CN106788056B - Online identification method and device for motor stator resistance and motor control system - Google Patents
Online identification method and device for motor stator resistance and motor control system Download PDFInfo
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- CN106788056B CN106788056B CN201611042857.5A CN201611042857A CN106788056B CN 106788056 B CN106788056 B CN 106788056B CN 201611042857 A CN201611042857 A CN 201611042857A CN 106788056 B CN106788056 B CN 106788056B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The invention discloses an online identification method and device for motor stator resistance and a motor control system, wherein the method comprises the following steps: injecting a preset current into a d axis of the dq axis system which synchronously rotates; acquiring d-axis voltage and d-axis current of a synchronously rotating dq shaft system; respectively carrying out low-pass filtering processing on the d-axis voltage and the d-axis current; and calculating the stator resistance of the motor according to the d-axis voltage and the d-axis current after the low-pass filtering processing. The method can obtain accurate stator resistance, is simple to measure and easy to realize, and can be applied to engineering practice.
Description
Technical Field
The invention relates to the technical field of motors, in particular to an online identification method of motor stator resistance, an online identification device of the motor stator resistance and a motor control system.
background
In the sensorless control process based on the vector control, it is necessary to grasp accurate flux linkage information, and therefore flux linkage estimation is necessary. In the stator flux linkage estimation based on the voltage model, the related motor parameters only comprise stator resistance, so that the precision of flux linkage estimation can be improved by an accurate stator resistance value. Meanwhile, the temperature of the motor can be monitored in real time according to the accurate resistance value of the motor stator.
In the related technology, a stator resistance identification method based on a motor steady-state model is to sequentially calculate the reactive power, the stator flux linkage, the rotor flux linkage and the electromagnetic torque of a motor according to the detected stator current and the detected stator voltage, and then calculate the stator resistance according to the calculation result and a stator resistance identification expression obtained by pre-derivation; the key point of the stator resistance identification method based on the self-adaptive theory is that a proper error amount is determined through repeated experimental adjustment, such as: the process is complicated by errors of d-axis components of rotor flux linkage based on a voltage model and a current model, errors based on active power or reactive power, errors of d-direction components of stator currents in a synchronous rotation dq shafting, and the like. Therefore, how to reduce the complexity of the online identification of the stator resistance is an urgent technical problem to be solved in the field.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the first objective of the present invention is to provide an online identification method for motor stator resistance, which can obtain accurate stator resistance, and has the advantages of simple measurement and easy implementation, and can be applied to engineering practice.
The second purpose of the invention is to provide an online identification device for the motor stator resistance.
a third object of the present invention is to provide a motor control system.
in order to achieve the above object, an embodiment of a first aspect of the present invention provides an online identification method for a stator resistor of a motor, including the following steps: injecting a preset current into a d axis of the dq axis system which synchronously rotates; acquiring d-axis voltage and d-axis current of the synchronous rotation dq shafting; respectively carrying out low-pass filtering processing on the d-axis voltage and the d-axis current; and calculating the stator resistance of the motor according to the d-axis voltage and the d-axis current after the low-pass filtering processing.
According to the online identification method of the motor stator resistance, the preset current is injected into the d axis of the synchronous rotation dq axis system, the d axis voltage and the d axis current of the synchronous rotation dq axis system are obtained, then the d axis voltage and the d axis current are subjected to low-pass filtering processing respectively, and the motor stator resistance is calculated according to the d axis voltage and the d axis current after the low-pass filtering processing. The method can obtain accurate stator resistance, is simple to measure and easy to realize, and can be applied to engineering practice.
According to one embodiment of the invention, the preset current is an alternating current with constant amplitude and constant frequency, wherein the frequency of the preset current is 0.1% -1% of the rated frequency of the motor.
according to one embodiment of the invention, the d-axis voltage and the d-axis current are subjected to low-pass filtering processing through a low-pass filtering link formed by cascading n first-order low-pass filters with equal cut-off frequencies, wherein n is 1-3, and the cut-off frequency is less than or equal to the frequency of the preset current.
According to one embodiment of the invention, the stator resistance of the electrical machine is calculated by the following formula:
Wherein Rs is a stator resistance of the motor, udf is a d-axis voltage after the low-pass filtering processing, and idf is a d-axis current after the low-pass filtering processing.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides an apparatus for online identification of a stator resistor of a motor, including: the injection module is used for injecting preset current into a d axis of the synchronous rotation dq shafting; the acquisition module is used for acquiring d-axis voltage and d-axis current of the synchronous rotation dq shafting; the filtering processing module is connected with the acquisition module and is used for performing low-pass filtering processing on the d-axis voltage and the d-axis current respectively; and the calculation module is connected with the filtering processing module and is used for calculating the stator resistance of the motor according to the d-axis voltage and the d-axis current after the low-pass filtering processing.
According to the on-line identification device for the motor stator resistance, the preset current is injected into the d axis of the synchronous rotation dq axis system through the injection module, the d axis voltage and the d axis current of the synchronous rotation dq axis system are obtained through the acquisition module, then the d axis voltage and the d axis current are subjected to low-pass filtering processing through the filtering processing module respectively, and finally the stator resistance of the motor is calculated through the calculation module according to the d axis voltage and the d axis current subjected to low-pass filtering processing. The device can obtain accurate stator resistance, and measure simply, and it is easy to realize, can apply to engineering practice.
According to one embodiment of the invention, the preset current is an alternating current with constant amplitude and constant frequency, wherein the frequency of the preset current is 0.1% -1% of the rated frequency of the motor.
According to an embodiment of the invention, the filtering processing module is formed by cascading n first-order low-pass filters with equal cut-off frequencies, wherein n is 1-3, and the cut-off frequency is less than or equal to the frequency of the preset current.
According to one embodiment of the invention, the calculation module calculates the stator resistance of the electrical machine by the formula:
wherein Rs is a stator resistance of the motor, udf is a d-axis voltage after the low-pass filtering processing, and idf is a d-axis current after the low-pass filtering processing.
in addition, the embodiment of the invention also provides a motor control system which comprises the online identification device for the motor stator resistance.
According to the motor control system provided by the embodiment of the invention, the accurate stator resistance can be obtained through the online identification device for the motor stator resistance, the measurement is simple, the realization is easy, and the motor control system can be applied to engineering practice.
Drawings
fig. 1 is a flow chart of a method for online identification of a motor stator resistance according to an embodiment of the invention;
FIG. 2 is a block diagram of an apparatus for online identification of stator resistance of a motor according to an embodiment of the present invention;
FIG. 3 is a block schematic diagram of a motor control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a motor control system according to one embodiment of the present invention.
Detailed Description
reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An online identification method of a motor stator resistance, an online identification device of a motor stator resistance and a motor control system having the same according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an online identification method for a stator resistance of a motor according to an embodiment of the invention. As shown in fig. 1, the online identification method for the motor stator resistance may include the following steps:
and S1, injecting a preset current into the d axis of the synchronously rotating dq axis system.
According to an embodiment of the invention, the preset current is an alternating current with constant amplitude and constant frequency, wherein the frequency of the preset current can be 0.1% -1% of the rated frequency of the motor, and the preset current can be specifically calibrated according to actual conditions.
And S2, acquiring d-axis voltage and d-axis current of the synchronously rotating dq shafting.
S3, low-pass filtering the d-axis voltage and the d-axis current, respectively.
according to one embodiment of the invention, low-pass filtering processing is performed on d-axis voltage and d-axis current through a low-pass filtering link formed by cascading n first-order low-pass filters with equal cut-off frequencies, wherein n can be 1-3, the cut-off frequency is less than or equal to the frequency of a preset current, and calibration can be performed specifically according to actual conditions.
And S4, calculating the stator resistance of the motor according to the d-axis voltage and the d-axis current after the low-pass filtering processing.
According to an embodiment of the present invention, the stator resistance of the motor can be calculated by the following equation (1):
Wherein Rs is a stator resistance of the motor, udf is a d-axis voltage after low-pass filtering, and idf is a d-axis current after low-pass filtering.
Specifically, in order to obtain the stator resistance of the motor on line without affecting the normal operation of the motor, in the process of the operation of the motor, an alternating current iinj with a relatively small amplitude and frequency may be injected into the d-axis of the motor, a d-axis voltage ud and a d-axis current id of the motor are obtained at the same time, low-pass filtering processing is performed on the obtained d-axis voltage ud to obtain a filtered d-axis voltage udf, low-pass filtering processing is performed on the obtained d-axis current id to obtain a filtered d-axis current idf, and then the stator resistance Rs of the motor may be calculated by substituting the filtered d-axis voltage udf and the filtered d-axis current idf into the formula (1). Therefore, not only can the accurate stator resistance be obtained, but also the method is simple and reliable, is easy to realize and can be applied to engineering practice.
In summary, according to the online identification method for the motor stator resistance in the embodiment of the invention, the preset current is injected into the d axis of the synchronously rotating dq axis system, the d axis voltage and the d axis current of the synchronously rotating dq axis system are obtained, then the d axis voltage and the d axis current are subjected to low-pass filtering respectively, and the motor stator resistance is calculated according to the d axis voltage and the d axis current after the low-pass filtering. The method can obtain accurate stator resistance, is simple to measure and easy to realize, and can be applied to engineering practice.
Fig. 2 is a block diagram of an online identification device for motor stator resistance according to an embodiment of the invention. As shown in fig. 2, the apparatus 100 for online identification of stator resistance of a motor may include: the device comprises an injection module 10, an acquisition module 20, a filtering processing module 30 and a calculation module 40.
The injection module 10 is configured to inject a preset current into a d-axis of a synchronous rotation dq-axis system, the acquisition module 20 is configured to acquire a d-axis voltage and a d-axis current of the synchronous rotation dq-axis system, the filtering processing module 30 is connected to the acquisition module 20, the filtering processing module 30 is configured to perform low-pass filtering processing on the d-axis voltage and the d-axis current respectively, the calculation module 40 is connected to the filtering processing module 30, and the calculation module 40 is configured to calculate a stator resistance of a motor according to the d-axis voltage and the d-axis current after the low-pass filtering processing.
According to one embodiment of the present invention, the preset current is an alternating current with a constant amplitude and a constant frequency, wherein the frequency of the preset current may be 0.1% to 1% of the rated frequency of the motor.
according to an embodiment of the present invention, the filtering processing module 30 may be formed by cascading n first-order low-pass filters with equal cut-off frequencies, where n is 1-3, and the cut-off frequency is less than or equal to the frequency of the preset current.
According to an embodiment of the present invention, the calculation module 40 may calculate the stator resistance of the motor by the above equation (1).
specifically, in order to obtain the stator resistance of the motor on line without affecting the normal operation of the motor, in the operation process of the motor, an alternating current iinj with a relatively small amplitude and frequency may be injected into the d-axis of the motor through the injection module 10, at the same time, a d-axis voltage ud and a d-axis current id of the motor are obtained through the obtaining module 20, the obtained d-axis voltage ud is subjected to low-pass filtering processing through the filtering processing module 30 to obtain a filtered d-axis voltage udf, the obtained d-axis current id is subjected to low-pass filtering processing to obtain a filtered d-axis current idf, and then the calculating module 40 calculates the stator resistance Rs of the motor according to the above formula (1) based on the filtered d-axis voltage udf and the filtered d-axis current idf. Therefore, not only can the accurate stator resistance be obtained, but also the method is simple, reliable, easy to realize and applicable to engineering practice.
According to the on-line identification device for the motor stator resistance, the preset current is injected into the d axis of the synchronous rotation dq axis system through the injection module, the d axis voltage and the d axis current of the synchronous rotation dq axis system are obtained through the acquisition module, then the d axis voltage and the d axis current are subjected to low-pass filtering processing through the filtering processing module respectively, and finally the stator resistance of the motor is calculated through the calculation module according to the d axis voltage and the d axis current subjected to low-pass filtering processing. The device can obtain accurate stator resistance, and measure simply, and it is easy to realize, can apply to engineering practice.
Fig. 3 is a block diagram of a structure of a motor control system according to an embodiment of the present invention. As shown in fig. 3, the motor control system 1000 includes the motor stator resistance identification apparatus 100.
in one specific example of the present invention, as shown in fig. 4, the motor control system 1000 may include: the device comprises a motor 1001, a current sampling module 1002, a first coordinate conversion module 1003, a current correction module 1004, a direct axis voltage module 1005, a quadrature axis voltage module 1006, a second coordinate conversion module 1007, an SVPWM (Space Vector Pulse Width Modulation) driving module 1008, an inverter 1009 and a dc power supply 1010.
The current sampling module 1002 is configured to sample three-phase currents of the motor 1001. The first coordinate conversion module 1003 is configured to perform Clarke coordinate transformation and Park coordinate transformation on the three-phase current according to the initial position of the rotor to obtain a direct-axis (d-axis) current and a quadrature-axis (q-axis) current. The current correction module 1004 is configured to perform current correction on the direct-axis current and the quadrature-axis current according to the direct-axis reference current and the quadrature-axis reference current to obtain a direct-axis voltage variation value and a quadrature-axis voltage variation value. The direct-axis voltage module 1005 is used for adjusting the direct-axis voltage according to the rotor electrical angular velocity. The quadrature axis voltage module 1006 is configured to adjust the quadrature axis voltage according to the rotor electrical angular velocity. The second coordinate conversion module 1007 performs Clarke coordinate inverse transformation and Park coordinate inverse transformation on the sum of the direct axis voltage and the direct axis voltage variation value and the sum of the quadrature axis voltage and the quadrature axis voltage variation value according to the initial position to obtain three-phase voltages. The SVPWM driving module 1008 is configured to output a driving signal according to the three-phase voltage. The inverter 1009 is used to control the current of the motor 1001 according to the drive signal. A dc power supply 1010 is used to power the inverter 1009.
thus, based on the motor control system 1000, a preset current iinj is injected into a d-axis of a synchronous rotation dq axis system of the motor, then a d-axis voltage ud and a d-axis current id of the synchronous rotation dq axis system are obtained, low-pass filtering is performed on the d-axis voltage ud and the d-axis current id to obtain a filtered d-axis voltage udf and a filtered d-axis current idf, and finally a stator resistance Rs of the motor is calculated according to the filtered d-axis voltage udf and the filtered d-axis current idf. Therefore, not only can the accurate stator resistance be obtained, but also the measurement precision is high, the calculation is simple, and the realization is easy.
According to the motor control system provided by the embodiment of the invention, the accurate stator resistance can be obtained through the online identification device for the motor stator resistance, the measurement is simple, the realization is easy, and the motor control system can be applied to engineering practice.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. An online identification method for motor stator resistance is characterized by comprising the following steps:
Injecting a preset current into a d axis of the synchronous rotation dq shaft system, wherein the preset current is an alternating current with constant amplitude and constant frequency;
Acquiring d-axis voltage and d-axis current of the synchronous rotation dq shafting;
Respectively carrying out low-pass filtering processing on the d-axis voltage and the d-axis current; and
calculating the stator resistance of the motor according to the d-axis voltage and the d-axis current after the low-pass filtering treatment without other parameters;
Calculating a stator resistance of the motor by the formula:
wherein Rs is a stator resistance of the motor, udf is a d-axis voltage after the low-pass filtering processing, and idf is a d-axis current after the low-pass filtering processing.
2. The method for identifying the stator resistance of the motor according to claim 1, wherein the frequency of the preset current is 0.1-1% of the rated frequency of the motor.
3. The on-line identification method for the motor stator resistor according to claim 1 or 2, wherein the d-axis voltage and the d-axis current are low-pass filtered by a low-pass filtering link formed by cascading n first-order low-pass filters with equal cut-off frequencies, wherein n is 1-3, and the cut-off frequency is less than or equal to the frequency of the preset current.
4. an online identification device for motor stator resistance is characterized by comprising:
The injection module is used for injecting preset current into a d axis of the synchronous rotation dq axis system, wherein the preset current is alternating current with constant amplitude and constant frequency;
The acquisition module is used for acquiring d-axis voltage and d-axis current of the synchronous rotation dq shafting;
The filtering processing module is connected with the acquisition module and is used for performing low-pass filtering processing on the d-axis voltage and the d-axis current respectively; and
The calculation module is connected with the filtering processing module and is used for calculating the stator resistance of the motor only according to the d-axis voltage and the d-axis current after the low-pass filtering processing without other parameters;
The calculation module calculates a stator resistance of the motor by the following formula:
Wherein Rs is a stator resistance of the motor, udf is a d-axis voltage after the low-pass filtering processing, and idf is a d-axis current after the low-pass filtering processing.
5. The device for on-line identification of stator resistance of motor according to claim 4, wherein the frequency of the preset current is 0.1% -1% of the rated frequency of the motor.
6. The device for identifying the stator resistance of the motor in the online manner as claimed in claim 4 or 5, wherein the filtering processing module is formed by cascading n first-order low-pass filters with equal cut-off frequency, wherein n is 1-3, and the cut-off frequency is less than or equal to the frequency of the preset current.
7. A motor control system comprising an online identification device of motor stator resistance according to any of claims 4-6.
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| CN201611042857.5A CN106788056B (en) | 2016-11-21 | 2016-11-21 | Online identification method and device for motor stator resistance and motor control system |
| PCT/CN2017/106845 WO2018090783A1 (en) | 2016-11-21 | 2017-10-19 | Method for online identification of motor stator resistance, apparatus, and motor control system |
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| CN201611042857.5A CN106788056B (en) | 2016-11-21 | 2016-11-21 | Online identification method and device for motor stator resistance and motor control system |
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| CN106788056B (en) * | 2016-11-21 | 2019-12-06 | 广东威灵电机制造有限公司 | Online identification method and device for motor stator resistance and motor control system |
| CN107404268B (en) * | 2017-07-31 | 2020-02-11 | 广东威灵电机制造有限公司 | Permanent magnet synchronous motor stator resistance identification method, motor driver and storage medium |
| CN107947666A (en) * | 2017-12-26 | 2018-04-20 | 奥克斯空调股份有限公司 | A kind of resistance parameter on-line identification method and device |
| CN116317770B (en) * | 2023-02-03 | 2024-01-26 | 北京中科昊芯科技有限公司 | Method for identifying motor stator resistance offline, method for controlling motor and medium |
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| CN106788056B (en) * | 2016-11-21 | 2019-12-06 | 广东威灵电机制造有限公司 | Online identification method and device for motor stator resistance and motor control system |
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| CN102386835A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method for acquiring parameters of permanent magnet synchronous motor (PMSM) |
| CN101969292A (en) * | 2010-09-10 | 2011-02-09 | 中冶南方（武汉）自动化有限公司 | Method for identifying stator resistance parameters |
| CN102611383A (en) * | 2012-03-16 | 2012-07-25 | 阳光电源股份有限公司 | On-line identifying method and device for stator resistor |
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