CN102340278A - Method for estimating stator flux of motor in vector converter - Google Patents

Method for estimating stator flux of motor in vector converter Download PDF

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Publication number
CN102340278A
CN102340278A CN2011102967843A CN201110296784A CN102340278A CN 102340278 A CN102340278 A CN 102340278A CN 2011102967843 A CN2011102967843 A CN 2011102967843A CN 201110296784 A CN201110296784 A CN 201110296784A CN 102340278 A CN102340278 A CN 102340278A
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rotor
vector
motor
rotor flux
stator
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张华强
王新生
魏朋飞
梁志平
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Harbin Institute of Technology
Harbin Institute of Technology Weihai
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Harbin Institute of Technology Weihai
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Abstract

The invention discloses a method for estimating a stator flux of a motor in a vector converter, and relates to the method for calculating the stator flux of the motor. The method comprises the following steps of: calculating a back electromotive force of a rotor according to the stator current and stator voltage of the motor; synthesizing a given value of a rotor flux of the motor and the position information of the rotor flux to form a given value of a rotor flux vector; and calculating a pre-estimated value of the rotor flux vector under a two-phase stationary coordinate system (alpha-beta) by adopting a closed loop integration scheme, and calculating a pre-estimated value of a stator flux vector according to relationships between the stator flux vector and rotor flux vector of the motor and the pre-estimated value of the rotor flux vector. The method is applied to a relatively wider speed regulation range; a system is ensured to have relatively higher dynamic performance at low speed, and the influence of an incorrect initial flux value can be eliminated; and the rotating speed of the rotor of the motor can be calculated according to the calculated stator flux and the calculated rotor flux without any speed sensor, so the structure of the motor is simplified and cost is decreased.

Description

The evaluation method of motor stator magnetic linkage in the vector frequency converter
Technical field
The present invention relates to the computational methods of motor stator magnetic linkage, say it is a kind of evaluation method in detail based on motor stator magnetic linkage in the vector frequency converter of DTC algorithm.
Background technology
Direct Torque Control of Induction (DTC) technology is simple in structure because of it, and response relies on advantages such as little to the parameter of electric machine rapidly, the increasingly extensive concern that receives the researcher, and begun to be applicable on the frequency converter.In the DTC algorithm; Need know the information of motor stator magnetic linkage, the method for usually simple computation stator magnetic linkage is that induced electromotive force is carried out integration, and pure integral element has the problem of dc shift and initial value usually; Error is big, accuracy is low, the torque pulsation of motor low cruise.
Address this problem usually and set about from two aspects: a kind of method is to adopt filter that pure integral element is improved; A very natural idea adds a high pass filter exactly after pure integral element; Their equivalences are become a low pass filter; Scholar Yongchang Zhang and Jianguo Zhu are at document 1. " Direct Torque Control of Permanent Magnet Synchronous Motor With Reduced Torque Ripple and Commutation Frequency " (IEEE TRANSACTIONS ON POWER ELECTRONICS; VOL.26, NO.1, JANUARY 2011; Pp:235 – 248) studied a kind of like this method in; And studied and introduced the method that the amplitude that causes after the high pass filter and phase error compensate, yet though simple relatively to the compensation method calculating of low pass filter, the dynamic property of system is low.Another kind method is to adopt current model to calculate the motor magnetic linkage; Current model in rest frame computational accuracy when the motor low cruise is higher; Also inapplicable during the operation of motor high speed; Usually to it be transformed to rotating coordinate system; And need to obtain rotor parameters in rotor and rotor speed information, increased amount of calculation, in addition; Also have the researcher to propose to calculate the method for motor magnetic linkage from the control theory aspect; (AUGUST 2010 for IEEE Transactions on Magnetics VOL. 46, NO.8 such as document 2. " Novel Direct Torque Control Based on Space Vector Modulation With Adaptive Stator Flux Observer for Induction Motors "; Pp:3133-3136), document 3. " On the stator flux linkage estimation of an PMSM with extended kalman filters " (5th IET International Conference on Power Electronics; Machines and Drives (PEMD 2010) 2010, pp:1 – 6), document 4. " Direct torque control of permanent magnet synchronous machines using stator flux full order state observer " (2004 IEEE International Symposium on Industrial Electronics, 2004; VOL 2; Pp:913-916) adopted adaptive flux observer, extended Kalman filter, magnetic linkage full order observer etc. respectively, yet these methods more complicated is all runed counter to the simplicity of DTC scheme.
Summary of the invention
The objective of the invention is to solve the deficiency of above-mentioned prior art, provide a kind of method simple, fast operation, it is wide to be suitable for the range of speeds, the evaluation method of motor stator magnetic linkage in the high vector frequency converter of precision.
Technical scheme of the present invention is that the evaluation method of motor stator magnetic linkage in a kind of vector frequency converter is characterized in that comprising the steps:
1, calculate rotor back electromotive force
Figure 16387DEST_PATH_IMAGE001
:
According to stator current , the stator voltage
Figure 138244DEST_PATH_IMAGE003
of motor, calculate rotor back electromotive force
Figure 106200DEST_PATH_IMAGE004
;
In the formula:
Figure 202332DEST_PATH_IMAGE005
---be the electric machine rotor mutual inductance; ;
Figure 716807DEST_PATH_IMAGE007
---for motor is decided; Inductor rotor;
Figure 855664DEST_PATH_IMAGE008
---be motor stator resistance; ---be magnetic leakage factor.
2, the set-point
Figure 626491DEST_PATH_IMAGE010
of synthetic rotor flux vector:
Combine the synthetic rotor flux vector of positional information of rotor flux to give value
Figure 611765DEST_PATH_IMAGE010
set-point of rotor magnetic linkage;
Figure 357741DEST_PATH_IMAGE011
---be the rotor flux set-point
Figure 428466DEST_PATH_IMAGE012
---be the locus (electrical degree) of rotor flux.
3, calculate the discreet value
Figure 419555DEST_PATH_IMAGE013
of rotor flux vector:
Adopt closed loop integration scheme, calculate the rotor flux vector down in two phase rest frames (alpha-beta), the magnetic linkage computational methods can be by following The Representation Equation:
In the formula:
Figure 739995DEST_PATH_IMAGE015
---be the gain coefficient of choosing according to the service conditions of system; Definition gain coefficient ; The following formula both members is quadratured, then can draw the discreet value of rotor flux vector:
Figure 827217DEST_PATH_IMAGE017
In the formula: s---be differential operator,
Figure 521504DEST_PATH_IMAGE018
Figure 110748DEST_PATH_IMAGE019
---by characteristic equation
Figure 156064DEST_PATH_IMAGE020
; Wherein
Figure 551274DEST_PATH_IMAGE021
is rotor time constant;
Figure 539215DEST_PATH_IMAGE022
is rotor velocity, confirms its scope according to stability of a system criterion.But
Figure 627256DEST_PATH_IMAGE019
is unsuitable excessive; Crossing senior general causes rotor flux calculating to be approximately pure integration; And pure integral element has the problem of dc shift and initial value usually; Error is big, accuracy is low, the torque pulsation of motor low cruise.Usually get
Figure 894290DEST_PATH_IMAGE023
.
4, calculate the discreet value
Figure 765294DEST_PATH_IMAGE024
of stator magnetic linkage vector:
According to electric machine rotor flux linkage vector relation,, can try to achieve the discreet value of stator magnetic linkage vector by the discreet value of rotor flux vector;
Figure 434172DEST_PATH_IMAGE025
。
The present invention is easy to realize, take less operation time; Solved the bad shortcoming of dc shift, low-speed performance of traditional pure integration scheme; The speed adjustable range that adapts to compares broad; Can higher dynamic property be arranged the assurance system when low speed, and can eliminate the influence that incorrect magnetic linkage initial value produces.Can calculate the rotor speed of motor according to the stator magnetic linkage that calculates and rotor flux, need not velocity transducer, electric machine structure is simplified, reduce cost.The stator magnetic linkage vector value of trying to achieve is applied in the DTC algorithm, and control is more accurate, the raising control precision, has improved the control performance of vector frequency converter.
Description of drawings
Fig. 1 is the theory diagram of magnetic linkage computation model of the present invention.
Fig. 2 is that given rotor flux is when correct; The stator magnetic linkage waveform that the present invention calculates and the map of actual magnetic linkage are got
Figure 693115DEST_PATH_IMAGE026
.
When Fig. 3 is given rotor flux mistake; The stator magnetic linkage waveform that the present invention calculates and the map of actual magnetic linkage are got
Figure 119549DEST_PATH_IMAGE026
.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further detailed description.
Fig. 1 is the theory diagram of magnetic linkage computation model of the present invention; As shown in the figure; At first measure stator current
Figure 122140DEST_PATH_IMAGE002
information of motor, simultaneously according to the switching signal of its inside inverter and stator voltage
Figure 645525DEST_PATH_IMAGE003
information of DC bus-bar voltage acquisition motor through vector frequency converter; Electromagnetic relationship according to current-voltage information that obtains and motor calculates rotor back electromotive force
Figure 747473DEST_PATH_IMAGE027
then; The synthetic rotor flux vector set-point
Figure 989099DEST_PATH_IMAGE010
of positional information that the set-point of rotor magnetic linkage is combined rotor flux; Back electromotive force
Figure 966020DEST_PATH_IMAGE027
and rotor flux vector set-point
Figure 343911DEST_PATH_IMAGE010
are with the gain
Figure 944657DEST_PATH_IMAGE028
,
Figure 345682DEST_PATH_IMAGE029
that multiply by respectively separately; Summation has just obtained the estimated value of rotor flux vector then, just can obtain the vector frequency converter estimated value of stator magnetic linkage vector again according to the relational expression of rotor magnetic linkage vector.
According to above-mentioned analysis, implementation step is following:
1, obtains stator current information, stator voltage
Figure 188054DEST_PATH_IMAGE003
information of motor through vector frequency converter, calculate rotor back electromotive force by the electromagnetic relationship formula
Figure 631804DEST_PATH_IMAGE004
of motor; In the formula:
Figure 730527DEST_PATH_IMAGE005
---be the electric machine rotor mutual inductance; ;
Figure 697663DEST_PATH_IMAGE007
---for motor is decided; Inductor rotor;
Figure 586465DEST_PATH_IMAGE008
---be motor stator resistance;
Figure 272661DEST_PATH_IMAGE009
---be magnetic leakage factor,
Figure 479651DEST_PATH_IMAGE030
.
2, with the set-point
Figure 530784DEST_PATH_IMAGE011
of rotor magnetic linkage in conjunction with the synthetic rotor flux vector set-point
Figure 680323DEST_PATH_IMAGE010
of the spatial positional information
Figure 456015DEST_PATH_IMAGE012
of rotor flux
Figure 945082DEST_PATH_IMAGE011
---be the rotor flux set-point;
Figure 229433DEST_PATH_IMAGE012
---for the locus (electrical degree) of rotor flux is the phase angle
Figure 376380DEST_PATH_IMAGE031
of rotor flux at the stator coordinate system; In the formula: ---for the component of rotor flux axle at
Figure 523645DEST_PATH_IMAGE033
,
Figure 978897DEST_PATH_IMAGE034
---be the component of rotor flux axle at
Figure 314938DEST_PATH_IMAGE035
.
3, adopt closed loop integration scheme; Calculate rotor flux down in two phase rest frames (alpha-beta); According to equation:
Figure 881049DEST_PATH_IMAGE014
;
Figure 917138DEST_PATH_IMAGE015
---be the gain coefficient of choosing according to the service conditions of system; Define gain coefficient
Figure 480974DEST_PATH_IMAGE016
, draw the estimated value of rotor flux vector:
Figure 602514DEST_PATH_IMAGE017
; In the formula: s---be differential operator;
Figure 972316DEST_PATH_IMAGE018
,
Figure 66173DEST_PATH_IMAGE019
---
Figure 863228DEST_PATH_IMAGE020
confirms its scope according to stability of a system criterion by characteristic equation; Wherein
Figure 409747DEST_PATH_IMAGE021
is rotor time constant, and
Figure 756808DEST_PATH_IMAGE022
is rotor velocity.But
Figure 767490DEST_PATH_IMAGE019
is unsuitable excessive; Crossing senior general causes rotor flux calculating to be approximately pure integration; And pure integral element has the problem of dc shift and initial value usually; Error is big, accuracy is low, the torque pulsation of motor low cruise.Usually get
Figure 735446DEST_PATH_IMAGE023
.
4,, can try to achieve the estimated value of stator magnetic linkage vector according to electric machine rotor flux linkage vector relation:
Figure 769261DEST_PATH_IMAGE025
。
In order to verify the present invention, Fig. 2 and Fig. 3 have provided the stator magnetic linkage waveform that the magnetic linkage computation model that under the situation of the rotor flux linkage set value of correct, mistake, proposes calculates respectively.Parameter KConfirm that by the motor service conditions it is suitable to select KValue can increase the stability of system so that control system reduces the susceptibility that the parameter of electric machine changes.At the employed induction machine of this paper simulation study, provide an empirical value
Figure 480865DEST_PATH_IMAGE026
.Fig. 2 is given rotor flux when correct, the stator magnetic linkage waveform that the present invention calculates and the map of actual magnetic linkage.During rotor flux value when given magnetic linkage is the motor stable state, the magnetic linkage error ratio that the present invention only calculates when electric motor starting is bigger, when motor stabilizing moves, does not have error basically.When Fig. 3 is given rotor flux mistake, the stator magnetic linkage waveform that the present invention calculates and the map of actual magnetic linkage.When given rotor flux amplitude is 0, because the present invention has introduced the error correction of rotor flux amplitude set-point and calculated value, can be in the certain error range correct stator magnetic linkage that calculates.
The present invention is easy to realize, take less operation time; Solved the bad shortcoming of dc shift, low-speed performance of traditional pure integration scheme; The speed adjustable range that adapts to compares broad; Can higher dynamic property be arranged the assurance system when low speed, and can eliminate the influence that incorrect magnetic linkage initial value produces.Calculate the rotor speed of motor according to the stator magnetic linkage that calculates and rotor flux, need not velocity transducer, electric machine structure is simplified, reduce cost.The stator magnetic linkage vector value of trying to achieve is applied in the DTC algorithm, and control is more accurate, the raising control precision, has improved the control performance of vector frequency converter.

Claims (1)

1. the evaluation method of motor stator magnetic linkage in the vector frequency converter is characterized in that comprising the steps:
1), calculate rotor back electromotive force
Figure 205626DEST_PATH_IMAGE001
:
According to stator current
Figure 282166DEST_PATH_IMAGE002
, the stator voltage
Figure 600015DEST_PATH_IMAGE003
of motor, calculate rotor back electromotive force
Figure 52993DEST_PATH_IMAGE004
;
In the formula:
Figure 38267DEST_PATH_IMAGE005
---be the electric machine rotor mutual inductance;
Figure 798892DEST_PATH_IMAGE006
; ---for motor is decided; Inductor rotor;
Figure 595127DEST_PATH_IMAGE008
---be motor stator resistance;
Figure 372590DEST_PATH_IMAGE009
---be magnetic leakage factor;
2), the set-point
Figure 853250DEST_PATH_IMAGE010
of synthetic rotor flux vector:
The synthetic rotor flux vector set-point of positional information that the set-point of rotor magnetic linkage is combined rotor flux;
---be the rotor flux set-point;
Figure 336556DEST_PATH_IMAGE012
---be the locus (electrical degree) of rotor flux;
3), calculate the discreet value
Figure 988117DEST_PATH_IMAGE013
of rotor flux vector:
Adopt closed loop integration scheme, calculate the rotor flux vector down in two phase rest frames (alpha-beta), the magnetic linkage computational methods can be by following The Representation Equation:
Figure 705537DEST_PATH_IMAGE014
In the formula:
Figure 100746DEST_PATH_IMAGE015
---be the gain coefficient of choosing according to the service conditions of system; Definition gain coefficient
Figure 852802DEST_PATH_IMAGE016
; The following formula both members is quadratured, can draw the discreet value of rotor flux vector:
Figure 675264DEST_PATH_IMAGE017
In the formula: s---be differential operator,
Figure 879981DEST_PATH_IMAGE018
Figure 78881DEST_PATH_IMAGE019
---be magnetic linkage estimator time constant;
Figure 186907DEST_PATH_IMAGE020
confirms its scope according to stability of a system criterion by characteristic equation; Wherein
Figure 180271DEST_PATH_IMAGE021
is rotor time constant, and
Figure 872284DEST_PATH_IMAGE022
is rotor velocity;
4), calculate the calculated value
Figure 874875DEST_PATH_IMAGE023
of stator magnetic linkage vector:
Concern according to the electric machine rotor flux linkage vector; By the calculated value of rotor flux vector, can try to achieve the discreet value
Figure 335943DEST_PATH_IMAGE024
of stator magnetic linkage vector.
CN2011102967843A 2011-09-30 2011-09-30 Method for estimating stator flux of motor in vector converter Pending CN102340278A (en)

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AT511134A3 (en) * 2012-05-24 2013-08-15 Voith Turbo Kg Method for controlling the torque of an asynchronous machine
JP2015228793A (en) * 2015-09-25 2015-12-17 三菱電機株式会社 Control device of induction motor
CN105429543A (en) * 2015-12-11 2016-03-23 深圳市步科电气有限公司 Alternating current motor vector control system
CN105846748A (en) * 2016-05-17 2016-08-10 华中科技大学 Stator flux linkage calculation method based on vector transformation and signal filtering
CN106571756A (en) * 2016-11-15 2017-04-19 广州视源电子科技股份有限公司 Permanent magnet motor position-sensorless rotor position determining method and device
CN106685294A (en) * 2016-12-23 2017-05-17 合肥工业大学 Asynchronous motor rotor resistance and excitation inductance decoupling correction method
CN110572102A (en) * 2019-10-11 2019-12-13 杭州兆鼎科技实业有限公司 Software fault-tolerant control method and system for motor
WO2022087951A1 (en) * 2020-10-29 2022-05-05 深圳市英威腾电气股份有限公司 Automatic load compensation method, apparatus and device for asynchronous electric motor, and medium

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US7193387B1 (en) * 2006-03-14 2007-03-20 Rockwell Automation Technologies, Inc. System and method for motor speed estimation using hybrid model reference adaptive system
CN101043194A (en) * 2006-03-23 2007-09-26 上海格立特电力电子有限公司 Vector control method and apparatus for induction motor
CN101938246A (en) * 2010-09-29 2011-01-05 重庆交通大学 Fuzzy fusion identification method of rotating speed of sensorless motor

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Publication number Priority date Publication date Assignee Title
CN1545197A (en) * 2003-07-29 2004-11-10 北京利德华福电气技术有限公司 Full digitalized vector control type high-voltage large-power frequency converter based on DSP chip
US7193387B1 (en) * 2006-03-14 2007-03-20 Rockwell Automation Technologies, Inc. System and method for motor speed estimation using hybrid model reference adaptive system
CN101043194A (en) * 2006-03-23 2007-09-26 上海格立特电力电子有限公司 Vector control method and apparatus for induction motor
CN101938246A (en) * 2010-09-29 2011-01-05 重庆交通大学 Fuzzy fusion identification method of rotating speed of sensorless motor

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT511134B1 (en) * 2012-05-24 2013-12-15 Voith Turbo Kg Method for controlling the torque of an asynchronous machine
AT511134A3 (en) * 2012-05-24 2013-08-15 Voith Turbo Kg Method for controlling the torque of an asynchronous machine
JP2015228793A (en) * 2015-09-25 2015-12-17 三菱電機株式会社 Control device of induction motor
CN105429543B (en) * 2015-12-11 2018-03-20 深圳市步科电气有限公司 A kind of alternating current generator vector control system
CN105429543A (en) * 2015-12-11 2016-03-23 深圳市步科电气有限公司 Alternating current motor vector control system
CN105846748A (en) * 2016-05-17 2016-08-10 华中科技大学 Stator flux linkage calculation method based on vector transformation and signal filtering
CN105846748B (en) * 2016-05-17 2018-05-22 华中科技大学 A kind of stator magnetic linkage computational methods based on vector and signal filtering
CN106571756B (en) * 2016-11-15 2019-02-26 广州视源电子科技股份有限公司 Magneto position sensorless rotor-position determines method and device
CN106571756A (en) * 2016-11-15 2017-04-19 广州视源电子科技股份有限公司 Permanent magnet motor position-sensorless rotor position determining method and device
CN106685294A (en) * 2016-12-23 2017-05-17 合肥工业大学 Asynchronous motor rotor resistance and excitation inductance decoupling correction method
CN106685294B (en) * 2016-12-23 2019-05-07 合肥工业大学 Asynchronous electromotor rotor resistance and magnetizing inductance decouple antidote
CN110572102A (en) * 2019-10-11 2019-12-13 杭州兆鼎科技实业有限公司 Software fault-tolerant control method and system for motor
CN110572102B (en) * 2019-10-11 2021-07-09 杭州兆鼎科技实业有限公司 Software fault-tolerant control method and system for motor
WO2022087951A1 (en) * 2020-10-29 2022-05-05 深圳市英威腾电气股份有限公司 Automatic load compensation method, apparatus and device for asynchronous electric motor, and medium

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Application publication date: 20120201