CN105720877B - On-line parameter identification method based on three phase alternating current motor equivalent circuit - Google Patents
On-line parameter identification method based on three phase alternating current motor equivalent circuit Download PDFInfo
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- CN105720877B CN105720877B CN201610211820.4A CN201610211820A CN105720877B CN 105720877 B CN105720877 B CN 105720877B CN 201610211820 A CN201610211820 A CN 201610211820A CN 105720877 B CN105720877 B CN 105720877B
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Abstract
The invention discloses a kind of on-line parameter identification methods based on three phase alternating current motor equivalent circuit, have following steps：The stator voltage and stator current of the three phase alternating current motor of normal operation are acquired, by establishing α β coordinate systems, is converted to stator voltage vectorAnd stator current vectorDq rotating coordinate systems are established, the stator voltage vector that will be obtainedThe d axis of definition in a coordinate system；Obtain the excitation current vector L of the three phase alternating current motorμ, equivalent leakage inductance LσWith power supply angular frequencyeThe initial value of equivalent rotor voltage vector is acquired according to formulaWith equivalent rotor fluxIn the dq rotating coordinate systems, according to voltage vectorWith stator resistance RsVariation, will move along the straight line p1 parallel with current phasor；The stator current vectorThe current phasor initial value resolved intoIt will be moved along the straight line p2 vertical with stator current vector；By formula, rotor equivalent resistance R is calculatedrref；By formula, motor stator resistance R is obtaineds。
Description
Technical field
The invention belongs to three phase alternating current motor control fields, and in particular to a kind of based on three phase alternating current motor equivalent circuit
On-line parameter identification method can be applied to the fields such as electric locomotive, diesel locomotive, electric vehicle.It is related to Patent classificating number G01 surveys
Amount；It tests G01R and measures electric variable；Measure the device that magnetic variable G01R27/00 measures resistance, reactance, impedance or its characteristic derived
G01R27/02 resistance, reactance, impedance or its other two-pole characteristics derived from, such as the real value of time constant or complex value measure.
Background technology
At present, rotor flux-orientation vector control has become the control program generally used in AC Motor Control field.
The program realizes the decoupling control of alternating current generator excitation and torque by mathematic(al) manipulation based on alternating current generator mathematical model,
So as to improve static and dynamic performance.However, the raising of performance is premised on accurately obtaining the parameter of electric machine, motor steady-state equivalent electricity
Road as shown in Figure 1, wherein especially rotor resistance Rrref can change with the variation of motor temperature, during control if
Certain amendment or compensation are not carried out to the variation of rotor resistance, control dynamic property and system effectiveness that will substantially reduce.Cause
This, if on-line identification can be carried out to the parameter of electric machine especially rotor resistance during control, will undoubtedly improve motor control system
The overall performance of system.
Rotor resistance on-line identification method can substantially be divided into three classes：First, by injecting special letter into motor
Number, the parameter of electric machine is calculated by detecting voltage or current-responsive, this method is for just in the motor of real-time stabilization operation
For can generate certain disturbance；Second is that based on motor equation, estimated using Kalman filter or Long Beige wave filters
Parameter, this method complicated calculations amount are big；Third, the method based on model reference adaptive, has same physical meaning by foundation
But the mathematical model of different expression ways, recognizes parameter using adjuster, and this method is simple but needs to increase additionally
Adjuster, and known to remaining parameter of electric machine.
Invention content
The it is proposed of the present invention in view of the above problems, and a kind of parameter based on three phase alternating current motor equivalent circuit developed exists
Line discrimination method has following steps：
The stator voltage and stator current of the three phase alternating current motor of-acquisition normal operation, by establishing α β coordinate systems, turn
It is melted into stator voltage vectorAnd stator current vector
- dq rotating coordinate systems are established, the stator voltage vector that will be obtainedThe d axis of definition in a coordinate system；Obtain institute
State the excitation current vector I of three phase alternating current motorμ, equivalent leakage inductance Lσ, equivalent magnetizing inductance LμWith synchronous angular frequencyeAccording to public affairs
Formula：
Acquire the initial value of equivalent rotor voltage vectorWith equivalent rotor flux
- in the dq rotating coordinate systems, according to the initial value of voltage vectorWith stator resistance RsVariation,
Will along with stator current vectorParallel straight line p1 movements；The stator current vectorThe current phasor resolved into is initial
ValueIt will be moved along the straight line p2 vertical with stator current vector；Meanwhile it establishes with the stator current vectorMould is straight
Diameter, using its midpoint S as the circle c2 in the center of circle；The intersection point of the straight line p2 and circle c2 are acquired, according to vector correlation, acquires current phasor
- by formula,
Rotor equivalent resistance R is calculatedrref, wherein,
ΨrRepresent the mould of equivalent rotor flux, ωrRepresent motor speed；
- by formula,
Obtain motor stator resistance Rs。
As preferred embodiment, the stator voltage vectorIt is calculated by equation below：
J is UsmaxComponent in dq coordinate systems in the imaginary axis；For voltage initial phase；
UsmaxBy giving a definition to obtain in the α β coordinate systems：
UsmaxFor the voltage magnitude collected；ωeFor synchronous angular frequency, usαVoltage is in the component of reference axis α；usβFor electricity
It is pressed in the component of reference axis β.
As preferred embodiment, the on-line parameter identification method based on three phase alternating current motor equivalent circuit, feature
Also reside in the stator current vectorIt is calculated by equation below：
IsdFor stator current d axis projection；IsqFor stator current q axis projection；J is UsmaxIt is empty in dq coordinate systems
Component on axis represents the unit vector of q axis directions；
Pass through IsmaxGive a definition to obtain in the α β coordinate systems
Wherein, isαElectric current is in the component of reference axis α, isβElectric current is in the component of reference axis β；IsmaxCurrent amplitude, ωeIt is same
Walk angular frequency,Initial phase for electric current；
The I can obtain by coordinate conversion by the angle theta of α β coordinate systems and dq rotating coordinate systemssdAnd Isq。
As preferred embodiment, the equation of the straight line p2 is：
Q=q0+Kp2*(d-d0) (1)
Wherein,Kp2For straight line P2's
Slope；
Wherein d is excitation current vectorIn the projection of d axis, d0For excitation current vectorD axis projection it is initial
Value；Q is excitation current vectorIn the projection of q axis, q0For excitation current vectorIn the initial value of the projection of q axis；
- one defined in rotating coordinate system dqMould for diameter, using its midpoint S as the circle c2 in the center of circle；
Wherein, dsFor stator current vectorMidpoint d axis in the rotating coordinate system projection, qsStator current is sweared
AmountMidpoint q axis in the rotating coordinate system projection；
Enable excitation current vectorCoordinate be (dA, qA)；
Simultaneous formula (1) and (2) obtain, and the equation group of the intersection point of straight line p2 and circle c2, solution obtains：
qA1,2=q0+Kp2*(dA1,2-d0)
Wherein,
With reference to position relationship in a coordinate system.
By using above-mentioned technical proposal, a kind of parameter based on three phase alternating current motor equivalent circuit disclosed by the invention exists
Line discrimination method, based entirely on motor equivalent circuit, clear physics conception, it is only necessary to obtain voltageElectric currentPower supply angular frequency
Rate ωe, rotational speed omegar, and combine the total leakage inductance L of known motorσWith equivalent magnetizing inductance Lμ, can be solved by simple computation
Go out fixed rotor resistance.
Description of the drawings
For the clearer technical solution for illustrating the embodiment of the present invention or the prior art, to embodiment or will show below
Have technology describe needed in attached drawing do one and simply introduce, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other attached drawings according to these attached drawings.
Fig. 1 is the corresponding motor steady-state equivalent circuit of vector controlled
Fig. 2 is RsEquivalent circuit corresponding polar plot when=0
Fig. 3 is RsStart from scratch variation when the corresponding polar plot of equivalent circuit
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, with reference to the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly completely described：
As shown in Figs. 1-3：Assuming that motor normal operation, input voltage fundamental wave, stator current and stator voltage are in α β coordinates
It can be defined as under system：
Wherein, UsmaxFor voltage magnitude, IsmaxCurrent amplitude, ωeTo synchronize angular frequency,For voltage (electric current) just
Beginning phase, usαVoltage is in the component of reference axis α, usβIt is voltage in the component of reference axis β, isαElectric current reference axis α component,
isβElectric current is in the component of reference axis β.
Dq rotating coordinate systems are defined, the coordinate system is with ωeSpeed rotates, and q axis is oriented in input voltage vectorInstitute
In position.
J is UsmaxComponent in dq coordinate systems in the imaginary axis.
Angle theta between α β and dq coordinate systems can be obtained by equation below,
Having can be in the hope of by coordinate transform after θ
IsdFor stator current d axis projection；IsqIt is stator current in the projection of q axis, j UsmaxIt is empty in dq coordinate systems
Component on axis.
With reference to Fig. 2, it is assumed that Rs=0, it is known thatLμ、LσAnd ωe, then have
LμFor equivalent magnetizing inductance；LσFor equivalent leakage inductance,For the initial value of equivalent rotor voltage vector,It is equivalent
Rotor flux.
With RsVariation, voltage drop will take into account,It will be along the straight line p parallel with current phasor1It is mobile,It will be along straight line p2Movement is simultaneously finally fallen in A points.The equation for enabling the straight line P2 vertical with stator current vector is：
Q=q0+Kp2*(d-d0) (7)
Wherein,
C2 be withMould for diameter, using its midpoint S as the circle in the center of circle, enable the c2 equations be
Wherein,
Wherein d is excitation current vectorIn the projection of d axis, d0For excitation current vectorD axis projection it is initial
Value；Q is excitation current vectorIn the projection of q axis, q0For excitation current vectorIn the initial value of the projection of q axis；
It enablesCoordinate be (dA, qA),
Simultaneous formula (7) and (8) obtain, and the equation group of the intersection point of p2 and c2 about the equation group of known variables d and q, is asked
Solution obtains：
Kp2 is the slope of straight line P2.
Wherein,
With reference to Fig. 1 and Fig. 3, have
Known motor power supply angular frequencyeWith motor speed ωr, then slippage angular frequencysFor
ωs=ωe-ωr (12)
Rotor equivalent resistance RrrefIt can be obtained by following formula,
Motor stator resistance RsIt can then be calculated as follows,
Above method clear physics conception, it is only necessary to know voltageElectric currentPower supply angular frequencye, rotational speed omegar, and
With reference to the total leakage inductance L of known motorσWith equivalent magnetizing inductance Lμ, the evaluation work of fixed rotor resistance can be completed.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
- A kind of 1. on-line parameter identification method based on three phase alternating current motor equivalent circuit, it is characterised in that there are following steps：The stator voltage and stator current of the three phase alternating current motor of-acquisition normal operation, by establishing α β coordinate systems, are converted to Stator voltage vectorAnd stator current vector- dq rotating coordinate systems are established, the stator voltage vector that will be obtainedThe d axis of definition in a coordinate system；Obtain the three-phase The excitation current vector I of alternating current generatorμ, equivalent leakage inductance Lσ, equivalent magnetizing inductance LμWith synchronous angular frequencyeAccording to formula：Acquire the initial value of equivalent rotor voltage vectorWith equivalent rotor flux- in the dq rotating coordinate systems, according to the initial value of voltage vectorWith stator resistance RsVariation, by edge With stator current vectorParallel straight line p1 movements；The stator current vectorThe current phasor initial value resolved into It will be moved along the straight line p2 vertical with stator current vector；Meanwhile it establishes with the stator current vectorMould is diameter, with Its midpoint S is the circle c2 in the center of circle；The intersection point of the straight line p2 and circle c2 are acquired, according to vector correlation, acquires current phasor- by formula,Rotor equivalent resistance R is calculatedrref, wherein,ΨrRepresent the mould of equivalent rotor flux, ωrRepresent motor speed；- by formula,Obtain motor stator resistance Rs。
- 2. the on-line parameter identification method according to claim 1 based on three phase alternating current motor equivalent circuit, feature is also It is the stator voltage vectorIt is calculated by equation below：J is UsmaxComponent in dq coordinate systems in the imaginary axis；For voltage initial phase；UsmaxBy giving a definition to obtain in the α β coordinate systems：UsmaxFor the voltage magnitude collected；ωeFor synchronous angular frequency, usαVoltage is in the component of reference axis α；usβExist for voltage The component of reference axis β.
- 3. the on-line parameter identification method according to claim 2 based on three phase alternating current motor equivalent circuit, feature is also It is the stator current vectorIt is calculated by equation below：IsdFor stator current d axis projection；IsqFor stator current q axis projection；J is UsmaxIn dq coordinate systems in the imaginary axis Component, represent q axis directions unit vector；Pass through IsmaxGive a definition to obtain in the α β coordinate systemsWherein, isαElectric current is in the component of reference axis α, isβElectric current is in the component of reference axis β；IsmaxCurrent amplitude, ωeFor synchro angle Frequency,Initial phase for electric current；The I can obtain by coordinate conversion by the angle theta of α β coordinate systems and dq rotating coordinate systemssdAnd Isq：
- 4. the on-line parameter identification method according to claim 1 based on three phase alternating current motor equivalent circuit, feature is also The equation for being the straight line p2 is：Q=q0+Kp2*(d-d0) (1)Wherein,Kp2Slope for straight line P2；Wherein d is excitation current vectorIn the projection of d axis, d0For excitation current vectorIn the initial value of the projection of d axis；Q is Excitation current vectorIn the projection of q axis, q0For excitation current vectorIn the initial value of the projection of q axis；- one defined in rotating coordinate system dqMould for diameter, using its midpoint S as the circle c2 in the center of circle；Wherein, dsFor stator current vectorMidpoint d axis in the rotating coordinate system projection, qsStator current vector's The projection of midpoint q axis in the rotating coordinate system；Enable excitation current vectorCoordinate be (dA, qA)；Simultaneous formula (1) and (2) obtain, and the equation group of the intersection point of straight line p2 and circle c2, solution obtains：qA1,2=q0+Kp2*(dA1,2-d0)Wherein,With reference to position relationship in a coordinate system：
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1986317A1 (en) * | 2007-04-27 | 2008-10-29 | ABB Oy | Stator resistance adaptation in sensorless PMSM drives |
| CN103248306A (en) * | 2013-05-24 | 2013-08-14 | 天津大学 | Online decoupling identification method of multiple parameters of PMSM (permanent magnet synchronous motor) |
| CN103326657A (en) * | 2013-06-09 | 2013-09-25 | 深圳市汇川技术股份有限公司 | Asynchronous motor stator resistance on-line identification system and method |
-
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- 2016-04-05 CN CN201610211820.4A patent/CN105720877B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1986317A1 (en) * | 2007-04-27 | 2008-10-29 | ABB Oy | Stator resistance adaptation in sensorless PMSM drives |
| CN103248306A (en) * | 2013-05-24 | 2013-08-14 | 天津大学 | Online decoupling identification method of multiple parameters of PMSM (permanent magnet synchronous motor) |
| CN103326657A (en) * | 2013-06-09 | 2013-09-25 | 深圳市汇川技术股份有限公司 | Asynchronous motor stator resistance on-line identification system and method |
Non-Patent Citations (1)
| Title |
|---|
| 感应电机无速度传感器矢量控制系统的定子电阻在线辨识;陈硕等;《中国电机工程学报》;20030228;第23卷(第2期);第88-92页 * |
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