CN108736793A - A kind of three-phase synchronous motor d-axis and q-axis inductance and its measurement of mutual inductance method - Google Patents
A kind of three-phase synchronous motor d-axis and q-axis inductance and its measurement of mutual inductance method Download PDFInfo
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- CN108736793A CN108736793A CN201810604445.9A CN201810604445A CN108736793A CN 108736793 A CN108736793 A CN 108736793A CN 201810604445 A CN201810604445 A CN 201810604445A CN 108736793 A CN108736793 A CN 108736793A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, 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
-
- 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
Abstract
The invention belongs to parameter identifier fields,More particularly to a kind of three-phase synchronous motor d-axis and q-axis inductance and its measurement of mutual inductance method,Rotor-position of this method only by measuring three line inductance values and precognition,Synchronous motor d-axis and q-axis inductance and its mutual inductance under the rotor-position can accurately be obtained,When being fluctuated when ignoring synchronous motor d-axis and q-axis inductance and changing with rotor-position,It can then be overlapped with stator A phase axis by being pulled to rotor d-axis,Or measure three line inductance values respectively under the rotor-position of two known electric differential seat angles,It can obtain d-axis and q-axis inductance and its mutual inductance,Without knowing specific rotor-position,The present invention is based on complete theoretical foundations,Coordinate suitable for arbitrary pole slot,The three-phase synchronous motor of winding configuration and excitation mode,It is simple and convenient in practical operation,Accuracy is high,Application environment is friendly,Wide market.
Description
Technical field：
The invention belongs to parameter identifier fields, and in particular to a kind of three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance
Measurement method.
Background technology：
Three-phase synchronous motor is one kind of AC rotary motor, is gained the name because its rotating speed is constantly equal to three-phase synchronous rotating speed.Three
The motor that is synchronised is mainly used as generator, it is also possible to make motor and phase modifier.In modern electric power industry, either firepower is sent out
Electricity, hydroelectric generation or nuclear energy power generation, almost all use three-phase synchronous generator.Three-phase synchronous motor is due to having
When mains fluctuations or load torque change, the superperformance that still its invariablenes turning speed can be kept constant, thus be widely used
It is not required in speed governing and the larger mechanical equipment of power in driving, such as rolling mill, turbocompressor, air blower, various pumps and change
Flow unit etc.；Though little, the lower various ball mills of rotating speed and reciprocating compressor for driving power；It can be additionally used in
Drive the propeller etc. of large ship.In recent years, since silicon controlled thyristor frequency conversion device technology is increasingly ripe and enlargement, make to synchronize electricity
Motivation also can make speed governing operation by frequency conversion.Therefore, under certain control mode, the operation of three-phase synchronous motor is special
Property it is similar to the working characteristics of separated exciting dc motor, to more expanding its use scope.
The d-axis and q-axis inductance parameter of three-phase synchronous motor directly affects operation and the control performance of motor.Common measurement side
Method, one is being pulled to rotor rectangular axis to coincide with stator A respectively, it is d-axis and q-axis inductance to measure corresponding A phase inductances.So
And when machine winding neutral point is not drawn, A phase inductances can not be directly measured, this method is caused to have limitation in actually measuring
Property.Another method assumes that three pole reactor balances, and the half that three-phase mutual inductance amplitude is three-phase self-induction amplitude, by measuring three
A line inductance value, obtains d-axis and q-axis inductance.However the cooperation of the pole slot of the ratio and motor of three-phase mutual inductance amplitude and self-induction amplitude and
Winding arrangement is related, only for certain Distributed Windings when the hypothesis set up, therefore there is limitation in this method in principle.This
Outside, above two method assumes that d-axis and q-axis inductance does not change with rotor-position and changed, and rectangular axis mutual inductance is zero, and practical
D-axis and q-axis inductance and its relationship of mutual inductance and rotor-position be variation.Therefore design prepares a kind of three-phase synchronous motor and directly hands over
Axle inductance and its measurement of mutual inductance method do not need complicated voltage or current excitation, are being aware or unaware that motor rotor position
When can obtain d-axis and q-axis inductance and its mutual inductance of motor, it is good to measure using effect.
Invention content：
It is an object of the invention to overcome defect of the existing technology, it is straight to seek a kind of three-phase synchronous motor of design offer
Quadrature axis inductance and its measurement of mutual inductance method, this method are based on accurate three-phase synchronous motor mathematical model, propose that one kind only passes through
Three line inductance values of measurement motor and rotor-position, so that it may obtain the d-axis and q-axis inductance under the rotor-position and its side of mutual inductance
Method.When not knowing rotor-position, overlapped with stator A phase axis or in two known electrical angles by being pulled to rotor d-axis
Three line inductance values are measured respectively under the rotor-position of difference, and d-axis and q-axis inductance and its mutual inductance still can be obtained.
To achieve the goals above, a kind of three-phase synchronous motor d-axis and q-axis inductance of the present invention and its measurement of mutual inductance side
Method, specific measuring process carry out as follows：
S1, three-phase synchronous motor d axis be defined as the maximum magnetic flux path of magnetic resistance in rotor axial system, q axis is defined as rotor
The magnetic flux path of magnetic resistance minimum in shafting；
Motor three pole reactor matrix is
Wherein L represents three-phase self-induction, and M represents three-phase mutual inductance, and wherein phase inductance value changes with the variation of rotor-position, becomes
The change period is 180 ° of electrical angles.
Obtaining three line inductance by formula (1) is
Formula (1) is converted through Park
Can obtain d-axis and q-axis inductance matrix is
Wherein θ is motor rotor position, i.e. electric angle angle value of the rotor d-axis relative to stator A phase axis, Ld、LqAnd LdqPoint
It Wei not d-axis and q-axis inductance and its mutual inductance；
It is computed, arranges, the expression of d-axis and q-axis inductance and its mutual inductance about three line inductance and rotor-position can be obtained
Formula is
Wherein
When known motor rotor-position, three are measured respectively using LCR tables or other instruments for measuring inductance or method
Line inductance value substitutes into formula (5), can obtain the d-axis and q-axis inductance under current rotor position and its mutual inductance.
Further, in the present invention when rotor d-axis is overlapped with stator A phase axis, i.e. when θ=0, have at this time
Further, in the present invention when can not know the accurate rotor-position of motor, but cannot be guaranteed rotor d-axis with it is fixed
When sub- A phase axis overlaps, d-axis and q-axis inductance and its mutual inductance can be approximately considered and do not change with rotor-position and change；Then, respectively
Three line inductance values under arbitrary rotor-position are measured, L is denoted asΣ1、LΔ1And LΓ1, and rotor is rotated into a known electrical angle
γ measures three line inductance values, is denoted as L againΣ2、LΔ2And LΓ2, measurement result is substituted into formula (8), and solve three two respectively
First equation group, wherein unknown quantity are respectively LdAnd θ, LqAnd θ and LdqAnd θ, d-axis and q-axis inductance and its mutual inductance can be obtained；
Further, in the present invention when can not know the accurate rotor-position of motor, but cannot be guaranteed rotor d-axis with it is fixed
When sub- A phase axis overlaps, can also by making rotor respectively deflect identical electric angle angle value δ about a certain rotor-position or so,
Three line inductance values under the two rotor-positions are measured respectively, are denoted as LΣ1、LΔ1、LΓ1And LΣ2、LΔ2、LΓ2, by measurement result
Substitution formula (9), and three two element equations are solved respectively, wherein unknown quantity is respectively LdAnd θ, LqAnd θ and LdqAnd θ,
Obtain d-axis and q-axis inductance and its mutual inductance：
Obtain three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance.
Further, the present invention in be tested three-phase synchronous motor type include but not limited to permanent magnet synchronous motor, permanent magnetism without
Brush motor, synchronous magnetic resistance motor, electric excitation synchronous motor, hybrid exciting synchronous motor.
Description of the drawings：
Fig. 1 is the principle schematic of three-phase synchronous motor winding and rotor of the present invention.
Fig. 2 is d-axis and q-axis inductance of the present invention and its mutual inductance with rotor-position change schematic diagram.
Fig. 3 is phase inductance of the present invention with rotor-position change schematic diagram.
Fig. 4 be it is of the present invention rotor d-axis is pulled to overlap with stator A phase axis measure d-axis and q-axis inductance and its mutual
The method schematic diagram of sense.
Fig. 5 is of the present invention when not knowing rotor-position, by the way that rotor is rotated a known electric angle measurement
D-axis and q-axis inductance and its method schematic diagram of mutual inductance.
Fig. 6 is of the present invention when not knowing rotor-position, is surveyed by the way that rotor or so respectively to be deflected to identical electrical angle
Measure the method schematic diagram of d-axis and q-axis inductance and its mutual inductance.
Specific implementation mode：
The present invention is further explained in the light of specific embodiments.
Embodiment 1：
S1, three-phase synchronous motor d axis be defined as the maximum magnetic flux path of magnetic resistance in rotor axial system, q axis is defined as rotor
The magnetic flux path of magnetic resistance minimum in shafting；
Motor three pole reactor matrix is as follows：
Wherein L represents three-phase self-induction, and M represents three-phase mutual inductance, and wherein phase inductance value changes with the variation of rotor-position, such as
Shown in Fig. 3, period of change is 180 ° of electrical angles；
S2, three line inductance are obtained by formula (1) it is
Formula (1) is converted through Park
Obtaining d-axis and q-axis inductance matrix is
Wherein θ is motor rotor position, i.e. electric angle angle value of the rotor d-axis relative to stator A phase axis, Ld、LqAnd LdqPoint
It Wei not d-axis and q-axis inductance and its mutual inductance；
It is computed, arranges, the expression of d-axis and q-axis inductance and its mutual inductance about three line inductance and rotor-position can be obtained
Formula is
Wherein
S3, when known motor rotor-position, such as Fig. 1, utilize LCR tables or it is other measure inductance instrument or method difference
Three line inductance values are measured, formula (5) is substituted into, the d-axis and q-axis inductance under current rotor position and its mutual inductance can be obtained；
Further, in the present embodiment, when rotor d-axis is overlapped with stator A phase axis, θ=0 then has such as Fig. 4
Further, in the present embodiment, when can not know the accurate rotor-position of motor, and cannot be guaranteed rotor d-axis with
When stator A phase axis overlaps, d-axis and q-axis inductance and its mutual inductance can be approximately considered and do not change with rotor-position and change；It measures respectively
Three line inductance values under arbitrary rotor-position, are denoted as LΣ1、LΔ1And LΓ1, and rotor is rotated into a known electrical angle γ,
Three line inductance values are measured again, are denoted as LΣ2、LΔ2And LΓ2, as shown in figure 5, measurement result is substituted into formula (8), and solve respectively
Three two element equations, wherein unknown quantity are respectively LdAnd θ, LqAnd θ and LdqAnd θ, can obtain d-axis and q-axis inductance and its mutually
Sense；
Further, in the present embodiment, when can not know the accurate rotor-position of motor, and cannot be guaranteed rotor d-axis with
When stator A phase axis overlaps, additionally it is possible to by making rotor respectively deflect identical electric angle angle value about a certain rotor-position or so
δ measures three line inductance values under the two rotor-positions, is denoted as L respectivelyΣ1、LΔ1、LΓ1And LΣ2、LΔ2、LΓ2, such as Fig. 6 institutes
Show, measurement result is substituted into formula (9), and solve three two element equations respectively, wherein unknown quantity is respectively LdAnd θ, LqAnd θ, with
And LdqAnd θ, d-axis and q-axis inductance and its mutual inductance can be obtained, calculation formula is as follows：
Obtain three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance.
Embodiment 2：
The present embodiment measures three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance using method described in embodiment 1, tool
Body operating procedure carries out as follows：
It is S1, current with the instrument or method measurement motor of absolute position encoder or other measurement motor initial position of rotor
Rotor position, and fixed rotor；
S2, with LCR tables or other instrument and method for measuring inductance, measure three between AB phases, BC phases and CA phases respectively
A line inductance value；
S3, the measurement result applying equation (6) by S2, and the rotor-position for combining S1 to measure substitutes into formula (5), obtains working as forward
D-axis and q-axis inductance under sub- position and its mutual inductance.
Embodiment 3：
The present embodiment measures three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance using method described in embodiment 1, tool
Body operating procedure carries out as follows：
S1, with DC power supply or other rotor localization methods, rotor d-axis is pulled to and stator A phase axis weights
It closes, and fixed rotor；
S2, with LCR tables or other instrument and method for measuring inductance, measure three between AB phases, BC phases and CA phases respectively
A line inductance value；
S3, the measurement result applying equation (6) by S2, and applying equation (7), obtain d-axis and q-axis inductance and its mutual inductance of motor.
Embodiment 4：
The present embodiment measures three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance using method described in embodiment 1, tool
Body operating procedure carries out as follows：
S1, with LCR tables or other instrument and method for measuring inductance, measure three between AB phases, BC phases and CA phases respectively
A line inductance value, and applying equation (7), are denoted as LΣ1、LΔ1、LΓ1；
S2, rotor is rotated to a known electrical angle electrical angle γ, and fixed rotor；
S3, with LCR tables or other instrument and method for measuring inductance, measure three between AB phases, BC phases and CA phases respectively
A line inductance value, and applying equation (7), are denoted as LΣ2、LΔ2、LΓ2；
S4, the result applying equation (8) by S1 and S3, obtain d-axis and q-axis inductance and its mutual inductance of motor.
Embodiment 5：
The present embodiment measures three-phase synchronous motor d-axis and q-axis inductance and its mutual inductance using method described in embodiment 1, tool
Body operating procedure carries out as follows：
S1, record motor current rotor position, and make marks；
S2, rotor is rotated clockwise into electrical angle δ, and fixed rotor about the label of S1；
S3, with LCR tables or other instrument and method for measuring inductance, measure three between AB phases, BC phases and CA phases respectively
A line inductance value, and applying equation (7), are denoted as LΣ1、LΔ1、LΓ1；
S4, the label electric rotating angle δ counterclockwise by rotor about S1, and fixed rotor；
S5, with LCR tables or other instrument and method for measuring inductance, measure three between AB phases, BC phases and CA phases respectively
A line inductance value, and applying equation (7), are denoted as LΣ2、LΔ2、LΓ2；
S6, the result applying equation (9) by S3 and S5, obtain d-axis and q-axis inductance and its mutual inductance of motor.
Claims (5)
1. a kind of three-phase synchronous motor d-axis and q-axis inductance and its measurement of mutual inductance method, it is characterised in that specific measuring process is according to such as
Under type carries out：
S1, three-phase synchronous motor d axis be defined as the maximum magnetic flux path of magnetic resistance in rotor axial system, q axis is defined as rotor axial system
The magnetic flux path of middle magnetic resistance minimum；
Motor three pole reactor matrix is
Wherein L represents three-phase self-induction, and M represents three-phase mutual inductance, and wherein phase inductance value changes with the variation of rotor-position, variation week
Phase is 180 ° of electrical angles.
Obtaining three line inductance by formula (1) is
Formula (1) is converted through Park
Can obtain d-axis and q-axis inductance matrix is
Wherein θ is motor rotor position, i.e. electric angle angle value of the rotor d-axis relative to stator A phase axis, Ld、LqAnd LdqRespectively
D-axis and q-axis inductance and its mutual inductance；
It is computed, arranges, the expression formula that can obtain d-axis and q-axis inductance and its mutual inductance about three line inductance and rotor-position is
Wherein
When known motor rotor-position, three line electricity are measured respectively using LCR tables or other instruments for measuring inductance or method
Inductance value substitutes into formula (5), can obtain the d-axis and q-axis inductance under current rotor position and its mutual inductance.
2. a kind of three-phase synchronous motor d-axis and q-axis inductance according to claim 1 and its measurement of mutual inductance method, feature exist
In when rotor d-axis is overlapped with stator A phase axis, have
3. a kind of three-phase synchronous motor d-axis and q-axis inductance according to claim 1 and its measurement of mutual inductance method, feature exist
It is approximate at this time when can not know the accurate rotor-position of motor in working as, and cannot be guaranteed that rotor d-axis is overlapped with stator A phase axis
Think that d-axis and q-axis inductance and its mutual inductance do not change with rotor-position and changed；Then, three under arbitrary rotor-position are measured respectively
A line inductance value, is denoted as LΣ1、LΔ1And LΓ1, and rotor is rotated into a known electrical angle γ, three line inductance are measured again
Value, is denoted as LΣ2、LΔ2And LΓ2, measurement result is substituted into formula (8), and solve three two element equations respectively, wherein unknown quantity point
It Wei not LdAnd θ, LqAnd θ and LdqAnd θ, d-axis and q-axis inductance and its mutual inductance can be obtained；
4. a kind of three-phase synchronous motor d-axis and q-axis inductance according to claim 1 and its measurement of mutual inductance method, feature exist
In when that can not know the accurate rotor-position of motor, and cannot be guaranteed that rotor d-axis is overlapped with stator A phase axis, can also lead to
Crossing makes rotor respectively deflect identical electric angle angle value δ about a certain rotor-position or so, measures respectively under the two rotor-positions
Three line inductance values, be denoted as LΣ1、LΔ1、LΓ1And LΣ2、LΔ2、LΓ2, measurement result is substituted into formula (9), and solve three respectively
Two element equations wherein unknown quantity is respectively LdAnd θ, LqAnd θ and LdqAnd θ, d-axis and q-axis inductance and its mutual inductance can be obtained：
5. a kind of three-phase synchronous motor d-axis and q-axis inductance according to any claim in claim 1-4 and its mutual sensing
Amount method, it is characterised in that tested three-phase synchronous motor type includes but not limited to permanent magnet synchronous motor, permanent magnetic brushless, same
Walk reluctance motor, electric excitation synchronous motor, hybrid exciting synchronous motor.
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