CN103684182B  A kind of permagnetic synchronous motor parameter identification method  Google Patents
A kind of permagnetic synchronous motor parameter identification method Download PDFInfo
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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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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 Realtime 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 realtime update Stator resistance identification value, the low speed control performance of system can be effectively improved.
Description
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, nonlinear, 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 onetenth using mechanical pickup 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, antiinterference 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 speedsensorless 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 subspeed, 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 ω_{r}；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: i_{d}, i_{q}, u_{d}, u_{q}.Wherein, i_{d}With i_{q}By with lower section
Formula obtains: by the stator winding current i of permagnetic synchronous motor module_{a}、i_{b}、i_{c}, it is input in control circuit
3/2 coordinate transformation module, obtain the current component i under biphase rest frame_{α}、i_{β}, then it is input to 2/2
Coordinate transformation module, obtains the current component i under biphase rotating coordinate system_{d}、i_{q}；u_{d}With u_{q}By with lower section
Formula obtains: reference rotor speed w_{r}* with feedback spinner velocity w_{r}Difference by PI controller obtain with reference to electricity
Stream i_{q}*, i_{q}* with feedback current i_{q}Difference through PI controller obtain reference voltage u_{q}, reference current i_{d}* and instead
Supply current i_{d}Difference obtain reference voltage u by PI controller_{d}.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:
Wherein,For the stator current of adjustable model output at the component of dq axle, R_{s}, L_{s}For stator
Resistance, inductance；ψ_{r}For rotor flux；
In identification process, the offline identification value first with stator resistance Yu rotor flux carries out spinner velocity
ω_{r}Identification, when estimating that spinner velocity has been stablized and time spinner velocity setpoint 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.
Abovementioned 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
Subpositional information is as the feedback quantity controlled, reference rotor speed w_{r}* with feedback spinner velocity w_{r}Difference
Reference current i is obtained by PI controller_{q}*, i_{q}* with feedback current i_{q}Difference through PI controller obtain reference
Voltage u_{q}, reference current i_{d}* with feedback current i_{d}Difference obtain reference voltage u by PI controller_{d}, obtain
U_{q}And u_{d}U is obtained through antiPark conversion_{α}、u_{β}, the u that obtains_{α}、u_{β}Module 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 submagnetic linkage.
2, the present invention will be while Realtime 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 realtime 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 realtime 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 antiPark 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 Realtime 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 realtime 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 ω_{r}；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: i_{d}, i_{q}, u_{d}, u_{q}.Wherein, i_{d}With i_{q}By with lower section
Formula obtains: by the stator winding current i of permagnetic synchronous motor module_{a}、i_{b}、i_{c}, it is input in control circuit
3/2 coordinate transformation module, obtain the current component i under biphase rest frame_{α}、i_{β}, then it is input to 2/2
Coordinate transformation module, obtains the current component i under biphase rotating coordinate system_{d}、i_{q}；u_{d}With u_{q}By with lower section
Formula obtains: reference rotor speed w_{r}* with feedback spinner velocity w_{r}Difference by PI controller obtain with reference to electricity
Stream i_{q}*, i_{q}* with feedback current i_{q}Difference through PI controller obtain reference voltage u_{q}, reference current i_{d}* and instead
Supply current i_{d}Difference obtain reference voltage u by PI controller_{d}.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
In formula, u_{d}, u_{q}For stator voltage at the component of dq axle；i_{d}, i_{q}For stator current at the component of dq axle；
R_{s}, L_{s}For stator resistance, inductance；ω_{r}For spinner velocity, ψ_{r}For rotor flux.
Formula (4) is rewritten as:
Order
Then can be obtained by formula (5)
Formula (6) is abbreviated as
In formula
Adjustable model is
It is abbreviated as
According to Popov superstability theorem, can spinner velocity identification algorithm as shown in formula (1):
In formula (1), i_{d}And i_{q}It 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 i_{s}' tend to consistent, make stator current vector error
Converge on zero, the most just make spinner velocity estimated valueGradually approach spinner velocity actual value ω_{r}。
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 firstorder 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:
In formula (2), (3), equation only contains only i_{d}, i_{q}, u_{d}And u_{q}These motor operating measurement amounts, ω_{r}For
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 offline identification value of chain carries out rotor speed omega_{r}Identification, when estimation spinner velocity stablize and rotor is fast
When degree setpoint 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 realtime 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 threephase current under threephase static coordinate system, takes biphase output electricity therein
Stream i_{a},i_{b}, convert 4 through Clarke, the current value i under convert to static two phase coordinate system_{α},i_{β}.In speed
Ring, motor rotor speed and rotor position information thereof that CMRAS module 8 identification obtains are antias control
Feedback amount, reference rotor hastens w_{r}* hasten w with feedback rotor_{r}Difference by PI controller obtain with reference to electricity
Stream i_{q}*, i_{q}* with feedback current i_{q}Difference through PI controller obtain reference voltage u_{q}, reference current i_{d}* and instead
Supply current i_{d}Difference obtain reference voltage u by PI controller_{d}, the u that obtains_{q}And u_{d}Convert through antiPark
Module 7 obtains u_{α}、u_{β}, the u that obtains_{α}、u_{β}Be 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 realtime 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 speedsensorless 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 ω_{r}；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: i_{d}, i_{q}, u_{d}, u_{q}, wherein, i_{d}With i_{q}By with lower section
Formula obtains: by the stator winding current i of permagnetic synchronous motor module_{a}、i_{b}、i_{c}, it is input in control circuit
3/2 coordinate transformation module, obtain the current component i under biphase rest frame_{α}、i_{β}, then it is input to 2/2
Coordinate transformation module, obtains the current component i under biphase rotating coordinate system_{d}、i_{q}；u_{d}With u_{q}By with lower section
Formula obtains: reference rotor speed w_{r}* with feedback spinner velocity w_{r}Difference by PI controller obtain with reference to electricity
Stream i_{q}*, i_{q}* with feedback current i_{q}Difference through PI controller obtain reference voltage u_{q}, reference current i_{d}* and instead
Supply current i_{d}Difference obtain reference voltage u by PI controller_{d}, 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:
Wherein,For the stator current of adjustable model output at the component of dq axle, R_{s}, L_{s}For stator
Resistance, inductance；ψ_{r}For rotor flux
Offline identification value first with stator resistance Yu rotor flux carries out spinner velocityIdentification, when
When estimation spinner velocity has been stablized and spinner velocity setpoint 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
Subpositional information is as the feedback quantity controlled, reference rotor speed w_{r}* with feedback spinner velocity w_{r}Difference
Reference current i is obtained by PI controller_{q}*, i_{q}* with feedback current i_{q}Difference through PI controller obtain reference
Voltage u_{q}, reference current i_{d}* with feedback current i_{d}Difference obtain reference voltage u by PI controller_{d}, obtain
U_{q}And u_{d}U is obtained through antiPark conversion_{α}、u_{β}, the u that obtains_{α}、u_{β}Module 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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CN104579089A (en) *  20141230  20150429  广西科技大学  Estimation method of rotating speed of permanentmagnet synchronous motor 
CN105048910A (en) *  20150709  20151111  国家电网公司  Sensorless highvoltage cascaded frequency converter vector control system and control method thereof 
CN105375848B (en) *  20151126  20180420  上海无线电设备研究所  A kind of permanent magnet synchronous motor Adaptive Identification control method and its control system 
CN105429544B (en) *  20151216  20190122  四川长虹电器股份有限公司  A kind of method and apparatus obtaining the parameter of electric machine 
CN105743405B (en) *  20160318  20171226  四川长虹电器股份有限公司  Permagnetic synchronous motor rotating speed position detecting system and method based on POPOV superstabilities 
CN105827170B (en) *  20160318  20180302  四川长虹电器股份有限公司  Permagnetic synchronous motor rotating speed position detecting system and method based on Lyapunov stability 
CN105978430B (en) *  20160620  20190319  盘锦市兴隆成套电器制造有限公司  A kind of electric motor resistance automatic setting method and system 
CN106208867A (en) *  20160716  20161207  沈阳航空航天大学  A kind of control system for permanentmagnet synchronous motor pid parameter optimization method 
CN106953571B (en) *  20170525  20190118  湖南大学  A kind of list stator and doublerotor disc type is to turning permanentmagnetic synchronous motor stator magnetic linkage identification model building method, model and method 
CN110224648B (en) *  20190619  20201124  南京奇智控制技术有限公司  Permanent magnet synchronous motor parameter identification and position sensorless control method and system 
CN110417320A (en) *  20190704  20191105  东南大学  A kind of vertical operation magnetic flux switching permanentmagnetism linear motor uplink and downlink positionsensorless control method 
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