CN108847800B - Off-line identification method for resistance inductance parameters of surface-mounted permanent magnet synchronous motor - Google Patents
Off-line identification method for resistance inductance parameters of surface-mounted permanent magnet synchronous motor Download PDFInfo
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- CN108847800B CN108847800B CN201810685441.8A CN201810685441A CN108847800B CN 108847800 B CN108847800 B CN 108847800B CN 201810685441 A CN201810685441 A CN 201810685441A CN 108847800 B CN108847800 B CN 108847800B
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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 relates to an off-line identification method for resistance and inductance parameters of a surface-mounted permanent magnet synchronous motor, which is characterized in that a high-frequency voltage signal is injected into a straight axis of a two-phase static coordinate system through a stator winding of the surface-mounted permanent magnet synchronous motor, the current of a three-phase stator is detected, and the three-phase stator is converted into the two-phase static coordinate system; and taking the square sum of the two phases of current as an output signal, taking the amplitude of the high-frequency voltage signal as an input signal, and acquiring the resistance and the inductance according to the square sum of two frequencies of the injected high-frequency voltage signal and the current steady-state value to finish off-line identification of the resistance and inductance parameters of the surface-mounted permanent magnet synchronous motor. The off-line identification method for the resistance and inductance parameters of the surface-mounted permanent magnet synchronous motor provided by the invention has the advantages that the measurement result precision is high, the motor is not required to be ensured to be static through a band-type brake mechanical device, the resistance voltage drop is not required to be ignored when the inductance is detected, and the resistance and the inductance are not required to be respectively tested by adopting two methods.
Description
Technical Field
The invention relates to the field of motor control, in particular to a surface-mounted permanent magnet synchronous motor resistance inductance parameter off-line identification method.
Background
The permanent magnet synchronous motor control system such as a current loop control algorithm of non-inductive control and vector control has strong dependence on the parameters of the motor, and the parameters of the permanent magnet synchronous motor need to be known in advance, so that the accuracy of offline measurement of the parameters of the permanent magnet synchronous motor is very important. At present, the off-line measurement of the measuring resistance generally applies a direct current voltage to the stator, and the stator resistance can be calculated by measuring the current. To improve the accuracy of the resistance measurement, the tube drop and dead-zone effects must be compensated for. The identification of the inductance is to inject a high-frequency voltage signal into a direct axis of a stator winding, detect a three-phase stator current and convert the three-phase stator current to a two-phase rotating coordinate, neglect resistance voltage drop, calculate the amplitude of a current vector, then respectively calculate the maximum value and the minimum value of the current vector, calculate the quadrature-direct axis inductance, neglect the resistance when measuring the inductance, and have low measurement precision.
Disclosure of Invention
The invention aims to provide an off-line identification method for resistance and inductance parameters of a surface-mounted permanent magnet synchronous motor, so as to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows: a surface-mounted permanent magnet synchronous motor resistance inductance parameter off-line identification method is characterized in that a high-frequency voltage signal is injected into a straight axis of a two-phase static coordinate system through a surface-mounted permanent magnet synchronous motor stator winding, three-phase stator current is detected, and the three-phase stator current is converted into the two-phase static coordinate system; and taking the square sum of the two phases of current as an output signal, taking the amplitude of the high-frequency voltage signal as an input signal, and acquiring the resistance and the inductance according to the square sum of two frequencies of the injected high-frequency voltage signal and the current steady-state value to finish off-line identification of the resistance and inductance parameters of the surface-mounted permanent magnet synchronous motor.
In an embodiment of the present invention, the method specifically includes the following steps:
and step S1, recording a mathematical model under a two-phase static αβ coordinate system of vector control of the surface-mounted permanent magnet synchronous motor as follows:
wherein: rsIs a resistance, LsIs an inductance,. psifIs a magnetic linkage; u. ofα、uβIs αβ shaft voltage iα、iβαβ axis current, theta is the included angle between d axis of rotating coordinate system and α axis of two-phase stationary coordinate system, omegaeRotor position electrical speed;
step S2: injecting a high-frequency voltage signal with constant amplitude into the two-phase static coordinate system, and generating a high-frequency selection voltage vector at the motor:
wherein: u shapeAIs the amplitude, omega, of the high-frequency voltage signalhIs the frequency of the high frequency voltage signal;
step S3: after injecting the high-frequency voltage signal, the motor is still, the third term on the right side of the formula (1) is zero, and the formula (2) is driven into the formula (1), so that:
the current is initially set to zero, and a first order differential equation (3) is solved to obtain
To i2 α(t)+i2 β(t) laplace transform to:
according to the end value principle, the result is obtained via equation (5)
Step S4: taking the frequencies omega of two preset injection signals1h、ω2hCollecting three-phase current and converting to obtain steady state
From equation (6), a system of equations is established:
solving according to equations
And obtaining the values of the resistance and the inductance of the permanent magnet synchronous motor by the square opening.
Compared with the prior art, the invention has the following beneficial effects: a method for identifying resistance and inductance parameters of a surface-mounted permanent magnet synchronous motor in an off-line mode is used for solving the defects of an existing method for identifying the off-line parameters of the permanent magnet synchronous motor. Compared with the existing method, the method has high measurement result precision, the motor is not required to be ensured to be static through a band-type brake mechanical device, the resistance voltage drop is not required to be ignored when the inductance is detected, and the resistance and the inductance are not required to be respectively tested by adopting two methods.
Drawings
Fig. 1 is a schematic diagram of an offline parameter identification method for a permanent magnet synchronous motor according to the present invention.
Detailed Description
The technical scheme of the invention is specifically explained below with reference to the accompanying drawings.
The invention provides a surface-mounted permanent magnet synchronous motor resistance inductance parameter off-line identification method, which comprises the steps of injecting a high-frequency voltage signal into a straight axis of a two-phase static coordinate system through a surface-mounted permanent magnet synchronous motor stator winding, detecting three-phase stator current, and converting the three-phase stator current into the two-phase static coordinate system; and taking the square sum of the two phases of current as an output signal, taking the amplitude of the high-frequency voltage signal as an input signal, and acquiring the resistance and the inductance according to the square sum of two frequencies of the injected high-frequency voltage signal and the current steady-state value to finish off-line identification of the resistance and inductance parameters of the surface-mounted permanent magnet synchronous motor.
In the embodiment, 220V alternating current is adopted by hardware to generate a driving power supply through a rectifier bridge and a filter capacitor, a three-phase power module is adopted to drive a permanent magnet synchronous motor, a multi-way switch power supply is adopted by a three-phase power module auxiliary power supply and a controller power supply, and a Hall current sensor is adopted for current collection.
In this embodiment, the method specifically includes the following steps:
and step S1, recording a mathematical model under a two-phase static αβ coordinate system of vector control of the surface-mounted permanent magnet synchronous motor as follows:
wherein: rsIs a resistance, LsIs an inductance,. psifIs a magnetic linkage; u. ofα、uβIs αβ shaft voltage iα、iβαβ axis current, theta is the included angle between d axis of rotating coordinate system and α axis of two-phase stationary coordinate system, omegaeRotor position electrical speed;
step S2: injecting a high-frequency voltage signal with constant amplitude into the two-phase static coordinate system, and generating a high-frequency selection voltage vector at the motor:
wherein: u shapeAIs the amplitude, omega, of the high-frequency voltage signalhIs the frequency of the high frequency voltage signal;
step S3: after injecting the high-frequency voltage signal, the motor is still, the third term on the right side of the formula (1) is zero, and the formula (2) is driven into the formula (1), so that:
the current is initially set to zero, and a first order differential equation (3) is solved to obtain
To i2 α(t)+i2 β(t) laplace transform to:
according to the end value principle, the result is obtained via equation (5)
Step S4: taking the frequencies ω of two injected signals1h、ω2hConsidering the switching frequency of the motor driving module and the high frequency of the injection signal, the frequency of the injection signal adopts [ 300X 2 pi, 500X 2 pi]. Collecting three-phase current, and converting to obtain steady state
From equation (6), a system of equations is established:
solving according to equations
And obtaining the values of the resistance and the inductance of the permanent magnet synchronous motor by the square opening.
In order to further understand the proposed method of the present invention, the following description is given with reference to specific examples.
Selecting a surface-mounted permanent magnet synchronous motor, wherein the parameters are as follows:
(1) selecting an injection amplitude UA20V, frequency ωh1Collecting three-phase current, Clarke transforming, solving the square sum of two-phase current, recording the value after the square sum of two-phase current is stable, wherein the value is 300 x 2 pi
(2) Voltage amplitude UA20V, frequency ωh2Collecting three-phase current, Clarke transforming, solving square sum of two-phase current, recording the value after the square sum of two-phase current is stable, wherein the value is 500 x 2 pi
(3) Set up of equations
Solving according to equations
And finally, squaring to obtain the accurate values of the resistance and the inductance of the permanent magnet synchronous motor.
In this embodiment, R is obtaineds＝12.38Ω、LsThe error from the theoretical value is small when the value is 31.94 mH. Therefore, the method provided by the invention has high accuracy in testing the resistance and the inductance of the permanent magnet synchronous motor.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (2)
1. A method for identifying resistance and inductance parameters of a surface-mounted permanent magnet synchronous motor off line is characterized in that a high-frequency voltage signal is injected into a two-phase static αβ coordinate system of vector control of the surface-mounted permanent magnet synchronous motor through a stator winding of the surface-mounted permanent magnet synchronous motor, three-phase stator current is detected and converted into the two-phase static coordinate system, the square sum of the two-phase current is used as an output signal, the amplitude of the high-frequency voltage signal is used as an input signal, resistance and inductance are obtained according to the square sum of two frequencies of the injected high-frequency voltage signal and the current steady-state value, and off-line identification of the resistance and inductance parameters of the surface-mounted permanent magnet synchronous motor.
2. The off-line identification method for the resistance and inductance parameters of the surface-mounted permanent magnet synchronous motor according to claim 1, which comprises the following steps:
and step S1, recording a mathematical model under a two-phase static αβ coordinate system of vector control of the surface-mounted permanent magnet synchronous motor as follows:
wherein: rsIs a resistance, LsIs an inductance,. psifIs a magnetic linkage; u. ofα、uβIs αβ shaft voltage iα、iβαβ axis current, theta is the included angle between d axis of rotating coordinate system and α axis of two-phase stationary coordinate system, omegaeRotor position electrical speed;
step S2: injecting a high-frequency voltage signal with constant amplitude into a two-phase static coordinate system:
wherein: u shapeAIs the amplitude, omega, of the high-frequency voltage signalhIs the frequency of the high frequency voltage signal;
step S3: after injecting the high-frequency voltage signal, the motor is still, the third term on the right side of the formula (1) is zero, and the formula (2) is driven into the formula (1), so that:
the current is initially set to zero, and a first order differential equation (3) is solved to obtain
To i2 α(t)+i2 β(t) laplace transform to:
according to the end value principle, the result is obtained via equation (5)
Step S4: taking the frequencies omega of two preset injection signals1h、ω2hCollecting three-phase current and converting to obtain steady state
From equation (6), a system of equations is established:
solving according to equations
And obtaining the values of the resistance and the inductance of the permanent magnet synchronous motor by the square opening.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110198150B (en) * | 2019-06-14 | 2021-05-18 | 浙江工业大学 | Permanent magnet synchronous motor multi-parameter online identification method |
| CN112468048B (en) * | 2020-11-13 | 2021-10-26 | 浙江大学 | Permanent magnet synchronous motor parameter detection method |
| CN113300647B (en) * | 2021-07-27 | 2021-09-21 | 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 |
| 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 |
| CN114337430B (en) * | 2021-12-28 | 2023-11-14 | 江苏国传电气有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
| 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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