CN108540032A - Evaluation of AC Motor's Speed system and evaluation method - Google Patents
Evaluation of AC Motor's Speed system and evaluation method Download PDFInfo
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- CN108540032A CN108540032A CN201810419355.2A CN201810419355A CN108540032A CN 108540032 A CN108540032 A CN 108540032A CN 201810419355 A CN201810419355 A CN 201810419355A CN 108540032 A CN108540032 A CN 108540032A
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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
- H02P21/18—Estimation of position or speed
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of Evaluation of AC Motor's Speed system of present invention proposition and turn count method, estimating system include high frequency signal injection unit, stator current measuring unit and the processor for injecting high frequency voltage for stator；Stator current measuring unit includes two stator current sensors, is respectively used to measure stator biphase current；Processor obtains stator current, and based on the stator current under two-phase stationary coordinate system, final calculate obtains rotor speed.The present invention provides a kind of methods of indirect estimation motor speed, this method needs not rely on rotation-speed measuring device, only need measurement motor two-phase stator current, in conjunction with motor characteristic parameter, the electrical angle that can accurately estimate the rotor mechanical separator speed and rotor of motor is especially that by accurate mechanical turn count of the motor when slow-speed of revolution section is run.This method can be further used for the fields such as motor senseless control.
Description
Technical field
The present invention relates to motor control technology fields, and in particular to a kind of motor speed evaluation method and estimating system.
Background technology
For electric machine control system, the rotating speed for accurately detecting motor is a particularly important technological difficulties, directly
Connect the selection of relationship control strategy and the quality of control result.
In the prior art, the acquisition modes of motor speed mainly have direct method and indirect method.Direct method refers to direct basis
The mechanical movement of motor obtains the rotating speed of motor, such as installation speed sensor carrys out measuring speed, needs to rely on external measurement
Device.Indirect method includes mainly that evaluation method is usually deposited for example, being carried out the estimation of motor speed using many index of motor
In algorithm complexity, the defect of motor estimation result inaccuracy when slow-speed of revolution section is run.
Invention content
The present invention provides a kind of motor speed for acquisition hardly possible, the problem of accuracy difference of motor speed in the prior art
Estimating system and evaluation method.The system and method can accurately estimate that motor speed, especially motor are run in slow-speed of revolution section
When accurate mechanical turn count.
To achieve the goals above, the present invention provides the following technical solutions：
A kind of Evaluation of AC Motor's Speed system, including stator current measuring unit and processor；For being injected for stator
The high frequency signal injection unit of high frequency voltage, stator current measuring unit include two stator current sensors, are respectively used to survey
Measure stator biphase current；Processor includes：
Data acquisition unit：To acquire the stator current value of stator current sensor measurement；
Stator current scaling unit：To the stator electricity being converted into the stator current value of acquisition under two-phase stationary coordinate system
Stream, and the stator current under the two-phase stationary coordinate system of conversion acquisition is scaled the stator current under synchronous rotating frame；
Bandpass filtering unit：For the stator current under the two-phase stationary coordinate system after converting to stator current scaling unit
Value carries out bandpass filtering；
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；
Heterodyne computing unit：To carry out heterodyne calculating to the current value after synchronism axial system high-pass filtering；
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter；
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor；
Speed calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
Preferably, processor further comprises phase compensation unit, to the electric current after synchronism axial system high-pass filtering
Value carries out phase compensation；Heterodyne computing unit obtains phase compensation unit treated data.
The present invention also provides a kind of Evaluation of AC Motor's Speed methods, include the following steps：
High frequency voltage is injected for motor stator；
Measure the stator current I of the arbitrary two-phase of asynchronous machineaAnd Ib；
Stator current containing radio-frequency component is converted into the stator current under two-phase stationary coordinate system, the two-phase after conversion
Stator current under rest frame still includes two kinds of ingredients：Radio-frequency component and fundamental component；It is converted further into synchronous rotation
Turn the stator current under coordinate system；
Bandpass filtering is carried out to the stator current under the two-phase stationary coordinate system after conversion；
Shafting high-pass filtering is synchronized to the electric current after progress bandpass filtering, obtains the negative sequence component of high-frequency current；
Heterodyne calculating is carried out to high-frequency current negative sequence component；
Electric motor load torque is calculated based on high-frequency current negative sequence component heterodyne；
Calculate the electromagnetic torque of motor；
Rotor mechanical separator speed is calculated according to the electromagnetic torque of the load torque of motor and motor.
Preferably, evaluation method further comprises the steps：Phase benefit is carried out to the electric current after progress high-pass filtering
It repays；The method of the phase compensation is：The phase of higher frequency point is determined by the Bode diagram of synchronism axial system high pass filter unit
Lag carries out vector compensation according to the phase of lag.
Preferably, it is by the method that the stator current of measurement is scaled stator current under two-phase stationary coordinate system：
In above formula, IalphaFor the α axis stator currents under two-phase stationary coordinate system；IbetaFor the β under two-phase stationary coordinate system
Axis stator current, Ialpha、IbetaContain fundamental component and radio-frequency component；
It is by the method that the stator current of measurement is scaled stator current under synchronous rotating frame：
In above formula, θrFor the rotor electrical angle estimated, IdFor stator current I under two-phase stationary coordinate systemalphaIt is corresponding
Stator current under rotating coordinate system, IqFor stator current I under two-phase stationary coordinate systembeatDetermine under corresponding rotating coordinate system
Electron current.
Preferably, the method for phase compensation is to be determined by the Bode diagram of synchronism axial system high pass filter unit high again and again
The delayed phase of rate point, and phase compensation is carried out by following formula：
In above formula, θ ' is the lagging phase angle determined by Bode diagram, Iαlpha_SHPFAnd Ibeta_SHPFFor the static seat of two-phase
High-frequency current negative sequence component under mark system；I′αlpha_SHPFWith ' Ibeta_SHPFFor the static seat of two-phase after phase compensation, obtained
High-frequency current negative sequence component under mark system.
Preferably, the method for the negative sequence component progress heterodyne calculating of high-frequency current is：
ε=I 'beta_SHPFcos(2θr)-I′αlpha_SHPFsin(2θr) (4)
In above formula, ε is calculated outer difference, θrFor the rotor electrical angle estimated.
Preferably：The method for calculating motor speed is divided into the side of the method and synchronous rotational speed that calculate rotor mechanical separator speed
Method；
Calculate rotor mechanical separator speed method be：
Wherein, ω is the mechanical separator speed of rotor, TeFor the electromagnetic torque of motor, TLFor electric motor load torque, J is electricity
The rotary inertia of machine；
Calculate rotor synchronous rotational speed method be：
Calculate the slip ω of motorslip：
Wherein, TrFor rotor time constant, computational methods are：
Wherein, LrFor rotor inductance, RrFor rotor resistance；
Calculate the synchronous rotational speed ω of rotorsyn：
ωsyn=ω+ωslip (8)。
Preferably：Further comprise the steps, calculate the rotor angle of motor, computational methods are：
Compared with prior art, the advantages and positive effects of the present invention are：
The present invention provides a kind of method of indirect estimation motor speed, this method needs not rely on rotation-speed measuring device,
Measurement motor two-phase stator current is only needed, in conjunction with motor characteristic parameter, you can the rotor mechanical separator speed of accurate estimation motor with
The electrical angle of rotor is especially that by accurate mechanical turn count of the motor when slow-speed of revolution section is run.This method can be with
It is further used for the fields such as motor senseless control.
Description of the drawings
Fig. 1 is motor speed estimating system structural schematic diagram of the present invention；
Fig. 2 is turn count flow diagram of the present invention.
Specific implementation mode
Hereinafter, the specific implementation mode of the present invention is further described in conjunction with attached drawing.
The present invention provides a kind of Evaluation of AC Motor's Speed system, which is used for before not using speed probe
It puts, carries out the estimation of Rotational Speed of Asynchronous Motor.
A kind of Evaluation of AC Motor's Speed system includes the high frequency signal injection list for injecting high frequency voltage for stator
Member, stator current measuring unit and processor, in the present embodiment, using dsp processor.
For wherein high frequency signal injection unit to inject high frequency voltage for motor stator, high frequency voltage is directly superimposed upon fundamental frequency
On voltage, it is applied on the stator of motor together with fundamental frequency voltages.It is filled with high frequency voltage again on fundamental frequency voltages, therefore fixed
Electron current will contain radio-frequency component and fundamental component.
Stator current measuring unit includes two stator current sensors, is respectively used to measure stator biphase current, herein
The two-phase refers to the arbitrary two-phase in three-phase.In the present embodiment, two stator current sensors are respectively used to measure stator U
The stator current of phase and V phases.
Processor is the processing core of whole system, is used for the estimation of rotating speed, including：
Data acquisition unit：To acquire the stator current value of stator current sensor measurement；In the present embodiment, acquisition
For the stator current of stator U phases and V phases.
Stator current scaling unit：Stator current value to acquire data acquisition unit is converted into two-phase static coordinate
The lower stator current of system, the stator current under the two-phase stationary coordinate system conversed equally contain radio-frequency component and fundamental component.
Stator current under the two-phase stationary coordinate system of conversion acquisition is further scaled synchronous rotary and sat by stator current scaling unit
Stator current under mark system.
Bandpass filtering unit：For the stator current under the two-phase stationary coordinate system after converting to stator current scaling unit
Value carries out bandpass filtering；The purpose of bandpass filtering is the fundamental component filtered out under two-phase stationary coordinate system in stator current.
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；It is high
The purpose of pass filter is handled the electric current after bandpass filtering, and the negative sequence component of electric current radio-frequency component is obtained.
Heterodyne computing unit：To carry out heterodyne calculating to the current value after high-pass filtering.
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter.
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor.
Torque-calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
As advanced optimizing for the present invention, processor further comprises phase compensation unit, to synchronism axial system height
Current value after pass filter carries out phase compensation；Heterodyne computing unit obtains phase compensation unit treated data, i.e. heterodyne
Computing unit uses the radio-frequency component negative sequence component after phase compensation to carry out heterodyne calculating.
The present invention further provides a kind of Evaluation of AC Motor's Speed method, this method mainly includes the following steps that.
First, high frequency voltage is injected to motor stator, acquires the stator current of arbitrary two-phase, collected stator current contains
There are radio-frequency component and fundamental component.
(1) stator current converts.
Stator current after being injected to high frequency is converted as follows.
First：Stator current converts under two-phase stationary coordinate system.
It measures obtained two-phase stator current and is transferred to processor, in the present embodiment, pass through two stator current sensors
The stator current of U phases and V phases is measured respectively, respectively as IaAnd Ib。
It after stator current is transferred to processor, will convert to it, and be scaled two-phase stationary coordinate system (α β coordinate systems)
Under stator current value, wherein IalphaFor α axis stator currents, IbetaFor β axis stator currents, conversion method is as follows.
Second：Stator current converts under synchronous rotating frame.
Stator current conversion under the two-phase stationary coordinate system obtained according to conversion obtains to be determined under synchronous rotating frame
Electron current.
θ in above formularFor the rotor electrical angle estimated, in the present embodiment, IdFor the d axis stators under synchronous rotating frame
Electric current, IqFor the q axis stator currents under synchronous rotating frame.
(2) bandpass filtering.
Stator current I under two-phase stationary coordinate system after conversionalphaAnd IbetaContain fundamental component and radio-frequency component.Place
Reason device will carry out bandpass filtering to it, to be filled into fundamental component.Specifically, processor uses infinite impulse response bandpass filtering
Device, i.e. BPF (Band Pass Filter) in Figure of description Fig. 1 is to Ialpha、IbetaCarry out bandpass filtering, filter out fundamental frequency at
Point to obtain radio-frequency component, in the present embodiment, the frequency range of filter is 400Hz~600Hz.
(3) synchronism axial system high-pass filtering.
Shafting high-pass filtering is synchronized to the stator current radio-frequency component obtained in step (2), to obtain radio-frequency component
Negative sequence component；In the present embodiment, high pass filter unit is SHPF (synchronism axial system high-pass filter), reference explanation book attached drawing figure
1.Wherein, the realization principle of synchronism axial system high-pass filtering is：The direction of rotation of high-frequency current positive sequence component and negative order components
On the contrary, therefore forward-order current ingredient can be filtered out by synchronism axial system high-pass filter (SHPF), i.e., first by high frequency signal current
It is transformed into the reference frame of high-frequency signal voltage synchronous rotary, the positive-sequence component of high-frequency current is made to be rendered as DC quantity,
It recycles high-pass filter to be filtered out, obtains the negative sequence component of high-frequency current, be denoted as respectively：Iαlpha_SHPFAnd Ibeta_SHPF.This
In embodiment, the cutoff frequency of high-pass filtering is 20Hz.
(4) phase compensation.
Phase compensation is carried out to the negative sequence component of high-frequency current under two-phase stationary coordinate system.Pass through synchronism axial system high-pass filtering
The Bode diagram of unit determines the delayed phase of higher frequency point, and carries out phase compensation by following formula.
In above formula, θ ' is the lagging phase angle determined by Bode diagram, Iαlpha_SHPFAnd Ibeta_SHPFIt is obtained for step (2)
High-frequency current negative sequence component under the two-phase stationary coordinate system (α β coordinate systems) arrived；I′αlpha_SHPFWith I 'beta_SHPFAs pass through
After phase compensation, the high-frequency current negative sequence component under obtained two-phase stationary coordinate system (α β coordinate systems).
(5) heterodyne calculates.
Heterodyne calculating is carried out to the negative sequence component of the high-frequency current after phase compensation, computational methods are：
ε=I 'beta_SHPFcos(2θr)-I′αlpha_SHPFsin(2θr) (4)
In above formula, ε is calculated outer difference, θrFor calculated rotor electrical angle.
(6) load torque of motor is calculated.
Using the outer difference being calculated in step (5) as the input of adjuster, the output of pi regulator is that motor is negative
Set torque is denoted as TL.In the present embodiment, adjuster uses pi regulator.
Pi regulator herein has not been the effect for being traditionally used for closed loop adjusting, and the effect of pi regulator is to count
The load torque when motor is calculated, after output reaches stable state, the output of pi regulator is exactly the load torque of motor, that is,
It says, load torque is not measured with torque sensor, is calculated automatically.
(7) electromagnetic torque of motor is calculated.
The electromagnetic torque of motor is calculated according to the following formula.
In above formula, TeFor the electromagnetic torque of motor, p is the number of pole-pairs of motor, LmFor the mutual inductance of motor, LrFor rotor
Inductance, IdAnd IqFor the stator current under synchronous rotating frame, shown in calculation such as formula (2), t is time, TrFor rotor when
Between constant.Wherein, the number of pole-pairs of motor, mutual inductance, inductor rotor can directly obtain by motor nameplate or pass through apparatus measures
It obtains.
In formula (6), θrFor calculated rotor electrical angle；
(8) rotor mechanical separator speed is calculated.
According to electromechanics equation：
In above formula, TLFor electric motor load torque, TeFor the electromagnetic torque of motor, J is the rotary inertia of motor.
The mechanical separator speed ω of rotor is calculated according to formula (7).
(9) the slip ω of motor is calculatedslip。
In above formula, TrFor rotor time constant, computational methods are as follows.
In above formula, LrFor rotor inductance, RrFor rotor resistance.
(10) the synchronous rotational speed ω of motor is calculatedsyn。
ωsyn=ω+ωslip (11)
(11) rotor angle of motor is calculated.
Calculate the rotor angle obtainedrStep (5) will be fed back to, the heterodyne as next calculating cycle calculates defeated
Enter.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
It imitates embodiment and is applied to other fields, but it is every without departing from technical solution of the present invention content, according to the technical essence of the invention
To any simple modification, equivalent variations and remodeling made by above example, the protection domain of technical solution of the present invention is still fallen within.
Claims (9)
1. a kind of Evaluation of AC Motor's Speed system, it is characterised in that：It include the high-frequency electrical for injecting high frequency voltage for stator
Press injection unit, stator current measuring unit and processor；The stator current measuring unit includes that two stator currents sense
Device is respectively used to measure stator biphase current；The processor includes：
Data acquisition unit：To acquire the stator current value of stator current sensor measurement；
Stator current scaling unit：Stator current value to acquire data acquisition unit is converted under two-phase stationary coordinate system
Stator current, and the stator current under two-phase stationary coordinate system that conversion obtains is scaled under synchronous rotating frame and determines
Electron current；
Bandpass filtering unit：For to stator current scaling unit convert after two-phase stationary coordinate system under stator current value into
Row bandpass filtering；
Synchronism axial system high pass filter unit：To synchronize shafting high-pass filtering to the current value after bandpass filtering；
Heterodyne computing unit：To carry out heterodyne calculating to the current value after synchronism axial system high-pass filtering；
Load torque computing unit：To according to the counted outer mathematic interpolation electric motor load torque of heterodyne computing unit meter；
Electromagnetic torque computing unit：To calculate the electromagnetic torque of motor；
Speed calculation unit：To calculate the rotating speed of motor according to the electromagnetic torque of the load torque of motor and motor.
2. Evaluation of AC Motor's Speed system as described in claim 1, it is characterised in that：The processor further comprises phase
Position compensating unit, to carry out phase compensation to the current value after high-pass filtering；The heterodyne computing unit obtains phase compensation
Data after cell processing.
3. Evaluation of AC Motor's Speed method, it is characterised in that：Include the following steps：
High frequency voltage is injected for motor stator；
Measure the stator current I of the arbitrary two-phase of asynchronous machineaAnd Ib；
Stator current containing radio-frequency component is converted into the stator current under two-phase stationary coordinate system, and is converted further into two
The stator current being synchronised under coordinate system；
Bandpass filtering is carried out to the stator current under the two-phase stationary coordinate system after conversion；
Shafting high-pass filtering is synchronized to the electric current after progress bandpass filtering, obtains the negative sequence component of high-frequency current；
Heterodyne calculating is carried out to high-frequency current negative sequence component；
Electric motor load torque is calculated based on high-frequency current negative sequence component heterodyne；
Calculate the electromagnetic torque of motor；
Rotor mechanical separator speed is calculated according to the electromagnetic torque of the load torque of motor and motor.
4. Evaluation of AC Motor's Speed method as claimed in claim 3, it is characterised in that：The evaluation method further comprises
Following steps：Phase compensation is carried out to synchronizing the electric current after shafting high-pass filtering；The method of the phase compensation is：Pass through
The Bode diagram of synchronism axial system high pass filter unit determines the delayed phase of higher frequency point, is mended into row vector according to the phase of lag
It repays.
5. Evaluation of AC Motor's Speed method as described in claim 3 or 4, it is characterised in that：The stator current of measurement is changed
Calculation is that the method for stator current under two-phase stationary coordinate system is：
In above formula, IalphaFor the α axis stator currents under two-phase stationary coordinate system；IbetaIt is fixed for the β axis under two-phase stationary coordinate system
Electron current, Ialpha、IbetaContain fundamental component and radio-frequency component；
It is by the method that the stator current of measurement is scaled stator current under synchronous rotating frame：
In above formula, θrFor rotor electrical angle, IdFor stator current I under two-phase stationary coordinate systemalphaUnder corresponding rotating coordinate system
Stator current, IqFor stator current I under two-phase stationary coordinate systembetaStator current under corresponding rotating coordinate system.
6. Evaluation of AC Motor's Speed method as claimed in claim 5, it is characterised in that：The method of the phase compensation is,
The delayed phase of higher frequency point is determined by the Bode diagram of synchronism axial system high pass filter unit, and phase benefit is carried out by following formula
It repays：
In above formula, θ ' is the lagging phase angle determined by Bode diagram, Iαlpha_SHPFAnd Ibeta_SHPFFor two-phase stationary coordinate system
Under high-frequency current negative sequence component；I′αlpha_SHPFWith I 'beta_SHPFFor the two-phase stationary coordinate system after phase compensation, obtained
Under high-frequency current negative sequence component.
7. Evaluation of AC Motor's Speed method as claimed in claim 6, it is characterised in that：The negative sequence component of high-frequency current carries out
Heterodyne calculate method be：
ε=I 'beta_SHPFcos(2θr)-I′αlpha_SHPFsin(2θr) (4)
In above formula, ε is calculated outer difference, θrFor the rotor electrical angle estimated.
8. Evaluation of AC Motor's Speed method as claimed in claim 3, it is characterised in that：The method for calculating motor speed is divided into
The method for calculating the method and synchronous rotational speed of rotor mechanical separator speed；
Calculate rotor mechanical separator speed method be：
Wherein, ω is the mechanical separator speed of rotor, TeFor the electromagnetic torque of motor, TLFor electric motor load torque, J is motor
Rotary inertia；
Calculate rotor synchronous rotational speed method be：
Calculate the slip ω of motorslip：
Wherein, TrFor rotor time constant, computational methods are：
Wherein, LrFor rotor inductance, RrFor rotor resistance；
Calculate the synchronous rotational speed ω of rotorsyn：
ωsyn=ω+ωslip (8)。
9. Evaluation of AC Motor's Speed method as claimed in claim 8, it is characterised in that：Further comprise the steps, counts
The rotor electrical angle of motor is calculated, computational methods are：
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