CN103986396A - Asynchronous motor mutual inductance parameter identification method and device - Google Patents

Abstract

The embodiment of the invention discloses an asynchronous motor mutual inductance parameter identification method and device. The method includes the steps of calculating a rotor flux linkage practical amplitude value of a motor by means of a rotor flux linkage voltage model, working out the difference value between the rotor flux linkage practical amplitude value and a rotor flux linkage given amplitude value, and carrying out proportional-integral adjusting processing on the difference value to obtain a current mutual inductance value of the motor. According to the technical scheme, it is obviously seen that the mutual inductance value can be tested accurately in real time, complexity of the whole computational process is low, and the practical application demand of the motor can be met.

Description

A kind of asynchronous machine mutual inductance parameter identification method and device

Technical field

The present invention relates to power domain, particularly relate to a kind of asynchronous machine mutual inductance parameter identification method and device.

Background technology

Alternating current machine particularly asynchronous machine simple in structure owing to having, easily manufactured, cheap, reliable, can be used for compared with advantages such as rugged environments, be widely used in all kinds of manufacturing machines and life machinery.Extensive use along with asynchronous machine, its control method is also at development, the most frequently used control method is the vector control method based on rotor flux linkage orientation at present, it will carry out decoupling zero to stator current signal by changes in coordinates, obtain exciting current and torque current, and these two signals are controlled respectively, asynchronous machine is obtained and match in excellence or beauty in the performance of Direct Current Governor System.The key of vector control method is magnetic field to carry out correct location, and the physical parameter that correct location must depend on motor completes decoupling zero control, and therefore, identifying motor parameter is the prerequisite that vector control is brought into play its advantage exactly.

The parameter of electric machine comprises stator resistance, rotor resistance, stator leakage inductance, rotor leakage inductance, mutual inductance etc., wherein, mutual inductance parameter is easily subject to the impact of motor application environment and changes, therefore, in the practical application of motor, particularly important to the accurate identification of mutual inductance parameter.At present, the most normal adopted asynchronous machine mutual inductance discrimination method is rotor no-load test, no-load test is as the term suggests need to disassemble motor load, now motor speed approaches synchronous speed substantially, revolutional slip is about zero, and the equivalent circuit of motor is single loop circuit, and rotor loop is equivalent to open circuit, by the time after stabilization of speed, the electric current collecting and voltage are carried out to Fourier transform can identification mutual inductance parameter.Because this method needs zero load, in computational process, also need to obtain in advance leakage inductance value.Therefore, this discrimination method has the defect of two aspects, and first aspect is that it is difficult to extensive use in industrial occasions, and computational process more complicated takes time and effort; Second aspect is the mutual inductance value in cannot the identifying motor course of work.

Summary of the invention

In order to solve the problems of the technologies described above, the present invention proposes a kind of asynchronous machine mutual inductance parameter identification method and device, under the normal operation of motor, according to the difference signal between the magnetic linkage actual magnitude of rotor flux voltage model and flux linkage set amplitude, carry out the mutual inductance value of identifying motor, the computation complexity of this scheme is low and can real-time testing mutual inductance parameter, meets the practical application request of motor.

The invention provides following technical scheme:

First aspect, the invention provides a kind of asynchronous machine mutual inductance parameter identification method, and described method comprises:

Utilize rotor flux voltage model to calculate the rotor flux actual magnitude of motor;

Calculate the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, described difference is carried out to proportional integral and regulate processing, obtain the current mutual inductance value of motor.

Optionally, the described rotor flux actual magnitude of utilizing rotor flux voltage model to calculate motor, comprising:

The threephase stator actual current of measuring motor, obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform;

The threephase stator virtual voltage that detects motor, obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform;

According to the mathematical formulae of rotor flux voltage model, calculate respectively the rotor flux component on α β axle, then calculate rotor flux actual magnitude according to described rotor flux component.

Optionally, the threephase stator actual current of described measurement motor, obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform, comprising:

Utilize the threephase stator actual current of current sensor measurement motor; Or, adopt the mode of DC bus list resistor current sampling to detect threephase stator actual current;

Utilize Clark transformation matrix to carry out coordinate transform to described threephase stator actual current, obtain space vector α beta current component directly.

Optionally, the threephase stator virtual voltage of described detection motor, obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform, comprising:

Utilize the reconstructing method of stator voltage to calculate threephase stator virtual voltage;

Utilize Clark transformation matrix to carry out coordinate transform to described threephase stator virtual voltage, obtain space vector α β component of voltage.

Optionally, the difference between the described rotor flux actual magnitude of described calculating and the given amplitude of rotor flux, carries out proportional integral to described difference and regulates processing, obtains the current mutual inductance parameter of motor, comprising:

Described rotor flux actual magnitude and the given amplitude of rotor flux are done to subtraction process and obtain difference;

Proportion of utilization integral controller is done to regulate to process to described difference and is obtained conciliation value;

Calculate before described conciliation value and motor identification between mutual inductance value and value, using described and be worth as the current mutual inductance value of motor.

Second aspect, the invention provides a kind of asynchronous machine mutual inductance parameter identification device, and described device comprises:

Rotor flux actual magnitude computing unit, for utilizing rotor flux voltage model to calculate the rotor flux actual magnitude of motor;

Mutual inductance parameter calculation unit, for calculating the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, carries out proportional integral to described difference and regulates processing, obtains the current mutual inductance value of motor.　

Optionally, described rotor flux actual magnitude computing unit, comprising:

Current measurement module, for measuring the threephase stator actual current of motor, obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform;

Voltage measurement module, for measuring the threephase stator virtual voltage of motor, obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform;

Amplitude computing module, for calculate respectively the rotor flux component on α β axle according to the mathematical formulae of rotor flux voltage model, then calculates rotor flux actual magnitude according to described rotor flux component.

Optionally, described current measurement module, comprising:

Actual current is measured submodule, for utilizing the threephase stator actual current of current sensor measurement motor; Or, adopt the mode of DC bus list resistor current sampling to detect threephase stator actual current;

The first coordinate transform submodule, for utilizing Clark transformation matrix to carry out coordinate transform to described threephase stator actual current, obtains space vector α beta current component directly.

Optionally, described voltage measurement module, comprising:

Virtual voltage is measured submodule, for utilizing the reconstructing method of stator voltage to calculate threephase stator virtual voltage;

The second coordinate transform submodule, for utilizing Clark transformation matrix to carry out coordinate transform to described threephase stator virtual voltage, obtains space vector α β component of voltage.

Optionally, described mutual inductance parameter calculation unit, comprising:

Difference calculating module, obtains difference for described rotor flux actual magnitude and the given amplitude of rotor flux are done to subtraction process;

Regulate processing module, for proportion of utilization integral controller, described difference is done to regulate to process obtaining conciliation value;

Mutual inductance computing module, for calculate before described conciliation value and motor identification between mutual inductance value and value, using described and value as the current mutual inductance value of motor.

Technique scheme provided by the invention, normally controls in the process of motor at vector control system, first utilizes rotor flux voltage model to calculate the rotor flux actual magnitude of motor; Calculate again the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, described difference is carried out to proportional integral and regulate processing, obtain the current mutual inductance value of motor.The mode of this identification mutual inductance parameter, can test to real-time parameter value exactly, and whole process computation complexity is low, can meet the practical application request of motor.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the flow chart of the asynchronous machine mutual inductance parameter identification method embodiment 1 that discloses of the present invention;

Fig. 2 is the rotor flux-orientation vector control system construction drawing that the present invention discloses;

Fig. 3 is the mutual inductance parameter identification theory diagram that the present invention discloses;

Fig. 4 is the structure chart of the asynchronous machine mutual inductance parameter identification device embodiment 1 that discloses of the present invention.

Embodiment

For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.

Embodiment mono-

Consult Fig. 1, the flow chart of the embodiment of the present invention asynchronous machine mutual inductance parameter identification method embodiment 1 illustrating, the method comprises:

Step 101: utilize rotor flux voltage model to calculate the rotor flux actual magnitude of motor.

The technical scheme of the present embodiment is to realize on the basis of vector control system, for description technique scheme clearly, first asynchronous machine and vector control system is explained.

A kind of equipment that it is mechanical energy that motor refers to electric energy conversion, it comprises standing part, rotating part and other annexes (as end cap, bearing, bearing (ball) cover, fan etc.); Wherein, standing part is called stator (stator), and rotating part is called rotor (rator).Motor is to utilize hot-wire coil (namely stator winding) to produce rotating magnetic field and act on rotor (aluminium frame as closed in squirrel-cage type, winding type coil) to form magnetoelectricity dynamic rotation moment of torsion.Motor is according to using the difference of voltage to be divided into DC motor and alternating current motor, and the motor major part in electric power system is alternating current machine, can be synchronous machine or asynchronous machine.At present, most widely used on market is exactly asynchronous machine.

The operation principle of vector control system is by testing and control Regulation for Stator Current of Induction Motors vector, according to field orientation principle, stator current vector is decomposed into and produces the current component (exciting current) in magnetic field and produce the current component (torque current) of torque, control respectively amplitude and the phase place of these two components, realize and control stator current vector.

The concrete rotor flux-orientation vector control system of take is below example, and the scene that realizes of the present embodiment is explained.Participate in Fig. 2, the rotor flux-orientation vector control system construction drawing illustrating.

In Fig. 2, ASR (Adjustable Speed Regulator) is speed regulator, ACMR (Adjustable Current of Magnetic Regulator) is stator current excitation component adjuster, and ACTR (Adjustable Current of Torque Regulator) is stator current torque component adjuster.Speed regulator is for regulating the torque component of stator current, and to offset the fluctuation that rotor flux changes and the variation of load torque brings rotating speed, while finally reaching balance, rotor actual speed ω equals rotor given rotating speed ω ^*, electromagnetic torque T _eequal load torque T _l.According to the known given electromagnetic torque of ASR Principles of Regulation for:

$T_e^{*}=k_p\·({\mathrm{\ω}}^{*}-\mathrm{\ω})+k_i\·\∫({\mathrm{\ω}}^{*}-\mathrm{\ω})\mathrm{dt}---\left(1\right)$

The key of flux linkage orientation vector system is accurate orientation, and said system adopts rotor flux vector Ψ _ras base vector.Owing to can realizing the decoupling zero of torque and magnetic linkage according to rotor flux linkage orientation, that is to say, the variation of load torque does not affect magnetic linkage.

Magnetic linkage refers to the magnetic flux of conductive coil or current circuit institute chain link; Magnetic linkage equals conductive coil number of turn N and the product that passes the average magnetic flux of this each circle of coil, is also referred to as magnetic flux circle.

Adopt this scheme to realize directional vector and control, just must obtain rotor flux vector ψ _rlocus.Specific implementation flow process is:

Utilize the given current torque component of stator with the given magnetic linkage of rotor calculating given rotating speed is poor and the given current torque component of stator with can calculate according to following formula:

$i_{\mathrm{sq}}^{*}=\frac{L_r}{n_p\·L_m}\·\frac{T_e^{*}}{{\mathrm{\ψ}}_r^{*}}---\left(2\right)$

${\mathrm{\ω}}_s^{*}=\frac{L_m}{T_r\·{\mathrm{\ψ}}_r^{*}}\·i_{\mathrm{sq}}^{*}---\left(3\right)$

In above-mentioned formula (2) and (3), L _rthe equivalent inductance that represents every phase rotor winding; n _pthe number of pole-pairs that represents motor; L _mrepresent electric machine rotor mutual inductance; T _rrepresent rotor flux constant T _r=L _r/ R _r, R wherein _rthe rotor resistance that represents motor.

The given magnetic linkage of above-mentioned rotor size, can determine according to the actual performance demand of vector control system and other parameter of system.

Poor according to given rotating speed with rotor actual speed ω, calculate the angular velocity of rotation of rotating coordinate system angular velocity of rotation integration is obtained to vector angle θ, and concrete formula is as follows:

$\mathrm{\θ}=\∫{\mathrm{\ω}}_1^{*}\mathrm{dt}=\∫({\mathrm{\ω}}_s^{*}+\mathrm{\ω})\mathrm{dt}---\left(4\right)$

In actual applications, can adopt speed encoder or calculate above-mentioned rotor actual speed ω by control algolithm.Utilize vector angle θ that formula (4) calculates specifically for realizing three-phase in the coordinate transform of rotation two-phase.

More than describing is all for torque adjustment, below motor excitation is regulated and is explained.

First to obtain the given current excitation component of stator concrete formula is as follows:

$i_{\mathrm{sd}}^{*}=\frac{{\mathrm{\ψ}}_r^{*}}{L_m}---\left(5\right)$

For the error of the given excitation of real time correction and actual excitation, also must obtain the stator actual current excitation component i under dq coordinate system _sdwith stator actual current torque component i _sq.In actual applications, can obtain in the following manner this two components:

Measure the threephase stator actual current i of motor _a, i _b, i _c, described threephase stator actual current is obtained to space vector α beta current component directly i do coordinate transform _{s α}and i _{s β}.This coordinate transform can adopt CLARK conversion, that is, three-phase-two phase coordinate system changes (3/2 conversion).

A, b, c reference axis represent respectively three phase coordinate systems that motor parameter decomposes, and α, β represent static two phase coordinate systems that motor parameter decomposes.Concrete coordinate transform formula is as follows:

$\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]=\frac{\sqrt{3}}{2}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(6\right)$

Component on above-mentioned space vector α β axle is passed through to coordinate transform again, transformed on dq coordinate, this coordinate transform can adopt PARK conversion,, 2s/2r conversion, wherein s represents staticly, r represents rotation, this changes in coordinates is from two-phase static coordinate, to be tied to the electric machine phase current conversion of two-phase rotating coordinate system dq, through this changes in coordinates, obtains stator actual current excitation component i _sdwith stator actual current torque component i _sq.Concrete formula is as follows:

$\left[\begin{array}{c}{i}_{\mathrm{sd}}\\ i_{\mathrm{sq}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]---\left(7\right)$

Wherein, vector angle θ calculates by above-mentioned formula (4).

The stator current adjuster of motor comprises stator current excitation component adjuster, stator current torque component adjuster, feedforward compensation part, and stator current adjuster makes motor export to rotor magnetic linkage and electromagnetic torque.Wherein, stator current excitation component adjuster and stator current torque component adjuster include pi regulator, and feedforward compensation is partly in order to accelerate the corresponding speed of system, improve system control performance.

The stator current adjuster operation principle of motor can embody by following formula:

V _dsd＝R _s·i _sd-ω·σL _s·i _sq 　　　　　　　　　　　　　　　　　(8)　

$V_{\mathrm{qsd}}=R_s\·i_{\mathrm{sq}}+\mathrm{\ω}\·\mathrm{\σ}{L}_s\·i_{\mathrm{sd}}+\mathrm{\ω}\·{\mathrm{\ψ}}_r^{*}\·\frac{L_s}{L_r}---\left(9\right)$

R in above-mentioned formula _srepresent stator resistance; L _sthe equivalent self inductance that represents the every phase winding of stator; σ represents leakage inductance coefficient;

$\mathrm{\σ}=1-\frac{L_m^2}{L_s{L}_r}---\left(10\right)$

The data that calculate according to above-mentioned formula, just can obtain the actual excitation component u of voltage _sdwith voltage actual torque component u _sq, then pass through space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) modulation, can send required voltage, control insulated gate gate pole transistor (the Insulated Gate Bipolar Translator of current transformer, IGBT) brachium pontis, output pulse width modulation (Pulse Width Modulation, PWM) impulse wave of form is realized the control to motor.　

Known by foregoing description: step 101 can realize in the following manner, and which comprises:

Set up rotor flux voltage model, according to rotor flux voltage model, obtain rotor flux voltage model and be:

${\mathrm{\ψ}}_{\mathrm{r\α}}^u=\frac{L_r}{L_m}[\∫(u_{\mathrm{s\α}}-R_S\·i_{\mathrm{s\α}})\mathrm{dt}-\mathrm{\σ}{L}_s\·i_{\mathrm{s\α}}]---\left(11\right)$

${\mathrm{\ψ}}_{\mathrm{r\β}}^u=\frac{L_r}{L_m}[\∫(u_{\mathrm{s\β}}-R_S\·i_{\mathrm{s\β}})\mathrm{dt}-\mathrm{\σ}{L}_s\·i_{\mathrm{s\β}}]---\left(12\right)$

In above-mentioned formula (11) and (12), each parameter represents respectively different physical meaning, wherein, represent respectively voltage model rotor magnetic linkage ψ _rcomponent on α β axle; u _{s α}, u _{s β}represent respectively the component of threephase stator virtual voltage on α β axle; i _{s α}, i _{s β}represent respectively the component of threephase stator actual current on α β axle; R _srepresent stator resistance; σ represents leakage inductance coefficient; L _mrepresent the mutual inductance of motor stator rotor; L _rthe equivalent self inductance that represents every winding of rotor; L _sthe equivalent self inductance that represents the every phase winding of stator.

Because the mutual inductance meeting of the motor stator rotor impact along with motor application environment changes, therefore, need periodically or irregular identification mutual inductance parameter the precision of the mutual inductance parameter being adopted with assurance system.L in above-mentioned formula _mbeing the mutual inductance value in previous stage or previous cycle in system, can recognition methods of the present invention be in order to pick out next cycle or to write the mutual inductance value in a stage, namely up-to-date mutual inductance value (the mutual inductance value that motor is current).

The set up the condition of voltage model rotor flux is as follows: first the threephase stator virtual voltage coordinate transform of reconstruct is become to u _{s α}and u _{s β}; Meanwhile, the coordinate transform of threephase stator actual current is become to i _{s α}and i _{s β}; Then the voltage and current component of the threephase stator after coordinate transform is passed through to rotor flux voltage model, obtain the component of corresponding rotor flux on α β axle with finally, utilize following formula to calculate rotor flux actual magnitude ψ _r:

${\mathrm{\ψ}}_r=\sqrt{{{\mathrm{\ψ}}_{\mathrm{r\α}}^u}^2+{{\mathrm{\ψ}}_{\mathrm{r\β}}^u}^2}---\left(13\right)$

Step 102: calculate the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, described difference is carried out to proportional integral and regulate processing, obtain the current mutual inductance parameter of motor.

This step can realize by following steps, can comprise: step 1021～1023,

Step 1021: described rotor flux actual magnitude and the given amplitude of rotor flux are done to subtraction process and obtain difference.

Step 1022: proportion of utilization integral controller is done to regulate to process to described difference and obtained conciliation value.

Step 1023: calculate before described conciliation value and motor identification between mutual inductance value and value, using described and be worth as the current mutual inductance value of motor.

By explaining of the invention described above embodiment discrimination method, can draw the basic principle of technical solution of the present invention, consult Fig. 3, the mutual inductance parameter identification theory diagram of the present invention illustrating, in Fig. 3, L' _mrefer to the front mutual inductance value of motor identification, L _mthe current mutual inductance value that refers to motor, all the other parameters can be referring to mentioned above.Known according to this schematic diagram: technical solution of the present invention is normally controlled at vector control system under the condition of motor, and the mutual inductance value according to the error signal identifying motor between the magnetic linkage actual magnitude of voltage model and flux linkage set amplitude, improves identification efficiency greatly.

In actual applications, the proportional and integral controller in above-mentioned steps 1022 can adopt pi regulator, and the regulating action of this adjuster mainly realizes by PI parameter, and PI parameter comprises Proportional coefficient K _pwith integral coefficient K _i.Method about pi regulator parameter tuning has a lot, such as: the theoretical Tuning that calculates, it is mainly the Mathematical Modeling according to system, through theoretical calculative determination regulator parameter.The resulting result of calculation of this method, also can adjust and revise through engineering is actual again.For another example: practical tuning method, it mainly relies on engineering experience and determines parameter size.

Above-mentioned steps 1023 needs to use the front mutual inductance value of motor identification in calculating, such as: the mutual inductance initial value (the stator rotor mutual inductance parameter value that Motor Production Test arranges) that always adopts motor in vector control system,, when utilizing this programme to carry out mutual inductance identification, before so-called motor identification, mutual inductance value just equals mutual inductance initial value.When utilizing the periodic identification mutual inductance of this programme, before the motor identification of using in the process of implementation of each cycle, mutual inductance value is exactly the mutual inductance value of the upper one-period adjacent with current period.The essence of visible step 102 is exactly that the mutual inductance value of identification front motor is revised to the mutual inductance value of determining that motor is current.

Calculate by the way the mutual inductance of motor, this mutual inductance parameter is updated in vector control system, so that vector control system obtains mutual inductance parameter the most accurately in real time, motor is accurately controlled.In actual applications, can repeat the mutual inductance value that this programme carrys out testing of electric motors according to the time cycle, also can carry out this programme at predefined special time, for vector control system provides mutual inductance value the most accurately.

Conventionally non-synchronous motor parameter identification can be divided into off-line identification and on-line identification.The off-line identification of non-synchronous motor parameter refers to before system operation, by frequency converter, asynchronous machine is applied to various pumping signals, to reach the object that calculates non-synchronous motor parameter.And that online frequency conversion refers in system is in service, by various algorithms, asynchronous machine is carried out to real-time inspection.Asynchronous machine, in running, changes because variations in temperature, skin effect also can make the parameter of asynchronous machine.When non-synchronous motor parameter changes, on-line identification will be imported up-to-date data into the control system of frequency converter.Therefore, the accuracy of on-line identification is better, is more adapted to motor actual demand.

Such scheme of the present invention is a kind of on-line identification method just, according to the error signal between magnetic linkage actual magnitude and flux linkage set amplitude, regulate motor mutual inductance value, the method is the mutual inductance value of identifying motor quickly and easily, the method in actual applications, can be used as a part for control program, in the normal startup of system, just can start on-line identification and obtain mutual inductance value accurately, further improve the control performance of vector control system.

In order to describe in more detail technical scheme provided by the invention, for above-mentioned steps 101, provide following implementation, can comprise following three steps:

Step 1011: measure the threephase stator actual current of motor, described threephase stator actual current is obtained to space vector α beta current component directly do coordinate transform.

In actual applications, for performing step 1011, can first utilize current sensor to measure the threephase stator actual current of motor; Or, adopt the mode of DC bus list resistor current sampling to detect threephase stator actual current.Recycling Clark transformation matrix carries out coordinate transform to described threephase stator actual current, obtains space vector α beta current component directly.

Step 1012: detect the threephase stator virtual voltage of motor, described threephase stator virtual voltage is obtained to space vector α β component of voltage do coordinate transform.

In actual applications, because stator voltage is the impulse wave of PWM form, so directly measurement is more difficult, therefore, can measure stator voltage actual value by the mode of voltage reconstruct.

For performing step 1012, can first utilize the reconstructing method of stator voltage to calculate threephase stator virtual voltage; Recycling Clark transformation matrix carries out coordinate transform to described threephase stator virtual voltage, obtains space vector α β component of voltage.

The reconstructing method of voltage also has multiple implementation, for simple implementation process, the invention provides a kind of voltage reconstructing method, utilizes DC voltage to add switch function reconstruct stator voltage, and detailed process is as follows:

The three-phase voltage V of asynchronous machine _an, V _bn, V _cn(neutral point that subscript n is asynchronous machine) can be expressed as:

$V_{\mathrm{an}}=V_a-V_n=i_a{R}_S+L_S\frac{{\mathrm{di}}_a}{\mathrm{dt}}+e_a---\left(14\right)$

$V_{\mathrm{bn}}=V_b-V_n=i_b{R}_S+L_S\frac{{\mathrm{di}}_b}{\mathrm{dt}}+e_b---\left(15\right)$

$V_{\mathrm{cn}}=V_c-V_n=i_c{R}_S+L_S\frac{{\mathrm{di}}_c}{\mathrm{dt}}+e_c---\left(16\right)$

In above-mentioned formula (14)～(16), e _a, e _b, e _crepresent three opposite potential, above-mentioned three formula are added and draw:

$V_n=\frac{1}{3}(V_a+V_b+V_c)---\left(17\right)$

Wherein, V _a, V _b, V _cwith DC bus-bar voltage U _dthree switch function (S with inverter ₁, S ₂, S ₃) relation as follows:

V _a＝S ₁U _d；V _b＝S ₂U _d；V _c＝S ₃U _d (18)　

By above-mentioned formula (17) and (18), can draw:

$V_{\mathrm{an}}=U_d(\frac{2}{3}{S}_1-\frac{1}{3}{S}_2-\frac{1}{3}{S}_3)---\left(19\right)$

$V_{\mathrm{bn}}=U_d(\frac{2}{3}{S}_2-\frac{1}{3}{S}_1-\frac{1}{3}{S}_3)---\left(20\right)$

$V_{\mathrm{cn}}=U_d(\frac{2}{3}{S}_3-\frac{1}{3}{S}_1-\frac{1}{3}{S}_2)---\left(21\right)$

By switching tube at a switch periods T _sswitch function (S ₁, S ₂, S ₃), by following formula, calculate the threephase stator virtual voltage of reconstruct.

Step 1013: calculate respectively the rotor flux component on α β axle according to the mathematical formulae of rotor flux voltage model, then calculate rotor flux actual magnitude according to described rotor flux component.

This step can, with reference to formula (11)～(13), according to the parameter of step 1011 and step 1012, calculate rotor flux actual magnitude.

Embodiment bis-

Corresponding with the invention described above embodiment asynchronous machine mutual inductance parameter identification method, the embodiment of the present invention provides asynchronous machine mutual inductance parameter identification device, consult Fig. 4, the structure chart of the asynchronous machine mutual inductance parameter identification device embodiment 1 illustrating, this device can comprise: rotor flux actual magnitude computing unit 401 and mutual inductance parameter calculation unit 402, explain each functional unit below in conjunction with this device operation principle.

Rotor flux actual magnitude computing unit 401, for utilizing rotor flux voltage model to calculate the rotor flux actual magnitude of motor;

Mutual inductance parameter calculation unit 402, for calculating the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, carries out proportional integral to described difference and regulates processing, obtains the current mutual inductance value of motor.

Optionally, described rotor flux actual magnitude computing unit, comprising:

Current measurement module, for measuring the threephase stator actual current of motor, obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform;

Voltage measurement module, for measuring the threephase stator virtual voltage of motor, obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform;

Amplitude computing module, for calculate respectively the rotor flux component on α β axle according to the mathematical formulae of rotor flux voltage model, then calculates rotor flux actual magnitude according to described rotor flux component.

Optionally, described current measurement module, comprising:

Actual current is measured submodule, for utilizing the threephase stator actual current of current sensor measurement motor, or, adopt DC bus list resistor current sample mode to detect threephase stator actual current;

The first coordinate transform submodule, for utilizing Clark transformation matrix to carry out coordinate transform to described threephase stator actual current, obtains space vector α beta current component directly.

Optionally, described voltage measurement module, comprising:

Virtual voltage is measured submodule, for utilizing the reconstructing method of stator voltage to calculate threephase stator virtual voltage;

The second coordinate transform submodule, for utilizing Clark transformation matrix to carry out coordinate transform to described threephase stator virtual voltage, obtains space vector α β component of voltage.

Optionally, described mutual inductance parameter calculation unit, comprising:

Difference calculating module, obtains difference for described rotor flux actual magnitude and the given amplitude of rotor flux are done to subtraction process;

Regulate processing module, for proportion of utilization integral controller, described difference is done to regulate to process obtaining conciliation value;

Mutual inductance computing module, for calculate before described conciliation value and motor identification between mutual inductance value and value, using described and value as the current mutual inductance value of motor.

Utilize asynchronous machine mutual inductance parameter identification device of the present invention, at vector control system, normally control in the process of motor, first utilize rotor flux voltage model to calculate the rotor flux actual magnitude of motor; Calculate again the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, described difference is carried out to proportional integral and regulate processing, obtain the current mutual inductance value of motor.The mode of this identification mutual inductance value, can be according to system actual conditions, real-time testing mutual inductance value, and whole process computation complexity is low, can meet the practical application request of motor.

It should be noted that, relational terms such as the first and second grades is only used for an entity or operation to separate with another entity or operating space in this article, and not necessarily requires or imply and between these entities or operation, have the relation of any this reality or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.

It should be noted that, one of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, to come the hardware that instruction is relevant to complete by computer program, described program can be stored in computer read/write memory medium, this program, when carrying out, can comprise as the flow process of the embodiment of above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.

Above a kind of asynchronous machine mutual inductance parameter identification method provided by the present invention and device are described in detail, applied specific embodiment herein principle of the present invention and execution mode are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.

Claims (10)

1. an asynchronous machine mutual inductance parameter identification method, is characterized in that, described method comprises:

Utilize rotor flux voltage model to calculate the rotor flux actual magnitude of motor;

Calculate the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, described difference is carried out to proportional integral and regulate processing, obtain the current mutual inductance value of motor.

2. method according to claim 1, is characterized in that, the described rotor flux actual magnitude of utilizing rotor flux voltage model to calculate motor, comprising:

The threephase stator actual current of measuring motor, obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform;

The threephase stator virtual voltage that detects motor, obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform;

According to the mathematical formulae of rotor flux voltage model, calculate respectively the rotor flux component on α β axle, then calculate rotor flux actual magnitude according to described rotor flux component.

3. method according to claim 2, is characterized in that, the threephase stator actual current of described measurement motor obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform, comprising:

Utilize the threephase stator actual current of current sensor measurement motor, or, adopt the mode of DC bus list resistor current sampling to detect threephase stator actual current;

Utilize Clark transformation matrix to carry out coordinate transform to described threephase stator actual current, obtain space vector α beta current component directly.

4. method according to claim 2, is characterized in that, the threephase stator virtual voltage of described detection motor obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform, comprising:

Utilize the reconstructing method of stator voltage to calculate threephase stator virtual voltage;

Utilize Clark transformation matrix to carry out coordinate transform to described threephase stator virtual voltage, obtain space vector α β component of voltage.

5. method according to claim 1, is characterized in that, the difference between the described rotor flux actual magnitude of described calculating and the given amplitude of rotor flux is carried out proportional integral to described difference and regulated processing, obtains the current mutual inductance value of motor, comprising:

Described rotor flux actual magnitude and the given amplitude of rotor flux are done to subtraction process and obtain difference;

Proportion of utilization integral controller is done to regulate to process to described difference and is obtained conciliation value;

Calculate before described conciliation value and motor identification between mutual inductance value and value, using described and be worth as the current mutual inductance value of motor.

6. an asynchronous machine mutual inductance parameter identification device, is characterized in that, described device comprises:

Rotor flux actual magnitude computing unit, for utilizing rotor flux voltage model to calculate the rotor flux actual magnitude of motor;

Mutual inductance parameter calculation unit, for calculating the difference between described rotor flux actual magnitude and the given amplitude of rotor flux, carries out proportional integral to described difference and regulates processing, obtains the current mutual inductance value of motor.

7. device according to claim 6, is characterized in that, described rotor flux actual magnitude computing unit, comprising:

Current measurement module, for measuring the threephase stator actual current of motor, obtains space vector α beta current component directly to described threephase stator actual current do coordinate transform;

Voltage measurement module, for measuring the threephase stator virtual voltage of motor, obtains space vector α β component of voltage to described threephase stator virtual voltage do coordinate transform;

Amplitude computing module, for calculate respectively the rotor flux component on α β axle according to the mathematical formulae of rotor flux voltage model, then calculates rotor flux actual magnitude according to described rotor flux component.

8. device according to claim 7, is characterized in that, described current measurement module, comprising:

Actual current is measured submodule, for utilizing the threephase stator actual current of current sensor measurement motor; Or, adopt the mode of DC bus list resistor current sampling to detect threephase stator actual current;

The first coordinate transform submodule, for utilizing Clark transformation matrix to carry out coordinate transform to described threephase stator actual current, obtains space vector α beta current component directly.

9. device according to claim 7, is characterized in that, described voltage measurement module, comprising:

Virtual voltage is measured submodule, for utilizing the reconstructing method of stator voltage to calculate threephase stator virtual voltage;

The second coordinate transform submodule, for utilizing Clark transformation matrix to carry out coordinate transform to described threephase stator virtual voltage, obtains space vector α β component of voltage.

10. device according to claim 6, is characterized in that, described mutual inductance parameter calculation unit, comprising:

Difference calculating module, obtains difference for described rotor flux actual magnitude and the given amplitude of rotor flux are done to subtraction process;

Regulate processing module, for proportion of utilization integral controller, described difference is done to regulate to process obtaining conciliation value;

Mutual inductance computing module, for calculate before described conciliation value and motor identification between mutual inductance value and value, using described and value as the current mutual inductance value of motor.