CN116885991A - Asynchronous motor control method and system - Google Patents
Asynchronous motor control method and system Download PDFInfo
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Classifications
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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
- H02P21/0003—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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- 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 application provides a control method and a system of an asynchronous motor, wherein the method comprises the following steps: collecting first current information; determining a voltage component of the voltage information on a target coordinate system according to the first current information; determining a current reference component according to the torque current reference value and the exciting current reference value of the asynchronous motor; determining a voltage stator flux linkage component from the voltage component; determining a current stator flux linkage component according to the excitation current reference value and the current reference component; determining a rotor flux component from the voltage stator flux component and the current stator flux component; determining an iterative phase-locked loop according to the rotor flux linkage component, comparing the current result optimal angle according to the number relation in the iterative phase-locked loop, iterating according to a dichotomy, and obtaining the rotor flux linkage angle as the rotor flux linkage angle after the preset iteration times are met; and determining a vector control signal of the asynchronous motor based on the rotor flux linkage angle, and ensuring the optimization of the control of the asynchronous motor for tunneling.
Description
Technical Field
The application relates to the technical field of motor control, in particular to an asynchronous motor control method and system.
Background
The asynchronous motor is widely applied in the tunneling field due to the advantages of simple structure, low cost, high reliability and the like, and in order to improve the operation reliability of the asynchronous motor for the tunneling machine, components such as a flux linkage observer and the like need to be reduced so as to simplify the system design and debugging process.
In the prior art, some development machine control methods based on asynchronous motors need to design a complex feedback matrix and a rotating speed self-adaptive rate, and a plurality of controller parameters need to be adjusted, so that the design and debugging processes of a system are complex; other control methods based on asynchronous motors observe flux linkage through a voltage model, so that the observation precision is poor, further, the rotation speed estimation precision is reduced, and complex operation conditions in a tunnel are difficult to overcome.
Disclosure of Invention
The application solves the problem of how to optimize the control of an asynchronous motor for tunneling.
In order to solve the above problems, the present application provides a control method of an asynchronous motor, including:
collecting first current information; determining a voltage component of the voltage information on a target coordinate system according to the first current information, wherein the target coordinate system comprises an alpha beta coordinate system; determining a current reference component according to the torque current reference value and the exciting current reference value of the asynchronous motor; determining a voltage stator flux linkage component from the voltage component; determining a current stator flux linkage component from the excitation current reference value and the current reference component; determining a rotor flux component from the voltage stator flux component and the current stator flux component; determining an iterative phase-locked loop according to the rotor flux component, comparing according to the number relation in the iterative phase-locked loop, carrying out the next iteration based on the optimal angle according to a dichotomy, obtaining the optimal angle of the next iteration, and obtaining the angle of the rotor flux as the rotor flux angle after the preset iteration times are met; and determining a vector control signal of the asynchronous motor based on the rotor flux angle.
Optionally, the determining the current reference component according to the asynchronous motor torque current reference value and the exciting current reference value includes:
wherein ,iαref Representing the current reference component, i, on the alpha axis βref Representing the current reference component, i, on the beta axis dref Representing the excitation current reference value, i qref Representing the torque current reference value of the asynchronous motor,representing the estimated rotor flux angle of the asynchronous machine.
Optionally, the determining a voltage stator flux component from the voltage component comprises:
wherein ,ψsαv Representing the component of the voltage stator flux linkage on the alpha axis, ψ sβv Representing the component of the voltage stator flux linkage on the beta axis, s representing the Laplacian, ω c Represents the cut-off frequency, R s Represents the stator resistance of the asynchronous motor, u α Representing the component of the voltage of the asynchronous motor on the alpha axis, u β Representing the component of the voltage of the asynchronous machine on the beta axis, i α Representing the component of the current on the alpha axis, i β Representing the component of the current on the beta axis.
Optionally, the determining a current stator flux linkage component from the excitation current reference value and the current reference component includes:
wherein ,ψsαi Representing the component of the current stator flux linkage on the alpha axis, ψ sβi Representing the component of the current stator flux linkage on the beta axis, L m Representing the mutual inductance of an asynchronous motor, L r Representing rotor inductance of asynchronous motor, L s Represents the stator inductance of the asynchronous motor, sigma represents the leakage inductance coefficient,representing an estimated rotor flux angle, i, of an asynchronous motor αref Representing the current reference component, i, on the alpha axis βref Representing the current reference component on the beta axis.
Optionally, the determining a rotor flux component from the voltage stator flux component and the current stator flux component comprises:
synthesizing the voltage stator flux component and the current stator flux component to obtain the stator flux component, expressed as:
wherein ,ψsα Representing the component of the stator flux linkage on the alpha axis, ψ sβ Representing the component of the stator flux linkage on the beta axis, ψ sαi Representing the component of the current stator flux linkage on the alpha axis, ψ sβi Representing the component of the current stator flux linkage on the beta axis.
Optionally, after the synthesizing the voltage stator flux component and the current stator flux component to obtain the stator flux component, further includes:
determining the rotor flux component from the stator flux component and the current reference component, expressed as:
wherein ,ψrα Representing the component of the rotor flux linkage on the alpha axis, ψ rβ Representing the component of the rotor flux linkage on the beta axis, L s Representing the stator inductance of an asynchronous machine, L m Representing the mutual inductance of an asynchronous motor, L r Represents rotor inductance of asynchronous motor, sigma represents leakage inductance coefficient, ψ sα Representing the component of the stator flux linkage on the alpha axis, ψ sβ Representing the component of the stator flux linkage on the beta axis.
Optionally, determining an iterative phase-locked loop according to the rotor flux component, comparing according to a number relation in the iterative phase-locked loop, and performing the next iteration based on the optimal angle according to a dichotomy, so as to obtain the optimal angle of the next iteration, wherein obtaining the angle of the rotor flux as the rotor flux angle after the preset iteration times is satisfied includes:
determining at least two first iteration rotor flux linkage angles as a first angle set;
substituting the rotor flux linkage angle of the first angle group into an objective function of the iterative phase-locked loop to obtain a calculation result, and comparing the number relation between the calculation results;
taking the rotor flux linkage angle corresponding to the calculation result with the largest value as the optimal angle of the current iteration;
performing preset treatment on the optimal angle to obtain an angle group of the next iteration;
and substituting the angle group of the next iteration into the objective function again to obtain a calculation result, and taking the rotor flux linkage angle corresponding to the calculation result with the largest value as the optimal angle of the current iteration.
Optionally, the performing the preset processing on the optimal angle includes:
wherein n represents the number of iterations, θ n1 The first angle, θ, of the angle set representing the nth iteration n2 The second angle of the angle group representing the nth iteration, the initial iteration angle being and />
Optionally, the determining the vector control signal of the asynchronous motor based on the rotor flux angle includes:
wherein ,indicating the rotation speed of the asynchronous motor, +/->Representing an estimated rotor flux angle of an asynchronous machine,/->Representation->Delay the rotor flux angle after a preset period, T s Represents a control period, R r Represents the rotor resistance of an asynchronous motor, mT s Representing a delay of m control cycles.
Compared with the prior art, the method comprises the steps of detecting current information of a stepping motor in operation, processing the current information, sequentially obtaining voltage information and voltage stator flux linkage components, determining a current reference component according to an excitation current reference value set by the motor and a torque current reference value obtained through rotation speed outer ring control, determining a current stator flux linkage component through the current reference component and the excitation current reference value, synthesizing and calculating the current stator flux linkage component and the voltage stator flux linkage component to obtain a rotor flux linkage component, determining an optimal angle through a preset iteration phase-locked loop, iterating according to a bisection method, determining a more accurate optimal angle through a most efficient mode until the number of iterations is met, taking the finally obtained angle as the rotor flux linkage angle, and therefore, determining a vector control signal for controlling the asynchronous motor through the rotor flux linkage, realizing an asynchronous motor control method without a rotation speed sensor, and determining a control signal of the motor through a traditional PI controller.
On the other hand, the application also provides an asynchronous motor non-speed sensor control device based on the iterative phase-locked loop, which is used for realizing the asynchronous motor control method, and the asynchronous motor non-speed sensor control device based on the iterative phase-locked loop comprises the following components:
the frequency converter main loop, the controller and the three-phase alternating current sensor;
the input end of the three-phase alternating current sensor is electrically connected with the asynchronous motor, and the output end of the three-phase alternating current sensor is electrically connected with the input end of the controller;
the output end of the controller is used for being electrically connected with the asynchronous motor, processing the current signal sent by the three-phase alternating current sensor, and outputting six paths of PWM signals to the asynchronous motor after calculation so as to drive the IGBT to be turned on or turned off.
Drawings
FIG. 1 is a system block diagram of an asynchronous motor control method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of an asynchronous motor control method according to an embodiment of the application;
FIG. 3 is a flow chart of an asynchronous motor control method according to an embodiment of the application;
fig. 4 is a schematic flow chart of the asynchronous motor control method according to the embodiment of the present application after refinement of step S700.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. While the application is susceptible of embodiment in the drawings, it is to be understood that the application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the application. It should be understood that the drawings and embodiments of the application are for illustration purposes only and are not intended to limit the scope of the present application.
It should be understood that the various steps recited in the method embodiments of the present application may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the application is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "alternative embodiments". Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.
As shown in fig. 1 and 2, an embodiment of the present application provides an asynchronous motor control method, including:
step S100, first current information is collected.
The asynchronous motor for tunneling is composed of a main loop of a frequency converter based on an IGBT, a controller of a DSP28335, a three-phase alternating current sensor of the asynchronous motor and the like, wherein the main loop of the frequency converter based on the IGBT is electrically connected with a three-phase winding of the asynchronous motor; the three-phase alternating current sensor is electrically connected with the asynchronous motor and is used for collecting three-phase current of the motor, the output end of the three-phase alternating current sensor is in communication connection with a controller of the DSP28335, collected current signals are transmitted to the controller based on the DSP28335, and then the asynchronous motor based on the iterative phase-locked loop is controlled by the controller in real time. And finally, sending the output PWM signal to a main loop of the IGBT frequency converter, thereby driving the IGBT to be turned on or off and finally realizing the control of the asynchronous motor.
The first step is to collect current information of an asynchronous motor by using a current sensor to determine the running state of the motor at the current moment, wherein the current information comprises three-phase alternating current i a 、i b and ic 。
And step 200, determining a voltage component of the voltage information on a target coordinate system according to the first current information, wherein the target coordinate system comprises an alpha beta coordinate system.
Optionally, the target coordinate system comprises an alpha beta coordinate system.
The three-phase alternating current i in the current information a 、i b and ic And the angle is converted into an alpha beta two-phase coordinate system, so that the flux linkage angles of the rotor and the stator of the asynchronous motor can be calculated conveniently.
The conversion process can be expressed as:
wherein ,iα Representing the component of the current on the alpha axis, i β Representing the component of the current in the beta axis.
And step S300, determining a current reference component according to the torque current reference value and the exciting current reference value of the asynchronous motor.
In an embodiment, the torque current reference value of the asynchronous motor is obtained by controlling a rotating speed outer ring, the exciting current reference value is a fixed value preset according to the asynchronous motor, represents the exciting current of the motor, and is determined by the idle current corresponding to the rated rotating speed of the motor. And determining a current reference component according to the torque current reference value and the exciting current reference value of the asynchronous motor, and determining a current stator flux linkage component.
Step S400, determining a voltage stator flux linkage component according to the voltage component.
The voltage stator flux linkage component represents components of the voltage stator flux linkage on each axis of an alpha beta coordinate system.
Optionally, the cut-off frequency ω c The range of the value of (C) is 20rad/s-100rad/s.
And S500, determining a current stator flux linkage component according to the exciting current reference value and the current reference component.
And step S600, determining a rotor flux component according to the stator flux component, wherein the rotor flux component represents the component of the synthesized rotor flux on each axis of the target coordinate system.
After the components of the current stator flux linkage on the alpha beta coordinate system and the components of the voltage stator flux linkage on the alpha beta coordinate system are obtained, the components of the voltage stator flux linkage and the current stator flux linkage are converted to obtain two components of the synthesized stator flux linkage on the alpha beta coordinate system, and the components of the rotor flux linkage of the asynchronous motor on the alpha beta coordinate system are further determined according to the synthesized stator flux linkage components.
Step S700, determining an iterative phase-locked loop according to the rotor flux component, comparing according to the number relation in the iterative phase-locked loop, carrying out the next iteration based on the optimal angle according to a dichotomy, obtaining the optimal angle of the next iteration, and obtaining the angle of the rotor flux as the rotor flux angle after the preset iteration times are met.
The angle of the rotor flux linkage is calculated through a phase-locked loop iteration loop taking iteration as an idea, the optimal angle of the iteration is calculated in each loop, then the next iteration loop is entered according to a dichotomy, the optimal angle in the new alternative angles is recalculated to gradually approach the optimal angle, the optimal angle is calculated efficiently through the dichotomy, the iteration times can be effectively reduced, and therefore the calculation amount for searching the optimal angle of the rotor flux linkage of the asynchronous motor is reduced.
Step S800, determining a vector control signal of the asynchronous motor based on the rotor flux angle.
After the rotor flux linkage angle is obtained, vector control signals input to the asynchronous motor are determined through the rotor flux linkage angle and the rotating speed, and six paths of PWM signals are output to a main loop of the IGBT-based frequency converter to drive the IGBT to be turned on or off, so that the speed-free sensor control of the asynchronous motor is realized.
Optionally, after the collecting the first current information, the method further includes:
converting the first current information into the target coordinate system to obtain second current information;
and determining the voltage information according to the second current information.
As shown in fig. 1 to 3, in an embodiment, after three-phase current of an asynchronous motor is collected, the three-phase current is converted into two-phase current based on an αβ coordinate system, and the two-phase current is used as second current information, and voltage component u of the motor in the αβ coordinate system is obtained according to an asynchronous motor current closed-loop vector control algorithm α and uβ 。
Optionally, the determining the current component on the target coordinate system according to the excitation current reference value and the current reference component includes:
wherein ,iαref Representing the current reference component, i, on the alpha axis βref Representing the current reference component, i, on the beta axis dref Representing the excitation current reference value, i qref Representing the torque current reference value of the asynchronous motor,representation estimationIs a rotor flux linkage angle of the asynchronous motor.
Optionally, the determining a voltage stator flux component from the voltage component comprises:
wherein ,Ψsαv Representing the component of the voltage stator flux linkage on the alpha axis, ψ sβv Representing the component of the voltage stator flux linkage on the beta axis, s representing the Laplacian, ω c Represents the cut-off frequency, R s Represents the stator resistance of the asynchronous motor, u α Representing the component of the voltage of the asynchronous motor on the alpha axis, u β Representing the component of the voltage of the asynchronous machine on the beta axis, i α Representing the component of the current on the alpha axis, i β Representing the component of the current on the beta axis.
Optionally, the determining a current stator flux linkage component from the excitation current reference value and the current reference component includes:
wherein ,ψsαi Representing the component of the stator flux linkage on the alpha axis, ψ sβi Representing the component of the stator flux linkage on the beta axis, s representing the Laplacian, ω c Represents the cut-off frequency, L m Representing the mutual inductance of an asynchronous motor, L r Represents rotor inductance of asynchronous motor, sigma represents leakage inductance coefficient, satisfiesi αref Representing the current reference component, i, on the alpha axis βref Representing the current reference component, i, on the beta axis dref Representing the excitation current reference value, +.>Representing an estimated rotor flux angle, i, of an asynchronous motor αref Representing the current reference component, i, on the alpha axis βref Representing the current reference component on the beta axis.
Optionally, after obtaining the components of the voltage stator flux linkage and the current stator flux linkage on the target coordinate system, synthesizing the voltage stator flux linkage and the current stator flux linkage to obtain a synthesized stator flux linkage, and taking the components of the synthesized stator flux linkage on the alpha axis and the beta axis as stator flux linkage components.
Expressed as:
wherein ,ψsα Representing the component of the stator flux linkage on the alpha axis, ψ sβ Representing the component of the stator flux linkage on the beta axis, ψ sαi Representing the component of the current stator flux linkage on the alpha axis, ψ sβi Representing the component of the current stator flux linkage on the beta axis.
Optionally, after the synthesizing the voltage stator flux component and the current stator flux component to obtain the stator flux component, further includes:
determining the rotor flux component from the stator flux component and the current reference component, expressed as:
wherein ,ψrα Representing the component of the rotor flux linkage on the alpha axis, ψ rβ Representing the component of the rotor flux linkage on the beta axis, L s Representing the stator inductance of an asynchronous machine, L m Representing the mutual inductance of an asynchronous motor, L r Represents rotor inductance of asynchronous motor, sigma represents leakage inductance coefficient, ψ sα Representing the component of the stator flux linkage on the alpha axis, ψ sβ Representing the component of the stator flux linkage on the beta axis.
Optionally, as shown in fig. 4, determining an iterative phase-locked loop according to the rotor flux component, comparing according to the number relation in the iterative phase-locked loop, and performing the next iteration based on the optimal angle according to a dichotomy to obtain the optimal angle of the next iteration, where obtaining the angle of the rotor flux as the rotor flux angle after the preset number of iterations is satisfied includes:
in step S710, at least two first iteration rotor flux linkage angles are determined as a first set of angles.
Step S720, substituting the rotor flux linkage angle of the first angle group into the objective function of the iterative phase-locked loop to obtain a calculation result, and comparing the number relation between the calculation results.
And step S730, taking the rotor flux linkage angle corresponding to the calculated result with the largest value as the optimal angle of the current iteration.
Step S740, performing preset processing on the optimal angle to obtain an angle group of the next iteration.
And S750, substituting the angle group of the next iteration into the objective function again to obtain a calculation result, and taking the rotor flux linkage angle corresponding to the calculation result with the largest numerical value as the optimal angle of the current iteration.
In one embodiment, the phase difference is selected from between 0-piAnd substituting the two angles into the formula as a first angle group, calculating the values corresponding to the two angles, selecting the angle corresponding to the largest value as the optimal angle of the first iteration, then carrying out angle change on the optimal angle of the first iteration, obtaining a second angle group by carrying out preset treatment on the optimal angle of the first iteration, repeatedly substituting the second angle group into the formula to calculate the corresponding values, then comparing the values again, and taking the values with larger number as the optimal angle of the second iteration until the preset iteration times are reached.
For example, the angle of the first iteration is and />Will-> and />Substituting into the formula to compare to obtain g 11 and g12, wherein ,g11 A value corresponding to a first angle of a first iteration g 12 A value corresponding to a second angle representing the first iteration, comparing g 11 and g12 The size of (1), g 11 When larger, the corresponding angle, i.e. +.>As the optimal angle for the first iteration. Then will->Performing a preset process to obtain at least two angles of a second iteration, e.gWill be theta 21 and θ22 Substituting into the formula to obtain g 21 and g22 Again compare g 21 and g22 And the angle corresponding to the larger value is taken as the optimal angle of the second iteration.
Optionally, when the values corresponding to the two angles are equal, any angle is selected as the optimal angle.
Alternatively, the formula may be expressed as:
wherein n represents the number of iterations, θ n1 The first angle, θ, of the angle set representing the nth iteration n2 Representing the second angle of the set of angles for the nth iteration.
Optionally, the performing the preset processing on the optimal angle includes:
wherein n represents the number of iterations, θ n1 The first angle, θ, of the angle set representing the nth iteration n2 The second angle of the angle group representing the nth iteration, the initial iteration angle being and />
Preferably, the preset iteration number is 8.
In one embodiment, the optimal angle for the first iteration will be at the second iterationIn the third iteration, the optimal angle of the second iteration is +.>In the fourth iteration, the optimal angle of the third iteration is +.>
Optionally, after obtaining the optimal angle and ending the iteration, the rotor flux d-axis component ψ is calculated rd The method comprises the following steps:
ψ rd ＝ψ rα cosθ nopt +ψ rβ sinθ nopt ，
when the d-axis component of the rotor flux linkage is greater than or equal to 0, the rotor flux linkage is formed by wherein ,θnopt Representing an optimal angle obtained by the nth iteration; when (when)When the d-axis component of the rotor flux linkage is smaller than 0, let +.>
Optionally, the determining the vector control signal of the asynchronous motor based on the rotor flux angle includes:
wherein ,indicating the rotation speed of the asynchronous motor, +/->Representing an estimated rotor flux angle of an asynchronous machine,/->Representation->Delay the rotor flux angle after a preset period, T s Represents a control period, R r Represents the rotor resistance of an asynchronous motor, mT s Representing a delay of m control cycles.
In determining rotor flux angleAnd asynchronous motor speed omega r And then, vector control is carried out on the asynchronous motor through the controller, six paths of PWM signals are output to a main loop of the IGBT-based frequency converter, and the IGBT is driven to be turned on or off, so that the speed sensorless control of the asynchronous motor is realized.
An asynchronous motor non-speed sensor control device based on an iterative phase-locked loop according to another embodiment of the present application includes:
the frequency converter main loop, the controller and the three-phase alternating current sensor;
the input end of the three-phase alternating current sensor is electrically connected with the asynchronous motor, and the output end of the three-phase alternating current sensor is electrically connected with the input end of the controller;
the output end of the controller is used for being electrically connected with the asynchronous motor, processing the current signal sent by the three-phase alternating current sensor, and outputting six paths of PWM signals to the asynchronous motor after calculation so as to drive the IGBT to be turned on or turned off.
A further embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements an asynchronous motor control method as described above.
An electronic device that can be a server or a client of the present application will now be described, which is an example of a hardware device that can be applied to aspects of the present application. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
The electronic device includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) or a computer program loaded from a storage unit into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the device may also be stored. The computing unit, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like. In the present application, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the application.
Claims (10)
1. An asynchronous motor control method, comprising:
collecting first current information;
determining a voltage component of the voltage information on a target coordinate system according to the first current information, wherein the target coordinate system comprises an alpha beta coordinate system;
determining a current reference component according to the torque current reference value and the exciting current reference value of the asynchronous motor;
determining a voltage stator flux linkage component from the voltage component;
determining a current stator flux linkage component from the excitation current reference value and the current reference component;
determining a rotor flux component from the voltage stator flux component and the current stator flux component;
determining an iterative phase-locked loop according to the rotor flux component, comparing according to the number relation in the iterative phase-locked loop, carrying out the next iteration based on the optimal angle according to a dichotomy, obtaining the optimal angle of the next iteration, and obtaining the angle of the rotor flux as the rotor flux angle after the preset iteration times are met;
and determining a vector control signal of the asynchronous motor based on the rotor flux angle.
2. The method of controlling an asynchronous motor according to claim 1, wherein the determining a current reference component from an asynchronous motor torque current reference value and an exciting current reference value comprises:
wherein ,iαref Representing the current reference component, i, on the alpha axis βref Representing the current reference component, i, on the beta axis dref Representing the excitation current reference value, i qref Representing the torque current reference value of the asynchronous motor,representing the estimated rotor flux angle of the asynchronous machine.
3. The asynchronous motor control method according to claim 2, wherein the determining a voltage stator flux linkage component from the voltage component comprises:
wherein ,ψsαv Representing the component of the voltage stator flux linkage on the alpha axis, ψ sβv Representing the component of the voltage stator flux linkage on the beta axis, s representing the Laplacian, ω c Represents the cut-off frequency, R s Represents the stator resistance of an asynchronous motor, u α Representing the component of the voltage of the asynchronous motor on the alpha axis, u β Representing the component of the voltage on the beta axis, i α Representing the component, i, of the current of the asynchronous motor on the alpha axis β Representing the component of the current on the beta axis.
4. A control method of an asynchronous motor according to claim 3, characterized in that said determining a current stator flux linkage component from said excitation current reference value and said current reference component comprises:
wherein ,ψsαi Representing the component of the current stator flux linkage on the alpha axis, ψ sβi Representing the component of the current stator flux linkage on the beta axis, L m Representing the mutual inductance of an asynchronous motor, L r Representing rotor inductance of asynchronous motor, L s Represents the stator inductance of the asynchronous motor, sigma represents the leakage inductance coefficient,representing an estimated rotor flux angle, i, of an asynchronous motor αref Representing the current reference component, i, on the alpha axis βref Representing the current reference component on the beta axis.
5. The method of claim 4, wherein said determining a rotor flux component from said voltage stator flux component and said current stator flux component comprises:
synthesizing the voltage stator flux component and the current stator flux component to obtain the stator flux component, expressed as:
wherein ,ψsα Representing the component of the stator flux linkage on the alpha axis, ψ sβ Representing the component of the stator flux linkage on the beta axis, ψ sαi Representing the component of the current stator flux linkage on the alpha axis, ψ sβi Representing the component of the current stator flux linkage on the beta axis.
6. The method according to claim 5, characterized by further comprising, after said synthesizing the voltage stator flux component and the current stator flux component to obtain the stator flux component:
determining the rotor flux component from the stator flux component and the current reference component, expressed as:
wherein ,ψrα Representing the component of the rotor flux linkage on the alpha axis, ψ rβ Representing the component of the rotor flux linkage on the beta axis, L s Representing the stator inductance of an asynchronous machine, L m Representing the mutual inductance of an asynchronous motor, L r Represents rotor inductance of asynchronous motor, sigma represents leakage inductance coefficient, ψ sα Representing the component of the stator flux linkage on the alpha axis, ψ sβ Representing the component of the stator flux linkage on the beta axis.
7. The method according to claim 1, wherein determining an iterative phase-locked loop according to the rotor flux component, comparing according to a number relationship in the iterative phase-locked loop, and performing a next iteration based on the optimal angle according to a dichotomy to obtain the optimal angle of the next iteration, and obtaining the angle of the rotor flux as a rotor flux angle after satisfying a preset number of iterations includes:
determining at least two first iteration rotor flux linkage angles as a first angle set;
substituting the rotor flux linkage angle of the first angle group into an objective function of the iterative phase-locked loop to obtain a calculation result, and comparing the number relation between the calculation results;
taking the rotor flux linkage angle corresponding to the calculation result with the largest value as the optimal angle of the current iteration;
performing preset treatment on the optimal angle to obtain an angle group of the next iteration;
and substituting the angle group of the next iteration into the objective function again to obtain a calculation result, and taking the rotor flux linkage angle corresponding to the calculation result with the largest value as the optimal angle of the current iteration.
8. The method according to claim 7, wherein the performing the preset process on the optimal angle includes:
wherein n represents the number of iterations, θ n1 The first angle, θ, of the angle set representing the nth iteration n2 The second angle of the angle group representing the nth iteration, the initial iteration angle being and />
9. A method of controlling an asynchronous motor according to claim 3, wherein said determining a vector control signal for an asynchronous motor based on said rotor flux angle comprises:
wherein ,indicating the rotation speed of the asynchronous motor, +/->Representing an estimated rotor flux angle of an asynchronous machine,/->Representation->Delay the rotor flux angle after a preset period, T s Represents a control period, R r Represents the rotor resistance of an asynchronous motor, mT s Represents a delay of m control periods, L r Representing the rotor inductance of an asynchronous motor.
10. An asynchronous motor control system, for implementing an asynchronous motor control method according to any one of claims 1-9, the asynchronous motor sensorless control apparatus based on an iterative phase-locked loop comprising:
the frequency converter main loop, the controller and the three-phase alternating current sensor;
the input end of the three-phase alternating current sensor is electrically connected with the asynchronous motor, and the output end of the three-phase alternating current sensor is electrically connected with the input end of the controller;
the output end of the controller is used for being electrically connected with the asynchronous motor, processing the current signal sent by the three-phase alternating current sensor, and outputting six paths of PWM signals to the asynchronous motor after calculation so as to drive the IGBT to be turned on or turned off.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119134987A (en) * | 2024-09-10 | 2024-12-13 | 中国矿业大学 | Iterative phase-locked limit loop flux observer, control method, device and system |
| WO2025113573A1 (en) * | 2023-11-30 | 2025-06-05 | 岚图汽车科技有限公司 | Motor control method and apparatus, medium, and electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2025113573A1 (en) * | 2023-11-30 | 2025-06-05 | 岚图汽车科技有限公司 | Motor control method and apparatus, medium, and electronic device |
| CN119134987A (en) * | 2024-09-10 | 2024-12-13 | 中国矿业大学 | Iterative phase-locked limit loop flux observer, control method, device and system |
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