CN111064410A - V/F stability control method for permanent magnet synchronous motor - Google Patents
V/F stability control method for permanent magnet synchronous motor Download PDFInfo
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- CN111064410A CN111064410A CN201911380473.8A CN201911380473A CN111064410A CN 111064410 A CN111064410 A CN 111064410A CN 201911380473 A CN201911380473 A CN 201911380473A CN 111064410 A CN111064410 A CN 111064410A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- 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
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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
- 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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a V/F stability control method for a permanent magnet synchronous motor, and S1, a current sensor is adopted to detect three-phase current i of a motor statora，ib，icCarrying out dq coordinate transformation on the stator current vector to obtain a dq axis component of the stator current vector; s2, enabling the d-axis current component to pass through a high-pass filter to obtain an active power fluctuation value; and S3, calculating a frequency adjusting signal according to the active power fluctuation to adjust the frequency. The permanent magnet synchronous motor V/F stability control method adopts the active power component of the motor stator current to represent the input power, obtains the frequency adjusting signal through the calculation of the power fluctuation value, and then superposes the frequency adjusting signal on the given angular frequency to obtain the actual output angular frequency, thereby effectively inhibiting the system vibrationAnd the stability of the V/F control system is improved.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a V/F stability control method for a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high energy density, simple structure, high efficiency and the like, and is widely applied to occasions with high reliability and high control precision. Vector control is the most widely adopted permanent magnet synchronous motor control strategy, and can meet the requirements of accurate control of rotating speed and current, but at the same time, accurate rotor position and speed information needs to be obtained. The installation of the position sensor requires a certain space and the speed position signal is transmitted to the processor through a wire, which increases the cost and complexity of the system and also reduces the anti-interference capability to electromagnetic noise, mechanical vibration and temperature, thereby reducing the overall reliability of the system. In order to improve the operation efficiency and reduce the operation cost, the adoption of the control without a position sensor is the main trend of the development of the control technology of the permanent magnet synchronous motor.
The simplest position-sensorless control method of the permanent magnet synchronous motor is constant voltage frequency ratio control, namely V/F control, and the magnetic flux of the motor is kept constant by changing the power supply frequency and controlling the voltage amplitude at the same time. The control method has the outstanding characteristics that the open-loop control of the motor can be directly carried out without introducing any feedback signals of voltage, current, speed, position and the like. Because the working state of the motor cannot be obtained in real time and the optimal electromagnetic torque cannot be obtained through accurate control, the system performance is not high, the dynamic performance is poor, and particularly, the step-out phenomenon is easy to occur when the speed instruction changes or the load changes suddenly.
The V/F open-loop control system of the permanent magnet synchronous motor has inherent instability, continuous oscillation of current can occur when the V/F open-loop control system operates in certain frequency ranges, and overcurrent protection or power module burnout of the control system can be even caused in serious conditions, so that the permanent magnet synchronous motor is out of step or stops operating. The problem of V/F open loop control of the permanent magnet synchronous motor is more prominent when the permanent magnet synchronous motor runs under the condition of no load or light load.
Disclosure of Invention
In view of this, the present invention aims to provide a method for controlling V/F stability of a permanent magnet synchronous motor, which aims to overcome the defects in the prior art and comprises a permanent magnet synchronous motor, a three-phase inverter and a controller; the three-phase current of the stator is detected, coordinate transformation is carried out, the d-axis current component is subjected to high-pass filter to obtain an active power fluctuation value, and a frequency adjusting signal is calculated according to the active power fluctuation to carry out frequency adjustment.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a V/F stability control method for a permanent magnet synchronous motor comprises the following steps:
s1, detecting three-phase current i of the motor stator by adopting a current sensora，ib，icCarrying out dq coordinate transformation on the stator current vector to obtain a dq axis component of the stator current vector;
s2, enabling the d-axis current component to pass through a high-pass filter to obtain an active power fluctuation value;
and S3, calculating a frequency adjusting signal according to the active power fluctuation to adjust the frequency.
Further, the calculation formula of performing dq coordinate transformation to obtain the dq axis component of the stator current vector in S1 is:
where θ is the rotor position angle, idIs a d-axis current component, iqIs the q-axis current component;
further, the input power of the motor is used for adjusting the input frequency to increase the system damping, orientation is carried out according to the stator voltage vector direction, and the output power calculation formula is as follows:
in the formula, peTo input power, usFor input voltage, isFor the input current, phi is the angle between the input voltage and the input current, isdIs the d-axis component of the input current.
Detecting three-phase current i of motor statora、ib、icAnd carrying out dq coordinate transformation on the vector to obtain a dq-axis component of the stator current vector.
Further, the component i of the stator current vector on the d-axissdMay represent the input power.
Further, the method for obtaining the active power fluctuation value in S2 includes: will d-axis component isdObtaining power fluctuation value delta i through high-pass filtersdThe output value Δ i of the high-pass filtersdMultiplying by a gain factor-kp to obtain a frequency adjustment signal delta omega e, and then adding to the given angular frequency to obtain the actual output angular frequency.
Compared with the prior art, the V/F stability control method of the permanent magnet synchronous motor has the following advantages:
the permanent magnet synchronous motor V/F stability control method adopts the active power component of the motor stator current to represent the input power, obtains the frequency adjusting signal through the calculation of the power fluctuation value, and then superposes the frequency adjusting signal on the given angular frequency to obtain the actual output angular frequency, thereby effectively inhibiting the system oscillation and improving the stability of a V/F control system.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram illustrating a principle of a V/F stability control method for a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
A V/F stability control method for a permanent magnet synchronous motor comprises the following steps:
s1, detecting three-phase current i of the motor stator by adopting a current sensora，ib，icCarrying out dq coordinate transformation on the stator current vector to obtain a dq axis component of the stator current vector;
s2, enabling the d-axis current component to pass through a high-pass filter to obtain an active power fluctuation value;
and S3, calculating a frequency adjusting signal according to the active power fluctuation to adjust the frequency.
The formula for calculating the dq axis component of the stator current vector by applying dq coordinate transformation described in S1 is:
where θ is the rotor position angle, idIs a d-axis current component, iqIs the q-axis current component;
the input power of the motor is used for adjusting the input frequency to increase the system damping, orientation is carried out according to the stator voltage vector direction, and the output power calculation formula is as follows:
in the formula, peTo input power, usFor input voltage, isFor the input current, phi is the angle between the input voltage and the input current, isdIs the d-axis component of the input current.
Detecting three-phase current i of motor statora、ib、icAnd carrying out dq coordinate transformation on the vector to obtain a dq-axis component of the stator current vector.
Component i of stator current vector on d-axissdMay represent the input power.
The method for obtaining the active power fluctuation value in S2 includes: will d-axis component isdObtaining power fluctuation value delta i through high-pass filtersdThe output value Δ i of the high-pass filtersdMultiplying by a gain factor-kp to obtain a frequency adjustment signal delta omega e, and then adding to the given angular frequency to obtain the actual output angular frequency.
As shown in fig. 1, in the technical solution, a frequency compensation link is embedded in the frequency setting of the normal V/F control system, and the working process of this example is as follows:
the input power of the motor can be used for adjusting the input frequency to increase the system damping, and if the orientation is carried out according to the stator voltage vector direction, the calculation formula of the output power is as follows
In the formula, peTo input power, usFor input voltage, isFor the input current, phi is the angle between the input voltage and the input current, isdIs the d-axis component of the input current.
From equation (1), the component i of the stator current vector on the d-axissdCan represent input power and detect three-phase electricity of motor statorStream ia、ib、icCarrying out dq coordinate transformation on the vector to obtain a dq axis component of the stator current vector, and converting a d axis component isdObtaining power fluctuation value delta i through high-pass filtersd. Output value delta i of high-pass filtersdMultiplying by a gain factor-kp to obtain a frequency adjustment signal delta omega e, and then adding to the given angular frequency to obtain the actual output angular frequency.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A V/F stability control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
s1, detecting three-phase current i of the motor stator by adopting a current sensora，ib，icCarrying out dq coordinate transformation on the stator current vector to obtain a dq axis component of the stator current vector;
s2, enabling the d-axis current component to pass through a high-pass filter to obtain an active power fluctuation value;
and S3, calculating a frequency adjusting signal according to the active power fluctuation to adjust the frequency.
2. The V/F stability control method of the permanent magnet synchronous motor according to claim 1, characterized in that: the formula for calculating the dq axis component of the stator current vector by applying dq coordinate transformation described in S1 is:
where θ is the rotor position angle, idIs a d-axis current component, iqIs the q-axis current component.
3. The V/F stability control method of the permanent magnet synchronous motor according to claim 1, characterized in that: the input power of the motor is used for adjusting the input frequency to increase the system damping, orientation is carried out according to the stator voltage vector direction, and the output power calculation formula is as follows:
in the formula, peTo input power, usFor input voltage, isFor the input current, phi is the angle between the input voltage and the input current, isdIs the d-axis component of the input current.
Detecting three-phase current i of motor statora、ib、icAnd carrying out dq coordinate transformation on the vector to obtain a dq-axis component of the stator current vector.
4. The V/F stability control method of the permanent magnet synchronous motor according to claim 2, characterized in that: component i of stator current vector on d-axissdMay represent the input power.
5. The V/F stability control method of the permanent magnet synchronous motor according to claim 2, characterized in that: the method for obtaining the active power fluctuation value in S2 includes: will d-axis component isdObtaining power fluctuation value delta i through high-pass filtersdThe output value Δ i of the high-pass filtersdMultiplying by a gain factor-kp to obtain a frequency adjustment signal delta omega e, and then adding to the given angular frequency to obtain the actual output angular frequency.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112671306A (en) * | 2021-01-20 | 2021-04-16 | 上海辛格林纳新时达电机有限公司 | Method and device for suppressing vibration of VF-controlled three-phase motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112671306A (en) * | 2021-01-20 | 2021-04-16 | 上海辛格林纳新时达电机有限公司 | Method and device for suppressing vibration of VF-controlled three-phase motor |
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