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    • 专利摘要:
    METHOD FOR ENGINE SPEED CONTROL WITHOUT SENSOR IN AN ENGINE DRIVE; E MOTOR DRIVES Motor drives (10) and control methods (100) are presented for sensorless motor speed control, where the inverter output currents (ia, ib, ic) are sampled from the inverter output, and a frequency modulation value (25a) is determined based on the current feedback and one or more voltage commands (v* a, v* b,' v* c) or one or more voltage feedback signals (Va, Vb, Vc). A speed or frequency setpoint (21, 31) is adjusted, at least partially, in accordance with the frequency modulation value (25a) to provide an adjusted frequency or speed setpoint value (31a) that is , then used in the control (110) of the inverter (14) to provide stability control to mitigate instability or stalling of the motor.
    公开号:BR102014015638B1
    申请号:R102014015638-0
    申请日:2014-06-24
    公开日:2021-08-31
    发明作者:Jingbo Liu；Thomas Nondahl；Peter Schmidt；Semyon Royak
    申请人:Rockwell Automation Technologies, Inc；
    IPC主号:
    专利说明:

    HISTORY INFORMATION
    [001] The subject revealed here refers to energy conversion and, more specifically, to apparatus and techniques for sensorless motor control. Sensorless motor drives are used in a variety of applications, particularly when provision of position and/or speed sensors directly on a motor load is difficult or impractical. A typical sensorless system employs a frequency and voltage controller (V/F, alternatively known as Volts per Hertz, V/Hz) that provides a voltage setpoint according to a desired motor speed or frequency, and this form of sensorless control was first used with induction motors. In certain applications, a step-up transformer can be used to stimulate the motor drive output voltage, allowing the use of a low voltage drive to power a medium voltage induction motor and/or reduce I2R losses and facilitate the use of a smaller diameter steel cable for long cable runs between motor drive and driven motor. Certain applications also employ sine wave filters, such as LC filters, to suppress the reflected wave voltage spikes associated with variable frequency pulse amplitude modulated (PWM) drives. The use of sensorless voltage and frequency control techniques, however, can lead to problems, particularly when a transformer and/or sine wave filter is connected between the motor drive and the motor load. Conventional field-oriented, sensorless (FOC) control techniques or other open-loop speed control techniques have therefore been found to be generally unsuitable for low speed motor drive operation where output filters and transformers are used, as in electric submersible pumps (ESPs), and these difficulties are particularly problematic in driving synchronous permanent magnet motors (PMSMs). Furthermore, voltage and frequency control in combination with a sine wave filter under starting conditions can result in the motor not being able to start, with large rotor shaft oscillations for low frequency commands. Motors in sensorless speed control applications also suffer from oscillation in rotor speed, close to setpoint speed after load transitions or speed setpoint adjustment, particularly at low speeds. Furthermore, in certain situations, the driven motor may be unable to start successfully from a stopped condition, due to unstable motor speed fluctuations. Thus, improved motor techniques and drives are needed for sensorless motor speed control, particularly for driving permanent magnet motors to provide improved stability control. BRIEF DESCRIPTION
    [002] Several aspects of the present disclosure are now summarized to facilitate a basic understanding of the disclosure, whereby this summary is not an extensive overview of the disclosure and is not intended to identify certain elements of the disclosure or delineate its scope. On the contrary, the main purpose of this summary is to present the various concepts of revelation in a simplified form before the more detailed description which is presented hereafter. The present disclosure provides motor drive apparatus and control techniques by which improved motor speed stability can be facilitated, and finds particular utility in association with sensorless or open loop speed control applications involving asynchronous or synchronous driven motors directly or in combination with output filters and/or output transformers. Furthermore, the disclosed techniques can be employed in systems that use voltage and frequency and/or current and frequency control algorithms.
    [003] Methods are disclosed in accordance with one or more aspects of the present disclosure for sensorless motor speed control in a motor drive. The methods include sampling one or more AC output current feedback signals or values from the motor drive inverter output, and computing a frequency modulation value based on the output current feedback and/or one or more voltage feedback signals or values or voltage command. In addition, the methods involve adjusting a frequency or speed setpoint value based, in whole or in part, on the frequency modulation value, in order to provide an adjusted frequency or speed setpoint value. , as well as motor drive inverter control, according to the adjusted speed or frequency setpoint value. The original speed or frequency setpoint may, in certain embodiments, be rate limited before adjustment according to the modulation value. In addition, the adjustment may involve subtracting the modulation value <from the original or rate-limited frequency or speed setpoint value. In certain embodiments, moreover, computing the modulation value may include computing an estimated motor performance value, such as estimated electromagnetic torque, torque angle, power factor, power factor angle, energy, or error between the open loop angle and an estimated rotor position, or other performance value related to motor operation that can be estimated according to current feedback and/or one or more voltage signals. In addition, the estimated motor performance value can be high pass filtered, in certain embodiments, to remove any DC offset prior to adjusting the received speed or frequency setpoint.
    [004] Motor drives are provided in accordance with additional aspects of the disclosure, including an inverter that provides AC output power to drive a motor load, as well as a sensorless motor speed controller that provides alternation control signals to operate the drive based, at least in part, on a frequency or speed setpoint. The motor speed controller implements a signal generator which computes a frequency modulation value, in accordance with one or more AC output current signals or feedback values representing the inverter output current, and/or accordingly with one or more voltage command signals or values used in inverter control. In addition, the motor speed controller includes a tuning component that adjusts the frequency or speed setpoint value, based, in whole or in part, on the frequency modulation value, in order to provide a value of adjusted speed or frequency setpoint, as well as a command generator that provides alternation control signals to the drive at least partially in accordance with the adjusted speed or frequency setpoint value.
    [005] In certain embodiments, the signal generator computes an estimated motor performance value based on the AC output current feedback and/or one or more voltage feedback signals or values or voltage command, and computes the frequency modulation value, according to the estimated motor performance value. In addition, the motor speed controller may include a high pass filter to filter the estimated motor performance value, and the resulting filtered estimated motor performance value is used in computing the frequency modulation value in certain embodiments. The signal generator, in certain embodiments, computes the estimated motor performance value as an estimated torque value, power factor value, power factor angle value, or power value. In certain embodiments, the sensorless motor speed controller includes a rate limiter that operates to limit the rate of the frequency or speed setpoint, and the tuning component subtracts the frequency modulation value from the setpoint value. Rate limited speed or frequency setpoint to provide the adjusted speed or frequency setpoint value for drive operation. The adjust component, in certain embodiments, subtracts the frequency modulation value from the frequency or speed setpoint value to provide the adjusted frequency or speed setpoint.
    [006] Additional embodiments provide methods for motor drive control, including sampling one or more output current signals or feedback values from an inverter, computing a frequency modulation value, at least partially, in accordance with the output current signal or feedback value, as well as the adjustment of a frequency or speed setpoint based, at least partially, on the frequency modulation and control value of the inverter, in accordance with the point value of frequency or speed adjustment adjusted. In certain embodiments, the frequency or speed setpoint value is rate limited and the frequency modulation value is subtracted from the rate limited setpoint to provide the adjusted frequency or speed setpoint value. In certain embodiments, an estimated per unit output current signal or value is computed, in accordance with the output current feedback signal or value, and the frequency modulation value is computed, at least partially, based on the signal. or estimated output current value per unit. The output current feedback signal or value is high pass filtered, in certain embodiments, and the frequency modulation value is computed at least partially in accordance with the estimated, filtered output current signal or value. In certain implementations, moreover, the filtered signal or value can be amplified by a gain factor to provide an amplified signal, and a range of the amplified signal is selectively limited, with the frequency modulation value being computed based at least partially , in the amplified signal of limited variation.
    [007] In certain embodiments, an estimated signal or output current value per unit is computed and the frequency modulation value is computed in the same way. The estimated output current signal or value per unit may be high pass filtered, in certain embodiments, and the frequency modulation value is computed at least partially based on the estimated output current signal or value filtered by unity. The unit-filtered estimated output current signal or value may be amplified by a gain factor, in certain embodiments, and the variation of the amplified signal may be selectively limited, with the frequency modulation value being computed, at least partially , based on the limited variation amplified signal. In certain embodiments, the output current feedback signals or values are converted to a synchronous reference frame and the frequency modulation value is computed based, at least partially, on the estimated output current signal or value in the frame. synchronous reference.
    [008] Computer-readable, non-transient means are provided in accordance with additional aspects of the disclosure, having computer-executable instructions for sensorless motor speed control in a motor drive, including instructions for sampling at least one signal or AC output current feedback value, computing a frequency modulation value based on the output current feedback and/or based on at least one signal or command value or voltage feedback, as well as adjusting a frequency or speed setpoint value, at least partially, based on the frequency modulation value and control of an inverter in accordance with the adjusted speed or frequency setpoint value.
    [009] Motor drives are provided in accordance with additional aspects of the disclosure, including an inverter and a sensorless motor speed controller with a signal generator that computes a frequency modulation value based on the at least one signal or AC output current feedback value, a tuning component that adjusts the frequency or speed setpoint value based at least partially on the frequency modulation value, and a command generator component that provides control signals of alternation to the inverter at least partially according to the adjusted speed or frequency setpoint value. BRIEF DESCRIPTION OF THE DRAWINGS
    [010] The following description and drawings set out certain illustrative implementations of the disclosure in detail, which are indicative of several exemplary ways in which the various principles of the disclosure may be realized. The illustrative examples, however, are not exhaustive of the many possible realizations of the revelation. Other objectives, advantages and innovative aspects of the disclosure will be set out in the detailed description below, when considered in conjunction with the drawings, in which:
    [011] Figure 1A is a schematic diagram illustrating an exemplary motor drive with a stability signal generator that creates a frequency modulation value to adjust a speed or frequency setpoint to create alternation control signals. drive for improved stability in sensorless motor speed control, in accordance with one or more aspects of the present disclosure;
    [012] Figure 1B is a schematic diagram illustrating a motor drive with a stability signal generator used in sensorless speed control of a motor connected to the inverter output through a sine wave filter and a transformer;
    [013] Figure 2 is a schematic diagram illustrating an exemplary motor drive controller with a stability signal generator and a voltage and frequency control configuration;
    [014] Figure 3 is a schematic diagram illustrating another exemplary motor drive controller with the stability signal generator and a current and frequency controller;
    [015] Figure 4 is a schematic diagram that illustrates yet another motor drive controller with a stability signal generator and a current and frequency controller with a proportional-integral (PI) controller of reduced bandwidth for drive a motor through a sine wave filter and transformer;
    [016] Figure 5 is a schematic diagram illustrating an exemplary frequency modulation (FM) signal generator in the motor drive controller used for computing an estimated electromagnetic torque value based on estimated stator flux;
    [017] Figure 6 is a schematic diagram illustrating another exemplary frequency modulation signal generator used to compute an estimated electromagnetic torque value, based on estimated rotor flux;
    [018] Figure 7 is a schematic diagram illustrating yet another FM signal generator that computes an estimated power factor value for selective adjustment of the speed or frequency setpoint;
    [019] Figure 8 is a schematic diagram illustrating another exemplary FM signal generator that computes an estimated power factor angle for use in adjusting the speed or frequency setpoint;
    [020] Figure 9 is a schematic diagram illustrating yet another FM signal generator that computes an estimated energy value for speed or frequency setpoint adjustment;
    [021] Figure 10 is a graph illustrating a fixed reference frame transformation in the motor drive controller;
    [022] Figure 11 is a graph that presents speed torque, current and motor load curves for the motor drive without stability control for a step load change;
    [023] Figure 12 is a graph that presents speed torque, current and motor load curves for the motor drive using the stability control concepts of the present disclosure;
    [024] Figure 13 is a flowchart illustrating a method for exemplary sensorless motor speed control in motor drive, according to additional aspects of the present disclosure;
    [025] Figure 14 is a schematic diagram illustrating another exemplary motor drive controller with a stability signal generator and a voltage and frequency control configuration; and
    [026] Figure 15 is a schematic diagram illustrating exemplary transformations in the controller of Figure 14 . DETAILED DESCRIPTION
    [027] Referring now to the figures, various embodiments or implementations are hereinafter described in conjunction with the drawings, in which like reference numerals are used to refer to like elements throughout, and in which the various features they are not necessarily drawn to scale.
    [028] Reference is made to US Patent Application Serial Number 13/868,216, filed April 23, 2013 and entitled "Open Loop Control Without Position Sensor for Motor Drives with Output Filter and Transformer" , the integrity of which is hereby incorporated by reference. Reference is also made to US Patent Application Serial Number 13/931,839, filed June 29, 2013, entitled METHOD AND APPARATUS FOR CONTROLLING THE STABILITY OF OPERATION OF OPEN LOOP MOTOR DRIVES, whose application integrity is incorporated herein by reference.
    [029] Methods 100 and motor drive apparatus 10 are presented below for sensorless or open loop motor speed control using a stability signal generator as part of the motor drive controller. Motor drive and control techniques can be used in a variety of applications, including, but not limited to, driving electrical submersible pumps, whether including an induction motor or a permanent magnet synchronous motor (PMSM), and can be employed in real-world situations where the motor drive is directly connected to the driven motor or where one or more intervening components (eg sine wave filters and/or transformers) are connected between the output inverter and the driven motor. In addition, the concepts of the present disclosure may be employed in conjunction with any suitable form of command control algorithm, including, but not limited to, voltage and frequency and/or current and frequency control, using any loop feedback regulation configuration. suitable closed (eg proportional-integral or PI control components) . The techniques disclosed in this document, moreover, can be successfully employed to improve stability in the operation of permanent magnet and/or induction motors to avoid or mitigate undesirable "instability" (oscillation) and/or unwanted motor stoppage or inability to start, particularly for low speed operation and/or in the presence of changes or disturbances in the load and/or desired setpoint operating speed. In this regard, although illustrated and described in several exemplary embodiments below, the various aspects of the present disclosure and, in particular, stability control techniques can be used in a wide variety of motor drive applications, motor drive controller architectures. engine etc., and the various concepts are not limited by the illustrated realizations.
    [030] Referring initially to Figures IA and 1B, several exemplary motor drives 10 are hereinafter presented, in sensorless or open loop speed control configurations, in which direct measurement of motor speed or position. While these circumstances are common in remotely driven engine situations (eg, submersible pump applications, etc.), the various stability control aspects of the present disclosure can also be employed in systems, in which actual engine speed is directly measured. and feedback signals are provided to the motor drive controller. As shown in Figures IA and IB, a power conversion system 2 generally includes an AC power supply 4 that provides single or multi-phase power (eg, 480 V AC, 50 or 60 Hz) to a power converter. motor drive 10. Motor drive 10, in turn, includes one or more power conversion stages with an inverter 14 providing single-phase or multi-phase AC output currents (eg, three-phase output currents IA, IB and IC in the illustrated examples) to drive a motor load 6. As shown in Figure IA, the motor load 6 can be driven directly by the output of the motor drive inverter 14, or one or more intervention circuits can be connected between the inverter 14 and the motor load 6, as one or both of a sine wave filter 16 and/or a transformer 18 and a possibly extended cable 8, as illustrated in Figure 1B.
    [031] The drive 10, in these examples, includes an active or passive rectifier 12 that provides rectification of received AC input power (eg, three-phase) to create a DC bus voltage along a DC link circuit 13 that includes a capacitance C. Any suitable form of rectifier 12 may be used, including, but not limited to, a passive rectifier (eg, one or more rectifier diodes), or an alternating rectifier that operates at or near the fundamental frequency of the input source. AC (fundamental front end or FFE) or at a higher and possibly variable alternating frequency, such as an active front end rectifier (AFE) which performs additional functions such as power factor correction etc. The DC link circuit 13 provides a DC input voltage to an alternation inverter 14. The inverter 14, in this example, includes alternation devices SI, S2, S3, S4, S5 and S6 operated in accordance with alternation control signals of inverter 22 of a controller 20 to convert DC power to AC output currents IA, IB and IC to drive the motor load 6. Although the illustrated inverter 14 provides a two-level, three-phase output, other single-output implementations phase or multiple phase or multiple levels are possible within the scope of the present disclosure. Any suitable S1-S6 inverter switching devices may be used, including, but not limited to, insulated gate bipolar transistors (IGBTs), silicon controlled rectifiers (SCRs), gate shutdown thyristors (GTOs), integrated gate switched thyristors ( IGCTs) etc. The controller 20 and its elements and components may include suitable processor or logic based circuitry and may also include signal level amplification and/or driver circuitry (not shown) to provide adequate drive voltage and/or sufficient current levels to selectively drive Sl-S6 switching devices, for example as comparators, transmitter wave generators or digital/processor logic elements and signal drivers etc. Furthermore, the controller 20 can provide the alternation control signals 22 in accordance with any suitable pulse amplitude modulation technique, including, but not limited to, space vector modulation (SVM), pulse amplitude modulation based on charger, selective harmonic elimination (SHE) etc. In addition, the controller 20 implements various computational functions, as detailed below, and may include analog-to-digital and digital-to-analog conversion components and processor-based or otherwise programmable logic circuits alone or in combination with analog circuits for performing various operations on signals or values as described herein. In addition, certain embodiments of controller 20 may include processing elements and electronic memory for storing data and program instructions by which controller 20 may implement the various methods (e.g., method 100 below) detailed herein.
    [032] The system 2 in Figure 1B further includes a sine wave or output filter 16, in one example, a three-phase LC filter having a series of LF inductor filter in each output line, as well as a CF filter capacitor pair coupled between the corresponding phase line and a common connection point. Other output filter topologies can be used such as LCL filters, CLC filters etc. with one or more series elements and additional filter elements (eg CF filter capacitors) connected in any suitable delta or Y configuration. The example in Figure 1B also includes a transformer 18 between filter 16 and motor cable 8. The illustrated transformer 18 has a three-phase delta-connected primary winding configuration or topology as well as a Y-connected secondary winding configuration or topology, albeit with any configuration or topology. transformer primary and/or secondary winding can be used. Furthermore, transformer 18 may, in certain embodiments, be a step-up transformer. For example, a step-up transformer 18 can facilitate the use of a low voltage drive 10 to power a high or medium voltage motor 6, or allow the use of a medium voltage drive 10 to power a high voltage motor 6. Also or in combination, a riser transformer 18 can be useful to allow a reduction in current levels carried by cable 8, thereby facilitating the use of smaller diameter cable wires in cable 8. 0 cable 8, moreover, it can be of any construction suitable for interfacing the motor drive output, the sine wave filter 16, and/or the transformer 18 with the motor 6 taps.
    [033] The motor drive 10 and the controller 20 operate in a sensorless manner to control one or more operating parameters of the driven motor load 6. For example, the controller 20 provides the inverter 22 alternation control signals, a in order to control the position and/or speed and/or torque of the motor 6 without directly sensing any of these controlled parameters. In the illustrated implementation, for example, current sensors 27 are arranged at the output of the inverter 14 to provide signals or feedback values 28 (e.g., ia, ib and ic) to the controller 20 representing the inverter output currents IA, IB and IC, and/or from which the values of these output currents can be computed, derived, or otherwise estimated. Any suitable current sensing devices 27 can be used to generate or provide the signals and/or values 28, and can provide analog signals 28 and/or sensors 27 can be intelligent sensors that provide digital values 28 representing the output currents. IA, IB and IC generated at the output of the inverter 14.
    [034] The controller 20 uses the 28 signals or feedback values as well as one or more desired operating parameters to regulate or adjust the output currents IA, IB and IC. In general, however, the control technique implemented by the illustrated controller 20 is essentially sensorless or open-loop in relation to the actual operating condition of the driven motor load 6 (eg speed and/or position), as it does not there are direct feedback signals obtained from the engine 6 itself. In the examples of Figures IA and IB, for example, the controller 20 receives the desired motor frequency or speed value f* 21 from a supervisory control system component (not shown), which may be a distributed control system element. (DCS), a user-adjustable button, local user interface, etc. The controller 20 further includes a voltage command generating component 23, which may be a voltage and frequency control component 24 or a control and frequency 24a component (for example, Figures 2-4 below). There may also be a closed-loop controller, such as a proportional-integral (PI) controller 26 which may be a reduced-bandwidth PI controller in certain embodiments (eg Figure 4 below). In operation, the control components 24a and 26 in Figure 3 are used to regulate the inverter output currents IA, IB and IC by providing the inverter alternation control signals 22 in accordance with the speed or frequency signal or value. desired 21 and the signals or feedback values 28.
    [035] Furthermore, in accordance with one or more aspects of the present disclosure, the controller 20 implements a stability signal generator component 25 that computes a frequency modulation value 25a (e.g., Δf*) based on the signal or current feedback value ia, ib and ic, as well as in one or more signals or voltage command values 37 va*, v** and vc* used in inverter control 14. As seen in Figures IA and 1B, by For example, the voltage command generating component 23 internally generates the voltage commands va*, vb* and vc* and provides them to the stability signal generating component 25 to generate the frequency modulation value 25a. The sensorless motor speed controller 20 also includes an adjustment component 29 (e.g., an adder, in one example) that adjusts the frequency or speed setpoint value 21 based, at least partially, on the value of frequency modulation 25a to provide an adjusted frequency or speed setpoint value 31a (e.g., fAD in Figures 2-4 below), and the command generator 23 provides the alternation control signals 22 to the inverter 14, by the at least partially according to the adjusted frequency or speed setpoint value 31a. In the illustrated example, the adjustment component 29 subtracts the frequency modulation value 25a from the frequency or speed setpoint value 21 to provide the adjusted frequency or speed setpoint value 31a. Other implementations are possible, in which an adjustment component 29 performs a different type of adjustment, such as compensation, multiplication, division, addition, or combinations thereof etc., wherein the concepts of the present disclosure are not limited to the illustrated subtraction example.
    [036] Referring also to Figures 2-4, Figure 2 presents additional details of an exemplary motor drive controller 20 with a 25 stability signal generator and a voltage and frequency control configuration implemented in the generator of voltage command 23. The voltage command generator 23 includes a voltage and frequency (VF) control component 24 which receives the adjusted frequency setpoint 31a from the adjustment component 29 and adjusts a voltage setpoint of δ axis (v*g) 35 in the same way. The controller 20 implements various components, for example in software or firmware executed by the processor, and operates on certain variables in a δ, y synchronous reference structure, with the received feedback signals or values 28 and generated alternation control signals 22 being references to a fixed frame of reference (eg a, b, c) . In this respect, the illustrated δ, y reference frame rotates at the same frequency as the conventional field switching control reference frame (D, Q), but the position need not be the same, with y and δ somewhat analogous to "d" and "q", but they are not necessarily aligned (eg y will likely be somewhere between the D axis and the Q axis, eye δ are orthogonal to each other). It is also understood that the voltage and/or current regulation described can be performed in other reference frames. The voltage and frequency control component 24, in the example of Figure 2, provides a voltage setpoint output 35 based on the adjusted speed or frequency setpoint signal or value 31a. As seen in Figure 2, moreover, a rate limiter 30 can optionally be included to limit the rate of the frequency or speed setpoint value 21 to provide a rate limited frequency or speed setpoint value 31 (IRL), and the set component 29, in this example, subtracts the frequency modulation value 25a from the rate limited speed or frequency setpoint value 31 to provide the adjusted frequency or speed setpoint value 31a as an input to the control component 24. The illustrated voltage and frequency control component 24 implements a multiple variation curve or function as illustrated, with the voltage and frequency relationship having a zero voltage value VBOOST corresponding to a value of zero frequency (eg 0 Hz), and remains constant in VBOOST until a predetermined boost frequency FBOOST- The voltage and frequency ratio implemented by the control component 24 also includes a second part with increasing voltage values corresponding to a frequency range from the increasing frequency FBOOST to a threshold frequency value FCÜ , as well as a larger part with a constant voltage value (eg VMAX) corresponding to frequencies above the threshold frequency FCÜT, where VMAX can be the maximum rated output voltage of the inverter 14 in certain implementations, and the threshold frequency FCUT is preferably adjusted to match the operating frequency with motor rating of 6 (for example, about 60 Hz in one implementation) . The control component 24, in certain embodiments, can be implemented using a look-up table or a parametric function. The output of voltage and frequency v% is the δ 35 axis voltage setpoint. In the illustrated embodiment, controller 23 operates according to a y axis value of zero 34 (v = 0), although this is not a requirement strictness of all implementations of the present disclosure. As seen in Figures 2 and 10, furthermore, the illustrated stability signal generator 25 includes fixed reference frame converter components 50 and 51 for the respective conversion of current feedback signals 28 and voltage command signals or values 37 of the reference frame a,b,c into a fixed reference frame "α,β" by the illustrative transformation shown in Figure 10. In this way, the converter 50 provides current feedback signals of reference frame ot, β ia and ip , and the converter 51 provides voltage command signals va* and vp*, to a frequency modulation (FM) signal generating component 52. In the embodiment of Figure 2, in addition, the signal generating component 25 employs the component FM signal generator 52 to compute an estimated motor performance value 52a, in this case an estimated torque value (per unit) lpu, based on the AC output current feedback ia, ib, ic (converted to signals or ia and ip values) and also with bas and in the voltage command signals or values va*, vb*, vc* (for example, converted signals or values va* and vp*). In particular, the signal generator 52 includes a first component 53 which calculates estimated rotor flux turn on values ar, based on the output current feedback ia and ip, the voltage commands va* and vp*, and in an output load resistance value R corresponding to the resistance of motor 6 and any intervention cable 8, according to the following formulas (1) and (2):

    [037] where L is the inductance of the motor and any intervention cable.
    [038] In addition, the signal generator 52 includes a second component 54 which is operated to compute the estimated torque value.
    based on estimated rotor flux values
    as well as in the ia and ip current feedback, according to the following equation (3):

    [039] where P is the number of pole pairs in motor 6 and Treated is the rated torque for motor 6. In certain embodiments, the estimated torque value
    can be computed using stator flux values and can be computed according to rotor flux values, in other embodiments.
    [040] The estimated torque or other estimated motor performance value 52a is then used by the signal generator component 25 to compute the frequency modulation value 25a. As seen in Figure 2, furthermore, the illustrated embodiment includes a high pass filter 55 to filter the estimated motor performance value 52a to provide a filtered estimated motor performance value 55a, thereby removing unwanted DC offsets from the estimated engine parameter 52a. The signal generator 25 then computes the FM value 25a based, at least partially, on the filtered estimated engine performance value 55a. In the illustrated example, a gain component 56 is provided to amplify the filtered signal 55a, and a limiter circuit 57 can be included to limit variation of the amplified signal. The illustrated embodiment also includes an optional multiplier 59 which, for some embodiments of estimated engine performance value 52a, multiplies the output of limiter 57 by an indication signal of an indication function 58, based on the indication (positive or negative, that is, forward or reverse) of the desired frequency or speed setpoint input signal or value 21. The output of the multiplier 59 provides the frequency modulation value 25a to the sum-junction adjuster component 29 for the adjustment of the received speed or frequency setpoint (and optionally rate limited) to create the adjusted setpoint 31a.
    [041] The adjusted setpoint 31a provides an input to the voltage command generator 23 and its control component 24. The VF controller 24, in addition, provides y-axis voltage setpoint value or signal outputs. δ vz* 34 and v<j* 35, respectively, which are converted to the fixed reference frame by a converter 36 (δ,yaa,b,c) using a signal or phase angle value □43 obtained from the setpoint of adjusted frequency 31a by means of a multiplier 40 (2n) which provides a frequency output 41 (M) and an integrator 42 to create an angle output 43. The reference frame converter 36, in turn, provides the set of three signals or fixed reference frame voltage setpoint values 37 (va*, vb* and vc*) as inputs to a pulse amplitude modulation (PWM) component 38 which includes any form of suitable modulation, isolation , amplifiers, gate trigger circuits etc. to generate the inverter alternation control signals 22 to control the inverter 14 using known techniques.
    [042] Figure 3 illustrates another embodiment of controller 20 in which the stability signal generator 25 again provides the frequency modulation signal 25a for stability control based on an estimated torque value 52a. In this case, however, the voltage command generator 23 includes a current and frequency controller 24a along with a PI controller 26. In this case, in addition, an a,b,c to δ,y converter 44 provides current feedback signals Ô,y ir 48 and ig 46 as inputs to controller PI 26 for closed-loop regulation with respect to their current setpoints ig* 32 and ir* 33 (=0) . The current and frequency (I-F) control component 24a, in this example, receives the adjusted frequency or speed setpoint 31a, and generates the δ-axis current setpoint (i*g) 32 in the same way. In one possible implementation, the current and frequency control component 24a implements a double variation curve or function, as illustrated, with the current and frequency ratio being a zero current value corresponding to a zero frequency value (for example, 0 Hz). As shown in Figure 3, the current and frequency relationship implemented by the control component 24a includes a first part with increasing current values corresponding to a first frequency range from zero frequency value to a threshold frequency value FCUT/ as well as a second part with a constant current value (eg IMAX) corresponding to frequencies above the threshold frequency FCUT> where IMAX can be the maximum rated output current of the inverter 14, in certain implementations, and the threshold frequency FCUT is preferably adjusted to correspond to a very low operating frequency of motor 6 (eg approx. 0.5 - 1.0 Hz). The current and frequency control component 24a, in certain embodiments, can be implemented using a look-up table or a parametric function. In this regard, the current and frequency ratio includes the first part ramped to the limit frequency, after which maximum current is demanded, with this, the control component 24a avoids sending DC current to any included output transformer 18 (eg Figure 4 below) at zero frequency.
    [043] The output (i*ô) of the 24a current and frequency controller is the δ 32 axis current setpoint, which is provided to the PI control component 26. PI control is not a strict necessity at all embodiments of the present disclosure, wherein any suitable current regulating algorithm can be used to regulate inverter output currents IA, IB and IC, and algorithm PI, in certain embodiments, can have an algorithm bandwidth that is less than the resonant frequency of any included sine wave filter 16 (eg Figure 4 below). In the illustrated embodiment, the PI controller 26 operates in accordance with a y-axis value of zero 33 (i = 0), although this is not a strict requirement of all implementations of the present disclosure.
    [044] In the example of Figure 3, moreover, the FM signal generator 52 includes components 53 and 54, in that case, which compute an estimated engine performance value 52a as an estimated torque based on the flux linkage values. stator estimated by component 53 according to a value of motor resistance Rmotor associated with driven motor 6, according to the following equations (4) and (5):

    [045] where va and v& are motor voltages measured after the transformation of a,b,c into 51. In addition, component 54 computes the estimated torque value according to the following equation (6):

    [046] Figure 4 shows another motor drive controller 20 with a stability signal generator 25 and a voltage command generator 23 that generates voltage commands, where the included PI controller is a proportional-integral amplitude controller. reduced band for driving a motor 6 through a sine wave filter 16 and transformer 18. As in the above examples, furthermore, the signal generator 25 computes an estimated unit torque value tpu to derive the frequency modulation value 25a. The inventors have appreciated that limiting the bandwidth of the PI controller 26 prevents or mitigates large inrush current during a drive, particularly when the drive 10 is providing output currents through a sine wave filter 16 and/or transformer 18. In certain applications, for example, the sine wave filter 16 makes the inverter output particularly susceptible to large inrush currents and bandwidth limitation of the PI controller 26 (or other current regulation control algorithm implemented by the controller 20) to be well below the sine wave filter resonant frequency helps to mitigate or avoid high levels of inrush current, particularly at the drive.
    [047] Referring also to Figures 5-9, the examples described below utilize a frequency modulation signal generator 52 that computes estimated torque values 52a which are optionally high pass filtered using filter 55 and scaled and suitably limited by means of components 56, 57 and optionally signal adjusted by means of components 58 and 59 to provide the frequency modulation value 25a. Several other embodiments are possible, some of which are illustrated in Figures 5-9, in which the value 25a is derived based on a different estimated engine performance value 52a. For example, Figure 5 illustrates an example based on electromagnetic torque per unit computed using computed stator flux values of the measured currents and commanded voltages using component 53, and Figure 6 presents an example of an estimated torque value per unit , computed from the measured currents and measured voltages, according to estimated values of computed rotor flux. As seen in Figure 7, another possible implementation provides an estimated power factor value 52a (PF) computed from the measured currents and measured voltages, according to real and imaginary energy values P and Q of component 53. Figure 8 presents a implementation in which these real and imaginary energy values are computed from the measured currents and voltages commanded by component 53, and component 54 computes an estimated energy factor angle value θPF 52a. Yet another example is shown in Figure 9, in which the FM signal generator 52 provides an estimated power value per unit 52a (PpU), whereby the computation of the frequency modulation value 25a is performed. Other possible examples include computing an estimated performance value 52a as an error between the open loop angle and an estimated rotor position.
    [048] Referring now to Figures 11 and 12, graphs 60 and 70, respectively, illustrate motor speed curves 62, 72, current 64, 74 and load torque 66 and 76 for the drive of motor 10 without and with the stability control concepts of the present disclosure for a step load change. As seen in graph 60 of Figure 11, the absence of stability control advantages achieved by the frequency modulation tuning concepts discussed above and, particularly, for low motor speeds, the onset of a step load increase in the torque of load causes open loop (sensorless) operation to suffer from potentially significant instability or "jitter" in motor speed curve 62, resulting in wobble in load torque curve 66. In Figure 12, however, graph 70 features that load torque increasing at curve 76 results in a temporary drop and subsequent controlled recovery at motor speed curve 72 (assuming a desired constant motor speed setpoint value). In this regard, the controlled modulation of the frequency setpoint by means of the adjusted frequency setpoint value 31a effectively counteracts jitter or jitter effects by compensating through the essentially out-of-phase frequency modulation signal 25a. In this way, instability is mitigated, thereby preventing or reducing the likelihood of excessive engine speed or position instability and reducing the potential for unwanted engine stall.
    [049] Referring also to Figure 13, a method 100 is presented for sensorless motor speed control in a motor drive (eg motor drive 10 above). Although the exemplary method 100 is depicted and described in the form of a series of actions or events, it will be appreciated that the various methods of disclosure are not limited to the illustrated order of those actions or events, except as specifically set forth herein. In this regard, except as specifically provided hereinafter, some actions or events may occur in different orders and/or simultaneously with other actions or events in addition to those illustrated and described here, and not all illustrated steps may be necessary to implement a process or method of in accordance with the present disclosure. The illustrated methods can be implemented in hardware, processor-executed software, or combinations thereof, to provide sensorless motor control, as described herein, and various embodiments or implementations include non-transient computer readable means having computer executable instructions that carry out the methods illustrated and described. For example, method 100 can be implemented using one or more processors associated with controller 20, by executing instructions stored in an electronic memory operatively associated with controller 20.
    [050] Method 100 starts at 102, in Figure 13, with the receipt of the frequency or speed setpoint f* (eg 21 above) representing the desired operating speed of the motor load 6. 0 setpoint 21 can be received in 102 from any suitable source, such as input from another element in a distributed control system, user interface, etc. At 104, one or more inverter output currents are measured or sampled (e.g., feedback signals 28 representing the three-phase output currents ia, ib, ic provided by inverter 14 and sensed using current sensors 27 above). The sampled output currents, moreover, can be directly proportional to the actual measured inverter output currents, or the signals 28 can be filtered, exchanged, or otherwise subjected to any suitable signal processing, so that the values 28 represent the current output provided by the inverter 14 to facilitate the computation of one or more estimated motor operating parameters, as discussed above. At 106, in Figure 13, a frequency modulation value is computed (e.g., sign or value Δf* 25a above), at least partially, in accordance with the AC output current feedback and also in accordance with a or more voltage command signals or values (eg va*, vb*, vc* above) . In this regard, the voltage command signals or values can be any voltage command setpoints in any suitable reference frame (eg fixed reference frame, synchronous reference frame etc.) that are used or usable to control the operation of the inverter. In one example, for example, the previously computed voltage command signals or values va*, vb*, vc*, used in a previous control cycle, can be used in computing the estimated motor operating parameter for use in compensation from the frequency or speed setpoint to the next or subsequent control cycle. At 108, the frequency or speed setpoint 21 (f*), whether previously rate limited or not (for example, rate limited frequency setpoint IRL 31 above), is adjusted, at least partially, accordingly. with the frequency modulation value Δf*, for example, by subtracting the frequency modulation value Δf* from the original or rate limited frequency or speed setpoint 21, 31, in order to provide an adjusted setpoint ÍAD - Using the adjusted frequency or speed setpoint fAD, inverter 14 is controlled at 110, after which process 100 repeats as shown.
    [051] Referring now to Figures 14 and 15, another exemplary embodiment of motor drive controller 20 is shown in Figure 14, where a voltage and frequency control component 24 is used to generate a signal or value of shaft tension command δ 35 (v*6) . The signal or value 35 is converted by a synchronous to fixed reference frame converter component from y, δ to a,b,c 36 to provide fixed reference frame voltage command signals or values va*,vb* , u* to pulse amplitude modulation component 38 to generate alternation control signals for operating the inverter 14. Other implementations are possible, instead of using a current and frequency control component to generate the command signals or values of current control for use in the pulse amplitude modulation operation of the inverter 14. Figure 15 illustrates a non-limiting example of the transformation equations in the converter component 36 to provide the δ 35 axis voltage command signal or value (using v*Y = 0), using a phase angle θ obtained from an adjusted frequency setpoint signal or value 31a by means of a 40 gain stage that multiplies the adjusted frequency setpoint signal or value 31a by 2n to obtain a signal or frequency value 41 (o in radians) and an integrator component 42 provides the angle θ, according to the following equations (7) — (9):

    [052] In the example of Figure 14, moreover, the angle θ 43 is also provided to a fixed to synchronous reference frame converter component from a,b,c to Y, δ 44 that receives the current feedback signals or values AC output 28 ia, ib and ic from the inverter output 14 via current sensors 27, and converts them to y, δ synchronous reference frame by computing an estimated δ axis output current signal or value 46 ( iδ) . Figure 15 illustrates an exemplary implementation of the fixed-to-two synchronous reference frame converter 44, whereby the estimated δ-axis output current signal or value δ 46 (eg, and also a y-axis value iy 48 ) can be computed in controller 20, according to the following equations (10) and (11) :

    [053] The controller 20, in this embodiment, uses the transformed output current signal or value 46 to compute a frequency modulation value 25a (Δf*), and employs a sum component 29 to selectively adjust the point value of frequency or speed adjustment f* 21 (or a rate limited value fRL 31) to provide an adjusted frequency or speed setpoint value 31a (fAD) from which the voltage and frequency control component 24 computes the signal or shaft voltage command value δ 35. In this embodiment, the frequency modulation value 25a (Δf*) can be computed in any suitable way in whole or in part, based on the signal(s) or value(s). es) AC output current feedback 28, 46 and frequency modulation value 25a can be used to modify the original frequency or speed setpoint signal or value 21 and/or a rate limited signal or value 31 anyway suitable. In one possible embodiment, the adjustment is performed by subtracting the frequency modulation value 25a from the signal or frequency or speed setpoint value 21 or 31 to provide the adjusted frequency or speed setpoint value 31a.
    [054] In several embodiments, moreover, a 52b gain stage can be provided, as shown in Figure 14, which is used to compute an estimated output current signal or value per unit 52a (iδ_pu) based on the signal or value of estimated δ-axis output current (46) in the synchronous reference frame (δ, y), and the frequency modulation signal or value 25a is computed at least partially based on the estimated output current signal or value. per unit 52a. In the illustrated embodiment, furthermore, the estimated output current signal or value per unit iδ_pu is high-pass filtered through a filter component 55, thereby advantageously providing an estimated output current signal or value, unit filtered 55a with any DC components at least partially removed, thereby providing a signal 55a having AC components indicative of output current instability or search associated with large insulations in the rotor shaft of motor 6 during starting to low frequency command input setpoints 21 and/or during rotor speed isolation close to the setpoint speed after load transitions or speed setpoint adjustments, particularly at low speeds.
    [055] In certain implementations, the estimated, filtered signal or value 55a is provided as the frequency modulation signal or value 25a to adjust the input setpoint signal or value 21, 31. In the illustrated embodiment, moreover, the signal or value 55a can be amplified by a gain factor (Kp), and a limiter circuit 57 can be included to limit the variation of the amplified signal in certain non-limiting embodiments. In certain embodiments, a multiplier 59 may be implemented to multiply the output of limiter 57 by an indication signal of an indication function 58 based on the indication (positive or negative, i.e., forward or reverse) of the sign or value of desired frequency or speed setpoint input 21. The output of multiplier 59 in the illustrated embodiment provides the frequency modulation value 25a to the sum-junction adjuster component 29 for adjusting the received speed or frequency setpoint (and , optionally rate limited) to provide the adjusted setpoint 31a.
    [056] As illustrated and described above, power conversion systems, control apparatus, non-transient computer readable methods and media having computer executable instructions are provided for sensorless motor speed control by sampling at least one AC output current signal or feedback value, computing a frequency modulation value based at least partially on the output current feedback and/or based on the at least one command or feedback signal or value. voltage, as well as the adjustment of a frequency or speed setpoint value, at least partially, based on the frequency modulation value and control of an inverter, according to the adjusted frequency or speed setpoint value .
    [057] The above examples are merely illustrative of the various possible realizations of the various aspects of the present disclosure, in which changes and/or equivalent modifications will occur to technicians in the subject, upon reading and understanding this specification and the attached drawings. In particular, in relation to the various functions performed by the components described above (assemblies, devices, systems, circuits, and the like), the terms (including a reference to a "means") used to describe those components are intended to correspond, unless that otherwise indicated, to any component, such as hardware, software executed by the processor, or combinations thereof, that performs the specific function of the described component (i.e., which is functionally equivalent), although not structurally equivalent to the disclosed structure, which it performs the role in the illustrated implementations of the disclosure. Furthermore, while a particular aspect of the disclosure may have been described in relation to only one of several implementations, that aspect may be combined with one or more other aspects of the other implementations, as may be desired and advantageous for any particular application. Also, to the extent that the terms "including", "includes", "having", "has", "with", or variations thereof are used in the detailed description and/or in the claims, these terms are intended to be inclusive of similar to the term "understanding".
    权利要求:
    Claims (13)
    [0001]
    1. METHOD (100) FOR SENSORLESS MOTOR SPEED CONTROL IN A MOTOR DRIVE (10), comprising: sampling (104) of at least one AC output current signal or feedback value (ia, Ib, ic ) an output of an inverter (14) of the motor drive (10); characterized by computing (106) a frequency modulation value (25a) based on at least one AC output current signal or feedback value (ia, Ib, ic) and on at least one voltage command or signal. feedback or value (Va, Vb, Vc); adjustment (108) of a frequency or speed setpoint value (21, 31) based at least partially on the frequency modulation value (25a) to provide an adjusted frequency or speed setpoint value ( 31a); and control (110) of the inverter (14) in accordance with the adjusted frequency or speed setpoint value (31a).
    [0002]
    2. METHOD (100) according to claim 1, characterized in that the adjustment (108) of the frequency or speed setpoint value (21, 31) comprises: rate limitation of the frequency or speed setpoint value (21) to provide a rate limited speed or frequency setpoint value (31); and subtracting the frequency modulation value (25a) from the rate limited frequency or speed setpoint value (31) to provide the adjusted frequency or speed setpoint value (31a).
    [0003]
    3. METHOD (100), according to any one of claims 1 or 2, characterized in that the computation (106) of the frequency modulation value (25a) comprises: high-pass filtering of the signal or output current value per estimated unit (iδ_PU) to provide a signal or estimated value of output current per unit, estimated, filtered; and computing (106) the frequency modulation value (25a) based, at least partially, on the signal or estimated value of filtered output current per unit (55a).
    [0004]
    4. METHOD (100), according to any one of claims 1 to 3, characterized in that the computation (106) of the frequency modulation value (25a) comprises: signal amplification or estimated output current value per unit by a factor of gain (Kp) to provide an amplified signal; selectively limiting the amplified signal range to provide a limited amplified range signal; and computing (106) the frequency modulation value (25a) based at least partially on the limited amplified range signal.
    [0005]
    5. METHOD (100) according to any one of claims 1 to 4, characterized in that the adjustment (108) of the frequency or speed setpoint value (21, 31) comprises the subtraction of the frequency modulation value (25th ) from the frequency or speed setpoint value (21, 31) to provide the adjusted frequency or speed setpoint value (31a).
    [0006]
    6. METHOD (100) according to any one of claims 1 to 5, characterized in that computing (106) the frequency modulation value (25a) comprises: computing a signal or output current value estimated in the reference frame synchronous (iδ_PU) based on at least one AC output current signal or feedback value (ia, Ib, ic); computation (106) of the frequency modulation value (25a) based, at least partially, on the estimated output current signal or value in the synchronous reference frame (iδ_PU).
    [0007]
    7. METHOD (100) according to claim 1, characterized in that it comprises before the sampling step: receiving (102) a frequency or speed setpoint value (21, 31) representing a desired motor speed for a driven motor (6).
    [0008]
    8. METHOD (100) according to any one of claims 2, 5 or 7, characterized in that computing the frequency modulation value comprises: computing an estimated motor performance value (52a) based on the at least one signal or AC output current feedback value (ia, Ib, ic) and at least one signal or command value or voltage feedback (Va, Vb, Vc); computing (106) the frequency modulation value (25a) based at least partially on the estimated motor performance value (55a).
    [0009]
    9. METHOD (100) according to claim 7, characterized by computing (106) the frequency modulation value (25a) comprising: high-pass filtering of the estimated motor performance value (52a) to provide a value of filtered estimated engine performance (55a); and computing (106) the frequency modulation value (25a) based, at least partially, on the filtered estimated motor performance value (55a).
    [0010]
    10. METHOD (100) according to claim 8, characterized in that computing the estimated motor performance value (52a) comprises computing at least one of an estimated power factor value, a factor angle value of estimated energy and an estimated energy value, and wherein the frequency modulation value (25a) is computed at least partially according to the at least one energy factor value, energy factor angle value or value of estimated energy.
    [0011]
    11. MOTOR DRIVE (10), comprising: an inverter (14) including a plurality of alternation devices (S1-S6) operable in accordance with alternation control signals (22) to provide AC output power to drive a engine load (6); and a sensorless motor speed controller (20) that provides alternation control signals (22) to the inverter (14) to regulate the AC output power at least partially in accordance with a frequency setpoint value. or speed (21, 31), characterized in that the sensorless motor speed controller (20) comprises: a signal generating component (25) operated to compute a frequency modulation value (25a) based on the at least one signal or AC output current feedback value (ia, ib, ic) representing at least one inverter AC output current (14) and at least one signal or command value or voltage feedback (Va, Vb, Vc) used in the inverter control (14), an adjustment component (29) operated to adjust the frequency or speed setpoint value (21, 31) based at least partially on the frequency modulation value (25a) to provide an adjusted frequency or speed setpoint value (31a), and a command generator component (23) operated to provide the alternation control signals (22) to the inverter (14) at least partially in accordance with the adjusted speed or frequency setpoint value (31a).
    [0012]
    12. MOTOR DRIVE (10) according to claim 11, characterized in that the signal generating component (25) is operated to compute an estimated engine performance value (52a) based on the at least one signal or feedback value of AC output current (ia, ib, ic) and at least one signal or voltage command or feedback value (Va, Vb, Vc), and to compute the frequency modulation value (25a) on the basis of, at least partially in the estimated engine performance value (55a).
    [0013]
    13. MOTOR DRIVE (10) according to any one of claims 11 or 12, characterized in that the adjustment component (29) is operated to subtract the frequency modulation value (25a) from the frequency setpoint value or speed (21, 31) to provide the adjusted frequency or speed setpoint value (31a).
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    法律状态:
    2016-11-29| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2018-11-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-03-03| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-07-13| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2021-08-10| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
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    申请号 | 申请日 | 专利标题
    US13/931,839|US9054611B2|2013-06-29|2013-06-29|Method and apparatus for stability control of open loop motor drive operation|
    US13/931,839|2013-06-29|
    US14/193,329|US9287812B2|2013-06-29|2014-02-28|Method and apparatus for stability control of open loop motor drive operation|
    US14/193,329|2014-02-28|
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