CN1482732A - Vector control variable-frequency speed governing method for asynchronous motor without speed sensor - Google Patents
Vector control variable-frequency speed governing method for asynchronous motor without speed sensor Download PDFInfo
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- CN1482732A CN1482732A CNA021143897A CN02114389A CN1482732A CN 1482732 A CN1482732 A CN 1482732A CN A021143897 A CNA021143897 A CN A021143897A CN 02114389 A CN02114389 A CN 02114389A CN 1482732 A CN1482732 A CN 1482732A
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- frequency
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- speed
- rotating speed
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 8
- 230000004907 flux Effects 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
An asynchronous motor vector control speed-sensor-free variable-frequency control method, which comprises a base variable related resistance self-adaptive motor temperature change element on the stator side of the motor, having rotation speed estimation function, which is simple and practical in operation, substantially improving the performance under the slow run and near-zero state. If the rotor resistance is also initialized by proportional conversion according to the change rule on the stator side, the accuracy of rotary speed can also be increased on the slow run area.
Description
The present invention relates to the vector control variable-frequency speed governing method for asynchronous motor of a kind of electric machines control technology, particularly a kind of Speedless sensor.
In high performance frequency conversion speed-adjusting system, in order to reach higher dynamic and static performance, velocity transducer is absolutely necessary, but because restrictions such as cost, environment, reliability, the unsuitable again installation rate transducer of many occasions, thereby Speedless sensor control is the theme of frequency conversion speed-adjusting system research and development always in the recent period.The difficulty that Speedless sensor control exists is; because be subjected to the influence that the stator side resistance value of motor changes with motor temperature; cause under low speed and the nearly zero-speed performance bad; the normal appearance shuts down or wild effect, how to estimate that in addition rotating speed also awaits developing a kind of simple and practical method.
In the frequency conversion speed-adjusting system of the stator magnetic linkage oriented vector control of voltage pulse-width modulation, how to make stator side resistance value adaptive electric machine temperature problem, a kind of solution is by patent No. ZL 00225853.6 " adjuster of the stator magnetic linkage that variable frequency speed modulation of asynchronous motor is used " and utilize the stator flux observer technology of application for a patent for invention number 01106851.5 " observation procedure that contains the parameter of based variable in the variable frequency speed modulation of asynchronous motor " that the stator side resistance value is set automatically and obtained realization.Certainly the development along with technology also other kinds solution can occur.
The objective of the invention is: the vector control variable-frequency speed governing method for asynchronous motor that a kind of Speedless sensor is provided.
Under the prerequisite of the variable-frequency governor of the stator magnetic linkage oriented vector control of voltage pulse-width modulation of the synchronous rotation coordinate transform part of the three-phase/two-phase that comprises the link that contains the motor stator side resistance adaptive electric machine variations in temperature relevant with basic variable and transverse axis, direct-axis current, it is as follows that technical scheme of the present invention is pressed the level division:
Given rotating speed value N
*Get speed error after plus-minus link 10 places deduct rotating speed estimated value N, speed error draws transverse axis electric current set-point I through proportional integral governing loop 13 again again
Q *, the latter deducts the transverse axis current actual value I of motor synchronizing rotating seat mark transform part again at plus-minus link 11 places
QAfter current error, current error is K through amplification coefficient again
1Proportional component 14 and integral element 15, draw the rotating speed estimated value at last; The rotating speed estimated value is K through amplification coefficient
2Proportional component 16 back be rotating speed angular frequency W
M, the rotating speed angular frequency is again at plus-minus link 12 places and from function F
1The slip angular frequency W that operation link 17 is exported
2Addition and draw stator angular frequency W
1And be sent to variable-frequency governor 00; The input of function F operation link has three, and first is transverse axis electric current set-point I
Q *, second is the direct-axis current actual value I that comes motor synchronizing rotating seat mark transform part
D, the 3rd is stator flux linkage set value ψ
1 *Mid-point tap from potentiometer 18; The stator flux linkage set value is sent to variable-frequency governor and proportional component 14 again respectively; Potentiometer is by control positive voltage V
+Power supply.Stator flux linkage set value ψ
1 *Be oriented to d-axis.Amplification coefficient is K
1Expression formula be 375P
Mψ
1 */ GD
2Amplification coefficient is K
2Expression formula be 3.1416P
M/ 30; P
MBe motor pole logarithm, GD
2For the whole motion parts of electric drive system is converted flywheel inertia on the motor shaft.
Function F
1Expression formula have multiple, the one, L
1I
Q */ (T
2(ψ
1 *-σ L
1I
D)), or L
1(1+ σ T
2P) I
Q */ (T
2(ψ
1 *-σ L
1I
D)), perhaps be reduced to L
1I
Q */ (T
2ψ
1 *); T
2=L
2/ R
2, σ=1-M
2/ (L
1L
2); T
2Be rotor time constant, σ is a magnetic leakage factor, L
1, L
2, M and R
2Be respectively mutual inductance and rotor resistance between the stator winding self-induction, rotor winding self-induction, rotor winding of motor, all reduction is to the stator side of motor; P is a differential sign; Function F
1The operation result of expression formula is slip angular frequency W
2And outwards output.
Below in conjunction with accompanying drawing the present invention is further elaborated.
Fig. 1 is system's controlling party block diagram.
In Fig. 1, VA, VB and the VC three-phase voltage of variable-frequency governor 00 output are sent to asynchronous machine 01, and are provided with current sensor A, B and C on every output line, and its detected respectively electric current LA, IB and IC are sent back to variable-frequency governor again.Remainder then as previously described among the figure; And the transfer function expression formula of its proportional integral governing loop 13 is K
P(1+1/T
1S), K
PBe ratio time constant, T
1Be integration time constant, S is a complex variable.
Excellent characteristics of the present invention are as follows:
One, the component part of rotating speed estimating part and stator angular frequency is both simple and practical.
Two, performance is significantly improved under low speed and the nearly zero-speed.
Three, a large amount of emulation of machine prove as calculated, and to the accuracy of flywheel inertia numerical value, its requirement is not tight Lattice.
Four, owing to the stator side resistance value can the adaptive electric machine variations in temperature be carried out automatic setting, if Rotor resistance is also converted setting in proportion with reference to the Changing Pattern of stator side resistance automatic setting, Then can improve again the rotary speed precision of low regime.
Five, be met as the IA+IB+IC=0 condition, then can only establish two current sensors among Fig. 1.
Claims (3)
1, a kind of frequency Varying and speed changing method of asynchronous machine, comprise the variable-frequency governor of the stator magnetic linkage oriented vector control of voltage pulse-width modulation of synchronous rotation coordinate transform part of the three-phase/two-phase of the link that contains the motor stator side resistance adaptive electric machine variations in temperature relevant and transverse axis, direct-axis current, it is characterized in that: given rotating speed value (N with basic variable
*) after locating to deduct rotating speed estimated value (N), plus-minus link (10) gets speed error, and speed error passes through proportional integral governing loop (13) again again and draws transverse axis electric current set-point (I
Q *), the latter locates to deduct the transverse axis current actual value (I of motor synchronizing rotating seat mark transform part again in plus-minus link (11)
Q) after current error, current error is K through amplification coefficient again
1Proportional component (14) and integral element (15), draw the rotating speed estimated value at last; The rotating speed estimated value is K through amplification coefficient
2Proportional component (16) back be rotating speed angular frequency (W
M), the rotating speed angular frequency again the plus-minus link (12) locate with from function (F
1) slip angular frequency (W that exported of operation link (17)
2) addition and draw stator angular frequency (W
1) and be sent to variable-frequency governor (00); Function (F
1) input of operation link has three, first is transverse axis electric current set-point (I
Q *), second is the direct-axis current actual value (I that comes motor synchronizing rotating seat mark transform part
D), the 3rd is stator flux linkage set value (ψ
1 *) from the mid-point tap of potentiometer (18); The stator flux linkage set value is sent to variable-frequency governor and proportional component (14) again respectively; Potentiometer is by control positive voltage V
+Power supply, stator flux linkage set value (ψ
1 *) be oriented to d-axis.
2, frequency Varying and speed changing method according to claim 1 is characterized in that: amplification coefficient is K
1Expression formula be 375P
Mψ
1 */ GD
2Amplification coefficient is K
2Expression formula be 3.1416P
M/ 30; P
MBe motor pole logarithm, GD
2For the whole motion parts of electric drive system is converted flywheel inertia on the motor shaft.
3, frequency Varying and speed changing method according to claim 1 is characterized in that: function (F
1) expression formula be L
1I
Q */ (T
2(ψ
1 *-σ L
1I
D)), or L
1(1+ σ T
2P) I
Q */ (T
2(ψ
1 *-σ L
1I
D)), perhaps be reduced to L
1I
Q */ (T
2ψ
1 *); T
2=L
2/ R
2, σ=l-M
2/ (L
1L
2); T
2Be rotor time constant, σ is a magnetic leakage factor, L
1, L
2, M and R
2Be respectively mutual inductance and rotor resistance between the stator winding self-induction, rotor winding self-induction, rotor winding of motor, all reduction is to the stator side of motor; P is a differential sign; Function (F
1) operation result of expression formula is slip angular frequency (W
2) and outwards output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021143897A CN1482732A (en) | 2002-09-09 | 2002-09-09 | Vector control variable-frequency speed governing method for asynchronous motor without speed sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021143897A CN1482732A (en) | 2002-09-09 | 2002-09-09 | Vector control variable-frequency speed governing method for asynchronous motor without speed sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1482732A true CN1482732A (en) | 2004-03-17 |
Family
ID=34142056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA021143897A Pending CN1482732A (en) | 2002-09-09 | 2002-09-09 | Vector control variable-frequency speed governing method for asynchronous motor without speed sensor |
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|---|---|
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100576718C (en) * | 2005-03-31 | 2009-12-30 | 东芝电梯株式会社 | The control device of motor |
| CN101471622B (en) * | 2007-12-28 | 2011-08-10 | Ls产电株式会社 | Apparatus for controlling inverter |
| CN102208894A (en) * | 2011-03-16 | 2011-10-05 | 浙江理工大学 | Rotating speed evaluation method used for speed-sensorless induction motor vector controlling |
| CN107196569A (en) * | 2017-02-28 | 2017-09-22 | 常州联力自动化科技有限公司 | A kind of speed estimate link PI parameter quantitative setting methods based on DSP |
-
2002
- 2002-09-09 CN CNA021143897A patent/CN1482732A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100576718C (en) * | 2005-03-31 | 2009-12-30 | 东芝电梯株式会社 | The control device of motor |
| CN101471622B (en) * | 2007-12-28 | 2011-08-10 | Ls产电株式会社 | Apparatus for controlling inverter |
| CN102208894A (en) * | 2011-03-16 | 2011-10-05 | 浙江理工大学 | Rotating speed evaluation method used for speed-sensorless induction motor vector controlling |
| CN102208894B (en) * | 2011-03-16 | 2013-04-03 | 浙江理工大学 | Rotating speed evaluation method used for speed-sensorless induction motor vector controlling |
| CN107196569A (en) * | 2017-02-28 | 2017-09-22 | 常州联力自动化科技有限公司 | A kind of speed estimate link PI parameter quantitative setting methods based on DSP |
| CN107196569B (en) * | 2017-02-28 | 2020-10-27 | 常州联力自动化科技有限公司 | DSP-based quantitative setting method for rotating speed estimation PI parameters |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
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