CN106602953B - The verification method of induction electromotor rotor time constant based on field orientation accuracy - Google Patents
The verification method of induction electromotor rotor time constant based on field orientation accuracy Download PDFInfo
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- CN106602953B CN106602953B CN201611166448.6A CN201611166448A CN106602953B CN 106602953 B CN106602953 B CN 106602953B CN 201611166448 A CN201611166448 A CN 201611166448A CN 106602953 B CN106602953 B CN 106602953B
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Abstract
The present invention discloses a kind of verification method of the induction electromotor rotor time constant based on field orientation accuracy.Implementation step is：First, it is ensured that the torque current and exciting current given in indirect orientation on rotor flux device is equal；Secondly, motor is allowed to drag dc generator load rotation in such a way that torque reference is run；Then, constantly change the rotor time constant value in controller, and record corresponding motor steady-state speed value；Finally, it observes when the steady-state speed of motor corresponds to some rotor time constant value and reaches highest, which is exact value.This method can be completed with automatic running, not only need not manually carry out judging experimental phenomena, and result is also quite accurate.
Description
Technical field
The present invention discloses a kind of verification method of induction motor parameter value accuracy, more particularly to a kind of to be based on field orientation
The verification method of the rotor time constant accuracy of the cage type induction motor of accuracy belongs to parameter of electric machine Self-tuning System field.
Technical background
In the experimental stage, it should design specific parameters precision verification method and be carried out to the parameter of distinct methods identification gained
It examines, the validity and accuracy of judgment method is come with this.Most common, intuitive method is exactly Model in Time Domain verification, that is, is compared
Measurement electric current and simulated current (or measuring torque and emulation torque) under identical input stimulus, identification gained is verified with this
The accuracy of equivalent circuit parameter.In addition, by comparing the characteristic curve for measuring steady-state characteristic curve and estimation, also it is able to verify that
Imitate the accuracy of circuit parameter.Certainly, for practical applications, the runnability sheet of the system designed by identified parameters
Body is exactly a good identification precision evaluation index, such as the rapidity and Speed Sensorless System of speed dynamic response
In estimating speed accuracy.
If purpose is to assess the accuracy of some specific parameter, such as magnetizing inductance curve and rotor time constant,
Method described above still may be utilized, but it is desirable that can have dedicated method to distinguish between measurement and emulation, estimation
Contradiction whether be caused by the identification precision deficiency of some specific parameter.For testing for magnetizing inductance accuracy
Card, if the design parameter of dynamo sheet is it is known that so finite element analysis can be used to analyze the standard of magnetizing inductance curve
True property.And under normal circumstances, the reference of magnetizing inductance curve can all use the result of classical no load test.
As for the identification precision assessment of rotor time constant, it is considered that be relatively difficult, because rotor current is often
It is unable to measure.Also exactly therefore, the accuracy of rotor time constant identification can be verified with wound induction motor.So
And for cage type induction motor, then it can only indirectly be verified.Have in document much to rotor time constant on-line control
Method, but tend to rely on the accuracy of other parameters.In a very long time, the identification of effective rotor time constant
Method is exactly " triangular wave speed waveform is examined under square wave torque reference " that Lorenz was proposed in 1986.Induction machine is enabled to run
Under torque mode, and the square wave torque reference waveform of given rated excitation and an alternation, if the rotor in controller
Time constant value is accurate, and speed responsive will be the shape of a triangular wave.If rotor time constant value is inaccurate, that
The torque profile of response will be different from given torque, and speed responsive can also deviate ideal triangle shape.This method needs
Want visual examination, different people that there may be different judgements, so being very to the evaluation of the identification precision of rotor time constant
It is limited.
Invention content
For overcome the deficiencies in the prior art, motor speed can be surveyed and load loaded for dc generator under the premise of,
The present invention proposes a kind of verification method of the induction electromotor rotor time constant based on field orientation accuracy.
A kind of verification method of the induction electromotor rotor time constant based on field orientation accuracy,
In the indirect orientation on rotor flux system of cage type induction motor, in the premise for not measuring its rotor current
Under, implementation step is as follows to be judged to the accuracy of rotor-side parameter " rotor time constant "：
(1) in indirect orientation on rotor flux, equal torque current and exciting current are given；
(2) motor is allowed to drag dc generator load rotation in such a way that torque reference is run；
(3) constantly change the rotor time constant value in controller, and record corresponding motor steady-state speed value；
(4) steady-state speed of observation motor reaches highest when correspond to some rotor time constant value, when the rotor
Between constant
Value is exact value.
The step (1) includes the following steps：
(1A) in orientation on rotor flux, each electricity is converted under MT systems, M axis and rotor flux linkage vector pair
Together, T axis is rotated by 90 ° electrical angle by M axis and determines counterclockwise；
The T axis components of (1B) electric current are torque current, and M axis components are then exciting current；The general M axis for giving constant current
Component is chosen as the rated exciting current of motor, is then equal to M axis components to the T axis components of constant current.
The step (2) includes the following steps：
(2A) requires the load characteristic of motor load to meet load torque accordingly to increase with the raising of motor speed, this
In by taking dc generator loads as an example；
The operational mode of (2B) motor is torque reference operational mode, i.e., motor, which is eventually run on, generates given electromagnetism
The state of torque；Due to the effect of load, motor is eventually run under a certain stabilized (steady-state) speed.
The step (3) includes the following steps：
In (3A) indirect field-orientated control, slippage is calculated as follows
Wherein, top mark " ^ " represents the numerical value used in controller namely estimated value；τrRepresent rotor time constant, ωsl
Slippage is represented, andWithRespectively to the T axis components of constant current and M axis components；Finally, for the convenience of description, we will turn
The inverse of sub- time constant is denoted as
(3B) if the value of α is inaccurate, it is rotor field-oriented be exactly have it is inclined；At this moment, we introduce M ' T ' coordinates
System, M ' axis is parallel to actual rotor flux linkage vector, and T ' axis is then ahead of 90 degree of M ' axis；Rotor time constant error at this timeMeet following formula
This is because the synchronous speed of our total energy control motors, so there is following formula establishment
Wherein, ωeAnd ωrRespectively represent synchronous speed and electrical rotate-speed；Further, the electromagnetic torque T of motoremUnder satisfaction
Formula
Wherein,For motor constant parameter；By enabling M axis components and T axis components to constant current equal, i.e.,We obtain
It is easy to find, the electromagnetic torque that motor generates existsWhen can get maximum valueThat is, when and the value of only rotor time constant be accurate when, i.e.,When, electricity
The torque of machine output can be only achieved maximum；
(3C) changes the rotor time constant value in controller, will influence the torque output capability of motor；Due to motor
The value of load torque be proportional to the tachometer value of motor, so, although the given value of current of motor remains unchanged, motor it is steady
State rotating speed will change with the change of rotor time constant value.
The step (4) includes the following steps：
(4A) changes the value of rotor time constant in a certain range, it will be observed that the steady-state speed of motor is a certain in correspondence
Reach highest when a rotor time constant value, which is exact value.
Beneficial effects of the present invention：
The present invention describes the rotor time constant verification of a cage type induction motor based on field orientation accuracy
Method.This method based on rotor time constant inaccuracy to the mechanism of action of indirect orientation on rotor flux, with motor operation
Steady-state speed under torque mode is criterion, and automatically to the judgement of rotor time constant accuracy, result need not be into one
The artificial judgment of step, and implement very convenient, chart is made in the data of acquisition will be very intuitive.
Description of the drawings
Fig. 1 is the indirect orientation on rotor flux system schematic for realizing the present invention；
Fig. 2 is the experimental verification figure for realizing the algorithm of the present invention.
Specific implementation mode
The invention will be further elaborated with reference to the accompanying drawings and examples.
Referring to Fig. 1, strong power part, three-phase alternating-current supply obtains DC bus-bar voltage U by uncontrollable rectifierdc, service voltage
Source type inverter, then obtain the three phase mains of supply asynchronous machine.
Weak current part, using vector control mode, including voltage, current sensor, the phase static coordinate of 3 phases/2 becomes mold changing
Block, 2 mutually static/2 same pace coordinate transformation module, the calculating such as slippage, magnetic field angle, rated exciting current is given, speed ring
PI controller modules, electric current loop PI controller modules, the phase static coordinate conversion module of 2 same paces/2, space vector of voltage arteries and veins
Wide modulation module.
The invention mainly relates to the verification method of the rotor time constant accuracy of the present invention, other modules are induction machine
Functional module needed for indirect field-orientated control, is known in the art common sense.
The workflow of whole system is described below, to introduce the connection relation of each module.
1. measure each phase current and voltage of threephase asynchronous machine by sensor, " the phase static coordinate of 3 phases/2 becomes mold changing for input
Block " obtains stator current isComponent isαAnd isβ, stator voltage usComponent usαAnd usβ；
2. in indirect orientation on rotor flux, equal torque current and exciting current are given；
(2A) in orientation on rotor flux, each electricity is converted under MT systems, M axis and rotor flux linkage vector pair
Together, T axis is rotated by 90 ° electrical angle by M axis and determines counterclockwise；
The T axis components of (2B) electric current are torque current, and M axis components are then exciting current；The general M axis for giving constant current
Component is chosen as the rated exciting current of motor, is then equal to M axis components to the T axis components of constant current.
3. it is given that electric current PI calculates voltage according to current error.
4. Realization of pulse width modulation based on voltage space vector module is with α shaft voltages usαWith β shaft voltages usβAs input, three-phase PWM is exported
To the gate pole of inverter, to allow motor to drag dc generator load rotation in such a way that torque reference is run；
(4A) requires the load characteristic of motor load to meet load torque accordingly to increase with the raising of motor speed, this
In by taking dc generator loads as an example；
The operational mode of (4B) motor is torque reference operational mode, i.e., motor, which is eventually run on, generates given electromagnetism
The state of torque；Due to the effect of load, motor is eventually run under a certain stabilized (steady-state) speed.
5. constantly changing the rotor time constant value in controller, and record corresponding motor steady-state speed value；
In (5A) indirect field-orientated control, slippage is calculated as follows
Wherein, top mark " ^ " represents the numerical value used in controller namely estimated value；τrRepresent rotor time constant, ωsl
Slippage is represented, andWithRespectively to the T axis components of constant current and M axis components；Finally, for the convenience of description, we will turn
The inverse of sub- time constant is denoted as
(5B) if the value of α is inaccurate, it is rotor field-oriented be exactly have it is inclined；At this moment, we introduce M ' T ' coordinates
System, M ' axis is parallel to actual rotor flux linkage vector, and T ' axis is then ahead of 90 degree of M ' axis；Rotor time constant error at this timeMeet following formula
This is because the synchronous speed of our total energy control motors, so there is following formula establishment
Wherein, ωeAnd ωrRespectively represent synchronous speed and electrical rotate-speed；Further, the electromagnetic torque T of motoremUnder satisfaction
Formula
Wherein,For motor constant parameter；By enabling M axis components and T axis components to constant current equal, i.e.,We obtain
It is easy to find, the electromagnetic torque that motor generates existsWhen can get maximum valueThat is, when and the value of only rotor time constant be accurate when, i.e.,When, electricity
The torque of machine output can be only achieved maximum；
(5C) changes the rotor time constant value in controller, will influence the torque output capability of motor；Due to motor
The value of load torque be proportional to the tachometer value of motor, so, although the given value of current of motor remains unchanged, motor it is steady
State rotating speed will change with the change of rotor time constant value.
6. the steady-state speed of observation motor reaches highest when corresponding to some rotor time constant value, the rotor time
Constant value is exact value.
(6A) changes the value of rotor time constant in a certain range, it will be observed that the steady-state speed of motor is a certain in correspondence
Reach highest when a rotor time constant value, which is exact value.
7. corresponding experimental result is as shown in Figure 2.Here we design a torque mode running experiment for experiment, with verification
The accuracy of rotor used by same time constant value.Therefore, rotating speed is measured by code-disc and is obtained, and the load of motor is selected as dc generator and is born
It carries.Since in different experiments, torque reference and excitation give to establish a capital and are to maintain the big of the rotating speed constant, motor is finally stablized
The index of the small ability power for being exactly motor output torque.We have found that the steady-state speed ω of motorr|T=∞Rotor in the controller
The inverse of time constantWhen reach maximum.
Claims (1)
1. a kind of verification method of the induction electromotor rotor time constant based on field orientation accuracy, it is characterised in that：
In the indirect orientation on rotor flux system of cage type induction motor, under the premise of not measuring rotor current, to turning
The accuracy of sub- side parameter rotor time constant is judged, realizes that steps are as follows：
(1) in indirect orientation on rotor flux, equal torque current and exciting current are given；
(2) motor is allowed to drag dc generator load rotation in such a way that torque reference is run；
(3) constantly change the rotor time constant value in controller, and record corresponding motor steady-state speed value；
(4) steady-state speed of motor is observed, when reaching highest, which is exact value；
The step (1) includes the following steps：
(1A) in orientation on rotor flux, each electricity is converted under MT systems, M axis and rotor flux linkage vector alignment, T axis by
M axis is rotated by 90 ° electrical angle determination counterclockwise；
The T axis components of (1B) electric current are torque current, and M axis components are then exciting current；It is selected as to the M axis components of constant current
The rated exciting current of motor is then equal to M axis components to the T axis components of constant current；
The step (2) includes the following steps：
(2A) motor load loads for dc generator, and it is corresponding with the raising of motor speed that load characteristic meets load torque
It increases；
The operational mode of (2B) motor is torque reference operational mode, i.e., motor, which is eventually run on, generates given electromagnetic torque
State；Due to the effect of load, motor may eventually reach stabilized (steady-state) speed；
The step (3) includes the following steps：
In (3A) indirect field-orientated control, slippage is calculated as follows
Wherein, top mark " ^ " represents the numerical value used in controller namely estimated value；τrRepresent rotor time constant, ωslIt represents
Slippage, andWithRespectively to the T axis components of constant current and M axis components；The inverse of rotor time constant is denoted as
(3B) if the value of α is inaccurate, it is rotor field-oriented be exactly have it is inclined；At this moment, M ' T ' coordinate systems are introduced, M ' axis is flat
Row is in actual rotor flux linkage vector, and T ' axis is then ahead of 90 degree of M ' axis；Rotor time constant error at this timeMeet following formula
Because the synchronous speed of total energy control motor, there is following formula establishment
Wherein, ωeAnd ωrRespectively represent synchronous speed and electrical rotate-speed；Further, the electromagnetic torque T of motoremMeet following formula
Wherein,For motor constant parameter；By enabling M axis components and T axis components to constant current equal, i.e.,?
It arrives
Wherein, the electromagnetic torque that motor generates existsWhen get maximum valueWhen and only turn
When the value of sub- time constant is accurate, i.e.,When, the torque of motor output can be only achieved maximum.
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| ES2882679T3 (en) * | 2017-06-28 | 2021-12-02 | Siemens Ag | Operating procedure for an asynchronous machine with adapted field creating current component |
| CN107465374B (en) * | 2017-07-25 | 2020-04-24 | 浙江大学 | Induction motor full-order self-adaptive observation method taking counter electromotive force as state |
| CN107863914A (en) * | 2017-11-09 | 2018-03-30 | 天津英捷利汽车技术有限责任公司 | A kind of time constant of rotor of asynchronous machine self-adjusting system |
| CN107896079B (en) * | 2017-12-08 | 2019-08-09 | 西安科技大学 | A kind of induction electromotor rotor time constant discrimination method |
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| DD298866A5 (en) * | 1990-05-03 | 1992-03-12 | Technische Universitaet Dresden Direktorat Forschung,De | METHOD OF IDENTIFYING THE ROLLING TIME CONSTANT OF DREHSTROMASYNCHRONOUS MACHINES |
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| CN102914741A (en) * | 2012-10-17 | 2013-02-06 | 深圳市航盛电子股份有限公司 | Method and device for measuring parameter of asynchronous motor |
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| CN104158457A (en) * | 2014-07-24 | 2014-11-19 | 中国东方电气集团有限公司 | Torque calibration method for AC induction motor of electric vehicle |
| CN105281633A (en) * | 2015-11-20 | 2016-01-27 | 上海新时达电气股份有限公司 | Method for automatically identifying asynchronous motor rotor time constant by frequency converter |
| CN105811833A (en) * | 2016-04-21 | 2016-07-27 | 中国船舶重工集团公司第七〇二研究所 | Time constant adjustment method of AC asynchronous motor rotor |
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- 2016-12-16 CN CN201611166448.6A patent/CN106602953B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD269960A1 (en) * | 1987-12-31 | 1989-07-12 | Elektroprojekt Anlagenbau Veb | METHOD FOR FIELD-ORIENTED MANAGEMENT OF ASYNCHRONOUS MACHINE BY RIVER DIFFERENTIAL METHOD |
| DD298866A5 (en) * | 1990-05-03 | 1992-03-12 | Technische Universitaet Dresden Direktorat Forschung,De | METHOD OF IDENTIFYING THE ROLLING TIME CONSTANT OF DREHSTROMASYNCHRONOUS MACHINES |
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| CN104158457A (en) * | 2014-07-24 | 2014-11-19 | 中国东方电气集团有限公司 | Torque calibration method for AC induction motor of electric vehicle |
| CN105281633A (en) * | 2015-11-20 | 2016-01-27 | 上海新时达电气股份有限公司 | Method for automatically identifying asynchronous motor rotor time constant by frequency converter |
| CN105811833A (en) * | 2016-04-21 | 2016-07-27 | 中国船舶重工集团公司第七〇二研究所 | Time constant adjustment method of AC asynchronous motor rotor |
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