株洲电力机车研究所有限公司 Control system and method for restraining dynamic velocity drop of synchronous motor
CN108233811A (en) * 2018-03-09 2018-06-29 核工业理化工程研究院 Control method and control system without sensor type permanent magnet synchronous motor
CN109039193A (en) * 2018-07-27 2018-12-18 华中科技大学 A kind of method and system based on I/f starting strategy restriction motor speed fluctuation

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Title
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023045242A1 (en) * 2021-09-24 2023-03-30 美的威灵电机技术（上海）有限公司 Motor control method, control device, control system and readable storage medium

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