CN112260600B - Decoupling control method and device for asynchronous motor - Google Patents

Decoupling control method and device for asynchronous motor Download PDF

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CN112260600B
CN112260600B CN202011120769.9A CN202011120769A CN112260600B CN 112260600 B CN112260600 B CN 112260600B CN 202011120769 A CN202011120769 A CN 202011120769A CN 112260600 B CN112260600 B CN 112260600B
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transfer function
complex vector
representing
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CN112260600A (en
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李季
张晓菲
王颜章
李湘
全威
李玮恒
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Gree Electric Appliances Inc of Zhuhai
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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
    • 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
    • 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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor

Abstract

The invention discloses a decoupling control method and a decoupling control device for an asynchronous motor. Wherein, the method comprises the following steps: determining a first complex vector transfer function of a controlled object of a complex vector model of the asynchronous machine; introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and generating a second complex vector transfer function of the complex vector decoupling controller with a complex zero point; determining a predetermined parameter of a second complex vector transfer function, wherein a complex zero point of the second complex vector transfer function and a pole of the first complex vector transfer function are offset under the predetermined parameter; and controlling a controlled object of the asynchronous motor by a complex vector decoupling controller. The invention solves the technical problem that the dynamic performance of a high-performance control algorithm such as vector control is easy to reduce to cause the control performance of the motor to be poor due to the adoption of a high-performance motor control strategy to obtain the quick response of the torque and the speed in the related technology.

Description

Decoupling control method and device for asynchronous motor
Technical Field
The invention relates to the technical field of motor control, in particular to a decoupling control method and device for an asynchronous motor.
Background
The high-power frequency converter is more and more widely applied in industry, and in mechanical processing occasions such as metal rolling and the like, a plurality of process and procedure requirements are met, such as tensioning, coiling and uncoiling, calendering and the like, and some frequency acceleration and deceleration control, tension control, position control, speed synchronization coordination control and the like are needed; in locomotive traction applications, in order to improve the accuracy of transportation, increase the load capacity, and the like, the speed and the traction of a locomotive need to be adjusted quickly and flexibly. These applications require fast response and accurate tracking of the rotational speed and torque of the motor. In these applications, the basic technical requirement is high-performance speed regulation and fast dynamic response of the motor, and the current common method is to adopt a high-performance motor control strategy to obtain fast response of torque and speed. However, in order to improve the system efficiency, the high power inverter needs to reduce the switching frequency of the converter to reduce the loss of the switching device. Under the condition of low switching frequency, the system control bandwidth is reduced, and the digital control delay is increased, so that the dynamic performance of high-performance control algorithms such as vector control and the like is reduced, and the control performance of the motor is poor. Therefore, optimizing the high performance motor control method is a key factor in solving the motor control problem at low switching frequencies.
Aiming at the problem that the dynamic performance of a high-performance control algorithm such as vector control is easy to reduce to cause poor control performance of a motor by adopting a high-performance motor control strategy to obtain quick response of torque and speed in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a decoupling control method and a decoupling control device for an asynchronous motor, which are used for at least solving the technical problem that the dynamic performance of a high-performance control algorithm such as vector control is easily reduced to cause the deterioration of the control performance of the motor due to the adoption of a high-performance motor control strategy to obtain the quick response of torque and speed in the related art.
According to an aspect of an embodiment of the present invention, there is provided a decoupling control method for an asynchronous motor, including: determining a first complex vector transfer function of a controlled object of a complex vector model of the asynchronous machine; introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and generating a second complex vector transfer function of a complex vector decoupling controller with a complex zero point; determining a predetermined parameter of the second complex vector transfer function, wherein a complex zero of the second complex vector transfer function and a pole of the first complex vector transfer function under the predetermined parameter are offset; and controlling a controlled object of the asynchronous motor through the complex vector decoupling controller.
Optionally, before determining the first complex vector transfer function of the controlled object of the complex vector model of the asynchronous machine, the decoupling control method of the asynchronous machine further includes: generating a three-dimensional motor model of the asynchronous motor in a static three-dimensional coordinate system based on the structural characteristics of the asynchronous motor; converting the three-dimensional motor model into a two-dimensional motor model; and converting the two-dimensional motor model into a synchronous rotating coordinate system to obtain a complex vector model of the asynchronous motor.
Optionally, the decoupling control method of the asynchronous machine further includes: and controlling the d-axis direction of the complex vector model to be the same as the direction of the rotor flux linkage in the synchronous rotating coordinate system.
Optionally, the current model of the asynchronous machine is:
Figure BDA0002731954200000021
therein, ΨrdDenotes the rotor flux linkage,/mRepresenting the excitation inductance, isdRepresenting stator current in a synchronous rotating coordinate system, τrRepresents the rotor time constant, p represents the differential operator; the electromagnetic torque model of the asynchronous motor is as follows:
Figure BDA0002731954200000022
Terepresenting electromagnetic torque,/rRepresenting the rotor inductance, npIs the number of pole pairs, isqRepresenting the stator current in said synchronous rotating coordinate system.
Optionally, determining a first complex vector transfer function of the controlled object of the complex vector model of the asynchronous machine comprises:
the inverter digital control and the Pulse Width Modulation (PWM) time delay of the complex vector decoupling controller are equivalent to a first-order inertia link, and a third transfer function of the first-order inertia link under a static coordinate system is determined, wherein the third transfer function is as follows:
Figure BDA0002731954200000023
representing the quality of the voltage vector, Us(s) represents the actual output voltage vector of the inverter, τdRepresents the equivalent time delay, T, of the systemsRepresents a sampling period; obtaining a fourth of the controlled object under the PI controllerA transfer function, wherein the fourth transfer function is:
Figure BDA0002731954200000024
rσdenotes an equivalent resistance of τ'σRepresenting the stator transient time constant; acquiring a fifth transfer function of the PI controller, wherein the fifth transfer function is as follows:
Figure BDA0002731954200000025
kprepresenting the gain, τ, of the PI controlleriRepresents an integration time constant; obtaining the first complex vector transfer function through the third transfer function, the fourth transfer function and the fifth transfer function, wherein the first complex vector transfer function is a system open loop transfer function of a delay link, and the first complex vector transfer function is:
Figure BDA0002731954200000026
optionally, generating a second complex vector transfer function of the complex vector decoupling controller having a complex zero comprises: generating the complex vector decoupling controller based on the cancellation effect of the zero and the pole, wherein a second complex vector transfer function of the complex vector decoupling controller is as follows:
Figure BDA0002731954200000027
Figure BDA0002731954200000028
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrWhich is indicative of the time constant of the rotor,
Figure BDA0002731954200000031
lmrepresenting the excitation inductance.
Optionally, a complex vector with complex zeros is generatedA second complex vector transfer function of the quantity decoupling controller, comprising: generating the complex vector decoupling controller based on the cancellation effect of the zero and the pole, wherein a second complex vector transfer function of the complex vector decoupling controller is as follows:
Figure BDA0002731954200000032
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrRepresenting the rotor time constant.
According to another aspect of the embodiments of the present invention, there is also provided a decoupling control apparatus for an asynchronous motor, including: the first determination unit is used for determining a first complex vector transfer function of a controlled object of a complex vector model of the asynchronous motor; the first generating unit is used for introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model and generating a second complex vector transfer function of the complex vector decoupling controller with a complex zero point; a second determining unit, configured to determine a predetermined parameter of the second complex vector transfer function, where a complex zero of the second complex vector transfer function and a pole of the first complex vector transfer function under the predetermined parameter are offset; and the control unit is used for controlling the controlled object of the asynchronous motor through the complex vector decoupling controller.
Optionally, the decoupling control device of the asynchronous machine further includes: the first generation unit is used for generating a three-dimensional motor model of the asynchronous motor in a static three-dimensional coordinate system based on the structural characteristics of the asynchronous motor before determining a first complex vector transfer function of a controlled object of the complex vector model of the asynchronous motor; the conversion unit is used for converting the three-dimensional motor model into a two-dimensional motor model; and the acquisition unit is used for converting the two-dimensional motor model into a synchronous rotating coordinate system to obtain a complex vector model of the asynchronous motor.
Optionally, the decoupling control device of the asynchronous machine further includes: and controlling the d-axis direction of the complex vector model to be the same as the direction of the rotor flux linkage in the synchronous rotating coordinate system.
Optionally, the current model of the asynchronous machine is:
Figure BDA0002731954200000033
therein, ΨrdDenotes the rotor flux linkage,/mRepresenting the excitation inductance, isdRepresenting stator current in a synchronous rotating coordinate system, τrRepresents the rotor time constant, p represents the differential operator; the electromagnetic torque model of the asynchronous motor is as follows:
Figure BDA0002731954200000034
Terepresenting electromagnetic torque,/rRepresenting the rotor inductance, npIs the number of pole pairs, isqRepresenting the stator current in said synchronous rotating coordinate system.
Optionally, the first determining unit includes: the first determination module is configured to equate the inverter digital control and the Pulse Width Modulation (PWM) delay of the complex vector decoupling controller to a first-order inertia element, and determine a third transfer function of the first-order inertia element in a static coordinate system, where the third transfer function is:
Figure BDA0002731954200000035
Figure BDA0002731954200000036
representing the quality of the voltage vector, Us(s) represents the actual output voltage vector of the inverter, τdRepresents the equivalent time delay, T, of the systemsRepresents a sampling period; the first obtaining module is configured to obtain a fourth transfer function of the controlled object under the PI controller, where the fourth transfer function is:
Figure BDA0002731954200000041
rσdenotes an equivalent resistance of τ'σRepresenting the stator transient time constant; a second obtaining module for obtaining the PI controlA fifth transfer function of the device, wherein the fifth transfer function is:
Figure BDA0002731954200000042
kprepresenting the gain, τ, of the PI controlleriRepresents an integration time constant; a third obtaining module, configured to obtain the first complex vector transfer function through the third transfer function, a fourth transfer function, and the fifth transfer function, where the first complex vector transfer function is a system open-loop transfer function of a delay link, and the first complex vector transfer function is:
Figure BDA0002731954200000043
optionally, the first generating unit includes: a first generating module, configured to generate the complex vector decoupling controller based on cancellation of a zero and a pole, where a second complex vector transfer function of the complex vector decoupling controller is:
Figure BDA0002731954200000044
Figure BDA0002731954200000045
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrWhich is indicative of the time constant of the rotor,
Figure BDA0002731954200000046
lmrepresenting the excitation inductance.
Optionally, the first generating unit includes: a second generating module, configured to generate the complex vector decoupling controller based on cancellation of a zero and a pole, where a second complex vector transfer function of the complex vector decoupling controller is:
Figure BDA0002731954200000047
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrRepresenting the rotor time constant.
According to another aspect of the embodiment of the invention, a decoupling control system of an asynchronous motor is further provided, and the decoupling control method of the asynchronous motor is used.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is executed by a processor, the computer program controls a device in which the computer storage medium is located to execute the decoupling control method of the asynchronous motor according to any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program executes the decoupling control method of the asynchronous motor described in any one of the above.
In the embodiment of the invention, a first complex vector transfer function of a controlled object of a complex vector model for determining an asynchronous motor is adopted; introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and generating a second complex vector transfer function of the complex vector decoupling controller with a complex zero point; determining a predetermined parameter of a second complex vector transfer function, wherein a complex zero point of the second complex vector transfer function and a pole of the first complex vector transfer function are offset under the predetermined parameter; the controlled object of the asynchronous motor is controlled by the complex vector decoupling controller, and the decoupling control method of the asynchronous motor of the embodiment of the invention realizes the purpose of constructing the decoupling controller by the mathematical model and the vector control of the asynchronous motor so as to effectively decouple the asynchronous motor at low switching frequency, achieves the technical effect of improving the performance of the asynchronous motor, and further solves the technical problem that the dynamic performance of a high-performance control algorithm such as vector control is easy to reduce and the control performance of the motor is poor because the high-performance motor control strategy is adopted to obtain the quick response of torque and speed in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flow chart of a method of decoupled control of an asynchronous machine according to an embodiment of the invention;
FIG. 2(a) is a schematic diagram of the response under a conventional PI controller of the prior art;
FIG. 2(b) is a schematic diagram of a complex vector fully decoupled control response according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a decoupling control arrangement of an asynchronous machine according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method of decoupled control of an asynchronous machine, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a decoupling control method for an asynchronous motor according to an embodiment of the present invention, and as shown in fig. 1, the decoupling control method for an asynchronous motor includes the following steps:
step S102, a first complex vector transfer function of a controlled object of a complex vector model of the asynchronous machine is determined.
In this embodiment, a complex vector model of the asynchronous machine needs to be established first.
Therefore, in an alternative embodiment, before determining the first complex vector transfer function of the controlled object of the complex vector model of the asynchronous machine, the method for decoupled control of the asynchronous machine may further comprise: generating a three-dimensional motor model of the asynchronous motor in a static three-dimensional coordinate system based on the structural characteristics of the asynchronous motor; converting the three-dimensional motor model into a two-dimensional motor model; and converting the two-dimensional motor model into a synchronous rotating coordinate system to obtain a complex vector model of the asynchronous motor.
And step S104, introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and generating a second complex vector transfer function of the complex vector decoupling controller with a complex zero point.
Alternatively, the operating parameter may include, but is not limited to, the rotational speed of the asynchronous machine.
Step S106, determining a predetermined parameter of the second complex vector transfer function, wherein a complex zero point of the second complex vector transfer function and a pole of the first complex vector transfer function under the predetermined parameter are offset.
And S108, controlling a controlled object of the asynchronous motor through the complex vector decoupling controller.
As can be seen from the above, in the embodiment of the present invention, a first complex vector transfer function of a controlled object of a complex vector model of an asynchronous machine may be determined; introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and generating a second complex vector transfer function of the complex vector decoupling controller with a complex zero point; determining a predetermined parameter of a second complex vector transfer function, wherein a complex zero point of the second complex vector transfer function and a pole of the first complex vector transfer function are offset under the predetermined parameter; the controlled object of the asynchronous motor is controlled by the complex vector decoupling controller, the aim of effectively decoupling the asynchronous motor under low switching frequency by constructing the decoupling controller through a mathematical model and vector control of the asynchronous motor is fulfilled, and the technical effect of improving the performance of the asynchronous motor is achieved.
The decoupling control method of the asynchronous motor solves the technical problem that the dynamic performance of a high-performance control algorithm such as vector control is easy to reduce and the control performance of the motor is poor due to the fact that a high-performance motor control strategy is adopted to obtain the quick response of the torque and the speed in the related technology.
In an optional embodiment, the decoupling control method of the asynchronous machine further comprises: in the synchronous rotating coordinate system, the direction of the d axis of the control complex vector model is the same as the direction of the rotor flux linkage.
In other words, in the embodiment of the invention, the mathematical model of the asynchronous motor and the basic principle of vector control are combined, the coupling problem of vector control and the main decoupling mode are considered, and the coupling problem of vector control under low switching frequency is mainly analyzed under the complex motor vector model, so that the control performance of the motor is improved, the quick response of torque and speed is obtained, and the algorithm is simplified on the premise of keeping effective decoupling.
In this embodiment, the d-axis direction is kept consistent with the rotor flux linkage direction and orthogonal to the q-axis in the synchronous rotating coordinate system, so that the flux linkage and the torque can be independently controlled, similar to a direct current motor, and better dynamic performance can be obtained.
In an alternative embodiment, psi is formed by orienting the rotor flux linkage in the direction of the d axis under the mathematical model of the motor in the d-q synchronous rotating coordinate systemrq＝0，pΨrqWhen 0, the current model of the asynchronous machine is:
Figure BDA0002731954200000071
therein, ΨrdDenotes the rotor flux linkage,/mRepresenting the excitation inductance, isdRepresenting stator current in a synchronous rotating coordinate system, τrRepresents the rotor time constant, p represents the differential operator; the electromagnetic torque model of the asynchronous motor is as follows:
Figure BDA0002731954200000072
Terepresenting electromagnetic torque,/rRepresenting the rotor inductance, npIs the number of pole pairs, isqRepresenting the stator current in a synchronous rotating coordinate system.
In this embodiment, decoupled control of the rotor flux linkage and the electromagnetic torque may be achieved by separately controlling the stator current d-q axis components.
The decoupling of the vector control d-q axis reference voltage is divided into two parts, namely the cross coupling of excitation and torque current components generated by rotation transformation and the coupling generated by the counter electromotive force of the motor. When the switching frequency is high and the control bandwidth of the current loop is high, the cross-coupling term can be treated as disturbance, and the influence caused by coupling can be overcome by fast current control. However, when the switching frequency becomes very low, the current loop control bandwidth is low, and the suppression capability for cross-coupled disturbances is greatly reduced. Meanwhile, as the digital control and PWM delay are increased, the dead time is prolonged, the coupling effect of a d-q axis is further increased, and the performance of vector control is further deteriorated. Conventional decoupling methods, such as feed-forward decoupling, feedback decoupling, cross decoupling, etc., have limited effects. Therefore, the factors need to be accurately modeled, and a theoretical basis is provided for a vector control decoupling strategy under a low switching frequency.
At one endIn an alternative embodiment, determining a first complex vector transfer function of a controlled object of a complex vector model of an asynchronous machine may include: the inverter digital control and the Pulse Width Modulation (PWM) time delay of the complex vector decoupling controller are equivalent to a first-order inertia link, and a third transfer function of the first-order inertia link under a static coordinate system is determined, wherein the third transfer function is as follows:
Figure BDA0002731954200000073
Figure BDA0002731954200000074
representing the quality of the voltage vector, Us(s) represents the actual output voltage vector of the inverter, τdRepresents the equivalent time delay, T, of the systemsRepresents a sampling period; obtaining a fourth transfer function of a controlled object under the proportional-integral PI controller, wherein the fourth transfer function is as follows:
Figure BDA0002731954200000081
rσdenotes an equivalent resistance of τ'σRepresenting the stator transient time constant; acquiring a fifth transfer function of the PI controller, wherein the fifth transfer function is as follows:
Figure BDA0002731954200000082
kp denotes the gain of the PI controller, τiRepresents an integration time constant; obtaining a first complex vector transfer function through a third transfer function, a fourth transfer function and a fifth transfer function, wherein the first complex vector function is a system open loop transfer function of a delay link, and the first complex vector transfer function is as follows:
Figure BDA0002731954200000083
it should be noted that, in this embodiment,
Figure BDA0002731954200000084
Tsrepresenting the sampling period, and may be generally taken as the switching frequency, i.e.
Figure BDA0002731954200000085
The transfer function under the synchronous rotation coordinate can be:
Figure BDA0002731954200000086
in addition, from the motor complex vector model, a complex vector transfer function of stator voltage to stator current can be determined:
Figure BDA0002731954200000087
wherein the content of the first and second substances,
Figure BDA0002731954200000088
ωstfor measuring the resulting rotational speed, omega1For synchronous angular velocity, omegarIs the angular speed of the rotor, rσIs equivalent resistance, τ'σIs the stator transient time constant.
It is easy to note that when a measurement current loop PI controller is arranged in a conventional synchronous rotating coordinate system, the imaginary part in the above formula is generally ignored, i.e. independent from the d-q axis component, and if the coupling of the rotor side to the stator side is also ignored, the corresponding controlled object transfer function may be the fourth transfer function.
In this embodiment, in the first complex vector transfer function, the integration time constant τ may be takeni＝τσThe cancellation system is in
Figure BDA0002731954200000089
And according to the damping requirement of the system (take
Figure BDA00027319542000000810
) Setting controller gain
Figure BDA00027319542000000811
The available closed loop transfer functions of the system are as follows:
Figure BDA00027319542000000812
when the switching frequency is high, i.e. τd＜＜τ′σThe above-mentioned decoupling controlThe design of the device can obtain satisfactory dynamic performance, so that the actual current vector can better track the command value of the current vector. But when tau is presentdAnd τ'σWhen the current is relatively close to the current, the control performance is reduced, and the d-q axis current coupling is serious in the dynamic process, as shown in a waveform of fig. 2(a) (fig. 2(a) is a schematic diagram of the response of a traditional PI controller in the prior art), 80% of rated load is suddenly added to the system at 3s, the load is suddenly reduced to zero after 100ms, and the d-q axis current coupling is serious at the step input. The reason is that the imaginary part coupling term is neglected in the design of the traditional PI controller, even if a feedforward decoupling term is introduced, the decoupling is insufficient due to the existence of a delay link, and the compensation is invalid.
It should be noted that, the transfer function of the controlled object considering the inverter digital control, the PWM delay and the system coupling is:
Figure BDA00027319542000000813
Figure BDA0002731954200000091
according to the zero-pole cancellation principle, the following second complex vector transfer function can be obtained.
In an alternative embodiment, generating a second complex vector transfer function for a complex vector decoupling controller having a complex zero comprises: generating a complex vector decoupling controller based on the cancellation of the zero and the pole, wherein a second complex vector transfer function of the complex vector decoupling controller is
Figure BDA0002731954200000092
Figure BDA0002731954200000093
ω1Representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrWhich is indicative of the time constant of the rotor,
Figure BDA0002731954200000094
lmrepresenting the excitation inductance.
In an alternative embodiment, the open-loop transfer function after compensating the second complex vector transfer function is:
Figure BDA0002731954200000095
similar to the first complex vector transfer function, the first complex vector transfer function is a typical second-order system, and then parameters of the decoupling controller can be designed, wherein a corresponding closed-loop dynamic response is shown in fig. 2(b) (fig. 2(b) is a complex vector fully-decoupled control response schematic diagram according to the embodiment of the invention), as shown in fig. 2(b), when a rated torque is suddenly changed, the coupling of the d-q axis can be effectively decoupled through a complex vector control algorithm, and a quick response is obtained; in the torque command step process, the coupling disturbance of the d-q axis current can be well inhibited.
In an optional embodiment, the decoupling controllers corresponding to the second complex vector transfer function are summarized, and digital control, PWM delay and all coupling of the system are comprehensively compensated, so that a good decoupling effect is obtained; however, since the decoupling controller is relatively complex, it is basically an inverse system including a motor and an inverter; on one hand, the complex vector expression is complex, and the discretization expansion into d-q classification operation is more complex when the practical programming is realized; on the other hand, with a general discretization method such as forward difference or backward difference, the discretization accuracy is not high at a low switching frequency. When the discretization method with higher precision is utilized, the arithmetic operation amount is further increased, the hardware requirement is increased, and the practical application of engineering is not facilitated. Therefore, the complex vector controller can be simplified, and the complexity of algorithm implementation is reduced on the basis of ensuring equivalent decoupling effect.
Therefore, according to the analysis of the complex vector model, considering that the change of the rotor flux linkage is relatively slow, the coupling effect of the rotor flux linkage can be temporarily not considered, and the system transfer function can be simplified as follows, namely, a second complex vector transfer function of the complex vector decoupling controller with a complex zero point is generated, and the second complex vector transfer function comprises: generating a complex vector decoupling controller based on the cancellation of the zero and the pole, wherein the complex vector decoupling controllerThe second complex vector transfer function of (d) is:
Figure BDA0002731954200000096
Figure BDA0002731954200000097
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrRepresenting the rotor time constant.
In this embodiment, with this as the controlled object, according to the zero-pole cancellation principle, the decoupling controller can be designed:
Figure BDA0002731954200000101
the system open loop transfer function may be:
Figure BDA0002731954200000102
the method is a second-order system, simplifies a complex vector decoupling method, reserves a basic decoupling function in a controller structure, can directly design parameters of a complex vector decoupling controller in an analog domain, has simple algorithm structure, greatly reduces the complexity of a control system, and is easy to program and realize on a digital control chip after discretization.
Therefore, the decoupling control method for the asynchronous motor provided by the embodiment of the invention analyzes the related problems of vector control decoupling from the perspective of a complex vector model aiming at the problem of performance degradation of a low-switching-frequency down-conversion driving system, and provides a basis for deeply analyzing the system coupling problem and improving the decoupling method. In the traditional method for designing the current controller, under the condition that coupling is regarded as disturbance or decoupling is assumed, a four-order system is reduced into two mutually independent first-order systems for analysis, the bandwidth of the current controller is reduced under low switching frequency, the disturbance suppression capability of a current loop is reduced, the time delay is increased, and effective decoupling cannot be realized. The complex vector motor model can reduce the four-order equivalent model into a two-order equivalent model, simplifies a system model and is beneficial to the analysis and design of a controller. In addition, accurate complex vector equivalent modeling analysis is carried out on the coupling effect of the motor and the inverter system under low switching frequency, a complex vector current controller based on system full decoupling is provided, an inverse system of a controlled object is constructed, and the coupling effect of a d-q axis is effectively eliminated.
Example 2
According to another aspect of the embodiment of the present invention, there is also provided a decoupling control device for an asynchronous motor, fig. 3 is a schematic diagram of the decoupling control device for an asynchronous motor according to the embodiment of the present invention, and as shown in fig. 3, the decoupling control device for an asynchronous motor includes: a first determining unit 31, a first generating unit 33, a second determining unit 35, and a control unit 37. The following explains the decoupling control device of the asynchronous motor.
A first determination unit 31 for determining a first complex vector transfer function of the controlled object of the complex vector model of the asynchronous machine.
The first generating unit 33 is configured to introduce the operating parameters of the asynchronous machine into the controlled object of the complex vector model, and generate a second complex vector transfer function of the complex vector decoupling controller having a complex zero point.
A second determining unit 35, configured to determine a predetermined parameter of the second complex vector transfer function, where a complex zero of the second complex vector transfer function under the predetermined parameter cancels a pole of the first complex vector transfer function.
And the control unit 37 is used for controlling the controlled object of the asynchronous motor through the complex vector decoupling controller.
It should be noted here that the first determining unit 31, the first generating unit 33, the second determining unit 35, and the control unit 37 correspond to steps S102 to S108 in embodiment 1, and the above-mentioned units are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, a first complex vector transfer function of a controlled object of a complex vector model of an asynchronous machine may be determined by using the first determining unit; then, the first generation unit is used for introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and a second complex vector transfer function of the complex vector decoupling controller with a complex zero point is generated; then, a second determining unit is used for determining preset parameters of a second complex vector transfer function, wherein the complex zero point of the second complex vector transfer function and the pole of the first complex vector transfer function are offset under the preset parameters; and the controlled object of the asynchronous motor is controlled by the control unit through the complex vector decoupling controller. The decoupling control device of the asynchronous motor of the embodiment of the invention realizes the purpose of constructing the decoupling controller through the mathematical model and the vector control of the asynchronous motor so as to effectively decouple the asynchronous motor under the low switching frequency, achieves the technical effect of improving the performance of the asynchronous motor, and further solves the technical problem that the dynamic performance of a high-performance control algorithm such as the vector control is easy to be reduced and the control performance of the motor is poor because the high-performance motor control strategy is adopted to obtain the quick response of the torque and the speed in the related technology.
In an optional embodiment, the decoupling control device of the asynchronous machine further comprises: the first generation unit is used for generating a three-dimensional motor model of the asynchronous motor in a static three-dimensional coordinate system based on the structural characteristics of the asynchronous motor before determining a first complex vector transfer function of a controlled object of the complex vector model of the asynchronous motor; the conversion unit is used for converting the three-dimensional motor model into a two-dimensional motor model; and the acquisition unit is used for converting the two-dimensional motor model into a synchronous rotating coordinate system to obtain a complex vector model of the asynchronous motor.
In an optional embodiment, the decoupling control device of the asynchronous machine further comprises: in the synchronous rotating coordinate system, the direction of the d axis of the control complex vector model is the same as the direction of the rotor flux linkage.
In an alternative embodiment, the current model of the asynchronous machine is:
Figure BDA0002731954200000111
therein, ΨrdDenotes the rotor flux linkage,/mRepresenting the excitation inductance, isdRepresenting stator current in a synchronous rotating coordinate system, τrRepresents the rotor time constant, p represents the differential operator; the electromagnetic torque model of the asynchronous motor is as follows:
Figure BDA0002731954200000112
Terepresenting electromagnetic torque,/rRepresenting the rotor inductance, npIs the number of pole pairs, isqRepresenting the stator current in a synchronous rotating coordinate system.
In an alternative embodiment, the first determining unit includes: the first determination module is used for enabling the inverter digital control and the Pulse Width Modulation (PWM) time delay of the complex vector decoupling controller to be equivalent to a first-order inertia link and determining a third transfer function of the first-order inertia link in a static coordinate system, wherein the third transfer function is as follows:
Figure BDA0002731954200000113
Figure BDA0002731954200000114
representing the quality of the voltage vector, Us(s) represents the actual output voltage vector of the inverter, τdRepresents the equivalent time delay, T, of the systemsRepresents a sampling period; the first obtaining module is used for obtaining a fourth transfer function of a controlled object under the proportional-integral PI controller, wherein the fourth transfer function is as follows:
Figure BDA0002731954200000115
rσdenotes an equivalent resistance of τ'σRepresenting the stator transient time constant; a second obtaining module, configured to obtain a fifth transfer function of the PI controller, where the fifth transfer function is:
Figure BDA0002731954200000121
kprepresenting the gain, τ, of the PI controlleriRepresents an integration time constant; a third obtaining module for passing the third transfer function, the fourth transfer function and the fifth transfer functionObtaining a first complex vector transfer function, wherein the first complex vector transfer function is a system open loop transfer function of a delay link, and the first complex vector transfer function is as follows:
Figure BDA0002731954200000122
in an alternative embodiment, the first generating unit includes: the first generating module is used for generating a complex vector decoupling controller based on the cancellation effect of the zero and the pole, wherein a second complex vector transfer function of the complex vector decoupling controller is as follows:
Figure BDA0002731954200000123
Figure BDA0002731954200000124
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrWhich is indicative of the time constant of the rotor,
Figure BDA0002731954200000125
lm denotes the excitation inductance.
Optionally, the first generating unit includes: a second generating module, configured to generate a complex vector decoupling controller based on cancellation of a zero and a pole, where a second complex vector transfer function of the complex vector decoupling controller is:
Figure BDA0002731954200000126
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrRepresenting the rotor time constant.
Example 3
According to another aspect of the embodiment of the invention, a decoupling control system of the asynchronous motor is further provided, and the decoupling control method of the asynchronous motor is used.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus where the computer storage medium is located is controlled to execute the decoupling control method of an asynchronous motor according to any one of the above.
Example 5
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, where the computer program executes the decoupling control method of the asynchronous motor according to any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (9)

1. A decoupling control method of an asynchronous motor is characterized by comprising the following steps:
determining a first complex vector transfer function of a controlled object of a complex vector model of the asynchronous machine;
introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model, and generating a second complex vector transfer function of a complex vector decoupling controller with a complex zero point;
determining a predetermined parameter of the second complex vector transfer function, wherein a complex zero of the second complex vector transfer function and a pole of the first complex vector transfer function under the predetermined parameter are offset;
the controlled object of the asynchronous motor is controlled by the complex vector decoupling controller,
determining a first complex vector transfer function of a controlled object of a complex vector model of an asynchronous machine, comprising:
the inverter digital control and the Pulse Width Modulation (PWM) time delay of the complex vector decoupling controller are equivalent to a first-order inertia link, and a third transfer function of the first-order inertia link under a static coordinate system is determined, wherein the third transfer function is as follows:
Figure FDA0003428997930000011
Figure FDA0003428997930000012
representing the quality of the voltage vector, Us(s) represents the actual output voltage vector of the inverter, τdRepresents the equivalent time delay, T, of the systemsRepresents a sampling period;
acquiring a fourth transfer function of the controlled object under the proportional-integral PI controller, wherein the fourth transfer function is as follows:
Figure FDA0003428997930000013
rσdenotes an equivalent resistance of τ'σRepresenting the stator transient time constant;
acquiring a fifth transfer function of the PI controller, wherein the fifth transfer function is as follows:
Figure FDA0003428997930000014
kprepresenting the gain, τ, of the PI controlleriRepresents an integration time constant;
through the third transfer function, the fourth transfer function andthe fifth transfer function obtains the first complex vector transfer function, wherein the first complex vector transfer function is a system open loop transfer function of a delay link, and the first complex vector transfer function is:
Figure FDA0003428997930000015
generating a second complex vector transfer function of a complex vector decoupling controller having complex zeros, comprising:
generating the complex vector decoupling controller based on the cancellation effect of the zero and the pole, wherein a second complex vector transfer function of the complex vector decoupling controller is as follows:
Figure FDA0003428997930000016
Figure FDA0003428997930000017
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrWhich is indicative of the time constant of the rotor,
Figure FDA0003428997930000021
lmrepresenting the excitation inductance.
2. The method of claim 1, further comprising, prior to determining the first complex vector transfer function of the controlled object of the complex vector model of the asynchronous machine:
generating a three-dimensional motor model of the asynchronous motor in a static three-dimensional coordinate system based on the structural characteristics of the asynchronous motor;
converting the three-dimensional motor model into a two-dimensional motor model;
and converting the two-dimensional motor model into a synchronous rotating coordinate system to obtain a complex vector model of the asynchronous motor.
3. The method of claim 2, further comprising: and controlling the d-axis direction of the complex vector model to be the same as the direction of the rotor flux linkage in the synchronous rotating coordinate system.
4. The method according to claim 1, characterized in that the current model of the asynchronous machine is:
Figure FDA0003428997930000022
therein, ΨrdDenotes the rotor flux linkage,/mRepresenting the excitation inductance, isdRepresenting stator current in a synchronous rotating coordinate system, τrRepresents the rotor time constant, p represents the differential operator; the electromagnetic torque model of the asynchronous motor is as follows:
Figure FDA0003428997930000023
Terepresenting electromagnetic torque,/rRepresenting the rotor inductance, npIs the number of pole pairs, isqRepresenting the stator current in said synchronous rotating coordinate system.
5. The method of claim 1, wherein generating a second complex vector transfer function for a complex vector decoupling controller having complex zeros comprises:
generating the complex vector decoupling controller based on the cancellation effect of the zero and the pole, wherein a second complex vector transfer function of the complex vector decoupling controller is as follows:
Figure FDA0003428997930000024
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrRepresenting the rotor time constant.
6. A decoupling control device for an asynchronous machine, comprising:
the first determination unit is used for determining a first complex vector transfer function of a controlled object of a complex vector model of the asynchronous motor;
the first generating unit is used for introducing the operating parameters of the asynchronous motor into a controlled object of the complex vector model and generating a second complex vector transfer function of the complex vector decoupling controller with a complex zero point;
a second determining unit, configured to determine a predetermined parameter of the second complex vector transfer function, where a complex zero of the second complex vector transfer function and a pole of the first complex vector transfer function under the predetermined parameter are offset;
the control unit is used for controlling a controlled object of the asynchronous motor through the complex vector decoupling controller,
the first determination unit includes: the first determination module is configured to equate the inverter digital control and the Pulse Width Modulation (PWM) delay of the complex vector decoupling controller to a first-order inertia element, and determine a third transfer function of the first-order inertia element in a static coordinate system, where the third transfer function is:
Figure FDA0003428997930000031
Figure FDA0003428997930000032
representing the quality of the voltage vector, Us(s) represents the actual output voltage vector of the inverter, τdRepresents the equivalent time delay, T, of the systemsRepresents a sampling period; the first obtaining module is configured to obtain a fourth transfer function of the controlled object under the PI controller, where the fourth transfer function is:
Figure FDA0003428997930000033
rσdenotes an equivalent resistance of τ'σRepresenting the stator transient time constant; second acquisition moduleAnd a fifth transfer function for obtaining the PI controller, wherein the fifth transfer function is:
Figure FDA0003428997930000034
kprepresenting the gain, τ, of the PI controlleriRepresents an integration time constant; a third obtaining module, configured to obtain the first complex vector transfer function through the third transfer function, a fourth transfer function, and the fifth transfer function, where the first complex vector transfer function is a system open-loop transfer function of a delay link, and the first complex vector transfer function is:
Figure FDA0003428997930000035
the first generation unit includes: a first generating module, configured to generate the complex vector decoupling controller based on cancellation of a zero and a pole, where a second complex vector transfer function of the complex vector decoupling controller is:
Figure FDA0003428997930000036
Figure FDA0003428997930000037
ω1representing synchronous angular velocity, ωstRepresenting the actual measured speed, kpRepresenting the gain, τ, of the PI controllerdRepresents the equivalent time delay of the system, rσDenotes an equivalent resistance of τ'σRepresenting the stator transient time constant, τrWhich is indicative of the time constant of the rotor,
Figure FDA0003428997930000038
lmrepresenting the excitation inductance.
7. A decoupled control system of an asynchronous machine, characterized in that a decoupled control method of an asynchronous machine according to any of the preceding claims 1 to 5 is used.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein the computer program, when being executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform the decoupling control method of an asynchronous machine according to any one of claims 1 to 5.
9. A processor, characterized in that it is configured to run a computer program, wherein the computer program is configured to execute the method of decoupled control of an asynchronous machine according to any of claims 1 to 5 when running.
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