CN103684182B - A kind of permagnetic synchronous motor parameter identification method - Google Patents

A kind of permagnetic synchronous motor parameter identification method Download PDF

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CN103684182B
CN103684182B CN201310573844.0A CN201310573844A CN103684182B CN 103684182 B CN103684182 B CN 103684182B CN 201310573844 A CN201310573844 A CN 201310573844A CN 103684182 B CN103684182 B CN 103684182B
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identification
module
spinner velocity
current
stator resistance
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CN103684182A (en
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尹忠刚
张延庆
孙向东
钟彦儒
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西安理工大学
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Abstract

A kind of permagnetic synchronous motor parameter identification method, improves traditional model reference adaptive structure, i.e. on the basis of retaining original MRAS1 module, newly sets up MRAS2 module, is configured to cascade model reference adaptive (CMRAS) module;Wherein MRAS1 realizes the identification of spinner velocity, and MRAS2 realizes the identification of stator resistance and rotor flux.The present invention will be while Real-time Feedback spinner velocity, stator resistance and rotor flux identifier are also fed back to vector control system, can effectively weaken the parameter of electric machine change impact on system, when low speed due to real-time update Stator resistance identification value, the low speed control performance of system can be effectively improved.

Description

A kind of permagnetic synchronous motor parameter identification method
Technical field
The invention belongs to motor control technology field, relate to a kind of based on cascade model reference adaptive (CMRAS) permagnetic synchronous motor parameter identification method.
Background technology
Permagnetic synchronous motor (Permanent Magnet Synchronous Motor, PMSM) is more than one Variable, close coupling, non-linear, the complex object of variable element, have high accuracy, high dynamic performance, height The advantage such as reliability, small size, obtains extensively application in high accuracy and high reliability request occasion.In recent years Come in permanent magnet synchronous motor vector control system, in order to overcome the high one-tenth using mechanical pick-up device to bring This, the defects such as difficult in maintenance, capacity of resisting disturbance decline, reliability reduction are installed, by various different Method of estimation and obtain the deadlock_free scheduling of speed and positional information, it has also become Motor Control Field In one of study hotspot.In numerous Speedless sensor motor control methods, model reference adaptive (Model Reference Adapt System, MRAS) has algorithm less complexity, anti-interference because of it Can good, ensure the asymptotic Convergence Property of parameter estimation, stable state accuracy relatively advantages of higher and paid attention to by people, It is suggested and has been applied in permagnetic synchronous motor speed-sensorless control.Its basic thought is Using the equation without unknown parameter as reference model, the equation containing parameter to be estimated is as adjustable die Type, input signal simultaneously acts on reference model and adjustable model, and adaptive mechanism is constituted according to two models Generalized error adjust controller parameter make generalized error go to zero to reach adjustable model track reference mould The purpose of type.Tradition MRAS needs accurately to estimate position deviation, although mathematical model is accurate, but It is that estimated accuracy is changed by the parameter of electric machine and affected, it is impossible to break away from the dependency to the parameter of electric machine.
Summary of the invention
It is an object of the invention to provide a kind of permagnetic synchronous motor parameter identification method, it is possible to carry out simultaneously Spinner velocity, stator resistance and the identification of rotor flux, effectively weaken the parameter of electric machine change shadow to system Ring, improve the low speed control performance of system.
The technical scheme is that, a kind of permagnetic synchronous motor parameter identification method, by traditional model Reference adaptive structure improves, and i.e. on the basis of retaining original MRAS1 module, newly sets up MRAS2 module, builds cascade model reference adaptive (CMRAS) module;Wherein MRAS1 realizes turning The identification of sub-speed, MRAS2 realizes the identification of stator resistance and rotor flux.
The feature of the present invention also resides in:
MRAS1 module using permagnetic synchronous motor itself as reference model, will be containing permagnetic synchronous motor The current model of spinner velocity, as adjustable model, feeds back to current model the spinner velocity of identification, defeated The spinner velocity identifier gone outAfter PI regulates, feed back to current model realize closed loop control.According to adaptive Answer error originated from inputConstantly adjustUntil errorIt is zero, spinner velocity identifierThe most just reach Arrive actual value ωr;After obtaining stable spinner velocity identifier, it is sent to MRAS2 module, MRAS2 module is chosen PMSM itself and is output as ginseng as reference model, the parameter of adjustable model with motor Examining, the state equation of motor uses state equation based on dq axle, uses the Popov identical with MRAS1 Superstability Theorem deduction, can obtain the identification algorithm of stator resistance and rotor flux.
The input of CMRAS is motor measurement amount: id, iq, ud, uq.Wherein, idWith iqBy with lower section Formula obtains: by the stator winding current i of permagnetic synchronous motor modulea、ib、ic, it is input in control circuit 3/2 coordinate transformation module, obtain the current component i under biphase rest frameα、iβ, then it is input to 2/2 Coordinate transformation module, obtains the current component i under biphase rotating coordinate systemd、iq;udWith uqBy with lower section Formula obtains: reference rotor speed wr* with feedback spinner velocity wrDifference by PI controller obtain with reference to electricity Stream iq*, iq* with feedback current iqDifference through PI controller obtain reference voltage uq, reference current id* and instead Supply current idDifference obtain reference voltage u by PI controllerd.CMRAS be output as spinner velocity, Stator resistance and rotor flux, be wherein integrated computing and can obtain the positional information of rotor spinner velocity;
According to Popov superstability theorem, speed of permanent magnetic synchronous electromotor rotor, stator resistance and rotor magnetic The identification algorithm of chain is represented by:
ω ^ r = ∫ 0 t K i 1 ( i d i ^ q - i q i ^ d - ψ ^ r L s ( i q - i ^ q ) ) d t + K p 1 ( i d i ^ q - i q i ^ d - ψ ^ r L s ( i q - i ^ q ) ) + ω ^ r ( 0 ) - - - ( 1 )
R ^ s L s = R s L s - K 1 ∫ 0 t ( u d ( i d - i ^ d ) + u q ( i q - i ^ q ) ) d t - K 2 ( u d ( i d - i ^ d ) + u q ( i q - i ^ q ) ) - - - ( 2 )
ψ ^ r L s = ψ r L s - K 1 ∫ 0 t ω ^ r ( i q - i ^ q ) d t - K 2 ω ^ r ( i q - i ^ q ) - - - ( 3 )
Wherein,For the stator current of adjustable model output at the component of dq axle, Rs, LsFor stator Resistance, inductance;ψrFor rotor flux;
In identification process, the off-line identification value first with stator resistance Yu rotor flux carries out spinner velocity ωrIdentification, when estimating that spinner velocity has been stablized and time spinner velocity set-point is constant, its identification Journey step is as follows:
1) (1) formula that first passes through calculates spinner velocity identification result
2) by calculated(2) formula of substitution calculatesI.e. obtain Stator resistance identification result
3) by calculated(3) formula of substitution calculatesI.e. obtain rotor flux identification result
4) orderUpdate identification result.
Spinner velocity, stator resistance and the rotor flux information feedback that CMRAS module identification is obtained In permanent magnet synchronous motor vector control system loop, thus realize PMSM vector based on CMRAS Control.
Above-mentioned vector control system includes speed outer shroud and current inner loop two parts, also includes main circuit, electricity Stream signal deteching circuit and control circuit;CMRAS module identification obtain motor rotor speed and turn Sub-positional information is as the feedback quantity controlled, reference rotor speed wr* with feedback spinner velocity wrDifference Reference current i is obtained by PI controllerq*, iq* with feedback current iqDifference through PI controller obtain reference Voltage uq, reference current id* with feedback current idDifference obtain reference voltage u by PI controllerd, obtain UqAnd udU is obtained through anti-Park conversionα、uβ, the u that obtainsα、uβModule is there is by SVPWM Regulation, produces PWM ripple and controls inverter work, thus drive permagnetic synchronous motor module to operate;And The stator resistance that CMRAS module identification obtains and rotor flux will feed back to vector by the way of software In control algolithm, thus improve the control performance of system.
There is advantages that
1, the present invention is on the basis of retaining original MRAS1 module, newly sets up MRAS2 module, wherein MRAS1 carries out the identification of spinner velocity, and MRAS2 carries out the identification of stator resistance and rotor flux, this Just constitute cascade model reference adaptive system, spinner velocity, stator resistance can be carried out simultaneously and turn The identification of sub-magnetic linkage.
2, the present invention will be while Real-time Feedback spinner velocity, by stator resistance and rotor flux identification Value also feeds back to vector control system, it is possible to effectively weaken the parameter of electric machine change impact on system, low Due to real-time update Stator resistance identification value during speed, the low speed control performance of system can be effectively improved.
3, experiments verify that, CMRAS algorithm of the present invention is distinguished due to real-time update stator resistance when low speed Knowledge value, it is possible to the stator resistance change impact on system when effectively weakening low speed, than traditional MRAS algorithm There is more preferable low speed control performance.
Accompanying drawing explanation
Fig. 1 is present invention permagnetic synchronous motor vector based on cascade model reference adaptive (CMRAS) Control system block diagram;
Fig. 2 is present invention basic structure block diagram based on conventional model reference adaptive algorithm;
Fig. 3 is present invention spinner velocity based on conventional model reference adaptive algorithm identification principle block diagram;
Fig. 4 is present invention stator resistance based on conventional model reference adaptive algorithm and rotor flux identification Theory diagram;
Fig. 5 is that present invention permagnetic synchronous motor based on cascade model reference adaptive parameter (includes rotor Speed, stator resistance and rotor flux) identification algorithm block diagram;
In Fig. 1,1. inverter, 2.PMSM module, 3. signal deteching circuit, 4.Clark converts, 5.Park Conversion, 6.SVPWM module, the most anti-Park converts, 8. cascade model reference adaptive (CMRAS) Module.
Detailed description of the invention
The invention will be further described with detailed description of the invention below in conjunction with the accompanying drawings.
A kind of permagnetic synchronous motor parameter identification method, changes traditional model reference adaptive structure Enter, i.e. on the basis of retaining original MRAS1 module, newly set up MRAS2 module, be configured to cascade Model reference adaptive (CMRAS) module;Wherein MRAS1 realizes the identification of spinner velocity, MRAS2 Realize the identification of PMSM stator resistance and rotor flux.When Real-time Feedback spinner velocity, by stator electricity Resistance and rotor flux identifier feed back to vector control system the most simultaneously, it is possible to effectively weaken the parameter of electric machine and become Change the impact on system.When low speed due to real-time update Stator resistance identification value, can be effectively improved and be The low speed control performance of system.
MRAS1 module using permagnetic synchronous motor itself as reference model, will be containing permagnetic synchronous motor The current model of spinner velocity, as adjustable model, feeds back to current model the spinner velocity of identification, defeated The spinner velocity identifier gone outAfter PI regulates, feed back to current model realize closed loop control.According to adaptive Answer error originated from inputConstantly adjustUntil errorIt is zero, spinner velocity identifierThe most just reach Arrive actual value ωr;After obtaining stable spinner velocity identifier, it is sent to MRAS2 module, MRAS2 module is chosen PMSM itself and is output as ginseng as reference model, the parameter of adjustable model with motor Examining, the state equation of motor uses state equation based on dq axle, uses the Popov identical with MRAS1 Superstability Theorem deduction, can obtain the identification algorithm of stator resistance and rotor flux.
The input of CMRAS is motor measurement amount: id, iq, ud, uq.Wherein, idWith iqBy with lower section Formula obtains: by the stator winding current i of permagnetic synchronous motor modulea、ib、ic, it is input in control circuit 3/2 coordinate transformation module, obtain the current component i under biphase rest frameα、iβ, then it is input to 2/2 Coordinate transformation module, obtains the current component i under biphase rotating coordinate systemd、iq;udWith uqBy with lower section Formula obtains: reference rotor speed wr* with feedback spinner velocity wrDifference by PI controller obtain with reference to electricity Stream iq*, iq* with feedback current iqDifference through PI controller obtain reference voltage uq, reference current id* and instead Supply current idDifference obtain reference voltage u by PI controllerd.CMRAS be output as spinner velocity, Stator resistance and rotor flux, be wherein integrated computing and can obtain the positional information of rotor spinner velocity.
Spinner velocity, stator resistance and the rotor flux information feedback that CMRAS module identification is obtained In permanent magnet synchronous motor vector control system loop, thus realize PMSM vector based on CMRAS Control.
MRAS is a kind of parameter identification method based on stability Design, it is ensured that parameter identification progressive Convergence.As in figure 2 it is shown, its main thought is as reference model using the equation without unknown parameter, and Using the equation containing parameter to be identified as adjustable model, two models are utilized to have same physical meaning The error of output constitutes suitable adaptive law and regulates the parameter that adjustable model is to be identified in real time, finally Reach the purpose of the output tracking reference model of control object.
Below in conjunction with permagnetic synchronous motor mathematical model parameter identification method involved in the present invention done as Lower derivation:
Known permagnetic synchronous motor stator current mathematical model under rotating coordinate system is
di d d t = - R s L s i d + ω r i q + u d L s di q d t = - ω r i d - R s L i q + u q - ω r ψ r L - - - ( 4 )
In formula, ud, uqFor stator voltage at the component of dq axle;id, iqFor stator current at the component of dq axle; Rs, LsFor stator resistance, inductance;ωrFor spinner velocity, ψrFor rotor flux.
Formula (4) is rewritten as:
d d t i d + ψ r L s i q = - R s L s ω r - ω r - R s L s i d + ψ r L s i q + 1 L s u d + R s ψ r L s u q - - - ( 5 )
Order
i d ′ = i d + ψ r L s i q ′ = i q u d ′ = u d + R s ψ r L s u q ′ = u q
Then can be obtained by formula (5)
d d t i d ′ i q ′ = - R s L s ω r - ω r - R s L s i d ′ i q ′ + 1 L s u d ′ u q ′ - - - ( 6 )
Formula (6) is abbreviated as
d d t i s ′ = Ai s ′ + Bu s ′ - - - ( 7 )
In formula
Adjustable model is
d i d ′ ^ d t d i q ′ ^ d t = - R s L s ω ^ r - ω ^ r - R s L s i d ′ ^ i q ′ ^ + 1 L s u d ′ u q ′ - - - ( 8 )
It is abbreviated as
d d t i s ′ ^ = A ′ i s ′ ^ + Bu s ′ - - - ( 9 )
According to Popov superstability theorem, can spinner velocity identification algorithm as shown in formula (1):
ω ^ r = ∫ 0 t K i 1 ( i d i ^ q - i q i ^ d - ψ ^ r L s ( i q - i ^ q ) ) d t + K p 1 ( i d i ^ q - i q i ^ d - ψ ^ r L s ( i q - i ^ q ) ) + ω ^ r ( 0 ) - - - ( 1 )
In formula (1), idAnd iqIt is motor measured value,WithIt is calculated by adjustable model, spinner velocity adaptive Answer rule as it is shown on figure 3,Rate signal is created after pi regulator effectCan force can Mode transfer type (adaptive model) is estimatedWith actual is' tend to consistent, make stator current vector error Converge on zero, the most just make spinner velocity estimated valueGradually approach spinner velocity actual value ωr
Fig. 4 show stator resistance based on MRAS and rotor flux identification principle block diagram, chooses motor Itself is as reference model, and the parameter of adjustable model is output as reference with motor, and the state equation of motor depends on Old employing state equation based on dq axle, simultaneously when identification stator resistance is with rotor flux, use is arrived Estimation spinner velocity value to carry out first-order filtering to actual estimated value, and filtering time is relatively big, thus ensures The smooth steady of spinner velocity value.According to Popov superstability theorem, can be as shown in formula (2), (3) Stator resistance and rotor flux identification algorithm:
R ^ s L s = R s L s - K i 2 ∫ 0 t ( u d ( i d - i ^ d ) + u q ( i q - i ^ q ) ) d t - K p 2 ( u d ( i d - i ^ d ) + u q ( i q - i ^ q ) ) - - - ( 2 )
ψ ^ r L s = ψ r L s - K i 3 ∫ 0 t ω ^ r ( i q - i ^ q ) d t - K p 3 ω ^ r ( i q - i ^ q ) - - - ( 3 )
In formula (2), (3), equation only contains only id, iq, udAnd uqThese motor operating measurement amounts, ωrFor Identification amount, the form of equation is basic multiplication, addition and integration accumulation calculating.
(rotor is included in the permagnetic synchronous motor parameter based on cascade model reference adaptive shown in Fig. 5 Speed, stator resistance and rotor flux) in identification algorithm block diagram, initially with stator resistance and rotor magnetic The off-line identification value of chain carries out rotor speed omegarIdentification, when estimation spinner velocity stablize and rotor is fast When degree set-point is constant, its identification process step is as follows:
1) (1) formula that first passes through calculates spinner velocity identification result
2) calculated by (2) formula againI.e. obtain Stator resistance identification result
3) by calculated(3) formula of substitution calculatesI.e. obtain rotor flux identification result
4) orderUpdate identification result.
Spinner velocity, stator resistance and the rotor flux information feedback that CMRAS module identification is obtained In permanent magnet synchronous motor vector control system loop, thus realize PMSM vector based on CMRAS Control, the identification of spinner velocity, stator resistance and rotor flux can be carried out, it is possible to effectively weaken simultaneously The parameter of electric machine change impact on system.When low speed due to real-time update Stator resistance identification value, permissible It is effectively improved the low speed control performance of system.
Permagnetic synchronous motor parameter identification method of the present invention, use vector control system, also include main circuit, Current signal detection circuit and control circuit;Vector control system includes speed outer shroud and current inner loop two Point, see Fig. 1.Main circuit includes inverter 1 and PMSM module 2, and current signal detection circuit 3 passes through Hall element detection motor three-phase current under three-phase static coordinate system, takes biphase output electricity therein Stream ia,ib, convert 4 through Clarke, the current value i under convert to static two phase coordinate systemα,iβ.In speed Ring, motor rotor speed and rotor position information thereof that CMRAS module 8 identification obtains are anti-as control Feedback amount, reference rotor hastens wr* hasten w with feedback rotorrDifference by PI controller obtain with reference to electricity Stream iq*, iq* with feedback current iqDifference through PI controller obtain reference voltage uq, reference current id* and instead Supply current idDifference obtain reference voltage u by PI controllerd, the u that obtainsqAnd udConvert through anti-Park Module 7 obtains uα、uβ, the u that obtainsα、uβBe there is the regulation of module 6 by SVPWM, produce PWM Ripple controls inverter 1 and works, thus drives permagnetic synchronous motor module 2 to operate;And CMRAS module 8 is distinguished Know the stator resistance obtained and will feed back in vector control algorithm by the way of software with rotor flux, from And improve the control performance of system.
The present invention is directed to the parameter of electric machine and change the problem that the traditional MRAS estimated accuracy caused is the highest, propose A kind of permagnetic synchronous motor Speedless sensor of based on cascade model reference adaptive (CMRAS) is vowed Amount control strategy, can carry out the identification of spinner velocity, stator resistance and rotor flux simultaneously.By reality Checking, CMRAS algorithm can effectively weaken the parameter of electric machine change impact on system;When low speed Due to real-time update Stator resistance identification value, the low speed control performance of system can be effectively improved.The method Research and engineer applied for permagnetic synchronous motor speed-sensorless control have certain ginseng Examine value.

Claims (1)

1. a permagnetic synchronous motor parameter identification method, it is characterised in that: by traditional model reference certainly Commensurate structure improves, and i.e. on the basis of retaining original MRAS1 module, newly sets up MRAS2 mould Block, is configured to cascade model reference adaptive CMRAS module;Wherein MRAS1 realizes spinner velocity Identification, MRAS2 realizes the identification of stator resistance and rotor flux;
MRAS1 module using permagnetic synchronous motor itself as reference model, will be containing permagnetic synchronous motor The current model of spinner velocity, as adjustable model, feeds back to current model the spinner velocity of identification, defeated The spinner velocity identifier gone outAfter PI regulates, feed back to current model realize closed loop control;According to adaptive Answer error originated from inputConstantly adjustUntil errorIt is zero, spinner velocity identifierThe most just reach Arrive actual value ωr;After obtaining stable spinner velocity identifier, it is sent to MRAS2 module, MRAS2 module is chosen PMSM itself and is output as ginseng as reference model, the parameter of adjustable model with motor Examining, the state equation of motor uses state equation based on dq axle, uses the Popov identical with MRAS1 Superstability Theorem deduction, can obtain the identification algorithm of stator resistance and rotor flux;
The input of CMRAS is motor measurement amount: id, iq, ud, uq, wherein, idWith iqBy with lower section Formula obtains: by the stator winding current i of permagnetic synchronous motor modulea、ib、ic, it is input in control circuit 3/2 coordinate transformation module, obtain the current component i under biphase rest frameα、iβ, then it is input to 2/2 Coordinate transformation module, obtains the current component i under biphase rotating coordinate systemd、iq;udWith uqBy with lower section Formula obtains: reference rotor speed wr* with feedback spinner velocity wrDifference by PI controller obtain with reference to electricity Stream iq*, iq* with feedback current iqDifference through PI controller obtain reference voltage uq, reference current id* and instead Supply current idDifference obtain reference voltage u by PI controllerd, CMRAS be output as spinner velocity, Stator resistance and rotor flux, be wherein integrated computing and can obtain the positional information of rotor spinner velocity;
According to Popov superstability theorem, speed of permanent magnetic synchronous electromotor rotor, stator resistance and rotor magnetic The identification algorithm of chain is represented by:
ω ^ r = ∫ 0 t K i 1 ( i d i ^ q - i q i ^ d - ψ ^ r L s ( i q - i ^ q ) ) d t + K p 1 ( i d i ^ q - i q i ^ d - ψ ^ r L s ( i q - i ^ q ) ) + ω ^ r ( 0 ) - - - ( 1 )
R ^ s L s = R s L s - K i 2 ∫ 0 t ( u d ( i d - i ^ d ) + u q ( i q - i ^ q ) ) d t - K p 2 ( u d ( i d - i ^ d ) + u q ( i q - i ^ q ) ) - - - ( 2 )
ψ ^ r L s = ψ r L s - K i 3 ∫ 0 t ω ^ r ( i q - i ^ q ) d t - K p 3 ω ^ r ( i q - i ^ q ) - - - ( 3 )
Wherein,For the stator current of adjustable model output at the component of dq axle, Rs, LsFor stator Resistance, inductance;ψrFor rotor flux
Off-line identification value first with stator resistance Yu rotor flux carries out spinner velocityIdentification, when When estimation spinner velocity has been stablized and spinner velocity set-point is constant, its identification process step is as follows:
1) (1) formula that first passes through calculates spinner velocity identification result
2) calculated by (2) formula againI.e. obtain Stator resistance identification result
3) by calculated(3) formula of substitution calculatesI.e. obtain rotor flux identification result
4) orderUpdate identification result;
Spinner velocity, stator resistance and the rotor flux information feedback that CMRAS module identification is obtained In permanent magnet synchronous motor vector control system loop, thus realize PMSM vector based on CMRAS Control;
Described vector control system includes speed outer shroud and current inner loop two parts, also includes main circuit, electricity Stream signal deteching circuit and control circuit;CMRAS module identification obtain motor rotor speed and turn Sub-positional information is as the feedback quantity controlled, reference rotor speed wr* with feedback spinner velocity wrDifference Reference current i is obtained by PI controllerq*, iq* with feedback current iqDifference through PI controller obtain reference Voltage uq, reference current id* with feedback current idDifference obtain reference voltage u by PI controllerd, obtain UqAnd udU is obtained through anti-Park conversionα、uβ, the u that obtainsα、uβModule is there is by SVPWM Regulation, produces PWM ripple and controls inverter work, thus drive permagnetic synchronous motor module to operate;And The stator resistance that CMRAS module (8) identification obtains will feed back to rotor flux by the way of software In vector control algorithm, thus improve the control performance of system.
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