CN114614714A - Method for stably controlling high-speed domain of speed-sensorless induction motor - Google Patents

Method for stably controlling high-speed domain of speed-sensorless induction motor Download PDF

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CN114614714A
CN114614714A CN202210339284.1A CN202210339284A CN114614714A CN 114614714 A CN114614714 A CN 114614714A CN 202210339284 A CN202210339284 A CN 202210339284A CN 114614714 A CN114614714 A CN 114614714A
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flux linkage
observer
speed
full
induction motor
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宋宝
赵琨
周向东
唐小琦
刘楷文
张泽之
吴玉泉
高天赐
林志鹏
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Huazhong University of Science and 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
    • 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
    • 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
    • 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
    • H02P21/14—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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control

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Abstract

The invention belongs to the technical field of control of an alternating current servo system, and discloses a method for stably controlling a high-speed domain of a speed-sensorless induction motor, which comprises the following steps: estimating a current estimation feedback error and a flux linkage observation value by using a full-order flux linkage observer adopting an improved pole left shift feedback matrix; estimating the rotating speed of the motor by using a speed observer, and feeding the estimated rotating speed value of the motor back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method. The invention provides an improved pole left shift feedback matrix, which increases the damping ratio of the observer, has smaller calculated amount and improves the performance of flux linkage observation and sensorless vector control; an improved backward Euler method is provided, and the problem that stability and computational complexity cannot be considered simultaneously after a full-order flux linkage observer is discretized is solved.

Description

Method for stably controlling high-speed domain of speed-sensorless induction motor
Technical Field
The invention belongs to the technical field of control of alternating current servo systems, and particularly relates to a stable control method for a high-speed domain of a speed-sensorless induction motor.
Background
At present, the induction motor is generally applied in the industry at present due to its simple structure, high reliability and low manufacturing cost, and particularly has an irreplaceable status on a high-grade numerical control machine spindle which seeks for high speed. With the continuous development of industrial production in China, the high-performance AC induction servo motor spindle drive control technology has become one of the most critical problems in improving the performance of numerical control machine tools. The speed sensors in the servo system increase the cost of the equipment and the sensors are expensive compared to other hardware of the frequency conversion equipment. In some high speed applications, the speed sensor may add additional control noise and uncertainty. In conclusion, the vector control research of the speed sensorless induction motor in the high-speed domain has important value.
Compared with a control method with a speed sensor, the speed sensor-free control system reduces an encoder device arranged on a motor spindle, and avoids interference of signal transmission between an encoder signal and a control board. Therefore, the induction motor control system applying the sensorless control method not only reduces the complexity of a hardware structure and reduces the cost, but also improves the anti-interference capability of a servo system. In a vector control system of a sensorless induction motor, a flux linkage observer is adopted to realize the observation of stator and rotor flux linkages and stator current in order to accurately obtain a flux linkage orientation angle. And furthermore, the actual rotating speed of the induction motor can be adaptively identified through the estimation error of the stator current and the estimation value of the rotor flux linkage, so that the performance of the flux linkage observer determines the overall performance of the sensorless induction motor vector control system.
In order to realize digital control of a sensorless induction motor, a numerical integration method is generally required to convert a sensor into a discretization form, and a forward eulerian method is generally adopted to carry out discretization processing, but the method has the limitation that when the operation frequency of the induction motor rises, the discretization precision is insufficient, and the observation result diverges. The discretization precision is improved by adopting a high-order discretization method, the phenomenon of observation result divergence cannot occur, but the complicated discretization flux linkage observer model greatly increases the calculation burden of the microcontroller. Therefore, a simple and effective control strategy needs to be further explored, and both the computational complexity and the observer stability are considered in a high-speed domain.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the existing flux linkage observer reduces the damping ratio in a high-speed domain and has poor observation effect.
(2) The full-order flux linkage observer cannot give consideration to both stability and computational complexity after discretization.
(3) A flux linkage observer discretized by a traditional first-order Euler method is used for observing result divergence at a high speed, and discretization precision is insufficient.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a stable control method for a high-speed domain of a speed-sensorless induction motor.
The invention is realized in such a way that a method for stably controlling a high-speed domain of a speed sensorless induction motor comprises the following steps:
estimating a current estimation feedback error and a flux linkage observation value by using a full-order flux linkage observer adopting an improved pole left shift feedback matrix; estimating the rotating speed of the motor by using a speed observer, and feeding the estimated rotating speed value of the motor back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method.
Further, the method for stably controlling the high-speed domain of the speed sensorless induction motor comprises the following steps:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
and step five, feeding back the motor rotating speed value obtained by estimation to a speed ring controller for sensorless vector control.
Further, the state equation of the induction motor in the two-phase stationary coordinate system is as follows:
Figure BDA0003578196510000031
wherein L isσ＝σLsLr/Lm is，
Figure BDA0003578196510000032
ψr usRespectively representing stator current, rotor flux linkage and stator voltage; rs RrRespectively representing stator resistance and rotor resistance; l iss Lr LmRespectively representing stator inductance, rotor inductance and mutual inductance; omegarRepresenting the rotor angular frequency; tau isrRepresents the rotor time constant; σ represents a leakage inductance coefficient.
Further, the feedback matrix is as follows:
Figure BDA0003578196510000033
further, the full-order flux linkage observer is as follows:
Figure BDA0003578196510000034
further, the speed observer is as follows:
Figure BDA0003578196510000041
further, the discretizing by using the improved backward euler method for the full-order flux linkage observer includes: carrying out full-order flux linkage observer discretization by using the improved backward Euler method to obtain a full-order flux linkage observer characteristic model based on the improved backward Euler method;
the characteristic model of the full-order flux linkage observer based on the improved backward Euler method is as follows:
Figure BDA0003578196510000042
another object of the present invention is to provide a computer apparatus including a memory and a processor, the memory storing a computer program, which when executed by the processor, causes the processor to execute the method of stable control of a high speed domain of a sensorless induction motor, comprising the steps of:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
and step five, feeding back the motor rotating speed value obtained by estimation to a speed ring controller for sensorless vector control.
Another object of the present invention is to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the method for stable control of a high speed domain of a sensorless induction motor, comprising the steps of:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
feeding the estimated motor rotating speed value back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method.
Another object of the present invention is to provide an information data processing terminal for a stable control method of the speed sensorless induction motor in a high speed domain.
In combination with the technical solutions and the technical problems to be solved, please analyze the advantages and positive effects of the technical solutions to be protected in the present invention from the following aspects:
first, aiming at the technical problems existing in the prior art and the difficulty in solving the problems, the technical problems to be solved by the technical scheme of the present invention are closely combined with results, data and the like in the research and development process, and some creative technical effects are brought after the problems are solved. The specific description is as follows:
the invention provides a control method of a sensorless vector control system of a three-phase induction motor, which aims at the small damping of a flux linkage observer in a high-speed domain, provides an improved pole left shift feedback matrix, increases the damping ratio of the observer, has small calculated amount and improves the performance of flux linkage observation and sensorless vector control; aiming at the problem that the observation result of the flux linkage observer after the discretization of the traditional first-order Eulerian method is applied is not converged at a high speed, the improved backward Eulerian method is provided, and the problem that the stability and the calculation complexity cannot be considered simultaneously after the discretization of the full-order flux linkage observer is solved. Meanwhile, a feedback matrix of the flux linkage observer is designed, so that the poles of the flux linkage observer can be further distributed, and the performance of flux linkage observation and sensorless vector control is further improved.
Secondly, considering the technical solution as a whole or from the perspective of products, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows:
the method comprises the steps of establishing a mathematical model of the induction motor under a two-phase static coordinate system; establishing a full-order flux linkage observer to observe a rotor flux linkage value, designing an improved pole left shift feedback matrix aiming at the lower damping ratio of the flux linkage observer in a high-speed domain, improving the convergence performance of the flux linkage observer, and reducing the calculation burden of a microprocessor by simplifying the feedback matrix; the method comprises the steps that a speed observer is established to estimate the rotating speed of a motor through a current estimation feedback error and a flux linkage observation value obtained by a full-order flux linkage observer, and the estimated rotating speed value of the motor is fed back to a speed loop controller to complete sensorless vector control; in order to realize the sensorless vector control on the microprocessor, the flux linkage observer needs to be discretized, and the discretization of the full-order flux linkage observer can be realized by applying the improved backward Euler method. Compared with the traditional method, the improved method ensures the stability of flux linkage observation of the discretization full-order flux linkage observer at high speed, and reduces the calculation burden of a microprocessor.
Third, as an inventive supplementary proof of the claims of the present invention, there are also presented several important aspects: the technical scheme of the invention solves the technical problem that people are eagerly to solve but can not be successfully solved all the time: the invention provides an improved backward Euler method and an improved feedback matrix aiming at the problems that a discretized flux linkage observer facing the non-sensing vector control in a high-speed domain is not converged in high result and smaller in damping ratio.
Drawings
Fig. 1 is a flowchart of a method for controlling stability of a high-speed domain of a speed sensorless induction motor according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a flux linkage observer and a speed observer of a sensorless induction motor according to an embodiment of the present invention.
Fig. 3 is a vector control schematic diagram of a sensorless induction motor according to an embodiment of the present invention.
Fig. 4 is a polar diagram of an observer provided in an embodiment of the present invention.
FIG. 5 is a pole diagram of a forward Euler method discretized flux linkage observer according to an embodiment of the present invention.
FIG. 6 is a pole diagram of an improved backward Euler method discretized flux linkage observer according to an embodiment of the present invention.
Fig. 7 is a simulation diagram of sensorless vector control speed provided by an embodiment of the present invention.
Fig. 8 is a simulation diagram of magnetic flux linkage observation without sensing vector control according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
First, an embodiment is explained. This section is an explanatory embodiment expanding on the claims so as to fully understand how the present invention is embodied by those skilled in the art.
A schematic block diagram of a method for stably controlling a high-speed domain of a speed sensorless induction motor according to an embodiment of the present invention is shown in fig. 1; aiming at the problem that the damping of a traditional zero feedback flux linkage observer in a vector control system of a sensorless induction motor is small, the invention provides an improved pole left shift feedback matrix, increases the damping ratio of the observer, has small calculated amount and improves the performance of flux linkage observation and sensorless vector control; secondly, aiming at the problem that the observation result of the prior magnetic linkage observer discretized by the traditional first-order Eulerian method is not convergent at high speed, an improved backward Eulerian method is provided, and the problem that the stability and the calculation complexity cannot be considered simultaneously after the full-order magnetic linkage observer discretization is solved.
The method for stably controlling the high-speed domain of the speed sensorless induction motor provided by the embodiment of the invention comprises the following steps:
estimating a current estimation feedback error and a flux linkage observation value by using a full-order flux linkage observer adopting an improved pole left shift feedback matrix; estimating the rotating speed of the motor by using a speed observer, and feeding the estimated rotating speed value of the motor back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method.
As shown in fig. 1, a method for stably controlling a high-speed domain of a speed sensorless induction motor according to an embodiment of the present invention includes the following steps:
s101, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
s102, observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
s103, estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to park transformation and inverse park transformation;
s104, estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
s105, feeding the motor rotating speed value obtained through estimation back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method.
The state equation of the induction motor provided by the embodiment of the invention in the two-phase static coordinate system is as follows:
Figure BDA0003578196510000081
wherein L isσ＝σLsLr/Lm is，
Figure BDA0003578196510000082
ψr usRespectively representing stator current, rotor flux linkage and stator voltage; rs RrRespectively representing stator resistance and rotor resistance; l iss Lr LmRespectively representing stator inductance, rotor inductance and mutual inductance; omegarRepresenting the rotor angular frequency; tau isrRepresents the rotor time constant; σ represents a leakage inductance coefficient.
The feedback matrix provided by the embodiment of the invention is as follows:
Figure BDA0003578196510000083
the full-order flux linkage observer provided by the embodiment of the invention comprises the following components:
Figure BDA0003578196510000091
the speed observer provided by the embodiment of the invention is as follows:
Figure BDA0003578196510000092
the discretization of the full-order flux linkage observer by utilizing the improved backward Euler method provided by the embodiment of the invention comprises the following steps:
and carrying out full-order flux linkage observer discretization by using the improved backward Euler method to obtain a full-order flux linkage observer characteristic model based on the improved backward Euler method.
The embodiment of the invention provides a full-order flux linkage observer characteristic model based on an improved backward Euler method, which is as follows:
Figure BDA0003578196510000093
the technical solution of the present invention is further illustrated by the following specific examples.
Example 1
Fig. 1 shows a control model of an ac servo system of a sensorless asynchronous motor, which is implemented by a cascade control structure including a current loop and a speed loop. The method comprises the steps of 1, establishing a state equation of the induction motor on a two-phase static coordinate system; step 2, designing a feedback matrix, establishing a full-order flux linkage observer, estimating a flux linkage orientation angle through observing flux linkage values and observing obtained stator and rotor flux linkage values, and feeding the estimated flux linkage orientation angle back to park transformation and inverse park transformation; step 3, establishing a speed observer to estimate the rotating speed of the motor through a current estimation feedback error and a flux linkage observation value obtained by the full-order flux linkage observer, and feeding the estimated rotating speed value of the motor back to the speed loop controller to complete sensorless vector control; step 4, the discretization of the full-order flux linkage observer is realized by applying the improved backward Euler method;
aiming at the small damping of the flux linkage observer in a high-speed domain, an improved pole left shift feedback matrix is provided, the damping ratio of the observer is increased, the calculated amount is small, and the flux linkage observation and sensorless vector control performance is improved; aiming at the problem that the observation result of the flux linkage observer after the discretization of the traditional first-order Eulerian method is applied is not converged at a high speed, the improved backward Eulerian method is provided, and the problem that the stability and the calculation complexity cannot be considered simultaneously after the discretization of the full-order flux linkage observer is solved.
In one possible embodiment, the method comprises the following steps:
step 1, constructing a state equation of the induction motor on a two-phase static coordinate system:
Figure BDA0003578196510000101
in the formula Lσ＝σLsLr/Lm is，
Figure BDA0003578196510000102
ψr usRespectively stator current, rotor flux linkage and stator voltage; rs RrRespectively a stator resistor and a rotor resistor; l issLrLmRespectively a stator inductor, a rotor inductor and a mutual inductor; omegarIs the angular frequency, τ, of the rotorrIs the rotor time constant, and σ is the leakage inductance coefficient.
And 2, designing a closed-loop flux linkage observer, wherein the rotor flux linkage value cannot be directly measured and the motor model meets observable conditions, so that the full-order flux linkage observer can be designed according to the established full-order model of the induction motor to estimate the rotor flux linkage value. The designed full-order flux linkage observer of the induction motor is as follows:
Figure BDA0003578196510000103
the full-order flux linkage observer simultaneously observes stator current and rotor flux linkage values on a static coordinate system, and compared with a motor body model, the observer increases a part of a product of stator current observation errors and a feedback matrix, and the pole value of the observer can be configured through the feedback matrix, so that the convergence performance and stability of the full-order flux linkage observer are improved.
det(zI-A)＝0
det(zI-(A-GC))＝0 (3)
By configuring the pole value of the observer on the left side of the pole of the motor model, it can be known from fig. 3 that the imaginary part of the pole value of the induction motor is far larger than the real part along with the increase of the running frequency, and the observation performance of the observer is affected when the damping ratio is too small. Therefore, when the observer feedback matrix is designed, the real part of the pole of the observer needs to be far away from the virtual axis, and the convergence speed of the observer is improved. According to the invention, the pole of the observer is moved to the left, the pole imaginary part is kept unchanged, and the damping coefficient of the observer system is improved. The pole values of the motor model and the observer can be solved through the formula (3), and the pole values are enabled to meet the condition lambda simultaneouslyf＝-k+λzeroThe following can be obtained:
Figure BDA0003578196510000111
compared with a zero feedback matrix, the convergence rate and the damping ratio of the equation (4) are improved, but the equation contains a rotating speed estimation value and is too complex to calculate, so that the calculation load of a microprocessor is increased. The observer gain matrix can show that the rotating speed value of the motor at medium and high speed is larger than other motor parameter values, so the rotating speed value is regarded as positive infinity, the formula can be simplified into the following formula (5), the formula (5) only consists of motor parameters and gain K, the calculation burden is greatly reduced, and fig. 3 is a full-order flux linkage observer polar diagram adopting the following feedback matrix.
Figure BDA0003578196510000112
Step 3, designing a rotating speed observer, deducing an expression of the speed observer by a Lyapunov second stability theorem, firstly, taking an observation flux linkage error and a current observation error as state variables as shown in a formula (6), constructing a Lyapunov function as shown in a formula (7),function V for all non-zero states V (x) > 0 and V (0) ═ 0, while letting
Figure BDA0003578196510000121
And (3) ensuring that the semi-negative constant can be derived to form a formula (8), and in order to further improve the identification speed, obtaining a formula (9) by adopting a proportional integral adaptive law, namely a rotating speed adaptive law.
Figure BDA0003578196510000122
Figure BDA0003578196510000123
Figure BDA0003578196510000124
Figure BDA0003578196510000125
Step 4, discretizing the flux linkage observer, discretizing the full-order flux linkage observer by adopting an improved backward Eulerian method, and obtaining the following formula according to a discretization expression of the backward Eulerian method
x(k+1)≈x(k)+Tsf(x(k+1),y(k+1))，k＝0,1,2... (10)
According to the flux linkage observer model, a full-order observer model based on a backward Euler method can be derived, and the following formula is shown:
Figure BDA0003578196510000126
from the equation (11), it can be known that the backward euler method requires a more complex matrix inversion operation, and the improved backward euler method can be used to discretize the equation (10) into the equation (12), where the complete expression forms are equations (13) - (15).
f(x(k+1),y(k+1))＝f(x(k)+Ts,y(k)+Tsx(k)) (12)
Figure BDA0003578196510000127
Figure BDA0003578196510000128
Figure BDA0003578196510000131
As can be seen from equations (12) to (14), the improved method applies the strategy of prediction estimation to avoid complex matrix operation, and can be realized by simple addition and multiplication. The discretized characteristic equation of the flux linkage observer can be obtained by the following formula:
Figure BDA0003578196510000132
example 2
The detailed structural block diagram of the method for stably controlling the high-speed domain of the speed sensorless induction motor adopted by the embodiment of the invention is shown in fig. 1.
The functional block diagram of the sensorless induction motor vector control method established by the embodiment of the invention is shown in fig. 2, the speed feedback is the observed value of a speed observer, and the flux linkage orientation angle is calculated from the rotor flux linkage value observed by the flux linkage observer. The speed sensorless induction motor control method proposed by the present invention is verified by simulation.
The main parameters of the induction motor of the embodiment of the invention include: rotor resistance Rr1.191 Ω, stator resistance Rs1.099 Ω, rotor inductance Lr0.101H, stator inductance Ls0.101H, mutual inductance Lm0.096H, 0.040n.m.s for moment of inertia J, and 2 for pole pair number p.
In the embodiment of the invention, step responses of 1500r, 3000r and 4500r are applied at 0.5s, 1s and 1.5s respectively.
And II, application embodiment. In order to prove the creativity and the technical value of the technical scheme of the invention, the part is an application example of the technical scheme of the claims to a specific product or related technology.
An application embodiment of the present invention provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the stable control method of the high speed domain of the speed sensorless induction motor, comprising the following steps:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
and step five, feeding back the motor rotating speed value obtained by estimation to a speed ring controller for sensorless vector control.
An application embodiment of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, causes the processor to execute the method for controlling stability of a high speed domain of a speed sensorless induction motor, including the steps of:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to park transformation and inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
and step five, feeding back the motor rotating speed value obtained by estimation to a speed ring controller for sensorless vector control.
The application embodiment of the invention provides an information data processing terminal, which is used for executing a stable control method of a high-speed domain of a speed sensorless induction motor.
And thirdly, evidence of relevant effects of the embodiment. The embodiment of the invention achieves some positive effects in the process of research and development or use, and has great advantages compared with the prior art, and the following contents are described by combining data, diagrams and the like in the test process.
According to the simulation result of the embodiment of the invention, as shown in fig. 4, it can be seen that the characteristic root approaches and exceeds the boundary of the unit circle along with the increase of the operating frequency in the forward eulerian method, and the observation result of the discretization observer diverges at the moment. As can be seen from fig. 5, the characteristic root of the flux linkage observer adopting the improved backward euler method remains in the unit circle as the operating frequency rises, and it can be known that the observation result of the discretized full-order flux linkage observer converges. The simulation results of the embodiment of the invention are shown in fig. 6 and 7, and it can be seen that the observation speed value and the actual speed value can be converged quickly by using the sensorless vector control method of the invention. Under high speed, the alpha-axis flux linkage value observed by the flux linkage observer still keeps stable, and the steady-state error is small, so that the observation method is proved to be feasible.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. It will be appreciated by those skilled in the art that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, for example such code provided on a carrier medium such as a diskette, CD-or DVD-ROM, a programmable memory such as read-only memory (firmware) or a data carrier such as an optical or electronic signal carrier. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A method for controlling the stability of a high speed region of a speed sensorless induction motor, the method comprising: estimating a current estimation feedback error and a flux linkage observation value by using a full-order flux linkage observer adopting an improved pole left shift feedback matrix; estimating the rotating speed of the motor by using a speed observer, and feeding the estimated rotating speed value of the motor back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method.
2. The method for stably controlling a high speed region of a sensorless induction motor according to claim 1, wherein the method for stably controlling a high speed region of a sensorless induction motor comprises the steps of:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observed value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
feeding the estimated motor rotating speed value back to a speed loop controller for sensorless vector control; and carrying out discretization of the full-order flux linkage observer by using the improved backward Euler method.
3. The method for stably controlling a high speed domain of a sensorless induction motor according to claim 2, wherein the state equation of the induction motor in the two-phase stationary coordinate system is as follows:
Figure FDA0003578196500000011
wherein L isσ＝σLsLr/Lm is，
Figure FDA0003578196500000012
ψr usRespectively representing stator current, rotor flux linkage and stator voltage; rs RrRespectively representing stator resistance and rotor resistance; l iss Lr LmRespectively representing stator inductance, rotor inductance and mutual inductance; omegarRepresenting the rotor angular frequency; tau isrRepresents the rotor time constant; σ represents a leakage inductance coefficient.
4. The method for stable control of a high speed domain of a sensorless induction motor of claim 2 wherein the feedback matrix is as follows:
Figure FDA0003578196500000021
5. the method for stably controlling a high speed domain of a sensorless induction motor according to claim 2, wherein the full-order flux linkage observer is as follows:
Figure FDA0003578196500000022
6. the method for stably controlling a high speed domain of a speed sensorless induction motor according to claim 2, wherein the speed observer is as follows:
Figure FDA0003578196500000023
7. the method for stably controlling the high-speed domain of the speed sensorless induction motor according to claim 2, wherein the discretization of the full-order flux linkage observer by using the improved backward euler method comprises:
carrying out full-order flux linkage observer discretization by using the improved backward Euler method to obtain a full-order flux linkage observer characteristic model based on the improved backward Euler method;
the characteristic model of the full-order flux linkage observer based on the improved backward Euler method is as follows:
Figure FDA0003578196500000024
8. a computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the method of stable control of a high speed domain of a sensorless induction motor according to any of claims 1 to 7, the steps of:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on the two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
and step five, feeding back the motor rotating speed value obtained by estimation to a speed ring controller for sensorless vector control.
9. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the method for stable control of a high speed domain of a speed sensorless induction motor according to any one of claims 1 to 7, comprising the steps of:
step one, constructing a state equation of the induction motor under a two-phase static coordinate system; determining an improved pole left shift feedback matrix, and constructing a full-order flux linkage observer;
observing stator current and rotor flux linkage values on a two-phase static coordinate system by using the constructed full-order flux linkage observer;
estimating a flux linkage orientation angle based on the observed rotor flux linkage value, and feeding the estimated flux linkage orientation angle back to the park transformation and the inverse park transformation;
estimating a feedback error and a flux linkage observation value based on the stator current obtained by the full-order flux linkage observer, and constructing a speed observer to estimate the rotating speed of the motor;
and step five, feeding back the motor rotating speed value obtained by estimation to a speed ring controller for sensorless vector control.
10. An information data processing terminal for performing a method for stably controlling a high speed region of a sensorless induction motor according to any one of claims 1 to 7.
CN202210339284.1A 2022-04-01 2022-04-01 Method for stably controlling high-speed domain of speed-sensorless induction motor Pending CN114614714A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277890A (en) * 2023-11-17 2023-12-22 浙江禾川科技股份有限公司 Operation control method, system, equipment and storage medium of permanent magnet synchronous motor
CN117674660A (en) * 2023-12-11 2024-03-08 南京工业大学 Second-order rapid discretization method for full-order observer of induction motor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277890A (en) * 2023-11-17 2023-12-22 浙江禾川科技股份有限公司 Operation control method, system, equipment and storage medium of permanent magnet synchronous motor
CN117277890B (en) * 2023-11-17 2024-02-13 浙江禾川科技股份有限公司 Operation control method, system, equipment and storage medium of permanent magnet synchronous motor
CN117674660A (en) * 2023-12-11 2024-03-08 南京工业大学 Second-order rapid discretization method for full-order observer of induction motor

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