CN107508516B - The induction machine High-speed Control method of voltage development area weak magnetic field operation - Google Patents
The induction machine High-speed Control method of voltage development area weak magnetic field operation Download PDFInfo
- Publication number
- CN107508516B CN107508516B CN201710839095.XA CN201710839095A CN107508516B CN 107508516 B CN107508516 B CN 107508516B CN 201710839095 A CN201710839095 A CN 201710839095A CN 107508516 B CN107508516 B CN 107508516B
- Authority
- CN
- China
- Prior art keywords
- voltage
- value
- weak magnetic
- given
- induction machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The induction machine High-speed Control method of voltage development area weak magnetic field operation, belongs to motor control technology field.The present invention is and the low problem of utilization rate of DC bus-bar voltage in order to solve the control of the voltage close loop weak magnetic in existing induction machine high speed field weakening control method in the bad dynamic performance of voltage development area.Voltage adjusting parameter k is arranged in it firstext, the weak magnetic factor is obtained after overvoltage gives adjustable weak magnetic controller processing；Then it calculates and obtains torque component clipping initial value；It is final to obtain q axis given voltage value and d axis given voltage value again by the processing to given rotor speed and actual rotor revolving speed；Induction machine is controlled in changeover portion by limit module certainly, subsequently into one area of weak magnetic；In 2nd area of weak magnetic, being adjusted by PI makes output | usd| stablize extremelyUntil rotor speed reaches given value.Voltage development area weak magnetic field operation of the present invention for induction machine controls.
Description
Technical field
The present invention relates to the induction machine High-speed Control methods of voltage development area weak magnetic field operation, belong to electric machines control technology neck
Domain.
Background technique
With the development of science and technology, needing the occasion of high speed operation of motor more and more, such as numerically-controlled machine tool, electric car, sky
Tune or the compressor of refrigerator etc..These occasions propose more requirements to induction machine speed regulation, such as: speed-regulating range width, high speed
Stable, torque capacity fan-out capability makes full use of voltage and current resource, fast response time etc..High-speed motor has
Following advantage: first is that due to revolving speed height, and volume is less than ordinary motor, can effectively save material.Second is that can be with prime mover
It is connected, eliminates traditional deceleration mechanism, transmission efficiency is high, and noise is small.Third is that since high-speed motor rotary inertia is small, so dynamic
State response is fast.Currently, high speed machining has been to be concerned by more and more people, it not only can get bigger productivity, but also
It also can get very high processing quality, and production cost can be reduced, thus be considered as 21 century most promising advanced
One of manufacturing technology.In industrially-advanced country, high speed machining is widely used to Aeronautics and Astronautics and die industry.Close
In 5 years, the high speed machining in China also achieves significant progress.
The key of alternating current generator high-performance speed regulation is whether can quickly and accurately control its transient state magnetic torque, especially
When being the transition between subregion, when at this moment often the fluctuation of dq shaft current is maximum.In existing induction machine high speed
In field weakening control method the weak magnetic control (VCFS) of voltage close loop due to its Yi Shixian and to the hyposensitivity of Parameters variation and
It is considered as an extremely successful control strategy.
But there are problems that following two in VCFS system:
1. the three-phase phase voltage amplitude of output can only be made to reach generating trigger pulse using the modulator approach of SVPWM
DC bus-bar voltageAnd the maximum voltage vector magnitude that SVPWM module can export is 2Udc/ 3, this generates right
Unused voltage regime is defined as voltage development area here by the waste of DC bus-bar voltage resource.
2. by " changeover portion " is defined as by the transition region in permanent torque area to weak magnetic area.System is run from permanent torque area to weak magnetic
The dynamic characteristic of Qu Shi, changeover portion are remarkably decreased.
Summary of the invention
The invention aims to solve the control of the voltage close loop weak magnetic in existing induction machine high speed field weakening control method
In the bad dynamic performance of voltage development area, and the low problem of utilization rate of DC bus-bar voltage, provides a kind of voltage and expand
The induction machine High-speed Control method of area's weak magnetic field operation.
The induction machine High-speed Control method of voltage development area weak magnetic field operation of the present invention, is used in induction machine system
Under voltage development area weak magnetic field operation state, it the following steps are included:
Step 1: setting voltage adjusting parameter k in adjustable weak magnetic controller is given in voltageext, voltage adjusting parameter kext
After giving the given adjustable elements adjustment of the voltage in adjustable weak magnetic controller by voltage, voltage given value is obtainedWherein uαβFor inverter output voltage, UdcFor DC bus-bar voltage；Voltage given valueIt is adjusted using the PI that voltage gives adjustable weak magnetic controller and clipping acts on, output
Weak magnetic factor isd,weaken, weak magnetic factor isd,weakenInitial value be 0；
Step 2: initial stator current excitation component value is set as isd,rated, by initial stator current excitation component value
isd,ratedWith weak magnetic factor isd,weakenSuperposition obtains exciting current given value isd,ref, thus calculate at the beginning of obtaining torque component clipping
Initial value isq,limit:
I in formulasmaxFor maximum allowed current value；
Step 3: using the code-disc acquisition actual rotor rotational speed omega that tests the speedr, by given rotor speed ωr,refWith actual rotor
Rotational speed omegarIt adjusts to obtain stator current torque component given value i using PI after making differencesq,ref；Stator current torque component is given
Value isq,refWith exciting current given value isd,refObtain q axis given voltage value u respectively after current regulator is adjusted* sqWith d axis
Given voltage value
Step 4: work as given voltageEqual to inverter limit output voltage usmaxWhen, whereinInduction
Motor enters changeover portion；It is given in adjustable weak magnetic controller using voltage at this time and redistributes given voltage from limit module
The initial value from the switching value switch of limit module is set as 0, to u* sqAnd isd,weakenValue supervised online
Control, works as u* sq> usq, and isd,weakenWhen < 0, the value of switch is set 1, and makes q axis given voltage value u* sqAmplitude limit value be work as
Preceding inverter reality output q shaft voltage value usq-ins；Wherein usqFor inverter reality output q shaft voltage value；
Work as u* sq< usqWhen, indicate that changeover portion terminates, by q axis given voltage value u* sqAmplitude limit value be set as former default
Value；The value of switch is reset to 0 simultaneously, induction machine operation enters one area of weak magnetic；
Step 5: whenWhen, induction machine operation enters 2nd area of weak magnetic, wherein usdIt is actually defeated for inverter
D shaft voltage value out；By the adjustment effect of PI, makeWhen, final output | usd| stablize extremelyTo makeInduction machine maintains this operating status until rotor speed reaches given
Value completes induction machine in the High-speed Control of voltage development area weak magnetic field operation.
Advantages of the present invention: the method for the present invention can further widen the torque capacity fan-out capability of induction machine, optimization
Dynamic property in the quick accelerator of motor.
The present invention is by choosing voltage adjusting parameter k appropriateext, output torque capacity is increased, DC bus is improved
The utilization rate of voltage, accelerates the promotion rate of motor speed, while will not cause the excessive increase of torque pulsation.
By the way that SLLB module is added to voltage development area q shaft voltage clipping, eliminates q shaft current adjuster mistake integral and draw
The dynamic problem risen, has redistributed given voltage in voltage development area, makes to have in the boosting velocity procedure of voltage development area more preferable
Dynamic characteristic.And SLLB module only plays a role in changeover portion, therefore will not influence the control of permanent torque area and weak magnetic area
Performance.
Detailed description of the invention
Fig. 1 is the structural block diagram of the induction machine High-speed Control method of voltage development area weak magnetic field operation of the present invention；
Fig. 2 is the maximum voltage trajectory diagram introduced after voltage adjusting parameter；
Fig. 3 is the composition block diagram that voltage gives adjustable weak magnetic controller；
Fig. 4 is SLLB module work flow chart；
Fig. 5 be added SLLB module after given voltage vector voltage development area change schematic diagram；
Fig. 6 is given voltage and the comparison of virtual voltage vector locus in the control method of the method for the present invention and the prior art
Figure；
Wherein Fig. 6 (a) is given voltage vector locus waveform diagram before improving；Fig. 6 (b) is given voltage vector rail after improving
Mark waveform diagram；Fig. 6 (c) is virtual voltage vector locus waveform diagram before improving；Fig. 6 (d) is virtual voltage vector locus after improving
Waveform diagram；
Fig. 7 be in the control method of the method for the present invention and the prior art in voltage development area dq shaft current to given value with
The comparison of track situation；
Wherein Fig. 7 (a) is to improve preceding d shaft current to the tracking situation waveform diagram of given value；Fig. 7 (b) is d axis after improving
Tracking situation waveform diagram of the electric current to given value；Fig. 7 (c) is to improve preceding q shaft current to the tracking situation waveform diagram of given value；Figure
7 (d) be after improving q shaft current to the tracking situation waveform diagram of given value；
Fig. 8 is existing VCFS method and the method for the present invention in kextCurrent-responsive figure when=1.10, under identical band load；
Wherein Fig. 8 (a) uses the current-responsive figure of VCFS method；Fig. 8 (b) is using the method for the present invention in kext=1.10
When current-responsive figure；
Fig. 9 is torque capacity in the weak magnetic control VCFS of the voltage close loop of existing induction machine high speed field weakening control method
Control process voltage and current track schematic diagram；
Figure 10 is the structural block diagram of existing VCFS control system；
Figure 11 be in existing VCFS control induction machine in the dynamic characteristic figure of changeover portion；
Wherein Figure 11 (a) is that voltage gives waveform diagram；Figure 11 (b) is actual output voltage waveform diagram；Figure 11 (c) be to
Determine d shaft current and reality output d shaft current waveform diagram；Figure 11 (d) is given q shaft current and reality output q shaft current waveform
Figure.
Specific embodiment
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Illustrate present embodiment below with reference to Fig. 1, the induction machine of voltage development area weak magnetic field operation described in present embodiment
High-speed Control method is used in induction machine system and is under voltage development area weak magnetic field operation state, it the following steps are included:
Step 1: setting voltage adjusting parameter k in adjustable weak magnetic controller is given in voltageext, voltage adjusting parameter kext
After giving the given adjustable elements adjustment of the voltage in adjustable weak magnetic controller by voltage, voltage given value is obtainedWherein uαβFor inverter output voltage, UdcFor DC bus-bar voltage；Voltage given valueIt is adjusted using the PI that voltage gives adjustable weak magnetic controller and clipping acts on, output
Weak magnetic factor isd,weaken, weak magnetic factor isd,weakenInitial value be 0；
Step 2: initial stator current excitation component value is set as isd,rated, by initial stator current excitation component value
isd,ratedWith weak magnetic factor isd,weakenSuperposition obtains exciting current given value isd,ref, thus calculate at the beginning of obtaining torque component clipping
Initial value isq,limit:
I in formulasmaxFor maximum allowed current value；
Step 3: using the code-disc acquisition actual rotor rotational speed omega that tests the speedr, by given rotor speed ωr,refWith actual rotor
Rotational speed omegarIt adjusts to obtain stator current torque component given value i using PI after making differencesq,ref；Stator current torque component is given
Value isq,refWith exciting current given value isd,refObtain q axis given voltage value u respectively after current regulator is adjusted* sqWith d axis
Given voltage value
Step 4: work as given voltageEqual to inverter limit output voltage usmaxWhen, whereinInduction
Motor enters changeover portion；It is given in adjustable weak magnetic controller using voltage at this time and redistributes given voltage from limit module
The initial value from the switching value switch of limit module is set as 0, to u* sqAnd isd,weakenValue supervised online
Control, works as u* sq> usq, and isd,weakenWhen < 0, the value of switch is set 1, and makes q axis given voltage value u* sqAmplitude limit value be work as
Preceding inverter reality output q shaft voltage value usq-ins；Wherein usqFor inverter reality output q shaft voltage value；
Work as u* sq< usqWhen, indicate that changeover portion terminates, by q axis given voltage value u* sqAmplitude limit value be set as former default
Value；The value of switch is reset to 0 simultaneously, induction machine operation enters one area of weak magnetic；
Step 5: whenWhen, induction machine operation enters 2nd area of weak magnetic, wherein usdIt is actually defeated for inverter
D shaft voltage value out；By the adjustment effect of PI, makeWhen, final output | usd| stablize extremely
To makeInduction machine maintains this operating status to reach given value until rotor speed, completes sense
Answer motor in the High-speed Control of voltage development area weak magnetic field operation.
Following for the advantage that can preferably describe the disclosure, first to existing induction machine high speed weak magnetic controlling party
The weak magnetic control VCFS of voltage close loop is illustrated in method:
VCFS method is to 1/ traditional ωrControl method advanced optimizes, and solves 1/ ω of traditionrIt is unable to satisfy most
The problem of big torque output.1/ traditional ωrMethod is derived under certain approximate condition, under no-load condition, electricity
Machine output torque is small, slip ωsl≈ 0 can obtain isq≈ 0, ωe≈ωr, us=ωeσLsisd≈ωeψr.In order to maintain stator electric
Press us≤usmax, it is desirable that the product of rotor field and revolving speed should be kept centainly, so exciting current isdGiven and rotational speed omegarAt
Inverse ratio.And it just there will be no ω when induction machine loade≈ωrIt sets up, at this moment according to 1/ ωrAsking just occurs in method control
Topic, the appearance of VCFS method just solve the problems, such as this.
By the constraint condition by three aspects in induction machine operational process: maximum current constrains, maximum voltage constraint, most
Big slip constraint.Wherein, maximum current ismaxConsider two conditions of induction machine winding current limit and inverter current limit；
Maximum voltage usmaxUnder the premise of considering the induction machine class of insulation and pressure-resistant condition, by obtainable maximum DC bus electricity
Pressure and PWM control strategy determine, according to SVPWM control mode, maximum voltage usmaxIt is limited toMaximum slip is to guarantee
The maximum value of the revolutional slip of motor stabilizing operation.Maximum is derived according to mathematical model of induction motor under dq coordinate system first below
Expectation electric current, voltage trace under torque output control.Induction motor model under synchronous rotating frame are as follows:
ψ in formularFor rotor flux, usd、usdD shaft voltage component and q shaft voltage point respectively under synchronous rotating frame
Amount, isd、isdRespectively d shaft voltage component of the stator current under synchronous rotating frame and q shaft voltage component, p are differential calculation
Son, LmFor mutual inductance, LrFor inductor rotor, LsFor stator self inductance, RsFor equivalent stator resistance.ωeFor synchronous angular rate.σ is leakage
Feel the factor.
After motor enters stable state, there is p ψr=0, pisd=0, pisq=0, institute's above formula abbreviation are as follows:
Voltage and current track is derived below:
1. controlling target and constraint condition in permanent torque area are as follows:
Control target: Te=kisdisq, it is maximized；
Wherein TeFor torque value, coefficient of the k between electromagnetic torque and dq axis stator current product is definite value.
Constraint condition:
It can be in the hope of working as by the method for conditional extremumWhen, TeMaximum value can be obtained.
2. controlling target and constraint condition in one area of weak magnetic are as follows:
Control target: Te=kisdisq, it is maximized；
Constraint condition:
It can be in the hope of working as by the method for conditional extremum When, TeMaximum value can be obtained.
To consider that maximum revolutional slip will cause induction machine unstable simultaneously, by slip ωslWith electromagnetic torque TeRelationship:
Wherein, ωsl=s ωe, wherein s is revolutional slip, RsFor stator resistance；RrFor rotor resistance；LsFor stator inductance；
LrFor inductor rotor；LmFor mutual inductance.
With following formula simultaneous:
It obtains:
As revolving speed constantly increases, maximum slip angular frequency ω can be acquiredslmaxLimiting value it is as follows:Wherein TrFor electromagnetic time constant；σ is the leakage inductance factor,Again
Know:To derive restriction of current condition by revolutional slip constraint condition are as follows: isd≥σisq.Then obtain final weak magnetic
One area expectation electric current track are as follows:
3. controlling target and constraint condition in 2nd area of weak magnetic are as follows:
Constraint condition: (ωeLsisd)2+(ωeσLsisq)2≤u2 smax；
Control target: Te=kisdisq, it is maximum value；
Equally by asking conditional extremum to obtain current locus equation are as follows:
According to above-mentioned calculating conclusion, draw permanent torque area and electric current corresponding when exporting torque capacity in weak magnetic one, 2nd area,
Voltage trace is as shown in Figure 9.
A point in Fig. 9 in current locus permanent torque area corresponding with the OC section in voltage trace；The AB section of current locus with
The CD section of voltage trace has corresponded to one area of weak magnetic；The BO section of current locus 2nd area of weak magnetic corresponding with the D of voltage trace point.By electricity
The basic control target of the available torque capacity output of the characteristics of flowing voltage trace are as follows: 1. induction machines run on weak magnetic area packet
When including invariable power area and constant voltage area, under the operating condition that torque maximizes output, end voltage remains maximum voltage, it is seen that needs
Controlling stator voltage is maximum voltage to achieve the purpose that export torque capacity.2. in the output of invariable power area torque capacity
Stator current also remains maximum current, therefore the control target in invariable power area are as follows: before guaranteeing motor stabilizing reliability service
It puts, realizes the control result that can obtain maximum voltage, maximum current.3. it is limited in constant voltage area by maximum slip frequency,
Stator current cannot remain maximum value, but the limitation of maximum slip frequency is equivalent to guarantee that stator dq shaft voltage component meets:Voltage vector is fixed on figure midpoint D, it can be considered that the torque in constant voltage area to be realized is most
Bigization output, it is necessary to meet said stator voltage coordinated allocation condition.
According to above-mentioned 3 points of control target, VCFS Control system architecture block diagram is obtained, as shown in Figure 10.
E in Figure 10jθ, e-jθIndicates coordinate transformation.The area Tu Zhong I is No.1 voltage controller, and the area II is No. two voltage controls
Device.Figure 10 is made of five closed loops altogether, is respectively: the given voltage that outermost speed closed loop, No.1 voltage controller are constituted
D shaft voltage closed loop, d shaft current closed loop and the q shaft current closed loop that closed loop, No. two voltage controllers are constituted.Wherein No.1 voltage control
The closed loop that device processed is constituted acts on always in one area of weak magnetic and 2nd area of weak magnetic, and the closed loop that No. two voltage controllers are constituted is only in weak magnetic two
It works in area.
Brief analysis is carried out to the operational process of VCFS control system.Electric motor starting works in permanent torque area, stator current
Excitation component given value is definite value i* sd,rated, permanent torque sound zone system is only limited by maximum current, so controlAccording to the voltage equation under synchronous rotating frame it is found that stator voltage with turn
Speed raising and increase, when stator voltage is increased to stator voltage maximum value, system starts to be limited by maximum voltage, enter
One area of weak magnetic, No.1 voltage controller are started to work.The stator voltage maximum value of setting is subtracted each other with actual stator given voltage,
The attenuation components i of d shaft current is generated by PI linksd,weaken, i* sdReduction cause u* sqReduction, while i* sqWith i* sd's
Reduce and increases.u* sdWith i* sqIncrease and increase.Stator voltage and electric current are moved according to the track in Fig. 9.According to slip angle
Frequency and stator current excitation component isqWith torque component isdRelationship:
It knows in one area of weak magnetic, with isqIncrease and isdReduction ωslConstantly increase, works as ωslWhen increasing to maximum value
System, which starts to be limited by maximum revolutional slip, enters 2nd area of weak magnetic.Target is controlled according to the foregoing description, is controlled at this timeExportable torque capacity.It is controlled by No. two voltage controllersAnd it generates and turns
The attenuation components i of square current componentsq,weaken, guaranteeSet up torque component in 2nd area of weak magnetic.According to upper
Control process is stated, VCFS control system ensure that motor exports torque capacity always in boosting velocity procedure.
But there are problems that following two in VCFS system:
1. there are the wastes of resource for pair DC bus-bar voltage；
There are dynamic problems when 2. system being run from permanent torque area to weak magnetic area.
Detailed analysis is carried out to the dynamic problem below:
As given voltage u* sdqIncrease to maximum voltage umaxWhen, it is still constantly increased so that giving due to synchronizing angular frequency at this time
The amplitude of constant voltage vector continues to raise to above umax, enter changeover portion at this time.Under ideal conditions, if No.1 voltage
PI parameter designing in controller it is good, current phasor will change according to optimal current vector locus, motor also just will smoothly into
Enter weak magnetic area.But due to the presence of rotor intrinsic time constant, given voltage could be readjusted by generally requiring certain time
To maximum voltage, and then isqGiven value can not be followed, thus Δ isqConstantly integral is so that u* sqConstantly rise, on the one hand
u* sqContinuous increase will cause the serious saturation problem of current regulator, on the other hand it will cause the field orientation of mistake, will
The dynamic characteristic of changeover portion is caused to be remarkably decreased, this influence can be seen that by experimental waveform come as shown in Figure 11.
The disclosure aiming at the shortcomings in the prior art, on the one hand will improve voltage development area dynamic property, on the other hand want
The utilization rate of DC bus-bar voltage is improved, torque capacity is optimized with further promotion.
As shown in connection with fig. 1, compared with Fig. 9, adjustable weak magnetic controller is given with the voltage containing self-locking clipping structure in Fig. 1
(Voltage Reference Adjustable Flux-weakening Controller with Self-Locking
Limit Block), i.e. SLLB-VRAFC controller, the No.1 voltage controller in alternate figures 9 is specifically described below:
Step 1: this step improves DC bus-bar voltage utilization rate by increasing maximum voltage value: in order to improve direct current mother
The utilization rate of line voltage, Yao Zeng great maximum voltage Usmax, but due to SVPWM (space vector pulse width
Modulation, space vector pulse width modulation) module output maximum voltage vector magnitude be 2Udc/ 3, so UsmaxIt can not be unlimited
Increase, this is in introducing voltage adjusting parameter k in SLLB-VRAFC controllerext, value can 1 withBetween, when
kextWhen=1,WhenWhen, Usmax=2Udc/ 3, work as kextIt is less than greater than 1When It can freely choose as needed, value is bigger, and voltage expansion is bigger, and torque magnification is higher, but
Torque ripple is accordingly serious, it is proposed that preferred value can be between 1.05-1.10.At this point, system has been in achievable voltage
Development area weak magnetic field operation state.Introduce voltage adjusting parameter kextAdjustable elements are given by voltage afterwards, i.e., after the effect of VRA unit,
Voltage will be given to be automatically set asFurther by the PI in SLLB-VRAFC
And clipping effect, export weak magnetic factor isd,weaken, which, which can be summarized as following formula, indicates:
Wherein, Δ u indicates voltage difference.
Specifically as shown in connection with fig. 2: after introducing voltage regulation factor, maximum voltage will appear can be defeated more than SVPWM module
Out the case where the upper limit of voltage, i.e. the dotted portion of the circular trace being located at outside hexagon in Fig. 2, when there is such case
When maximum voltage is taken on regular hexagon, i.e., maximum voltage is made of a part and a part of hexagon of circle in Fig. 2.
Maximum voltage accounting equation isWherein | uαβ| correspond in Fig. 2 corresponding to hexagon
Voltage vector magnitude.
By this step, the load capacity of induction machine system is further increased.
With kextIncrease, output torque capacity will increase, but can also become more severe along with torque ripple, institute
With kextTake a suitable value.Since hexagon vertex can generate very severe torque ripple, and people are wished
The promotion for the more constant torque capacity hoped does not help effectively, so maximum voltage track is to pass through hexagon
Six vertex.Furthermore consider the simplicity calculated, error voltage Δ u2To replace Δ u to avoid extraction of square root operation.
In step 2: the value that initial stator current excitation component is arranged is isd,rated, with isd,weakenSuperposition obtains isd,ref,
Obtaining torque component clipping initial value again is isq,limit。
In step 3, q axis given voltage value u is obtained* sqWith d axis given voltage value
In step 4, as revolving speed increases, the synchronization angular frequency that stator is powered constantly is increased, and given voltage is with synchronizing frequency
Raising and constantly increase, work as given voltageEqual to maximum voltage usmaxWhen initially enter changeover portion,
It is started working in SLLB-VRAFC controller from limit module SLLB, simultaneously because weak magnetic factor isd,weakenLess than zero,
isd,refStart to reduce.
Stator voltage vector track is according to the maximum voltage being arranged in step 1 under the action of SLLB-VRAFC controller
Trail change.AB section of the stator current vector in Fig. 9 is mobile, and with the continuous rising of revolving speed, stator current vector is by Fig. 9
A point move to B point.
SLLB module is introduced in this step, is redistributed given voltage in changeover portion and is guaranteed changeover portion in voltage development area
Dynamic characteristic.
With the raising of motor speed, synchronous angular frequency is continuously improved, and given voltage increases to maximum voltage, into transition
Section.In order to improve motor in the dynamic property of changeover portion, above-mentioned dynamic problem is avoided the occurrence of, using redistributing given voltage
Method, introduce self-locking limit module SLLB, with SLLB module export u* sq-SLLBInstead of former u* sq, redistributed given electricity
Press u* sdWith u* sq, SLLB module specific workflow figure is as shown in Figure 4.
SLLB module work flow chart is illustrated in the voltage development area module routine as shown in connection with fig. 4.Setting
Switch initial value is 0, and the amplitude with the rising given voltage vector of frequency constantly increases, when given voltage is greater than with reference to electricity
Ovennodulation occurs when pressure, at this time u* sq> usq, isd-weaken< 0 when detecting that ovennodulation occurs, namely represents motor and enters transition
Section, sets 1 for switch value, and changing q axis given voltage amplitude limit value is usq-ins, so that q axis given voltage does not exceed
usq-ins.When detecting u* sq< usqWhen, it indicates the end of changeover portion, sets former default value for q axis given voltage amplitude limit value,
Q shaft voltage given value starts the voltage trace variation according to output torque capacity, into one area of weak magnetic.The q axis given voltage
The former default value of amplitude limit value is the amplitude limit value in classical control system in current regulator PI output, such as the initial setting of system
It can be 1.5p.u. (per unit value) to suggest being at least above 1p.u. in actual motion.Designed SLLB module is only in changeover portion
Switch is just triggered, it is then consistent with VCFS control system in permanent torque and weak magnetic area, under the action of SLLB module, given voltage
Track can be indicated in the situation of change of voltage development area with Fig. 5.
The situation of change of given voltage vector in Fig. 5 is illustrated: when there is no SLLB module with the promotion of frequency
With the integral action of current regulator, will quickly increase in the amplitude of voltage development area given voltage vector, such as the u in Fig. 5* sdq.After SLLB module is added, under the action of the self-locking clipping Self-LockingLimit module of setting, given voltage vector
U will be limited in* sdq-SLLB, given voltage is by u* sdqU is become* sdq-SSLB.Compared with not plus before SLLB module, q axis is given
Voltage has an apparent decline, drop-out value be in Fig. 5-Δ usq, and d shaft voltage has redistributed Δ usdVoltage it is abundant
Amount, thus redistributing for given voltage is completed under the action of Self-LockingLimit, and due to d shaft voltage quilt
Δ u is redistributedsd, d shaft current can smoothly reduce under the action of transient state component, ensure that system smoothly spends transition
Section.
It can smoothly enter into one area of weak magnetic under the action of SLLB module, the CD section in voltage trace such as Fig. 9, current locus is as schemed
AB section in 9.SLLB module no longer plays a role, and voltage and current vector is along desired rail under the action of No.1 voltage controller
Mark movement.
The core of the disclosure is the design and parameter setting of SLLB-VRAFC controller.
Step 5: with the raising of revolving speed, | usd| constantly increase, whenWhen, induction machine operation enters
2nd area of weak magnetic, slip angular frequency keeps maximum rating at this time.In the synthesis of SLLB-VRAFC controller and No. two voltage controllers
Under effect, | usd| stablize extremelyTo meetMotor will maintain this state until turn up
To given.
Experiment effect: carrying out experimental verification to control method proposed by the present invention below, and SLLB module is added in comparison first
The difference of front and back given voltage vector locus in same boosting velocity procedure.As shown in Figure 6.
As it can be seen that given voltage vector is substantially increased base in voltage development area from voltage vector trajectory diagram shown in fig. 6
This is suppressed, this is with SLLB module to u* sqClipping it is related, and be assigned with given voltage again, give usdVoltage is redistributed
Transient state component, and the voltage trace of permanent torque area and weak magnetic area is unchanged, and this is consistent with theory analysis before.Into one
It walks comparison system and improves front and back voltage development area dq shaft current to the tracking situation of given value, as shown in Figure 7, it is seen that SLLB is added
Well following to given value of current value is realized after module in changeover portion.The operation of voltage development area is finally provided to turn maximum
The castering action of square.As shown in figure 11, under the same load, context of methods shows more stable load capacity, thus
It demonstrates and realizes the operation of voltage development area so that torque capacity is further promoted.
In the disclosure, voltage adjusting parameter kextWhen value is 1.05-1.10, the promotion of torque while torque wave can guarantee
It is dynamic to be not obvious.Meet the requirement of d shaft current reduction for more d shaft voltage allowances are needed in changeover portion simultaneously, and deposits
Make the problem of q axis given voltage is much higher than actual demand in the integral action due to q shaft current difference, proposes that SLLB makes transition
Total voltage vector more reasonably distributes to d axis and q axis when the phase, to improve the dynamic characteristic of motor operation.SLLB module
Key is two o'clock, first is that the state of switch is initially 0, it is 1 in changeover portion, other states are 0；Second is that by u* sqWith usq's
Mark of the size relation as judgement disengaging changeover portion.
In the disclosure, exciting current is equal to d shaft current, is represented as isd；Torque current is equal to q shaft current, equal table
It is shown as isq。
Claims (2)
1. a kind of induction machine High-speed Control method of voltage development area weak magnetic field operation is used in induction machine system and is in voltage
Under development area weak magnetic field operation state, which is characterized in that it the following steps are included:
Step 1: setting voltage adjusting parameter k in adjustable weak magnetic controller is given in voltageext, voltage adjusting parameter kextPass through
After voltage gives the given adjustable elements adjustment of the voltage in adjustable weak magnetic controller, voltage given value is obtainedWherein uαβFor inverter output voltage, UdcFor DC bus-bar voltage；Voltage given valueIt is adjusted using the PI that voltage gives adjustable weak magnetic controller and clipping acts on, output
Weak magnetic factor isd,weaken, weak magnetic factor isd,weakenInitial value be 0；
Step 2: initial stator current excitation component value is set as isd,rated, by initial stator current excitation component value isd,rated
With weak magnetic factor isd,weakenSuperposition obtains exciting current given value isd,ref, thus calculate and obtain torque component clipping initial value
isq,limit:
I in formulasmaxFor maximum allowed current value；
Step 3: using the code-disc acquisition actual rotor rotational speed omega that tests the speedr, by given rotor speed ωr,refWith actual rotor revolving speed
ωrIt adjusts to obtain stator current torque component given value i using PI after making differencesq,ref；Stator current torque component given value
isq,refWith exciting current given value isd,refObtain q axis given voltage value u respectively after current regulator is adjusted* sqIt is given with d axis
Voltage value
Step 4: work as given voltageEqual to inverter limit output voltage usmaxWhen, whereinInduction machine
Into changeover portion；It is given in adjustable weak magnetic controller using voltage at this time and redistributes given voltage from limit module
The initial value from the switching value switch of limit module is set as 0, to u* sqAnd isd,weakenValue be monitored online, whenAnd isd,weakenWhen < 0, the value of switch is set 1, and makes q axis given voltage value u* sqAmplitude limit value be current inverse
Become device reality output q shaft voltage value usq-ins；Wherein usqFor inverter reality output q shaft voltage value；
Work as u* sq< usqWhen, indicate that changeover portion terminates, by q axis given voltage value u* sqAmplitude limit value be set as former default value；Together
When the value of switch reset to 0, induction machine operation enters one area of weak magnetic；
Step 5: whenWhen, induction machine operation enters 2nd area of weak magnetic, wherein usdFor inverter reality output d
Shaft voltage value；By the adjustment effect of PI, makeWhen, final output | usd| stablize extremelyFrom
And makeInduction machine maintains this operating status to reach given value until rotor speed, completes induction
High-speed Control of the motor in voltage development area weak magnetic field operation.
2. the induction machine High-speed Control method of voltage development area weak magnetic field operation according to claim 1, which is characterized in that
Voltage adjusting parameter kextValue range be 1 to
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710839095.XA CN107508516B (en) | 2017-09-18 | 2017-09-18 | The induction machine High-speed Control method of voltage development area weak magnetic field operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710839095.XA CN107508516B (en) | 2017-09-18 | 2017-09-18 | The induction machine High-speed Control method of voltage development area weak magnetic field operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107508516A CN107508516A (en) | 2017-12-22 |
| CN107508516B true CN107508516B (en) | 2019-06-07 |
Family
ID=60697569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710839095.XA Active CN107508516B (en) | 2017-09-18 | 2017-09-18 | The induction machine High-speed Control method of voltage development area weak magnetic field operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107508516B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111277186B (en) * | 2018-12-05 | 2022-04-15 | 哈尔滨工业大学 | Induction motor field weakening control method based on optimized six-beat operation |
| CN111404429B (en) * | 2018-12-28 | 2021-11-12 | 比亚迪股份有限公司 | Vehicle, motor control method and device thereof and computer readable storage medium |
| CN109687791A (en) * | 2019-01-23 | 2019-04-26 | 广东工业大学 | The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation |
| CN110380657A (en) * | 2019-07-24 | 2019-10-25 | 凡己科技(苏州）有限公司 | A kind of torque magnification method when electri forklift motor weak magnetic works |
| CN110365267B (en) * | 2019-08-23 | 2021-03-09 | 哈尔滨工业大学 | Design method of weak magnetic controller of induction motor based on voltage ring structural simplification |
| CN110474591B (en) * | 2019-08-23 | 2020-12-11 | 哈尔滨工业大学 | Complex vector form-based normalization design method for weak magnetic controller of induction motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009123113A1 (en) * | 2008-03-31 | 2009-10-08 | 株式会社ジェイテクト | Motor control device and electric power steering device |
| CN102386816A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method and device for controlling weak magnetism of permanent magnet synchronous motor |
| CN103595324A (en) * | 2013-11-21 | 2014-02-19 | 东南大学 | Field weakening control method of hybrid excitation motor |
| CN106374810A (en) * | 2016-09-29 | 2017-02-01 | 哈尔滨工业大学 | High-speed weak magnetic control method of induction machine |
-
2017
- 2017-09-18 CN CN201710839095.XA patent/CN107508516B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009123113A1 (en) * | 2008-03-31 | 2009-10-08 | 株式会社ジェイテクト | Motor control device and electric power steering device |
| CN102386816A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method and device for controlling weak magnetism of permanent magnet synchronous motor |
| CN103595324A (en) * | 2013-11-21 | 2014-02-19 | 东南大学 | Field weakening control method of hybrid excitation motor |
| CN106374810A (en) * | 2016-09-29 | 2017-02-01 | 哈尔滨工业大学 | High-speed weak magnetic control method of induction machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107508516A (en) | 2017-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107508516B (en) | The induction machine High-speed Control method of voltage development area weak magnetic field operation | |
| CN107332485B (en) | Weak magnetic control method and controller of permanent magnet synchronous motor | |
| CN106627251B (en) | Motor control method and device | |
| CN104917438B (en) | A kind of method that alternating current generator torque output capability is lifted based on improvement ovennodulation | |
| CN102255586A (en) | Constant power wide speed regulation control method for permanent magnet synchronous motor | |
| CN106505921A (en) | A kind of control method of electric machine speed regulation and system | |
| Wang et al. | A comparative overview of indirect field oriented control (IFOC) and deadbeat-direct torque and flux control (DB-DTFC) for AC Motor Drives | |
| CN102969966A (en) | Permanent magnet machine control system | |
| US12113466B2 (en) | Multi-harmonic field oriented control for poly-phase motor/generator systems | |
| CN107005191A (en) | Make the apparatus and method that motor stably stops | |
| CN104135203A (en) | Field weakening control method of asynchronous motor based on bandgap variable step size method | |
| CN109412478B (en) | Power droop control method of brushless doubly-fed motor | |
| CN104052362B (en) | A kind of method expanding winding open permanent magnet synchronous generator actuated by weak field scope | |
| CN105763125A (en) | Three-level synchronous starter/generator starting control method based on current/rotate speed timesharing loop closing | |
| CN102738812B (en) | Indirect torque control cage type rotor brushless double-fed motor reactive power control method | |
| Zhao et al. | Maximal power point tracking under speed-mode control for wind energy generation system with doubly fed introduction generator | |
| Li et al. | An overall control of doubly fed variable speed pumped storage unit in pumping mode | |
| CN104578149A (en) | Method for controlling predicted duty cycles of doubly-fed wind power generation system grid-side converter | |
| Mohan et al. | Reactive power based speed control of induction motor drive using fuzzy logic for industrial applications | |
| CN107612437A (en) | The startup method and High-power Synchronous Motor of a kind of High-power Synchronous Motor | |
| Alqudah et al. | Control of variable speed drive (VSD) based on diode clamped multilevel inverter using direct torque control and fuzzy logic | |
| Zhu et al. | SM-MRAS based sensorless MPPT control for dual power flow wind energy conversion system | |
| Singh et al. | Performance Evaluation of Direct Torque Control with Permanent Magnet Synchronous Motor | |
| Shen et al. | A novel field-weakening control method of SPMSG based on single current regulator | |
| Kumar et al. | Sensorless speed control of brushless doubly-fed reluctance machine for pump storage and wind power application |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |