CN107425775A - A kind of permagnetic synchronous motor parameter identification system based on improvement least square method - Google Patents
A kind of permagnetic synchronous motor parameter identification system based on improvement least square method Download PDFInfo
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- CN107425775A CN107425775A CN201710538011.9A CN201710538011A CN107425775A CN 107425775 A CN107425775 A CN 107425775A CN 201710538011 A CN201710538011 A CN 201710538011A CN 107425775 A CN107425775 A CN 107425775A
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a kind of based on the permagnetic synchronous motor parameter identification system for improving least square method, it picks out the real time resistance value of permagnetic synchronous motor, real-time inductance value, real-time permanent magnet flux linkage value by permagnetic synchronous motor parameter acquisition system and control system with the Identification of parameter based on improvement least square method, the identification system includes permagnetic synchronous motor parameter acquisition system, control system for permanent-magnet synchronous motor and Identification of parameter, wherein：The permagnetic synchronous motor parameter acquisition system has voltage collector, current collector, rotating speed collector, and they are connected by data line with tested permagnetic synchronous motor；The control system for permanent-magnet synchronous motor uses direct-axis current id=0 sine wave vector control system；The Identification of parameter is used based on the permagnetic synchronous motor parameter identification method for improving least square method.The present invention can improve the efficiency of permagnetic synchronous motor parameter identification, accelerate identification speed, it can also be ensured that the accuracy of parameter identification.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor parameter identification system, more particularly, to one kind based on improvement least square
The permagnetic synchronous motor parameter identification system of method.
Background technology
Now, because motor control is theoretical and the continuous development of control technology, and high-precision electric machines control technology
An urgent demand, researcher more pay attention to improve to permagnetic synchronous motor in terms of high-precision motor parameter is obtained in real time
Control performance., will be to the controlling of whole system if it is improper that designed controller parameter matches with the controlled parameter of electric machine
It can have an impact.
It is main both at home and abroad at present to be set as that fixed value is recognized, utilizes motor special state using by the part parameter of electric machine
It is lower to carry out parameter of electric machine identification, the parameter of electric machine is recognized using extra measuring instrument, injecting disturbing signal progress motor
Parameter identification etc..Not only cost is high, parameter identification efficiency is slow, applicability is relatively low for these methods, while the parameter of its identification is not yet
It can in real time change and be consistent with actual value, therefore a kind of computational efficiency is high, has the permanent magnet synchronous electric of real-time and accuracy
Machine parameter identification system is extremely required.
The content of the invention
The technical problems to be solved by the invention are：There is provided a kind of based on the permagnetic synchronous motor ginseng for improving least square method
The current value collected in real time, magnitude of voltage and tachometer value can be brought into Identification of parameter by number identification system, the system
Row calculates, so as to pick out the real time resistance value of permagnetic synchronous motor, real-time inductance value and real-time permanent magnet flux linkage value；Especially
By recycling to packet 1 and packet 2, the new data for making to obtain in real time updates the improvement least square method of use
Old parameter value, reduce the space needed for system preservation data, improve computational efficiency, while parameter identification meter can be ensured
The real-time and accuracy of calculation.
The present invention solves its technical problem and uses following technical scheme：
Permagnetic synchronous motor parameter identification system provided by the invention based on improvement least square method, including permanent-magnet synchronous
Parameter of electric machine acquisition system, control system for permanent-magnet synchronous motor and Identification of parameter, wherein：Permagnetic synchronous motor parameter acquisition
System is connected by data line with tested permagnetic synchronous motor；Control system for permanent-magnet synchronous motor uses direct-axis current id=
0 sine wave vector control system, it transfers data to permagnetic synchronous motor parameter acquisition system by data line；Ginseng
Number identification algorithms are used based on the permagnetic synchronous motor parameter identification method for improving least square method, and it is by by permanent magnet synchronous electric
Real-time voltage V that machine parameter acquisition system collects, real-time quadrature axis current Iq, real-time direct-axis current Id, real-time rotating speed Wr are substituted into
Calculated in parameter identification formula, so as to draw the real time resistance value R of permagnetic synchronous motor, real-time inductance value L, real-time permanent magnetism
Body magnetic linkage value Ψf, realize the parameter identification of permagnetic synchronous motor.
The permagnetic synchronous motor parameter acquisition system includes voltage collector, current collector, rotating speed collector, they
It is connected by data line with tested permagnetic synchronous motor.
The voltage collector and current collector use multichannel voltage current data recorder, the rotating speed collector
Using intelligent rotating speed Acquisition Instrument.
The control system for permanent-magnet synchronous motor includes permagnetic synchronous motor module, IGBTInverter modules, rotating speed and adjusted
Save device, HCPWM modules, the control system by will it is each it is module integrated arrive together, realize the vector controlled of permagnetic synchronous motor, from
And permagnetic synchronous motor is kept stable operation, and permagnetic synchronous motor parameter acquisition is transferred data to by data line
System.
Described permagnetic synchronous motor module is three-phase permanent magnet synchronous motor module, and the model is based on using Park conversion
Permagnetic synchronous motor dynamical equation on rotor dq coordinate systems；IGBTInverter modules are IGBT three-phase bridge type converters；Turn
Fast adjuster uses discrete pi regulator, and it, which is exported, is used as stator current q axis component set-point iq, while stator current d axles point
Measure set-point id=0；HCPWM modules are a subsystems for realizing hysteretic loop current control PWM.
The parameter identification formula is：
In formula：R be permagnetic synchronous motor real time resistance value, L be permagnetic synchronous motor real-time inductance value, ΨfFor forever
The real-time permanent magnet flux linkage value of magnetic-synchro motor, a, b, c, d are four intermediate parameters introduced.
Four intermediate parameters are obtained using following method for solving：
(1) the Discrete Dynamic equation for deriving permagnetic synchronous motor is：
In formula：iq(k) the quadrature axis current value measured for kth time, uq(k) magnitude of voltage measured for kth time, wr(k) it is kth
The secondary tachometer value measured, wherein 2≤k≤2m；
(2) real-time voltage of storage will be circulated in the packet 1 and packet 2 of permagnetic synchronous motor parameter acquisition system
Value Vn, real-time quadrature axis current value Iqn, real-time direct-axis current value Idn, real-time tachometer value WrnSubstitute into permagnetic synchronous motor Discrete Dynamic
In equation, the value of this four intermediate parameters of a, b, c, d can be drawn by solving equations.
The present invention has the advantages of following main compared with prior art：
1. improve the speed adjusting performance of permagnetic synchronous motor：
The direct-axis current i that control system for permanent-magnet synchronous motor usesd=0 sine wave vector control technology most permanent magnetism at last
Synchronous motor is equivalent to direct current generator, and the control of direct current generator is relatively simple to adjust rotating speed by adjusting voltage can, significantly
Improve the speed adjusting performance of permagnetic synchronous motor so that the control of motor is more accurate, so as to ensure that permagnetic synchronous motor is joined
The accuracy that number identification calculates.
2. it ensure that the real-time that permagnetic synchronous motor parameter identification calculates：
Because use permagnetic synchronous motor parameter identification system can realize permagnetic synchronous motor real time resistance value, in real time
The online acquisition of inductance value, real-time permanent magnet flux linkage value, is continuously updated old data, by online data carry out computing from
And real-time permagnetic synchronous motor parameter is drawn, it ensure that the real-time that permagnetic synchronous motor parameter identification calculates.
3. improve computational efficiency and calculating speed：
The improvement least square method of use makes the new number obtained in real time by recycling to packet 1 and packet 2
According to new and old data value is carried out, reduce the space needed for system preservation data, improve computational efficiency and calculating speed.
Such as：Real-time voltage V that acquisition system n-th is collected, real-time quadrature axis current Iq, real-time direct-axis current Id,
Real-time rotating speed Wr is designated as V respectivelyn、Iqn、Idn、Wrn, wherein 1≤n≤2m, by the 2m+1 times real-time electricity collected of acquisition system
Pressure V, real-time quadrature axis current Iq, real-time direct-axis current Id, real-time rotating speed Wr are designated as the collection value of first time again, are designated as V1、Iq1、
Id1、Wr1, data group number is using 2m as loop cycle, so 1≤data group number n≤2m.Therefore, the data bulk of required record is
2m.
Brief description of the drawings
Fig. 1 is the permagnetic synchronous motor parameter acquisition system figure of the present invention.
Fig. 2 is the control system for permanent-magnet synchronous motor figure of the present invention.
Fig. 3 is the present invention based on the Identification of parameter schematic diagram for improving least square method.
Fig. 4 is comparison diagram of the parameter identification system with traditional parameters discrimination method identification result of the present invention.
Embodiment
The invention discloses a kind of based on the permagnetic synchronous motor parameter identification system for improving least square method, it passes through forever
Magnetic-synchro parameter of electric machine acquisition system and control system pick out with the Identification of parameter based on improvement least square method
Real time resistance value, real-time inductance value, the real-time permanent magnet flux linkage value of permagnetic synchronous motor, the identification system include permanent magnet synchronous electric
Machine parameter acquisition system, control system for permanent-magnet synchronous motor and Identification of parameter, wherein：The permagnetic synchronous motor parameter is adopted
Collecting system has voltage collector, current collector, rotating speed collector, and they pass through data line and tested permagnetic synchronous motor
It is connected；The control system for permanent-magnet synchronous motor uses direct-axis current id=0 sine wave vector control system；The parameter is distinguished
Know algorithm to use based on the permagnetic synchronous motor parameter identification method for improving least square method.
With reference to specific embodiments and the drawings, the invention will be further described, but does not limit the present invention.
Permagnetic synchronous motor parameter identification system provided by the invention based on improvement least square method, including permanent-magnet synchronous
Parameter of electric machine acquisition system, control system for permanent-magnet synchronous motor and Identification of parameter, wherein：Permagnetic synchronous motor parameter acquisition
System is connected by data line with tested permagnetic synchronous motor；Control system for permanent-magnet synchronous motor uses direct-axis current id=
0 sine wave vector control system, it transfers data to permagnetic synchronous motor parameter acquisition system by data line；Ginseng
Number identification algorithms are used based on the permagnetic synchronous motor parameter identification method for improving least square method, and it is by by permanent magnet synchronous electric
Real-time voltage V that machine parameter acquisition system collects, real-time quadrature axis current Iq, real-time direct-axis current Id, real-time rotating speed Wr are substituted into
Calculated in parameter identification formula, so as to draw the real time resistance value R of permagnetic synchronous motor, real-time inductance value L, real-time permanent magnetism
Body magnetic linkage value Ψf, realize the parameter identification of permagnetic synchronous motor.
The permagnetic synchronous motor parameter acquisition system is as shown in figure 1, include voltage collector, current collector, rotating speed
Collector, they are connected by data line with tested permagnetic synchronous motor.The voltage collector and current collector are adopted
With multichannel voltage current data recorder, the rotating speed collector uses intelligent rotating speed Acquisition Instrument.
Tested permagnetic synchronous motor initial resistivity value R is 2.875 Ω, initial d-axis and q-axis inductance value L=Ld=LqFor 8.5mH,
Initial permanent magnet flux linkage value ψfFor 0.175wb, rotor moment of inertia J is 0.8 × 10-3kg·m2, rotational resistance coefficient is 0, electricity
Machine number of pole-pairs Pn=4.
The permagnetic synchronous motor parameter acquisition system is distinguished by voltage collector, current collector and rotating speed collector
Gather real-time voltage V, real-time quadrature axis current Iq, real-time direct-axis current Id, the real-time rotating speed Wr of permagnetic synchronous motor, the voltage
Collector and current collector use multichannel voltage current data recorder, and the rotating speed collector is gathered using intelligent rotating speed
Instrument, the parameter for constantly collecting these carry out keeping records, are updated in real time, and the value of preservation is stored in into the He of packet 1
In packet 2, wherein packet 1 and packet 2 can store m group parameters respectively.
Above-mentioned design parameter acquisition step is by acquisition system the 1st the real-time voltage V collected, real-time quadrature axis current
Iq, real-time direct-axis current Id, real-time rotating speed Wr are designated as V respectively1、Iq1、Id1、Wr1；Acquisition system n-th is collected real-time
Voltage V, real-time quadrature axis current Iq, real-time direct-axis current Id, real-time rotating speed Wr are designated as V respectivelyn、Iqn、Idn、Wrn, wherein 1≤n
≤2m；1st parameter value collected to the m times acquisition system is saved in packet 1, the m+1 times to the 2m times is adopted
The parameter value that collecting system collects is saved in packet 2；By the 2m+1 times real-time voltage V collected of acquisition system, in real time
Quadrature axis current Iq, real-time direct-axis current Id, real-time rotating speed Wr are designated as the collection value of first time again, are designated as V1、Iq1、Id1、Wr1；
And its value is saved in packet 1 again, and the value preserved before is covered, so recycle packet 1 and packet 2 enters
The storage of row parameter acquisition value.
The control system for permanent-magnet synchronous motor is as shown in Fig. 2 using direct-axis current id=0 sine wave vector control system
System, the control system include permagnetic synchronous motor module, IGBTInverter modules, speed regulator, HCPWM modules, the control
System processed with cross will it is each it is module integrated arrive together, the vector controlled of permagnetic synchronous motor is realized, by data line by data
Permagnetic synchronous motor parameter acquisition system is transferred to, and permagnetic synchronous motor is equivalent to direct current generator, the control of direct current generator
It is relatively simple to adjust rotating speed by adjusting voltage can, substantially increase the speed adjusting performance of permagnetic synchronous motor.
Permagnetic synchronous motor module is three-phase permanent magnet synchronous motor module in above-mentioned each module, and the model is based on using
Permagnetic synchronous motor dynamical equation on the rotor dq coordinate systems of Park conversion；IGBTInverter modules are IGBT three-phase bridges
Inverter, the parameter that available modules carry；Speed regulator employs discrete pi regulator, and its output is used as stator current q axles
Component set-point iq, while stator current d axis component set-points id=0；HCPWM modules are one and realize hysteretic loop current control
PWM subsystem.
The Identification of parameter is used based on the permagnetic synchronous motor parameter identification method for improving least square method, is such as schemed
Shown in 3, it is comprised the following steps that：
Voltage equation of the permagnetic synchronous motor under the dq systems of axis is initially set up, as shown in formula (1) and formula (2)：
In formula (1) and formula (2), ud、uqIt is dq axle stator voltages, id、iqIt is dq axle stator currents, RsIt is stator resistance, w is
Angular rate, Ψd、ΨqIt is dq axle rotor fluxs.
Then flux linkage equations of the permagnetic synchronous motor under the dq systems of axis are established, as shown in formula (3) and formula (4)：
ψq=Lqid+ψf (3)
ψd=Ldiq (4)
In formula (3) and formula (4), Ld、LqIt is dq axle stator inductances, ΨfIt is permanent magnet flux linkage value.
Formula (3) and formula (4), which are substituted into formula (1) and formula (2), can obtain new voltage equation, such as formula (5) and formula (6) institute
Show：
Because the system uses direct-axis current id=0 sine wave vector control, so entering to q shaft voltages equation in above formula
Row sliding-model control can obtain：
In formula (7), formula (8), formula (9), iq(k) the quadrature axis current value measured for kth time, uq(k) electricity measured for kth time
Pressure value, wr(k) tachometer value measured for kth time, wherein 2≤k≤2m；T is discrete time, and L is motor inductances value.
The Discrete Dynamic equation of permagnetic synchronous motor can be drawn by formula (8) and formula (9), as shown in formula (10)：
In formula (10), a, b, c, d are four intermediate parameters introduced, and its expression formula is such as shown in (11)：
Therefore, the derivation of the resistance value of permagnetic synchronous motor, inductance value and permanent magnet flux linkage value can be drawn by formula (11)
Formula, as shown in formula (12)：
In formula：R be permagnetic synchronous motor real time resistance value, L be permagnetic synchronous motor real-time inductance value, ΨfFor forever
The real-time permanent magnet flux linkage value of magnetic-synchro motor.
Then, as shown in figure 3, the real-time voltage value V for storage being circulated in packet 1 and packet 2n, real-time quadrature axis
Current value Iqn, real-time direct-axis current value Idn, real-time tachometer value WrnSubstitute into permagnetic synchronous motor Discrete Dynamic equation (10), and
Clear data original data in wrapping, by writing MATLAB program solving equations, you can draws a, b, c, joins among d this four
Several values.
Finally, a that will be solved, b, the value of tetra- intermediate parameters of c, d are brought into parameter identification expression formula (12), you can solution
Go out the real time resistance value R, real-time inductance value L, real-time permanent magnet flux linkage value Ψ of permagnetic synchronous motorf, realize permagnetic synchronous motor
Parameter identification.The intermediate parameters refer to.
With the permagnetic synchronous motor parameter identification system provided by the invention based on improvement least square method in embodiment
The resistance value of tested permagnetic synchronous motor is recognized, and identification result and the extra measuring instrument of traditional utilization are joined to motor
Number recognized, inject disturbing signal carry out the parameter of electric machine identification both approaches contrasted, obtained comparing result such as Fig. 4
It is shown.
It can be distinguished faster based on the permagnetic synchronous motor parameter identification system for improving least square method as seen from Figure 4
Know the resistance value for tested permagnetic synchronous motor, and it is closer with the Ω of actual value 2.875, it was demonstrated that the present invention improves permanent-magnet synchronous
The efficiency of parameter of electric machine identification, accelerates identification speed, while also ensure that the accuracy of parameter identification.
Claims (7)
1. it is a kind of based on the permagnetic synchronous motor parameter identification system for improving least square method, it is characterized in that including permanent magnet synchronous electric
Machine parameter acquisition system, control system for permanent-magnet synchronous motor and Identification of parameter, wherein：Permagnetic synchronous motor parameter acquisition system
System is connected by data line with tested permagnetic synchronous motor；Control system for permanent-magnet synchronous motor uses direct-axis current id=0
Sine wave vector control system, it transfers data to permagnetic synchronous motor parameter acquisition system by data line；Ginseng
Number identification algorithms are used based on the permagnetic synchronous motor parameter identification method for improving least square method, and it is by by permanent magnet synchronous electric
Real-time voltage V that machine parameter acquisition system collects, real-time quadrature axis current Iq, real-time direct-axis current Id, real-time rotating speed Wr are substituted into
Calculated in parameter identification formula, so as to draw the real time resistance value R of permagnetic synchronous motor, real-time inductance value L, real-time permanent magnetism
Body magnetic linkage value Ψf, realize the parameter identification of permagnetic synchronous motor.
2. permagnetic synchronous motor parameter identification system according to claim 1, it is characterized in that permagnetic synchronous motor parameter is adopted
Collecting system includes voltage collector, current collector, rotating speed collector, and they pass through data line and tested permanent magnet synchronous electric
Machine is connected.
3. permagnetic synchronous motor parameter identification system according to claim 2, it is characterized in that the voltage collector and electricity
Stream collector uses multichannel voltage current data recorder, and the rotating speed collector uses intelligent rotating speed Acquisition Instrument.
4. permagnetic synchronous motor parameter identification system according to claim 1, it is characterized in that the permagnetic synchronous motor control
System processed includes permagnetic synchronous motor module, IGBTInverter modules, speed regulator, HCPWM modules, and the control system is led to
Crossing will be each module integrated to together, realizes the vector controlled of permagnetic synchronous motor, so that permagnetic synchronous motor keeps stable fortune
OK, and by data line permagnetic synchronous motor parameter acquisition system is transferred data to.
5. permagnetic synchronous motor parameter identification system according to claim 4, it is characterized in that permagnetic synchronous motor module is
Three-phase permanent magnet synchronous motor module, the model is based on the permagnetic synchronous motor dynamic on the rotor dq coordinate systems using Park conversion
Equation；IGBTInverter modules are IGBT three-phase bridge type converters；Speed regulator uses discrete pi regulator, and it, which is exported, makees
For stator current q axis component set-point iq, while stator current d axis component set-points id=0；HCPWM modules are a realizations
Hysteretic loop current control PWM subsystem.
6. permagnetic synchronous motor parameter identification system according to claim 1, it is characterized in that the parameter identification formula is：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mn>1</mn>
<mo>-</mo>
<mi>a</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>b</mi>
</mrow>
</mfrac>
<mo>,</mo>
<mi>L</mi>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mi>c</mi>
<mi>b</mi>
</mfrac>
<mo>,</mo>
<msub>
<mi>&psi;</mi>
<mi>f</mi>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mi>d</mi>
<mi>b</mi>
</mfrac>
</mrow>
In formula：R be permagnetic synchronous motor real time resistance value, L be permagnetic synchronous motor real-time inductance value, ΨfFor permanent-magnet synchronous
The real-time permanent magnet flux linkage value of motor, a, b, c, d are four intermediate parameters introduced.
7. permagnetic synchronous motor parameter identification system according to claim 6, it is characterized in that four intermediate parameters are adopted
Obtained with following method for solving：
(1) the Discrete Dynamic equation for deriving permagnetic synchronous motor is：
In formula：iq(k) the quadrature axis current value measured for kth time, uq(k) magnitude of voltage measured for kth time, wr(k) surveyed for kth time
The tachometer value obtained, wherein 2≤k≤2m；
(2) the real-time voltage value V of storage will be circulated in the packet 1 and packet 2 of permagnetic synchronous motor parameter acquisition systemn、
Real-time quadrature axis current value Iqn, real-time direct-axis current value Idn, real-time tachometer value WrnSubstitute into permagnetic synchronous motor Discrete Dynamic equation
In, the values of this four intermediate parameters of a, b, c, d can be drawn by solving equations.
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