CN107124129B - 一种在线辨识感应电机全参数的方法 - Google Patents

一种在线辨识感应电机全参数的方法 Download PDF

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CN107124129B
CN107124129B CN201710345153.3A CN201710345153A CN107124129B CN 107124129 B CN107124129 B CN 107124129B CN 201710345153 A CN201710345153 A CN 201710345153A CN 107124129 B CN107124129 B CN 107124129B
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revolving speed
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induction machine
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CN107124129A (zh
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黄进
陈嘉豪
叶明�
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Zhejiang University ZJU
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements 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
    • H02P27/06Arrangements 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
    • H02P27/08Arrangements 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01Asynchronous machines

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

本发明公开一种在线辨识感应电机全参数的方法。首先,以某种控制策略(如矢量控制)驱动感应电机正常运行;其次,在定子励磁电流上注入中频正弦波;然后,依照本方法给出的参数自适应律,可以保证包括转速在内的所有参数收敛到足够准确的值;最后,辨识所得的转速被用于无速度传感器控制。本方法不但同时对包括转速在内的五个参数进行辨识,而且其鲁棒性很强,即便是在转速暂态下参数辨识也能保持稳定。

Description

一种在线辨识感应电机全参数的方法
技术领域
本发明公开一种在线辨识感应电机全参数的方法,特别涉及一种基于电压模型和电流模型之间的匹配误差的感应电机的全参数辨识方法,属于电机参数辨识领域。
技术背景
研究无速度传感器感应电机驱动系统的全参数辨识的文献非常少,因为很难在不影响电机正常运行的前提下,保证多个参数的同时收敛。但是,在无速度传感器系统中,任何的参数误差都会直接影响转速辨识的精度,如果能实现对所有参数的辨识,将会是非常有益的。
本发明描述了一种在线辨识感应电机全参数的方法。该方法利用电压模型和电流模型之间的匹配误差来更新参数,为了保证全参数的收敛,需要在定子励磁电流中注入一个中频的正弦量,辨识得到的转速可以用于无速度传感器控制,而对其他参数的辨识保证了转速辨识的准确性。
发明内容
为了填补包括转速在内的全参数在线辨识的空白,本发明提出一种适用于感应电机的一种在线辨识电机全参数的方法。
一种在线辨识感应电机全参数的方法,在感应电机正常运行的前提下,通过注入额外激励,以实现包括转速在内的全参数辨识,进而实现无速度传感器控制,其实现步骤如下:
(1)对感应电机进行矢量控制;
(2)在定子励磁电流上注入中频正弦波,使得电机的磁链幅值产生中频小幅度的波动;
(3)依照参数自适应律,更新包括转速在内的五个参数的值;具体如下:
(3A)按电压模型和电流模型分别构造磁链估计器
其中,顶标“^”代表估计值;上标VM和CM代表电压模型和电流模型;转子磁链估计值定子电流is和定子电压us均表示矢量;代表转子时间常数的倒数;其中,待辨识参数包含定子电阻等效漏感等效转子电阻等效励磁电感和转速
(3B)计算模型间匹配误差ε
(3C)全参数的自适应律如下
其中,εα和εβ分别是α轴和β轴的磁链误差,且γ12345是待设计的增益;
(4)辨识所得的转速被用于无速度传感器控制。
所述步骤(1)中矢量控制包括如下步骤:
(1A)在转子磁场定向控制中,各电量被变换到MT系下,其M轴和转子磁链矢量对齐,T轴由M轴逆时针旋转90°电角度确定;
(1B)定子电流的T轴分量即为转矩电流,而M轴分量则为励磁电流;定子电流的M轴分量可选为电机的额定励磁电流。
所述步骤(2)中,
磁链幅值给定选为
相应的励磁电流按下式确定
其中,p代表微分算子,rreq是等效转子电阻,Lμ是等效励磁电感。
本发明的有益效果:
本发明描述了一种在线辨识感应电机全参数的方法。根据本方法辨识得到的转速可以用于无速度传感器控制,而对其他参数的辨识保证了转速辨识对其他参数变化的鲁棒性。而且,因辨识所需而注入的额外激励所造成的电机转速波动也非常有限。
附图说明
图1是实现本发明的间接转子磁场定向控制系统示意图;
图2是实现本发明的算法的仿真验证图。
具体实施方式
下面结合附图和实施例对本发明作进一步的阐述。
参见图1,强电部分,三相交流电源经过不控整流得到直流母线电压Udc,供给电压源型逆变器,再得到供给异步电机的三相电源。
弱电部分,采用矢量控制方式,包含电压、电流传感器,3相/2相静止Clark坐标变换模块,2相静止/2相同步速坐标变换模块,额定励磁电流和正弦波分量给定,转子磁链电压模型和电流模型计算模块,全参数自适应律模块,速度环PI模块,电流环PI模块,2相同步速/2相静止坐标变换模块,电压空间矢量脉宽调制模块。
本发明主要涉及本发明的在线辨识感应电机全参数的方法,其他模块为感应电机间接磁场定向控制所需的功能性模块,为本领域公知常识。
下面描述整个系统的工作流程,以及介绍各模块的连接关系。
1.由传感器测得三相异步电机的各相电流与电压,输入“3相/2相静止Clark坐标变换模块”,得到定子电流is的分量i和i,定子电压us的分量u和u
2.在间接转子磁场定向控制中;
(2A)各电量被变换到MT系下,其M轴和转子磁链矢量对齐,T轴由M轴逆时针旋转90°电角度确定;
(2B)定子电流的T轴分量即为转矩电流,而M轴分量则为励磁电流;定子电流的M轴分量给定为电机的额定励磁电流。
3.在额定励磁电流的基础上,在励磁电流中还需要注入一个中频正弦波分量。本例的励磁电流按下式确定
其中,rreq是等效转子电阻,Lμ是等效励磁电感。
4.利用电压模型和电流模型之间的匹配误差来更新全参数;
(4A)按电压模型和电流模型分别构造磁链估计器
其中,顶标“^”代表估计值;上标VM和CM代表电压模型和电流模型;转子磁链估计值定子电流is和定子电压us均表示矢量;代表转子时间常数的倒数;其中,待辨识参数包含定子电阻等效漏感等效转子电阻等效励磁电感和转速
(4B)有了电压模型和电流模型的磁链估计值以后,计算模型间匹配误差ε
(4C)然后,全参数的自适应律如下
其中,εα和εβ分别是α轴和β轴的磁链误差,且γ12345是待设计的增益。
5.辨识所得的转速可以用于无速度传感器控制,依据转速环PI计算相应的电流给定。
6.电流PI环则根据电流控制误差来计算电压给定。
7.电压空间矢量脉宽调制模块以α轴电压u和β轴电压u作为输入,输出三相PWM给逆变器的门极,进而驱动电机。
8.相应的仿真结果如图2所示。电机以无速度传感器控制运行。一开始,电机给定转速为50rpm,在10秒处给定负载6Nm,在30秒处对电阻和电感进行自适应,在100秒处,电机升速至150rpm,在转速暂态过程中,全参数辨识仍然保持稳定。

Claims (3)

1.一种在线辨识感应电机全参数的方法,其特征在于:
在感应电机正常运行的前提下,通过注入额外激励,以实现包括转速在内的全参数辨识,进而实现无速度传感器控制,其实现步骤如下:
(1)对感应电机进行矢量控制;
(2)在定子励磁电流上注入中频正弦波,使得电机的磁链幅值产生中频小幅度的波动;
(3)依照参数自适应律,更新包括转速在内的五个参数的值;具体如下:
(3A)按电压模型和电流模型分别构造磁链估计器
其中,顶标“^”代表估计值;上标VM和CM代表电压模型和电流模型;转子磁链估计值定子电流is和定子电压us均表示矢量;代表转子时间常数的倒数;其中,待辨识参数包含定子电阻等效漏感等效转子电阻等效励磁电感和转速
(3B)计算模型间匹配误差ε
(3C)全参数的自适应律如下
其中,εα和εβ分别是α轴和β轴的磁链误差,且γ12345是待设计的增益;
(4)辨识所得的转速被用于无速度传感器控制。
2.如权利要求1所述的方法,其特征在于:所述步骤(1)中矢量控制包括如下步骤:
(1A)在转子磁场定向控制中,各电量被变换到MT系下,其M轴和转子磁链矢量对齐,T轴由M轴逆时针旋转90°电角度确定;
(1B)定子电流的T轴分量即为转矩电流,而M轴分量则为励磁电流。
3.如权利要求1所述的方法,其特征在于:所述步骤(2)中,
磁链幅值给定选为
相应的励磁电流按下式确定
其中,p代表微分算子,rreq是等效转子电阻,Lμ是等效励磁电感。
CN201710345153.3A 2017-05-16 2017-05-16 一种在线辨识感应电机全参数的方法 Expired - Fee Related CN107124129B (zh)

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CN110875702B (zh) * 2019-12-17 2021-05-25 湘潭电机股份有限公司 一种异步牵引电机定子电阻在线检测方法

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