Research on High Precision Flux Observer of Induction Motor Based on Neutral System Theory
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摘要: 针对感应电机交流传动控制系统磁链观测模型不精确, 忽略控制中的延时问题, 转子磁链观测一般具有观测精度不高、易受电机参数变化影响等问题, 运用中立型理论, 建立中立型感应电机观测模型, 提出一种基于中立型的转子磁链观测方法, 设计了中立型转子磁链观测器.该磁链观测器具有观测精度高、受电机参数变化影响小、鲁棒性好的优点, 通过建立精确的观测模型, 解决控制中延时问题对磁链观测精度的影响.对感应电机中立型磁链观测模型进行了稳定性分析.仿真和实验结果证明了所设计中立型转子磁链观测器的可行性和有效性.Abstract: For AC drive control system of the inductive motor, the model of flux observation is inaccurate, ignoring the delay problem in the control. The rotor flux observation generally has problems such as low observation accuracy and vulnerability to motor parameter variation. Neutral theory is used to establish neutral type observation model of induction motor, a neutral rotor flux observation method is proposed to design a neutral rotor flux observer. The flux observer has the advantages of high observation precision, small influence on motor parameter variation and good robustness. By establishing an accurate observation model, the influence of delay time in control on the accuracy of flux observation is solved. The stability analysis of the neutral flux observation model of the induction motor was carried out. Simulation and experimental results demonstrate the feasibility and effectiveness of the designed neutral rotor flux observer.
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Key words:
- Induction motor /
- neutral theory /
- linear matrix inequality (LMI) /
- flux linkage observation /
- observation accuracy
1) 本文责任编委 梅生伟 -
图 1 M-T坐标系下中立型转子磁链观测模型
Fig. 1 Observation model of neutral rotor flux linkage in M-T coordinate system
图 2 基于中立型转子磁链观测器的感应电机矢量控制系统仿真模型
Fig. 2 Simulation model of vector control system of induction motor based on the observer of neutral rotor flux linkage
图 3 中立型磁链观测方法转速响应图
Fig. 3 Speed response diagram of flux linkage observation of the neutral method
图 4 中立型磁链观测方法转子磁链幅值响应图
Fig. 4 Magnitude response diagram of rotor flux linkage of flux linkage observation of the neutral method
图 5 感应电机稳态运行时磁链观测波形
Fig. 5 Observation waveform of flux linkage of induction motor in steady state operation
图 6 中立型观测方法和二阶滑模观测方法观测磁链对比图
Fig. 6 Observational flux linkage contrast diagram of neutral observation method and second order sliding-mode method
图 7 $R_r$值变为真实值的1.5倍磁链观测图
Fig. 7 Observation diagram of flux linkage with $R_r$ value changed to 1.5-fold real value
图 8 $R_r$值变为真实值的0.5倍磁链观测图
Fig. 8 Observation diagram of flux linkage with $R_r$ value changed to 0.5-fold real value
图 9 $L_r$值变为真实值的0.5倍磁链观测图
Fig. 9 Observation diagram of flux linkage with $L_r$ value changed to 0.5-fold real value
图 10 基于中立型观测方法的电机调速波形
Fig. 10 Motor speed regulation waveform based on neutral observation method
图 11 基于中立型观测方法的负载阶跃的响应波形
Fig. 11 Response waveform of load step based on neutral observation method
图 12 基于中立型观测方法的感应电机低速运行波形
Fig. 12 Low speed operation waveform of induction motor based on neutral observation method
表 1 电机参数
Table 1 Motor parameters
参数 数值 额定功率$P_N$ /kW 4 额定电压$U_N$/V 380 额定频率$f_N$/Hz 50 额定电流$I_N$/A 8.8 定子电阻$R_s/{\rm \Omega}$ 1.405 定子电感$L_s$/mH 178 转子电阻$R_r/{\rm \Omega}$ 1.395 转子电感$L_r/$mH 178 定转子互感$L_m/$mH 172.2 极对数$n_p$ 2 额定转速$n/{\rm r}\cdot {\rm min}_{-1}$ 1 440 
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表 2 磁链观测误差
Table 2 Observation error of flux linkage
参数变化量 $-0.5R_r$ $+0.5R_r$ $-0.5L_r$ $+0.5L_r$ $\Delta\Psi_{r\alpha}$变化量$10^{-3}$/kW + 0.9 + 1.0 +1.5 +1.6 $\Delta\Psi_{r\alpha}$变化率 $\leq 5 %$ $\leq 8 %$
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