CN103825524A - Offline identification method for basic electric appliance parameters of permanent-magnet synchronous motor - Google Patents

Offline identification method for basic electric appliance parameters of permanent-magnet synchronous motor Download PDF

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CN103825524A
CN103825524A CN201410093099.4A CN201410093099A CN103825524A CN 103825524 A CN103825524 A CN 103825524A CN 201410093099 A CN201410093099 A CN 201410093099A CN 103825524 A CN103825524 A CN 103825524A
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motor
current
axle
voltage
shaft
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徐晖
王胜勇
卢家斌
王国强
王闻宇
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Wisdri Wuhan Automation Co Ltd
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Abstract

The invention discloses an offline identification method for basic electric appliance parameters of a permanent-magnet synchronous motor. The offline identification method comprises the following steps: 1) measuring the stator resistance of the motor by virtue of a direct-current voltammetry method; 2) measuring the d-axis inductance of the motor by virtue of a voltage step method, comprising (i) recording the amplitude of a voltage vector when a d-axis current achieves a steady-state current value; (ii) calculating the time used for the d-axis current rising to 0.632 times of the steady-state current; (iii) calculating the d-axis inductance; 3) identifying a q-axis inductance by a model reference adaptive method; 4) identifying a rotator flux linkage, comprising running the d-axis of the motor to a rated rotational speed at an idling condition, and recording an output voltage after the motor speed is stable and the rated rotational speed of the motor to obtain the rotator flux linkage. The offline identification method disclosed by the invention has the following beneficial effects: the stator resistance of the motor is calculated by the direct-current voltammetry, and the parameters such as the d-axis inductance are identified by the voltage step method, thus only one unknown quantity, namely the q-axis inductance is contained in the voltage equation of the motor, and a current observation model only containing one unknown quantity is established finally to identify the q-axis inductance, thus improving the identification accuracy.

Description

The off-line identification method of the basic electrical parameter of a kind of permagnetic synchronous motor
Technical field
The present invention relates to permagnetic synchronous motor vector control technology field, be specifically related to the off-line identification method of the basic electrical parameter of a kind of permagnetic synchronous motor.
Background technology
At present a lot of about the method for permanent magnet synchronous machine parameter identification.Have the direct method of measurement, this will be by the instrument of more complicated, and implementation method is more loaded down with trivial details.Also have by voltage step method and carry out identification inductance, but this can only pick out the d axle inductance of motor, for salient pole machine, this method cannot pick out q axle inductance.Somebody carrys out identifying motor parameter by the locked motor of external force, cannot realize at a lot of scenes.And the method for passing through model reference adaptive having is carried out the method for identifying motor parameter, much all can in a model, there be multiple known variables, strengthen like this uncertainty of identification.
Summary of the invention
The technical problem to be solved in the present invention is, for existing permanent magnet synchronous machine parameter identification method above shortcomings, the off-line identification method of the basic electrical parameter of a kind of permagnetic synchronous motor is provided, make only to contain in electric moter voltage equation a unknown quantity q axle inductance, finally set up one only containing the electric current observation model of 1 unknown quantity, pick out q axle inductance.
The present invention for solving the problems of the technologies described above adopted technical scheme is:
An off-line identification method for the basic electrical parameter of permagnetic synchronous motor, comprises the following steps:
1) the stator resistance R of DC va method measured motor s
Send a direct voltage by inverter to any two-phase of motor, record the stator phase current of motor simultaneously, slowly increase the amplitude of direct voltage, until the stator phase current of motor reaches motor rated current I s, now the amplitude of direct voltage is U s, according to formula
Figure BDA0000476936820000011
sample and calculate the stator resistance R of motor s;
2) the d axle inductance L of voltage step method measured motor d
(i) send out the voltage vector of a suitable amplitude to motor d axle by inverter, q shaft voltage U qbe given as 0, rotor position angle Θ is given as 0, and the d axle of motor produces the weak magnetoelectricity stream of a step, regulates the amplitude of d shaft voltage vector by pi regulator, until d shaft current reaches steady-state current value, records the now amplitude U of voltage vector d, and the stator resistance R of the motor obtaining according to step 1) scalculate d axle steady-state current
Figure BDA0000476936820000012
size;
(ii) the voltage vector amplitude U in (i) by step dstep reference, on the SVPWM module of motor, and calculates d shaft current and rises to 0.632 times of steady-state current time t used 0.632;
(iii) the t (ii) obtaining according to step 0.632, by formula L d=t 0.632* R scalculate d axle inductance L d;
3) model reference adaptive method identification q axle inductance L q
The model of model reference adaptive gets by q shaft voltage equation, and q shaft voltage equation is as follows:
U q=L qpi q+w rL di d+R si q+w rΦ （1）
Obtaining q shaft current observation model according to formula (1) is:
pi q = U q L q - w r L d i d L q - R s i q L q - w r Φ L q - - - ( 2 )
Wherein, U qfor motor output voltage U scomponent on q axle, L q, L dfor corresponding q, d axle inductance, i q, i dfor the component of stator current on q, d axle, p is differential term, w rfor the rated speed of motor, the rotor flux that Φ is motor, R sfor stator resistance;
At the rated speed w of motor rin known situation, due in q shaft current observation model, contain will identification all parameters of electric machine, therefore by the q axle estimation current i of calculating by q shaft current observation model qwith actual samples to the q axle actual current i ' that obtains through coordinate transform of electric current qbetween difference be designated as q shaft current observation error, choose q shaft current observation error and adjust parameter, q shaft current observation error regulates the inductance value L that obtains estimating through pi regulator q, with q axle inductance L qinverse
Figure BDA0000476936820000022
for controlled plant, add an inductance initial value at adaptive law place, by introducing the negative feedback of q shaft current observation error, make q shaft current observation model there is negative characteristic root, guarantee the convergence of initial error, finally identify q axle inductance L q;
4) rotor flux Φ identification
By motor with i d=0 control mode no-load running, to rated speed, is recorded the output voltage U after motor speed is stablized srated speed w with motor r, output voltage U sbe given voltage vector, pass through formula | U s|=| U q|=| w rΦ |, obtain rotor flux Φ.
Press such scheme, described step 1) specifically comprises: distinguish AC, AB, the BC phase of conducting motor by inverter, measure the size of AC, AB, the each phase resistance of BC, ask each phase resistance mean value, obtain stator resistance R s.
Described step 2) operation principle be: in the time that the frequency converter output frequency of motor is 0, q, d shaft voltage equation simplification are:
U qs e = ( R s + L q p ) * i qs e U ds e = ( R s + L d p ) * i ds e
In above formula,
Figure BDA0000476936820000024
be respectively motor output voltage U scomponent on q, d axle, R sfor the stator resistance of corresponding phase, L q, L dfor corresponding phase q, d axle inductance,
Figure BDA0000476936820000025
for the component of corresponding phase stator current on q, d axle, p is differential term;
Current response when the arbitrary shaft voltage step input of q, d is:
i ( t ) = U R s ( 1 - e - R s L x t )
In above formula,
Figure BDA0000476936820000032
for steady-state current, when
Figure BDA0000476936820000033
time, above formula is rewritten as:
i ( t ) = U R s ( 1 - e - R s L x t ) = 0.632 * U R s - - - ( 3 )
Known when Current rise is to steady-state current by formula (3)
Figure BDA0000476936820000035
0.632 times time, the stator resistance R of motor swith the arbitrary axle inductance L of q, d x(L xfor L qor L d) relation write as:
L x=t 0.632*R s （4）
Wherein t 0.632represent that Current rise is to steady-state current
Figure BDA0000476936820000036
0.632 times of time used.
The operation principle of step 3): voltage step method is not also suitable for the identification of q axle inductance, this is due in the time applying a voltage vector to q axle, can bring a forward torque to motor, thus drive motor, and now current response equation just can not satisfy condition (output frequency equals 0); If motor band band-type brake, can use voltage step method identification q axle inductance; In the absence of band-type brake, only have by motor model and carry out identification q axle inductance L q; The model of model reference adaptive gets by q shaft voltage equation, q shaft voltage equation:
U q=L qpi q+w rL di d+R si q+w rΦ
In the situation that rotating speed is known, from the state equation of motor, permagnetic synchronous motor is observed out to the actual measurement voltage during t, the history value of electric current by t0 at the stator current of moment t; Choose any one in the observation error of d, q shaft current, foundation using this as parameter adjustment, due in q shaft voltage equation (1), contain will identification all parameters of electric machine, therefore choose the observation error of q shaft current and adjust parameter, according to q shaft voltage equation design q shaft current observation model be:
pi q = U q L q - w r L d i d L q - R s i q L q - w r Φ L q
The i calculating by model qwith actual samples to the torque current i ' that obtains through coordinate transform of electric current qbetween difference (q shaft current observation error) regulate the inductance value that obtains estimating through pi regulator, this sentences q axle inductance L qinverse
Figure BDA0000476936820000038
for controlled plant, add an inductance initial value at adaptive law place, by introducing the negative feedback of q shaft current observation error, make q shaft current observation model there is negative characteristic root, guarantee like this convergence of initial error, finally identify q axle inductance L q.
The operation principle of step 4): according to synchronous motor voltage equation, when motor is with i d=0 control mode no-load running is to rated speed, and now, motor does not enter weak magnetic area, does not need weak magnetoelectricity stream, is similar to and thinks: d shaft current i d=0; Due to no band year of motor, the torque current of motor is mainly used in overcome friction, also the approximate q shaft current i that regards as q=0;
The motor equation of permagnetic synchronous motor is:
U q=L qpi q+w rL di d+R si q+w rΦ （5）
U d=L dpi d-w rL qi q+R sid （6）
As d shaft current i d, q shaft current i qbe at 0 o'clock, have:
|U s|=|U q|=|w rΦ| （7）
Wherein, U sfor the output voltage of motor, U qfor motor output voltage U scomponent on q axle, w rfor the rated speed of motor, the rotor flux that Φ is motor;
Through type (7) is known, as long as learn the output voltage U of motor scan obtain rotor flux Φ; Because motor is at rated speed w rwhen running, the terminal voltage U of motor sthe impact causing higher than dead band far away, the therefore output voltage U of motor sjust equal given voltage vector, when namely motor idle running, output voltage U sjust for offsetting the back electromotive force of motor.
The beneficial effect that the present invention compared with prior art has: the stator resistance, the voltage step method that calculate motor by DC va method pick out the parameters such as d axle inductance, make only to contain in electric moter voltage equation a unknown quantity q axle inductance, finally set up an electric current observation model that only contains 1 unknown quantity, pick out q axle inductance, improve identification precision.
Accompanying drawing explanation
Fig. 1 is the equivalent circuit diagram that DC va method of the present invention is surveyed stator resistance;
Fig. 2 is the general frame of model reference adaptive of the present invention;
Fig. 3 is the simulation model figure of model reference adaptive of the present invention;
Fig. 4 is the reference model figure of electric current in Fig. 3;
Fig. 5 is adaptive law figure in Fig. 3;
Fig. 6 is iq actual value and estimated value comparison diagram in simulation model of the present invention;
Fig. 7 is the change curve of Lq estimated value in simulation model of the present invention;
Fig. 8 is that DC va method of the present invention is sent out ripple mode figure;
Fig. 9 is DC va method control principle drawing of the present invention;
Figure 10 is that d shaft voltage step method of the present invention is sent out ripple mode figure;
Figure 11 is the current step oscillogram of the present invention obtaining according to Figure 10;
Figure 12 is q axle actual current i ' while not adding adaptive algorithm during the present invention tests qwith q axle estimation current i q comparison diagram;
Figure 13 is q axle actual current i ' while adding adaptive algorithm during the present invention tests qwith q axle estimation current i q comparison diagram;
Figure 14 is that during the present invention tests, the q axle inductance L is estimated in identification qchange curve.
Embodiment
Below in conjunction with embodiment and accompanying drawing, technical scheme of the present invention is described further.
The off-line identification method of the basic electrical parameter of permagnetic synchronous motor of the present invention, comprises the following steps:
1) the stator resistance R of DC va method measured motor s
DC va method surveys the key of stator resistance is how to obtain a stable low-voltage dc power supply, and the voltage on electrical network is added to after rectification approximately 540V on bus.As shown in Figure 8, by opening T1, turn-off T2, T3, T4, T5, copped wave control T6, is conducted AC, thereby sends a direct voltage U by inverter to the AC two-phase of motor aC, the PWM ripple duty ratio D on T6 determines the direct voltage U of AC two-phase aCsize, and duty ratio D is regulated through pi regulator by the phase current size of AC phase, as shown in Figure 9, records the stator phase current of motor simultaneously, slowly increases direct voltage U aCamplitude, the phase current that is finally controlled at AC phase is motor rated current I stime, now the equivalent electric circuit of motor as shown in Figure 1, according to formula
Figure BDA0000476936820000051
sample and calculate the stator resistance R of motor s;
Distinguish AC, AB, the BC phase of conducting motor by inverter, repeat the size of above-mentioned steps measurement AC, AB, the each phase resistance of BC, ask each phase resistance mean value, obtain stator resistance R s;
2) the d axle inductance L of voltage step method measured motor d
When given d shaft voltage, excessive if voltage vector is given, may produce frequency converter overcurrent; If voltage vector is too little, semaphore can be very little, produces error, therefore this step 2) specifically divide following three steps to carry out:
(i) identification produces the d shaft voltage U that 2/3 times of motor rated current needs d, adopting space vector control mode, given total current is 2/3 times of motor rated current, sends out the voltage vector of a suitable amplitude, q shaft voltage U by inverter to motor d axle qbe given as 0, rotor position angle Θ is given as 0, and the d axle of motor produces the weak magnetoelectricity stream of a step, regulates the amplitude of d shaft voltage vector by pi regulator, until d shaft current reaches steady-state current value, records the now amplitude U of voltage vector d, and the stator resistance R of the motor obtaining according to step 1) scalculate d axle steady-state current
Figure BDA0000476936820000052
size, specifically carry out schematic diagram as Figure 10;
(ii) the voltage vector amplitude U in (i) by step don the SVPWM module of motor, (speed ring and electric current loop, namely do not make U to Step reference q=0, Θ=0), and calculate d shaft current and rise to 0.632 times of steady-state current
Figure BDA0000476936820000053
time t used 0.632, as Figure 11 waveform that is current step; Motor steady-state current in this case
Figure BDA0000476936820000054
be 2/3 times of motor rated current, guarantee not overcurrent of frequency converter, and semaphore be enough large;
(iii) the t (ii) obtaining according to step 0.632, by formula L d=t 0.632* R scalculate d axle inductance L d;
3) model reference adaptive method identification q axle inductance L q
Voltage step method is not also suitable for the identification of q axle inductance, and this is due in the time applying a voltage vector to q axle, can bring a forward torque to motor, thus drive motor, and now current response equation just can not satisfy condition (output frequency equals 0); If motor band band-type brake, can use voltage step method identification q axle inductance; In the absence of band-type brake, only have by motor model and carry out identification q axle inductance;
As shown in Figure 2, the model of model reference adaptive gets by q shaft voltage equation, and q shaft voltage equation is as follows:
U q=L qpi q+w rL di d+R si q+w rΦ （1）
Obtaining q shaft current observation model according to formula (1) is:
pi q = U q L q - w r L d i d L q - R s i q L q - w r Φ L q - - - ( 2 )
Wherein, U qfor motor output voltage U scomponent on q axle, L q, L dfor corresponding q, d axle inductance, i q, i dfor the component of stator current on q, d axle, p is differential term, w rfor the rated speed of motor, the rotor flux that Φ is motor, R sfor stator resistance;
At the rated speed w of motor rin known situation, due in q shaft current observation model, contain will identification all parameters of electric machine, therefore by the q axle estimation current i of calculating by q shaft current observation model qwith actual samples to q axle actual current (torque current) i ' that obtains through coordinate transform of electric current qbetween difference be designated as q shaft current observation error, choose q shaft current observation error and adjust parameter, q shaft current observation error regulates the inductance value L that obtains estimating through pi regulator q, with q axle inductance L qinverse for controlled plant, add an inductance initial value at adaptive law place, by introducing the negative feedback of q shaft current observation error, make q shaft current observation model there is negative characteristic root, guarantee the convergence of initial error (static receiver error), finally identify q axle inductance L q;
For verification step 3) algorithm validity and calibration relation, embodiment has carried out numerical simulation, and wherein the simulation model of observation model is as Fig. 3～Fig. 5, and when emulation, the q axle of observation model output is estimated current i qwith q axle actual current i ' qas Fig. 6; As seen from the figure through after step several times, i q, i ' qboth difference reduce gradually.The L of pi regulator output in process qas Fig. 7: visible inductance value L qconverge near actual value (6mH).
In embodiment, model reference adaptive method identification q axle inductance L qexperimental procedure be:
Program verification: at the beginning, do not add adaptive algorithm, open model, directly use oscilloscope display q axle actual current i ' qwith q axle estimation current i q(calculating by the estimation parameter of electric machine and motor equation), as shown in figure 12, in figure, when dark line (q axle actual current i ' when accurate is estimated in resistance and dead band q) (q axle is estimated current i with light line q) height consistent, and their rise time is different, illustrates that now the q axle inductance of estimation is different from actual q axle inductance.
Open adaptive algorithm, by q axle estimation current i qwith q axle actual current i ' qdifference (q shaft current observation error) adjust q axle inductance value L q, and by the q axle inductance value L after adjusting qelectric current observation model (2) removes to calculate q axle estimation electric current.
Figure 13 is the q axle estimation current i in the whole process of oscilloscope display qwith q axle actual current i ' qcurve, add as can see from Figure 13 after adaptive algorithm q axle estimation current i qwith q axle actual current i ' qbe tending towards overlapping, the q axle inductance value L of now identification has been described qapproach very much true inductance value.Q axle inductance value L qas Figure 14, can see L at the beginning by connector output display qestimated value very large (initial value is set as 25%), through L after adaptive algorithm identification qreduce gradually, finally tend towards stability, illustrate that this algorithm is feasible, can not cause that parameter disperses.
Experimental results show that the q axle inductance L that model reference adaptive method picks out qvery approaching with actual inductance size.
4) rotor flux Φ identification
Routine processes enters after rotor flux identification, by motor with i d=0 control mode no-load running, to rated speed, is recorded the output voltage U after motor speed is stablized srated speed w with motor r, output voltage U sbe given voltage vector, through type (7) | U s|=| U q|=| w rΦ |, obtain rotor flux Φ, wherein, U sfor the output voltage of motor, U qfor the output voltage U of motor scomponent on q axle (
Figure BDA0000476936820000071
, U qbe the component of motor output voltage on q axle, same amount, be in different coordinates of living in, call different), w rfor the rated speed of motor, the rotor flux that Φ is motor;
Through type (7) is known, as long as learn the output voltage U of motor scan obtain rotor flux Φ; Because motor is at rated speed w rwhen running, the terminal voltage U of motor sthe impact causing higher than dead band far away, the therefore output voltage U of motor sjust equal given voltage vector, when namely motor idle running, output voltage U sjust for offsetting the back electromotive force of motor.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (2)

1. an off-line identification method for the basic electrical parameter of permagnetic synchronous motor, is characterized in that: comprise the following steps:
1) the stator resistance R of DC va method measured motor s
Send a direct voltage by inverter to any two-phase of motor, record the stator phase current of motor simultaneously, slowly increase the amplitude of direct voltage, until the stator phase current of motor reaches motor rated current I s, now the amplitude of direct voltage is U s, according to formula
Figure FDA0000476936810000011
sample and calculate the stator resistance R of motor s;
2) the d axle inductance L of voltage step method measured motor d
(i) send out the voltage vector of a suitable amplitude to motor d axle by inverter, q shaft voltage U qbe given as 0, rotor position angle Θ is given as 0, and the d axle of motor produces the weak magnetoelectricity stream of a step, regulates the amplitude of d shaft voltage vector by pi regulator, until d shaft current reaches steady-state current value, records the now amplitude U of voltage vector d, and the stator resistance R of the motor obtaining according to step 1) scalculate d axle steady-state current
Figure FDA0000476936810000012
size;
(ii) the voltage vector amplitude U in (i) by step dstep reference, on the SVPWM module of motor, and calculates d shaft current and rises to 0.632 times of steady-state current
Figure FDA0000476936810000013
time t used 0.632;
(iii) the t (ii) obtaining according to step 0.632, by formula L d=t 0.632* R scalculate d axle inductance L d;
3) model reference adaptive method identification q axle inductance L q
The model of model reference adaptive gets by q shaft voltage equation, and q shaft voltage equation is as follows:
U q=L qpi q+w rL di d+R si q+w rΦ （1）
Obtaining q shaft current observation model according to formula (1) is:
pi q = U q L q - w r L d i d L q - R s i q L q - w r Φ L q - - - ( 2 )
Wherein, U qfor motor output voltage U scomponent on q axle, L q, L dfor corresponding q, d axle inductance, i q, i dfor the component of stator current on q, d axle, p is differential term, w rfor the rated speed of motor, the rotor flux that Φ is motor, R sfor stator resistance;
At the rated speed w of motor rin known situation, due in q shaft current observation model, contain will identification all parameters of electric machine, therefore by the q axle estimation current i of calculating by q shaft current observation model qwith actual samples to the q axle actual current i ' that obtains through coordinate transform of electric current qbetween difference be designated as q shaft current observation error, choose q shaft current observation error and adjust parameter, q shaft current observation error regulates the inductance value L that obtains estimating through pi regulator q, with q axle inductance L qinverse
Figure FDA0000476936810000015
for controlled plant, add an inductance initial value at adaptive law place, by introducing the negative feedback of q shaft current observation error, make q shaft current observation model there is negative characteristic root, guarantee the convergence of initial error, finally identify q axle inductance L q;
4) rotor flux Φ identification
By motor with i d=0 control mode no-load running, to rated speed, is recorded the output voltage U after motor speed is stablized srated speed w with motor r, output voltage U sbe given voltage vector, pass through formula | U s|=| U q|=| w rΦ |, obtain rotor flux Φ.
2. the off-line identification method of the basic electrical parameter of permagnetic synchronous motor as claimed in claim 1, it is characterized in that: described step 1) specifically comprises: AC, AB, the BC phase of distinguishing conducting motor by inverter, measure the size of AC, AB, the each phase resistance of BC, ask each phase resistance mean value, obtain stator resistance R s.
CN201410093099.4A 2014-03-14 2014-03-14 Offline identification method for basic electric appliance parameters of permanent-magnet synchronous motor Pending CN103825524A (en)

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CN105207541A (en) * 2015-10-23 2015-12-30 福州大学 Observation method of quadrature axis inductance of two-phase conduction permanent magnet BLDCM (brushless direct current motor) at low speeds and zero speed
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CN105449639A (en) * 2015-12-28 2016-03-30 广东威灵电机制造有限公司 Voltage protection and control method and device based on permanent magnet synchronous motor driver
CN105680752A (en) * 2016-04-08 2016-06-15 中车株洲电力机车研究所有限公司 Identification method and system for saturated inductance parameters of PMSM (Permanent Magnet Synchronous Motor)
CN106505925A (en) * 2016-12-19 2017-03-15 四川长虹电器股份有限公司 Motor q axle inductance offline identification methods
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CN111181459A (en) * 2018-11-09 2020-05-19 广东美的白色家电技术创新中心有限公司 Identification method and device for permanent magnet flux linkage of motor and electrical equipment
CN111245322A (en) * 2018-11-12 2020-06-05 合肥巨一动力系统有限公司 Method for measuring quadrature-direct axis inductance of embedded permanent magnet synchronous motor
CN114157196A (en) * 2021-10-20 2022-03-08 广州极飞科技股份有限公司 Inductance identification method, inductance identification device and permanent magnet synchronous motor
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