CN117914200A - Inner rotor motor control method and system - Google Patents
Inner rotor motor control method and system Download PDFInfo
- Publication number
- CN117914200A CN117914200A CN202311737112.0A CN202311737112A CN117914200A CN 117914200 A CN117914200 A CN 117914200A CN 202311737112 A CN202311737112 A CN 202311737112A CN 117914200 A CN117914200 A CN 117914200A
- Authority
- CN
- China
- Prior art keywords
- current
- theoretical
- motor
- rotor
- loop
- 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.)
- Pending
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
- H02P21/13—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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—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
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
本发明公开了一种内转子电机控制方法及系统，涉及电机控制技术领域，包括以下步骤：检测得到当前电机的三相电流；通过可调模型构建状态观测器，计算理论转速和转子角度；根据理论转速计算得到d‑q轴理论电压分量和理论电流分量；经三相逆变器转变为三相电压控制电机；通过状态观测器估计电机的转子位置和速度，免去了传感器的安装，降低了硬件成本，提高了系统的稳定性和控制精度。
The invention discloses an inner rotor motor control method and system, which relates to the technical field of motor control, and comprises the following steps: detecting and obtaining the three-phase current of the current motor; constructing a state observer through an adjustable model to calculate the theoretical rotation speed and the rotor angle; obtaining the d-q axis theoretical voltage component and the theoretical current component according to the theoretical rotation speed; converting the motor into a three-phase voltage control motor through a three-phase inverter; estimating the rotor position and speed of the motor through the state observer, thereby eliminating the need for sensor installation, reducing hardware cost, and improving system stability and control accuracy.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method and a system for controlling an inner rotor motor.
Background
In the control process of the motor, detection of the position and speed of the rotor is indispensable. Typically, measuring the position and speed of the rotor requires additional mounting of sensors to make the measurements. The installation of the sensor for detection not only requires additional costs, but also does not support the installation of the sensor in some special circumstances.
For example, chinese patent CN111987960a, publication date 2020, 11 and 34, provides a hybrid control method for asynchronous motor, comprising the following steps: step 1, detecting and obtaining the current rotating speed and the current three-phase current; step 2, calculating to obtain a rotating speed error signal and a rotor flux linkage angle; step 3, obtaining a stator current d-axis component and a stator current q-axis component; step 4, obtaining a q-axis component of the stator current reference value and a d-axis component of the stator current reference value; step 5, calculating to obtain a q-axis current error signal and a d-axis current error signal; step 6, calculating to obtain two driving signals; and 7, selecting a driving signal according to the current rotating speed and the current value, and adjusting the current voltage and the three-phase current according to the driving signal, so that the mixed FOC-DTC control after the asynchronous motor is smoothly turned to the motor starting from the FOC control when the motor is started or runs at a low speed is realized. However, the accuracy of this control method is not high enough.
Disclosure of Invention
The invention aims to solve the technical problems that: the technical problem that the control precision of the existing sensorless control motor is not high. The method and the system for controlling the inner rotor motor are provided, and control accuracy is effectively improved.
In order to solve the technical problems, the invention adopts the following technical scheme: an inner rotor motor control method, comprising the steps of:
S1: the control system detects and obtains three-phase current of the current motor;
S2: constructing a state observer through an adjustable model, and calculating a theoretical rotating speed and a rotor angle;
s3: calculating to obtain a d-q axis theoretical voltage component and a theoretical current component according to the theoretical rotation speed;
S4: the three-phase inverter is used for converting the three-phase voltage into a three-phase voltage control motor.
The method for controlling the inner rotor motor includes the steps of observing the rotating speed and the rotor angle of the motor through current, changing parameters in an adjustable model through self-adaptive adjustment of the adjustable model, enabling deviation values of actual rotating speed and theoretical rotating speed to tend to minimum values, enabling the observed rotating speed to approach to the actual rotating speed infinitely, controlling the control voltage, and adjusting the operation state of motor operation.
Preferably, the state observer includes an output error calculation formula, and the output error calculation formula is as follows:
Wherein: epsilon is the deviation value of the theoretical rotor current and the actual rotor current; i r0|2 is the gain value between the speed deviation and the output error; θ error is the angle of the actual rotor current and the theoretical rotor current; θ error0 is the initial value of θ error; omega r is the actual rotational speed; Is the theoretical rotation speed; 1/S is the integration operation. After the output error is calculated, the theoretical rotation speed is regulated by the PI regulator, so that the error tends to zero.
Preferably, the adjustable model formula is as follows:
Wherein: Is the theoretical rotor current; l m is mutual inductance; l s is a stator inductance; i s is the stator current; u s is the stator voltage; is the theoretical rotor position angle. And estimating the rotor current according to the stator voltage and the stator current.
Preferably, the theoretical current component calculation formula is as follows:
Wherein: Is the theoretical rotor current component in a two-phase stationary coordinate system; u sα、usβ is the stator voltage component in the two-phase stationary coordinate system; r s is the stator resistance; θ r is the actual rotor position angle; i sα、isβ is the stator current component. And obtaining a theoretical rotor current calculation formula through adjustment and conversion of the voltage model and the current model.
Preferably, the control system is of a double closed-loop structure, the inner loop is a current loop, and the outer loop is a speed loop. The rotational speed and rotor position are observed through the speed loop.
Preferably, the output error calculation formula has a gain i r0|2 and the PI regulator of the speed loop has a gain compensation i r|-2. Due to the influence of initial conditions, the output error calculation formula can have a gain i r0|2, so that interference needs to be eliminated through gain compensation, and the accuracy is improved.
Preferably, in the current loop, the d-p axis component of the rotor current forms a double-channel closed-loop control, the controller is a PI regulator, and the control output quantity triggers the inverter to realize motor control through feedforward compensation and coordinate transformation control. The current loop is used for controlling the motor.
Preferably, the speed loop outputs a rotational speed deviation, and the theoretical rotational speed is output through the PI regulator. The final output in the speed loop is the rotational speed and rotor position.
An inner rotor motor control system comprises an MCU, wherein the MCU is connected with a protection circuit.
An inner rotor motor control system controls the operation of the whole system through an MCU, and the MCU is connected with a plurality of protection circuits for avoiding circuit damage.
Preferably, the protection circuit comprises an overvoltage and undervoltage protection circuit, the MCU is connected with the overload protection circuit, the MCU is connected with the software overcurrent protection circuit, the MCU is connected with the overtemperature protection circuit, and the overtemperature protection circuit is provided with a temperature sampling resistor. The temperature sampling resistor can acquire the peripheral temperature information of the IGBT in real time, and whether the temperature is too high or not is judged through the relation between the temperature and the sampling AD value.
The invention has the following substantial effects: the invention designs a control method and a control system for an inner rotor motor, wherein the position and the speed of the rotor of the motor are estimated through a state observer, so that the installation of a sensor is avoided, the hardware cost is reduced, and the stability and the control efficiency of the system are improved; the self-adaptive adjustment mode is adopted for automatic adjustment, so that the whole operation is convenient.
Drawings
Fig. 1 is a block diagram of a motor control system according to a first embodiment;
FIG. 2 is a diagram of a state observer according to the first embodiment;
FIG. 3 is a peripheral circuit of an MCU chip according to the first embodiment;
FIG. 4 is a bus sampling circuit according to a first embodiment;
FIG. 5 is an over-temperature protection circuit according to a first embodiment;
Fig. 6 is waveforms of actual rotation speed and theoretical rotation speed according to the first embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
Embodiment one:
A control method and system of an inner rotor motor is disclosed in figure 1, wherein the motor control system adopts a sensorless control mode, estimates the rotor position and speed of the motor through a state observer, and realizes target control through self-adaptive adjustment. The control system estimates the rotor position and speed information of the motor through the state observer, so that the installation of a Hall sensor can be avoided, the hardware cost of the device is reduced, and the control efficiency and stability of the system are improved. The current loop PI parameter is automatically adjusted by a self-tuning method only by measuring the parameter and the current of the target motor and inputting the parameter and the current of the target motor into a program, and the target control effect can be realized by only adjusting the speed loop PI parameter. After the power-on is delayed, the program is directly started in a closed loop, and the amplitude of the current injected into the d-axis is adjusted according to the size of the wind wheel, so that the motor can be started normally and stably under different loads.
The motor stator and rotor are provided with special-shaped air gap designs, and through the special-shaped air gap designs, the magnetic field distribution of the air gap is optimized, so that the cogging torque and electromagnetic noise of the motor are further reduced, and the sine of the counter electromotive force of the phase is improved to meet the position estimation precision of vector control. The motor uses a variable lead angle control technology, so that the voltage utilization rate of the motor is improved, forward additional electromagnetic torque is generated, and the operation efficiency of the motor is improved. The structural tightness of the inner rotor motor is high, and the IP grade of the inner rotor motor can reach IP65. The types of fans which can be adopted by the inner rotor motor are more than those of the outer rotor fan, the low wind pressure and large wind quantity (the inner rotor fan is larger than the motor used by the outer rotor fan in general) can be selected, and the low noise fan (the types of the fan blades are determined) can also be selected, so that the fan is suitable for more use scenes due to the variety of the types of the inner rotor motor fan. The blades of the inner rotor blade fan are light, so that the whole inner rotor motor is light in weight and easy to fix. The motor main body is easy to produce and assemble and has low cost. The inner rotor fan blade is independent of the motor body, is easy to protect, and can be detached independently for replacement when the inner rotor fan blade is damaged, so that the use cost is reduced. The fixed mode of inner rotor fan is fixed through the square frame, and automatically controlled and motor disconnect-type installation, the installation height reduces, and the outward appearance is pleasing to the eye. When the inner rotor fan needs to be replaced, the replacement can be carried out only by detaching the square frame, the replacement process is convenient, and the fixing strength is higher. The motor is suitable for being applied to working conditions such as low wind pressure or working conditions requiring high protection level.
The motor control system mainly comprises a d-axis current PI regulator, a q-axis current PI regulator, a rotating speed PI regulator, a state observer, a Clark conversion module, a Park conversion module, an inverse Park conversion module, a space vector pulse width modulation module, a three-phase inverter and a motor. The initial value of the d-axis reference current component of motor control is
First, a reference rotation speed is givenThe difference value between the reference rotating speed and the theoretical rotating speed is input into a rotating speed PI regulator, and the rotating speed PI regulator outputs the reference current/> -of the q-axis of the motorQ-axis reference currentThe difference value from the q-axis actual current i rq is input into the q-axis current PI regulator, and at the same time, the d-axis reference currentThe difference value with the d-axis actual current i rd is input into a d-axis current PI regulator, and a stator voltage component u q、ud under a two-phase rotating coordinate system is obtained from the q-axis current PI regulator and the d-axis current PI regulator respectively. The stator voltage component u q、ud is simultaneously input to the inverse Park transform module, which outputs the stator voltage component u α、uβ in a two-phase stationary coordinate system. The stator voltage component u α、uβ is input to a space vector pulse width modulation module, which outputs six paths of PWM with dead zones. Six paths of PWM with dead zone are input into a three-phase inverter, and the three-phase inverter outputs three-phase voltage. Three-phase voltages are input into the motor, and three-phase currents i α、ib、ic of the motor are collected. The three-phase current i α、ib、ic is input to a Clark conversion module, which outputs a stator current component i α、iβ in a two-phase stationary coordinate system. The stator current component i α、iβ is input into a Park conversion module, and the Park conversion module obtains a q-axis actual current i rq and a d-axis actual current i rd, and a current closed loop is formed at this time.
The state observer inputs the actual voltages and actual currents u rq、urd and i rq、ird on the d-axis and q-axis. The adjustable model inside the state observer calculates theoretical current according to the actual voltage and the actual currents u rq、urd and i rq、ird Will theory currentInputting the PI regulator to obtain theoretical rotation speedTheoretical rotational speedAnd inputting the rotation speed PI regulator to form a rotor rotation speed closed loop. Theoretical rotational speedAnd obtaining a theoretical rotor angle through integration, and returning the theoretical rotor angle to the adjustable model to calculate theoretical current.
Under a two-phase stationary coordinate system, two mathematical models of doubly-fed motor stator flux can be obtained, namely a voltage model and a current model:
from the current model, the deformation can be known, and the theoretical rotor current calculation formula is as follows:
Wherein: Is the theoretical rotor current component in a two-phase stationary coordinate system; u sα、usβ is the stator voltage component in the two-phase stationary coordinate system; r s is the stator resistance; θ r is the actual rotor position angle; i sα、isβ is the stator current component.
The deviation of the theoretical rotor current from the measured rotor current is defined asThe difference between i r, namely:
Wherein: θ error is the angle of the actual rotor current to the theoretical rotor current. When θ error =0, it is indicated that the theoretical rotor angle is equal to the actual rotor angle.
As shown in fig. 2, the state observer can be regarded as a phase locked loop structure, the actual rotor current being the reference vector, and the theoretical rotor current being the phasor vector subject to the theoretical rotor position control, since the output deviation epsilon is defined as the difference between the adjustable model and the reference model. Thus, when measuring the rotor current i r and estimating the rotor currentThe phase angle difference between them is zero, so the error tends to zero.
Regulating theoretical rotating speed through PI controller in state observer structureThereby bringing the error to zero. Estimated rotor current/>, of adjustable model outputAnd obtaining an output error by difference multiplication with the actually measured rotor current i r, obtaining an estimated rotating speed by a PI regulator, and obtaining an estimated rotor angle by integration. Since some hypothetical initial conditions are used in the design of the rotor speed observer, there is a gain amount i r0|2 between the speed deviation and the output error, and gain compensation i r|-2 is added to the PI regulator of the speed loop to offset the effect of the gain amount.
The adjustable model formula is as follows:
Wherein: Is the theoretical rotor current; l m is mutual inductance; l s is a stator inductance; i s is the stator current; u s is the stator voltage; is the theoretical rotor position angle.
The system adopts a double-closed-loop structure, the inner loop is a current loop, the dq axis component of the rotor current forms double-channel closed-loop control, the controllers of the double-channel closed-loop control are PI regulators, and the control output quantity triggers the inverter through feedforward compensation and coordinate transformation control, so that the control of the motor is realized. The feedback quantity of the rotating speed outer ring is an observed quantity based on an MRAS speed observation linkThe accuracy of its observations depends on the performance of the MRAS model. The output deviation of the outer ring of the rotational speed is set as a doubly fed motor torque component via a PI regulatorThe reactive power requirement of the system can be given by the rotor current excitation componentRealizing the method. The controller software scheme mainly comprises a constant rotating speed control mode and a constant torque control mode, and the controller software scheme is obtained under the condition that measured data are all in the constant rotating speed control mode.
The control system estimates the rotor position and speed information of the motor through the state observer, so that the installation of a Hall sensor is omitted, the control cost is reduced, and the control efficiency and stability of the system are improved. The current loop PI parameter is automatically adjusted by a self-tuning method only by measuring the relevant parameters and current of the target motor and inputting the relevant parameters and current into a program, and the target control effect can be realized by only adjusting the speed loop PI parameter. After the power-on is delayed, the program is directly started in a closed loop, and the amplitude of the current injected into the d-axis is adjusted according to the size of the wind wheel, so that the motor can be started normally and stably under different loads.
As shown in fig. 3,4 and 5, the MCU chip adopts LCM32F037K6T8, the highest operating frequency is 96MHz, the rated operating voltage is 1.8-5.5V, the maximum supports 30 fast interfaces, 10 timers are provided, 1 16-bit advanced timer TIM1,4 channels are provided, PWM outputs with 3 complementary channels are provided, dead zone control is supported, 3 operational amplifiers are provided, optional amplification factor 1/2/6/8/10/16/20/32 is provided, the use of external operational amplifier is omitted, single resistance and double resistance sampling is supported, 1 12-bit A/D converter, 24 conversion channels are provided, internal and external reference voltages are supported: 2.5V, 3.3V, 4V, 5V. There are also 5 communication interfaces: including 1 i2c interface, 2 uart interfaces, 2 ssp interfaces.
A series of protection circuits are arranged in the control circuit, and the protection circuits comprise an overvoltage and undervoltage protection circuit, an overload protection circuit, an overcurrent protection circuit and an overtemperature protection circuit which are arranged in the bus sampling circuit. The bus sampling circuit can utilize the voltage dividing resistor to detect the bus voltage in real time, and when the detected bus voltage is lower than a certain set value (400V), the under-voltage fault is reported, the PWM output of the chip is turned off, and the motor is immediately stopped; after a certain time, when the bus voltage is detected to be within the normal range, the motor is restarted. The bus sampling circuit can detect bus voltage in real time by utilizing a voltage dividing resistor, and when the detected bus voltage is higher than a certain set value (675V), an overvoltage fault is reported, PWM output of a chip is turned off, and the motor is immediately stopped; after a certain time, when the bus voltage is detected to be within the normal range, the motor is restarted.
When the output phase current of the motor exceeds a set overload current value, an overload protection state is triggered, and the motor phase current cannot be increased continuously and is kept running at the value. And 3 paths of operational amplifiers are arranged in the chip, when the phase current of the motor is detected to be larger than the set overcurrent value for a certain time, the PWM output of the chip is turned off, the motor is stopped immediately, and the motor can be restarted automatically after a certain time. The enabling pin of the driving chip can be directly turned off, so that the enabling pin is set to 0, PWM output is turned off, and the motor is immediately stopped.
The temperature sampling resistor is used for collecting the surrounding temperature information of the IGBT in real time, the temperature protection value is set according to the relation between the temperature and the sampling AD value, and when the temperature is larger than a certain set value (the temperature acquisition signal AD value and the target temperature AD value), the over-temperature protection is triggered. There are two over-temperature protection measures, the first is to turn off the PWM output, stop the motor immediately, and restart the motor again when a certain time passes and a temperature below the set temperature AD value is detected; the second is to reduce the rotation speed or phase current output, so that the motor power is reduced.
As shown in fig. 6, in the actual test process, the motor parameters are 380V rated line voltage, 0.4485 Ω stator resistance, 3.1mH stator leakage inductance, 0.3885 Ω rotor resistance, 3.1mH rotor leakage inductance, 70.2mH mutual inductance, 4 pairs of check numbers, and 0.38kg·m 2 moment of inertia. In the simulation, the motor load 50 N.m is kept constant, and the given rotating speed of the motor is 70rad/s. As can be seen from the figure, the error between the rotational speed observed by the system and the actual rotational speed is small. And the observed rotational speed only slightly oscillates in the initial stage and then tends to be steady. According to the obtained stator current waveform and rotor current waveform, the sine degree is good, the harmonic content is low, and the effectiveness of a control system is further improved.
In summary, the method and the system for controlling the inner rotor motor disclosed by the patent can effectively observe the rotating speed of the doubly-fed motor. The method has a certain self-adaptive law, has a good tracking effect on load disturbance and rotation speed mutation, and is quick in dynamic response and small in steady-state error. And various protection circuits are arranged, so that the control system can be effectively protected.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (10)
1. A method for controlling an inner rotor motor, comprising the steps of:
S1: the control system detects and obtains three-phase current of the current motor;
S2: constructing a state observer through an adjustable model, and calculating a theoretical rotating speed and a rotor angle;
s3: calculating to obtain a d-q axis theoretical voltage component and a theoretical current component according to the theoretical rotation speed;
S4: the three-phase inverter is used for converting the three-phase voltage into a three-phase voltage control motor.
2. The method for controlling an inner rotor motor according to claim 1, wherein the state observer includes an output error calculation formula, and the output error calculation formula is as follows:
Wherein: epsilon is the deviation value of the theoretical rotor current and the actual rotor current; i r0|2 is the gain value between the speed deviation and the output error; θ error is the angle of the actual rotor current and the theoretical rotor current; θ error0 is the initial value of θ error; omega r is the actual rotational speed; Is the theoretical rotation speed; 1/S is the integration operation.
3. The method for controlling an inner rotor motor according to claim 1, wherein the adjustable model formula is as follows:
Wherein: Is the theoretical rotor current; l m is mutual inductance; l s is a stator inductance; i s is the stator current; u s is the stator voltage; /(I) Is the theoretical rotor position angle.
4. A method of controlling an inner rotor motor according to claim 1,2 or 3, wherein the theoretical current component calculation formula is as follows:
Wherein: Is the theoretical rotor current component in a two-phase stationary coordinate system; u sα、usβ is the stator voltage component in the two-phase stationary coordinate system; r s is the stator resistance; θ r is the actual rotor position angle; i sα、isβ is the stator current component.
5. The method of claim 2, wherein the control system is a double closed loop structure, the inner loop is a current loop, and the outer loop is a speed loop.
6. The method of claim 5, wherein the output error calculation formula has a gain i r0|2 and the PI regulator of the speed loop has a gain compensation i r|-2.
7. The method for controlling an inner rotor motor according to claim 6, wherein in the current loop, the d-p axis component of the rotor current forms a double-channel closed-loop control, the controller is a PI regulator, and the control output quantity triggers the inverter to realize motor control through feedforward compensation and coordinate transformation control.
8. The method of claim 6 or 7, wherein the speed loop outputs a rotational speed deviation, and the theoretical rotational speed is outputted through the PI regulator.
9. An inner rotor motor control system using an inner rotor motor control method as claimed in any one of claims 1 to 6, comprising an MCU connected to a protection circuit.
10. The inner rotor motor control system of claim 9, wherein the protection circuit comprises an overvoltage and undervoltage protection circuit, the MCU is connected with an overload protection circuit, the MCU is connected with a software overcurrent protection circuit, the MCU is connected with an overtemperature protection circuit, and the overtemperature protection circuit is provided with a temperature sampling resistor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311737112.0A CN117914200A (en) | 2023-12-18 | 2023-12-18 | Inner rotor motor control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311737112.0A CN117914200A (en) | 2023-12-18 | 2023-12-18 | Inner rotor motor control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117914200A true CN117914200A (en) | 2024-04-19 |
Family
ID=90695681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311737112.0A Pending CN117914200A (en) | 2023-12-18 | 2023-12-18 | Inner rotor motor control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117914200A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119209413A (en) * | 2024-11-28 | 2024-12-27 | 浙江电驱动创新中心有限公司 | An overload protection system for motor non-inductive magnetic field oriented control |
-
2023
- 2023-12-18 CN CN202311737112.0A patent/CN117914200A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119209413A (en) * | 2024-11-28 | 2024-12-27 | 浙江电驱动创新中心有限公司 | An overload protection system for motor non-inductive magnetic field oriented control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Amrane et al. | Design and implementation of high performance field oriented control for grid-connected doubly fed induction generator via hysteresis rotor current controller | |
| CN110350835A (en) | A kind of permanent magnet synchronous motor method for controlling position-less sensor | |
| US6008618A (en) | Zero speed start-up for a speed sensorless induction motor drive | |
| CN115313419A (en) | Direct-drive wind power system control method and system based on network-building type converter | |
| CN102437813A (en) | Rotor angle and rotating speed estimation method of permanent magnet synchronous motor based on speed sensorless | |
| CN102291079A (en) | Speed sensor-free control algorithm for direct-drive permanent magnet synchronous wind power generation system | |
| Inoue et al. | Control method for direct torque controlled PMSG in wind power generation system | |
| CN109039180B (en) | Fractional-order control method for grid-connected process of doubly-fed induction generator | |
| CN103117702B (en) | A kind of Speedless sensor method of estimation of high accuracy permagnetic synchronous motor | |
| US20240429718A1 (en) | Power grid frequency detection method, apparatus, power grid frequency adjustment method, and apparatus | |
| CN111555361B (en) | Grid-connected control method under pumping condition of double-fed variable-speed pumped storage unit | |
| CN112671302A (en) | Speed sensorless control method and system for permanent magnet synchronous motor | |
| Marques et al. | New sensorless rotor position estimator of a DFIG based on torque calculations—Stability study | |
| CN113675862B (en) | A method and system for evaluating the equivalent inertia of doubly-fed wind turbines | |
| Nguyen et al. | Sensorless control of variable-speed SCIG wind energy conversion systems based on rotor flux estimation using ROGI-FLL | |
| CN117914200A (en) | Inner rotor motor control method and system | |
| CN105634363B (en) | A kind of single-phase high input power factor control method to three-phase inversion motor driven systems | |
| CN118054718A (en) | Sensorless vector control method for PMSM based on non-singular sliding mode observer | |
| CN103208817B (en) | Second-order slip form-based method for controlling doubly-fed wind generator (DFIG) | |
| CN115378333B (en) | Sliding mode angle self-adaptive compensation method based on current loop output | |
| Jeong et al. | A sliding-mode approach to control the active and reactive powers for a DFIG in wind turbines | |
| CN120034060A (en) | Sensorless control method for fan drive based on novel super-helical sliding mode observer | |
| Kenne et al. | Adaptive PI control strategy for a self-excited induction generator driven by a variable speed wind turbine | |
| CN118763946A (en) | Sensorless Active Disturbance Rejection Control Method for Permanent Magnet Synchronous Motor Based on Nonlinear Flux Observation | |
| CN102332861A (en) | Active Power Control Method of Doubly-fed Wind Turbine Generator |
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 |