CN111464041B - Three-phase frequency converter control system and method - Google Patents
Three-phase frequency converter control system and method Download PDFInfo
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- CN111464041B CN111464041B CN202010421293.6A CN202010421293A CN111464041B CN 111464041 B CN111464041 B CN 111464041B CN 202010421293 A CN202010421293 A CN 202010421293A CN 111464041 B CN111464041 B CN 111464041B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/02—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc
- H02M5/04—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters
- H02M5/22—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M5/275—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/293—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/02—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc
- H02M5/04—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters
- H02M5/22—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M5/275—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/293—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M5/2932—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage, current or power
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A three-phase frequency converter control system and method, the output end of the three-phase frequency converter is connected with three-phase AC motor through the long cable, (1) connect the three-phase frequency converter with three-phase AC motor through the long cable; (2) detecting output voltages Ua, Ub and Uc; (3) obtaining Ualpha and Ubeta through Clarke transformation, and then calculating compensation voltages Uc alpha and Uc beta; (4) subtracting the reference instruction Ualpha + Uc alpha from the Ualpha to obtain an error signal Ue alpha, and subtracting the reference instruction Ubeta + Uc beta from the Ubeta to obtain an error signal Ue beta; (5) the two error signals Ue alpha and Ue beta are respectively passed through a voltage regulator to obtain U alpha 2 and U beta 2; (6) and then obtaining a driving signal of the three-phase frequency converter through the space vector modulation unit. Under the condition of different types of loads, the problem of voltage drop compensation of a long cable of the three-phase frequency converter is dynamically solved, and the output torque of the motor is not influenced by the voltage drop of the long cable; the method does not need rotating coordinate transformation, is simple and easy to implement, simultaneously eliminates system control errors caused by rotating coordinate transformation orientation errors, realizes self-adaptive dynamic adjustment of output voltage, and improves system operation performance.
Description
Technical Field
The invention belongs to the field of motor driver control, and particularly relates to a three-phase frequency converter control system and a three-phase frequency converter control method.
Background
The three-phase frequency converter is widely applied in the industrial field, and in some special occasions, such as the underground coal mining process, a power supply source of transmission equipment and the frequency converter are usually placed in an equipment train or a chamber, and at the moment, a certain distance exists between the frequency converter and a motor and the frequency converter and the motor need to be connected by a long cable. By adopting the three-phase frequency converter driving technology, although the problems of PWM pulse voltage harmonic wave, motor insulation stress and the like are caused, soft start is realized, and mechanical and electric impact of large starting current on a transmission system is eliminated. However, the voltage loss on the cable is large due to the long distance of the cable, and the magnetic flux of the motor is seriously attenuated, so that the motor cannot be started normally. Therefore, it is necessary to compensate for the voltage drop of the long cable to ensure the normal starting of the motor. There is therefore a need for a solution to the problem of voltage drop compensation for long cables.
Disclosure of Invention
The invention aims to provide a three-phase frequency converter control system and a three-phase frequency converter control method, which can effectively solve the problem of long cable voltage drop compensation of a three-phase frequency converter.
In order to solve the technical problems, one of the technical solutions of the present invention is: a three-phase inverter control system, the output of three-phase inverter is connected with three-phase alternating current motor through long cable, controlling means includes:
the Clarke transformation unit is used for transforming the output voltages Ua, Ub and Uc of the three-phase frequency converter to obtain voltages Ualpha and Ubeta under an alpha beta coordinate system;
the first subtractor is used for subtracting the reference instruction Ualpha + compensation voltage Uc alpha from the voltage Ualpha to obtain an error signal Ue alpha;
the second subtracter subtracts the reference instruction Ubeta + compensation voltage Uc beta from the voltage Ubeta to obtain an error signal Ue beta;
a voltage regulator for regulating the two error signals Ue α and Ue β and outputting signals U α 2 and U β 2;
and modulating the Ualpha 2 and the Ubeta 2 to obtain a space vector modulation unit SVM of the driving signal of the three-phase frequency converter.
In order to solve the technical problems, the second technical scheme of the invention is as follows:
a control method of a three-phase frequency converter comprises the following steps:
(1) connecting the output end of the three-phase frequency converter with a three-phase alternating current motor through a long cable;
(2) detecting output voltages Ua, Ub and Uc of the three-phase frequency converter;
(3) obtaining voltages Ualpha and Ubeta under an alpha beta coordinate system through Clarke transformation, and then calculating to obtain compensation voltages Uc alpha and Uc beta;
(4) subtracting the reference instruction Ualpha + Uc alpha from the Ualpha to obtain an error signal Ue alpha, and subtracting the reference instruction Ubeta + Uc beta from the Ubeta to obtain an error signal Ue beta;
(5) the two error signals Ue alpha and Ue beta pass through a voltage regulator and output signals U alpha 2 and U beta 2, respectively;
(6) and then obtaining a driving signal of the three-phase frequency converter through the space vector modulation unit.
As an improvement, the calculation method of the compensation voltage Uc α and the compensation voltage Uc β is as follows:
wherein the content of the first and second substances,Lis equivalent inductance of a long cable,rIs the equivalent resistance of a long cable,CIs the equivalent capacitance of the long cable,
in order for the system to operate at an angular frequency,
the cut-off angular frequency of the filter is adopted, and I alpha and I beta are respectively alpha axis and beta axis components of the output current of the three-phase frequency converter under an alpha beta coordinate system;
t(s) is an adaptive adjuster,
wherein the content of the first and second substances,
、
、
、
respectively adaptive adjuster coefficients.
Further, the calculation formulas of the voltages U α and U β are as follows:
wherein Ua, Ub and Uc are output voltages of the three-phase frequency converter.
Further, the calculation formulas of the α -axis and β -axis components I α and I β of the output current of the three-phase frequency converter in the α β coordinate system are as follows:
and Ia, Ib and Ic are output currents of the three-phase frequency converter.
Compared with the prior art, the invention has the following beneficial effects:
firstly, under the condition of different types of loads, the problem of voltage drop compensation of a long cable of a three-phase frequency converter is dynamically solved, and the output torque of a motor is not influenced by the voltage drop of the long cable, so that ultra-long distance drive control is realized.
In addition, the invention does not need the transformation of the rotating coordinate, simultaneously eliminates the system control error caused by the orientation error of the transformation of the rotating coordinate, realizes the self-adaptive dynamic adjustment of the system performance and greatly improves the system operation performance.
The foregoing description is only an overview of the technical solutions of the present application, so that the technical means of the present application can be more clearly understood and the present application can be implemented according to the content of the description, and in order to make the above and other objects, features and advantages of the present application more clearly understood, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of a three-phase frequency converter system;
fig. 2 is a control structure diagram according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted in the embodiments for the sake of clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "the embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrase "one embodiment" or "the present embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
The invention is further described below with reference to the accompanying drawings:
example one
As shown in fig. 1, in a control system of a three-phase inverter, an output terminal of the three-phase inverter is connected to a three-phase ac motor through a long cable. As shown in fig. 2, the three-phase inverter control system includes:
the Clarke transformation unit is used for transforming the output voltages Ua, Ub and Uc of the three-phase frequency converter to obtain voltages Ualpha and Ubeta under an alpha beta coordinate system;
the first subtractor is used for subtracting the reference instruction Ualpha + compensation voltage Uc alpha from the voltage Ualpha to obtain an error signal Ue alpha;
the second subtracter subtracts the reference instruction Ubeta + compensation voltage Uc beta from the voltage Ubeta to obtain an error signal Ue beta;
a voltage regulator for regulating the two error signals Ue α and Ue β and outputting signal output signals U α 2 and U β 2;
and modulating the Ualpha 2 and the Ubeta 2 to obtain a space vector modulation unit SVM of the driving signal of the three-phase frequency converter.
Further, when U α 2 and U β 2 are respectively 0 or absent, the reference commands U α and U β are respectively the three-phase inverter output voltages Ua, Ub, Uc, and the values of the voltages U α and U β in the α β coordinate system are obtained through Clarke transformation.
Further, the reference instructions U α and U β are configured to: when the output signals U α 2 and U β 2 are present and not 0, U α and U β are equal to U α 2 and U β 2, respectively.
Further, the three-phase frequency converter control system comprises a detection unit, wherein the detection unit detects output voltages Ua, Ub and Uc and output currents Ia, Ib and Ic in real time and outputs the output voltages to the Clarke conversion unit, the first subtracter and the second subtracter.
Further, the three-phase frequency converter control system comprises a first configurator, the first configurator records preset values of Ua, Ub and Uc and output currents Ia, Ib and Ic of the control system, and when the dynamic unit does not output signals, the recorded signal values of the output voltages Ua, Ub and Uc and the output currents Ia, Ib and Ic are output to the Clarke conversion unit, the first subtracter and the second subtracter by the first configurator.
In one embodiment, the three-phase frequency converter control system further comprises a second configurator which records preset values of the error signals Ue α and Ue β, the recorded preset value signals of Ue α and Ue β being output by the second configurator to the voltage regulator when no output signal is present from the first and second subtractors.
Example two
On the basis of the first embodiment, this embodiment further provides a control method for a three-phase frequency converter, where the method specifically includes:
(1) connecting the output end of the three-phase frequency converter with a three-phase alternating current motor through a long cable;
(2) detecting output voltages Ua, Ub and Uc and output currents Ia, Ib and Ic of the three-phase frequency converter;
(3) obtaining voltages Ualpha and Ubeta under an alpha beta coordinate system through Clarke transformation, and then calculating compensation voltages Uc alpha and Uc beta;
(4) subtracting the reference instruction Ualpha + Uc alpha from the Ualpha to obtain an error signal Ue alpha, and subtracting the reference instruction Ubeta + Uc beta from the Ubeta to obtain an error signal Ue beta;
(5) the two error signals Ue alpha and Ue beta pass through a voltage regulator and output signals U alpha 2 and U beta 2, respectively;
(6) and then obtaining a driving signal of the three-phase frequency converter through the space vector modulation unit.
In the control method of the three-phase frequency converter, the compensation voltage calculation method comprises the following steps,L、r、Crespectively a long cable model equivalent inductance, a resistance and a capacitance,
in order for the system to operate at an angular frequency,
for the cut-off angular frequency of the filter, I alpha and I beta are respectively the alpha axis and beta axis components of the output current of the three-phase frequency converter under an alpha beta coordinate system,
t(s) is an adaptive adjuster, and the expression is as follows:
wherein the content of the first and second substances,
、
、
、
respectively adaptive regulator coefficients; s is the laplacian operator.
In the control method of the three-phase frequency converter, the calculation method of the voltages U α and U β is as follows:
wherein Ua, Ub and Uc are output voltages of the three-phase frequency converter.
The calculation method of the I alpha and the I beta is as follows:
and Ia, Ib and Ic are output currents of the three-phase frequency converter.
The previous description of all disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a three-phase motor converter control system which characterized in that, the output of three-phase frequency converter is connected with three-phase AC motor through long cable, control system includes following subassembly:
the Clarke transformation unit is used for transforming the output capacitor voltages Ua, Ub and Uc of the three-phase frequency converter to obtain voltages Ualpha and Ubeta under an alpha beta coordinate system;
the first subtractor is used for subtracting the reference instruction Ualpha + compensation voltage Uc alpha from the voltage Ualpha to obtain an error signal Ue alpha;
the second subtracter subtracts the reference instruction Ubeta + compensation voltage Uc beta from the voltage Ubeta to obtain an error signal Ue beta;
a voltage regulator for regulating the two error signals Ue α and Ue β and outputting signals U α 2 and U β 2;
modulating the Ualpha 2 and the Ubeta 2 to obtain a space vector modulation unit SVM of the driving signal of the three-phase frequency converter;
the configuration of the compensation voltage Uc alpha and the compensation voltage Uc beta is as follows:
wherein L is equivalent inductance of the long cable, r is equivalent resistance of the long cable, C is equivalent capacitance of the long cable, omega is angular frequency of system operation, omega iscThe cut-off angular frequency of the filter is adopted, and I alpha and I beta are respectively alpha axis and beta axis components of the output current of the three-phase frequency converter under an alpha beta coordinate system;
t(s) is an adaptive adjuster,
wherein，a1、a0、b1、b0Respectively adaptive adjuster coefficients.
2. The control system of a three-phase motor inverter according to claim 1, wherein: the calculation formula of the voltages Ualpha and Ubeta is as follows:
wherein Ua, Ub and Uc are output voltages of the three-phase frequency converter.
3. The control system of a three-phase motor inverter according to claim 1, wherein: the calculation formula of the alpha-axis and beta-axis components I alpha and I beta of the output current of the three-phase frequency converter under the alpha beta coordinate system is as follows:
and Ia, Ib and Ic are output currents of the three-phase frequency converter.
4. A control method of a three-phase motor inverter control system according to claim 1, comprising the steps of:
(1) connecting the output end of the three-phase frequency converter with a three-phase alternating current motor through a long cable;
(2) detecting output voltages Ua, Ub and Uc of the three-phase frequency converter;
(3) obtaining voltages Ualpha and Ubeta under an alpha beta coordinate system through Clarke transformation, and then calculating to obtain compensation voltages Uc alpha and Uc beta;
(4) subtracting the reference instruction Ualpha + Uc alpha from the Ualpha to obtain an error signal Ue alpha, and subtracting the reference instruction Ubeta + Uc beta from the Ubeta to obtain an error signal Ue beta;
(5) the two error signals Ue alpha and Ue beta pass through a voltage regulator and output signals U alpha 2 and U beta 2, respectively;
(6) and then obtaining a driving signal of the three-phase frequency converter through the space vector modulation unit.
5. The control method according to claim 4, wherein the configuration of the compensation voltage Uc α and the compensation voltage Uc β is such that:
wherein L is equivalent inductance of the long cable, r is equivalent resistance of the long cable, C is equivalent capacitance of the long cable, omega is angular frequency of system operation, omega iscThe cut-off angular frequency of the filter is adopted, and I alpha and I beta are respectively alpha axis and beta axis components of the output current of the three-phase frequency converter under an alpha beta coordinate system;
t(s) is an adaptive adjuster,
wherein, a1、a0、b1、b0Respectively adaptive adjuster coefficients.
6. The control method according to claim 4, wherein the calculation formula of the voltages Ua and Uβ is as follows:
wherein Ua, Ub and Uc are output voltages of the three-phase frequency converter.
7. The control method according to claim 5, characterized in that: the calculation formula of the alpha-axis and beta-axis components I alpha and I beta of the output current of the three-phase frequency converter under the alpha beta coordinate system is as follows:
and Ia, Ib and Ic are output currents of the three-phase frequency converter.
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| US9093916B2 (en) * | 2011-12-19 | 2015-07-28 | Power Integrations, Inc. | Detecting output diode conduction time for cable drop compensation of a power converter |
| CN104078986B (en) * | 2014-06-18 | 2016-02-17 | 成都麦隆电气有限公司 | A kind of method of digital phase-locked loop of the reactive power compensator based on three-phase positive sequence component and device thereof |
| CN106027038B (en) * | 2016-05-13 | 2019-03-05 | 电子科技大学 | A kind of improved three-phase phase-lock-loop algorithm based on time delayed signal null method |
| CN106451487B (en) * | 2016-10-13 | 2018-11-20 | 国网天津市电力公司 | A kind of 220kV urban distribution network Non Power Compensation Process |
| CN108964499A (en) * | 2018-07-02 | 2018-12-07 | 湖南大学 | Modified repetitive control suitable for three-phase PWM inverter |
| CN110971167B (en) * | 2019-12-24 | 2021-10-12 | 江苏大学 | Variable leakage motor position sensorless control method based on detection filter |
| CN111130409B (en) * | 2019-12-24 | 2022-08-19 | 重庆大学 | Ultra-low speed high-precision positioning control method of frameless torque motor |
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