CN108847800A - Durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method - Google Patents
Durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method Download PDFInfo
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- CN108847800A CN108847800A CN201810685441.8A CN201810685441A CN108847800A CN 108847800 A CN108847800 A CN 108847800A CN 201810685441 A CN201810685441 A CN 201810685441A CN 108847800 A CN108847800 A CN 108847800A
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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 present invention relates to a kind of durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification methods, by injecting high-frequency voltage signal in two-phase stationary coordinate system d-axis to durface mounted permanent magnet synchronous motor stator winding, threephase stator electric current is detected, and transforms to two-phase stationary coordinate system；Using biphase current quadratic sum as output signal, using high-frequency voltage signal amplitude as input signal, according to the two of the high-frequency voltage signal of injection kinds of frequencies and electric current steady-state value quadratic sum, resistance and inductance are obtained, completes the off-line identification to durface mounted permanent magnet synchronous motor resistance-inductance parameter.A kind of durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method proposed by the present invention, measurement result precision is high, and is not necessarily to guarantee that motor is static, distinguishes test resistance and inductance without the negligible resistance pressure drop when detecting inductance and without two methods by band-type brake mechanical device.
Description
Technical field
The present invention relates to Motor Control Fields, especially durface mounted permanent magnet synchronous motor resistance-inductance parameter off-line identification side
Method.
Background technique
Control that control system for permanent-magnet synchronous motor is such as noninductive, vector controlled current loop control algorithm to the parameter of motor
Dependence is very strong, needs to be known in advance permanent magnet synchronous motor parameter, therefore the accuracy of off-line measurement permanent magnet synchronous motor parameter
It is particularly significant.Currently, the off-line measurement of measurement resistance generally passes to DC voltage to stator, stator can be calculated by measuring electric current
Resistance.For the precision for improving resistance measurement, it is necessary to be compensated to tube voltage drop and dead time effect.And the identification of inductance stator around
The d-axis of group injects high-frequency voltage signal, detects threephase stator electric current and transforms to two cordic phase rotators, negligible resistance pressure drop, meter
The amplitude for calculating current phasor, then finds out its maximum value and minimum value respectively, calculates ac-dc axis inductance, because measuring inductance
When, negligible resistance, measurement accuracy is high.
Summary of the invention
The purpose of the present invention is to provide a kind of durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method, with
Overcome defect existing in the prior art.
To achieve the above object, the technical scheme is that：A kind of durface mounted permanent magnet synchronous motor resistance-inductance parameter
Offline identification method, by injecting high frequency voltage in two-phase stationary coordinate system d-axis to durface mounted permanent magnet synchronous motor stator winding
Signal detects threephase stator electric current, and transforms to two-phase stationary coordinate system；It, will using biphase current quadratic sum as output signal
High-frequency voltage signal amplitude is as input signal, according to the two of the high-frequency voltage signal of injection kinds of frequencies and electric current steady-state value square
With, acquisition resistance and inductance, off-line identification of the completion to durface mounted permanent magnet synchronous motor resistance-inductance parameter.
In an embodiment of the present invention, specifically comprise the following steps：
Step S1：Remember that the mathematical model under the static α β coordinate system of two-phase of durface mounted permanent magnet synchronous motor vector controlled is：
Wherein：RsFor resistance, LsFor inductance, ψfFor magnetic linkage；uα、uβFor α β shaft voltage；iα、iβFor α β shaft current；θ is rotation
The angle of coordinate system d axis and two-phase stationary coordinate system α axis, ωeRotor-position electricity speed；
Step S2：The high-frequency voltage signal that constant amplitude is injected in two-phase stationary coordinate system generates high frequency choosing in motor
Select voltage vector：
Wherein：UAFor the amplitude of high-frequency voltage signal, ωhFor the frequency of high-frequency voltage signal；
Step S3：After injecting high-frequency voltage signal, motor is stationary, and Section 3 is zero on the right of formula (1), by formula (2) band
Enter formula (1), obtains：
It enables electric current be initiated with zero, by solving differential equation of first order formula (3), obtains
To i2 α(t)+i2 β(t) Laplace transform is carried out to obtain：
According to final value principle, obtained via formula (5)
Step S4：Take the frequencies omega of two default Injection Signals1h、ω2h, three-phase current is acquired, when conversing stable stateAccording to formula (6), equation group is established：
It is solved according to equationExtraction of square root obtains the resistance of permanent magnet synchronous motor and the value of inductance.
Compared to the prior art, the invention has the advantages that：Durface mounted permanent magnet synchronous motor resistance-inductance parameter
Offline identification method, for existing permanent magnet synchronous machine off-line parameter identification method above shortcomings, using permanent magnet synchronous electric
Machine stator winding injects high frequency small voltage signal in static two phase coordinate systems d-axis, detects threephase stator electric current and transforms to two-phase
Rest frame, definition biphase current quadratic sum is output signal, injection high frequency small voltage signal amplitude is input signal, is passed through
The frequency and electric current steady-state value quadratic sum of two kinds of high frequency small voltage signals, while solving inductance and resistance value.Compared to existing
Method measurement result precision is high, and without it is static by band-type brake mechanical device guarantee motor, without ignoring electricity when detecting inductance
Damping drops and distinguishes test resistance and inductance without two methods.
Detailed description of the invention
Fig. 1 is permanent magnet synchronous motor off-line parameter identification method schematic diagram in the present invention.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is specifically described.
The present invention provides a kind of durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method, by surface-mount type
Permanent-magnetic synchronous motor stator winding injects high-frequency voltage signal in two-phase stationary coordinate system d-axis, detects threephase stator electric current, and
Transform to two-phase stationary coordinate system；Using biphase current quadratic sum as output signal, using high-frequency voltage signal amplitude as input
Signal obtains resistance and inductance, completion pair according to the two of the high-frequency voltage signal of injection kinds of frequencies and electric current steady-state value quadratic sum
The off-line identification of durface mounted permanent magnet synchronous motor resistance-inductance parameter.
In the present embodiment, hardware generates driving power by rectifier bridge and filter capacitor using 220V alternating current, uses
Three phase power module drive permanent magnet synchronous motor, three phase power module accessory power supply and controller power source are using variable connector electricity
Source, current acquisition use Hall current sensor.
It in the present embodiment, specifically further include following steps：
Step S1：Remember that the mathematical model under the static α β coordinate system of two-phase of durface mounted permanent magnet synchronous motor vector controlled is：
Wherein：RsFor resistance, LsFor inductance, ψfFor magnetic linkage；uα、uβFor α β shaft voltage；iα、iβFor α β shaft current；θ is rotation
The angle of coordinate system d axis and two-phase stationary coordinate system α axis, ωeRotor-position electricity speed；
Step S2：The high-frequency voltage signal that constant amplitude is injected in two-phase stationary coordinate system generates high frequency choosing in motor
Select voltage vector：
Wherein：UAFor the amplitude of high-frequency voltage signal, ωhFor the frequency of high-frequency voltage signal；
Step S3：After injecting high-frequency voltage signal, motor is stationary, and Section 3 is zero on the right of formula (1), by formula (2) band
Enter formula (1), obtains：
It enables electric current be initiated with zero, by solving differential equation of first order formula (3), obtains
To i2 α(t)+i2 β(t) Laplace transform is carried out to obtain：
According to final value principle, obtained via formula (5)
Step S4：Take the frequencies omega of two Injection Signals1h、ω2h, it is contemplated that motor drive module switching frequency and injection
Signal needs high frequency, and the frequency of Injection Signal uses [300*2 π, 500*2 π].Three-phase current is acquired, when conversing stable stateRoot
According to formula (6), equation group is established：
It is solved according to equationExtraction of square root obtains the resistance of permanent magnet synchronous motor and the value of inductance.
In order to allow it is further understood that method proposed by the invention, carries out below with reference to specific example
Explanation.
Durface mounted permanent magnet synchronous motor is chosen, parameter is：
(1) selection injection amplitude UA=20V, frequencies omegah1=300*2 π, acquires three-phase current, and Clarke transformation seeks two
Phase current it is squared and, wait after biphase currents are squared and numerical stability, record the numerical value, this embodiment example numerical value is
(2) voltage magnitude UA=20V, frequencies omegah2=500*2 π, acquires three-phase current, and two-phase electricity is sought in Clarke transformation
Flow it is squared and, wait after biphase currents are squared and numerical stability, record the numerical value, this embodiment example numerical value is
(3) equation group is established
It is solved according to equationFinally extraction of square root seeks the resistance of permanent magnet synchronous motor, the exact value of inductance.
The implementation case seeks Rs=12.38 Ω, Ls=31.94mH is small with theoretical value error.As can be seen that the present invention
The resistance of the method test permanent magnet synchronous motor of proposition, the accuracy of inductance are high.
The above are preferred embodiments of the present invention, all any changes made according to the technical solution of the present invention, and generated function is made
When with range without departing from technical solution of the present invention, all belong to the scope of protection of the present invention.
Claims (2)
1. a kind of durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method, which is characterized in that by surface-mount type
Permanent-magnetic synchronous motor stator winding injects high-frequency voltage signal in two-phase stationary coordinate system d-axis, detects threephase stator electric current, and
Transform to two-phase stationary coordinate system；Using biphase current quadratic sum as output signal, using high-frequency voltage signal amplitude as input
Signal obtains resistance and inductance, completion pair according to the two of the high-frequency voltage signal of injection kinds of frequencies and electric current steady-state value quadratic sum
The off-line identification of durface mounted permanent magnet synchronous motor resistance-inductance parameter.
2. durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method according to claim 1, feature exist
In specifically comprising the following steps：
Step S1：Remember that the mathematical model under the static α β coordinate system of two-phase of durface mounted permanent magnet synchronous motor vector controlled is：
Wherein：RsFor resistance, LsFor inductance, ψfFor magnetic linkage；uα、uβFor α β shaft voltage；iα、iβFor α β shaft current；θ is rotational coordinates
It is the angle of d axis Yu two-phase stationary coordinate system α axis, ωeRotor-position electricity speed；
Step S2：The high-frequency voltage signal that constant amplitude is injected in two-phase stationary coordinate system generates high frequency selection electricity in motor
Press vector：
Wherein：UAFor the amplitude of high-frequency voltage signal, ωhFor the frequency of high-frequency voltage signal；
Step S3：After injecting high-frequency voltage signal, motor is stationary, and Section 3 is zero on the right of formula (1), brings formula (2) into formula
(1), it obtains：
It enables electric current be initiated with zero, by solving differential equation of first order formula (3), obtains
To i2 α(t)+i2 β(t) Laplace transform is carried out to obtain：
According to final value principle, obtained via formula (5)
Step S4：Take the frequencies omega of two default Injection Signals1h、ω2h, three-phase current is acquired, when conversing stable stateAccording to
Formula (6), establishes equation group：
It is solved according to equationExtraction of square root obtains the resistance of permanent magnet synchronous motor and the value of inductance.
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Cited By (6)
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| CN110198150A (en) * | 2019-06-14 | 2019-09-03 | 浙江工业大学 | A kind of permanent magnet synchronous motor multi-parameter on-line identification method |
| CN113300647A (en) * | 2021-07-27 | 2021-08-24 | 成都希望电子研究所有限公司 | Static AC-DC axis inductance identification method for permanent magnet synchronous motor |
| CN114157196A (en) * | 2021-10-20 | 2022-03-08 | 广州极飞科技股份有限公司 | Inductance identification method, inductance identification device and permanent magnet synchronous motor |
| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
| WO2022099861A1 (en) * | 2020-11-13 | 2022-05-19 | 浙江大学 | Permanent magnet synchronous motor parameter measurement method |
| CN114928291A (en) * | 2022-05-25 | 2022-08-19 | 浙江大学 | Permanent magnet motor online parameter identification method based on switch state function |
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Cited By (10)
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| CN114157196A (en) * | 2021-10-20 | 2022-03-08 | 广州极飞科技股份有限公司 | Inductance identification method, inductance identification device and permanent magnet synchronous motor |
| CN114157196B (en) * | 2021-10-20 | 2023-12-26 | 广州极飞科技股份有限公司 | Inductance identification method, inductance identification device and permanent magnet synchronous motor |
| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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| CN114928291A (en) * | 2022-05-25 | 2022-08-19 | 浙江大学 | Permanent magnet motor online parameter identification method based on switch state function |
| CN114928291B (en) * | 2022-05-25 | 2024-05-24 | 浙江大学 | Permanent magnet motor on-line parameter identification method based on switch state function |
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