CN114157208B - Low-frequency vibration noise active control method for variable-frequency power supply alternating-current motor - Google Patents
Low-frequency vibration noise active control method for variable-frequency power supply alternating-current motor Download PDFInfo
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- CN114157208B CN114157208B CN202111388121.4A CN202111388121A CN114157208B CN 114157208 B CN114157208 B CN 114157208B CN 202111388121 A CN202111388121 A CN 202111388121A CN 114157208 B CN114157208 B CN 114157208B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001228 spectrum Methods 0.000 claims abstract description 12
- 230000003044 adaptive effect Effects 0.000 claims description 20
- 238000004422 calculation algorithm Methods 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 230000010363 phase shift Effects 0.000 claims description 2
- 230000005284 excitation Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000010183 spectrum analysis Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0022—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
- Soundproofing, Sound Blocking, And Sound Damping (AREA)
Abstract
The invention discloses a low-frequency vibration noise active control method of a variable-frequency power supply alternating-current motor, which uses an alternating-current motor target examination point vibration noise signal and a motor electric characteristic spectrum signal as the input of a self-adaptive filter, and the output of the self-adaptive filter is used as a compensation value to be superimposed into the reference quantity of a motor electric signal and participates in closed-loop driving control of the alternating-current motor. The method can perform self-adaptive active control on the low-frequency vibration noise of the alternating current motor, so that the vibration noise amplitude of each characteristic line spectrum of the low-frequency band of the motor reaches the minimum value, and the convergence speed is high and the stability is high.
Description
Technical Field
The invention belongs to the field of vibration noise control of alternating-current motors, and particularly relates to a low-frequency vibration noise active control method of a variable-frequency power supply alternating-current motor, which is used for suppressing the low-frequency vibration noise of the variable-frequency power supply alternating-current motor.
Background
Vibration noise is an important assessment index of an alternating current motor, and vibration noise control of the alternating current motor is generally classified into passive control and active control from the aspect of control methods. The traditional passive control is mainly to obstruct or lose the transmission of vibration noise through vibration reduction and isolation design, so as to achieve the purpose of reducing the vibration noise of the motor, such as vibration isolators, damping materials and the like. However, these control devices or materials are inversely proportional to the frequency of the vibration signal, which tends to be bulky and inconvenient to install and maintain, resulting in effective control of only the medium-high frequency range vibration and poor control of the low frequency range vibration.
The active control can realize the vibration noise cancellation of the alternating current motor and has self-adaptive change capability, so that the low-frequency vibration noise of the motor can be controlled in a targeted manner. The technology utilizes the destructive interference principle of vibration noise signals, and generates a vibration noise cancellation signal with the same frequency, opposite phase and similar amplitude as the initial vibration noise signal through a variable frequency drive control system of an alternating current motor, so that the destructive interference is generated between a vibration noise area of a target checking point of the alternating current motor and the initial vibration noise signal, and the aim of reducing or eliminating the vibration noise of the motor is fulfilled. The low-frequency vibration noise active control technology of the alternating current motor has remarkable control effect on the middle-low frequency vibration noise of the motor, and has the advantages of low cost, small volume, convenience in installation and the like.
Disclosure of Invention
The invention aims to overcome the defects of the existing vibration noise passive control technology and provides a low-frequency vibration noise active control method of a variable-frequency power supply alternating-current motor.
In order to achieve the above purpose, the technical scheme adopted by the invention for solving the technical problems is as follows: a low-frequency vibration noise active control method for a variable-frequency power supply alternating-current motor uses an alternating-current motor target examination point vibration noise signal and an electric characteristic spectrum signal of the motor as inputs of an adaptive filter, and outputs of the adaptive filter are used as compensation values to be superimposed into a reference quantity of an electric signal of the motor and participate in closed-loop driving control of the alternating-current motor.
The further steps are as follows:
Step 1, filtering and attenuating an original output signal of an alternating current motor target examination point vibration noise sensor, removing a direct current component in the original output signal, reserving the alternating current component, obtaining a vibration noise signal of the motor through sampling and operation, and taking the vibration noise signal as a deviation signal e (k) of a self-adaptive control algorithm;
Step 2, calculating an electrical characteristic spectrum signal x (k) of the alternating current motor by the following formula, wherein the electrical characteristic spectrum signal x (k) is used as a reference signal of an adaptive control algorithm:
Wherein f is the fundamental frequency of the alternating current motor, n is the characteristic frequency of the electrical signal, A n is the amplitude of the electrical signal corresponding to the characteristic frequency, For the electric signal phase shift angle of the corresponding characteristic frequency, T (k) is the kth computing moment, and N is the maximum characteristic frequency of the electric signal in the checking frequency band;
step 3, calculating a reference compensation value of the alternating current motor electric signal by using an adaptive control algorithm
Taking a time sequence reference signal vector x with the length of M+1 and a deviation signal e (M) at the current moment as the input of the self-adaptive filter, taking a reference quantity compensation value y (M) of an alternating current motor electric signal as the output of the self-adaptive filter, defining the length of a weight coefficient vector W of the self-adaptive filter as M, and carrying out iteration according to the following formula, wherein the iteration step length is mu:
And 4, performing amplitude limiting processing on the output y (M) of the adaptive filter, and superposing the output y (M) to the reference quantity of the AC electromechanical signal to act on closed-loop driving control of the AC motor.
The beneficial effects of the invention are as follows:
The invention adopts a self-adaptive active control technology to inhibit an electromagnetic excitation source from the driving control of a motor, can pertinently control the low-frequency vibration noise and solve the problem of prominent characteristic line spectrum of the low-frequency electromagnetic vibration noise of the alternating current motor.
Drawings
FIG. 1 is a schematic diagram of a method for actively controlling low-frequency vibration noise of a variable-frequency power supply alternating-current motor;
FIG. 2 is a simulation waveform of vibration noise excitation source signals before and after the low-frequency vibration noise active control method of the invention is adopted;
FIG. 3 is a graph showing the spectral analysis of the vibration noise excitation source before and after the low frequency vibration noise active control method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the low-frequency vibration noise active control method of the variable-frequency power supply alternating-current motor disclosed by the invention uses an alternating-current motor target examination point vibration noise signal and an electric characteristic spectrum signal of the motor as inputs of an adaptive filter, and outputs the signals as compensation values to be superimposed into a reference quantity of an electric signal of the motor and participate in closed-loop driving control of the alternating-current motor.
The method specifically comprises the following steps:
1, filtering and attenuating an original output signal of an alternating current motor target examination point vibration noise sensor, removing a direct current component, reserving the alternating current component, obtaining a vibration noise signal of the motor through sampling and operation, and taking the vibration noise signal as a deviation signal e (k) of an adaptive control algorithm.
2, Taking the electric characteristic spectrum signal of the alternating current motor as a reference signal x (k) of an adaptive control algorithm, and having the following form:
Wherein f is the fundamental frequency of the alternating current motor, n is the characteristic frequency of the electrical signal, A n is the amplitude of the electrical signal corresponding to the characteristic frequency, And (3) for shifting the phase angle of the electric signal corresponding to the characteristic frequency, wherein T (k) is the kth computing time, and N is the maximum characteristic frequency of the electric signal in the checking frequency band.
And 3, calculating a reference quantity compensation value of the alternating current motor electric signal by using an adaptive control algorithm. The input of the adaptive filter is a time sequence reference signal vector x with the length of M+1 and a deviation signal e (M) at the current moment; the output of the self-adaptive filter is a reference compensation value y (M) of the alternating current motor electric signal; the weight coefficient vector W of the adaptive filter has a length M and an iteration step length mu, and is iterated according to the following formula.
And 4, performing amplitude limiting processing on the output y (M) of the adaptive filter, and superposing the output y (M) to the reference quantity of the AC electromechanical signal to act on closed-loop electric drive control of the AC motor.
Fig. 2 is a simulation waveform of vibration noise excitation source signals before and after the active control method of low-frequency vibration noise of the variable-frequency power supply alternating-current motor provided by the invention. Wherein the rated running frequency of the alternating current motor is 24Hz, the load torque is 500Nm, the calculation frequency of the active control system is 10kHz, the length of the adaptive filter is 20, the step length is 0.001, and the equivalent vibration noise input signal of the alternating current motor is
x(k)＝0.2sin[2πf·T(k)+π/12]+0.3sin[4πf·T(k)+π/3]。
After the motor is accelerated to 24Hz, an adaptive filtering active control algorithm is put into the position of 1.2 s.
Fig. 3 is a comparison of vibration noise excitation source signal spectrum analysis before and after the active control method of low-frequency vibration noise of the variable-frequency power supply alternating-current motor.
As is apparent from fig. 2 and 3, after the low frequency vibration noise active control algorithm is applied in the motor control system, the vibration noise excitation source signal of the characteristic frequency can be rapidly reduced.
In the active control method for the low-frequency vibration noise of the variable-frequency power supply alternating-current motor, the length and the iteration step length of the adaptive filter have close relations with the adjustment time, the steady-state error and the reduction amplitude of the vibration noise signal at the characteristic frequency point of the active control system. The higher filter length is beneficial to enhancing the robustness of the system and improving the steady-state precision of the system, but on the other hand, the filter length is limited by the operation capability of the control chip, so that the operation amount is increased when the filter length is too high, and the real-time performance of the control is reduced. In addition, on the premise of stable system, the adjustment time can be obviously shortened by properly increasing the iteration step. The optimal filter parameters need to be comprehensively considered according to the sampling frequency, the frequency spectrum range and the calculated frequency of the active control system of the vibration noise signal.
The present application is not limited to the above-described preferred embodiments, and any person skilled in the art may, in light of the present application, obtain other modified and improved products, but any changes in shape or structure of the modified and improved products fall within the scope of the present application, regardless of the technical solutions which are the same as or similar to the present application.
Claims (1)
1. A low-frequency vibration noise active control method of a variable-frequency power supply alternating-current motor is characterized in that an alternating-current motor target examination point vibration noise signal and an electric characteristic spectrum signal of the motor are used as inputs of an adaptive filter, and the output of the adaptive filter is used as a compensation value to be superimposed into a reference quantity of an electric signal of the motor and participates in closed-loop driving control of the alternating-current motor; the method comprises the following specific steps:
Step 1, filtering and attenuating an original output signal of an alternating current motor target examination point vibration noise sensor, removing a direct current component, reserving the alternating current component, and obtaining a vibration noise signal of the motor through sampling and operation, wherein the vibration noise signal is used as a deviation signal e (k) of a self-adaptive control algorithm;
Step 2, calculating an electrical characteristic spectrum signal x (k) of the alternating current motor by the following formula, wherein the electrical characteristic spectrum signal x (k) is used as a reference signal of an adaptive control algorithm:
，
Wherein f is the fundamental frequency of the alternating current motor, n is the characteristic frequency of the electrical signal, A n is the amplitude of the electrical signal corresponding to the characteristic frequency, For the electric signal phase shift angle of the corresponding characteristic frequency, T (k) is the kth computing moment, and N is the maximum characteristic frequency of the electric signal in the checking frequency band;
step 3, calculating a reference compensation value of the alternating current motor electric signal by using an adaptive control algorithm
Taking a time sequence reference signal vector x with the length of M+1 and a deviation signal e (M) at the current moment as the input of the self-adaptive filter, taking a reference quantity compensation value y (M) of an alternating current motor electric signal as the output of the self-adaptive filter, defining the length of a weight coefficient vector W of the self-adaptive filter as M, and carrying out iteration according to the following formula, wherein the iteration step length is mu:
，
And 4, performing amplitude limiting processing on the output y (M) of the adaptive filter, and superposing the output y (M) to the reference quantity of the AC electromechanical signal to act on closed-loop driving control of the AC motor.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103490692A (en) * | 2013-10-13 | 2014-01-01 | 中国船舶重工集团公司第七一二研究所 | Polyphase permanent magnet synchronous motor current waveform optimal control method |
| CN104379962A (en) * | 2012-07-16 | 2015-02-25 | 神宝公司 | Balancing vibrations at harmonic frequencies by injecting harmonic balancing signals into the armature of a linear motor/alternator coupled to a stirling machine |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6844693B2 (en) * | 2002-03-29 | 2005-01-18 | Matsushita Electric Industrial Co., Ltd. | Position control apparatus for motor |
| CN105207563B (en) * | 2015-10-13 | 2017-12-15 | 中国船舶重工集团公司第七一二研究所 | A kind of polyphase machine balance control method and its application |
| CN112398399B (en) * | 2020-12-09 | 2022-05-31 | 中国船舶工业系统工程研究院 | Active suppression method for vibration noise of permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104379962A (en) * | 2012-07-16 | 2015-02-25 | 神宝公司 | Balancing vibrations at harmonic frequencies by injecting harmonic balancing signals into the armature of a linear motor/alternator coupled to a stirling machine |
| CN103490692A (en) * | 2013-10-13 | 2014-01-01 | 中国船舶重工集团公司第七一二研究所 | Polyphase permanent magnet synchronous motor current waveform optimal control method |
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