CN101150294A - A rotation blocking parameter recognition method and device for asynchronous motor - Google Patents
A rotation blocking parameter recognition method and device for asynchronous motor Download PDFInfo
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- CN101150294A CN101150294A CNA2007100772280A CN200710077228A CN101150294A CN 101150294 A CN101150294 A CN 101150294A CN A2007100772280 A CNA2007100772280 A CN A2007100772280A CN 200710077228 A CN200710077228 A CN 200710077228A CN 101150294 A CN101150294 A CN 101150294A
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Abstract
This invention discloses a method and a device for identifying lock parameter of an asynchronous motor, in which, the method includes the following steps: the winding of one phase in the asynchronous motor is open and a sine AC current of a certain frequency is applied onto the windings of the other two phases, and a current amplitude value is tested according a current instant value flowing through said two phase windings in terms of a sampling period, when said motor is stable, the voltage amplitude between the two phase widnings is tested and phase difference of voltage and current according to the voltage phase value corresponding to zero instant current value is tested.
Description
Technical Field
The invention relates to a method for identifying locked rotor parameters of an asynchronous motor, and also relates to a device for identifying locked rotor parameters of an asynchronous motor.
Background
The vector control system of asynchronous motor is a magnetic field orientation mode to obtain instantaneous torque controllable high speed precision frequency conversion speed regulating system. The performance of the vector control system completely depends on the accuracy of the motor parameters, and the inaccuracy of the motor parameters directly causes the performance index of the vector control to be reduced and even causes the fault of the frequency converter.
A block diagram of a conventional vector control system is shown in fig. 1. In fig. 1, the motor parameters are used in motor dynamic model calculation and speed identification, and it can be seen that the motor parameters play a significant role in a vector control system. How to accurately acquire the parameters of the asynchronous motor becomes the key of vector control or direct torque control.
The locked rotor parameter of asynchronous motor is the important parameter of asynchronous motor, and the current identification method is to obtain the active component I of current by Fast Fourier Transform (FFT) m Cos θ and reactive component of current I m Sin θ. This requires sampling the current transient for one cycle of the sinusoidal current and processing all of the current transients to obtain I m Cos θ and I m Sin θ. In a period of the sinusoidal current, there are typically hundreds or even thousands of such instantaneous values, which requires a large number of numbers to be processed, and the processing method is very complex, so that the amount of calculation of the program is very large, and accordingly, the processor speed is very fast, and the method has very strict requirements on system hardware, and is difficult to be applied in engineering. And the method also needs to be applied to I m Cos θ and I m Further processing in sin θ to obtain I m *I m Then by the formula
Andand respectively obtaining rotor resistance, stator leakage inductance and rotor leakage inductance of the asynchronous motor. And this is composed of m Cos θ and I m Sin θ treatment to obtain I m *I m The steps of (2) further increase the complexity of the existing identification method.
Disclosure of Invention
The invention provides a high-precision and simple method and a device for identifying locked rotor parameters of an asynchronous motor in order to overcome the defects.
In order to achieve the above object, the present invention provides a locked rotor parameter identification method for an asynchronous motor, comprising the following steps:
A. one phase winding of the asynchronous motor is opened, and sinusoidal alternating current with certain frequency is applied to the other two phase windings of the asynchronous motor;
B. sampling the instantaneous value of the current flowing through the two-phase winding according to a certain sampling period, and testing the current amplitude according to the instantaneous value of the current;
C. when the asynchronous motor is stable, testing the voltage amplitude between the two phase windings, and testing the phase difference of the voltage and the current according to the difference value of the voltage phase corresponding to the situation that the voltage is zero and the current instantaneous value is zero;
D. according to
The sum of the stator and rotor resistances of the asynchronous motor is calculated according to
Calculating the leakage inductance of the stator and the rotor, wherein U m For the measured voltage amplitude, I m To achieve the current amplitude on the two phase windings when the asynchronous motor is stable, θ is the phase difference between the measured voltage and current.
Preferably, the method for testing the phase difference between the voltage and the current is as follows: judging whether the sampled current instantaneous value is zero or not from the moment that the voltage phase is 0; when the current is zero, recording the voltage phase angle when the current instantaneous value is zero; and calculating the phase difference of the voltage and the current according to the voltage phase angle.
Further preferably, the method for testing the phase difference of the voltage and the current is as follows:
a) Judging the sampled current instantaneous value from the moment when the voltage phase is 0, and when i appears n *i n+1 < 0, where i n Is the nth samplingCurrent instantaneous value of i n+1 The current instantaneous value of the (n + 1) th sampling; recording the voltage phase angle theta at the time of the (n + 1) th sampling n+1 ；
b) By the formulaOr a formula
Calculating the corresponding voltage phase angle when the current is zero, wherein T s Taking the sampling period as the reference, wherein w is the sinusoidal current angular frequency, and theta is the corresponding voltage phase angle when the current instantaneous value is zero;
c) And obtaining the phase difference of the voltage and the current according to the corresponding voltage phase angle when the instantaneous value of the current is zero.
The method also comprises a step of testing the stator resistance of the asynchronous motor, wherein the sum of the stator resistance and the rotor resistance minus the stator resistance is the rotor resistance.
The method also comprises the following steps between the step C and the step D: when the tested rounds of the phase differences of the voltages and the currents reach preset values, averaging the phase differences of all the voltages and the currents, averaging all the current amplitudes, and averaging all the voltage amplitudes.
The method also comprises the following steps between the step C and the step D: and correcting the voltage amplitude by compensating the voltage drop of the conduction tube.
The stability of the asynchronous motor means that the tested current amplitude reaches a current rated value.
In order to achieve the above object, the present invention provides a locked rotor parameter identification device for an asynchronous motor, which comprises a voltage providing unit, a current instantaneous value sampling unit, a current amplitude testing unit, a motor state judging unit, a voltage amplitude testing unit, a voltage and current phase difference testing unit and a locked rotor parameter processing unit; the voltage supply unit supplies sinusoidal alternating current with a certain frequency to two-phase windings of an asynchronous motor, and the other phase of the asynchronous motorThe winding is open-circuited; the current instantaneous value sampling unit samples the current instantaneous values flowing through the two-phase windings according to a certain time interval and outputs the current instantaneous values to the current amplitude value testing unit; the motor state judging unit outputs a trigger signal to the current amplitude testing unit, the voltage amplitude testing unit and the voltage and current phase difference testing unit when judging that the motor is in a stable state; the current amplitude testing unit tests a current amplitude according to the current instantaneous value and outputs the current amplitude to the locked rotor parameter processing unit after receiving the trigger signal; the voltage amplitude testing unit tests the voltage amplitude between the two phase windings after receiving the trigger signal and outputs the voltage amplitude to the locked rotor parameter processing unit; after receiving the trigger signal, the voltage and current phase difference testing unit tests the phase difference of the voltage and the current according to the difference value of the voltage phases corresponding to the time when the voltage is zero and the time when the current is zero and outputs the phase difference to the locked rotor parameter processing unit; the locked rotor parameter processing unit is based on a formula
Calculating the sum of the resistances of the stator and the rotor of the asynchronous motor and the leakage inductance of the stator and the rotor, wherein U m For the magnitude of the voltage between two windings of the input, I m And theta is the current amplitude on the two-phase winding when the asynchronous motor is stable, and is the phase difference between voltage and current.
Preferably, the voltage and current phase difference testing unit comprises a voltage phase identification module, a current instantaneous value judgment module, a voltage phase angle collection module and a voltage and current phase difference calculation module; the voltage phase identification module judges whether the current voltage phase is 0 or not, and outputs a first excitation signal to the current instantaneous value judgment module if the current voltage phase is 0; the current instantaneous value judging module judges whether the current instantaneous value output by the current instantaneous value sampling unit is zero or not after receiving the first excitation signal, and outputs a second excitation signal to the voltage phase angle collecting module if the current instantaneous value output by the current instantaneous value sampling unit is zero; the voltage phase angle collecting module samples a current voltage phase angle after receiving a second excitation signal and outputs the current voltage phase angle to the voltage and current phase difference calculating module; and the voltage and current phase difference calculation module calculates the voltage and current phase difference according to the input voltage phase angle.
Further preferably, the voltage and current phase difference testing unit comprises a voltage phase identification moduleThe device comprises a block, a current instantaneous value judgment module, a voltage phase angle collection module, a zero current corresponding phase value calculation module and a voltage and current phase difference calculation module; the voltage phase identification module judges whether the current voltage phase is 0 or not, and outputs a first excitation signal to the current instantaneous value judgment module if the current voltage phase is 0; the current instantaneous value judging module receives the first excitation signal and then judges whether the current instantaneous values of two adjacent times input by the current instantaneous value sampling unit meet i n *i n+1 < 0, wherein i n For the current instantaneous value of the nth sample, i n+1 The current instantaneous value sampled for the (n + 1) th time is obtained, and if the current instantaneous value is obtained, a second excitation signal is output to the voltage phase angle collection module; the voltage phase angle collecting module collects a voltage phase angle in the n +1 th sampling after receiving a second excitation signal and outputs the voltage phase angle to the zero current corresponding phase value calculating module; the zero current corresponding phase value calculation module processes the input voltage phase angle to obtain a voltage phase value corresponding to the zero current and outputs the voltage phase value to the voltage and current phase difference calculation module; and the voltage and current phase difference calculating module calculates the voltage and current phase difference according to the voltage phase angle when zero current is input.
Compared with the prior art, the invention has the advantages that: the method does not need to obtain the active component and the reactive component of the current by fast Fourier transform processing hundreds or even thousands of instantaneous values of the current in one period of the sinusoidal current, but directly detects the sinusoidal voltage and the sinusoidal current to obtain the phase difference between the sinusoidal voltage and the sinusoidal current. In addition, the phase difference of the voltage and the current is tested through the voltage phase value corresponding to the instant value of the current being zero, so that the phase difference of the measured voltage and the measured current is very accurate, and the accuracy of the identified locked rotor parameter is ensured.
Drawings
FIG. 1 is a block diagram of a conventional vector control system;
FIG. 2 is a schematic diagram of a main loop of the variable frequency speed control system;
FIG. 3 is a schematic of a steady state equivalent circuit for an asynchronous motor;
FIG. 4 is a schematic diagram of a steady-state equivalent circuit when an asynchronous motor is locked;
FIG. 5 is a flow chart of the method of the present invention;
FIG. 6 is a schematic diagram of PI regulation principle in the locked rotor identification process;
FIGS. 7a, 7b, 7c, and 7d are schematic diagrams of voltage and current waveforms during the lock-up identification process;
FIG. 8 is a schematic diagram of the structure of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The invention discloses an off-line identification method which has high precision and simple operation and can be widely applied to engineering, and the method is applied to voltage type AC-DC-AC frequency modulation as shown in figure 2An off-line parameter identification method in a speed system is based on a motor steady-state equivalent circuit as shown in figure 3, and the identified parameters are all parameters in the steady-state equivalent circuit. Including the stator resistance r in the steady-state equivalent circuit of the motor as shown in FIG. 3 1 Stator leakage inductance L 1 Rotor resistance r 2 Rotor leakage inductance L 2 And an equivalent resistance r of the excitation winding m Excitation winding equivalentInductor L m Forming an excitation branch.
The method of the invention needs to identify the locked rotor parameters of the asynchronous motor, so that a locked rotor test needs to be carried out. The locked rotor test is also called as a short circuit test, a three-phase locked rotor test is adopted for accurate measurement, and when the asynchronous motor is locked, the impedance of the excitation branch is far greater than the impedance of a rotor loop, so that the excitation branch can be considered to be open. Neglecting iron losses, the equivalent circuit diagram at such a short circuit is shown in fig. 4. Considering that the motor is difficult to block in practical application, a mechanical device is needed to fix the rotor and the rotor cannot rotate. The invention adopts a single-phase short-circuit test to replace a three-phase test. When the motor is applied with single-phase sinusoidal voltage, no electromagnetic torque is generated, and the electromagnetic phenomenon is basically the same as that of three-phase locked rotor. The specific method comprises the following steps: the method comprises the steps of opening a winding of a certain phase (such as phase B) of an asynchronous motor, applying sinusoidal alternating current with a certain frequency between windings of the other two phases (such as phase A and phase C) of the asynchronous motor, enabling the current flowing through the windings of the other two phases to reach the rated value of the asynchronous motor, measuring the current and the voltage on a stator and the phase angle difference between the voltage and the current, and calculating the short-circuit resistance and the leakage inductance of the motor.
As shown in fig. 5, a locked rotor parameter identification method for an asynchronous motor includes the following steps:
the first step is as follows: and opening a winding of one phase of the asynchronous motor, and applying sinusoidal alternating current with a certain frequency to windings of the other two phases of the asynchronous motor. As shown in fig. 2, a sinusoidal voltage is generated by applying voltages to the a-phase winding and the C-phase winding: the switching tube T3 and the switching tube T4 which are connected with the phase B winding are always turned off, namely the phase B winding is opened, the T1 is always conducted between the phases of 0-180 degrees, the switching tube T2 and the switching tube T5 are always turned off, the switching tube T6 is triggered to be conducted by applying a pulse with the pulse width changing according to a sine rule, and a sine voltage of a positive half cycle is generated between the phase A winding and the phase C winding; and in the phase of 180-360 degrees, the switching tube T2 is always conducted, the switching tube T1 and the switching tube T6 are always turned off, the switching tube T5 is applied with a pulse with the pulse width changing according to a sine rule to trigger the conduction, and then the sine voltage of a negative half cycle appears between the A-phase winding and the C-phase winding. The effect of the dead zone should be taken into account when applying a sinusoidal alternating current.
The second step is that: sampling the instantaneous value of the current flowing through the A-phase winding or the C-phase winding according to a fixed frequency, storing the instantaneous value of the current in one period, and calculating to obtain the current amplitude I m . The calculation formula of the amplitude of the fundamental wave of the sinusoidal current is as follows:
where i is the sinusoidal current transient. Separate this formula fromDispersing, obtaining a sinusoidal current instantaneous value of one period, and obtaining the sinusoidal current fundamental wave amplitude I m 。
The third step: and judging whether the asynchronous motor enters a stable state or not, namely whether the current amplitude reaches the current rated value of the asynchronous motor or not, and if so, entering the next step. At this time, a fundamental wave frequency f and a fundamental wave amplitude U are generated on the A-phase winding or the C-phase winding m The sinusoidal voltage of (2). As shown in fig. 6, in order to ensure that the current reaches the rated value without overcurrent, the amplitude of the sinusoidal voltage loaded between the a-phase winding and the C-phase winding is adjusted by a PI regulator, and then the sinusoidal ac with the specific voltage amplitude is output to the asynchronous click by the PWM control module, thereby completing the adjustment of the amplitude of the sinusoidal current between the a-phase winding and the C-phase winding. The current amplitude reaches the rated current value of the asynchronous motor, namely the difference between the current amplitude and the rated current value of the asynchronous motor is smaller than a preset error, and the current amplitude is not required to be completely the same as the rated current value of the asynchronous motor.
The fourth step: and testing the voltage amplitude between the two phase windings according to whether the current amplitude reaches the rated current value of the asynchronous motor. As shown in fig. 6, ie is the rated current of the asynchronous motor, im is the current amplitude, and the proportional-integral (PI) regulator generates an output value K from Im and Ie, which is the proportionality coefficient between the amplitude of the fundamental wave of the sinusoidal voltage and the dc bus voltage. Thus, the deviceThe amplitude of the fundamental wave of the sinusoidal voltage is just U m = K × Udc, where Udc is a dc bus voltage value, i.e., a voltage between the collector of the switching tube T1 and the collector of the switching tube T2 in fig. 2.
The fifth step: and testing the phase difference of the voltage and the current according to the difference of the voltage phase values corresponding to the voltage phase value when the voltage phase is zero and the current phase value when the current is zero. It is obvious that the fifth step and the fourth step can be interchanged. As shown in fig. 7a, 7b, 7c, 7d, the ideal value of the phase difference between the voltage and the current is the phase difference between position 2 and position 0.
In order to obtain the phase difference between the sinusoidal voltage and the sinusoidal current, the following methods can be used:
the first method comprises the following steps: judging whether the sampled current instantaneous value is 0 or not from the moment that the voltage phase is 0; if yes, recording the voltage phase angle theta at the moment n The voltage phase angle theta n Namely the phase difference of the voltage and the current. In fig. 7a, 7b, 7c and 7d, the instantaneous value of the sampled current is determined from the time when the voltage phase is 0 (corresponding to position 0), when the instantaneous value of the sampled current is 0 (corresponding to position 2), the voltage phase value at the current time is recorded, and the phase difference between the voltage and the current is obtained according to the voltage phase angle at the current time.
As will be further described below with respect to the first method, in fig. 7a and 7c, the instantaneous value of the sampled current is determined from the time (corresponding to the position 0) when the voltage phase is 0, and when the instantaneous value of the sampled current is 0 (corresponding to the position 2) in the range where the phase is greater than 0 degrees and less than 90 degrees, the voltage phase value at the current time is recorded, and the phase difference between the sinusoidal voltage and the sinusoidal current is obtained by subtracting 0 from the voltage phase value at the current time. In fig. 7b and 7d, the instantaneous value of the sampling current is selected to be determined from the time (corresponding to the position 0) when the voltage phase is 0, and in the range of the phase greater than 180 degrees and less than 270 degrees, when the instantaneous value of the sampling current is 0 (corresponding to the position 2), the voltage phase value at the current time is recorded, and the phase difference between the sinusoidal voltage and the sinusoidal current can be obtained by subtracting 180 degrees from the voltage phase value at the current time.
Since the current transient is sampled in a discrete manner, which generates a time interval, and the sampling result is discontinuous rather than continuous, it is difficult to obtain the current transient equal to 0 (just sampled at position 2) in most cases, and the user can select the second method to obtain the phase difference between the sinusoidal voltage and the sinusoidal current.
And the second method comprises the following steps: as shown in fig. 7a, 7b, 7c, 7d, in order to detect the phase difference between the voltage and the current, this can be done by detecting the instantaneous value of the current at position 1 and position 3. Namely: judging the sampled current instantaneous value from the moment when the voltage phase is 0, and when i appears n *i n+1 < 0, wherein i n For the current instantaneous value of the nth sample, i n+1 The instantaneous value of the current sampled at the (n + 1) th time is recorded, and the voltage phase angle theta at the (n + 1) th time (corresponding to the position 3) is recorded n+1 (ii) a By the formula
Or a formula
Calculating the voltage phase value corresponding to the current instantaneous value being zero, wherein T s Taking a sampling period as a reference, w is the angular frequency of the sinusoidal current, and theta is the phase difference of the voltage and the current; the phase difference between the voltage and the current is obtained from the voltage phase value corresponding to the instant value of the current being zero.
In fig. 7a and 7c, the instantaneous value of the sampling current is selected to be judged from the time when the voltage phase is 0 (corresponding to the position 0), and when i is greater than 0 degrees and less than 90 degrees, i occurs n *i n+1 < 0 (including i in FIG. 7 a) n ＜0、 i n+1 0 and i in FIG. 7c n ＞0、i n+1 < 0) where i n For the current instantaneous value of the nth sample, i n+1 Is the instantaneous value of the current at the time of the (n + 1) th sampling (corresponding to the position 3), the phase angle theta of the voltage at the time of the (n + 1) th sampling is recorded n+1 . In fig. 7b, 7d, the instantaneous value of the sampling current is selected to be judged from the moment when the voltage phase is 0 (corresponding to the position 0), and in the range of phase more than 180 degrees and less than 270 degrees when i occurs n *i n+1 < 0 (including i in FIG. 7 b) n ＜0、i n+1 0 and i in FIG. 7d n ＞0、i n+1 Less than 0), the voltage phase angle theta at the time of the (n + 1) th sampling is recorded n+1 . Let the sampling period be T s The phase crossing between position 1 and position 3 is Δ θ 3-1 ＝w*T s Where w is the sinusoidal current angular frequency. The time when the voltage phase is 0 can be set by a user according to needsIt is sufficient to select the voltage from the point at which the voltage is 0.
Since the sampling period is short, typically in the order of microseconds, the transition from position 1 to position 3 can be considered approximately linear with respect to one current period, and thus the phase crossing between the expected position 2 and the actual position 3 can be considered as
Where Δ θ 3-2 Is the phase difference between position 3 and position 2, Δ θ 3-1 This formula applies to the four cases of fig. 7a, 7b, 7c, 7d for the phase difference between position 3 and position 1.
Therefore, the phase difference between the corrected sinusoidal voltage and the sinusoidal current is:
for both cases of figures 7a and 7c,
(ii) a For both cases of figures 7b and 7d,
wherein θ is the phase difference between the voltage and the current.
And a sixth step: in order to reduce the error, the phase differences between the sinusoidal currents and the sinusoidal voltages of the plurality of groups can be obtained by averaging several times, and then averaging the obtained values, and using the averaged values as the input of the seventh step formula. The sinusoidal current amplitude and the sinusoidal voltage amplitude corresponding to these groups may also be averaged as the input of the seventh step formula, or the last sinusoidal current amplitude and the last sinusoidal voltage amplitude may be used as the input of the seventh step formula.
After the fifth step, judging whether the acquisition turns of the phase difference of the voltage and the current reach preset values, if so, averaging the amplitude of the sinusoidal current, the amplitude of the sinusoidal voltage and the phase difference between the sinusoidal voltage and the sinusoidal current of the turns and taking the average as the input of a seventh step formula; if not, adding 1 to the acquisition turn and returning to the first step.
Obviously, the user can also test each two-by-two combination condition of the three-phase windings of the asynchronous motor respectively according to the requirement, and calculate the average value of the amplitude of the sinusoidal current, the amplitude of the sinusoidal voltage, and the phase difference between the sinusoidal voltage and the sinusoidal current. The sixth step can be regarded as a preferred step, i.e. it is also possible to proceed directly from the fifth step to the seventh step.
The seventh step: according to the obtained sinusoidal current amplitude I m Sine voltage amplitude U m The voltage and current phase difference theta is added, and the influence of the voltage drop of the conducting tube in the vector control system is considered in detail according to a formula
The resistance of the stator and rotor of the asynchronous motor can be calculatedAnd stator, rotor leakage inductance, wherein U m The amplitude of the voltage between two windings of an asynchronous motor in steady state, I m The amplitude of current on two-phase windings of the asynchronous motor in a stable state, theta is the phase difference between voltage and current of the asynchronous motor in the stable state, and R is the stator and rotor of the asynchronous motorThe sum of the resistances of the stators and the rotors is X, and the leakage inductance of the stators and the rotors of the asynchronous motor is X.
Considering the influence of the voltage drop of the conduction tube, the sinusoidal voltage amplitude U can be obtained m Correcting to obtain corrected voltage amplitude of U m11 And the sum of the resistances of the stator and the rotor is:
leakage inductance of stator and rotor
. The specific correction method of the voltage amplitude is a mature technology, and the detailed description is omitted.
Before locked rotor identification, the stator resistance of the asynchronous motor can be tested, and the sum of the stator resistance and the rotor resistance minus the stator resistance is the rotor resistance. Since testing the stator resistance of an asynchronous motor is a well-established technique, it is not described here in detail.
It can be seen from this step that the resistance value of the rotor resistor is closely related to the voltage-current phase difference, and the result of the locked rotor identification depends on the sampled voltage-current value and the voltage-current phase difference to a great extent, so that the extraction of the voltage-current phase difference must be as accurate as possible, otherwise the rotor resistor identified by the locked rotor may be suddenly large or suddenly small, and the locked rotor identification result is unstable.
The effect of the present invention is further illustrated by a comparative experiment as follows: the method of the invention is used for carrying out parameter identification test on the motor with the rated power of 15KW, and carrying out open-loop vector operation on the 15KW asynchronous motor directly according to the identified motor parameters. Table 1 lists the nameplate parameters of the asynchronous motor.
| Model number | Rated value Power of | Rated value Voltage of | Rated value Electric current of | Rated value Frequency of | Rated value Rotational speed |
| 1LA7166-4AA61 | 15KW | 380V | 29.5A | 50.00Hz | 1460r/min |
TABLE 1
Table 2 shows the identification results of the present invention and the prior art for the locked rotor parameter of the asynchronous motor.
| 15KW asynchronous motor | |
| Identification result of the invention | Identification results of the prior art |
| Identification Number of times | Rotor electricity Resistance (omega) | Stator, rotor Sense of leakage (mH) | Identification Number of times | Rotor electricity Resistance (omega) | Stator, rotor Sense of leakage (mH) |
| 1 st time | 0.193 | 5.111 | 1 st time | 0.178 | 5.123 |
| 2 nd time | 0.194 | 5.109 | 2 nd time | 0.193 | 5.047 |
| 3 rd time | 0.192 | 5.137 | 3 rd time | 0.191 | 5.052 |
| 4 th time | 0.194 | 5.111 | 4 th time | 0.176 | 5.118 |
| 5 th time | 0.194 | 5.118 | 5 th time | 0.177 | 5.135 |
| 6 th time | 0.193 | 5.142 | 6 th time | 0.187 | 5.066 |
TABLE 2
The invention is adopted to identify the locked rotor of the asynchronous motor, after the locked rotor identification is finished, the open-loop vector operation is carried out on the 15KW asynchronous motor to 50Hz, and the steady-state precision of the rotating speed of the rotor is measured to be less than +/-3 revolutions per minute.
The method is characterized in that the locked rotor identification is carried out on an asynchronous motor by adopting the prior art, after the identification is finished, the open-loop vector operation is carried out on the 15KW asynchronous motor to 50Hz, only two groups of motor parameters can ensure that the open-loop vector operation reaches the rotating speed steady-state accuracy of less than +/-3 revolutions per minute, and the rotating speed steady-state accuracy exceeds +/-3 revolutions per minute due to the other four groups of motor parameters. Obviously, the prior art cannot guarantee control performance in most cases.
As can be seen from table 2, the drift of the resistance of the rotor resistor identified by the prior art is very large, and the deviation of the two previous and next identification results is substantially more than 5% (only the deviation of the two adjacent identification results of the 2 nd and the 3 rd is less than 5%). The resistance drift of the identified rotor resistor is very small, and the deviation of the two identification results is less than 1.5%. Therefore, compared with the prior art, the method has the advantages that the stability of the identification result and the control performance are obviously improved.
As shown in fig. 8, a locked rotor parameter identification apparatus for an asynchronous motor includes a voltage providing unit, a current instantaneous value sampling unit, a current amplitude testing unit, a motor state determining unit, a voltage amplitude testing unit, a voltage and current phase difference testing unit, and a locked rotor parameter processing unit; the voltage supply unit supplying voltage to the asynchronous motorSinusoidal alternating current with a certain frequency is provided on the two phase windings, and the other phase winding of the asynchronous motor is open-circuited; the current instantaneous value sampling unit samples the current instantaneous value flowing through the two-phase winding according to a certain sampling period and outputs the current instantaneous value to the current amplitude testing unit; the motor state judging unit judges that the motor is in a stable stateOutputting a trigger signal to a current amplitude testing unit, a voltage amplitude testing unit and a voltage and current phase difference testing unit; the current amplitude testing unit tests a current amplitude according to the current instantaneous value and outputs the current amplitude to the locked rotor parameter processing unit after receiving the trigger signal; the voltage amplitude testing unit tests the voltage amplitude between the two phase windings after receiving the trigger signal and outputs the voltage amplitude to the locked rotor parameter processing unit; after receiving the trigger signal, the voltage and current phase difference testing unit tests the phase difference of the voltage and the current according to the difference value of the corresponding voltage phase when the voltage is zero and the current instantaneous value is zero and outputs the phase difference to the locked rotor parameter processing unit; the locked rotor parameter processing unit is based on a formula
Calculating the sum of the resistances of the stator and the rotor of the asynchronous motor and the leakage inductance of the stator and the rotor, wherein U m For the magnitude of the voltage between two windings of the input, I m And theta is the current amplitude on the two-phase winding when the asynchronous motor is stable, and theta is the phase difference between voltage and current.
The voltage and current phase difference testing unit can be realized by adopting the following modes: the voltage and current phase difference testing unit comprises a voltage phase identification module, a current instantaneous value judgment module, a voltage phase angle collection module and a voltage and current phase difference calculation module; the voltage phase identification module judges whether the current voltage phase is 0 or not and outputs a first excitation signal to the current instantaneous value judgment module if the current voltage phase is 0; the current instantaneous value judging module judges whether the current instantaneous value output by the current instantaneous value sampling unit is zero or not after receiving the first excitation signal, and outputs a second excitation signal to the voltage phase angle collecting module if the current instantaneous value output by the current instantaneous value sampling unit is zero; the voltage phase angle collection module samples the current voltage phase angle after receiving the second excitation signal and outputs the current voltage phase angle to the voltage and current phase difference calculation module; and the voltage and current phase difference calculating module calculates the voltage and current phase difference according to the input voltage phase angle.
The voltage and current phase difference testing unit comprises a voltage phase identification module, a current instantaneous value judgment module, a voltage phase angle collection module, a zero current corresponding phase value calculation module and a voltage and current phase difference calculation module; the voltage phase identification module judges whether the current voltage phase is 0 or not, and outputs a first excitation signal to the current instantaneous value judgment module if the current voltage phase is 0; the current instantaneous value judging module judges whether the current instantaneous values input by the current instantaneous value sampling unit in two adjacent times meet the requirement i after receiving the first excitation signal n *i n+1 < 0, wherein i n For the current transient value of the nth sample, i n+1 The current instantaneous value sampled for the (n + 1) th time is obtained, and if the current instantaneous value is obtained, a second excitation signal is output to the voltage phase angle collection module; the voltage phase angle collecting module collects a voltage phase angle in the n +1 th sampling after receiving a second excitation signal and outputs the voltage phase angle to the zero current corresponding phase value calculating module; the zero current corresponding phase value calculation module is processed according to the input voltage phase angleWhen the current is zero, the corresponding voltage phase value is output to the voltage and current phase difference calculating module; and the voltage and current phase difference calculating module calculates the voltage and current phase difference according to the voltage phase angle when the zero current is input.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, numerous simple deductions or substitutions may be made without departing from the spirit of the invention, which shall be deemed to belong to the scope of the invention.
Claims (10)
1. A locked rotor parameter identification method of an asynchronous motor is characterized by comprising the following steps:
A. one phase winding of the asynchronous motor is opened, and sinusoidal alternating current with certain frequency is applied to the other two phase windings of the asynchronous motor;
B. sampling the instantaneous value of the current flowing through the two-phase winding according to a certain sampling period, and testing the current amplitude according to the instantaneous value of the current;
C. when the asynchronous motor is stable, testing the voltage amplitude between the two phase windings, and testing the phase difference of the voltage and the current according to the difference value of the voltage phase corresponding to the situation that the voltage is zero and the current instantaneous value is zero;
D. according to
The sum of the stator and rotor resistances of the asynchronous motor is calculated according toCalculating the leakage inductance of the stator and the rotor, wherein U m For the measured voltage amplitude to be the same,
I m to achieve the current amplitude on the two phase windings when the asynchronous motor is stable, θ is the phase difference between the measured voltage and current.
2. The method for identifying a locked rotor parameter of an asynchronous motor according to claim 1, wherein: the method for testing the phase difference of the voltage and the current comprises the following specific steps: judging whether the sampled current instantaneous value is zero or not from the moment that the voltage phase is 0; if so, recording the voltage phase angle when the current instantaneous value is zero; and calculating the phase difference of the voltage and the current according to the voltage phase angle.
3. The method for identifying a locked rotor parameter of an asynchronous motor according to claim 1, wherein: the method for testing the phase difference of the voltage and the current comprises the following specific steps:
a) Judging the sampled current instantaneous value from the moment when the voltage phase is 0, and when i appears n *i n+1 < 0, where i n For the current instantaneous value of the nth sample, i n+1 The current instantaneous value of the (n + 1) th sampling; the voltage phase angle theta at the time of the (n + 1) th sampling is recorded n+1 ；
b) By the formula
Or a formulaCalculating the corresponding voltage phase angle when the current is zero, wherein T s The sampling period is W, the sinusoidal current angular frequency is W, and theta is a voltage phase angle corresponding to zero current;
c) And obtaining the phase difference of the voltage and the current according to the corresponding voltage phase angle when the instantaneous value of the current is zero.
4. The method for identifying a locked rotor parameter of an asynchronous motor according to any one of claims 1 to 3, wherein: the method also comprises a step of testing the stator resistance of the asynchronous motor, wherein the sum of the stator resistance and the rotor resistance minus the stator resistance is the rotor resistance.
5. The method for identifying a locked rotor parameter of an asynchronous motor according to claim 4, wherein: the method also comprises the following steps between the step C and the step D: when the tested rounds of the phase differences of the voltage and the current reach preset values, averaging the phase differences of all the voltage and the current, averaging the amplitude values of all the current, and averaging all the voltage amplitude values.
6. The method for identifying a locked rotor parameter of an asynchronous motor according to claim 4, wherein: the method also comprises the following steps between the step C and the step D: and correcting the voltage amplitude by compensating the voltage drop of the conduction tube.
7. The method for identifying a locked rotor parameter of an asynchronous motor according to any one of claims 1 to 3, wherein: the stability of the asynchronous motor means that the tested current amplitude reaches the rated current value.
8. The utility model provides a locked rotor parameter identification device of asynchronous motor which characterized in that: the device comprises a voltage providing unit, a current instantaneous value sampling unit, a current amplitude testing unit, a motor state judging unit, a voltage amplitude testing unit, a voltage and current phase difference testing unit and a locked rotor parameter processing unit; the voltage supply unit supplies sine alternating current with a certain frequency to two phase windings of the asynchronous motor, and the other phase winding of the asynchronous motor is open;
the current instantaneous value sampling unit samples the current instantaneous values flowing through the two-phase windings according to a certain sampling period and outputs the current instantaneous values to the current amplitude value testing unit;
the motor state judging unit outputs a trigger signal to the current amplitude testing unit, the voltage amplitude testing unit and the voltage and current phase difference testing unit when judging that the motor is in a stable state; the current amplitude testing unit tests a current amplitude according to the current instantaneous value and outputs the current amplitude to the locked rotor parameter processing unit after receiving the trigger signal;
the voltage amplitude testing unit tests the voltage amplitude between the two phase windings after receiving the trigger signal and outputs the voltage amplitude to the locked rotor parameter processing unit;
after receiving the trigger signal, the voltage and current phase difference testing unit tests the phase difference of the voltage and the current according to the difference value of the corresponding voltage phases when the voltage is zero and the current is zero and outputs the phase difference to the locked rotor parameter processing unit;
the locked rotor parameter processing unit is based on a formula
Calculating the sum of the resistances of the stator and the rotor of the asynchronous motor and the leakage inductance of the stator and the rotor, wherein U m For the amplitude of the voltage between the two phase windings of the input, I m And theta is the current amplitude on the two-phase winding when the asynchronous motor is stable, and is the phase difference between voltage and current.
9. The apparatus for identifying a stalling parameter of an asynchronous motor according to claim 8, wherein: the voltage and current phase difference testing unit comprises a voltage phase identification module, a current instantaneous value judgment module, a voltage phase angle collection module and a voltage and current phase difference calculation module;
the voltage phase identification module judges whether the current voltage phase is 0 or not, and outputs a first excitation signal to the current instantaneous value judgment module if the current voltage phase is 0;
the current instantaneous value judging module judges whether the current instantaneous value output by the current instantaneous value sampling unit is zero after receiving the first excitation signal, and outputs a second excitation signal to the voltage phase angle collecting module if the current instantaneous value output by the current instantaneous value sampling unit is zero;
the voltage phase angle collection module samples the current voltage phase angle after receiving the second excitation signal and outputs the current voltage phase angle to the voltage and current phase difference calculation module;
and the voltage and current phase difference calculating module calculates the voltage and current phase difference according to the input voltage phase angle.
10. The locked-rotor parameter identification device for an asynchronous motor according to claim 8, wherein: the voltage and current phase difference testing unit comprises a voltage phase identification module, a current instantaneous value judgment module, a voltage phase angle collection module, a zero current corresponding phase value calculation module and a voltage and current phase difference calculation module;
the voltage phase identification module judges whether the current voltage phase is 0 or not, and outputs a first excitation signal to the current instantaneous value judgment module if the current voltage phase is 0;
the current instantaneous value judging module receives the first excitation signal and then judges whether the current instantaneous values of two adjacent times input by the current instantaneous value sampling unit meet i n *i n+1 < 0, wherein i n Current instantaneous value, i, for the nth sample n+1 The current instantaneous value of the (n + 1) th sampling is obtained, and if the current instantaneous value of the (n + 1) th sampling is obtained, a second excitation signal is output to the voltage phase angle collection module;
the voltage phase angle collecting module collects a voltage phase angle during sampling at the (n + 1) th time after receiving a second excitation signal and outputs the voltage phase angle to the zero current corresponding phase value calculating module;
the zero current corresponding phase value calculation module processes the input voltage phase angle to obtain a voltage phase value corresponding to zero current and outputs the voltage phase value to the voltage and current phase difference calculation module;
and the voltage and current phase difference calculating module calculates the voltage and current phase difference according to the voltage phase angle when the zero current is input.
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