CN112615578B - Open-loop vector control system and method for asynchronous motor - Google Patents
Open-loop vector control system and method for asynchronous motor Download PDFInfo
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- CN112615578B CN112615578B CN202011501078.3A CN202011501078A CN112615578B CN 112615578 B CN112615578 B CN 112615578B CN 202011501078 A CN202011501078 A CN 202011501078A CN 112615578 B CN112615578 B CN 112615578B
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 32
- 230000004907 flux Effects 0.000 claims abstract description 17
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- 238000004804 winding Methods 0.000 claims description 3
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Classifications
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
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Abstract
The invention discloses an open-loop vector control system and method for an asynchronous motor, wherein the open-loop vector control system for the asynchronous motor comprises an asynchronous motor, a q-axis signal input end, a d-axis signal input end, a speed loop PI, a slip instruction calculation module, a synchronous frequency calculation module, a speed estimation module, a special current loop and a magnetic linkage estimation module; the q-axis signal input end is connected with the synchronous frequency calculation module through the speed loop PI and the slip instruction calculation module in sequence, the synchronous frequency calculation module is connected with the speed estimation module, and the speed estimation module is connected with the q-axis signal input end; the d-axis signal input end is connected with a special current loop, the synchronous frequency calculation module is connected with the special current loop, the special current loop is respectively connected with a motor and a flux linkage estimation module, the motor is connected with the flux linkage estimation module, and the flux linkage estimation module is connected with the speed estimation module. The invention can promote the low-speed stable dragging load capacity of the motor and ensure the high-speed smooth operation of the motor.
Description
Technical Field
The invention relates to the technical field of asynchronous motor speed sensorless vector control of a frequency converter special for an elevator, in particular to an asynchronous motor open-loop vector control system and method.
Background
In applications where the elevator dedicated frequency converter does not have an encoder (PG), two control techniques, VF control (scalar control) and SVC control (speed sensorless vector control), are generally used.
VF control has the problems of poor low-speed carrying capacity and poor speed control precision. SVC control is the most common application technology of an elevator special frequency converter without an encoder (PG), and the technology adopts a vector magnetic field directional control scheme, so that the magnetic field angle and the feedback speed need to be estimated, and the problem that the fluctuation of the estimated speed is large, so that the fluctuation of the running speed of a motor is obvious exists.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an open-loop vector control system and method for an asynchronous motor.
The technical scheme of the invention is as follows:
on one hand, an open-loop vector control system of an asynchronous motor is provided, which comprises an asynchronous motor, a q-axis signal input end, a d-axis signal input end, a speed loop PI, a slip instruction calculation module, a synchronous frequency calculation module, a speed estimation module, a special current loop and a flux linkage estimation module;
the positive input port of the q-axis signal input end is connected with an asynchronous motor operation frequency port, the output port of the q-axis signal input end is connected with a first input port of the synchronous frequency calculation module through a speed ring PI and a slip instruction calculation module in sequence, the motor operation frequency port is connected with a second input port of the synchronous frequency calculation module, the output port of the synchronous frequency calculation module is connected with a first input port of the speed estimation module, and the output port of the speed estimation module is connected with a negative input port of the q-axis signal input end;
the positive input port of the d-axis signal input end is connected with the control current port of the asynchronous motor, the negative input port of the d-axis signal input end is connected with the feedback exciting current port of the asynchronous motor, the output port of the d-axis signal input end is connected with the first input port of the special current loop, the output port of the synchronous frequency calculation module is connected with the second input port of the special current loop, the third input port of the special current loop is connected with the feedback torque current port of the asynchronous motor, the output port of the special current loop is respectively connected with the input port of the motor and the first input port of the flux linkage estimation module, the output port of the motor is connected with the second input port of the flux linkage estimation module, and the output port of the flux linkage estimation module is connected with the second input port of the speed estimation module.
Further, the speed loop PI calculates a torque current iq_ref according to the running frequency wr_ref of the asynchronous motor and a feedback speed wr_est obtained by the speed estimation module.
Further, the feedback speed wr_est obtained by the speed estimation module is calculated according to the following formula by using the running frequency wr_ref of the asynchronous motor and the estimated slip wsl_est of the asynchronous motor obtained by the flux linkage estimation module: wr_est=wr_ref-wsl_est.
Further, the slip instruction calculation module calculates to obtain an asynchronous motor slip wsl_ref according to the following formula, wherein wsl_ref=iq_ref is Rr/k, rr is an asynchronous motor rotor resistance, and k is a rated counter potential coefficient of the asynchronous motor.
Further, the synchronous frequency calculation module calculates the synchronous frequency w1_ref of the asynchronous motor according to the following formula, wherein w1_ref=wr_ref+wsl_ref.
Further, the q-axis voltage Uq and d-axis voltage Ud of the asynchronous motor are calculated according to the following formula in a low-speed region, uq=k×w1_ref+rs×iq_ fdb, rs is an asynchronous motor stator resistor, and iq_ fdb is an asynchronous motor feedback torque current; ud=rs×i0+kp (I0-id_ fdb), I0 is the control current identified by the asynchronous motor, kp is the winding distribution coefficient of the asynchronous motor, and id_ fdb is the asynchronous motor feedback exciting current.
Further, the low velocity zone is less than 3hz.
Further, the q-axis voltage Uq and d-axis voltage Ud of the asynchronous motor are calculated according to the following formula in a high-speed region, uq=k×w1_ref+rs×iq_ fdb, rs is an asynchronous motor stator resistor, and iq_ fdb is an asynchronous motor feedback torque current; ud=rs×i0, I0 is the control current identified by the asynchronous motor.
Further, the high velocity zone is greater than 3hz.
On the other hand, the open-loop vector control method of the asynchronous motor comprises the following steps:
s1: firstly, generating an acceleration or deceleration instruction through a slope function;
s2: then, according to the running frequency and the feedback speed of the asynchronous motor, torque current is obtained through calculation through a speed loop PI;
s3: then calculating the slip of the asynchronous motor and the synchronous frequency of the asynchronous motor through a formula;
s4: and finally, calculating the q-axis voltage and the d-axis voltage of the asynchronous motor by utilizing the synchronous frequency of the asynchronous motor.
Compared with the prior art, the invention has the beneficial effects that:
1. the low-speed load capacity of the motor is improved through the resistance voltage drop compensation of the vector control current loop;
2. the invention reduces the fluctuation of motor speed operation through the improvement of a feedback speed estimation algorithm;
3. the invention can promote the low-speed stable dragging load capacity of the motor and ensure the high-speed smooth operation of the motor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an open loop vector control system for an asynchronous motor according to the present invention;
fig. 2 is a flowchart of an open-loop vector control method for an asynchronous motor.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Examples
As shown in fig. 1, the embodiment provides an open-loop vector control system of an asynchronous motor, which comprises an asynchronous motor, a q-axis signal input end, a d-axis signal input end, a speed loop PI, a slip instruction calculation module, a synchronous frequency calculation module, a speed estimation module, a special current loop and a flux linkage estimation module. The positive input port of the q-axis signal input end is connected with the running frequency port of the asynchronous motor, the output port of the q-axis signal input end is sequentially connected with the first input port of the synchronous frequency calculation module (namely, the W1 ref calculation module) through the speed ring PI (namely, the speed control PI) and the slip instruction calculation module, the motor running frequency port is connected with the second input port of the synchronous frequency calculation module, the output port of the synchronous frequency calculation module is connected with the first input port of the speed estimation module, and the output port of the speed estimation module is connected with the negative input port of the q-axis signal input end. The positive input port of the d-axis signal input end is connected with the control current port of the asynchronous motor, the negative input port of the d-axis signal input end is connected with the feedback exciting current port of the asynchronous motor, the output port of the d-axis signal input end is connected with the first input port of the special current loop, the output port of the synchronous frequency calculation module is connected with the second input port of the special current loop, the third input port of the special current loop is connected with the feedback torque current port of the asynchronous motor, the output port of the special current loop is respectively connected with the input port of the motor and the first input port of the flux linkage estimation module, the output port of the motor is connected with the second input port of the flux linkage estimation module, and the output port of the flux linkage estimation module is connected with the second input port of the speed estimation module.
Referring to fig. 2, in the method for controlling an open loop vector of an asynchronous motor of the open loop vector control system of an asynchronous motor, an acceleration or deceleration command is first generated by a ramp function, then a torque current iq_ref is calculated by a speed loop PI according to an asynchronous motor operating frequency wr_ref and a feedback speed wr_est obtained by a speed estimation module, and the feedback speed wr_est is calculated by the asynchronous motor operating frequency wr_ref and an asynchronous motor estimated slip wsl_est obtained by the flux linkage estimation module according to the following formula:
Wr_est＝Wr_ref-Wsl_est。
then, calculating slip Wsl_ref of the asynchronous motor and synchronous frequency W1_ref of the asynchronous motor through a formula;
the slip instruction calculation module calculates to obtain the slip Wsl_ref of the asynchronous motor according to the following formula, wherein Wsl_ref=Iq_ref is Rr/k, rr is the rotor resistance of the asynchronous motor, and k is the rated counter potential coefficient of the asynchronous motor;
the synchronous frequency calculation module calculates the synchronous frequency w1_ref, w1_ref=wr_ref+wsl_ref of the asynchronous motor according to the following formula.
And finally, calculating the q-axis voltage Uq and the d-axis voltage Ud of the asynchronous motor in a low-speed area and a high-speed area by utilizing the synchronous frequency W1_ref of the asynchronous motor.
Low speed zone (less than 3 hz):
q-axis voltage: uq=k w1_ref+rs iq_ fdb;
d-axis voltage: ud=rs×i0+kp (i0—id_ fdb).
Wherein Rs is stator resistance of the asynchronous motor, iq_ fdb is feedback torque current of the asynchronous motor, I0 is control current identified by the asynchronous motor, kp is winding distribution coefficient of the asynchronous motor, and Id_ fdb is feedback exciting current of the asynchronous motor.
High speed zone (greater than 3 hz):
q-axis voltage: uq=k w1_ref+rs iq_ fdb;
d-axis voltage: ud=rs×i0.
The invention is suitable for the occasions without encoders of the special frequency converters of the overseas elevators such as India, iran and the like, and compared with the prior VF control technology, the low-speed load capacity is enhanced, so that the jitter is obviously reduced when the elevator is started. Compared with the existing SVC control technology, the speed fluctuation is obviously reduced when the elevator runs at high speed due to the reduction of the high-speed fluctuation, and the riding comfort is obviously improved when the elevator runs.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. An open loop vector control system of an asynchronous motor, which is used for a special frequency converter of an elevator without an encoder, and is characterized in that: the device comprises an asynchronous motor, a q-axis signal input end, a d-axis signal input end, a speed loop PI, a slip instruction calculation module, a synchronous frequency calculation module, a speed estimation module, a special current loop and a magnetic linkage estimation module;
the positive input port of the q-axis signal input end is connected with an asynchronous motor operation frequency port, the output port of the q-axis signal input end is connected with a first input port of the synchronous frequency calculation module through a speed ring PI and a slip instruction calculation module in sequence, the motor operation frequency port is connected with a second input port of the synchronous frequency calculation module, the output port of the synchronous frequency calculation module is connected with a first input port of the speed estimation module, and the output port of the speed estimation module is connected with a negative input port of the q-axis signal input end;
the positive input port of the d-axis signal input end is connected with an asynchronous motor control current port, the negative input port of the d-axis signal input end is connected with an asynchronous motor feedback excitation current port, the output port of the d-axis signal input end is connected with a first input port of the special current loop, the output port of the synchronous frequency calculation module is connected with a second input port of the special current loop, the third input port of the special current loop is connected with an asynchronous motor feedback torque current port, the output port of the special current loop is respectively connected with the input port of the motor and the first input port of the flux linkage estimation module, the output port of the motor is connected with the second input port of the flux linkage estimation module, and the output port of the flux linkage estimation module is connected with the second input port of the speed estimation module;
the q-axis voltage Uq and d-axis voltage Ud of the asynchronous motor are calculated in a low-speed region according to the following formula, wherein Uq=k is W1 ref+Rs is Iq_ fdb, rs is an asynchronous motor stator resistor, and Iq_ fdb is an asynchronous motor feedback torque current; ud=rs×i0+kp (I0-id_ fdb), I0 is a control current identified by the asynchronous motor, kp is a winding distribution coefficient of the asynchronous motor, id_ fdb is a feedback exciting current of the asynchronous motor, k is a rated counter potential coefficient of the asynchronous motor, and w1_ref is a synchronous frequency of the asynchronous motor.
2. An asynchronous motor open loop vector control system according to claim 1, wherein: the speed loop PI calculates torque current Iq_ref according to the running frequency Wr_ref of the asynchronous motor and the feedback speed Wr_est obtained by the speed estimation module.
3. An asynchronous motor open loop vector control system according to claim 2, wherein: the feedback speed Wr_est obtained by the speed estimation module is calculated through the running frequency Wr_ref of the asynchronous motor and the estimated slip Wsl_est of the asynchronous motor obtained by the flux linkage estimation module according to the following formula: wr_est=wr_ref-wsl_est.
4. An asynchronous motor open loop vector control system according to claim 2, wherein: the slip instruction calculation module calculates to obtain the slip Wsl_ref of the asynchronous motor according to the following formula, wherein Wsl_ref=iq_ref is Rr/k, rr is the rotor resistance of the asynchronous motor, and k is the rated counter potential coefficient of the asynchronous motor.
5. An asynchronous motor open loop vector control system according to claim 4, wherein: the synchronous frequency calculation module calculates the synchronous frequency W1_ref of the asynchronous motor according to the following formula, wherein W1_ref=Wr_ref+Wsl_ref.
6. An asynchronous motor open loop vector control system according to claim 5, wherein: the low velocity zone is less than 3hz.
7. An asynchronous motor open loop vector control system according to claim 5, wherein: the q-axis voltage Uq and the d-axis voltage Ud of the asynchronous motor are calculated in a high-speed area according to the following formula, wherein Uq=k is W1 ref+Rs is Iq_ fdb, rs is an asynchronous motor stator resistor, and Iq_ fdb is an asynchronous motor feedback torque current; ud=rs×i0, I0 is the control current identified by the asynchronous motor.
8. An asynchronous motor open loop vector control system according to claim 7, wherein: the high velocity zone is greater than 3hz.
9. An asynchronous motor open-loop vector control method based on an asynchronous motor open-loop vector control system according to any one of claims 1-8, comprising:
s1: firstly, generating an acceleration or deceleration instruction through a slope function;
s2: then, according to the running frequency and the feedback speed of the asynchronous motor, torque current is obtained through calculation through a speed loop PI;
s3: then calculating the slip of the asynchronous motor and the synchronous frequency of the asynchronous motor through a formula;
s4: and finally, calculating the q-axis voltage and the d-axis voltage of the asynchronous motor by utilizing the synchronous frequency of the asynchronous motor.
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