CN102170262B - Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine - Google Patents
Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine Download PDFInfo
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- CN102170262B CN102170262B CN201110113834XA CN201110113834A CN102170262B CN 102170262 B CN102170262 B CN 102170262B CN 201110113834X A CN201110113834X A CN 201110113834XA CN 201110113834 A CN201110113834 A CN 201110113834A CN 102170262 B CN102170262 B CN 102170262B
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Abstract
一种直驱永磁同步风电机组无速度传感器控制方法，所述控制方法通过公式
A speed sensorless control method for a direct-drive permanent magnet synchronous wind turbine, the control method adopts the formula
Description
Technical fieldThe present invention relates to the permagnetic synchronous motor field, particularly a kind of control method of measuring motor rotor position and rotor electric angle speed Speedless sensor in direct-drive permanent-magnet synchronous wind-powered electricity generation unit.
Background technologyDirect-drive permanent-magnet synchronous wind-powered electricity generation unit is commonly employed in current wind power system.For the power of the harmonic current that reduces the generating pusher side, the copper loss that reduces generator and iron loss, raising system acquisition, realize the accurate control of rotating speed, what motor side adopted is the PWM rectifying device.Simultaneously, adopt rotor field-oriented vector control technology.Rotor-position detection accurately is the key of controlling.The measurement mechanisms such as photoelectric encoder or resolver are installed in the rotating shaft of permagnetic synchronous motor are usually measured rotor speed and position angle, yet these extra measurement mechanisms increased system cost, increased system's moment of inertia, simultaneously (as: rainwater high humidity, vibration are strong, high low temperature etc.) can reduce the reliability of the Accuracy system of measuring under exceedingly odious operating mode, increased maintenance cost.Therefore, the control method of Speedless sensor just seems particularly important.
In prior art, (patent No.: what 200810243652.2) adopt is method for normalizing between the three-phase back electromotive force to Chinese patent " method of fast detecting position of non-position sensor three-phase permanent magnet synchronous motor rotor "; " control method of Permanent Magnet Synchronous Motor Speed Sensorless-air conditioner compressor system " (patent No.: what 200410078141.1) adopt is the method for the compound control of torque instruction electric current, and sensorless technology is used for the convertible frequency air-conditioner technical field; " a kind of permanent-magnet synchronous motor rotor position sensing method and position sensing device " (patent No.: 200510020607.7) adopt resolver and resolve the unit and calculate rotor position angle as transducer, and sensorless technology is used for field of automobile control." non-velocity transducer inverse control variable frequency speed regulator of permagnetic synchronous motor and structured approach " (patent No.: 200810124095.2) and " Speedless sensor inverse controller of permagnetic synchronous motor " (patent No.: what 200820037559.1) adopt is all that the method for EKF calculates rotor position angle and rotating speed; " position sensorless drive that is used for permagnetic synchronous motor " (patent No.: what 200580004124.6) adopt is blending algorithm; " megawatt permanent magnetism synchronous directly-driving-wind motor group non-speed sensor control method " (patent No.: what 200810025169.7) adopt is the phase-locked around-France of stator voltage vector oriented, is used for the megawatt permanent magnetism synchronous directly-driving-wind group of motors.But above-mentioned various Speedless sensors calculate very complicated in the method for asking for rotor electric angle speed and rotor position angle, and controller has been proposed very high requirement.For the problems referred to above, the present invention uses angle from Practical Project, has proposed a kind of easy Non-speed sensor control method of direct-drive permanent-magnet synchronous wind turbine and has asked for rotor position angle and rotor electric angle speed.
Summary of the inventionThe objective of the invention is to overcome the shortcoming and defect of prior art, proposed a kind of realize simple, workable, reliability is high, the direct calculating rotor position angle of very strong engineering using value and the Speed Sensorless Control Method of rotor electric angle speed are arranged.
Control method of the present invention is passed through formula
=
Obtain rotor position angle, pass through formula
Obtain rotor electric angle speed; Wherein
For resistance,
For the stator electromotive force,
And
For the stator electromotive force
The axle component,
For no-load emf,
Be reactance.
This control method realizes by the following method:
Step 1: by permanent-magnetic synchronous motor stator potential equation and relevant knowledge, determine that electric angle speed and rotor electric angle speed that stator magnetic linkage produces equate.
By permanent-magnetic synchronous motor stator potential equation (a is example mutually) as can be known:
(
: motor terminal voltage,
: armature resistance,
: armature supply,
: stator magnetic linkage).Wherein,
Comprise two parts electromotive force, be respectively no-load emf (
) and the electromotive force that produces of armature reaction.The electromotive force that armature reaction produces also comprise the electromotive force that two parts are respectively main flux and produce (
) and the electromotive force that produces of leakage flux (
),
Namely
(1)
The Mathematical Modeling of permagnetic synchronous motor is under three phase coordinate systems:
Wherein:
By equation (2) as can be known, inductance comprises shown in self-induction and mutual inductance, and wherein self-induction comprises the leakage inductance that inductance that two parts main flux produces and leakage flux produce.
In equation (2), armature supply adopts rotor field-oriented vector control technology to obtain as can be known the sinusoidal current of three-phase symmetrical by the PWM rectifying device:
（5）
And have:
=
(6)
By the vector correlation theory as can be known, any two resulting composite vector frequencies of same sinusoidal quantity addition frequently are constant.By (3) (4) (5) stator magnetic linkage as can be known
It is also a sinusoidal quantity of rotating according to rotor electric angle speed.(as shown in Figure 1)
Wherein:
: terminal voltage,
: armature supply,
: stator magnetic linkage, self-induction:
, mutual inductance:
;
: rotor flux,
: rotor position angle,
: the armature supply angular frequency,
: a phase stator electromotive force.
Step 2: stator magnetic linkage and its electromotive force angular frequency that produces equate, and the lag behind position angle of its electromotive force of stator magnetic linkage is
The relation of stator electromotive force and stator magnetic linkage:
Step 3: by step 1 three phase static coordinate system and the conversion of two-phase rest frame (be called for short: 3/2 changes) being calculated the stator electromotive force
The axle component
With
Change by 3/2 and can obtain the permagnetic synchronous motor Mathematical Modeling:
（8）
Appearance obtains:
Step 4: (be called for short: the position angle of the K/P conversion) calculating the stator electromotive force by rectangular coordinate/polar coordinate transform
By step 3 stator electromotive force as can be known
The axle component
With
Bring following formula into:
Wherein:
Step 5: rotor position angle
Ask for.
By step 4 stator electromotive force position angle as can be known
, by Fig. 1 and Fig. 2 as can be known
For Surface Mount scholar non salient pole machine, by equation in step 1 (1) as can be known potential equation (negligible resistance) following equation is arranged:
（11）
The merit angle
Shown in Fig. 2, by the cosine law as can be known:
Can obtain rotor position angle by (10) (12) (13):
Step 6: rotor electric angle speed
Ask for.
To permagnetic synchronous motor Mathematical Modeling in step 1, obtain synchronously according to rotor field-oriented
Expression formula under coordinate system:
In through type (15), first expression formula just can obtain rotor electric angle speed:
Compared with the prior art, beneficial effect of the present invention is: cost is low, strong operability, low to the controller requirement, and can just can draw comparatively accurately rotor angular displacement by simple computation
With rotor electric angle speed
, have good actual Practical significance.
Description of drawings
Fig. 1 is rotor field-oriented control polar plot of the present invention.
Fig. 2 is the electromotive force vectogram of synchronous generator of the present invention.
Fig. 3 is system of the present invention control block diagram.
Fig. 4 is software flow figure of the present invention.
Embodiment
1, under a certain initial condition, know rotating speed
(corresponding frequency
), by measuring the armature supply of this initial time
And motor terminal voltage
, it is carried out
Variation obtains
With
, for the alternating current of three-phase symmetrical
, through type (15) obtains resistance
2, can obtain motor at a certain rotating speed by short circuit experiment and the no load test of motor
(corresponding frequency
) synchronous reactance
, as can be known:
3, in formula 13
Have two kinds of methods to obtain:
(1) obtain no-load emf by look-up table
Satisfy following equation:
Wherein,
,
: the armature winding effective turn,
: rotor flux should be worth constant for permagnetic synchronous motor.Can obtain like this no-load emf is:
By equation (20) as can be known, no-load emf
Only rotor electric angle speed
Function.Consider and ask for rotor flux
Have certain difficulty, adopt to obtain different by measuring different rotating speeds before experiment
, set up relation one to one, when Speedless sensor is controlled by calculating rotor electric angle speed
Can obtain no-load emf
(2) direct algorithm
At first measure rotor flux
, the armature winding effective turn
, calculate electric angle speed
Just can directly obtain no-load emf by equation (20).
General employing scheme (1) in actual experiment, the data of first a model machine being tested to obtain being correlated with are tested again, have simple to operate.
4, when the wind speed of measuring during greater than the incision wind speed, direct-drive permanent-magnet synchronous wind-powered electricity generation unit is started working.Obtain terminal voltage by the voltage and current hall measurement
And armature supply
, this tittle is carried out A/D is converted to and carries out second-order low-pass filter after corresponding digital quantity and can obtain terminal voltage and armature supply first-harmonic composition.
5, the first-harmonic composition with resulting voltage and current in step 4 carries out respectively 3/2 variation, can obtain
,
With
,
Through type (9) just can be obtained the electromotive force that stator magnetic linkage is responded to
With
, just can calculate the position angle of the electromotive force of stator magnetic linkage induction by equation (10)
6, just can obtain the merit angle by step 2,3,4 measured correlation substitution equatioies (13)
The position angle of the electromotive force of the stator magnetic linkage induction of 7, step 5,6 being calculated
With the merit angle
Substitution equation (14) just can obtain rotor position angle
8, by step 2 as can be known, calculate as can be known by no load test and short circuit experiment
, and
=
At a certain rotating speed
So just can obtain
, for Surface Mount scholar non-salient pole permagnetic synchronous motor
9, when resulting electric current is symmetrical three-phase alternating current
, equation (16) can be expressed as like this:
(21)
Relevant parameter substitution following formula just can be obtained rotor electric angle speed
10, as shown in Figure 4, in the rotor electric angle speed and rotor position angle substitution Fig. 3 that calculate, relevant program is write in DSP, working procedure sends SPWM Waveform Control PWM rectifier.Whether determining program stops: no, restart computing from step 2.Be terminator.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102510260B (en) * | 2011-11-17 | 2014-03-12 | 华中科技大学 | Induction machine vector control method taking account of iron loss |
| CN103198191B (en) * | 2013-04-09 | 2015-10-21 | 华北电力大学 | Based on the permanent magnet direct-drive Wind turbines simulation model system of PSCAD |
| CN103595328B (en) * | 2013-11-11 | 2016-05-11 | 中广核工程有限公司 | A kind of control method of permagnetic synchronous motor and system |
| CN104362930A (en) * | 2014-12-09 | 2015-02-18 | 南京国电南自新能源科技有限公司 | Stator counter electromotive force-based fast calculation method of synchronous motor rotating speeds |
| CN109802618B (en) * | 2019-01-25 | 2020-08-28 | 燕山大学 | Identification method of rotor initial position of permanent magnet synchronous motor based on filterless |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101123352A (en) * | 2007-08-30 | 2008-02-13 | 中国科学院电工研究所 | Back-to-back converter of wind power generation system and its circulation control method |
| CN101282102A (en) * | 2008-04-29 | 2008-10-08 | 合肥阳光电源有限公司 | Control method for megawatt permanent magnetism synchronous directly-driving-wind motor group non-speed sensor |
| CN101505130A (en) * | 2009-03-17 | 2009-08-12 | 国网电力科学研究院 | Rotor position estimation and correction method for permanent magnet synchronous generator |
| CN101764567A (en) * | 2010-01-29 | 2010-06-30 | 合肥阳光电源有限公司 | Composite vector control method for permanent magnet synchronous wind generator |
-
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101123352A (en) * | 2007-08-30 | 2008-02-13 | 中国科学院电工研究所 | Back-to-back converter of wind power generation system and its circulation control method |
| CN101282102A (en) * | 2008-04-29 | 2008-10-08 | 合肥阳光电源有限公司 | Control method for megawatt permanent magnetism synchronous directly-driving-wind motor group non-speed sensor |
| CN101505130A (en) * | 2009-03-17 | 2009-08-12 | 国网电力科学研究院 | Rotor position estimation and correction method for permanent magnet synchronous generator |
| CN101764567A (en) * | 2010-01-29 | 2010-06-30 | 合肥阳光电源有限公司 | Composite vector control method for permanent magnet synchronous wind generator |
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