A method, system, medium and electronic device for starting control of a fan motor
By obtaining the status of the wind turbine motor through the output of zero-current control commands and selecting an appropriate starting strategy, the problem of high failure rate of wind turbine motor starting is solved, and efficient and energy-saving starting control is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- RUKING EMERSON CLIMATE TECH SHANGHAI CO LTD
- Filing Date
- 2023-02-06
- Publication Date
- 2026-06-23
Smart Images
Figure CN116094401B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of wind turbine motor technology, and relates to a starting control method, system, medium and electronic equipment for a wind turbine motor. Background Technology
[0002] Due to limitations such as cost and application environment, many wind turbine motor products lack position sensors. Wind turbine motors are generally surface-mounted, making it impossible to use high-frequency injection methods for position estimation at zero and low speeds. Furthermore, the drivers lack terminal voltage sampling circuits, preventing the observer from converging to extremely low speeds and directly crossing at zero speed. Therefore, only traditional three-stage starting methods can be used. Wind turbine motors are characterized by high inertia and susceptibility to external environmental influences. During startup, the initial state of the wind turbine motor may not be stationary; it could be in a downwind or upwind state. Without distinguishing the operating state of the wind turbine motor before startup and adopting appropriate starting strategies, directly using a three-stage starting method will significantly increase the startup failure rate, failing to meet product requirements. Summary of the Invention
[0003] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a starting control method, system, medium and electronic equipment for a wind turbine motor, which solves the problem that the prior art cannot distinguish the operating state of the motor before starting and take corresponding starting strategies, and directly adopts a three-stage starting method, which increases the motor starting failure rate.
[0004] In a first aspect, the present invention provides a starting control method for a wind turbine motor, the starting control method comprising: outputting a zero-current control command to control the wind turbine motor; acquiring the motor angular frequency, rotor position, and rotor speed of the wind turbine motor under zero-current control; determining the initial state of the wind turbine motor based on the rotor speed, the wind turbine motor speed command, and a preset threshold; selecting a matching starting strategy based on the initial state of the wind turbine motor; and controlling the wind turbine motor to start according to the starting strategy.
[0005] In this invention, without adding hardware, the initial speed of the wind turbine motor can be accurately estimated, thereby accurately identifying the initial state of the motor and taking corresponding starting strategies to improve the success rate of wind turbine motor starting.
[0006] In one implementation of the first aspect, determining the initial state of the wind turbine motor based on its rotor speed, speed command, and a preset threshold includes: comparing the rotor speed with a preset threshold k1; if the absolute value of the rotor speed is less than the preset threshold k1, the wind turbine motor is determined to be in a zero-low speed downwind or zero-low speed upwind state; if the absolute value of the rotor speed is greater than the preset threshold k1, and the rotor speed is in the opposite direction to the speed command, the wind turbine motor is determined to be in a upwind medium-high speed state; if the absolute value of the rotor speed is greater than the preset threshold k1, and the rotor speed is in the same direction as the speed command, the wind turbine motor is determined to be in a downwind medium-high speed state.
[0007] In one implementation of the first aspect, the step of selecting a matching start-up strategy based on the initial state of the wind turbine motor, and controlling the start-up of the wind turbine motor according to the start-up strategy, includes: if the wind turbine motor is in a zero-low speed downwind or zero-low speed upwind state, then controlling the wind turbine motor to start at zero-low speed downwind or zero-low speed upwind; if the wind turbine motor is in a upwind medium-high speed state, then controlling the wind turbine motor to start at upwind medium-high speed; if the wind turbine motor is in a downwind medium-high speed state, then controlling the wind turbine motor to start at downwind medium-high speed.
[0008] In one implementation of the first aspect, controlling the wind turbine motor to enter zero-low-speed tailwind or zero-low-speed headwind start includes: controlling the operation of the wind turbine motor by sending current control commands to the d-axis and q-axis; controlling the d-axis current to linearly change from 0 to I0 until the d-axis current I0 stabilizes, while the q-axis current remains at zero current control, so that the wind turbine motor enters a pre-positioning process; controlling the d-axis current to remain constant at I0, while the q-axis current remains at zero current control, so that the wind turbine motor enters an open-loop start-up process from the pre-positioning process; controlling the d-axis current to gradually decrease linearly from I0, while the q-axis current is generated by the speed loop output, so that the wind turbine motor enters an open-loop to closed-loop switching process from the open-loop start-up process; when the d-axis current linearly changes from I0 to 0, the open-loop to closed-loop switching process of the wind turbine motor ends, and the wind turbine motor enters a speed and current dual closed-loop control.
[0009] In one implementation of the first aspect, the d-axis current is controlled to linearly change from 0 to I0 until the d-axis current I0 stabilizes, while the q-axis current remains under zero-current control, so that the fan motor enters a pre-positioning process. The pre-positioning process includes: the fan motor driving an open-loop circuit with a given electrical angular frequency ω during the pre-positioning process. open The rotor position θ of the motor during open-loop drive is kept at 0.open The estimated rotor position θ0 of the fan motor is maintained at the end of the zero-current control.
[0010] In one implementation of the first aspect, the d-axis current is kept constant at I0, and the q-axis current is kept at zero current control, so that the wind turbine motor enters the open-loop start-up process from the prepositioning process. The open-loop start-up process includes: during the open-loop process, the d-axis current of the wind turbine motor is kept constant at I0, the q-axis current is continuously kept at zero current control, and the open-loop drive is driven at a given electrical angular frequency ω. open Starting from 0, the linear change progresses to the maximum value of the given electric angular frequency ω under open-loop dragging. max ω max In the same direction as the speed command of the fan motor, the rotor position θ of the fan motor during open-loop drive... open For: θ open =θ0+nω open Δt, where Δt represents the control cycle; n represents the nth control cycle; and θ0 is the estimated motor rotor position at the end of zero-current control.
[0011] In one implementation of the first aspect, the d-axis current is controlled to gradually decrease linearly from I0, and the q-axis current is generated by the speed loop output, so that the fan motor enters the open-loop to closed-loop switching process from the open-loop start-up process. The open-loop to closed-loop switching process includes: during the open-loop to closed-loop switching process, the fan motor gradually switches from pure current control to speed-current dual closed-loop control, the d-axis current changes linearly from I0 to 0, the q-axis current is output by the speed loop, and the open-loop drive is driven by a given electrical angular frequency ω. open Maintain the open-loop drag at the given maximum electrical angular frequency ω max ω max In the same direction as the speed command for the wind turbine motor, the rotor position θ of the wind turbine motor changes from θ... open Transition to θ est θ open =θ0+nω open Δt, the θ est It can be obtained by an observer; the observer is connected to the wind turbine motor and is used to estimate the electric angular frequency, rotor position and rotor speed of the wind turbine motor based on the voltage and current signals of the wind turbine motor; after the open-loop to closed-loop switching process is completed, the wind turbine motor enters speed and current dual closed-loop control.
[0012] In one implementation of the first aspect, controlling the wind turbine motor to enter high-speed start-up in headwind includes: controlling the d-axis current to linearly change from 0 to I1 and stabilize, while maintaining zero current control on the q-axis current, so that the wind turbine motor enters a reverse deceleration process; controlling the d-axis current to remain constant at I1, while maintaining zero current control on the q-axis current, so that the wind turbine motor enters an open-loop start-up process from the reverse deceleration process; controlling the d-axis current to gradually decrease linearly from I1, while the q-axis current is generated by the speed loop output, so that the wind turbine motor enters an open-loop to closed-loop switching process from the open-loop start-up process; when the d-axis current linearly changes to 0, the open-loop to closed-loop switching process of the wind turbine motor ends, and the wind turbine motor enters a dual closed-loop control of speed and current.
[0013] In one implementation of the first aspect, the d-axis current is controlled to linearly change from 0 to I1 and stabilize, while the q-axis current remains under zero-current control, so that the wind turbine motor enters a reverse deceleration process. The reverse deceleration process includes: during the reverse deceleration process, the d-axis current of the wind turbine motor linearly changes to I1 until the d-axis current stabilizes, where the current I1 is:
[0014]
[0015] Where I2 is the maximum open-loop drive current increment under headwind conditions, k1 is the threshold value for judging different operating conditions of the motor mentioned above, k2 is the upper limit of speed for current change under headwind conditions, and n est0 The estimated motor rotor speed at the end of zero-current control; the q-axis current remains at 0, and the open-loop drive is given an electrical angular frequency ω. open From ω open0 The motor rotor position θ during open-loop drive begins to change linearly to 0. open =θ0+nω open Δt.
[0016] In one implementation of the first aspect, the d-axis current is kept constant at I1, and the q-axis current is kept at zero current control, so that the wind turbine motor enters the open-loop start-up process from the reverse deceleration process. The open-loop start-up process includes: during the open-loop start-up process, the d-axis current of the wind turbine motor is kept constant at I1, the q-axis current is kept at zero current control, and the open-loop drive is driven at a given electrical angular frequency ω. open Starting from 0, it linearly changes until the maximum value of the given electric angular frequency ω of the open-loop drag. max ω max The rotor position θ of the motor during open-loop drive is in the same direction as the speed command of the fan motor. open =θ0+nω open Δt.
[0017] In one implementation of the first aspect, the d-axis current is controlled to gradually decrease linearly from I1, and the q-axis current is generated by the speed loop output, so that the fan motor enters the open-loop to closed-loop switching process from the open-loop start-up process. The open-loop to closed-loop switching process includes: during the open-loop to closed-loop switching process, the d-axis current changes linearly from I1 to 0, and the q-axis current is output by the speed loop, causing the fan motor to gradually switch from pure current control to speed and current dual closed-loop control. The open-loop drive is a given electrical angular frequency ω. open Maintain the open-loop drag at the given maximum electrical angular frequency ω max ω max In the same direction as the speed command for the fan motor, the rotor position θ of the motor starts from θ... open Transition to θ est θ open =θ0+nω open Δt, the θ est This can be obtained from the observer; after the open-loop to closed-loop switching process is completed, the wind turbine motor enters speed and current dual closed-loop control.
[0018] In one implementation of the first aspect, controlling the fan motor to enter the downwind medium-high speed start includes: when the fan motor is determined to be in the downwind medium-high speed by zero current control, controlling the fan motor to directly enter the speed and current dual closed-loop control.
[0019] Secondly, the present invention provides a start-up control system for a wind turbine motor, comprising: a control module for controlling the operation of the wind turbine motor; an acquisition module connected to the control module for acquiring the motor angular frequency, rotor position, and rotor speed of the wind turbine motor; a judgment module connected to the acquisition module for judging the initial state of the wind turbine motor; and a start-up module connected to the judgment module for starting the wind turbine motor.
[0020] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the above-described wind turbine motor start-up control method.
[0021] Fourthly, the present invention provides an electronic device, including at least one processor and one memory; the memory is used to store a computer program; the processor is connected to the memory and is used to execute the computer program stored in the memory, so that the electronic device performs the above-described fan motor start-up control method.
[0022] As described above, the starting control method, system, medium, and electronic equipment for a wind turbine motor of the present invention have the following beneficial effects:
[0023] (1) The initial speed of the fan motor can be accurately estimated, and the initial state of the motor can be accurately identified. The corresponding starting strategy can be adopted, which improves the success rate of fan motor starting and saves costs.
[0024] (2) The fan motor starts smoothly under different initial conditions, without causing too much impact on the fan. The noise during the start-up process is low, which improves the user experience.
[0025] (3) The drive current is dynamically adjusted according to the size of the headwind under headwind conditions, which is more energy-efficient, has high starting efficiency, fewer headwind starting switching processes, and a high starting success rate. Attached Figure Description
[0026] Figure 1 The diagram shown is a structural diagram of a drive control system for a wind turbine motor according to an embodiment of the present invention.
[0027] Figure 2 The diagram shown is a flowchart of a fan motor start-up control method according to an embodiment of the present invention.
[0028] Figure 3 The diagram shown is a schematic of a zero-current control drive circuit for a wind turbine motor according to an embodiment of the present invention.
[0029] Figure 4 The diagram shows the main signals of the zero-speed tailwind or zero-speed headwind start-up control process as described in an embodiment of the present invention.
[0030] Figure 5 Displayed as Figure 4 The block diagram of the pre-positioning and open-loop start-up process control principle.
[0031] Figure 6 Displayed as Figure 4 The block diagram of the open-loop to closed-loop process control principle.
[0032] Figure 7 The diagram shown is a block diagram illustrating the speed and current dual closed-loop control principle according to an embodiment of the present invention.
[0033] Figure 8 The diagram shows the main signals of the high-speed start-up control process in headwind as described in an embodiment of the present invention.
[0034] Figure 9 The diagram shown is a structural diagram of the fan motor starting control system according to an embodiment of the present invention.
[0035] Figure 10 The diagram shown is a structural diagram of an electronic device according to an embodiment of the present invention.
[0036] Component designation explanation
[0037] 100 Control Module
[0038] 200 Voltage Conversion Module
[0039] 210 First Voltage Conversion Module
[0040] 220 Second Voltage Conversion Module
[0041] 300 fan motor
[0042] 400 Current Conversion Module
[0043] 500 filter module
[0044] 600 observers
[0045] 900 Start-up Control System
[0046] 910 Control Module
[0047] 920 Acquisition Module
[0048] 930 Judgment Module
[0049] 940 processing module
[0050] 1000 electronic devices
[0051] 1100 processor
[0052] 1200 memory
[0053] S1~Sn fan motor start-up control method steps Detailed Implementation
[0054] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.
[0055] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0056] The following embodiments of the present invention provide a starting control method, system, medium and electronic equipment for a wind turbine motor, which solves the problem in the prior art that it is impossible to distinguish the operating state of the motor before starting and take corresponding starting strategies, and directly adopts a three-stage starting method, which increases the motor starting failure rate.
[0057] The following will describe in detail, with reference to the accompanying drawings, the principle and implementation of a wind turbine motor start-up control method, system, medium and electronic equipment according to this embodiment, so that those skilled in the art can understand the wind turbine motor start-up control method, system, medium and electronic equipment according to this embodiment without creative effort.
[0058] The technical solutions of the present invention will now be described in detail with reference to the accompanying drawings.
[0059] like Figure 1 As shown in the diagram, this embodiment provides a drive control system structure for a wind turbine motor, specifically including: a control module 100, a voltage conversion module 200, a wind turbine motor 300, a current conversion module 400, a filter module 500, and an observer 600. The voltage conversion module 200 includes a first voltage conversion unit 210, a second voltage conversion unit 220, and a third voltage conversion unit 230.
[0060] In one embodiment of the present invention, the control module 100 is connected to the voltage conversion module 200. The control module is used to output current command control. The current command is input to the voltage conversion module 200. After the current enters the voltage conversion module 200, it is first processed by the first voltage conversion unit 210 to convert the current signal into a voltage signal in a two-phase rotating coordinate system. Then, the voltage signal is processed by the second voltage conversion unit 220 to obtain a voltage signal in a two-phase stationary coordinate system. Then, it is processed by the third voltage conversion unit 230 to obtain the three-phase voltage of the drive motor. The three-phase voltage enters the fan motor 300 to obtain the three-phase current of the fan motor. The three-phase current flowing out of the fan motor is processed by the current conversion module 400 to obtain a two-phase current (including the current in a two-phase stationary coordinate system and the current in a two-phase rotating coordinate system). After being processed by the filter module 500, the voltage command is obtained by the voltage conversion module 200. The observer 600 uses the three-phase current flowing from the wind turbine motor and the voltage processed by the second voltage conversion unit to determine the current electrical angular frequency, rotor position, and rotor speed of the wind turbine motor. The control module 100 determines the current state of the wind turbine motor based on the rotor speed, the output speed command, and a preset threshold.
[0061] The control module 100 may be an MCU controller, used to control the operation of the wind turbine motor. The control module also includes a logic judgment unit, which is used to determine the current state of the wind turbine motor based on the rotor speed of the wind turbine motor, the output wind turbine motor speed command, and a preset threshold.
[0062] like Figure 2 As shown, this embodiment provides a starting control method for a fan motor, the starting control method including:
[0063] S1. Output a zero-current control command to control the fan motor.
[0064] In one embodiment, the control module outputs current control commands to control the fan motor, wherein the current control commands are d-axis and q-axis current commands. The zero-current control command in this invention is a d-axis and q-axis input of 0 current. In one embodiment, the control module controls the output of zero-current control commands for the d-axis and q-axis to control the operation of the fan motor.
[0065] S2. Obtain the motor angular frequency, motor rotor position, and motor rotor speed of the fan motor under zero current control.
[0066] In one embodiment, the electric angular frequency, rotor position, and rotor speed of the fan motor under zero-current control are obtained.
[0067] Specifically, such as Figure 3 As shown, the control module outputs zero-current control commands for the d-axis and q-axis. The zero-current control command first converts the current signal into a voltage signal in a two-phase rotating coordinate system via a current loop. Then, this voltage signal undergoes coordinate transformation 1 to obtain a voltage signal in a two-phase stationary coordinate system. Finally, it passes through SVPWM to obtain the three-phase voltage for the drive motor. The three-phase voltage enters the wind turbine motor, resulting in the three-phase current. The observer uses the three-phase current flowing from the wind turbine motor and the two-phase stationary coordinate system voltage signal obtained through coordinate transformation 1 to determine the electric angular frequency ω of the wind turbine motor at this time. open0 The motor rotor position θ0 and the motor rotor speed n est0 .
[0068] S3. Determine the initial state of the fan motor based on the rotor speed of the fan motor, the speed command of the fan motor, and the preset threshold.
[0069] In one embodiment of the present invention, the initial state of the wind turbine motor is determined based on the rotor speed of the wind turbine motor obtained under zero current control, the speed command of the wind turbine motor, and a preset threshold.
[0070] In one embodiment of the present invention, determining the initial state of the wind turbine motor based on the rotor speed of the wind turbine motor, the speed command of the wind turbine motor, and a preset threshold includes the following steps:
[0071] S31. Compare the rotor speed of the fan motor with a preset threshold k1.
[0072] In one embodiment of the present invention, the rotor speed of the wind turbine motor is compared with a preset threshold k1.
[0073] Specifically, the rotor speed n of the wind turbine motor obtained under zero-current control is... est0 The speed is compared with a preset threshold k1. If the rotor speed of the fan motor is in the same direction as the fan motor speed command, the fan motor is in a downwind state; if the rotor speed of the fan motor is in a different direction from the fan motor speed command, the fan motor is in a headwind state.
[0074] S32. If the absolute value of the rotor speed of the fan motor is less than the preset threshold k1, then the fan motor is determined to be in a zero-low speed downwind or zero-low speed upwind state.
[0075] In one embodiment of the present invention, if the absolute value of the rotor speed of the wind turbine motor is less than the preset threshold k1, the wind turbine motor is determined to be in a zero-low speed downwind or zero-low speed upwind state.
[0076] Specifically, if the rotor speed n of the fan motor is obtained under zero current control... est0 If the absolute value of the speed is less than the preset threshold k1, the fan motor is determined to be in a zero-low speed downwind or zero-low speed upwind state. In this case, it is not necessary to determine the direction of the fan motor. If the absolute value of the fan motor rotor speed is less than the preset threshold k1, the fan motor rotor speed is very small, and the outside wind is also very weak and negligible; therefore, a three-stage start-up can be directly adopted.
[0077] S33. If the absolute value of the rotor speed of the fan motor is greater than the preset threshold k1, and the rotor speed of the fan motor and the speed command of the fan motor are in different directions, then the fan motor is determined to be in a high-speed state against the wind.
[0078] In one embodiment of the present invention, if the absolute value of the rotor speed of the wind turbine motor is greater than the preset threshold k1, and the rotor speed of the wind turbine motor and the wind turbine motor speed command are in different directions, then the wind turbine motor is determined to be in a high-speed state against the wind.
[0079] Specifically, if the rotor speed n of the fan motor is obtained under zero current control...est0 If the absolute value of the speed is greater than the preset threshold k1, and the motor rotor speed and the fan motor speed command obtained under zero current control are in different directions, then the fan motor is determined to be in a high-speed state against the wind.
[0080] It should be noted that the rotor speed of the wind turbine motor and the speed command of the wind turbine motor are in different directions. That is, one of the rotor speed and the speed command of the wind turbine motor is in the forward direction and the other is in the reverse direction. In different embodiments, there may be multiple situations, such as the rotor speed being in the forward direction and the speed command of the wind turbine motor being in the reverse direction, or the rotor speed being in the reverse direction and the speed command of the wind turbine motor being in the forward direction. No specific limitation is made here.
[0081] S34. If the absolute value of the rotor speed of the fan motor is greater than the preset threshold k1, and the rotor speed of the fan motor is in the same direction as the fan motor speed command, then the fan motor is determined to be in a downwind medium-high speed state.
[0082] In one embodiment of the present invention, if the absolute value of the rotor speed of the fan motor is greater than the preset threshold k1, and the rotor speed of the fan motor and the speed command of the fan motor are in the same direction, then the fan motor is determined to be in a downwind high-speed state.
[0083] Specifically, if the rotor speed n of the fan motor is obtained under zero current control... est0 If the absolute value of the speed is greater than the preset threshold k1, and the motor rotor speed and the fan motor speed command obtained under zero current control are in the same direction, then the fan motor is determined to be in a downwind medium-high speed state.
[0084] It should be noted that the rotor speed of the wind turbine motor and the speed command of the wind turbine motor are in the same direction, that is, the rotor speed of the motor and the speed command of the wind turbine motor are either both in the positive direction or both in the opposite direction.
[0085] S4. Select a matching start-up strategy based on the initial state of the fan motor, and control the fan motor to start according to the start-up strategy.
[0086] In one embodiment of the present invention, a matching start-up strategy is selected according to the initial state of the wind turbine motor, and the wind turbine motor is started according to the start-up strategy.
[0087] In one embodiment of the present invention, a matching starting strategy is selected based on the motor angular frequency, rotor position, and initial state of the wind turbine motor obtained under zero-current control, and the wind turbine motor is started according to the starting strategy. The starting strategy includes the following steps:
[0088] S41. If the fan motor is in a zero-low speed downwind or zero-low speed upwind state, then control the fan motor to start at zero-low speed downwind or zero-low speed upwind.
[0089] In one embodiment of the present invention, controlling the wind turbine motor to enter zero-low-speed tailwind or zero-low-speed headwind start includes: controlling the operation of the wind turbine motor by sending current control commands to the d-axis and q-axis; controlling the d-axis current to linearly change from 0 to I0 until the d-axis current I0 stabilizes, while the q-axis current remains at zero current control, so that the wind turbine motor enters a pre-positioning process; controlling the d-axis current to remain constant at I0, while the q-axis current remains at zero current control, so that the wind turbine motor enters an open-loop start-up process from the pre-positioning process; controlling the d-axis current to gradually decrease linearly from I0, while the q-axis current is generated by the speed loop output, so that the wind turbine motor enters an open-loop to closed-loop switching process from the open-loop start-up process; when the d-axis current linearly changes from I0 to 0, the open-loop to closed-loop switching process of the wind turbine motor ends, and the wind turbine motor enters a speed and current dual closed-loop control.
[0090] like Figure 4 The diagram shown illustrates the main signals of the zero-low-speed tailwind or zero-low-speed headwind start-up control process according to an embodiment of the present invention. The wind turbine motor enters the zero-low-speed tailwind or zero-low-speed headwind start-up process using a three-stage start-up, which includes three processes: pre-positioning, open-loop start-up, and open-loop to closed-loop switching. During the pre-positioning and open-loop start-up processes, current loop control is used. When entering the open-loop to closed-loop switching process, the wind turbine motor gradually switches from pure current control to speed-current dual closed-loop control. Figure 5-7 As shown, Figure 5 Displayed as Figure 4 The aforementioned block diagram of the pre-positioning and open-loop start-up process control principle. Figure 6 Displayed as Figure 4 The block diagram of the open-loop to closed-loop process control principle. Figure 7 The diagram shown illustrates the speed-current dual closed-loop control principle according to an embodiment of the present invention. The specific process is as follows: The d-axis current is controlled to linearly change from 0 to I0 until I0 stabilizes, while the q-axis current remains at zero current control, allowing the fan motor to enter a pre-positioning process; the d-axis current is controlled to remain constant at I0, and the q-axis current remains at zero current control, allowing the fan motor to transition from the pre-positioning process to an open-loop start-up process; the d-axis current is controlled to gradually decrease linearly from I0, while the q-axis current is generated by the speed loop output, allowing the fan motor to transition from the open-loop start-up process to an open-loop to closed-loop switching process; when the d-axis current linearly changes from I0 to 0, the open-loop to closed-loop switching process of the fan motor ends, and the fan motor enters speed-current dual closed-loop control.
[0091] During the pre-positioning process, the q-axis current command remains 0, and the d-axis current command is I0. The d-axis current linearly changes from 0 to I0 within time t1 until I0 stabilizes. The time required for the d-axis current to stabilize is t2. During the open-loop start-up process, the q-axis current command remains 0, and the d-axis current command is I0. The open-loop drag time is t3. During the open-loop to closed-loop switching process, the d-axis current linearly changes from I0 to 0, and the q-axis current is generated by the speed loop output. The time required for the open-loop to closed-loop switching process is t4. When entering the open-loop to closed-loop switching process, the fan motor will gradually switch from pure current control to speed-current dual closed-loop control. The open-loop to closed-loop switching process ends, and the fan motor enters speed-current dual closed-loop control.
[0092] Where I0 is the driving current, t1 is the time required for the driving current to increase to the preset value, t2 is the positioning time, t3 is the open-loop driving time, t4 is the time required to switch from open-loop to closed-loop, and ω max To provide the maximum value of the given electric angular frequency for open-loop drive, ω max In the same direction as the speed command for the fan motor.
[0093] In one embodiment of the present invention, the d-axis current is controlled to linearly change from 0 to I0 until the d-axis current I0 stabilizes, while the q-axis current remains under zero-current control, so that the wind turbine motor enters a pre-positioning process. The pre-positioning process includes: the wind turbine motor driving an open-loop circuit with a given electrical angular frequency ω during the pre-positioning process. open The rotor position θ of the motor during open-loop drive is kept at 0. open The estimated rotor position θ0 of the fan motor is maintained at the end of the zero-current control.
[0094] Specifically, such as Figure 4 As shown, during the pre-positioning process, the q-axis current command is always 0, and the d-axis current command is I0. The d-axis current first changes linearly from 0 to I0 within t1, until the current I0 stabilizes. The time taken for the d-axis current to stabilize is t2, while maintaining the motor rotor position θ during open-loop drive. open Stable positioning at the estimated rotor position θ0 of the wind turbine motor at the end of zero-current control, maintaining open-loop drive at the given electrical angular frequency ω open It is 0.
[0095] In one embodiment of the present invention, the operation of the wind turbine motor is controlled by sending current control commands to the d-axis and q-axis, wherein the d-axis current is kept constant at I0 and the q-axis current is kept at zero current control, so that the wind turbine motor enters the open-loop start-up process from the prepositioning process. The open-loop start-up process includes: during the open-loop process, the d-axis current of the wind turbine motor is kept constant at I0, the q-axis current is kept at zero current control, and the open-loop drive is driven at a given electrical angular frequency ω. openStarting from 0, the linear change progresses to the maximum value of the given electric angular frequency ω under open-loop dragging. max ω max The rotor position θ of the motor during open-loop drive is in the same direction as the speed command of the fan motor. open for:
[0096] θ open =θ0+nω open Δt formula (1);
[0097] Where Δt represents the control cycle; n represents the nth control cycle; and θ0 is the estimated motor rotor position at the end of zero-current control.
[0098] Specifically, such as Figure 4 As shown, during the open-loop startup process, the q-axis current command remains at zero current control, the d-axis current command remains at I0, the open-loop drag time is t3, and the open-loop drag is given by an electrical angular frequency ω. open Starting from 0, the linear change progresses to the maximum value of the given electric angular frequency ω under open-loop dragging. max ω max The rotor position θ of the motor during open-loop drive is in the same direction as the speed command of the fan motor. open for:
[0099] θ open =θ0+nω open Δt formula (1);
[0100] Where Δt represents the control cycle; n represents the nth control cycle; and θ0 is the estimated motor rotor position at the end of zero-current control.
[0101] In one embodiment of the present invention, the d-axis current is controlled to gradually decrease linearly from I0, and the q-axis current is generated by the speed loop output, so that the fan motor enters the open-loop to closed-loop switching process from the open-loop start-up process. The open-loop to closed-loop switching process includes: during the open-loop to closed-loop switching process, the fan motor gradually switches from pure current control to speed and current dual closed-loop control, the d-axis current changes linearly from I0 to 0, the q-axis current is output by the speed loop, and the open-loop drive is driven by a given electrical angular frequency ω. open Maintain the open-loop drag at the given maximum electrical angular frequency ω max ω max In the same direction as the speed command for the fan motor, the rotor position θ of the fan motor changes from θ... open Transition to θ est θ open =θ0+nω open Δt, the θ estThe data can be obtained by an observer connected to the wind turbine motor. The observer is used to obtain the electric angular frequency, rotor position and rotor speed of the wind turbine motor based on the voltage and current of the wind turbine motor. After the open-loop to closed-loop switching process is completed, the wind turbine motor enters speed and current dual closed-loop control.
[0102] Specifically, such as Figure 4 As shown, during the open-loop to closed-loop switching process, the d-axis current changes linearly from I0 to 0, the q-axis current is output by the velocity loop, and the open-loop drives a given electrical angular frequency ω. open Maintain the open-loop drag at the given maximum electrical angular frequency ω max ω max In the same direction as the speed command for the fan motor, the rotor position θ of the fan motor changes from θ... open Transition to θ est θ open =θ0+nω open Δt, the θ est The data can be obtained by an observer connected to the wind turbine motor. The observer is used to obtain the electric angular frequency, rotor position and rotor speed of the wind turbine motor based on the voltage and current of the wind turbine motor. The time required to switch from open loop to closed loop is t4. After the open loop to closed loop process is completed, the wind turbine motor enters speed and current dual closed loop control.
[0103] like Figure 5-7 As shown, Figure 5 Displayed as Figure 4 The block diagram of the pre-positioning and open-loop start-up process control principle is described above. During the pre-positioning and open-loop start-up process, the current loop controls the d-axis and q-axis currents, and the observer continuously runs to obtain various parameters during the wind turbine motor start-up process. Figure 6 Displayed as Figure 4 The schematic diagram of the open-loop to closed-loop process control circuit shows that during the open-loop to closed-loop process, the d-axis current command is controlled by the current loop, and the q-axis current command is controlled by both the speed loop and the current loop to control the operation of the wind turbine motor. The observer runs continuously to obtain various parameters during the start-up process of the wind turbine motor. Figure 7 The diagram shown illustrates the speed-current dual closed-loop control principle according to an embodiment of the present invention. After the open-loop to closed-loop switching process is completed, the wind turbine motor enters the speed-current dual closed-loop control. The d-axis current command is controlled by the current loop and is a zero-current control command. The q-axis current command is controlled simultaneously by the speed loop and the current loop. The observer runs continuously to obtain various parameters during the wind turbine motor startup process.
[0104] S42. If the fan motor is in a high-speed, headwind state, then control the fan motor to start in a high-speed, headwind state.
[0105] In one embodiment of the present invention, controlling the wind turbine motor to enter high-speed start-up in headwind includes: controlling the d-axis current to linearly change from 0 to I1 and stabilize, while keeping the q-axis current under zero current control, so that the wind turbine motor enters a reverse deceleration process; controlling the d-axis current to keep I1 constant, while keeping the q-axis current under zero current control, so that the wind turbine motor enters an open-loop start-up process from the reverse deceleration process; controlling the d-axis current to gradually decrease linearly from I1, while the q-axis current is generated by the speed loop output, so that the wind turbine motor enters an open-loop to closed-loop switching process from the open-loop start-up process; when the d-axis current linearly changes from I1 to 0, the open-loop to closed-loop switching process of the wind turbine motor ends, and the wind turbine motor enters a dual closed-loop control of speed and current.
[0106] Specifically, such as Figure 8 The diagram shown illustrates the main signals during the high-speed start-up process against the wind, as described in an embodiment of the present invention. The high-speed start-up of the wind turbine motor against the wind also undergoes the same control process as the start-up at zero low speed with the wind or zero low speed against the wind. Figure 5-7 As shown, details are omitted here. The high-speed start-up in headwind also employs a three-stage start-up, but it differs from zero-low-speed tailwind or zero-low-speed headwind start-up. The high-speed start-up in headwind includes three processes: reverse deceleration, open-loop start-up, and open-loop to closed-loop switching. Specifically: the d-axis current is controlled to linearly change from 0 to I1 and stabilize, while the q-axis current remains at zero current control, allowing the wind turbine motor to enter the reverse deceleration process; the d-axis current is controlled to remain constant at I1, and the q-axis current remains at zero current control, allowing the wind turbine motor to transition from the reverse deceleration process to the open-loop start-up process; the d-axis current is controlled to gradually decrease linearly from I1, while the q-axis current is generated by the speed loop output, allowing the wind turbine motor to transition from the open-loop start-up process to the open-loop to closed-loop switching process; when the d-axis current linearly changes to 0, the open-loop to closed-loop switching process of the wind turbine motor ends, and the wind turbine motor enters a dual closed-loop control system of speed and current.
[0107] During the reverse deceleration process, the q-axis current command remains 0, and the d-axis current command is I1. The d-axis current linearly changes from 0 to I1 within time T1 until I1 stabilizes. The time required for the d-axis current to stabilize is T2. During the open-loop start-up process, the q-axis current command remains 0, and the d-axis current command is I1. The open-loop drag time is T3. During the open-loop to closed-loop switching process, the d-axis current gradually decreases from I1 to 0 linearly, and the q-axis current is generated by the speed loop output. The time required for the open-loop to closed-loop switching process is T4. When entering the open-loop to closed-loop switching process, the fan motor will gradually switch from pure current control to speed and current dual closed-loop control. The open-loop to closed-loop switching process ends, and the fan motor enters speed and current dual closed-loop control.
[0108] Where I1 is the open-loop drive current, T1 is the time required for the drive current to increase to the preset value, T2 is the reverse deceleration time, T3 is the forward open-loop drive time, T4 is the time required to switch from open-loop to closed-loop, and ω max The maximum value of the given electrical angular frequency is given for open-loop drive. T1, T2, T3, and T4 are not related to t1, t2, t3, and t4 during zero-low speed downwind or zero-low speed upwind start-up processes, and can be adjusted according to the actual operating state of the fan motor.
[0109] In one embodiment of the present invention, the d-axis current is controlled to linearly change from 0 to I1 and stabilize, while the q-axis current remains under zero-current control, so that the wind turbine motor enters a reverse deceleration process. The reverse deceleration process includes: during the reverse deceleration process, the linear change of the d-axis current of the wind turbine motor slowly accumulates to I1 until the d-axis current stabilizes. The current I1 is:
[0110]
[0111] Where I2 is the maximum increment of open-loop drive current under headwind conditions, k1 is the threshold value for judging different operating conditions of the motor mentioned above, k2 is the upper limit of speed for current change under headwind conditions, and n est0 The estimated motor rotor speed at the end of zero-current control;
[0112] The q-axis current is kept at 0, and the open-loop drive is given an electrical angular frequency ω. open From ω open0 The motor rotor position θ during open-loop drive begins to change linearly to 0. open =θ0+nω open Δt.
[0113] Specifically, such as Figure 8 As shown, during the reverse deceleration process, the q-axis current maintains zero current control, and the d-axis current command is I1. The d-axis current first linearly changes from 0 and slowly accumulates to I1 within T1 until the current I1 stabilizes. The required time is T2, and the current I1 is:
[0114]
[0115] Where I2 is the maximum increment of open-loop drive current under headwind conditions, k1 is the threshold value for judging different operating conditions of the motor mentioned above, k2 is the upper limit of speed for current change under headwind conditions, and n est0 The estimated motor rotor speed at the end of zero-current control.
[0116] Meanwhile, unlike the zero-low-speed tailwind or zero-low-speed headwind start-up process, in the reverse deceleration process, the open-loop drive is driven at a given electrical angular frequency ω. openInstead of changing linearly from 0, ω is obtained from zero current control. open0 The motor rotor position θ during open-loop drive begins to change linearly. open =θ0+nω open Δt.
[0117] In one embodiment of the present invention, the d-axis current is controlled to remain constant at I1, and the q-axis current is controlled to zero current, so that the wind turbine motor enters the open-loop start-up process from the reverse deceleration process. The open-loop start-up process includes: during the open-loop start-up process, the d-axis current of the wind turbine motor remains constant at I1, the q-axis current is controlled to zero current, and the open-loop drive is driven at a given electrical angular frequency ω. open Starting from 0, it linearly changes until the maximum value of the given electric angular frequency ω of the open-loop drag. max ω max The rotor position θ of the motor during open-loop drive is in the same direction as the speed command of the fan motor. open =θ0+nω open Δt.
[0118] Specifically, such as Figure 8 As shown, during the open-loop startup process, the d-axis current command remains at I1, the q-axis maintains zero current control, the open-loop drag time is T3, and the open-loop drag given electrical angular frequency ω open Starting from 0, it linearly changes until the maximum value of the given electric angular frequency ω of the open-loop drag. max ω max The rotor position θ of the motor during open-loop drive is in the same direction as the speed command of the fan motor. open =θ0+nω open Δt.
[0119] In one embodiment of the present invention, the d-axis current is controlled to gradually decrease linearly from I1, and the q-axis current is generated by the speed loop output, so that the wind turbine motor enters the open-loop to closed-loop switching process from the open-loop start-up process. The open-loop to closed-loop switching process includes: during the open-loop to closed-loop switching process, the d-axis current changes linearly from I1 to 0, and the q-axis current is output by the speed loop, causing the wind turbine motor to gradually switch from pure current control to speed and current dual closed-loop control. The open-loop drive is driven by a given electrical angular frequency ω. open Maintain the open-loop drag at the given maximum electrical angular frequency ω max ω max In the same direction as the speed command for the fan motor, the rotor position θ of the fan motor changes from θ... open Transition to θ est θ open =θ0+nω open Δt, the θ estThis can be obtained from the observer; after the open-loop to closed-loop switching process is completed, the fan motor enters speed and current dual closed-loop control.
[0120] Specifically, such as Figure 8 As shown, during the open-loop to closed-loop switching process, the d-axis current changes linearly from I1 to 0, and the q-axis current is output from the speed loop, causing the fan motor to gradually switch from pure current control to speed-current dual closed-loop control. The open-loop drive is driven by a given electrical angular frequency ω. open Maintain the open-loop drag at the given maximum electrical angular frequency ω max ω max In the same direction as the speed command for the fan motor, the rotor position θ of the fan motor changes from θ... open Transition to θ est θ open =θ0+nω open Δt, the θ est As can be obtained from the observer, after the open-loop to closed-loop process is completed, the wind turbine motor enters speed and current dual closed-loop control.
[0121] The high-speed start-up of the wind turbine motor against the wind also involves the same control process as starting at zero low speed with the wind or zero low speed against the wind, such as... Figure 5-7 As shown in the above description, we will not elaborate further here.
[0122] S43. If the fan motor is in a downwind medium-high speed state, then control the fan motor to start in a downwind medium-high speed state.
[0123] In one embodiment of the present invention, controlling the fan motor to enter the downwind medium-high speed start includes: when the fan motor is determined to be in the downwind medium-high speed by zero current control, controlling the fan motor to directly enter the speed and current dual closed-loop control.
[0124] Specifically, such as Figure 7 As shown, after the open-loop to closed-loop switching process is completed, the wind turbine motor enters a dual closed-loop control of speed and current. The d-axis current command is controlled by the current loop and is a zero-current control command. The q-axis current command is controlled by both the speed loop and the current loop. The observer runs continuously to obtain various parameters during the wind turbine motor startup process.
[0125] It should be noted that the protection scope of the wind turbine motor start-up control method described in the embodiments of the present invention is not limited to the execution order of the steps listed in this embodiment. Any solution implemented by adding, subtracting, or replacing steps in the prior art based on the principles of the present invention is included within the protection scope of the present invention.
[0126] In one embodiment of the present invention, a start-up control system for a wind turbine motor is provided. The start-up control system includes a control module, an acquisition module, a judgment module, and a start-up module. The control module controls the operation of the wind turbine motor and outputs current control commands. The acquisition module is connected to the control module and acquires the motor's electrical angular frequency, rotor position, and rotor speed during start-up under current control. The judgment module is connected to the acquisition module and determines the initial state of the wind turbine motor. The processing module is connected to the judgment module and processes the start-up of the wind turbine motor.
[0127] like Figure 9 The diagram shows a schematic of the start-up control system for a wind turbine motor according to an embodiment of the present invention. The control module 910 is used to control the operation of the wind turbine motor and to output current control commands. The acquisition module 920 is connected to the control module 910 and is used to acquire the motor angular frequency, rotor position, and rotor speed of the wind turbine motor when it starts under current control. The judgment module 930 is connected to the acquisition module 920 and is used to judge the initial state of the wind turbine motor. The processing module 940 is connected to the judgment module 930 and is used to process the start-up of the wind turbine motor.
[0128] It should be noted that the structure and principle of the control module 910, acquisition module 920, judgment module 930 and processing module 940 correspond one-to-one with the steps and embodiments in the above-mentioned wind turbine motor start-up control method, so they will not be repeated here.
[0129] The wind turbine motor start-up control system provided in this embodiment of the invention can implement the wind turbine motor start-up control method described in this invention. However, the implementation device of the wind turbine motor start-up control method described in this invention includes, but is not limited to, the structure of the wind turbine motor start-up control system listed in this embodiment. All structural modifications and substitutions of the prior art made in accordance with the principles of this invention are included within the protection scope of this invention.
[0130] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, or methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of apparatuses or modules or units may be electrical, mechanical, or other forms.
[0131] The modules / units described as separate components may or may not be physically separate. The components shown as modules / units may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules / units can be selected to achieve the objectives of the embodiments of the present invention, depending on actual needs. For example, the functional modules / units in the various embodiments of the present invention may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.
[0132] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0133] In this embodiment of the invention, a computer-readable storage medium is provided. A computer program is stored thereon, which is executed by a processor to implement the start-up control method for a wind turbine motor as described in any of the above embodiments. Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by instructing a processor through a program. The program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state hard disk, magnetic tape, floppy disk, optical disk, and any combination thereof. The storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0134] In this embodiment of the invention, an electronic device is also provided, including at least one processor and one memory; the memory is used to store a computer program; the processor is connected to the memory and is used to execute the computer program stored in the memory, so that the electronic device performs the start-up control method for the wind turbine motor described in any of the above claims.
[0135] like Figure 10 As shown, the present invention provides an electronic device 1000, including a processor 1100 and a memory 1200. The memory stores a computer program, and the processor is communicatively connected to the memory. When the computer program is invoked, it is executed. Figure 2 The starting control method for the fan motor is shown.
[0136] Specifically, the processor 1100 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The memory 1200 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.
[0137] Embodiments of the present invention may also provide a computer program product comprising one or more computer instructions. When the computer instructions are loaded and executed on a computing device, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.
[0138] When the computer program product is executed by a computer, the computer performs the method described in the foregoing method embodiments. The computer program product can be a software installation package; when the foregoing method is required, the computer program product can be downloaded and executed on the computer.
[0139] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.
[0140] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.
Claims
1. A method for starting control of a fan motor, characterized in that, The startup control method includes: Output a zero-current control command to control the fan motor; Obtain the electric angular frequency, rotor position, and rotor speed of the fan motor under zero-current control; The initial state of the fan motor is determined based on the rotor speed of the fan motor, the speed command of the fan motor, and a preset threshold. A matching start-up strategy is selected based on the initial state of the wind turbine motor, and the wind turbine motor is started according to the start-up strategy. The start-up strategy includes: if the wind turbine motor is in a high-speed, headwind state, then the wind turbine motor is controlled to enter a high-speed, headwind start-up state, and the d-axis current is controlled to linearly change from 0 to... And stabilize, the q-axis current is kept at zero current control, so that the fan motor enters the reverse deceleration process; The reverse deceleration process includes: during the reverse deceleration process, the d-axis current of the fan motor changes linearly to... Until the d-axis current stabilizes, the current for: ， Where I2 is the maximum open-loop drive current increment under headwind conditions, k1 is the threshold for judging different operating conditions of the motor, k2 is the upper limit of speed for current change under headwind conditions, and n est0 I0 is the estimated motor rotor speed at the end of zero-current control, and I0 is the drive current. The q-axis current remains 0, and the open-loop drive is used to determine the given electrical angular frequency. from The motor rotor position during open-loop drive changes linearly to 0. ; Where θ0 is the estimated motor rotor position at the end of zero-current control, n represents the nth control cycle, Δt represents the control cycle, and ω open0 This represents the electric angular frequency of the motor obtained under zero-current control.
2. The start-up control method for a fan motor according to claim 1, characterized in that, The step of determining the initial state of the wind turbine motor based on the rotor speed of the wind turbine motor, the speed command of the wind turbine motor, and a preset threshold includes: The rotor speed of the wind turbine motor is compared with a preset threshold k1; If the absolute value of the rotor speed of the wind turbine motor is less than the preset threshold k1, then the wind turbine motor is determined to be in a zero-low speed downwind or zero-low speed upwind state. If the absolute value of the rotor speed of the wind turbine motor is greater than the preset threshold k1, and the rotor speed of the wind turbine motor is in the opposite direction to the speed command of the wind turbine motor, then the wind turbine motor is determined to be in a high-speed state against the wind. If the absolute value of the rotor speed of the wind turbine motor is greater than the preset threshold k1, and the rotor speed of the wind turbine motor is in the same direction as the speed command of the wind turbine motor, then the wind turbine motor is determined to be in a downwind medium-high speed state.
3. The start-up control method for a fan motor according to claim 2, characterized in that, The step of selecting a matching start-up strategy based on the initial state of the wind turbine motor, and controlling the start-up of the wind turbine motor according to the start-up strategy, further includes: If the fan motor is in a zero-low speed downwind or zero-low speed upwind state, then control the fan motor to start at zero-low speed downwind or zero-low speed upwind. If the fan motor is in a downwind medium-high speed state, then control the fan motor to start in a downwind medium-high speed state.
4. The start-up control method for a fan motor according to claim 3, characterized in that, The control of the fan motor to enter zero-low speed downwind or zero-low speed upwind start includes: The operation of the fan motor is controlled by sending current control commands to the d-axis and q-axis; The d-axis current is controlled to change linearly from 0 to I0 until the d-axis current stabilizes, while the q-axis current is kept at zero current control, so that the fan motor enters the pre-positioning process. The d-axis current is controlled to remain constant at I0, and the q-axis current is controlled to remain at zero current, so that the fan motor can enter the open-loop start-up process from the prepositioning process. The d-axis current is controlled to gradually decrease linearly from I0, and the q-axis current is generated by the speed loop output, so that the fan motor enters the open-loop to closed-loop switching process from the open-loop start-up process. When the d-axis current changes linearly from I0 to 0, the open-loop to closed-loop switching process of the fan motor ends, and the fan motor enters speed and current dual closed-loop control.
5. The starting control method for a fan motor according to claim 4, characterized in that, The d-axis current is controlled to linearly change from 0 to I0 until the d-axis current stabilizes, while the q-axis current remains under zero-current control, so that the fan motor enters a pre-positioning process, which includes: During the pre-positioning process, the fan motor drives a given electrical angular frequency ω in an open-loop manner. open The motor rotor position remains at 0 during open-loop drive. Maintain the estimated rotor position of the fan motor at the end of the zero-current control. .
6. The starting control method for a fan motor according to claim 4, characterized in that, The d-axis current is kept constant at I0, and the q-axis current is kept at zero current control, so that the fan motor enters the open-loop start-up process from the pre-positioning process. The open-loop start-up process includes: During the open-loop operation of the fan motor, the d-axis current remains at I0, and the q-axis current remains at zero current control, driving the given electrical angular frequency in the open-loop operation. Starting from 0, the linear change progresses to the maximum value of the given electric angular frequency under open-loop dragging. , In the same direction as the speed command of the fan motor, the rotor position of the fan motor during open-loop drive... for: ， in, Indicates the control cycle; Indicates the first One control cycle, The motor rotor position is estimated at the end of zero-current control.
7. The start-up control method for a fan motor according to claim 4, characterized in that, The d-axis current is controlled to gradually decrease linearly from I0, and the q-axis current is generated by the speed loop output, so that the fan motor transitions from the open-loop start-up process to the open-loop to closed-loop switching process, which includes: During the open-loop to closed-loop switching process, the fan motor gradually switches from pure current control to dual speed and current closed-loop control. The d-axis current linearly changes from I0 to 0, and the q-axis current is output from the speed loop. The open-loop drive is driven by a given electrical angular frequency. Maintain open-loop drag at the maximum value of the given electric angular frequency , The rotor position of the fan motor is in the same direction as the speed command of the fan motor. from Transition to , , the θ est The data is obtained from the observer; the observer is connected to the wind turbine motor and is used to estimate the electric angular frequency, rotor position and rotor speed of the wind turbine motor based on the voltage and current signals of the wind turbine motor; where θ0 represents the estimated rotor position at the end of zero current control, n represents the nth control cycle and Δt represents the control cycle. After the open-loop to closed-loop switching process is completed, the fan motor enters speed and current dual closed-loop control.
8. The start-up control method for a fan motor according to claim 3, characterized in that, The method of controlling the fan motor to start at high speed in a headwind also includes: The d-axis current is controlled to remain constant at I1, and the q-axis current is controlled to remain at zero current, so that the fan motor can enter the open-loop start-up process from the reverse deceleration process. The d-axis current is controlled to gradually decrease from a linear change of I1, and the q-axis current is generated by the speed loop output, so that the fan motor enters the open-loop switching closed-loop process from the open-loop start-up process. When the d-axis current changes linearly from I1 to 0, the open-loop to closed-loop switching process of the fan motor ends, and the fan motor enters speed and current dual closed-loop control.
9. The starting control method for a fan motor according to claim 8, characterized in that, The d-axis current is kept constant at I1, and the q-axis current is kept at zero current control, so that the fan motor enters the open-loop start-up process from the reverse deceleration process. The open-loop start-up process includes: During the open-loop startup process, the d-axis current of the wind turbine motor remains at I1, the q-axis current remains at zero current control, and the open-loop drive is driven at a given electrical angular frequency. Starting from 0, the linear change progresses to the maximum value of the given electric angular frequency under open-loop dragging. , The rotor position of the fan motor during open-loop operation is in the same direction as the speed command of the fan motor. ; Where θ0 is the estimated rotor position of the motor at the end of zero current control, n represents the nth control cycle, and Δt represents the control cycle.
10. The start-up control method for a fan motor according to claim 8, characterized in that, The d-axis current is controlled to gradually decrease linearly from I1, and the q-axis current is generated by the speed loop output, so that the fan motor transitions from the open-loop start-up process to the open-loop to closed-loop switching process, which includes: During the open-loop to closed-loop switching process, the d-axis current linearly changes from I1 to 0, and the q-axis current is output from the speed loop, causing the fan motor to gradually switch from pure current control to speed-current dual closed-loop control, with the open-loop drive providing a given electrical angular frequency. Maintain open-loop drag at the maximum value of the given electric angular frequency , The rotor position of the fan motor is in the same direction as the speed command of the fan motor. from Transition to , The It is obtained from the observer; where θ0 is the estimated motor rotor position at the end of zero current control, n represents the nth control cycle, and Δt represents the control cycle. After the open-loop to closed-loop switching process is completed, the fan motor enters speed and current dual closed-loop control.
11. The start-up control method for a fan motor according to claim 3, characterized in that, The control of the fan motor to enter a high-speed start-up in a downwind direction includes: When the zero-current control determines that the fan motor is at the medium-high speed in the downwind direction, the fan motor is directly controlled to enter the speed and current dual closed-loop control.
12. A starting control system for a fan motor, characterized in that, include: The control module is used to control the operation of the fan motor; The acquisition module, connected to the control module, is used to acquire the motor angular frequency, motor rotor position, and motor rotor speed of the fan motor. The judgment module, connected to the acquisition module, is used to judge the initial state of the fan motor; A start-up module, connected to the judgment module, is used to start the fan motor; Select a matching start-up strategy based on the initial state of the wind turbine motor, and control the wind turbine motor to start according to the start-up strategy. The start-up strategy includes: if the wind turbine motor is in a headwind medium-high speed state, control the wind turbine motor to enter a headwind medium-high speed start-up, control the d-axis current to change linearly from 0 to I1 and stabilize, and keep the q-axis current at zero current control, so that the wind turbine motor enters a reverse deceleration process. The reverse deceleration process includes: during the reverse deceleration process, the d-axis current of the wind turbine motor linearly changes to I1 until the d-axis current stabilizes, and the current I1 is: ， Where I2 is the maximum open-loop drive current increment under headwind conditions, k1 is the threshold for judging different operating conditions of the motor, k2 is the upper limit of speed for current change under headwind conditions, and n est0 I0 is the estimated motor rotor speed at the end of zero-current control, and I0 is the drive current. The q-axis current remains 0, and the open-loop drive is used to determine the given electrical angular frequency. from The motor rotor position during open-loop drive changes linearly to 0. ; Where θ0 is the estimated motor rotor position at the end of zero-current control, n represents the nth control cycle, Δt represents the control cycle, and ω open0 This represents the electric angular frequency of the motor obtained under zero-current control.
13. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor to implement the start-up control method for the wind turbine motor according to any one of claims 1 to 11.
14. An electronic device, characterized in that, include: Processor and memory; The memory is used to store computer programs; The processor is connected to the memory and is used to execute the computer program stored in the memory so that the electronic device performs the wind turbine motor start-up control method according to any one of claims 1 to 11.