CN109802614B - Permanent magnet synchronous motor inductance parameter identification system and method - Google Patents
Permanent magnet synchronous motor inductance parameter identification system and method Download PDFInfo
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- CN109802614B CN109802614B CN201910000020.1A CN201910000020A CN109802614B CN 109802614 B CN109802614 B CN 109802614B CN 201910000020 A CN201910000020 A CN 201910000020A CN 109802614 B CN109802614 B CN 109802614B
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Abstract
The invention discloses a permanent magnet synchronous motor inductance parameter identification system and a method, which consists of a current detection and calculation link, a quadrature axis current detection and calculation link, a sliding mode variable structure position identification link, an angle deviation calculation link and an inductance deviation calculation and compensation link.
Description
Technical Field
The invention belongs to the field of signal detection, and particularly relates to a permanent magnet synchronous motor inductance parameter identification system and a real-time online identification method, which are suitable for high-performance control places of a permanent magnet synchronous motor, particularly suitable for the fields of rim propulsion, integrated propulsion and the like which need to be controlled by a position-free sensor.
Background
With the improvement of the performance of rare earth permanent magnet materials and the development of automatic control technology, the permanent magnet synchronous motor is increasingly widely applied in the field of marine electric propulsion with the advantages of high power factor, wide speed regulation range, easy maintenance and the like. However, in severe conditions of high humidity and high smoke of the ship, the mechanical position sensor such as the resolver reduces the operational reliability and environmental applicability of the permanent magnet synchronous motor. Therefore, a position sensorless control technology suitable for the permanent magnet synchronous motor is receiving increasingly wide attention.
When the marine permanent magnet synchronous motor operates under high-speed working conditions, the sliding mode variable structure-based position identification strategy is widely applied by the advantages of good dynamic characteristics and strong parameter perturbation resistance. Although the sliding mode variable structure position identification strategy has better robustness, the position identification performance is still influenced by the accuracy of motor parameters, particularly inductance parameters.
Because the permanent magnet synchronous motor is a complex device which comprehensively uses electromagnetism, heat and mechanics, the inductance parameter of the motor can be changed due to the temperature change of an armature winding, the saturation of a ferromagnetic material and the like.
In the field of rim propulsion and the like which need to use a position-sensorless control technology, the performance of a position identification algorithm is influenced by the deviation of inductance parameters of a motor, and adverse factors such as low power factor, reduced load carrying capacity and the like of a propulsion system are caused. In order to avoid the reduction of the power factor of the propulsion system caused by the deviation of the inductance parameters, the online identification of the motor parameters is required.
Disclosure of Invention
One objective of the present invention is to provide a system for identifying inductance parameters of a permanent magnet synchronous motor, which calculates the deviation of the inductance parameters of the motor according to the deviation of the sliding mode variable structure position identification, so as to obtain the true value of the inductance of the motor.
The technical scheme adopted by the invention for solving the technical problems is as follows: a permanent magnet synchronous motor inductance parameter identification system comprises a motor current detection and calculation link, a motor current detection and calculation link and a permanent magnet synchronous motor inductance parameter identification link, wherein the motor current detection and calculation link is used for inputting three-phase current sampled by a motor; a quadrature axis current detection and calculation link for calculating the quadrature axis torque current of the motor; the sliding mode variable structure position identification link is used for calculating a permanent magnet synchronous motor position identification value and is formed by sequentially connecting a sliding mode observer and a phase-locked loop; a position identification deviation calculation step for calculating a position identification deviation value caused by the motor inductance parameter deviation and inputting the position identification deviation value into an inductance deviation calculation compensation step; an inductance deviation calculation compensation link for calculating the deviation value of the inductance parameter and identifying the deviation according to the identification position to obtain the real value of the inductance parameter of the motor; the motor current detection and calculation link is connected with the quadrature axis current detection and calculation link, the motor current detection and calculation link is connected with the sliding mode variable structure position identification link, the quadrature axis current detection and calculation link is connected with the inductance deviation calculation compensation link after the position deviation identification calculation link, and meanwhile, the sliding mode variable structure position identification link is connected with the position deviation identification calculation link.
And the position identification deviation calculation link can realize the calculation of the position identification deviation by utilizing a position sensor.
The invention also aims to provide a real-time online identification method for inductance parameters of a permanent magnet synchronous motor, which realizes online identification of the inductance parameters of the motor by combining a sliding mode variable structure position identification link, a position identification deviation calculation link and an inductance deviation compensation calculation link, and comprises the following steps:
a) and in the motor current detection and calculation link, three-phase current sampled from the permanent magnet synchronous motor is converted to obtain the input of the sliding mode variable structure position identification link, wherein:
b) and the motor current detection and calculation link obtains the three-phase current sampled from the permanent magnet synchronous motor through transformation, and the input of the position identification deviation calculation link is obtained, wherein:
c) in the sliding mode variable structure position identification link, according to the fundamental frequency mathematical model of the permanent magnet synchronous motor, the sliding mode variable structure principle is utilized to obtain the position identification value of the motor rotor
d) In the position identification deviation calculation link, a disturbance observation method is utilized to increase or decrease the position identification value and observe the change quantity delta i of the absolute value of the quadrature axis torque current caused by the position identification deviation calculationqSo as to determine whether the next step is to increase the output angle, reduce the output angle or quit the position identification deviation calculation link;
e) when Δ iqDeviation meter for identifying exit position when 0A calculation step, an inductance deviation calculation compensation step, wherein an inductance parameter deviation delta L is calculated according to the position identification deviation delta thetaSFurther calculate the true value of the inductance parameter
The invention has the beneficial effects that: the method comprises the steps of obtaining a position identification initial value by utilizing a sliding mode variable structure position identification algorithm, obtaining a position identification deviation steady-state value by utilizing a position identification deviation calculation link, further obtaining an inductance compensation value according to the relation between the position identification deviation and inductance parameter deviation, obtaining a motor real-time inductance parameter, and then utilizing the parameter to carry out position-sensorless control.
Drawings
Fig. 1 is a schematic structural view of the present invention.
The figures are numbered: 1-a motor current detection and calculation link, 2-a quadrature axis current detection and calculation link, 3-a sliding mode variable structure position identification link, 4-a position identification deviation calculation link, and 5-an inductance deviation calculation compensation link; wherein L issFor an uncorrected motor inductance parameter,
the corrected motor inductance parameter is obtained.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, as a first embodiment, the invention discloses a system for identifying inductance parameters of a permanent magnet synchronous motor on line in real time, which comprises a motor current detection and calculation link 1 connected in sequence and used for inputting three-phase current sampled by the permanent magnet synchronous motor; a quadrature axis current detection and calculation link 2 for calculating quadrature axis torque current of the permanent magnet synchronous motor; a sliding mode variable structure position identification link 3 for calculating a permanent magnet synchronous motor position identification value; a position identification deviation calculating step 4, which is used for calculating the position identification deviation caused by the inductance parameter deviation of the permanent magnet synchronous motor; the method further comprises an inductance deviation calculation compensation link 5, and the real value of the motor inductance parameter is obtained according to the identification position identification deviation.
The method for identifying the inductance parameter of the permanent magnet synchronous motor without the position sensor in real time on line comprises the following steps:
a) the motor current detection and calculation link 1 converts three-phase current sampled from the permanent magnet synchronous motor to obtain the input of a sliding mode variable structure position identification link 3, wherein
b) The motor current detection and calculation link 1 converts three-phase current sampled from the permanent magnet synchronous motor to obtain the input of a position identification deviation calculation link 4, wherein
c) The sliding mode variable structure position identification link 3 obtains the motor rotor position identification value by using the sliding mode variable structure principle according to the fundamental frequency mathematical model of the permanent magnet synchronous motor
d) In the position identification deviation calculation step 4, the position identification value is increased or decreased by using a disturbance observation method, and the change quantity delta i of the absolute value of the quadrature axis torque current caused by the position identification deviation is observedqAnd thus the control strategy of the next step is decided.
e) The inductance deviation calculation compensation link 5 calculates the inductance parameter deviation delta L according to the position identification deviation delta thetaSFurther calculate the true value of the inductance parameter
As a second embodiment of the present invention, the difference from the first embodiment is that the position change step a of the inductance deviation calculation compensation element 4 can be set to be equal to Δ iqA linear or non-linear function of interest.
As a third embodiment of the present invention, the first embodimentThe difference of the embodiment is that the inductance deviation calculation compensation link 4 has the current variation delta iqAvailable electromagnetic torque variation Δ TemAnd (4) showing.
The fourth embodiment of the present invention is different from the first embodiment in that in the position recognition deviation calculating section 4, if there is a position sensor in the system, the position recognition deviation can be used
And (4) directly calculating.
The above-described embodiments are merely illustrative of the principles and effects of the present invention, and some embodiments may be applied, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the inventive concept of the present invention, and these embodiments are within the scope of the present invention.
Claims (1)
1. A permanent magnet synchronous motor inductance parameter real-time online identification method is characterized in that a permanent magnet synchronous motor inductance parameter identification system is formed on the basis of a motor current detection calculation link (1), a quadrature axis current detection calculation link (2), a sliding mode variable structure position identification link (3), a position identification deviation calculation link (4) and an inductance deviation calculation compensation link (5), wherein the motor current detection calculation link (1) is used for inputting three-phase current sampled by a motor, the quadrature axis current detection calculation link (2) is used for calculating motor quadrature axis torque current, the sliding mode variable structure position identification link (3) is used for calculating a position identification value and is formed by sequentially connecting a sliding mode observer and a phase-locked loop, the position identification deviation calculation link (4) is used for calculating a position identification deviation value caused by motor inductance parameter deviation and inputting the position identification deviation value to the inductance deviation calculation compensation link (5), the inductance deviation calculation compensation link (5) is used for calculating the deviation value of inductance parameters so as to obtain the true value of the inductance parameters of the motor, and the steps are as follows:
a) and the three-phase current sampled from the permanent magnet synchronous motor is converted by the motor current detection and calculation link (1) to obtain the input of the sliding mode variable structure position identification link (3):
b) and the three-phase current sampled from the permanent magnet synchronous motor is converted by the quadrature axis current detection and calculation link (2) to obtain the input of the position identification deviation calculation link (4):
c) the sliding mode variable structure position identification link (3) obtains a motor rotor position identification value by utilizing a sliding mode variable structure principle according to a fundamental frequency mathematical model of the permanent magnet synchronous motor
d) In the position identification deviation calculation step (4), a disturbance observation method is used to increase or decrease the position identification value and observe the change quantity delta i of the absolute value of the quadrature axis torque current caused by the changeqSo as to determine whether the next step is to increase the position identification deviation, reduce the position identification deviation or quit the position identification deviation calculation step;
e) when Δ iqWhen the position identification deviation is 0, the position identification deviation calculation link is withdrawn, and the inductance deviation calculation compensation link (5) calculates the inductance parameter deviation delta L according to the position identification deviation delta thetaSCalculating the true value of the inductance parameter
Wherein L issThe motor inductance parameter is uncorrected.
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| CN114389500B (en) * | 2021-03-25 | 2023-11-03 | 南京航空航天大学 | Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor |
| CN112928963A (en) * | 2021-04-19 | 2021-06-08 | 广东电网有限责任公司电力调度控制中心 | Permanent magnet synchronous generator parameter identification method based on polynomial evolution model |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1350720A (en) * | 1999-05-19 | 2002-05-22 | Abb工业公司 | Starting procedure of open-loop vactor control in synchronous machine |
| WO2014084009A1 (en) * | 2012-11-29 | 2014-06-05 | 富士電機株式会社 | Electric motor control device |
| CN104601069A (en) * | 2014-12-26 | 2015-05-06 | 南车株洲电力机车研究所有限公司 | Method and system for acquiring inductance parameters of permanent magnet synchronizing motor |
| CN108429502A (en) * | 2018-03-16 | 2018-08-21 | 日立电梯（中国）有限公司 | Parameter identification method, the apparatus and system of permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3695436B2 (en) * | 2002-09-18 | 2005-09-14 | 株式会社日立製作所 | Position sensorless motor control method and apparatus |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1350720A (en) * | 1999-05-19 | 2002-05-22 | Abb工业公司 | Starting procedure of open-loop vactor control in synchronous machine |
| WO2014084009A1 (en) * | 2012-11-29 | 2014-06-05 | 富士電機株式会社 | Electric motor control device |
| CN104601069A (en) * | 2014-12-26 | 2015-05-06 | 南车株洲电力机车研究所有限公司 | Method and system for acquiring inductance parameters of permanent magnet synchronizing motor |
| CN108429502A (en) * | 2018-03-16 | 2018-08-21 | 日立电梯（中国）有限公司 | Parameter identification method, the apparatus and system of permanent magnet synchronous motor |
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