CN109474219B - Motor parameter identification method based on frequency division coupling - Google Patents

Motor parameter identification method based on frequency division coupling Download PDF

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CN109474219B
CN109474219B CN201811314679.6A CN201811314679A CN109474219B CN 109474219 B CN109474219 B CN 109474219B CN 201811314679 A CN201811314679 A CN 201811314679A CN 109474219 B CN109474219 B CN 109474219B
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voltage
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CN109474219A (en
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陈炜
孙兴龙
史婷娜
夏长亮
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Tianjin University
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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

Abstract

The invention discloses a motor parameter identification method based on frequency division coupling, which comprises the following steps: the high-frequency detection signal injection mechanism is arranged on the output side of the power supply and consists of a signal source and a coupling circuit; the high-frequency detection signal is generated by a signal source in a fixed frequency form, and the high-frequency signal generated by the signal source is directly transmitted to a power line of the permanent magnet synchronous motor through a coupling circuit; the voltage or the current of the motor is detected through the sensor, the high-frequency component in the voltage or the current is obtained after passing through the band-pass filter, and the motor parameter is identified according to the maximum value, the effective value and the phase information of the high-frequency component. The method can improve the motor parameter identification accuracy, reduce the system cost and is suitable for the online identification of the motor parameters.

Description

Motor parameter identification method based on frequency division coupling
Technical Field
The invention relates to the field of motor control, in particular to a motor parameter identification method based on frequency division coupling.
Background
Along with the development of economic society, the requirements of the industrial field on the performance of the motor are higher and higher, and the requirements on the control precision of a motor control strategy are also higher and higher. However, the control accuracy of these control strategies is based on mathematical models in which the control object is accurate, and the electrical parameters of the motor are varied in real time. For example, the temperature of the motor itself increases during operation of the motor, which causes the resistance of the motor winding to vary, and the load of the motor varies, which also causes the inductance of the motor winding to vary. Therefore, in order to control the motor with high precision, the real-time parameters of the motor must be known on line.
In a traditional motor parameter online identification method, part of parameters are set as fixed values, and motor parameters are identified online by using a motor state equation, but if the set fixed motor parameters are inaccurate or change due to external reasons, the identified motor parameters are deviated. Another method is to use an additional measuring instrument to perform online identification on the motor parameters, such as a power meter torque measuring instrument, to continuously monitor the parameters of the motor, such as copper loss, iron loss, mechanical loss, and the like, so as to obtain the parameters of the motor. However, this method requires additional precision equipment, increases hardware cost, and is not suitable for wide-scale popularization and application.
Disclosure of Invention
The invention provides a motor parameter identification method based on frequency division coupling, which can improve the motor parameter identification accuracy, reduce the system cost, is suitable for the online identification of the motor parameters, and is described in detail as follows:
a motor parameter identification method based on frequency division coupling comprises the following steps:
the high-frequency detection signal injection mechanism is arranged on the output side of the power supply and consists of a signal source and a coupling circuit;
the high-frequency detection signal is generated by a signal source in a fixed frequency form, and the high-frequency signal generated by the signal source is directly transmitted to a power line of the permanent magnet synchronous motor through a coupling circuit;
the voltage or the current of the motor is detected through the sensor, the high-frequency component in the voltage or the current is obtained after passing through the band-pass filter, and the motor parameter is identified according to the maximum value, the effective value and the phase information of the high-frequency component.
Further, the high-frequency detection signal is generated by an independent signal source, and the high-frequency detection signal and the power line of the main power loop frequency division multiplexing motor or generator are multiplexed.
And a high-frequency signal wave trap is arranged between the high-frequency signal injection point and the power grid, and the high-frequency signal wave trap prevents high-frequency signals from entering the power grid, so that errors caused by power grid inductance are prevented.
Further, the motor parameter relation is specifically as follows:
Figure BDA0001855950310000021
in the formula uan，ubn，ucnThree-phase winding phase voltages respectively; i.e. ia，ib，icRespectively three-phase stator winding currents; e.g. of the typea，eb，ecRespectively three-phase winding counter potentials; ra，Rb，RcA stator winding resistor; l isa，Lb，LcIs equivalent inductance of the stator winding.
The method also obtains a three-phase winding voltage equation of the motor under the high-frequency condition, and specifically comprises the following steps:
Figure BDA0001855950310000022
wherein the content of the first and second substances,
Figure BDA0001855950310000023
is a high-frequency component of the phase voltage of A phase;
Figure BDA0001855950310000024
is a high-frequency component of the phase voltage of the phase B;
Figure BDA0001855950310000025
is a C-phase voltage high-frequency component;
Figure BDA0001855950310000026
is the A phase stator winding current;
Figure BDA0001855950310000027
is the stator winding current of the B phase;
Figure BDA0001855950310000028
is the C-phase stator winding current; f is the high frequency detection signal frequency.
Wherein, the relation formula between the high-frequency components is as follows:
Figure BDA0001855950310000029
obtaining a high frequency voltage component by the relational expression
Figure BDA00018559503100000210
With high frequency current components
Figure BDA00018559503100000211
Amplitude, phase relationship between them.
The technical scheme provided by the invention has the beneficial effects that:
1. the invention is limited by the switching frequency of the power device, the frequency of the detection signal in the traditional identification method is lower, the invention is provided with an independent high-frequency detection signal generator, and the frequency of the detection signal can be greatly improved by adjusting the capacitance resistance parameter in the generator, thereby improving the identification degree of the inductance parameter.
2. The invention designs a high-frequency detection signal injection method of a power line and a winding of a frequency division multiplexing motor, no additional hardware equipment is needed to be added, the motor is not needed to be in a special state of pause or start, and a detection signal and a driving signal can be transmitted through the power line and the winding at the same time. The driving signal of the motor is not influenced when the voltage signal and the current signal are detected, so that the online identification of the motor parameter can be realized, the accuracy of the motor parameter is improved, and the motor motion can be accurately controlled.
Drawings
FIG. 1 is a schematic diagram of a method for identifying motor parameters based on frequency division coupling;
FIG. 2 is a schematic diagram of a high frequency signal wave trap of a frequency division coupling-based motor parameter identification method;
FIG. 3 is a schematic diagram of a transformer coupling circuit for a frequency division coupling based motor parameter identification method;
FIG. 4 is a schematic diagram of a high frequency detection signal source circuit;
fig. 5 is an equivalent circuit diagram of the permanent magnet synchronous motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
The frequency division multiplexing technology is one of the commonly used technologies in communication engineering, and divides a channel for transmitting information into a plurality of sub-channels which are not overlapped with each other, each channel of signal occupies one frequency band, and a proper band-pass filter is adopted at a receiving end to separate multiple channels of signals, so that the required signals are recovered. For example: the power line carrier communication equipment is one of the common equipment adopting the frequency division multiplexing technology in power system communication, and the power line carrier communication equipment utilizes a high-voltage power transmission line as a wired communication channel, thereby providing means for telecontrol, protection, production command, communication scheduling and administrative business communication of a power system.
A schematic diagram of an embodiment of the present invention is shown in fig. 1. Wherein the motor is a permanent magnet synchronous motor as a representative. As can be seen from fig. 1, there is a set of independent high-frequency detection signal injection mechanism disposed on the output side of the power supply, wherein the high-frequency detection signal injection mechanism is composed of a signal source and a coupling circuit, the high-frequency detection signal is generated by the signal source in a fixed frequency form, and the high-frequency signal generated by the signal source is directly transmitted to the power supply line of the permanent magnet synchronous motor through the coupling circuit.
A high-frequency signal wave trap is arranged between the high-frequency detection signal injection point and the power supply, so that the high-frequency detection signal is prevented from entering the power supply under the condition of not influencing the driving voltage of the motor. In the embodiment of the present invention, a conventional high frequency signal resistor may be used, and fig. 2 shows a high frequency signal resistor which is composed of an inductance coil, a protection element, and a tuning element.
The coupling circuit transmits a high frequency signal to a power line of the permanent magnet synchronous motor and prevents a low frequency signal from entering the high frequency signal generating device, and fig. 3 shows a transformer coupling circuit, and different coupling circuits can be selected for different signal sources.
Fig. 4 shows a high frequency detection signal source circuit which can generate a fixed high frequency signal with an output frequency f of 1/[1.278 (R)2+RP)C1]It can be seen that the frequency of its high frequency signal depends on the resistance R2、RPAnd a capacitor C1Selection of (2). The detection mechanism is composed of a voltage sensor, a current sensor and a band-pass filter, wherein the voltage sensor and the current sensor are used for measuring line voltage signals and stator winding current signals of the permanent magnet synchronous motor, and the line voltage signals and the stator winding current signals are filtered by the band-pass filter and then sent to a motor parameter real-time calculator to obtain real-time motor parameters.
According to fig. 5, a three-phase winding voltage equation of the motor under the power frequency condition can be obtained:
Figure BDA0001855950310000041
in the formula uan，ubn，ucnThree-phase winding phase voltages respectively; i.e. ia，ib，icRespectively three-phase stator winding currents; e.g. of the typea，eb，ecRespectively three-phase winding counter potentials; ra，Rb，RcA stator winding resistor; l isa，Lb，LcIs equivalent inductance of the stator winding.
In the traditional parameter online identification, under the condition of not adding additional equipment, the parameters are identified by obtaining real-time winding back electromotive force or air gap flux linkage, the back electromotive force or the air gap flux linkage are difficult to accurately measure, and the difference of the inductance of each phase is very small, so that the difference of the inductance of a three-phase winding can not be almost distinguished by the traditional parameter identification method. The invention provides a new method for identifying motor parameters on line based on frequency division coupling, wherein a high-frequency detection signal is used for separating the back electromotive force of a power frequency from the phase voltage component and the impedance voltage component of a high frequency, and X is used for separating the back electromotive force of the power frequency from the phase voltage component and the impedance voltage component of the high frequency L2 pi fL, the difference of three-phase winding impedance is enlarged while the frequency is improved, so that the motor parameter identification becomes more accurate. Formula (2) is electricity under high frequency conditionThree-phase winding voltage equation of the machine:
Figure BDA0001855950310000042
wherein the content of the first and second substances,
Figure BDA0001855950310000043
is a high-frequency component of the phase voltage of A phase;
Figure BDA0001855950310000044
is a high-frequency component of the phase voltage of the phase B;
Figure BDA0001855950310000045
is a C-phase voltage high-frequency component;
Figure BDA0001855950310000046
is the A phase stator winding current;
Figure BDA0001855950310000047
is the stator winding current of the B phase;
Figure BDA0001855950310000048
is the C-phase stator winding current; f is the high frequency detection signal frequency.
Three-phase high-frequency voltage signals are injected into the circuit in sequence, and the high-frequency voltage signals are subjected to
Figure BDA0001855950310000049
High frequency voltage signal when injected into the circuit
Figure BDA00018559503100000410
Figure BDA00018559503100000411
Stop injection, at which time the high frequency voltage component:
Figure BDA00018559503100000412
at this time, the relationship between the high frequency components is:
Figure BDA0001855950310000051
by measuring high-frequency voltage components
Figure BDA0001855950310000052
With high frequency current components
Figure BDA0001855950310000053
The relationship between the amplitude and the phase can determine the inductance value and the winding resistance value of the A-phase stator winding, and the inductance value and the winding resistance value of the B-phase stator winding and the C-phase stator winding can be obtained by the same method.
It should be further understood that the embodiments of the present invention are merely illustrative and that only one preferred embodiment has been chosen for the purpose of illustration, and that in practice some details may vary, including the type of motor, combination and combination of other parts, and such variations and applications are within the scope of the present invention.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (4)

1. A motor parameter identification method based on frequency division coupling is characterized by comprising the following steps:
the high-frequency detection signal injection mechanism is arranged on the output side of the power supply and consists of a signal source and a coupling circuit;
the high-frequency detection signal is generated by a signal source in a fixed frequency form, and the high-frequency signal generated by the signal source is directly transmitted to a power line of the permanent magnet synchronous motor through a coupling circuit;
detecting the voltage or current of the motor through a sensor, obtaining a high-frequency component in the voltage or current after passing through a band-pass filter, and identifying motor parameters according to the maximum value, effective value and phase information of the high-frequency component;
the method also obtains a three-phase winding voltage equation of the motor under the high-frequency condition, and specifically comprises the following steps:
Figure FDA0003295079100000011
wherein the content of the first and second substances,
Figure FDA0003295079100000012
is a high-frequency component of the phase voltage of A phase;
Figure FDA0003295079100000013
is a high-frequency component of the phase voltage of the phase B;
Figure FDA0003295079100000014
is a C-phase voltage high-frequency component;
Figure FDA0003295079100000015
is the A phase stator winding current;
Figure FDA0003295079100000016
is the stator winding current of the B phase;
Figure FDA0003295079100000017
is the C-phase stator winding current; f is the high frequency detection signal frequency; l isa，Lb，LcEquivalent inductance of the stator winding; ra，Rb，RcA stator winding resistor;
three-phase high-frequency voltage signals are injected into the circuit in sequence, and the high-frequency voltage signals are subjected to
Figure FDA0003295079100000018
High frequency voltage signal when injected into the circuit
Figure FDA0003295079100000019
Figure FDA00032950791000000110
Stopping the injection, wherein the relation between the high-frequency voltage components is as follows:
Figure FDA00032950791000000111
obtaining a high frequency voltage component by the relational expression
Figure FDA00032950791000000112
With high frequency current components
Figure FDA00032950791000000113
The relationship between the amplitude and the phase can determine the inductance value and the winding resistance value of the A-phase stator winding, and the inductance value and the winding resistance value of the B-phase stator winding and the C-phase stator winding can be obtained by the same method.
2. The method of claim 1, wherein the high frequency detection signal is generated by a separate signal source, and the high frequency detection signal is frequency-division multiplexed with the power line of the motor or the generator in the main power loop.
3. The method for identifying the motor parameters based on the frequency division coupling as claimed in claim 1, wherein a high frequency signal wave trap is arranged between the high frequency signal injection point and a power grid, and the high frequency signal wave trap prevents a high frequency signal from entering the power grid, so that errors caused by power grid inductance are prevented.
4. The method for identifying motor parameters based on frequency division coupling according to claim 1, wherein the motor parameters are specifically:
Figure FDA0003295079100000021
in the formula uan，ubn，ucnThree-phase winding phase voltages respectively; i.e. ia，ib，icRespectively three-phase stator winding currents; e.g. of the typea，eb，ecRespectively, three-phase winding back electromotive force.
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