CN100452639C - Control method for linear induction motor - Google Patents

Abstract

This invention discloses one line sensor motor control method, which gets line sensor motor initial magnetic linkage real value and linkage rate according to the input voltage of line sensor motor, wherein, it gets line sensor motor stator magnetic linkage range reference value and frequency value through collecting line sensor motor real speed; then it combines initial linkage aim shape to determine property motor initial voltage space vector and linkage frequency for the reference values.

Description

The control method of line inductance electromotor

Technical field

The present invention is mainly concerned with the line inductance electromotor field, refers in particular to a kind of control method of line inductance electromotor, but also can be used for the control of other motor.

Background technology

The basic principle of line inductance electromotor and the structure of equivalent electric circuit thereof and rotary inductive motor basically identical.But because it is many exclusive, its control ratio electric rotating machine is much more difficult.This mainly shows the following aspects:

A: the influence of limit end effect.Particularly dynamically vertical limit end effect weakens the air gap magnetic linkage, thereby causes reducing of motor excitation inductance when high speed, greatly reduce the efficient of linear electric motors.And the magnetic linkage amount of attenuation is difficult to accurately precognition, particularly in real-time control system.

B: the variation of air gap size.When linear electric motors move, the continuous change at random of air gap size between its primary and secondary, thus the mechanical property of its speed-thrust also changes thereupon.

C: for the line inductance electromotor that uses back iron as secondary (subway or magnetic suspension use usually the type secondary), its magnetic length of penetration changes with slip-frequency etc., because magnetic material properties is non-linear, this causes the motor secondary nonlinearity in parameters to change, owing to be subjected to all multifactor influences, particularly in real-time system, this equivalence circuit parameter is difficult to accurately precognition.

D: have normal force between primary and secondary.This normal force particularly single sided linear induction motor normal force peak value can reach several times of tractive effort.Too high normal force crisis security of operation.Particularly its normal force of magnetic suspension has more strict demand.

Based on above characteristics, make the control method of electric rotating machine be difficult to directly be used in the linear electric motors control.For the control of linear electric motors, a lot of researchs have been done both at home and abroad.Much do not consider efficiency factor but have, as vector control etc., this is suitable in small linear electric motors control.Also there is use many in addition as Sliding-Mode Control Based, complicated algorithms such as self application control, but rest on the theory study aspect mostly, do not carry out practice.And general control is complicated, is difficult for realizing.And its control characteristic more or less still is subjected to the parameter variable effect.Therefore the traction linear electric motors control method that has high practicability is actually rare.

The slippage control method that most representative traction linear electric motors practical control method is delivered on IEEE magnetics proceedings in 1980 no more than the A.K.Wallace of Canadian Traffic Development company (now being purchased by Pang Badi), this method synthesis have been considered the characteristic of line inductance electromotor and have been carried out the frequency and the amplitude control of electric current.Can control the thrust and the speed of service of linear electric motors effectively, obtain higher efficient, and in Canadian linear electric motors subway system, obtain using.

Summary of the invention

The technical problem to be solved in the present invention just is: at the technical problem that prior art exists, provide a kind of control more easy, stable, can promote the control method of the line inductance electromotor of line inductance electromotor trailer system overall performance.

For solving the problems of the technologies described above, the solution that the present invention proposes is: a kind of control method of line inductance electromotor, it is characterized in that: according to input voltage or input voltage and the input current of inverter line inductance electromotor, obtain the actual magnetic linkage frequency and the magnetic linkage amplitude of the elementary magnetic linkage of line inductance electromotor, gather the real-time speed of line inductance electromotor then, obtain the frequency reference amount and the amplitude reference quantity of the elementary magnetic linkage of line inductance electromotor by real-time speed, the shape of elementary magnetic linkage under the while combining target state, determine that suitable primary voltage space vector makes actual magnetic linkage amplitude and magnetic linkage frequency be tending towards amplitude reference quantity and frequency reference amount respectively, the inverter between DC power supply and the line inductance electromotor be will the control signal corresponding send to, thereby the speed or the thrust of line inductance electromotor changed with the primary voltage space vector.

The present invention wherein a kind of step of scheme further is:

(1). gather the DC power supply magnitude of voltage of inverter input,, obtain the input voltage u of line inductance electromotor in conjunction with the control signal of last cycle microprocessor to inverter _a, u _b, u _c, obtain u through 3/2 conversion _{S α}, u _{S β}, 1. obtain accurate primary magnetic chain space vector by following formula ψ _iComponent ψ at rectangular coordinate system α, β axle _{I α}, ψ _{I β}, further can be regarded as in view of the above accurate elementary magnetic linkage actual magnitude ψ _iAnd accurate elementary magnetic linkage real space azimuth θ _{ψ i}Or 2. obtain accurate elementary magnetic linkage actual angular speed ω by following formula _{ψ i}

ψ _iα，β＝∫u _sα，βdt.....................................................................①；

${\mathrm{\ω}}_{{\mathrm{\ψ}}_i}=\frac{\mathrm{\Δ}{\mathrm{\θ}}_{{\mathrm{\ψ}}_i}}{\mathrm{\Δt}}$ ...............②

(2). gather the real-time motor velocity signal v of line inductance electromotor, can tentatively determine the basic reference quantity of slippage angular frequency, further optimize in conjunction with actual conditions on this basis and determine slip-frequency reference quantity ω by this rate signal v _Sl ^*, and can 3., 4. obtain accurate primary magnetic chain space azimuth reference quantity θ by following formula _{ψ i} ^*Or 4. obtain accurate primary magnetic chain space azimuth speed reference amount ω by following formula _{ψ i} ^*, wherein τ is an electric motor primary coil pole span;

${\mathrm{\θ}}_{{\mathrm{\ψ}}_i}^{*}={\∫\mathrm{\ω}}_{{\mathrm{\ψ}}_i}^{*}\mathrm{dt}$ ...................③

${\mathrm{\ω}}_{{\mathrm{\ψ}}_i}^{*}=v\frac{\mathrm{\π}}{\mathrm{\τ}}+{\mathrm{\ω}}_{\mathrm{sl}}^{*}$ ...................④

(3). can directly obtain accurate primary magnetic chain space vector magnitude reference quantity ψ according to needed target propulsive force _i ^*, perhaps according to the rate signal v and the target setting rate signal reference value v that obtain ^*Between error carry out PI and regulate and to obtain accurate primary magnetic chain space vector magnitude reference quantity ψ _i ^*

(4). in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, determine that suitable primary voltage space vector makes accurate elementary magnetic linkage real space azimuth ω _{ψ i}Be tending towards accurate primary magnetic chain space azimuth reference quantity θ _{ψ i} ^*Perhaps make accurate elementary magnetic linkage actual angular speed ω _{ψ i}Be tending towards accurate primary magnetic chain space azimuth speed reference amount ω _{ψ i} ^*Accurate elementary magnetic linkage actual magnitude ψ _iBe tending towards accurate primary magnetic chain space vector magnitude reference quantity ψ _i ^*, also just obtain control signal corresponding and send inverter between DC power supply and the line inductance electromotor to, finish control to line inductance electromotor.

In the such scheme, the azimuth error ε that 5. the present invention further obtains by following formula by the numerical value that obtains in step (1), (2) and (3) _θOr 6. obtain angular speed error ε by following formula _ω, to azimuth error ε _θOr angular speed error ε _ωThe ring that stagnates is controlled, and makes azimuth error ε _θOr angular speed error ε _ωEqual or go to zero, promptly obtain the FREQUENCY CONTROL of magnetic linkage; Simultaneously the magnetic linkage amplitude is stagnated and encircle control, making the error between actual magnetic linkage amplitude and magnetic linkage amplitude reference quantity is zero, and this promptly obtains amplitude control of magnetic linkage, or utilizes θ _{ψ i} ^*And ψ _i ^*, in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, utilize the method for space vector modulation, reach the FREQUENCY CONTROL and the amplitude control of magnetic linkage simultaneously.

${\mathrm{\ϵ}}_{\mathrm{\θ}}={\mathrm{\θ}}_{\mathrm{\ψi}}^{*}-{\mathrm{\θ}}_{\mathrm{\ψi}}$ .........⑤ ${\mathrm{\ϵ}}_{\mathrm{\ω}}={\mathrm{\ω}}_{\mathrm{\ψi}}^{*}-{\mathrm{\ω}}_{\mathrm{\ψi}}$ ............⑥

The step of the another kind of scheme of the present invention further is:

(1). gather the DC power supply magnitude of voltage of inverter input,, obtain the input voltage u of line inductance electromotor in conjunction with the control signal of last cycle microprocessor to inverter _a, u _b, u _c, obtain u through 3/2 conversion _{S α}, u _{S β}, can obtain input current value i equally _{S α}, i _{S β}, 7. obtain primary magnetic chain space vector by following formula ψ _sComponent ψ at rectangular coordinate system α, β axle _{S α}, ψ _{S β}, further can be regarded as in view of the above its elementary magnetic linkage actual magnitude ψ _sAnd elementary magnetic linkage real space azimuth θ _{ψ s}Or 8. obtain elementary magnetic linkage actual angular speed ω by following formula _{ψ s}

ψ _sα，β＝∫(u _sα，β+i _sα，βR _s)dt.........................................................⑦

${\mathrm{\ω}}_{\mathrm{\ψs}}=\frac{\mathrm{\Δ}{\mathrm{\θ}}_{\mathrm{\ψs}}}{\mathrm{\Δt}}$ .....................⑧

(2). gather the real-time motor velocity signal v of line inductance electromotor, can tentatively determine the basic reference quantity of slippage angular frequency, further optimize in conjunction with actual conditions on this basis and determine slip-frequency reference quantity ω by this rate signal v _Sl ^*, and can 9., 10. obtain primary magnetic chain space azimuth reference quantity θ by following formula _{ψ s} ^*Or 10. obtain primary magnetic chain space azimuth speed reference amount ω by following formula _{ψ s} ^*, wherein τ is an electric motor primary coil pole span;

${\mathrm{\θ}}_{\mathrm{\ψs}}^{*}={\∫\mathrm{\ω}}_{\mathrm{\ψs}}^{*}\mathrm{dt}$ ...................⑨

${\mathrm{\ω}}_{\mathrm{\ψs}}^{*}=v\frac{\mathrm{\π}}{\mathrm{\τ}}+{\mathrm{\ω}}_{\mathrm{sl}}^{*}$ ...................⑩

(3). can directly obtain primary magnetic chain space vector magnitude reference quantity ψ according to needed target propulsive force _s ^*, perhaps according to the rate signal v and the target setting rate signal reference value v that obtain ^*Between error carry out PI and regulate and to obtain primary magnetic chain space vector magnitude reference quantity ψ _s ^*

(4). in conjunction with the shape of the elementary magnetic linkage of line inductance electromotor, determine that suitable primary voltage space vector makes elementary magnetic linkage real space azimuth θ _{ψ s}Equal or be tending towards primary magnetic chain space azimuth reference quantity θ _{ψ s} ^*Perhaps make elementary magnetic linkage actual angular speed ω _{ψ s}Be tending towards primary magnetic chain space azimuth speed reference amount ω _{ψ s} ^*, make elementary magnetic linkage actual magnitude ψ simultaneously _sBe tending towards primary magnetic chain space vector magnitude reference quantity ψ _s ^*, also promptly obtain control signal corresponding and send inverter between DC power supply and the line inductance electromotor to, finish control to line inductance electromotor.

In the such scheme, the present invention just further passes through following formula by the numerical value that obtains in step (1), (2) and (3)

The azimuth error ε that obtains _θOr pass through following formula

Obtain angular speed error ε _ω, to azimuth error ε _θOr angular speed error ε _ωThe ring that stagnates is controlled, and makes azimuth error ε _θOr angular speed error ε _ωEqual or go to zero, promptly obtain the FREQUENCY CONTROL of magnetic linkage; Simultaneously the magnetic linkage amplitude is also stagnated and encircle control, making the error between actual magnetic linkage amplitude and magnetic linkage amplitude reference quantity is zero, and this promptly obtains amplitude control of magnetic linkage, or utilizes θ _{ψ i} ^*And ψ _i ^*, in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, utilize the method for space vector modulation, reach the FREQUENCY CONTROL and the amplitude control of magnetic linkage simultaneously.

${\mathrm{\ϵ}}_{\mathrm{\θ}}={\mathrm{\θ}}_{\mathrm{\ψs}}^{*}-{\mathrm{\θ}}_{\mathrm{\ψs}}$

${\mathrm{\ϵ}}_{\mathrm{\ω}}={\mathrm{\ω}}_{\mathrm{\ψs}}^{*}-{\mathrm{\ω}}_{\mathrm{\ψs}}$

The present invention further is controlled to be circle, hexagon, ten octagon magnetic linkages or other polygon with the magnetic linkage shape of the elementary magnetic linkage of line inductance electromotor, and this also is the target shape of elementary magnetic linkage.

Described slip shows as: when motor is in traction mode, slip s be on the occasion of, when normal force meets the requirements, s 〉=s _MaxAnd make | s-s _Max| as far as possible little, promptly line inductance electromotor operates near the maximum thrust point of mechanical property; When motor was in braking mode, slip s was a negative value, when normal force meets the requirements, and s≤s _MinAnd make | s-s _Min| as far as possible little, promptly line inductance electromotor operates near the maximum braking force point of mechanical property.

Compared with prior art, advantage of the present invention just is: relative Current Control, elementary magnetic linkage control will realize manyly easily, and the high-quality control that more is easy to get.This is because elementary magnetic linkage obtains easily accurately, and is the same with direct torque control, only needs current of electric measured value and magnetic linkage handled to get final product.Flux linkage vector change direction and big I are accurately predicted, and when especially the target magnetic linkage is hexagon or ten octagons when high speed, switching frequency are reduced greatly, reduce switching loss, and its harmonic wave still keep less relatively.These linear electric motors for middle high power capacity lead control and are even more important.This control method even need not carried out thrust and be calculated (this thrust also is difficult for accurately obtaining in real time in actual the use), and this control method combines the characteristic of linear electric motors, can make linear electric motors obtain higher efficient and higher hauling ability.Because itself and structural certain similitude of electric rotating machine direct torque control have kept direct torque control major part advantage.Good as robustness, control is simple to be realized easily, and contrast linear electric motors control method in the past has remarkable advantages.

Description of drawings

Fig. 1 is the flow process framework schematic diagram of control method of the present invention;

Fig. 2 is a structural framing schematic diagram of using control method of the present invention;

Fig. 3 is the schematic diagram of primary voltage vector and hexagon target magnetic linkage in the present embodiment;

Fig. 4 is the schematic diagram of primary voltage vector and ten octagon target magnetic linkages in the present embodiment;

Fig. 5 is the present invention program one a control flow schematic diagram;

Fig. 6 is the present invention program two a control flow schematic diagram.

Marginal data

1, velocity transducer 2, voltage and current sensor

3, microprocessor 4, inverter

5, line inductance electromotor 6, DC power supply

7, memory cell

Symbol description

The t time;

ω sl slippage angular frequency;

The v motor speed;

τ electric motor primary coil pole span;

L _mMotor excitation inductance (mutual inductance);

Sa, Sb, Sc: be respectively motor stator A, B, C go up gate signal such as thyristor or IGBT mutually, are 1, and brachium pontis conducting on the inverter is 0, following brachium pontis conducting;

ω _{ψ s}Primary magnetic chain angular speed;

ω _r: motor secondary electric angle speed ${\mathrm{\ω}}_r=v\frac{\mathrm{\π}}{\mathrm{\τ}};$

ψ _{I α, β}: the α axle of accurate primary magnetic chain space vector or β axle value

ψ _{S α, β}: the α axle of primary magnetic chain space vector or β axle value;

u _{S α, β}: the α axle of primary voltage space vector or β axle value;

i _{S α, β}: the α axle of primary current space vector or β axle value;

i _a, i _b, i _c: be respectively electric motor primary (stator) A, B, C phase current;

R _s: electric motor primary resistance;

Is: primary current amplitude;

ω s primary current angular frequency;

u _s The primary voltage space vector;

ψ _s Primary magnetic chain space vector;

ψ _r Secondary magnetic chain space vector;

ψ _sPrimary magnetic chain space vector magnitude;

ψ _i: accurate primary magnetic chain space vector magnitude;

ψ _rSecondary magnetic chain space vector magnitude;

Primary magnetic chain space azimuth;

Accurate primary magnetic chain space azimuth;

Secondary magnetic chain space azimuth;

θ: primary and secondary flux linkage space vector angle;

ε _θ: the error of elementary magnetic linkage (or accurate elementary magnetic linkage) space vector angle reference quantity and actual amount;

ε _ω: the error of elementary magnetic linkage (or accurate elementary magnetic linkage) space vector angular speed reference quantity and actual amount;

ε _ψ: the error of elementary magnetic linkage (or accurate elementary magnetic linkage) space vector amplitude reference quantity and actual amount;

M：L _sL _r-L _m ²；

L _s: primary inductance;

L _rSecondary inductance;

S: slip;

Smax: on the occasion of, electric current (or elementary magnetic linkage amplitude) a slip of maximum thrust point regularly;

Smin: be negative value, electric current (or elementary magnetic linkage amplitude) is the slip of minimum thrust point, the i.e. slip of maximum braking force point regularly;

SR: motor operation signal.SR=1, the motor operation.Otherwise motor stops;

^*: the reference quantity of each value;

^k: each is worth k step discrete magnitude;

Wherein, all secondary amounts all reduction to elementary.

Embodiment

Below with reference to the drawings and specific embodiments the present invention is described in further details.

Referring to illustrated in figures 1 and 2, the control method of line inductance electromotor of the present invention, input voltage according to 4 pairs of line inductance electromotors 5 of inverter, obtain the actual magnetic linkage frequency and the magnetic linkage amplitude of the elementary magnetic linkage of line inductance electromotor, gather the real-time speed of line inductance electromotor 5 then, obtain the frequency reference amount and the amplitude reference quantity of the elementary magnetic linkage of line inductance electromotor by real-time speed, the shape of elementary magnetic linkage under the while combining target state, determine that suitable primary voltage space vector makes actual magnetic linkage amplitude and magnetic linkage frequency be tending towards amplitude reference quantity and frequency reference amount respectively, the inverter 4 between DC power supply and the line inductance electromotor 5 be will the control signal corresponding send to, thereby the speed or the thrust of line inductance electromotor 5 changed with the primary voltage space vector.Wherein, DC power supply 6 is sent into line inductance electromotor 5 by inverter 4, and the real-time speed of line inductance electromotor 5 is gathered by velocity transducer 1, is sent to then in the microprocessor 3, and voltage and current sensor 2 can be gathered real-time magnitude of voltage and current value.Can be stored in the memory cell 7 by the data that obtain after microprocessor 3 processing.

The target shape of the elementary magnetic linkage of line inductance electromotor can be circle, hexagon, ten octagon magnetic linkages or other changeable shapes.When being controlled to be hexagon and ten octagons, the switching frequency of inverter 4 is low, and the high-speed driving ability is strong, but the harmonic wave of electric current and magnetic linkage high slightly (referring to Fig. 4 and Fig. 5).When being controlled to be loop circle flux, the switching frequency height of inverter 4, the high-speed driving ability, but harmonic content is low, and the user can select as required flexibly.This control strategy also has strong robustness in addition, and control is simple and easy to realize, controls advantages such as effective.In fact, in view of the plurality of advantages of this control method, it also can be used for other motor, especially the control of the motor of parameter mutability such as solid rotor electromotor.Simultaneously, this control method can make machine operation at breakdown torque (thrust) state, to make full use of capacity motor.This can't accomplish in direct torque control etc.

In general, by one dimension, bidimensional or the 3 D electromagnetic field analysis of line inductance electromotor 5, or, can obtain the operating characteristic of line inductance electromotor 5 by test.According to its operating characteristic, can tentatively determine the operation strategy of line inductance electromotor 5 greater efficiency.Obtain the slip-frequency that changes with speed as last, i.e. ω _Sl=f (v).This slip-frequency by the specificity analysis of line inductance electromotor 5, has been taken all factors into consideration high efficiency and is suppressed the limit end effect, avoids these requirements of too high normal force, and has established certain corresponding relation of itself and speed in advance.We also can be named its best slippage working point such working point, and promptly certain motor speed have corresponding slip-frequency corresponding, thereby motor speed is certain, and its supply frequency is certain.Because the motor power frequency changes with rate smoothing and as can be known, perhaps this operation conditions of line inductance electromotor 5 we can be referred to as metastable state.

By 7. formula as can be known, voltage and the electric current in addition certain when line inductance electromotor 5 are known, and flux linkage vector can accurately be known, thereby easily realized accurate optimization control.And when realizing ten octagons or hexagon magnetic linkage control, the combination of its voltage vector is very simple, thereby reduces switching frequency, reduces switching loss, and is certain when direct voltage, can improve the high-speed driving ability of line inductance electromotor 5.As adopting the hexagon magnetic linkage control, its magnetic linkage shape is seen Fig. 3 dotted line, can realize with 7 voltage vector simple combination.

As direct torque control, only need handle and to realize this control method by the primary current signal that records.The control of elementary magnetic linkage is not subjected to the influence that each parameter of T type equivalent electric circuit of line inductance electromotor 5 changes and can accurately obtains, and has very strong robustness.In addition:

$F_e=\frac{2\mathrm{\π}}{3\mathrm{\τ}}\frac{L_m}{M}(\underset{\‾}{{\mathrm{\ψ}}_s}\⊗\underset{\‾}{{\mathrm{\ψ}}_r})=\frac{2\mathrm{\π}}{3\mathrm{\τ}}\frac{L_m}{M}{\mathrm{\ψ}}_s{\mathrm{\ψ}}_r\sin \mathrm{\θ}$

By following formula

As can be known, by control azimuth θ, size that can quick adjustment line inductance electromotor 5 thrusts.This also is the most basic control principle of control method such as Direct Torque, vector control in the past.When the amplitude or the angular speed of elementary flux linkage space vector changes fast, because the slow effect of leakage field, the amplitude of secondary magnetic linkage or angular speed also only can smoothly change.Therefore, in a certain short time period, we can think that secondary magnetic linkage vector magnitude and angular speed are constant.If slip-frequency and speed are certain, also be that primary magnetic chain angular speed is certain.This moment, primary and secondary flux linkage vector angle θ can not change yet obviously.And secondary magnetic linkage amplitude can not directly be controlled, so we can be by the elementary magnetic linkage amplitude ψ of control _sControl thrust.This basic control principle just of the present invention.

In a short time, suppose secondary angular velocity omega _rWith secondary magnetic linkage azimuth speed omega _{ψ r}Constant, if elementary magnetic linkage azimuth speed omega _{ψ s}(t) change rapidly, at t ₀To t ₁Time period, we obtain:

ω _sl(t)＝ω _ψs(t)-ω _r

ω _ψr＝ω _sl(t ₀)+ω _r

$\mathrm{\θ}\left(t_1\right)=\mathrm{\θ}\left(t_0\right)+{\∫}_{t_0}^{t_1}({\mathrm{\ω}}_{\mathrm{\ψs}}\left(t\right)-{\mathrm{\ω}}_{\mathrm{\ψr}})\mathrm{dt}=\mathrm{\θ}\left(t_0\right)+{\∫}_{t_0}^{t_1}({\mathrm{\ω}}_{\mathrm{sl}}\left(t\right)-{\mathrm{\ω}}_{\mathrm{sl}}\left(t_0\right))\mathrm{dt}$

Obviously, primary and secondary flux linkage vector angle θ (t) is the function of slip-frequency, changes slip-frequency and promptly changes primary and secondary flux linkage vector angle.We can think that traditional slip-frequency control, vector control, direct torque control belongs to a kind of control method together from this point, promptly keep the flux linkage vector amplitude constant relatively, mainly regulate torque by changing the flux linkage vector angle.And the present invention is another kind of control method, promptly keeps the flux linkage vector angle constant relatively, and is main by change magnetic linkage amplitude adjusting torque (thrust), and then governing speed.Certainly, for traditional control method, the magnetic linkage amplitude neither be definitely constant, as reducing the magnetic linkage amplitude at weak magnetic area.Overregulate thrust or the torque that the magnetic linkage amplitude is regulated motor but it is obstructed.From this point as can be seen, although direct torque control is the same with this method, also can realize the magnetic linkage control (this requires to decide on controlling object and control) of circle, hexagon, ten octagons or other shape to magnetic linkage, but the present invention and direct torque control there is bigger difference.

Wherein, slip shows as: when line inductance electromotor 5 is in traction mode, s be on the occasion of, when normal force meets the requirements, s 〉=s _MaxAnd make | s-s _Max| as far as possible little, promptly line inductance electromotor 5 operates near the maximum thrust point of mechanical property; When line inductance electromotor 5 was in braking mode, s was a negative value, when normal force meets the requirements, and s≤s _MinAnd make | s-s _Min| as far as possible little, promptly line inductance electromotor 5 operates near the maximum braking force point of mechanical property;

Specifically, this difference shows: when line inductance electromotor 5 operates in certain speed, the former slip-frequency does not change with load, and this moment, slip-frequency was constant or constant substantially, general s 〉=s _MaxAnd the working point is at s _MaxThe point near.And for direct torque control, its slip-frequency changes with the load size.Load is big more, and slip-frequency is big more.And general s≤s _MaxIn control procedure, the slip of slip-frequency is embodied in: as s 〉=s _MaxThe time, line inductance electromotor 5 is in low regime; When | s-s _Max| when big, line inductance electromotor 5 is in the high speed district; When | s-s _Max| near 0, line inductance electromotor 5 is in the high speed district, and promptly line inductance electromotor 5 operates near the maximum thrust point of mechanical property.

For the aforementioned method that is only decided slip-frequency by speed, obviously its slip-frequency is constant under the certain speed.But, make s when operation because the air gap of line inductance electromotor 5 etc. change up and down around set point _MaxAlso have a little variation.This makes according to the air-gap setting value predetermined working point best operating point not necessarily when actual motion, can in the slip-frequency computing unit, add an on-line optimization program for this reason, line inductance electromotor 5 the aforementioned slip-frequency of only obtaining by speed changed according to air gap carries out on-line fine, even also can be operated near the best slip-frequency point when the air gap value changes.At this moment slip-frequency changes.Because the air gap changing value is less when normal operation, its slip-frequency changes still less relatively.And slip-frequency does not change with the load size, and the adjusting of thrust still mainly realizes by the adjusting of magnetic linkage amplitude.

Referring to illustrated in figures 1 and 2, the present invention program one step is:

(1). gather the DC power supply magnitude of voltage of inverter 4 inputs,, obtain the input voltage u of line inductance electromotor 5 in conjunction with the control signal of last cycle microprocessor to inverter 4 _a, u _b, u _c, obtain u through 3/2 conversion _{S α}, u _{S β}, 1. obtain accurate primary magnetic chain space vector by following formula ψ _iComponent ψ at rectangular coordinate system α, β axle _{I α}, ψ _{I β}, further can be regarded as in view of the above accurate elementary magnetic linkage actual magnitude ψ _iAnd accurate elementary magnetic linkage real space azimuth θ _{ψ i}Or 2. obtain accurate elementary magnetic linkage actual angular speed ω by following formula _{ψ i}

ψ _iα，β＝∫u _sα，βdt.....................................................................①；

${\mathrm{\ω}}_{{\mathrm{\ψ}}_i}=\frac{\mathrm{\Δ}{\mathrm{\θ}}_{{\mathrm{\ψ}}_i}}{\mathrm{\Δt}}$ ........................②

(2). gather the real-time motor velocity signal v of line inductance electromotor 5, can tentatively determine the basic reference quantity of slippage angular frequency, further optimize in conjunction with actual conditions on this basis and determine slip-frequency reference quantity ω by this rate signal v _Sl ^*, and can 3. obtain accurate primary magnetic chain space azimuth reference quantity θ by following formula _{ψ i} ^*Or 4. obtain accurate primary magnetic chain space azimuth speed reference amount ω by following formula _{ψ i} ^*

${\mathrm{\θ}}_{{\mathrm{\ψ}}_i}^{*}={\∫\mathrm{\ω}}_{{\mathrm{\ψ}}_i}^{*}\mathrm{dt}$ ...............................③

${\mathrm{\ω}}_{{\mathrm{\ψ}}_i}^{*}=v\frac{\mathrm{\π}}{\mathrm{\τ}}+{\mathrm{\ω}}_{\mathrm{sl}}^{*}$ ...............................④

(3). can directly obtain accurate primary magnetic chain space vector magnitude reference quantity ψ according to needed target propulsive force _i ^*, perhaps according to the rate signal v and the target setting rate signal reference value v that obtain ^*Between error carry out PI and regulate and to obtain accurate primary magnetic chain space vector magnitude reference quantity ψ _i ^*

(4). in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, determine that suitable primary voltage space vector makes accurate elementary magnetic linkage real space azimuth θ _{ψ i}Be tending towards accurate primary magnetic chain space azimuth reference quantity θ _{ψ i} ^*Perhaps make accurate elementary magnetic linkage actual angular speed ω _{ψ i}Be tending towards accurate primary magnetic chain space azimuth speed reference amount ω _{ψ i} ^*Accurate elementary magnetic linkage actual magnitude ψ _iBe tending towards accurate primary magnetic chain space vector magnitude reference quantity ψ _i ^*, also just obtain control signal corresponding and send inverter 4 between DC power supply and the line inductance electromotor 5 to, finish control to line inductance electromotor 5.

In step (4), the azimuth error ε that 5. obtains by following formula by the numerical value that obtains in step (1), (2) and (3) _θOr 6. obtain angular speed error ε by following formula _ω, to azimuth error ε _θOr angular speed error ε _ωThe ring that stagnates is controlled, and makes azimuth error ε _θOr angular speed error ε _ωEqual or go to zero, promptly obtain the FREQUENCY CONTROL of magnetic linkage; Simultaneously the magnetic linkage amplitude is also stagnated and encircle control, making the error between actual magnetic linkage amplitude and magnetic linkage amplitude reference quantity is zero, and this promptly obtains amplitude control of magnetic linkage, or utilizes θ _{ψ i} ^*And ψ _i ^*, in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, utilize the method for space vector modulation, reach the FREQUENCY CONTROL and the amplitude control of magnetic linkage simultaneously.

${\mathrm{\ϵ}}_{\mathrm{\θ}}={\mathrm{\θ}}_{\mathrm{\ψi}}^{*}-{\mathrm{\θ}}_{\mathrm{\ψi}}$ .......⑤ ${\mathrm{\ϵ}}_{\mathrm{\ω}}={\mathrm{\ω}}_{\mathrm{\ψi}}^{*}-{\mathrm{\ω}}_{\mathrm{\ψi}}$ ........⑥

Referring to shown in Figure 3, when inverter place 4 during in Current Control, promptly during the Control current sinusoidal variations, this moment elementary magnetic linkage actual be loop circle flux, this will utilize limited several voltage vectors, for two-level inverter, voltage vector is u ₀ -u ₇ Seven voltage vectors, obtain by combination, thereby switching frequency is higher, and has limited the high-speed driving ability of motor.

In general, especially for train, its direct voltage is not a steady state value, but fluctuation within the specific limits.At this moment just be necessary the input direct voltage of inverter 4 is measured, to obtain to control preferably effect.Simultaneously, for elementary stator magnetic linkage accurately being controlled the needs of protecting with elementary stator over-current, also need measure to its electric current.

The present invention program two step is:

(1). gather the DC power supply magnitude of voltage of inverter 4 inputs,, obtain the input voltage u of line inductance electromotor 5 in conjunction with the control signal of last cycle microprocessor to inverter 4 _a, u _b, u _c, obtain u through 3/2 conversion _{S α}, u _{S β}, obtain input current value i after same collection converts _{S α}, i _{S β}, 7. obtain primary magnetic chain space vector by following formula ψ _sComponent ψ at rectangular coordinate system α, β axle _{S α}, ψ _{S β}, further can be regarded as in view of the above its elementary magnetic linkage actual magnitude ψ _sAnd elementary magnetic linkage real space azimuth θ _{ψ s}Or 8. obtain elementary magnetic linkage actual angular speed ω by following formula _{ψ s}

ψ _sα，β＝∫(u _sα，β+i _sα，βR _s)dt.........................................................⑦

${\mathrm{\ω}}_{\mathrm{\ψs}}=\frac{\mathrm{\Δ}{\mathrm{\θ}}_{\mathrm{\ψs}}}{\mathrm{\Δt}}$ ....................⑧

(2). gather the real-time motor velocity signal v of line inductance electromotor 5, can tentatively determine the basic reference quantity of slippage angular frequency, further optimize in conjunction with actual conditions on this basis and determine slip-frequency reference quantity ω by this rate signal v _Sl ^*, and can 9. obtain primary magnetic chain space azimuth reference quantity θ by following formula _{ψ s} ^*Or 10. obtain primary magnetic chain space azimuth speed reference amount ω by following formula _{ψ s} ^*

${\mathrm{\θ}}_{\mathrm{\ψs}}^{*}={\∫\mathrm{\ω}}_{\mathrm{\ψs}}^{*}\mathrm{dt}$ ...........................⑨

${\mathrm{\ω}}_{\mathrm{\ψs}}^{*}=v\frac{\mathrm{\π}}{\mathrm{\τ}}+{\mathrm{\ω}}_{\mathrm{sl}}^{*}$ ...........................⑩

(3). can directly obtain primary magnetic chain space vector magnitude reference quantity ψ according to needed target propulsive force _s ^*, perhaps according to the rate signal v and the target setting rate signal reference value v that obtain ^*Between error carry out PI and regulate and to obtain primary magnetic chain space vector magnitude reference quantity ψ _s ^*

(4). in conjunction with the shape of the elementary magnetic linkage of line inductance electromotor, determine that suitable primary voltage space vector makes elementary magnetic linkage actual magnitude ψ _sEqual primary magnetic chain space vector magnitude reference quantity ψ _s ^*, make elementary magnetic linkage real space azimuth θ simultaneously _{ψ s}Equal or be tending towards primary magnetic chain space azimuth reference quantity θ _{ψ s} ^*Perhaps make elementary magnetic linkage actual angular speed ω _{ψ s}Equal or be tending towards primary magnetic chain space azimuth speed reference amount ω _{ψ s}, also promptly obtain control signal corresponding and send inverter 4 between DC power supply and the line inductance electromotor 5 to, finish control to line inductance electromotor 5.

In step (4), pass through following formula by the numerical value that obtains in step (1), (2) and (3)

The azimuth error ε that obtains _θOr obtain angular speed error ε by following formula 12 _ω, to azimuth error ε _θOr angular speed error ε _ωThe ring that stagnates is controlled, and makes azimuth error ε _θOr angular speed error ε _ωEqual or go to zero, promptly obtain the FREQUENCY CONTROL of magnetic linkage; Simultaneously the magnetic linkage amplitude is also stagnated and encircle control, making the error between actual magnetic linkage amplitude and magnetic linkage amplitude reference quantity is zero, and this promptly obtains amplitude control of magnetic linkage, or utilizes θ _{ψ i} ^*And ψ _i ^*, in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, utilize the method for space vector modulation, reach the FREQUENCY CONTROL and the amplitude control of magnetic linkage simultaneously.

${\mathrm{\ϵ}}_{\mathrm{\θ}}={\mathrm{\θ}}_{\mathrm{\ψs}}^{*}-{\mathrm{\θ}}_{\mathrm{\ψs}}$

${\mathrm{\ϵ}}_{\mathrm{\ω}}={\mathrm{\ω}}_{\mathrm{\ψs}}^{*}-{\mathrm{\ω}}_{\mathrm{\ψs}}$

Wherein can tentatively determine the basic reference quantity of slippage angular frequency by motor velocity signal v, the basic reference quantity of this slippage angular frequency, be to draw by specificity analysis to line inductance electromotor 5, take all factors into consideration high efficiency and suppress the limit end effect, avoid these requirements of too high normal force, and established certain corresponding relation of itself and speed in advance.The slip of this moment shows as: s 〉=s _Max, in low regime, | s-s _Max| bigger, and in the high speed district, | s-s _Max| near 0.Promptly in the high speed district, line inductance electromotor 5 operates near the maximum thrust point of mechanical property.And 4. can obtain the basic reference quantity of magnetic linkage angular frequency by formula.Because the air gap of linear electric motors etc. change up and down around set point, make s when operation _MaxAlso have a little variation.Need the further on-line optimization of the basic reference quantity of aforementioned gained angular frequency for this reason, the aforementioned slip-frequency of only obtaining by speed is changed according to air gap carry out on-line fine, even change in the air gap value, motor also can be operated near the best slip-frequency point when high speed is moved.Under certain speed, the reference quantity of elementary magnetic linkage frequency constant relatively (but not being definitely constant) mainly is the thrust control that obtains motor by the adjusting of magnetic linkage amplitude reference quantity size.

Referring to shown in Figure 5, the concrete control flow of corresponding scheme one is:

1, control system starts, and microprocessor 3 powers on to move and carries out initialization.The attached value of K is 1;

2, read the SR value;

3, SR is not 1, then finishes operation, and motor stops.SR is 1, then reads inverter 4 switching signal S _a ^k, S _b ^k, S _c ^k, read the DC input voitage U of inverter 4 _Dc ^kAnd motor speed v ^k

4, according to S _a ^k, S _b ^k, S _c ^k, U _Dc ^kPress following formula and obtain u _{S α} ^k, u _{S β} ^k,

$\underset{\&OverBar;}{{u_s}^k}=-\frac{{U_d}^k}{2}[{(-1)}^{{s_a}^k}+{(-1)}^{{s_b}^{\mathrm{<figure-callout\; id="2"\; label="k\; e\; j"\; filenames="C20061013675700202.png,C20061013675700211.png"\; state="\{\{state\}\}">k</figure-callout>}}}{e}^j{\frac{2\mathrm{\&pi;}}{3}}^{}+{(-1)}^{{s_c}^{\mathrm{<figure-callout\; id="4"\; label="k\; e\; j"\; filenames="C20061013675700202.png,C20061013675700222.png"\; state="\{\{state\}\}">k</figure-callout>}}}{e}^j{\frac{4\mathrm{\&pi;}}{3}}^{}]={u_{\mathrm{s\&alpha;}}}^k+j{u_{\mathrm{s\&beta;}}}^k;$

5,1. obtain flux linkage vector amplitude ψ by following formula _i ^kAnd azimuth

6, given magnetic linkage amplitude reference quantity or speed is carried out PI control obtain the amplitude reference quantity

7, by speed v ^kCalculate the slip-frequency reference value

Go forward side by side calculate magnetic linkage angular frequency reference value ${\mathrm{\&omega;}}_{{\mathrm{\&psi;}}_i}^{k^{*}}=v^k\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}+{{\mathrm{\&omega;}}_{\mathrm{sl}}}^{k^{*}}$ With flux linkage space azimuth reference value ${\mathrm{\&theta;}}_{{\mathrm{\&psi;}}_i}^{k^{*}}={\mathrm{\&omega;}}_{{\mathrm{\&psi;}}_i}^{k^{*}\mathrm{dt}};$

8, calculate flux linkage vector angle error and amplitude error ε _θ ^kAnd ε _ψ ^k,, select suitable stator (elementary) voltage vector again in conjunction with selected magnetic linkage shape u _s ^K+1Azimuth sum of errors amplitude error is controlled, thereby made ε _θ ^kAnd ε _ψ ^kDeng doing or be tending towards 0;

9, determined u _s ^K+1, also just determined S _a ^K+1, S _b ^K+1, S _c ^K+1, output S _a ^K+1, S _b ^K+1, S _c ^K+1Signal is controlled inverter 4;

10, k=k+1 changeed for 2 steps, and circulation is carried out.

Referring to shown in Figure 6, the flow process of the concrete control flow such scheme one of corresponding scheme two is basic identical, but in scheme two control flows the 5th the step change into: 2. obtain flux linkage vector amplitude ψ by formula _s ^kAnd azimuth θ _{ψ s} ^k, and the elementary accurate magnetic linkage ψ of other step _iCorrespondingly change elementary magnetic linkage ψ into _s, can finish the control of scheme two.

Claims (8)

1, a kind of control method of line inductance electromotor, it is characterized in that: according to input voltage or input voltage and the input current of inverter line inductance electromotor, obtain the actual magnetic linkage frequency and the magnetic linkage amplitude of the elementary magnetic linkage of line inductance electromotor, gather the real-time speed of line inductance electromotor then, obtain the frequency reference amount and the amplitude reference quantity of the elementary magnetic linkage of line inductance electromotor by real-time speed, the shape of elementary magnetic linkage under the while combining target state, determine that suitable primary voltage space vector makes actual magnetic linkage amplitude and magnetic linkage frequency be tending towards amplitude reference quantity and frequency reference amount respectively, the inverter between DC power supply and the line inductance electromotor be will the control signal corresponding send to, thereby the speed or the thrust of line inductance electromotor regulated with the primary voltage space vector.

2, the control method of line inductance electromotor according to claim 1 is characterized in that step is:

(1), gather the DC power supply magnitude of voltage of inverter input, in conjunction with the control signal of last cycle microprocessor, obtain the input voltage u of line inductance electromotor to inverter _a, u _b, u _c, obtain u through 3/2 conversion _{S α}, u _{S β}, 1. obtain accurate primary magnetic chain space vector by following formula ψ _iComponent ψ at rectangular coordinate system α, β axle _{I α}, ψ _{I β}, further can be regarded as in view of the above accurate elementary magnetic linkage actual magnitude ψ _iAnd accurate elementary magnetic linkage real space azimuth θ _{ψ i}Or 2. obtain accurate elementary magnetic linkage actual angular speed ω by following formula _{ψ i}

ψ _iα，β＝∫u _sα，βdt.....................................................................①；

${\mathrm{\&omega;}}_{{\mathrm{\&psi;}}_i}=\frac{\mathrm{\&Delta;}{\mathrm{\&theta;}}_{{\mathrm{\&psi;}}_t}}{\mathrm{\&Delta;t}}$ ............................................................................②；

(2), gather the real-time motor velocity signal v of line inductance electromotor, can tentatively determine the basic reference quantity of slippage angular frequency by this rate signal v, further optimize definite slip-frequency reference quantity ω in conjunction with actual conditions on this basis _Sl ^*, and can 3., 4. obtain accurate primary magnetic chain space azimuth reference quantity θ by following formula _{ψ i} ^*Or 4. obtain accurate primary magnetic chain space azimuth speed reference amount ω by following formula _{ψ i} ^*, wherein τ is an electric motor primary coil pole span;

${\mathrm{\&theta;}}_{{\mathrm{\&psi;}}_i}^{*}={\&Integral;\mathrm{\&omega;}}_{{\mathrm{\&psi;}}_i}^{*}\mathrm{dt}$ ......................................................................③；

${\mathrm{\&omega;}}_{{\mathrm{\&psi;}}_i}^{*}=v-\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}+{\mathrm{\&omega;}}_{\mathrm{sl}}^{*}$ .....................................................................④；

(3), can directly obtain accurate primary magnetic chain space vector magnitude reference quantity ψ according to needed target propulsive force _i ^*, perhaps according to the rate signal v and the target setting rate signal reference value v that obtain ^*Between error carry out PI and regulate and to obtain accurate primary magnetic chain space vector magnitude reference quantity ψ _i ^*

(4), in conjunction with the target shape of the accurate elementary magnetic linkage of line inductance electromotor, determine that suitable primary voltage space vector makes accurate elementary magnetic linkage real space azimuth θ _{ψ i}Be tending towards accurate primary magnetic chain space azimuth reference quantity θ _{ψ i} ^*Perhaps make accurate elementary magnetic linkage actual angular speed ω _{ψ i}Be tending towards accurate primary magnetic chain space azimuth speed reference amount ω _{ψ i} ^*Accurate elementary magnetic linkage actual magnitude ψ of while _iBe tending towards accurate primary magnetic chain space vector magnitude reference quantity ψ _i ^*, also just obtain control signal corresponding and send inverter between DC power supply and the line inductance electromotor to, finish control to line inductance electromotor.

3, according to the control method of the described line inductance electromotor of claim 2, it is characterized in that: the azimuth error ε that 5. obtains by following formula by the numerical value that obtains in step (1), (2) and (3) _θOr 6. obtain angular speed error ε by following formula _ω, to azimuth error ε _θOr angular speed error ε _ωThe ring that stagnates is controlled, and makes azimuth error ε _θOr angular speed error ε _ωGo to zero, this also promptly obtains the FREQUENCY CONTROL of magnetic linkage; Simultaneously to the stagnate ring control of magnetic linkage amplitude, error between actual magnetic linkage amplitude and magnetic linkage amplitude reference quantity is equaled or tend to be zero, this amplitude that promptly obtains magnetic linkage is controlled, or utilizes θ _{ψ i} ^*And ψ _i ^*, in conjunction with the target shape of the accurate elementary magnetic linkage of line inductance electromotor, utilize the method for space vector modulation, reach the FREQUENCY CONTROL and the amplitude control of magnetic linkage simultaneously,

${\mathrm{\&epsiv;}}_{\mathrm{\&theta;}}={\mathrm{\&theta;}}_{\mathrm{\&psi;i}}^{*}-{\mathrm{\&theta;}}_{\mathrm{\&psi;i}}$ .........................................................................⑤

${\mathrm{\&epsiv;}}_{\mathrm{\&omega;}}={\mathrm{\&omega;}}_{\mathrm{\&psi;i}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&psi;i}}$ ..........................................................................?⑥。

4,, it is characterized in that step is according to the control method of the described line inductance electromotor of claim 1:

(1), gather the DC power supply magnitude of voltage of inverter input, in conjunction with the control signal of last cycle microprocessor, obtain the input voltage u of line inductance electromotor to inverter _a, u _b, u _c, obtain u through 3/2 conversion _{S α}, u _{S β}Gather i _a, i _b, i _cIn appoint the two-phase primary current, obtain i through 3/2 conversion _{S α}, i _{S β}7. obtain primary magnetic chain space vector by following formula ψ _sComponent ψ at rectangular coordinate system α, β axle _{S α}, ψ _{S β}, further can be regarded as in view of the above its elementary magnetic linkage actual magnitude ψ _sAnd elementary magnetic linkage real space azimuth θ _{ψ s}Or 8. obtain elementary magnetic linkage actual angular speed ω by following formula _{ψ s}

ψ _sα，β＝∫(u _sα，β+i _sα，βR _s)dt..............................................................⑦

${\mathrm{\&omega;}}_{\mathrm{\&psi;s}}=\frac{\mathrm{\&Delta;}{\mathrm{\&theta;}}_{\mathrm{\&psi;s}}}{\mathrm{\&Delta;t}}$ ...............................................................................⑧；

(2), gather the real-time motor velocity signal v of line inductance electromotor, can tentatively determine the basic reference quantity of slippage angular frequency by this rate signal v, further optimize definite slip-frequency reference quantity ω in conjunction with actual conditions on this basis _Sl ^*, and can 9., 10. obtain primary magnetic chain space azimuth reference quantity θ by following formula _{ψ s} ^*Or 10. obtain primary magnetic chain space azimuth speed reference amount ω by following formula _{ψ s} ^*, wherein τ is an electric motor primary coil pole span;

${\mathrm{\&theta;}}_{\mathrm{\&psi;s}}^{*}={\&Integral;\mathrm{\&omega;}}_{\mathrm{\&psi;s}}^{*}\mathrm{dt}$ .........................................................................⑨

${\mathrm{\&omega;}}_{\mathrm{\&psi;s}}^{*}=v\frac{\mathrm{\&pi;}}{\mathrm{\&tau;}}+{\mathrm{\&omega;}}_{\mathrm{sl}}^{*}$ .....................................................................⑩

(3), can directly obtain primary magnetic chain space vector magnitude reference quantity ψ according to needed target propulsive force _s ^*, perhaps according to the rate signal v and the target setting rate signal reference value v that obtain ^*Between error carry out PI and regulate and to obtain primary magnetic chain space vector magnitude reference quantity ψ _s ^*

(4), in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, determine that suitable primary voltage space vector makes elementary magnetic linkage real space azimuth θ _{ψ s}Equal or be tending towards primary magnetic chain space azimuth reference quantity θ _{ψ s} ^*Perhaps make elementary magnetic linkage actual angular speed ω _{ψ s}Equal or be tending towards primary magnetic chain space azimuth speed reference amount ω _{ψ s} ^*, make elementary magnetic linkage actual magnitude ψ simultaneously _sBe tending towards primary magnetic chain space vector magnitude reference quantity ψ _s ^*, also promptly obtain control signal corresponding and send inverter between DC power supply and the line inductance electromotor to, finish control to line inductance electromotor.

5, according to the control method of the described line inductance electromotor of claim 4, it is characterized in that: pass through following formula by the numerical value that obtains in step (1), (2) and (3)

The azimuth error ε that obtains _θOr pass through following formula

Obtain angular speed error ε _ω, to azimuth error ε _θOr angular speed error ε _ωThe ring that stagnates is controlled, and makes azimuth error ε _θOr angular speed error ε _ωEqual or go to zero, promptly obtain the FREQUENCY CONTROL of magnetic linkage; Simultaneously to the stagnate ring control of magnetic linkage amplitude, error between actual magnetic linkage amplitude and magnetic linkage amplitude reference quantity is equaled or tend to be zero, this amplitude that promptly obtains magnetic linkage is controlled, or utilizes θ _{ψ s} ^*And ψ _s ^*, in conjunction with the target shape of the elementary magnetic linkage of line inductance electromotor, utilize the method for space vector modulation, reach the FREQUENCY CONTROL and the amplitude control of magnetic linkage simultaneously,

${\mathrm{\&epsiv;}}_{\mathrm{\&theta;}}={\mathrm{\&theta;}}_{\mathrm{\&psi;s}}^{*}-{\mathrm{\&theta;}}_{\mathrm{\&psi;s}}$

${\mathrm{\&epsiv;}}_{\mathrm{\&omega;}}={\mathrm{\&omega;}}_{\mathrm{\&psi;s}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&psi;s}}$

6, according to the control method of any described line inductance electromotor in the claim 1 to 5, it is characterized in that: the magnetic linkage target shape of described line inductance electromotor stator magnetic linkage can be circle, hexagon, ten octagon magnetic linkages or other polygons.

7,, it is characterized in that described slip shows as according to the control method of any described line inductance electromotor in the claim 1 to 5: when motor is in traction mode, slip s be on the occasion of, when normal force meets the requirements, s 〉=s _MaxAnd make | s-s _Max| as far as possible little, promptly line inductance electromotor operates near the maximum thrust point of mechanical property; When motor was in braking mode, slip s was a negative value, when normal force meets the requirements, and s≤s _MinAnd make | s-s _Min| as far as possible little, promptly line inductance electromotor operates near the maximum braking force point of mechanical property.

8,, it is characterized in that described slip shows as according to the control method of the described line inductance electromotor of claim 6: when motor is in traction mode, slip s be on the occasion of, when normal force meets the requirements, s 〉=s _MaxAnd make | s-s _Max| as far as possible little, promptly line inductance electromotor operates near the maximum thrust point of mechanical property; When motor was in braking mode, slip s was a negative value, when normal force meets the requirements, and s≤s _MinAnd make | s-s _Min| as far as possible little, promptly line inductance electromotor operates near the maximum braking force point of mechanical property.

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