CN110112975B - Motor parameter online identification method and system - Google Patents
Motor parameter online identification method and system Download PDFInfo
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- CN110112975B CN110112975B CN201910397827.3A CN201910397827A CN110112975B CN 110112975 B CN110112975 B CN 110112975B CN 201910397827 A CN201910397827 A CN 201910397827A CN 110112975 B CN110112975 B CN 110112975B
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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
- 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
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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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
- H02P21/22—Current control, e.g. using a current control loop
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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 discloses a motor parameter online identification method and a system, comprising the following steps: acquiring three-phase alternating current of a motor; obtaining direct-axis current feedback and quadrature-axis current feedback by performing coordinate transformation on the three-phase alternating current; giving a direct-axis current and direct-axis current feedback to perform proportional integral adjustment to obtain a direct-axis voltage, and giving a quadrature-axis current and quadrature-axis current feedback to perform proportional integral adjustment to obtain a quadrature-axis voltage; converting the direct-axis-quadrature-axis current into the direct-axis current according to different states of the motor
The shaft current is calculated through the voltage equations in different states to obtain the parameters to be identified, the identification efficiency of the parameters can be greatly improved, the stability of the performance of the motor is ensured, and especially under the high-speed working condition of the motor, the safety accidents caused by the out-of-control of the motor are prevented.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a motor parameter online identification method and system.
Background
Compared with the traditional asynchronous motor, the permanent magnet synchronous motor has the advantages of small loss, high efficiency and the like, is increasingly widely applied and is more commonly applied to new energy automobiles. The control parameters of the permanent magnet synchronous motor depend on the stator winding, the inductance and the like of the motor body, so whether the control parameters are proper or not directly influences the stability of the control performance. Particularly, under a high-speed working condition, when the deviation of inductance parameters is large, the phenomenon of runaway can be caused. The invention provides an inductance and inductance parameter online identification method of a permanent magnet synchronous motor based on a position-sensorless system, which takes a vehicle air conditioner driving motor as a research object.
The parameter identification of the existing permanent magnet synchronous motor without the position sensor mostly uses the modes of manual measurement and the like. In the implementation process, the method needs manual participation, the identification efficiency is low, and the test data volume is large. Therefore, such methods are not easy to implement in practical engineering applications and are not suitable for the process of rotating speed change.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an online motor parameter identification method, which can improve the identification efficiency of motor parameters.
The technical problem to be solved by the invention is realized by the following technical scheme:
in a first aspect, a method for online identifying motor parameters is provided,
acquiring three-phase alternating current of a motor;
obtaining direct axis current feedback i by coordinate transformation of three-phase currentdWith alternating current feedback iq；
For a given direct axis current command
(arbitrarily given) and direct-axis current feedback idProportional-integral control and regulation are carried out to obtain the direct-axis voltage vd(ii) a For a given quadrature axis current command
Quadrature axis current feedback iqProportional-integral control and regulation are carried out to obtain quadrature axis voltage vq；
Wherein VdIs a direct axis voltage, VqIs quadrature axis voltage, RsBeing stator windings, omegareAs motor speed, LdIs a direct axis inductor, LqIs a quadrature axis inductor, KeIs the flux linkage value.
When the motor is at rest, by injecting a voltage, the following steps are carried out:
id＝iα；vd＝vα；iq＝iβ；vq＝vβ；
to prevent the motor from rotating during the identification process, setting
The α - β axis current can be expressed in terms of the d-q axis current as:
the voltage equation can be expressed as:
with the α axis as the study object, then:
by giving different alpha axis currents, different v can be obtainedα；
Namely:
iαis an alpha-axis current, iβIs a beta axis current, vdIs the direct axis voltage, vqIs quadrature axis voltage, vα、vβVoltages of the alpha and beta axes, theta, respectivelyreIs the included angle between the d axis and the alpha axis, and n is the sampling frequency of the alpha axis current;
combined with RLS (least squares) algorithm, R can be identified when the motor is stationarysAnd Ld。
When the motor runs, a current instruction is given
The α - β axis current can be expressed in terms of the d-q axis current as:
the voltage equation can be expressed as:
with the α axis as the study object, then:
due to RsThe method is obtained by identification of a static state, so that different v can be obtained by giving different alpha-axis currentsα。
Namely:
in combination with RLS algorithm, K can be identified when the motor runseAnd Lq。
In a second aspect, an online motor parameter identification system is provided, which includes:
the current acquisition module: the system is used for acquiring three-phase alternating current of the motor;
a parameter identification module:
the system is used for obtaining direct-axis current feedback and quadrature-axis current feedback by carrying out coordinate transformation on three-phase alternating current;
giving a direct-axis current and direct-axis current feedback to perform proportional integral adjustment to obtain a direct-axis voltage, and giving a quadrature-axis current and quadrature-axis current feedback to perform proportional integral adjustment to obtain a quadrature-axis voltage;
according to different states of the motor, the direct axis-quadrature axis current is converted into alpha-beta axis current, and parameters required to be identified are calculated through voltage equations in different states.
In a third aspect, the system for online identifying the motor parameter comprises a memory and a processor;
the memory is to store instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 1 to 5.
The beneficial effects are as follows: the invention can greatly improve the identification efficiency of parameters, ensure the stability of the performance of the control motor and prevent safety accidents caused by the out-of-control of the motor especially under the high-speed working condition of the motor.
Drawings
FIG. 1 is a schematic diagram of the current components of the present invention;
FIG. 2 is a schematic diagram of the motor static state parameter identification according to the present invention;
FIG. 3 is a schematic diagram illustrating the identification of the operating state parameters of the motor according to the present invention;
FIG. 4 is a flow chart of the present invention.
Detailed Description
To further describe the technical features and effects of the present invention, the present invention will be further described with reference to the accompanying drawings and detailed description.
As shown in fig. 1-3, an online motor parameter identification method,
step one, three-phase alternating current of a motor is obtained;
step two, obtaining direct axis current feedback i by carrying out coordinate transformation on the three-phase alternating currentdQuadrature axis current feedback iq；
Step three, giving a direct axis current
Proportional integral regulation is carried out on the direct-axis current feedback to obtain direct-axis voltage, and a quadrature-axis current is given
Proportional integral adjustment is carried out on the quadrature axis current feedback to obtain quadrature axis voltage;
step four,
The d-axis and q-axis voltage expressions may be described as:
the d-axis (direct axis) and q-axis (quadrature axis) voltages are transformed into alpha-axis and beta-axis voltages through coordinate transformation, and are expressed as:
wherein Vα、VβIs the voltage value in the alpha-beta axis, iα、iβCurrent values on the alpha-beta axis; wherein L is0Is average inductance, L1Is composed of
Half-differential inductance.
Direct axis current idOn the α - β axis can be expressed as:
id＝iαcosθre+iβsinθre
the α - β axis voltage can be simplified as follows:
as shown in fig. 2, when the motor is in a stationary state, the rotation speed is 0, and the α - β axis voltage is expressed as:
as shown in fig. 2, by injecting a voltage when the motor is at rest, the following steps are performed:
id＝iα；vd＝vα；iq＝iβ；vq＝vβ；
given quadrature axis current
Increasing direct axis current
In this case, the α - β axis and d-q axis relationship can be expressed as:
the α - β axis voltage can be reduced to the following expression:
with the α axis as the study object, then:
by giving different alpha axis currents, different v can be obtainedα；
Namely:
r can be identified by RLS (least squares) algorithmsAnd LdThe mathematical model is as follows:
y＝[vα(n)]
ε(n)＝y(n)-AT(n)x(n-1)
x(n)＝x(n-1)+K(n)ε(n)
epsilon is the difference between the current reading voltage value and the last time passing parameter calculation value;
k and P are gain matrix coefficients;
r can be solved according to the recursion formulasAnd LdThe parameter values.
Wherein x is a resistance inductance parameter value matrix at different moments, y is an alpha axis voltage value at different moments, ATThe current values and the current change rates at different moments are obtained; omegaeAs electrical angular velocity of the motor, iαIs an alpha-axis current, iβIs a beta axis current, vdIs the direct axis voltage, vqIs quadrature axis voltage, vα、vβVoltages of the alpha and beta axes, theta, respectivelyreIs the included angle between the d axis and the alpha axis, and n is the sampling frequency of the alpha axis current;
as shown in FIG. 3, the motor is operated with a given direct-axis current idLoading different quadrature axis currents i as 0q；
In this case, the α - β axis and d-q axis relationship can be expressed as:
the α - β axis voltage can be reduced to the following expression:
with the α axis as the study object, then:
by giving different alpha axis currents, different v can be obtainedα；
According to RLS algorithm, and the above identified RsCan obtain L after convergenceqAnd KeThe mathematical model of (c) is:
y＝[vα(n)-Rsiα(n)]
ε(n)＝y(n)-AT(n)x(n-1)
x(n)＝x(n-1)+K(n)ε(n)
P(n)＝[1-K(n)AT(n)]P(n-1)
epsilon is the difference between the current reading voltage value and the last time passing parameter calculation value;
k and P are gain matrix coefficients;
l can be solved according to the above recursion formulaqAnd KeThe value of (c).
The motor parameter online identification system provided by the embodiment of the invention can be used for loading and executing the motor parameter online identification method, and comprises the following steps:
the current acquisition module: the system is used for acquiring three-phase alternating current of the motor;
a parameter identification module:
the system is used for obtaining direct-axis current feedback and quadrature-axis current feedback by carrying out coordinate transformation on three-phase alternating current;
giving a direct-axis current and direct-axis current feedback to perform proportional integral adjustment to obtain a direct-axis voltage, and giving a quadrature-axis current and quadrature-axis current feedback to perform proportional integral adjustment to obtain a quadrature-axis voltage;
according to different states of the motor, the direct axis-quadrature axis current is converted into alpha-beta axis current, and parameters required to be identified are calculated through voltage equations in different states.
The motor parameter online identification system provided by the embodiment of the invention can also be as follows: comprising a memory and a processor;
the memory is to store instructions;
the processor is used for operating according to the instruction to execute the steps of any one of the motor parameter online identification methods.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
The above embodiments do not limit the present invention in any way, and all technical solutions obtained by taking equivalent substitutions or equivalent changes fall within the scope of the present invention.
Claims (2)
1. An online identification method for motor parameters is characterized by comprising the following steps:
acquiring three-phase alternating current of a motor;
obtaining direct-axis current feedback and quadrature-axis current feedback by performing coordinate transformation on the three-phase alternating current;
giving a direct-axis current and direct-axis current feedback to perform proportional-integral adjustment to obtain direct-axis voltage, giving a quadrature-axis current and quadrature-axis current feedback to perform proportional-integral adjustment to obtain quadrature-axis voltage, and specifically: for a given direct-axis current command
And direct axis current feedback idProportional-integral control and regulation are carried out to obtain the direct-axis voltage vd(ii) a For a given quadrature current command
Quadrature axis current feedback iqProportional-integral control and regulation are carried out to obtain quadrature axis voltage vqAs shown in equation (1):
wherein V isdIs a direct axis voltage, VqIs quadrature axis voltage, RsIs stator resistance, ωreAs motor speed, LdIs a direct axis inductor, LqIs a quadrature axis inductor, KeIs a flux linkage value;
according to different states of the motor, the direct axis-quadrature axis current is converted into alpha-beta axis current, and parameters required to be identified are calculated through voltage equations in different states, wherein the parameters are as follows: under the static state of the motor, converting the direct axis-quadrature axis current into alpha-beta axis current, and calculating the direct axis inductance and the stator resistance through a voltage equation of the static state of the motor, wherein the specific steps are as follows: in the static state of the motor, by injecting a voltage, the following steps are carried out:
id＝iα；vd＝vα；iq＝iβ；vq＝vβ；
setting up
The current of the α - β axis can be expressed as a direct-quadrature axis, i.e., d-q axis current:
the voltage equation can be expressed as:
can obtain the product
By giving different alpha axis currents, different v can be obtainedαNamely:
wherein idFor direct axis current feedback, iqFor quadrature current feedback, iαIs an alpha-axis current, iβIs a beta axis current, vdIs the direct axis voltage, vqIs quadrature axis voltage, vα、vβVoltages of the alpha and beta axes, theta, respectivelyreIs the included angle between the d axis and the alpha axis, and n is the sampling frequency of the alpha axis current;
and identifying the stator resistance R by the least square method when the motor is staticsAnd a direct axis inductor Ld；
Under the motor running state, the direct axis-quadrature axis current is converted into alpha-beta axis current, and quadrature axis inductance and flux linkage values are calculated through a voltage equation when the motor is in the running state.
2. The online motor parameter identification method according to claim 1, wherein: under the motor running state, the direct axis-quadrature axis current is converted into alpha-beta axis current, and quadrature axis inductance and flux linkage values are calculated through a voltage equation when the motor is in the running state:
under the running state of the motor, the motor is provided with
The current of the alpha-beta axis can be expressed as a direct-quadrature axis, i.e., d-q axis current
The voltage equation can be expressed as:
can obtain the product
By giving a differenceCan obtain different v-axis currentsα，
Namely, it is
And identifying a flux linkage value K when the motor runs by a least square methodeAnd quadrature axis inductance Lq。
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| CN110995091B (en) * | 2019-10-24 | 2023-06-20 | 深圳市汇川技术股份有限公司 | Saturation model identification method, system, equipment and computer readable storage medium |
| CN111162709A (en) * | 2020-01-19 | 2020-05-15 | 珠海格力电器股份有限公司 | Motor drive control method, device and system and household appliance |
| CN112468048B (en) * | 2020-11-13 | 2021-10-26 | 浙江大学 | Permanent magnet synchronous motor parameter detection method |
| CN114337431B (en) * | 2021-12-31 | 2023-06-27 | 上海儒竞智控技术有限公司 | Permanent magnet synchronous motor flux linkage identification method, system, medium and terminal |
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