CN115333429A - Brushless doubly-fed motor rotor initial angle detection method, device and starting method - Google Patents
Brushless doubly-fed motor rotor initial angle detection method, device and starting method Download PDFInfo
- Publication number
- CN115333429A CN115333429A CN202210923556.2A CN202210923556A CN115333429A CN 115333429 A CN115333429 A CN 115333429A CN 202210923556 A CN202210923556 A CN 202210923556A CN 115333429 A CN115333429 A CN 115333429A
- Authority
- CN
- China
- Prior art keywords
- phase
- winding
- control
- voltage
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 title claims description 6
- 238000004804 winding Methods 0.000 claims abstract description 251
- 230000001360 synchronised effect Effects 0.000 claims abstract description 34
- 238000011217 control strategy Methods 0.000 claims abstract description 20
- 238000005070 sampling Methods 0.000 claims abstract description 14
- 230000003068 static effect Effects 0.000 claims description 43
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 230000009466 transformation Effects 0.000 claims description 8
- 230000004907 flux Effects 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000005284 excitation Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Images
Classifications
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a method, a device and a starting method for detecting an initial angle of a rotor of a brushless doubly-fed motor, wherein the starting mode of the brushless doubly-fed motor is synchronous starting, and the method comprises the following steps: switching on a power supply of the power winding, sampling the voltage of the power winding and the voltage of the control winding when the control winding induces the voltage, and performing phase-locked control according to a preset digital phase-locked control strategy to respectively obtain the phase of the power winding and the phase of the control winding; and judging whether the sum of the phases of the power winding and the control winding is 0, if so, judging that the current initial angle of the rotor is 0, and otherwise, judging that the current initial angle of the rotor is the phase difference between the phases of the power winding and the control winding. The method and the device for detecting the initial angle of the rotor can quickly and accurately determine the initial angle of the rotor of the brushless double-fed motor in a synchronous starting mode, and further can ensure that the accurate rotor angle of the motor can be obtained in the synchronous operation process and the accuracy of vector control when the synchronous starting is carried out.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method and a device for detecting an initial angle of a rotor of a brushless doubly-fed motor and a starting method.
Background
The brushless double-fed motor has two sets of stator windings, and brushless operation is realized through stator excitation, so that the system reliability is improved. One of the two sets of stator windings of the brushless double-fed motor is directly connected with a power grid and is called as a power winding; the other set of windings is connected with a power grid through a frequency converter and is called a control winding. Generally speaking, a brushless doubly-fed motor is designed to operate near a natural synchronous speed, at this time, a power winding provides most of power required by the motor, and a control winding only provides partial slip power, so that speed regulation control of the brushless doubly-fed motor can be realized only by a partial low-power frequency converter.
The brushless doubly-fed motor can involve the problem that the motor starts by running to near the natural synchronous speed from the stationary state, at present, the mode that generally adopts is to start the motor by measuring the series resistance at the control winding, the control winding side converter is by-passed this moment, when the motor runs to near the natural synchronous speed, cut off the resistance, the converter inserts and draws the motor into the synchronization simultaneously, this kind of starting mode is called asynchronous starting, this mode is implemented simply, but the maximum starting torque is decided by the motor characteristic, only be applicable to the occasion that the requirement to starting torque is not too high. The other mode is synchronous starting, a winding side frequency converter is controlled to be directly connected when the motor is static, the motor is driven to be synchronous, and then the motor runs to the required rotating speed.
Compared with an asynchronous starting mode, the synchronous starting mode is more complex to implement, can improve the maximum starting torque and has a great application value. However, because the angle of the motor rotor needs to be known in the vector control strategy used for synchronous start, the relative position of the rotor can be obtained by means of installing an incremental encoder and the like in the prior art, but the initial angle position of the rotor is difficult to know, so that the accurate angle of the motor rotor cannot be obtained, and the accuracy of vector control cannot be ensured.
Disclosure of Invention
Aiming at the problems, the invention provides a method for detecting the initial angle of a rotor of a brushless double-fed motor, wherein the starting mode of the brushless double-fed motor is synchronous starting, and the method comprises the following steps:
switching on a power supply of the power winding, sampling the voltage of the power winding and the voltage of the control winding when the control winding induces the voltage, and performing phase-locked control according to a preset digital phase-locked control strategy to respectively obtain the phase of the power winding and the phase of the control winding;
and judging whether the sum of the phases of the power winding and the control winding is 0, if so, judging that the current initial angle of the rotor is 0, and otherwise, judging that the current initial angle of the rotor is the difference between the phases of the power winding and the control winding.
Further, performing phase-lock control according to a preset digital phase-lock control strategy to respectively obtain the phase of the power winding and the phase of the control winding includes:
converting the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system;
converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system to respectively obtain a d-axis voltage component and a q-axis voltage component of the power winding voltage and the control winding voltage corresponding to the two-phase rotating coordinate system;
and respectively adjusting the q-axis voltage components corresponding to the power winding voltage and the control winding voltage to zero by using a PI controller through feedback closed-loop control, and obtaining the phase of the power winding voltage and the phase of the control winding when the q-axis voltage component is zero.
Further, the sampled power winding voltage and control winding voltage are converted from a three-phase static coordinate system to a two-phase static coordinate system:
and transforming the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system by Clark transformation.
Further, the power winding voltage and the control winding voltage are converted from the two-phase static coordinate system to the two-phase rotating coordinate system:
and converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system by using Park conversion.
Further, the brushless double-fed motor comprises a power winding and a control winding, the power winding is connected with a power grid through a contactor KM, and the control winding is connected with the power grid through a frequency converter;
the power supply for switching on the power winding is as follows: and attracting the contactor KM at the power winding side.
Furthermore, the frequency converter is a two-quadrant frequency converter.
The invention also provides a device for detecting the initial angle of the rotor of the brushless double-fed motor, wherein the starting mode of the brushless double-fed motor is synchronous starting, the device comprises a sampling module, a phase-locked control module and an initial angle judging module, and the device comprises:
the sampling module is connected with the phase-locked control module and is used for sampling the voltage of the power winding and the voltage of the control winding when the power supply of the power winding is switched on and the control winding induces voltage;
the phase-locking control module is connected with the initial angle judging module and is used for carrying out phase-locking control according to a preset digital phase-locking control strategy to respectively obtain the phase of the power winding and the phase of the control winding;
and the initial angle judging module is used for judging whether the sum of the phases of the power winding and the control winding is 0, if so, judging that the current initial angle of the rotor is 0, and otherwise, judging that the current initial angle of the rotor is the phase difference between the phases of the power winding and the control winding.
Further, the phase-locking control module comprises a coordinate conversion unit and a phase-locking control unit, wherein:
the coordinate conversion unit is connected with the phase-locked control unit and is used for converting the sampled power winding voltage and the sampled control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system; converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system to respectively obtain a d-axis voltage component and a q-axis voltage component of the power winding voltage and the control winding voltage corresponding to the two-phase rotating coordinate system;
and the phase-locked control unit is used for adjusting the q-axis voltage components corresponding to the power winding voltage and the control winding voltage to zero by utilizing the PI controller through feedback closed-loop control respectively to obtain the phase of the power winding voltage and the phase of the control winding when the q-axis voltage component is zero.
Further, the coordinate conversion unit converts the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system by Clark conversion, and converts the power winding voltage and control winding voltage from the two-phase static coordinate system to a two-phase rotating coordinate system by Park conversion.
The invention also provides a brushless double-fed motor starting method, which is a synchronous starting method and comprises the following steps:
switching on a power supply of a power winding, and obtaining the current initial angle of the rotor according to the initial angle detection method of the rotor of the brushless doubly-fed motor;
correcting the rotor angle according to the initial angle;
and according to the corrected rotor angle and a preset flux linkage directional vector control strategy of the power winding of the brushless double-feed motor, synchronizing the motor, and performing speed regulation control to realize synchronous starting of the brushless double-feed motor.
The method, the device and the starting method for detecting the initial angle of the rotor of the brushless doubly-fed motor have the following beneficial effects:
when the power supply of the power winding is switched on and the control winding induces voltage (the brushless double-fed motor keeps a static state at the moment), the phase of the power winding and the phase of the control winding are obtained through phase-locked control, and the initial rotor angle of the brushless double-fed motor in a synchronous starting mode is quickly and accurately determined according to the phases of the power winding and the control winding, so that the accurate rotor angle of the motor can be obtained in the synchronous operation process, and the precision of vector control is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating steps of a method for detecting an initial angle of a rotor of a brushless doubly-fed machine according to an embodiment of the present invention;
FIG. 2 is a topological diagram of a brushless doubly-fed motor synchronous start system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the steps of a digital phase-locked control strategy according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a digital phase-locked control strategy according to an embodiment of the present invention;
FIG. 5 is a schematic view of an exemplary embodiment of an apparatus for detecting an initial angle of a rotor of a brushless doubly-fed machine;
FIG. 6 is a schematic diagram of a phase-locked control module according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of a flux linkage directional vector control strategy for a brushless dual-feed power winding according to an embodiment of the present invention;
501-a sampling module, 502-a phase-locking control module, 503-an initial angle detection module, 5021-a coordinate conversion unit and 5022-a phase-locking control unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In an embodiment of the present invention, as shown in fig. 1, a method for detecting an initial angle of a rotor of a brushless doubly-fed motor is provided, where a starting mode of the brushless doubly-fed motor is synchronous starting, and the method includes the following steps:
step S101: and switching on a power supply of the power winding, sampling the voltage of the power winding and the voltage of the control winding when the control winding induces the voltage, and performing phase-locked control according to a preset digital phase-locked control strategy to respectively obtain the phase of the power winding and the phase of the control winding.
Step S102: and judging whether the sum of the phases of the power winding and the control winding is 0, if so, executing step S103, otherwise, executing step S104.
Step S103: and judging that the current initial angle of the rotor is 0.
Step S104: and determining the current initial angle of the rotor as the phase difference between the power winding and the control winding.
Specifically, as shown in fig. 2, the brushless doubly-fed motor mentioned in this step includes a power winding and a control winding, the power winding is connected to a power grid through a contactor KM, and the control winding is connected to the power grid through a frequency converter, more specifically, the frequency converter is a two-quadrant frequency converter (a three-phase bridge circuit in fig. 2).
In step S101, the power to turn on the power winding is: and attracting a contactor KM at the power winding side. At the moment, the control winding does not provide excitation, and the brushless double-fed motor still keeps a static state after the contactor KM is attracted.
The rotating speed expression of the brushless double-fed motor is
In the formula, omega represents angular speed, subscripts p and c represent a power winding and a control winding respectively, the rotating speed of the motor is determined by the frequency of the two windings, and the phase relation of the two windings is (p) through multiple pairs of integral of the above formula p +p c )θ r +θ r0 ＝θ p +θ c ，θ r0 Indicating the initial angle of the rotor.
It can be seen from the above formula that when the motor is in a static state, if the rotor is in a 0-degree position (the initial angle is 0), that is, the magnetic field axes of the power winding and the control winding are consistent, the phase sum of the power winding and the control winding should be zero. Therefore, in this embodiment, the power supply of the power winding is turned on, and when the control winding induces a voltage (at this time, the brushless doubly-fed machine remains in a stationary state), the phase of the power winding and the phase of the control winding are obtained through phase-locked control, if the phases of the power winding and the control winding are added to be zero, it is determined that the current initial angle of the rotor is 0, otherwise, it is determined that the current initial angle of the rotor is the difference between the phases of the power winding and the control winding.
By adopting the method for detecting the initial angle of the synchronous starting rotor of the brushless doubly-fed motor, the initial angle of the rotor of the brushless doubly-fed motor in a synchronous starting mode can be determined quickly and accurately, so that the accurate rotor angle of the motor can be obtained in the synchronous operation process, and the precision of vector control is ensured.
In another embodiment of the present invention, as shown in fig. 3, the phase-locking controlling according to the preset digital phase-locking control strategy in step S101 to obtain the phase of the power winding and the phase of the control winding respectively includes:
step S1011: and transforming the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system.
In the step, clark transformation is used to transform the power winding voltage and the control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system.
Step S1012: and converting the power winding voltage and the control winding voltage from the two-phase static coordinate system to the two-phase rotating coordinate system to respectively obtain a d-axis voltage component and a q-axis voltage component of the power winding voltage and the control winding voltage corresponding to the two-phase rotating coordinate system.
In the step, the Park conversion is used for converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system.
Step S1013: and respectively adjusting the voltage of the power winding and the q-axis voltage component corresponding to the voltage of the control winding to zero by using a PI controller through feedback closed-loop control, and obtaining the phase of the voltage of the power winding and the phase of the control winding when the q-axis voltage component is zero.
As shown in fig. 4, in the flowchart of the digital phase-locked control strategy, subscripts abc, α β, and dq in fig. 4 represent voltage components of voltages in a three-phase stationary coordinate system, a two-phase stationary coordinate system, and a two-phase rotating coordinate system, respectively; ω and θ are the estimated voltage angular frequency and phase, respectively. Taking phase locking of power winding voltage as an example, in the process of realizing the phase-locked loop, firstly, three-phase voltage of the power winding obtained by sampling is converted into a two-phase static alpha beta coordinate system from a three-phase static abc coordinate system through Clark conversion, and then, voltage signals in the two-phase static alpha beta coordinate system are converted into a synchronous rotation dq coordinate system by using estimated voltage phase as a reference angle through Park conversion. Under the condition of ideal voltage, the d-axis component and the q-axis component of the voltage vector are both direct current quantities, and the PI controller is adopted to realize non-static-error regulation on the q-axis component of the grid voltage, so that the voltage space vector can be accurately tracked. When the q-axis component uq is controlled to be close to zero through feedback closed-loop control, namely ud = U, U is the amplitude of the voltage vector, theta is equal to the actual phase of the three-phase voltage, and the PLL accurately locks the voltage vector. The phase of the control winding voltage can be obtained by phase locking in the same way.
The invention also provides a device for detecting the initial angle of the rotor of the brushless doubly-fed motor, wherein the starting mode of the brushless doubly-fed motor is synchronous starting, as shown in fig. 5, the device comprises a sampling module 501, a phase-locked control module 502 and an initial angle judging module 503, wherein:
and the sampling module 501 is connected with the phase-locked control module 502 and is configured to sample the voltage of the power winding and the voltage of the control winding when the power supply of the power winding is switched on and the voltage is induced by the control winding.
And the phase-locking control module 502 is connected with the initial angle determination module and is used for performing phase-locking control according to a preset digital phase-locking control strategy to respectively obtain the phase of the power winding and the phase of the control winding.
The initial angle determining module 503 is configured to determine whether the sum of the phases of the power winding and the control winding is 0, if yes, determine that the current initial angle of the rotor is 0, otherwise, determine that the current initial angle of the rotor is a difference between the phases of the power winding and the control winding.
In another embodiment of the present invention, as shown in fig. 6, the phase-locking control module 502 includes a coordinate conversion unit 5021 and a phase-locking control unit 5022, wherein:
the coordinate conversion unit 5021 is connected with the phase-locking control unit 5022 and is used for converting the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system; and converting the power winding voltage and the control winding voltage from the two-phase static coordinate system to the two-phase rotating coordinate system to respectively obtain a d-axis voltage component and a q-axis voltage component of the power winding voltage and the control winding voltage corresponding to the two-phase rotating coordinate system.
And the phase-locked control unit 5022 is used for adjusting the q-axis voltage components corresponding to the power winding voltage and the control winding voltage to zero by using a PI controller through feedback closed-loop control, so as to obtain the phase of the power winding voltage and the phase of the control winding when the q-axis voltage component is zero.
The coordinate conversion unit 5021 converts the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system by Clark conversion. The coordinate conversion unit 5021 converts the power winding voltage and the control winding voltage from a two-phase stationary coordinate system to a two-phase rotating coordinate system by using Park conversion.
According to the method and the device for detecting the initial angle of the rotor of the brushless doubly-fed motor, when the power supply of the power winding is switched on and the winding is controlled to induce voltage (at the moment, the brushless doubly-fed motor keeps a static state), the phase of the power winding and the phase of the control winding are obtained through phase-locked control, and the initial angle of the rotor of the brushless doubly-fed motor in a synchronous starting mode is quickly and accurately determined according to the phases of the power winding and the control winding, so that the accurate rotor angle of the motor can be obtained in the synchronous operation process, and the accuracy of vector control is ensured.
The invention also provides a brushless double-fed motor starting method, which is a synchronous starting method and comprises the following steps:
switching on a power supply of a power winding, and obtaining the current initial angle of the rotor according to the initial angle detection method of the rotor of the brushless doubly-fed motor;
correcting the angle of the rotor according to the initial angle;
and according to the corrected rotor angle and a preset flux linkage directional vector control strategy of the power winding of the brushless double-feed motor, synchronizing the motor, and performing speed regulation control to realize synchronous starting of the brushless double-feed motor.
In the control strategy of the brushless double-fed motor, a vector control strategy based on the flux linkage orientation of the power winding is generally adopted.
On the basis of a power winding synchronous speed natural rotation coordinate system, active and reactive decoupling control of a motor can be realized by executing power winding flux linkage orientation, as shown in fig. 7, control of the rotating speed and torque of the motor can be realized by controlling winding d-axis current, and control of the power factor of a motor power winding can be realized by controlling winding q-axis current. In this control topology, the physical quantities of the power winding and the control winding need to be transformed into a power winding synchronous speed rotation coordinate system, and the phases θ p and θ c of the power winding and the control winding are used. The phase θ p of the power winding can be obtained by phase-locking the power voltage, while the phase of the control winding needs to be obtained by calculation by measuring the angle of the rotor, i.e. (p) p +p c )θ r -θ p ＝θ c . However, as mentioned above, the actual phase relationship may have an initial angle of the rotor, and if the initial position angle cannot be obtained accurately, the control winding physical quantity may not obtain the correct component after coordinate transformation. Thus, the initial angle θ of the rotor is obtained r0 Then, the phase of the control winding is calculated by (p) p +p c )θ r +θ r0 -θ p ＝θ c The coordinate transformation of the physical quantity of the control winding can be carried out according to the correct angle. Thereby ensuring the accuracy of vector control.
The terms and expressions used in the specification of the present invention have been set forth for illustrative purposes only and are not meant to be limiting. It will be appreciated by those skilled in the art that changes could be made to the details of the above-described embodiments without departing from the underlying principles thereof. The scope of the invention is, therefore, to be determined only by the following claims, in which all terms are to be interpreted in their broadest reasonable sense unless otherwise indicated.
Claims (10)
1. A method for detecting the initial angle of a rotor of a brushless doubly-fed motor is characterized in that the starting mode of the brushless doubly-fed motor is synchronous starting, and the method comprises the following steps:
switching on a power supply of a power winding, sampling the voltage of the power winding and the voltage of a control winding when the control winding induces voltage, and performing phase-locked control according to a preset digital phase-locked control strategy to respectively obtain the phase of the power winding and the phase of the control winding;
and judging whether the sum of the phases of the power winding and the control winding is 0, if so, judging that the current initial angle of the rotor is 0, and otherwise, judging that the current initial angle of the rotor is the phase difference between the phases of the power winding and the control winding.
2. The method for detecting the initial angle of the rotor of the brushless doubly-fed machine according to claim 1, wherein the performing the phase-locked control according to the preset digital phase-locked control strategy to obtain the phase of the power winding and the phase of the control winding respectively comprises:
converting the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system;
converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system to respectively obtain a d-axis voltage component and a q-axis voltage component of the power winding voltage and the control winding voltage corresponding to the two-phase rotating coordinate system;
and respectively adjusting the q-axis voltage components corresponding to the power winding voltage and the control winding voltage to zero by using a PI controller through feedback closed-loop control, and obtaining the phase of the power winding voltage and the phase of the control winding when the q-axis voltage component is zero.
3. The method for detecting the initial angle of the rotor of the brushless doubly-fed machine as claimed in claim 2, wherein the sampled power winding voltage and control winding voltage are transformed from a three-phase stationary coordinate system to a two-phase stationary coordinate system:
and transforming the sampled power winding voltage and control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system by Clark transformation.
4. The method for detecting the initial angle of the rotor of the brushless doubly-fed machine as claimed in claim 2, wherein the step of transforming the power winding voltage and the control winding voltage from the two-phase stationary coordinate system to the two-phase rotating coordinate system comprises the steps of:
and converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system by using Park conversion.
5. The method for detecting the initial angle of the rotor of the brushless doubly-fed motor as claimed in claim 1, wherein the brushless doubly-fed motor comprises the power winding and the control winding, the power winding is connected to a power grid through a contactor KM, and the control winding is connected to the power grid through a frequency converter;
the power supply for switching on the power winding is as follows: and attracting the contactor KM at the power winding side.
6. The method for detecting the initial angle of the rotor of the brushless doubly-fed machine as claimed in claim 5, wherein the frequency converter is a two-quadrant frequency converter.
7. The utility model provides a brushless doubly-fed machine rotor initial angle detection device, brushless doubly-fed machine's starting mode is synchronous start, the device includes sampling module, lock phase control module, initial angle decision module, wherein:
the sampling module is connected with the phase-locked control module and is used for sampling the voltage of the power winding and the voltage of the control winding when the power supply of the power winding is switched on and the control winding induces voltage;
the phase-locking control module is connected with the initial angle judging module and is used for performing phase-locking control according to a preset digital phase-locking control strategy to respectively obtain the phase of the power winding and the phase of the control winding;
the initial angle determination module is configured to determine whether a sum of phases of the power winding and the control winding is 0, determine that a current initial angle of the rotor is 0 if the sum is 0, and determine that the current initial angle of the rotor is a difference between the phases of the power winding and the control winding if the sum is not 0.
8. The device for detecting the initial angle of the rotor of the brushless doubly-fed machine as claimed in claim 7, wherein the phase-locking control module comprises a coordinate conversion unit and a phase-locking control unit, wherein:
the coordinate conversion unit is connected with the phase-locked control unit and is used for converting the sampled power winding voltage and the sampled control winding voltage from a three-phase static coordinate system to a two-phase static coordinate system; converting the power winding voltage and the control winding voltage from a two-phase static coordinate system to a two-phase rotating coordinate system to respectively obtain a d-axis voltage component and a q-axis voltage component of the power winding voltage and the control winding voltage corresponding to the two-phase rotating coordinate system;
and the phase-locking control unit is used for adjusting q-axis voltage components corresponding to the power winding voltage and the control winding voltage to zero by utilizing a PI controller through feedback closed-loop control respectively to obtain the phase of the power winding voltage and the phase of the control winding when the q-axis voltage component is zero.
9. The device for detecting the initial angle of the rotor of the brushless doubly-fed machine as claimed in claim 8, wherein the coordinate transformation unit is configured to transform the sampled power winding voltage and control winding voltage from a three-phase stationary coordinate system to a two-phase stationary coordinate system by Clark transformation, and transform the power winding voltage and control winding voltage from the two-phase stationary coordinate system to a two-phase rotating coordinate system by Park transformation.
10. A brushless doubly-fed motor starting method is characterized by being a synchronous starting method, and the method comprises the following steps:
switching on a power supply of a power winding, and obtaining the current initial angle of a rotor according to the method for detecting the initial angle of the rotor of the brushless doubly-fed machine as claimed in any one of claims 1 to 6;
correcting the rotor angle according to the initial angle;
and according to the corrected rotor angle and a preset power winding flux linkage directional vector control strategy of the brushless double-fed motor, the motor is drawn into synchronization, and speed regulation control is performed to realize synchronous starting of the brushless double-fed motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210923556.2A CN115333429B (en) | 2022-08-02 | 2022-08-02 | Method and device for detecting initial angle of brushless doubly-fed motor rotor and starting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210923556.2A CN115333429B (en) | 2022-08-02 | 2022-08-02 | Method and device for detecting initial angle of brushless doubly-fed motor rotor and starting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115333429A true CN115333429A (en) | 2022-11-11 |
| CN115333429B CN115333429B (en) | 2024-01-30 |
Family
ID=83919952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210923556.2A Active CN115333429B (en) | 2022-08-02 | 2022-08-02 | Method and device for detecting initial angle of brushless doubly-fed motor rotor and starting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115333429B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000184775A (en) * | 1998-12-16 | 2000-06-30 | Matsushita Electric Ind Co Ltd | Drive control device and drive control method for brushless motor |
| CN104052356A (en) * | 2014-06-25 | 2014-09-17 | 合康变频科技（武汉）有限公司 | Variable-speed constant frequency electricity generation control device and electricity generation method based on brushless doubly-fed motor |
| CN108390406A (en) * | 2018-02-05 | 2018-08-10 | 易事特集团股份有限公司 | Wind power generation system based on brushless double-fed motor and control method thereof |
| WO2018188027A1 (en) * | 2017-04-13 | 2018-10-18 | 深圳市海浦蒙特科技有限公司 | Control method and control system for multi-speed multi-power electric motor |
-
2022
- 2022-08-02 CN CN202210923556.2A patent/CN115333429B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000184775A (en) * | 1998-12-16 | 2000-06-30 | Matsushita Electric Ind Co Ltd | Drive control device and drive control method for brushless motor |
| CN104052356A (en) * | 2014-06-25 | 2014-09-17 | 合康变频科技（武汉）有限公司 | Variable-speed constant frequency electricity generation control device and electricity generation method based on brushless doubly-fed motor |
| WO2018188027A1 (en) * | 2017-04-13 | 2018-10-18 | 深圳市海浦蒙特科技有限公司 | Control method and control system for multi-speed multi-power electric motor |
| CN108390406A (en) * | 2018-02-05 | 2018-08-10 | 易事特集团股份有限公司 | Wind power generation system based on brushless double-fed motor and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115333429B (en) | 2024-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111262486B (en) | Permanent magnet synchronous motor control method | |
| US6448735B1 (en) | Controller for a wound rotor slip ring induction machine | |
| US8106618B2 (en) | Method and device for calibrating a position sensor placed on a shaft of a permanent magnet synchronous motor | |
| KR101046802B1 (en) | Control device of AC rotor and electric constant measurement method of AC rotor using this controller | |
| CN103270691B (en) | Sensorless ac motor controller | |
| EP1730836B1 (en) | Instantaneous power floating frame controller | |
| CN107046387A (en) | A kind of change pid parameter electric current loop of permagnetic synchronous motor starts method | |
| CN111786607A (en) | Reliable and smooth starting method based on permanent magnet synchronous motor without position sensor | |
| WO2008004417A1 (en) | Sensorless control apparatus of synchronous machine | |
| CN108964556A (en) | For driving the senseless control device of permanent magnetic synchronous electrical motor | |
| CN112671302A (en) | Speed sensorless control method and system for permanent magnet synchronous motor | |
| Ji et al. | Sensorless control of linear vernier permanent-magnet motor based on improved mover flux observer | |
| CN107294459B (en) | Permanent-magnetic synchronous motor rotor initial angle modification method and update the system | |
| CN115333429B (en) | Method and device for detecting initial angle of brushless doubly-fed motor rotor and starting method | |
| CN117318556A (en) | Permanent magnet synchronous motor sensorless control method | |
| EP1769410A1 (en) | Start-up method and system for permanent magnet synchronous motor drive | |
| CN111600517A (en) | Method for detecting state of motor before operation | |
| CN116827179A (en) | Position estimation and zero crossing detection method based on PID adjustment | |
| CN111800039B (en) | Rotor position information confirming method, vector control method and device of synchronous motor | |
| CN110048652A (en) | Method for controlling permanent magnet synchronous motor based on rotation high frequency injection | |
| CN115425887A (en) | A digital control method and device for a high-speed permanent magnet synchronous motor | |
| CN109150033A (en) | The current synchronization control method of dual protruding pole brushless DC motor | |
| CN115514273A (en) | Full-speed-domain position-sensorless control method for three-phase permanent magnet synchronous motor | |
| CN114499325B (en) | PMSM (permanent magnet synchronous motor) position-free sensor three-closed-loop vector control method based on MRAS (MRAS) | |
| CN108390610A (en) | A kind of permanent magnet synchronous motor method for controlling position-less sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |