CN104009696B - Interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control - Google Patents
Interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control Download PDFInfo
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Abstract
The invention relates to an interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control and belongs to the technical field of motor control. The method includes the steps that in a two phase (alpha beta) static coordinate system, an asynchronous motor mathematical model is built; a voltage module and a current model are obtained according to the asynchronous motor mathematical model, and rotor magnetic flux linkage is observed through the voltage model and the current model; then, an interactive model reference adaptive speed identification system and an interactive model reference adaptive stator resistance identification system are built; according to the built interactive model reference adaptive speed identification system and the built interactive model reference adaptive stator resistance identification system, a sliding-mode control method is adopted for designing a speed identifier and a stator resistance identifier to identify the rotating speed and the stator resistance of an asynchronous motor. Compared with a conventional model reference adaptive method, the method has the advantages that complex PI gain adjustment is omitted, the response speed is higher, and the accuracy of the rotating speed is higher.
Description
Technical field
The present invention relates to the identification of a kind of mutual model reference adaptive system speed based on sliding formwork control and stator resistance
Method, belongs to motor control technology field.
Background technology
Asynchronous motor has that structure is simple, sturdy and durable, with low cost, reliable, low torque ripple, low noise with
And the feature that rev limit is high.In Vector Control for Asynchronous Motor, the positional information of rotor can directly pass through position or speed
Degree sensor obtains, but the installation of sensor increased the inertia of cost and rotating shaft, have impact on the dynamic and static state performance of system.No
The control system of velocity sensor need not install hardware, eliminate a variety of troubles that velocity sensor brings, improve system
Reliability, reduces cost；On the other hand so that the small volume of system, lightweight, and decrease the company of motor and controller
Line, simplifies maintenance requirement.Therefore, senseless control becomes an important side of modern AC drive control technology
To.Additionally, stator resistance can change with environment and ruuning situation in motor operation course, this can cause the distortion of magnetic linkage, its
Impact to direct torque is more obvious in low speed.The at present identification of stator resistance can using finite element analyses, frequency domain, when
The discrimination methods such as domain, intelligence.
The velocity estimation of comparative maturity has model reference adaptive method, EKF filter method, sliding formwork to become now
Structure Method, High Frequency Injection etc..EKF is by nonlinear system linearisation, linearly forces due to employing
Closely, it is possible that can dissipate.Because each step will carry out matrix operationss and careful pretreatment, therefore amount of calculation is very big,
Even if using the Kalman filter of depression of order, amount of calculation is still very considerable, applies in vector controlled, and real-time is difficult to protect
Card.Existing High Frequency Injection can produce impact to the parameter of motor itself to a certain extent, is just destroying motor
Often operation conditions, even produces strong torque pulsation sometimes, is difficult to application therefore in actual system.
Content of the invention
The technical problem to be solved in the present invention is：The invention provides a kind of interactive model reference based on sliding formwork control
Adaptive speed and the discrimination method of stator resistance, for solving when speed identification system runs and is disturbed, traditional turns
Because parameter fixation is unable to provide completely when the adjustment of speed and Stator resistance identification system for error controls to realize by PI
The problem of meaning performance.
The technical scheme is that：First biphase staticUnder coordinate system, set up asynchronous machine mathematical model；According to
Asynchronous machine mathematical model obtains voltage model and current model, rotor flux is seen with current model by voltage model
Survey, then construct mutual model reference adaptive system speed identification system and mutual model reference adaptive system stator resistance is distinguished
Knowledge system；According to the mutual model reference adaptive system speed identification system constructing and mutual model reference adaptive system stator
Resistance identification system, carrys out desin speed identifier using sliding-mode control and Stator resistance identification device to recognize asynchronous machine
Rotating speed and stator resistance.
The described mutual model reference adaptive system speed based on sliding formwork control is concrete with the discrimination method of stator resistance
Step is as follows：
A, first biphase staticUnder coordinate system, input quantity is biphase stator voltage, and output is Rotational Speed of Asynchronous Motor
With asynchronous machine rotor magnetic linkage, with Rotational Speed of Asynchronous Motor, Regulation for Stator Current of Induction Motors and asynchronous machine rotor magnetic linkage be state
Variable sets up 5 rank state equations：
（1）
Wherein, system is output as, electromagnetic torque is,Table respectively
ShowStator voltage and electric current under coordinate system；Represent stator resistance and inductance respectively；Represent rotor resistance respectively
With inductance；Represent the mutual inductance of electric capacity and inductance inside asynchronous motor；Represent rotor time constant,；Table
Show leakage inductance coefficient,；Represent asynchronous machine rotor magnetic linkage；J represents the rotary inertia of unit；It is extremely right to represent
Number；Represent and include the load torque of resistive torque that rubs；
B, the mathematical model according to the asynchronous machine set up in step A, obtain voltage model and current model；
Voltage model：
（2）
In formula, P is differential operator.
Current model：
（3）
C, by voltage model and current model, rotor flux is observed, constructs mutual model reference adaptive system
Speed identification system and mutual model reference adaptive system Stator resistance identification system；According to the interactive model reference constructing
Adaptive speed identification system and mutual model reference adaptive system Stator resistance identification system, to be set using sliding-mode control
Count Speed identification device and Stator resistance identification device to recognize rotating speed and the stator resistance of asynchronous machine；
C1, in Identification of Rotational Speed of Asynchronous Motor, asynchronous machine magnetic linkage is observed with current model using voltage model,
Work as voltage model（2）And current model（3）Output item be same rotor fluxWhen, utilize
Without speed termVoltage model（2）As reference model, containing speed termCurrent model（3）As adjustable model,
Thus constructing mutual model reference adaptive system speed identification system；
The mutual model reference adaptive system speed identification system that C1.1, basis construct, by using sliding formwork control side
Method is carried out desin speed identifier to recognize the rotating speed of asynchronous machine；
C1.1.1, the mutual model reference adaptive system speed identification system for constructing choose the sliding-mode surface with integral term
S：
（4）
C1.1.2, designed according to sliding-mode surface S based on the Speed identification device of sliding moding structure recognize asynchronous machine turn
Speed；
（5）
Wherein,For sliding formwork gain, S is the sliding-mode surface of design；
C2, stator resistance of asynchronous motor identification in, asynchronous machine magnetic linkage is carried out with current model using voltage model
Observation, works as voltage model（2）And current model（3）Output item be same rotor fluxWhen
Wait, with the current model without stator resistance（3）As reference model, with the voltage model containing stator resistance item（2）As
Adjustable model, constructs mutual model reference adaptive system Stator resistance identification system；
The mutual model reference adaptive system Stator resistance identification system that C2.1, basis construct, using sliding formwork control side
Method to recognize the stator resistance of asynchronous machine to design Stator resistance identification device；
C2.1.1, the mutual model reference adaptive system Stator resistance identification system for constructing choose the cunning with integral term
Die face：
（6）
C2.1.2, according to sliding-mode surfaceTo design, asynchronous machine is recognized based on the Stator resistance identification device of sliding moding structure
Stator resistance；
（7）
Wherein,For normal number,For sliding formwork gain,Sliding-mode surface for design.
Traditional MRAS（Model reference adaptive）Speed identification system is to control by PI to realize to the adjustment of error
, traditional MRAS speed identification system is fixed due to parameter, when speed identification system runs and is disturbed it is impossible to enough offers
Satisfied performance, therefore PI control is substituted using Sliding Mode Controller.
Traditional MRAS identification system is single speed is recognized, and stator resistance is processed as constant（One
As be elected to be）, and in its tangible asynchronous machine rotation process, stator resistance of asynchronous motor is being continually changing
Value, the present invention selects mutual model reference adaptive system identification system, stator resistance can be recognized with rotating speed simultaneously, also may be used
To recognize respectively to stator resistance and rotating speed, when asynchronous machine runs, stator resistance of asynchronous motor can be expressed as：, it is the value of a dynamic change, reduce traditional MRAS identification system and lead because stator resistance is fixing
The rotating speed deviation causing.
Due to sliding formwork control have quick response, insensitive to Parameters variation and disturbance, without system on-line identification, physics
The advantages of realize simple, compared with Traditional control, sliding formwork control is not high to the accuracy requirement of system mathematic model, for system
Parameter uncertainty and external disturbance etc. there is complete robustness, therefore obtained increasingly being widely applied.For model
Reference adaptive estimates that the PI gain coefficient that there is complexity when rotating speed and stator resistance is adjusted, and adopts sliding formwork control herein
Method is replacing PI link therein.
Specifically, traditional MRAS identification system controls by PI to realize to the adjustment of error, i.e. adaptive speed
Identification system model such as formula（8）, formula（9）Shown.
（8）
（9）
When traditional MRAS identification system parameter to be recognized is stator resistance, with the current model without stator resistance
As reference model, using the voltage model containing stator resistance item as adjustable model, construct stator resistance Adaptive Identification
System, as formula（10）, formula（11）Shown.
（10）
（11）
For proportionality coefficient,For integral coefficient.
In patent of the present invention, first according to the mutual model reference adaptive system speed identification system constructing, pass through
The rotating speed that desin speed identifier to recognize asynchronous machine is come using sliding-mode control.
Mutual model reference adaptive system speed identification system for constructing chooses the sliding-mode surface S with integral term：
（12）
（13）
Wherein, K is normal number.
According to the property of sliding formwork control, that is, when moving to sliding-mode surface S=0, dynamic error will become by index
It is bordering on 0.
The model reference adaptive Speed identification device based on sliding moding structure of design is as follows：
（14）
Wherein,For sliding formwork gain, S is the sliding-mode surface of design,For S derivation.
Secondly, according to the mutual model reference adaptive system Stator resistance identification system constructing, by using sliding formwork control
Method processed to recognize the stator resistance of asynchronous machine to design Stator resistance identification device.
Mutual model reference adaptive system Stator resistance identification system for constructing chooses the sliding-mode surface with integral term：
（15）
（16）
Wherein,,For normal number,For sliding formwork gain,For design sliding-mode surface,ForDerivation.
The model reference adaptive Stator resistance identification device based on sliding moding structure of design is as follows：
（17）
According to the property of sliding formwork control, that is, when moving to sliding-mode surfaceWhen=0, dynamic error will become by index
It is bordering on 0.
To sum up narrate, by the contrast of traditional discrimination method and sliding formwork control discrimination method it can be seen that traditional PI control by
Fix in parameter, when speed identification system runs and is disturbed it is impossible to enough provide satisfied performance.And sliding formwork control is to system
The accuracy requirement of mathematical model is not high, when moving to sliding-mode surfaceWhen=0, dynamic error will be right by exponential approach in 0
In the parameter uncertainty of system and external disturbance etc., there is complete robustness.
The invention has the beneficial effects as follows：
1st, the present invention is not only able to effectively to pick out the rotating speed in motion for the asynchronous machine and stator resistance moreover it is possible to effectively
Reduce the rotating speed deviation that traditional identification system leads to because stator resistance fixes；
2nd, the present invention adopts the mutual model reference adaptive system method based on sliding formwork control, with conventional model with reference to adaptive
Induction method compares the PI gain-adjusted not only eliminating complexity, and response speed is faster, and rotary speed precision is higher.
Brief description
Fig. 1 is the flow chart in the present invention；
Fig. 2 is the error analyses figure that the rotating speed under PI Absent measures is compared with rated speed；
Fig. 3 is the error analyses figure that the rotating speed based on mutual model reference adaptive system is compared with rated speed；
Fig. 4 is the error analyses figure that the interactive model based on sliding formwork control is compared with rated speed.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the invention will be further described.
Embodiment 1：As Figure 1-4, a kind of mutual model reference adaptive system speed based on sliding formwork control and stator
The discrimination method of resistance, first biphase staticUnder coordinate system, set up asynchronous machine mathematical model；According to asynchronous machine number
Learn model and obtain voltage model and current model, with current model, rotor flux is observed by voltage model, then structure
Produce mutual model reference adaptive system speed identification system and mutual model reference adaptive system Stator resistance identification system；Root
According to the mutual model reference adaptive system speed identification system constructing and mutual model reference adaptive system Stator resistance identification
System, carrys out desin speed identifier using sliding-mode control and Stator resistance identification device to recognize the rotating speed of asynchronous machine and fixed
Sub- resistance.
The described mutual model reference adaptive system speed based on sliding formwork control is concrete with the discrimination method of stator resistance
Step is as follows：
A, first biphase staticUnder coordinate system, input quantity is biphase stator voltage, and output is Rotational Speed of Asynchronous Motor
With asynchronous machine rotor magnetic linkage, with Rotational Speed of Asynchronous Motor, Regulation for Stator Current of Induction Motors and asynchronous machine rotor magnetic linkage be state
Variable sets up 5 rank state equations：
（1）
Wherein, system is output as, electromagnetic torque is,Table respectively
ShowStator voltage and electric current under coordinate system；Represent stator resistance and inductance respectively；Represent rotor resistance respectively
With inductance；Represent the mutual inductance of electric capacity and inductance inside asynchronous motor；Represent rotor time constant,；Table
Show leakage inductance coefficient,；Represent asynchronous machine rotor magnetic linkage；J represents the rotary inertia of unit；It is extremely right to represent
Number；Represent and include the load torque of resistive torque that rubs；
B, the mathematical model according to the asynchronous machine set up in step A, obtain voltage model and current model；
Voltage model：
（2）
In formula, P is differential operator.
Current model：
（3）
C, by voltage model and current model, rotor flux is observed, constructs mutual model reference adaptive system
Speed identification system and mutual model reference adaptive system Stator resistance identification system；According to the interactive model reference constructing
Adaptive speed identification system and mutual model reference adaptive system Stator resistance identification system, to be set using sliding-mode control
Count Speed identification device and Stator resistance identification device to recognize rotating speed and the stator resistance of asynchronous machine；
C1, in Identification of Rotational Speed of Asynchronous Motor, asynchronous machine magnetic linkage is observed with current model using voltage model,
Work as voltage model（2）And current model（3）Output item be same rotor fluxWhen, utilize
Without speed termVoltage model（2）As reference model, containing speed termCurrent model（3）As adjustable model,
Thus constructing mutual model reference adaptive system speed identification system；
The mutual model reference adaptive system speed identification system that C1.1, basis construct, by using sliding formwork control side
Method is carried out desin speed identifier to recognize the rotating speed of asynchronous machine；
C1.1.1, the mutual model reference adaptive system speed identification system for constructing choose the sliding-mode surface with integral term
S：
（4）
C1.1.2, designed according to sliding-mode surface S based on the Speed identification device of sliding moding structure recognize asynchronous machine turn
Speed；
（5）
Wherein,For sliding formwork gain, S is the sliding-mode surface of design；
C2, stator resistance of asynchronous motor identification in, asynchronous machine magnetic linkage is carried out with current model using voltage model
Observation, works as voltage model（2）And current model（3）Output item be same rotor fluxWhen
Wait, with the current model without stator resistance（3）As reference model, with the voltage model containing stator resistance item（2）As
Adjustable model, constructs mutual model reference adaptive system Stator resistance identification system；
The mutual model reference adaptive system Stator resistance identification system that C2.1, basis construct, using sliding formwork control side
Method to recognize the stator resistance of asynchronous machine to design Stator resistance identification device；
C2.1.1, the mutual model reference adaptive system Stator resistance identification system for constructing choose the cunning with integral term
Die face：
（6）
C2.1.2, according to sliding-mode surfaceTo design, asynchronous machine is recognized based on the Stator resistance identification device of sliding moding structure
Stator resistance；
（7）
Wherein,For normal number,For sliding formwork gain,Sliding-mode surface for design.
Embodiment 2：As Figure 1-4, a kind of mutual model reference adaptive system speed based on sliding formwork control and stator
The discrimination method of resistance, methods described step is as follows：First biphase staticUnder coordinate system, set up asynchronous machine mathematical modulo
Type；Voltage model and current model are obtained according to asynchronous machine mathematical model, by voltage model with current model to rotor magnetic
Chain is observed, and then constructs mutual model reference adaptive system speed identification system and mutual model reference adaptive system is fixed
Sub- resistance identification system；According to the mutual model reference adaptive system speed identification system constructing and interactive model with reference to certainly
Adapt to Stator resistance identification system, desin speed identifier is come using sliding-mode control and Stator resistance identification device to recognize different
The rotating speed of step motor and stator resistance.
The described mutual model reference adaptive system speed based on sliding formwork control is concrete with the discrimination method of stator resistance
Step is as follows：
A, first biphase staticUnder coordinate system, input quantity is biphase stator voltage, and output is Rotational Speed of Asynchronous Motor
With asynchronous machine rotor magnetic linkage, with Rotational Speed of Asynchronous Motor, Regulation for Stator Current of Induction Motors and asynchronous machine rotor magnetic linkage be state
Variable sets up 5 rank state equations：
（1）
Wherein, system is output as, electromagnetic torque is,Table respectively
ShowStator voltage and electric current under coordinate system；Represent stator resistance and inductance respectively；Represent rotor resistance respectively
With inductance；Represent the mutual inductance of electric capacity and inductance inside asynchronous motor；Represent rotor time constant,；Table
Show leakage inductance coefficient,；Represent asynchronous machine rotor magnetic linkage；J represents the rotary inertia of unit；It is extremely right to represent
Number；Represent and include the load torque of resistive torque that rubs；
B, the mathematical model according to the asynchronous machine set up in step A, obtain voltage model and current model；
Voltage model：
（2）
In formula, P is differential operator.
Current model：
（3）
C, by voltage model and current model, rotor flux is observed, constructs mutual model reference adaptive system
Speed identification system and mutual model reference adaptive system Stator resistance identification system；According to the interactive model reference constructing
Adaptive speed identification system and mutual model reference adaptive system Stator resistance identification system, to be set using sliding-mode control
Count Speed identification device and Stator resistance identification device to recognize rotating speed and the stator resistance of asynchronous machine；
C1, in Identification of Rotational Speed of Asynchronous Motor, asynchronous machine magnetic linkage is observed with current model using voltage model,
Work as voltage model（2）And current model（3）Output item be same rotor fluxWhen, utilize
Without speed termVoltage model（2）As reference model, containing speed termCurrent model（3）As adjustable model,
Thus constructing mutual model reference adaptive system speed identification system；
The mutual model reference adaptive system speed identification system that C1.1, basis construct, by using sliding formwork control side
Method is carried out desin speed identifier to recognize the rotating speed of asynchronous machine；
C1.1.1, the mutual model reference adaptive system speed identification system for constructing choose the sliding-mode surface with integral term
S：
（4）
C1.1.2, designed according to sliding-mode surface S based on the Speed identification device of sliding moding structure recognize asynchronous machine turn
Speed；
（5）
Wherein,For sliding formwork gain, S is the sliding-mode surface of design；
C2, stator resistance of asynchronous motor identification in, asynchronous machine magnetic linkage is carried out with current model using voltage model
Observation, works as voltage model（2）And current model（3）Output item be same rotor fluxWhen
Wait, with the current model without stator resistance（3）As reference model, with the voltage model containing stator resistance item（2）As
Adjustable model, constructs mutual model reference adaptive system Stator resistance identification system；
The mutual model reference adaptive system Stator resistance identification system that C2.1, basis construct, using sliding formwork control side
Method to recognize the stator resistance of asynchronous machine to design Stator resistance identification device；
C2.1.1, the mutual model reference adaptive system Stator resistance identification system for constructing choose the cunning with integral term
Die face：
（6）
C2.1.2, according to sliding-mode surfaceTo design, asynchronous machine is recognized based on the Stator resistance identification device of sliding moding structure
Stator resistance；
（7）
Wherein,For normal number,For sliding formwork gain,Sliding-mode surface for design.
Because stability is the most important condition that control system is capable of normal work, in the case of only stablizing, performance evaluation
Just meaningful with improving, so the present embodiment proves this mutual model reference adaptive system speed and Stator resistance identification system first
The stability of system, this patent enters line justification from Lyapunov Theory of Stability；
The verification step of described stability is as follows：
First, line justification is entered to mutual model reference adaptive system speed identification system：
The Lyapunov function following to sliding moding structure model reference adaptive Systematic selection：
（8）
Above formula derivation can be obtained
（9）
Current model derivation can be obtained：
（10）
（11）
RightDerivation can obtain：
（12）
Current model after derivation is substituted into formula（12）And arrange and can obtain：
Arrangement can obtain：
（13）
Order
Order
Then have：（14）
Because, so（15）
From above-mentioned equation：（16）
To make system stability, thenFor negative definite, condition need to be met：
Work as S>When 0,（17）
As S=0,（18）
Work as S<When 0,（19）
1. work as S>When 0, because, K>0, so；
In formulaIn, because S>0, so, and because
For, so, whenWhen tending to acquired maximum, you can guarantee<0；
2. as S=0, because, K>0, so, so；
3. work as S<When 0, because, K>0, so；
In formulaIn, because S<0, so, and
Because, so, whenWhen tending to acquired maximum, you can ensure<0；
In sum, when sliding formwork gainWhen tending to acquired maximum, you can ensure Lyapunov functionNon-negative, i.e. designed system stability；
Second, line justification is entered to mutual model reference adaptive system Stator resistance identification system：
During to Stator resistance identification, to voltage model derivation, and derivation result is brought intoIn, can get final result.
（20）
Order
Order
Then have（21）
Thus（22）
Then have（23）
To make system stability, thenFor negative definite, condition need to be met：
Work as S1>When 0,（24）
Work as S1When=0,（25）
Work as S1<When 0,（26）
From the proof of Speed identification, becausePositive and negative not can determine that, so sliding formwork gainSymbol by's
Positive and negative determining, and ideally,Amplitude when trending towards acquired maximum, system stability can be ensured.
Traditional MRAS（Model reference adaptive）Identification system is single speed is recognized, stator resistance
Process as constant（Typically it is elected to be）, and in its tangible asynchronous machine rotation process, stator resistance of asynchronous motor
In the value being continually changing, and the present invention select mutual model reference adaptive system identification system, can simultaneously to stator resistance with
Rotating speed is recognized it is also possible to recognize respectively to stator resistance and rotating speed, when asynchronous machine runs, stator resistance of asynchronous motor
Can be expressed as：, it is the value of a dynamic change, reduce traditional MRAS identification system because of stator
The rotating speed deviation that resistance fixation leads to.
In order to verify the accuracy of method proposed in invention, build based on model reference under MATLAB/simulink
Adaptive asynchronous machine vector control system without sensor is emulated, withAsynchronous motor under coordinate system is imitative
True motor model, parameter is set to：
,,,,,,, rotary speed setting valueFor 314rad/s, rotor flux set-pointFor 0.9wb.
When building the mathematical model obtaining the error that the rotating speed under PI Absent measures is compared with rated speed, in asynchronous electricity
Add velocity sensor in machine, such that it is able to measure the rated speed of asynchronous machine, select to control with traditional PI simultaneously
Identification speed, the rotating speed difference measured using under rated speed and PI link as output, thus obtaining under PI Absent measures
The error analyses figure that compares with rated speed of rotating speed（As Fig. 2）.
When building the mathematical model of the error that the rotating speed obtaining mutual model reference adaptive system is compared with rated speed,
Add velocity sensor in asynchronous machine, such that it is able to measure the rated speed of asynchronous machine, select based on interaction simultaneously
The method identification speed of formula model reference adaptive, with rated speed and the method measurement based on mutual model reference adaptive system
Rotating speed difference out, as output, obtains the error that the rotating speed based on mutual model reference adaptive system is compared with rated speed
Analysis chart（As Fig. 3）.
When building the mathematical model of the error that the interactive model obtaining sliding formwork control is compared with rated speed, asynchronous
Add velocity sensor in motor, such that it is able to measure the rated speed of asynchronous machine, select with based on sliding formwork control simultaneously
Interactive model recognizing speed, with rated speed with based on the speed discrepancy measured under the interactive model of sliding formwork control
Value conduct output, thus obtain the error analyses figure that the interactive model based on sliding formwork control is compared with rated speed（As Fig. 4）.
In Vector Control System of Induction Motor, for saving the velocity sensor in motor, and can measure with working environment not
The stator resistance value of disconnected change, the method that present invention employs mutual model reference adaptive system.On this basis, for model
The deficiency that in reference adaptive method, PI is adjusted（As Fig. 2, the rotating speed under PI Absent measures is very big with rated speed fluctuating error）,
The present invention proposes the mutual model reference adaptive system method based on sliding formwork control.Above simulation results show is using being based on
The mutual model reference adaptive system method of sliding formwork control, can more accurately estimate motor rotating speed in the course of the work
With the information of stator resistance, to substitute the sensor in asynchronous machine with this, to ensure that the normal operation of motor.Simulation result
The model reference adaptive method that Fig. 4 can be seen that based on sliding formwork control not only eliminates the PI gain-adjusted of complexity, Er Qieyu
The error of rated speed is minimum, response speed faster, rotary speed precision higher it was demonstrated that the effectiveness of the method.
Above in conjunction with accompanying drawing, the specific embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned reality
Apply example, in the ken that those of ordinary skill in the art possess, can also be on the premise of without departing from present inventive concept
Various changes can be made.
Claims (1)
1. the discrimination method of a kind of mutual model reference adaptive system speed based on sliding formwork control and stator resistance, its feature exists
In：First biphase staticUnder coordinate system, set up asynchronous machine mathematical model；Electricity is obtained according to asynchronous machine mathematical model
Pressing mold type and current model, are observed to rotor flux with current model by voltage model, then construct interactive mould
Type reference adaptive speed identification system and mutual model reference adaptive system Stator resistance identification system；According to the friendship constructing
Mutually formula model reference adaptive speed identification system and mutual model reference adaptive system Stator resistance identification system, using sliding formwork
Control method is come desin speed identifier and Stator resistance identification device to recognize rotating speed and the stator resistance of asynchronous machine；
The concrete steps of the discrimination method of the described mutual model reference adaptive system speed based on sliding formwork control and stator resistance
As follows：
A, first biphase staticUnder coordinate system, input quantity is biphase stator voltage, and output is Rotational Speed of Asynchronous Motor and different
Step rotor magnetic linkage, with Rotational Speed of Asynchronous Motor, Regulation for Stator Current of Induction Motors and asynchronous machine rotor magnetic linkage be state variable
Set up 5 rank state equations：
（1）
Wherein, system is output as, electromagnetic torque is,Represent respectively
Stator voltage and electric current under coordinate system；Represent stator resistance and inductance respectively；Represent rotor resistance and electricity respectively
Sense；Represent the mutual inductance of electric capacity and inductance inside asynchronous motor；Represent rotor time constant,；Represent leakage
Sense coefficient,；Represent asynchronous machine rotor magnetic linkage；J represents the rotary inertia of unit；Represent number of pole-pairs；
Represent and include the load torque of resistive torque that rubs,It is respectivelyStator voltage under coordinate system,It is respectively
Stator current under coordinate system,It is respectivelyRotor flux under coordinate system；
B, the mathematical model according to the asynchronous machine set up in step A, obtain voltage model and current model；
Voltage model：
（2）
In formula, P is differential operator；
Current model：
（3）
C, by voltage model and current model, rotor flux is observed, constructs mutual model reference adaptive system speed
Identification system and mutual model reference adaptive system Stator resistance identification system；According to the interactive model constructing with reference to adaptive
Answer speed identification system and mutual model reference adaptive system Stator resistance identification system, speed is designed using sliding-mode control
Spend identifier and Stator resistance identification device to recognize rotating speed and the stator resistance of asynchronous machine；
C1, in Identification of Rotational Speed of Asynchronous Motor, with current model, asynchronous machine magnetic linkage is observed using voltage model, works as electricity
Pressing mold type（2）And current model（3）Output item be same rotor fluxWhen, using not containing
Speed termVoltage model（2）As reference model, containing speed termCurrent model（3）As adjustable model, thus
Construct mutual model reference adaptive system speed identification system,For rotating speed；
C1.1, according to the mutual model reference adaptive system speed identification system that constructs, by using sliding-mode control Lai
Desin speed identifier is recognizing the rotating speed of asynchronous machine；
C1.1.1, the mutual model reference adaptive system speed identification system for constructing choose the sliding-mode surface S with integral term：
（4）
C1.1.2, design the rotating speed recognizing asynchronous machine based on the Speed identification device of sliding moding structure according to sliding-mode surface S；
（5）
Wherein,For sliding formwork gain, S is the sliding-mode surface of design, and K is constant；
C2, stator resistance of asynchronous motor identification in, asynchronous machine magnetic linkage is observed with current model using voltage model,
Work as voltage model（2）And current model（3）Output item be same rotor fluxWhen, with
Current model without stator resistance（3）As reference model, with the voltage model containing stator resistance item（2）As adjustable die
Type, constructs mutual model reference adaptive system Stator resistance identification system；
The mutual model reference adaptive system Stator resistance identification system that C2.1, basis construct, is come using sliding-mode control
Design Stator resistance identification device to recognize the stator resistance of asynchronous machine；
C2.1.1, the mutual model reference adaptive system Stator resistance identification system for constructing choose the sliding-mode surface with integral term：
（6）
C2.1.2, according to sliding-mode surfaceTo design, determining of asynchronous machine is recognized based on the Stator resistance identification device of sliding moding structure
Sub- resistance；
（7）
Wherein,For normal number,For sliding formwork gain,Sliding-mode surface for design.
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| CN106788049B (en) * | 2017-04-05 | 2023-06-16 | 湖南工业大学 | Speed sensor-free torque control system and method based on cascading sliding mode observer |
| CN107134960B (en) * | 2017-07-06 | 2019-05-07 | 合肥工业大学 | Asynchronous electromotor rotor resistance discrimination method based on double sliding surface synovial membrane observer |
| CN107733310B (en) * | 2017-08-31 | 2019-12-10 | 扬州大学 | Speed-sensor-free control method suitable for large-torque starting of asynchronous motor |
| CN109560740A (en) * | 2018-11-28 | 2019-04-02 | 武汉理工大学 | A kind of non-synchronous motor parameter identification method of model reference adaptive |
| CN112152522B (en) * | 2020-09-29 | 2023-09-26 | 中国船舶集团有限公司第七二四研究所 | Multi-model control method for interaction of non-position sensors in full-speed range of motor |
| CN113708672B (en) * | 2021-07-14 | 2023-08-04 | 中国南方电网有限责任公司超高压输电公司广州局 | Control method for high-voltage high-speed switch driving motor |
| CN114123898B (en) * | 2021-12-02 | 2023-08-11 | 郑州轻工业大学 | High-performance time-sharing control system and control method for driving moment of induction motor for vehicle |
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