CN107465374B - 一种以反电势作为状态的感应电机全阶自适应观测方法 - Google Patents
一种以反电势作为状态的感应电机全阶自适应观测方法 Download PDFInfo
- Publication number
- CN107465374B CN107465374B CN201710613961.3A CN201710613961A CN107465374B CN 107465374 B CN107465374 B CN 107465374B CN 201710613961 A CN201710613961 A CN 201710613961A CN 107465374 B CN107465374 B CN 107465374B
- Authority
- CN
- China
- Prior art keywords
- state
- following
- rotor
- motor
- designed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000006698 induction Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000004907 flux Effects 0.000 claims description 14
- 230000005284 excitation Effects 0.000 claims description 7
- 238000010248 power generation Methods 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000006467 substitution reaction Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 description 9
- 230000003068 static effect Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
-
- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
-
- 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
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
-
- 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
- H02P2207/01—Asynchronous machines
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
本发明公开一种以反电势作为状态的感应电机全阶自适应观测方法,其实现步骤为:首先,定义一组新的状态变量;其次,计算回归项和反馈校正项;然后,更新状态变量的值;最后,根据测量的电流计算观测误差对参数进行更新。本方法可以只需要测量电机电流,就可以对电机的定子电阻、转子电阻和转速进行辨识。
Description
技术领域
本发明公开一种以反电势作为状态的感应电机全阶自适应观测器,特别涉及一种以反电势作为状态的对定子电阻、转子电阻和转速进行自适应的感应电机全阶自适应观测器,属于电机参数辨识领域。
背景技术
笼型感应电机驱动系统中,无速度传感器控制常常采用全阶观测器来实现。传统的全阶观测器在设计多参数自适应律的时候会遇到一些理论上的困难,即在参数自适应律里会出现磁链的估计误差项,然而由于电机的磁链一般是难以测量的,相应的磁链估计误差也是未知的。如果舍去参数自适应律中的磁链估计误差,可以得到一个在电动工况下稳定的参数自适应律。但是,这样设计得到的参数自适应律并不能保证系统在全部工况下的稳定性,如电机的发电工况。
发明内容
为了克服现有技术中的问题,本发明提供了一种以反电势作为状态的感应电机全阶自适应观测方法。该观测器只需要测量电机的电流即可更新待辨识参数,包括定子电阻、转子电阻和转速。为了在稳态运行时区分转子电阻和转速,需要在定子励磁电流中注入一个正弦波。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。
一种以反电势作为状态的感应电机全阶自适应观测方法,在感应电机转子磁场定向控制系统中,构造一种自适应观测器,以完成对电机定子电阻、转子电阻以及转速的辨识,其实现步骤如下:
(1)定义一组新的状态变量;
(2)计算回归项和反馈校正项;
(3)更新状态变量的值;
(4)根据测量的电流计算观测误差对参数进行更新;
(5)通过选择特定的设计参数,可以保证电机在发电状态下的稳定性;
所述步骤(1)包括如下步骤:
(1A)考虑基于反Γ等效电路的感应电机数学模型
其中,是微分算子,Lσ是总漏电感,rs是定子电阻,rreq是等效转子电阻,Lμ是等效励磁电感,ω是转子电气角速度,us=[uαs,uβs]T是定子电压向量,is=[iαs,iβs]T是定子电流向量,ψμ=[ψαμ,ψβμ]T是等效转子磁链向量;
(1B)定义总漏磁磁链ψσ和反电势e为观测器的状态:
(1C)用新状态表示的电机模型为
所述步骤(2)包括如下步骤:
其中,p0是待设计的滤波器系数,应远高于电流频率,本文中选为p0=800π;
(2B)计算下列反馈校正项vσ,vμ
所述步骤(3)包括如下步骤:
所述步骤(4)包括如下步骤:
(4A)计算观测误差ε,
(4B)按下式更新对定子电阻、转子电阻、转速的辨识值
所述步骤(5)包括如下步骤:
(5A)根据下式来选择待设计的各个系数
本发明的有益效果:
本发明描述了一种以反电势作为状态的感应电机全阶自适应观测器。该观测器是一种新颖的全阶观测器,推导得到的参数自适应律在配以合适的系数设计后,可以保证电机无速度传感器控制在全工况下的稳定性。
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实验验证图。
具体实施方式
下面结合附图和实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,再得到供给感应电机的三相电源。
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Clarke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模块,本发明设计的观测器模块,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。
1.由传感器测得三相感应电机的各相电流与电压,输入“3相/2相静止Clarke坐标变换模块”,得到定子电流is的分量iαs和iβs,定子电压us的分量uαs和uβs;
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。
其中,rreq是等效转子电阻,Lμ是等效励磁电感。
4.在感应电机转子磁场定向控制系统中,构造一种自适应观测器,以完成对电机定子电阻、转子电阻以及转速的辨识,其实现步骤如下:
(1)定义一组新的状态变量;
(2)计算回归项和反馈校正项;
(3)更新状态变量的值;
(4)根据测量的电流计算观测误差对参数进行更新;
(5)通过选择特定的设计参数,可以保证电机在发电状态下的稳定性;
所述步骤(1)包括如下步骤:
(1A)考虑基于反Γ等效电路的感应电机数学模型
其中,是微分算子,Lσ是总漏电感,rs是定子电阻,rreq是等效转子电阻,Lμ是等效励磁电感,ω是转子电气角速度,us=[uαs,uβs]T是定子电压向量,is=[iαs,iβs]T是定子电流向量,ψμ=[ψαμ,ψβμ]T是等效转子磁链向量;
(1B)定义总漏磁磁链ψσ和反电势e为观测器的状态:
(1C)用新状态表示的电机模型为
所述步骤(2)包括如下步骤:
其中,p0是待设计的滤波器系数,应远高于电流频率,本文中选为p0=800π;
(2B)计算下列反馈校正项vσ,vμ
所述步骤(3)包括如下步骤:
所述步骤(4)包括如下步骤:
(4A)计算观测误差ε,
(4B)按下式更新对定子电阻、转子电阻、转速的辨识值
所述步骤(5)包括如下步骤:
(5A)根据下式来选择待设计的各个系数
5.辨识所得的转速可以用于无速度传感器控制,转速环PI依据转速控制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uαs和β轴电压uβs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80rpm,在19秒处设置定子电阻和转子电阻为真值的50%,在69秒处设置定子电阻和转子电阻为真值的150%。本方法可以快速辨识定子电阻和转子电阻,从而保证了无速度传感器控制的准确性。
Claims (4)
1.一种以反电势作为状态的感应电机全阶自适应观测方法,其特征在于:
在感应电机转子磁场定向控制系统中,构造一种自适应观测器,以完成对电机定子电阻、转子电阻以及转速的辨识,其实现步骤如下:
(1)定义一组新的状态变量;
(2)计算回归项和反馈校正项;
(3)更新状态变量的值;
(4)根据测量的电流计算观测误差对参数进行更新;
(5)通过选择特定的设计参数,可以保证电机在发电状态下的稳定性;
所述步骤(1)包括如下步骤:
(1A)考虑基于反Γ等效电路的感应电机数学模型
其中,是微分算子,Lσ是总漏电感,rs是定子电阻,rreq是等效转子电阻,Lμ是等效励磁电感,ω是转子电气角速度,us=[uαs,uβs]T是定子电压向量,is=[iαs,iβs]T是定子电流向量,ψμ=[ψαμ,ψβμ]T是等效转子磁链向量,
(1B)定义总漏磁磁链ψσ和反电势e为观测器的状态:
(1C)用新状态表示的电机模型为
所述步骤(2)包括如下步骤:
其中,p0是待设计的滤波器系数,应远高于电流频率,p0=800π;
(2B)计算下列反馈校正项vσ,vμ
vσ=kε
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710613961.3A CN107465374B (zh) | 2017-07-25 | 2017-07-25 | 一种以反电势作为状态的感应电机全阶自适应观测方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710613961.3A CN107465374B (zh) | 2017-07-25 | 2017-07-25 | 一种以反电势作为状态的感应电机全阶自适应观测方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107465374A CN107465374A (zh) | 2017-12-12 |
CN107465374B true CN107465374B (zh) | 2020-04-24 |
Family
ID=60547071
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710613961.3A Expired - Fee Related CN107465374B (zh) | 2017-07-25 | 2017-07-25 | 一种以反电势作为状态的感应电机全阶自适应观测方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107465374B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108054974A (zh) * | 2018-01-04 | 2018-05-18 | 湖南大学 | 轨道交通用感应电机的磁链优化控制方法及系统 |
CN109639206B (zh) * | 2019-01-31 | 2021-02-26 | 上海应用技术大学 | 基于全阶观测器的异步电机解耦控制方法及异步电机 |
CN116317770B (zh) * | 2023-02-03 | 2024-01-26 | 北京中科昊芯科技有限公司 | 离线辨识电机定子电阻的方法、控制电机的方法及介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6281659B1 (en) * | 1999-03-19 | 2001-08-28 | Fuji Electric Co., Ltd. | Induction motor drive and a parameter estimation method thereof |
CN105281630A (zh) * | 2015-11-08 | 2016-01-27 | 浙江大学 | 异步电机无速度传感器系统中在线辨识定转子电阻的方法 |
CN106602953A (zh) * | 2016-12-16 | 2017-04-26 | 浙江大学 | 基于磁场定向准确性的感应电机转子时间常数的验证方法 |
-
2017
- 2017-07-25 CN CN201710613961.3A patent/CN107465374B/zh not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6281659B1 (en) * | 1999-03-19 | 2001-08-28 | Fuji Electric Co., Ltd. | Induction motor drive and a parameter estimation method thereof |
CN105281630A (zh) * | 2015-11-08 | 2016-01-27 | 浙江大学 | 异步电机无速度传感器系统中在线辨识定转子电阻的方法 |
CN106602953A (zh) * | 2016-12-16 | 2017-04-26 | 浙江大学 | 基于磁场定向准确性的感应电机转子时间常数的验证方法 |
Non-Patent Citations (2)
Title |
---|
Lihang Zhao等."Second-Order Sliding-Mode Observer With Online Parameter Identification for Sensorless Induction Motor Drives".《 IEEE Transactions on Industrial Electronics ( Volume: 61 , Issue: 10 , Oct. 2014 )》.2014,第61卷(第10期),第5280-5289页. * |
尹忠刚等."基于双辨识参数全阶自适应观测器的感应电机低速性能".《电工技术学报》.2016,第31卷(第20期),第111-121页. * |
Also Published As
Publication number | Publication date |
---|---|
CN107465374A (zh) | 2017-12-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108551287B (zh) | 车用内置式永磁同步电机驱动系统转矩闭环控制方法 | |
Wang et al. | An EMF observer for PMSM sensorless drives adaptive to stator resistance and rotor flux linkage | |
Pellegrino et al. | Self-commissioning algorithm for inverter nonlinearity compensation in sensorless induction motor drives | |
CN108900129B (zh) | 一种无位置传感器永磁同步电机控制方法、装置和系统 | |
Tarchała et al. | Equivalent-signal-based sliding mode speed MRAS-type estimator for induction motor drive stable in the regenerating mode | |
Chi et al. | Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors | |
CN103501150B (zh) | 一种内嵌式永磁同步电机参数辨识装置及方法 | |
CN107465374B (zh) | 一种以反电势作为状态的感应电机全阶自适应观测方法 | |
JP5856438B2 (ja) | 電力変換装置 | |
WO2015073446A1 (en) | Field weakening control of magnet motor drives | |
CN107482982A (zh) | 一种基于铁损模型的异步电机矢量控制方法 | |
JP6206767B2 (ja) | モータ制御装置及び発電機制御装置 | |
CN104836501B (zh) | 一种永磁同步电动机参数在线辨识的方法 | |
CN106230322A (zh) | 基于磁链补偿及偏差解耦的异步电机直流预励磁启动方法 | |
WO2018069865A2 (ko) | 유도전동기의 자속관측기 및 자속 추정 방법 | |
CN107124129B (zh) | 一种在线辨识感应电机全参数的方法 | |
Volpato Filho et al. | Adaptive observer for sensorless permanent magnet synchronous machines with online pole placement | |
Pavuluri et al. | Field Oriented Control of Induction Motors Using Symmetrical Optimum Method with Applications in Hybrid Electric Vehicles | |
Dybkowski et al. | Sensorless traction drive system with sliding mode and MRASCC estimators using direct torque control | |
Baby et al. | An improved indirect vector controlled current source inverter fed induction motor drive with rotor resistance adaptation | |
CN109302109B (zh) | 永磁同步电机弱磁控制方法和控制装置 | |
CN117811445B (zh) | 一种永磁同步电机超螺旋滑模鲁棒负载观测方法 | |
Chougala et al. | Self-commissioning of induction motor drives-A critical review | |
Senjyu et al. | Position sensorless control for interior permanent magnet synchronous motors using H∞ flux observer | |
Anju et al. | Direct Torque Control Algorithm for Induction Motor Using Hybrid Fuzzy-PI and Anti-Windup PI Controller with DC Current Sensors |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200424 |