CN115065286B - A digital twin modeling method and system for the starting process of high-voltage and high-power induction motors - Google Patents
A digital twin modeling method and system for the starting process of high-voltage and high-power induction motors Download PDFInfo
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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
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention relates to a digital twin modeling method and a system for a starting process of a high-voltage high-power induction motor. The invention compensates in real time based on the deviation between the actual measurement value and the simulation value of the state variable, and adopts a variable step-length high-efficiency simulation strategy at the same time, so as to solve the problems of state detection and real-time control in the starting process of the high-voltage high-power induction motor, and better detect and control the starting process of the motor.
Description
Technical Field
The invention relates to the field of digital twin modeling of induction motors, in particular to a digital twin modeling method and a digital twin modeling system for a starting process of a high-voltage high-power induction motor.
Background
The digital twin (DIGITAL TWIN, DT) technology realizes the application requirements of monitoring, simulation, optimization and the like on the physical entity through the interactive mapping of the digital virtual body and the physical entity and through the modeling in the virtual space, even can sense the running state of the power grid in advance in super real time, provides control strategy guidance and fault early warning, and has fidelity, expandability and operability. The method is characterized in that a full-element digital virtual image is generated by means of DT technology, so that complex energy information and coupling relation of a physical power grid are simplified into a detachable, simulative and computable mathematical relation, on one hand, the visualization of the operation state of the physical power grid can be realized, on the other hand, the deduction result of multi-angle and multi-level optimization related activities can be realized, virtual-real iteration is gradually completed through the cross reference among models, and the final purposes of deep mining of digital information, construction of industrial ecological modes and optimization of physical power grid management are achieved. The application of the digital twin technology depends on the calculation and communication capacity of data and the support of a high-efficiency algorithm to a great extent, and the requirements on algorithm performance and data transmission accuracy are more strict for the transient starting process of important dynamic loads of an induction motor and other power systems due to the fact that the process is short, the starting current is large. And thus still less so is its status detection with DT technology.
In order to realize accurate control of the starting process of the high-voltage high-power induction motor, estimation of the health state of the induction motor, prediction of the running state of the motor and management of the full life cycle, a digital twin model of the induction motor and a proper data interaction algorithm are established by utilizing a DT technology, so that the induction motor is calculated and deduced with high efficiency and high reliability, and the running data acquired in real time are utilized to realize automatic evolution and update of the digital twin body of the induction motor. Meanwhile, a modeling system which is adapted to the digital twin model needs to be developed to meet modeling requirements.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a digital twin modeling method aiming at the starting process of a high-voltage high-power induction motor. The invention compensates in real time based on the deviation between the actual measurement value and the simulation value of the state variable, and adopts a variable step-length high-efficiency simulation strategy at the same time, so as to solve the problems of state detection and real-time control in the starting process of the high-voltage high-power induction motor, and better detect and control the starting process of the motor.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the digital twin modeling method for the starting process of the high-voltage high-power induction motor is characterized by comprising the following steps of:
step 1, obtaining the current of a motor stator Stator voltageAnd rotational speed
Step2, detecting abnormal data by using the following formula (1) and adopting a3 sigma criterion in each power frequency period, and deleting the abnormal data which does not meet the formula (1)In the formula,Sigma X represents the standard deviation of current, voltage or rotation speed in a power frequency period; The average value of the stator current, the stator voltage or the rotation speed obtained in the step 1 is shown:
Step3, converting the motor stator current and the stator voltage obtained in the step 2 after the bad data are removed into an alpha beta coordinate system, calculating a rotor flux linkage estimated value by using a rotor flux linkage voltage model, and carrying out simulation processing on the rotor flux linkage estimated value, the stator current and the rotating speed obtained in the step 2;
step 4, compensating the actual measurement and simulation state variable difference value X * -X in the subsequent simulation process, and realizing real-time correction of the state variable;
And 5, adopting a variable step-length simulation strategy based on the actual measurement and simulation difference value, automatically adopting a large simulation step length when the difference value is smaller, and automatically adopting a small simulation step length when the difference value is larger, thereby finally obtaining the digital twin model suitable for the high-voltage high-power induction motor.
Based on the above scheme, the real-time correction method of the state variable in step 4 is to average compensate the difference between the actually measured current and the simulated current to X k+1 to X k+T, as shown in the following formula (2):
Based on the scheme, the motor stator current after real-time correction is utilized Rotor flux linkage estimationAnd obtaining electromagnetic torque in the starting process of the motor, as shown in a formula (3). And the key physical quantities such as starting torque, starting current and the like are detected and controlled in real time:
based on the above scheme, the step-variable simulation strategy described in step 5 specifically includes:
Calculating the maximum deviation L of the motor stator current, the rotor flux linkage estimated value and the rotating speed according to the formula (4), determining a calculated step length multiple T according to the L, wherein the simulation step length is obtained through the formula (6), and in the formula (6), dt 1 is a sensor measurement step length, and dt 2 is a simulation step length:
On the basis of the scheme, the digital twin model can account harmonic components, a correlation equation for accounting for the harmonic components comprises a voltage equation (7), a flux linkage equation (8) and a rotor motion equation (9), electromagnetic torque is calculated by a formula (10), and the model is built under a k-time synchronous speed rotation coordinate system:
Another object of the present invention is to provide a modeling system applying the above digital twin modeling method.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A digital twin modeling system for a starting process of a high-voltage high-power induction motor is characterized by comprising a data acquisition processing module, a twin simulation module and a motor starting state evaluation module which are connected with each other.
Based on the scheme, the method comprises the following steps:
the system comprises an induction motor, a data acquisition processing module, a twin simulation module, a motor starting state evaluation module, a data transmission module and a data transmission module, wherein the induction motor is powered by an infinite power grid, the machine end of the induction motor is connected with a voltage sensor and a current sensor, the induction motor is connected with a rotating speed sensor, the data acquisition processing module is connected with the voltage sensor, the current sensor and the rotating speed sensor and is used for acquiring and transmitting data, the data acquisition processing module is connected with the twin simulation module and is used for performing data interaction, and the twin simulation module is connected with the motor starting state evaluation module and is used for transmitting data.
Based on the scheme, the method comprises the following steps:
The data acquisition module comprises a data acquisition unit and a data processing unit 1;
the data acquisition unit is used for acquiring stator voltage, stator current and rotating speed data from the induction motor, identifying data mutation caused by short-time electromagnetic interference and other factors, and making correction;
The data processing unit 1 is used for calculating a rotor flux linkage observation value by using the voltage and current measurement value obtained by the data acquisition unit, and inputting the data into the twin simulation module.
Based on the scheme, the method comprises the following steps:
the twin simulation module comprises a data simulation unit and a data processing unit 2;
The data simulation unit is used for virtual digital simulation of the starting process of the induction motor and real-time correction of the state variable according to the difference value between the actually measured physical quantity and the simulation state variable;
the data processing unit 2 is used for outputting the physical quantities such as stator current, rotating speed and the like corrected by the data simulation unit and transmitting the physical quantities to the motor starting state evaluation module.
Based on the scheme, the method comprises the following steps:
The motor starting state evaluation module comprises a data evaluation unit and a control unit;
The data evaluation unit is used for judging whether the starting torque, the starting current and other indexes are met according to the physical quantity obtained by the simulation;
the control unit is used for carrying out on-line control on the induction motor according to the evaluation result of the data evaluation unit.
The digital twin modeling method and system for the starting process of the high-voltage high-power induction motor have the beneficial effects that:
1) In order to improve the accuracy of the digital twin model, the deviation of the state variable measured value and the simulation value is input into the twin simulation module and is compensated in real time, so that the virtual simulation model can be more attached to the actual running condition of the induction motor.
2) According to the invention, the actual requirement of the real-time interaction characteristic of the digital twin model on efficient simulation is considered, a quantized variable step-length simulation strategy is provided according to the maximum deviation of the state variable, and the simulation step length can be automatically increased when the simulation deviation is smaller than the actual measurement deviation, so that the simulation efficiency is improved.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic flow diagram of a digital twin modeling method for a high-voltage high-power induction motor starting process according to the present invention;
FIG. 2 is a schematic diagram of a variable step simulation strategy of the twin simulation module of the present invention;
FIG. 3 is a schematic diagram of a digital twin modeling method for a high voltage high power induction motor starting process according to the present invention;
FIG. 4 is an electrical block diagram of a digital twin interaction during the starting process of the high voltage high power induction motor of the present invention;
the stator current curve in one power frequency cycle in the embodiment of fig. 5.
The rotor flux estimate for one power frequency cycle in the embodiment of fig. 6.
Fig. 7 is a graph comparing the instantaneous value of the phase a current of the stator of the conventional model and the twin simulation model in the embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in FIG. 3, the digital twin modeling system for the starting process of the high-voltage high-power induction motor comprises a data acquisition processing module, a twin simulation module and a motor starting state evaluation module;
The system comprises a data acquisition processing module, a twin simulation module, a motor starting state evaluation module, a data acquisition processing module, a data processing module and a data processing module, wherein the data acquisition processing module is connected with an induction motor sensor in actual operation and is used for acquiring and transmitting data;
The data acquisition processing module is used for:
1) Collecting stator voltage, stator current and rotating speed data from an induction motor, identifying data mutation caused by short-time electromagnetic interference and other factors, and correcting;
2) And calculating a rotor flux linkage observation value by using the measured value of the voltage and the current, and inputting data into the twin simulation module.
The twin simulation module is used for:
1) Virtual digital simulation of the starting process of the induction motor, and real-time correction of the state variable is carried out according to the difference value between the actually measured physical quantity and the simulation state variable;
2) And outputting the corrected physical quantities such as stator current, rotating speed and the like, and transmitting the physical quantities to a motor starting state evaluation module.
The motor starting state evaluation module is used for judging whether key indexes such as starting torque, starting current and the like are met according to the physical quantity obtained through simulation.
The technical scheme of the present invention is further described in detail below with reference to fig. 1 and 2. Fig. 1 is a flow chart of a digital twin modeling method for a high-voltage high-power induction motor starting process, mainly comprising the following steps:
s1, a data acquisition and processing module obtains three-phase starting current of a motor through a sensor Stator voltageAnd rotational speed
S2, detecting abnormal data by using the formula (1) and adopting a3 sigma criterion in each power frequency period, and deleting data which do not meet the formula (1)
In the formula,Sigma X represents the standard deviation of current, voltage or rotation speed of a power frequency period; indicating the average value of the measured current, voltage or rotational speed.
And S3, converting the measured current and voltage under the three-phase coordinate system into a static alpha beta coordinate system, calculating to obtain a rotor flux linkage estimated value by using a rotor flux linkage voltage model, and inputting rotor flux linkage, stator current and rotating speed data into a twin simulation module.
And S4, compensating the difference value X * -X of the actually measured and simulated state variables to X k+1 to X k+T when the twin simulation module operates, and realizing real-time correction of the state variables as shown in a formula (2).
FIG. 2 is a schematic diagram of the variable step simulation strategy of the twin simulation module, and the specific steps include:
And (3) carrying out interaction between the twin digital model and the actual motor once at each measurement step length of the sensor, calculating the maximum deviation L of the stator current, the rotor flux linkage and the rotating speed according to the formula (3), and determining a calculation step length multiple T according to the L, wherein the calculation step length multiple T is shown as the formula (4). And determining the simulation step length of the twin digital model through T, as shown in a formula (5).
Examples
The effects of the present invention will be described below with reference to examples. Taking a 37kW induction motor as an example, a digital twin model is used for monitoring the full-voltage starting process in real time, and the motor parameters are shown in table 1.
Table 1 motor parameters
Step 1, obtaining motor stator current in one periodStator voltageAnd rotational speed
And 2, detecting abnormal data by adopting a 3 sigma criterion. The stator current is described below as an example, where the initial calculation step size factor t=5, dt 1＝0.0001s,dt2 =0.00002 s is set. In one power frequency cycle, 167 points are collected in total, as shown in fig. 4. The stator current average value is-190.07A and the standard deviation is 428.92. Since each data point satisfiesTherefore, no bad data exists. The stator voltage and the rotating speed have no bad data after the calculation.
And 3, converting the motor stator current and the stator voltage obtained in the step2 after the bad data are removed into an alpha beta coordinate system, and calculating by using a rotor flux voltage model to obtain a rotor flux estimated value, as shown in fig. 5. And (3) performing simulation processing on the rotor flux linkage estimated value and the stator current and the rotating speed obtained in the step (2).
And step 4, determining the simulation step length of the twin model by adopting a variable step length simulation strategy. At t=0.0001 s, the first data interaction is performed. The maximum deviation l=0.0065 of the state variables obtainable by equation (1) and the next calculated step size multiple t=3 by equation (2).
And 5, adopting a digital twin model capable of accounting for harmonic components, wherein a correlation equation comprises a voltage equation (3), a flux linkage equation (4) and a rotor motion equation (5), electromagnetic torque is calculated by a formula (6), and the model is built under a k-times synchronous speed rotation coordinate system.
The difference between the measured and simulated currents is averaged to X k+1 to X k+T using a real-time correction method. Taking the stator d-axis current as an example for illustration, if the calculated step multiple t=3 is determined in step 4, the current compensation amount is (I * -I)/t= (0.5368-0.5403)/3= -0.0012A, and the current compensation amount is compensated to I 6、I7、I8, as shown in formula (7). The compensation strategy of the rotor flux linkage and the rotating speed is the same as the current.
And carrying out simulation of the next step by utilizing the twin simulation model and the state variable real-time correction strategy until the whole starting process of the motor is finished, wherein the calculation result is shown in fig. 6.
Fig. 6 shows actual measurement and simulation comparison of stator a-phase current transients, wherein the simulation values are obtained using a conventional model and a digital twin model, respectively. It can be seen that the calculated result of the present invention is closer to the measured value than the conventional induction motor model. The induction motor is saturated in magnetic circuit in the running process of the motor, so that the inductance parameter is nonlinear time-varying, and the traditional model cannot account for the factors, so that the deviation from the actual measured current is larger. By adopting the twin interaction compensation method provided by the invention, the deviation between simulation and actual measurement current is small, which shows that the method can accurately simulate the dynamic behavior of an actual motor. In summary, the digital twin modeling method for the starting process of the high-voltage high-power induction motor fully utilizes the deviation amount of the simulation model and the actual motor state variable to compensate the model in real time, and can enable the simulation model to approach the actual motor running state. Meanwhile, the variable step-length simulation strategy based on the state variable deviation value can effectively improve the simulation efficiency and meet the real-time requirement on online control.
It will be appreciated by those skilled in the art that various modifications and variations can be made to the invention without departing from the spirit and scope of the invention. Accordingly, the present invention is deemed to cover any modifications and variations, if they fall within the scope of the appended claims and their equivalents.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (9)
1. The digital twin modeling method for the starting process of the high-voltage high-power induction motor is characterized by comprising the following steps of:
step 1, obtaining the current of a motor stator Stator voltageAnd rotational speed
Step2, detecting abnormal data by using the following formula (1) and adopting a3 sigma criterion in each power frequency period, and deleting the abnormal data which does not meet the formula (1)In the formula,Sigma X represents the standard deviation of current, voltage or rotation speed in a power frequency period; The average value of the stator current, the stator voltage or the rotation speed obtained in the step 1 is shown:
Step3, converting the motor stator current and the stator voltage obtained in the step 2 after the bad data are removed into an alpha beta coordinate system, calculating a rotor flux linkage estimated value by using a rotor flux linkage voltage model, and carrying out simulation processing on the rotor flux linkage estimated value, the stator current and the rotating speed obtained in the step 2;
step 4, compensating the actual measurement and simulation state variable difference value X * -X in the subsequent simulation process, and realizing real-time correction of the state variable;
And 5, adopting a variable step-length simulation strategy based on the actual measurement and simulation difference value, automatically adopting a large simulation step length when the difference value is smaller, and automatically adopting a small simulation step length when the difference value is larger, thereby finally obtaining the digital twin model suitable for the high-voltage high-power induction motor.
2. The method of digital twin modeling for a high voltage high power induction motor starting process of claim 1, wherein the real-time correction of the state variable in step 4 comprises the steps of compensating the difference between the measured current and the simulated current to be X k+1 to X k+T, wherein the difference is represented by the following formula (2):
In the above-mentioned method, the step of, Representing the k+i-th modified state variable.
3. A digital twin modeling method for a high voltage high power induction motor starting process as defined in claim 2 wherein real time modified motor stator currents are utilizedRotor flux linkage estimationThe electromagnetic torque in the starting process of the motor is obtained, as shown in a formula (3), and key physical quantities of starting torque and starting current are detected and controlled in real time:
In the above-mentioned method, the step of, The magnetic linkage estimated value of the dq axis of the stator and the rotor after the real-time correction is obtained;
the current is the dq axis current of the stator and the rotor after real-time correction, and L rl、Lm is the leakage inductance and the excitation inductance of the stator and the rotor respectively.
4. The digital twin modeling method for the starting process of the high-voltage high-power induction motor according to claim 3, wherein the step-variable step simulation strategy in step 5 is specifically as follows:
Calculating the maximum deviation L of the motor stator current, the rotor flux linkage estimated value and the rotating speed according to the formula (4), determining a calculated step length multiple T according to the L, wherein the simulation step length is obtained through the formula (6), and in the formula (6), dt 1 is a sensor measurement step length, and dt 2 is a simulation step length:
5. The method of digital twin modeling for high voltage high power induction motor starting process of claim 4, wherein the digital twin model can account for harmonic components, and related equations for harmonic components include a voltage equation (7), a flux linkage equation (8) and a rotor motion equation (9), electromagnetic torque is calculated by a formula (10), and the model is built under a k-times synchronous speed rotation coordinate system:
In the formulas, k is harmonic frequency, ω B is fundamental wave electric angular velocity, U ds、Uqs、Udr、Uqr is stator-rotor dq axis voltage, and for a squirrel cage induction motor, U dr＝Uqr =0;
R s、Rr is stator-rotor resistance, ψ ds、Ψqs、Ψdr、Ψqr is stator-rotor dq axis flux linkage, I ds、Iqs、Idr、Iqr is stator-rotor dq axis current, omega r is rotor electric angular velocity, p is differential operator, L sl、Lrl、Lm is stator-rotor leakage inductance and excitation inductance respectively, and the rest except time t and electric angular velocity omega B are named values are expressed by per unit value.
6. A modeling system applying the method of claim 1, comprising a data acquisition processing module, a twin simulation module and a motor starting state evaluation module which are connected with each other;
the system comprises an induction motor, a data acquisition processing module, a twin simulation module, a motor starting state evaluation module, a data transmission module and a data transmission module, wherein the induction motor is powered by an infinite power grid, the machine end of the induction motor is connected with a voltage sensor and a current sensor, the induction motor is connected with a rotating speed sensor, the data acquisition processing module is connected with the voltage sensor, the current sensor and the rotating speed sensor and is used for acquiring and transmitting data, the data acquisition processing module is connected with the twin simulation module and is used for performing data interaction, and the twin simulation module is connected with the motor starting state evaluation module and is used for transmitting data.
7. A modeling system in accordance with claim 6, wherein:
The data acquisition module comprises a data acquisition unit and a data processing unit 1;
The data acquisition unit is used for acquiring stator voltage, stator current and rotating speed data from the induction motor, identifying data mutation caused by short-time electromagnetic interference factors and making correction;
The data processing unit 1 is used for calculating a rotor flux linkage observation value by using the voltage and current measurement value obtained by the data acquisition unit, and inputting the data into the twin simulation module.
8. A modeling system in accordance with claim 6, wherein:
the twin simulation module comprises a data simulation unit and a data processing unit 2;
The data simulation unit is used for virtual digital simulation of the starting process of the induction motor and real-time correction of the state variable according to the difference value between the actually measured physical quantity and the simulation state variable;
The data processing unit 2 is used for outputting the stator current and the rotating speed physical quantity corrected by the data simulation unit and transmitting the stator current and the rotating speed physical quantity to the motor starting state evaluation module.
9. A modeling system in accordance with claim 6, wherein:
The motor starting state evaluation module comprises a data evaluation unit and a control unit;
the data evaluation unit is used for judging whether the starting torque and the starting current index are met according to the physical quantity obtained by the simulation;
the control unit is used for carrying out on-line control on the induction motor according to the evaluation result of the data evaluation unit.
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| CN110601627A (en) * | 2019-07-11 | 2019-12-20 | 天津理工大学 | FCS-MPDTC control system and method for expanding voltage space vector output of PMSM |
| CN114254540A (en) * | 2021-12-21 | 2022-03-29 | 内蒙古工业大学 | Simulation Method and Simulation System of Permanent Magnet Synchronous Generator Based on Digital Luansheng |
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| CN110601627A (en) * | 2019-07-11 | 2019-12-20 | 天津理工大学 | FCS-MPDTC control system and method for expanding voltage space vector output of PMSM |
| CN114254540A (en) * | 2021-12-21 | 2022-03-29 | 内蒙古工业大学 | Simulation Method and Simulation System of Permanent Magnet Synchronous Generator Based on Digital Luansheng |
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