CN110492816A - A kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method - Google Patents
A kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method Download PDFInfo
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- CN110492816A CN110492816A CN201810428845.9A CN201810428845A CN110492816A CN 110492816 A CN110492816 A CN 110492816A CN 201810428845 A CN201810428845 A CN 201810428845A CN 110492816 A CN110492816 A CN 110492816A
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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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Abstract
The invention discloses a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification methods, comprising: acquires the set end voltage and armature supply of motor；When main magnetic circuit saturation, using d, q axis saturation coefficient, armature supply and exciting current, the set end voltage calculated value of electric excitation synchronous motor is obtained；Global optimizing algorithm and local search of algorithm are combined to obtain mixing intelligent algorithm, with the minimum target of error between the set end voltage calculated value of electric excitation synchronous motor and the set end voltage of motor, construct using d axis saturation coefficient and q axis saturation coefficient as the optimization object function of optimization object；Optimization object function is recognized using mixing intelligent algorithm, obtains the optimal d axis saturation coefficient and optimal q axis saturation coefficient of each measurement point.Identification process of the present invention only needs to be monitored set end voltage and armature supply, can guarantee the accuracy of result with mixing intelligent algorithm and its optimization object function rationally being arranged.
Description
Technical field
The invention belongs to motor saturation coefficient calculating fields, full more particularly, to a kind of electric excitation synchronous motor parameter
With coefficient on-line identification method.
Background technique
For operation characteristic of the analysis electric excitation synchronous motor under different exciting electric current, it is full to need to initially set up consideration magnetic circuit
The mathematical models of the motor of sum need to establish the motor mathematical models for considering magnetic circuit saturation to different exciting electricity
The saturation coefficient flowed down is solved and is recognized.The foundation of synchronous motor mathematical model is generally completed under dq0 coordinate system, and d
Axis makes the two corresponding saturation coefficient under same exciting current also not identical with the asymmetry of q axis magnetic circuit, this is to saturation
The solution of coefficient causes very big difficulty, therefore is a urgent need to the solution of d axis under different operating conditions and q axis saturation coefficient
It solves the problems, such as, and document report related to this is considerably less.
In current engineer application, the saturation effect of electric excitation synchronous motor d axis is characterized by no-load characteristic, and
Think that the saturation of magnetic circuit exists only in d axis principal reactance Xmd.But the magnetic circuit saturation effect of actually q axis equally exists, and considers d axis
With the difference of q axis magnetic circuit, d axis saturation coefficient corresponding with q axis is not also identical, due to not having coil on q axis, can not adopt
The saturation coefficient of q axis is calculated with the method for exciting current is added on q axial coil, leads to the test measurement to q axis saturation coefficient
It is very difficult.
For the problem of q axis saturation coefficient test measurement difficulty, there is scholar to propose q axis conversion thought, not rotor structure
Symmetrical salient pole synchronous electric machine is converted into the symmetrical implicit pole synchronous motor of rotor structure, that is, defines a salient pole index M:
M is constant, X in formulamduWith XmquIt is the unsaturated value of d axis Yu the principal reactance of q axis, X respectivelymdsWith XmqsIt is d axis respectively
With the saturation value of q axis principal reactance.
Existing mainly includes the following to saturation coefficient calculation method disadvantage:
(1) calculation method of d, q axis saturation coefficient must be based on the basis of known motor no-load characteristic.
(2) think that the saturation value of d axis and the principal reactance of q axis in the ratio between any operating point is constant, but reality and be unsatisfactory for
This relationship.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, it is full that the present invention provides a kind of electric excitation synchronous motor parameters
With coefficient on-line identification method, thus solve the prior art exist need to rely on empty load of motor it is characteristic it is accurate measurement,
It is difficult to realize the lower technical problem of the real-time identification of saturation coefficient, accuracy.
To achieve the above object, the present invention provides a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification sides
Method, comprising:
(1) when electric excitation synchronous motor operates normally, the set end voltage and armature supply of motor are acquired；
(2) when main magnetic circuit is saturated, using d, q axis saturation coefficient, it is synchronous to obtain electrical excitation for armature supply and exciting current
The set end voltage calculated value of motor；
(3) global optimizing algorithm and local search of algorithm are combined to obtain mixing intelligent algorithm, it is same with electrical excitation
The minimum target of error between the set end voltage calculated value of motor and the set end voltage of motor is walked, is constructed with d axis saturation coefficient
It is the optimization object function of optimization object with q axis saturation coefficient；
(4) optimization object function is recognized using mixing intelligent algorithm, the optimal d axis for obtaining each measurement point is full
With coefficient and optimal q axis saturation coefficient.
Further, step (2) includes:
D shaft current i of the electric excitation synchronous motor under dq0 coordinate system is obtained using armature supplyd, q shaft current iq, due to
Magnetic flux leakage is not in saturation under normal circumstances, main magnetic circuit saturation is only considered, at this point, utilizing stator leakage reactance, d axis saturation coefficient, q
Axis saturation coefficient, d shaft current id, q shaft current iqWith excitation winding electric current if, obtain the set end voltage meter of electric excitation synchronous motor
Calculation value.
Further, d axis saturation coefficient and q axis saturation coefficient are as follows:
Kds=Xmds/Xmdu
Kqs=Xmqs/Xmqu
Wherein, KdsFor d axis saturation coefficient, XmdsFor the saturation value of d axis principal reactance, XmduFor the unsaturated value of d axis principal reactance,
KqsFor q axis saturation coefficient, XmqsFor the saturation value of q axis principal reactance, XmquFor the unsaturated value of q axis principal reactance.
Further, the set end voltage calculated value of electric excitation synchronous motor are as follows:
Wherein,For the set end voltage calculated value of electric excitation synchronous motor, vqFor q shaft voltage, vdFor d shaft voltage, XlIt is fixed
Sub- leakage reactance, KdsFor d axis saturation coefficient, XmduFor the unsaturated value of d axis principal reactance, KqsFor q axis saturation coefficient, XmquFor the main electricity of q axis
Anti- unsaturated value.
Further, mixing intelligent algorithm is genetic annealing algorithms or population annealing algorithm.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
It is distinguished the invention proposes a kind of simple and online electric excitation synchronous motor saturation coefficient with higher accuracy
Knowledge method, the method for the present invention consider the saturation of motor d axis and q axis both direction magnetic circuit, can be in the case where motor on-line operation
Realize identification, identification process only applies to set end voltage and armature supply, and the two are easy the physical quantity monitored, with mixing
Intelligent algorithm is simultaneously rationally arranged its optimization object function and can guarantee the accuracy of acquired results.Thus the prior art is solved
In the presence of the empty load of motor that needs to rely on it is characteristic it is accurate measurement, be difficult to realize saturation coefficient real-time identification, accuracy compared with
Low technical problem.
Detailed description of the invention
Fig. 1 is a kind of stream of electric excitation synchronous motor parameter saturation coefficient on-line identification method provided in an embodiment of the present invention
Cheng Tu；
Fig. 2 is the identification curve graph of d axis saturation coefficient and q axis saturation coefficient provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method, comprising:
(1) when electric excitation synchronous motor operates normally, the set end voltage and armature supply of motor are acquired；
(2) when main magnetic circuit is saturated, using d, q axis saturation coefficient, armature supply and exciting current, it is synchronous to obtain electrical excitation
The set end voltage calculated value of motor；
(3) global optimizing algorithm and local search of algorithm are combined to obtain mixing intelligent algorithm, it is same with electrical excitation
The minimum target of error between the set end voltage calculated value of motor and the set end voltage of motor is walked, is constructed with d axis saturation coefficient
It is the optimization object function of optimization object with q axis saturation coefficient；
(4) optimization object function is recognized using mixing intelligent algorithm, the optimal d axis for obtaining each measurement point is full
With coefficient and optimal q axis saturation coefficient.
Further, step (2) includes:
D shaft current i of the electric excitation synchronous motor under dq0 coordinate system is obtained using armature supplyd, q shaft current iq, due to
Magnetic flux leakage is not in saturation under normal circumstances, main magnetic circuit saturation is only considered, at this point, utilizing stator leakage reactance, d axis saturation coefficient, q
Axis saturation coefficient, d shaft current id, q shaft current iqWith excitation winding electric current if, obtain the set end voltage meter of electric excitation synchronous motor
Calculation value.
Further, d axis saturation coefficient and q axis saturation coefficient are as follows:
Kds=Xmds/Xmdu
Kqs=Xmqs/Xmqu
Wherein, KdsFor d axis saturation coefficient, XmdsFor the saturation value of d axis principal reactance, XmduFor the unsaturated value of d axis principal reactance,
KqsFor q axis saturation coefficient, XmqsFor the saturation value of q axis principal reactance, XmquFor the unsaturated value of q axis principal reactance.
According to electric machine theory, under steady state operating condition, the voltage and flux linkage equations that electric excitation synchronous motor meets are as follows:
ψd=Xdid+Xmdif
ψq=Xqiq
vd=-ψq+Rsid
vq=ψd+Rsiq
In formula: ψdFor d axis magnetic linkage, ψqFor q axis magnetic linkage.
By electric machine theory it is found that under dq0 coordinate system, voltage equation can be expressed as follows:
vq=Xdid+Rsiq+Xmdif
vd=-Xqiq+Rsid
In formula: vqFor q shaft voltage；vdFor d shaft voltage；XdFor d axis synchronous reactance；XqFor q axis synchronous reactance；idFor d axis electricity
Stream；iqFor q shaft current；ifFor excitation winding electric current；RsFor armature winding resistance；XmdReactance is reacted for d armature axis.
Due to stator resistance RsValue be much smaller than the value of reactance, therefore can be ignored in the analysis process, Jin Erke
It is as follows with the relational expression for obtaining d shaft current, q shaft current and set end voltage under stable state:
Flux linkage equations are substituted into voltage equation, may further be obtained
vq=Xdid+Rsiq+Xmdif
vd=-Xqiq+Rsid
In the case where armature supply phase angle is unknown, it can be assumed that armature supply vector is with d axle clamp angleThen have
In formula: ItFor armature supply；For the angle of armature supply vector and d axis.
In view of leakage magnetic circuit is difficult to be saturated, only the saturation of main magnetic circuit is accounted for, namely only consider XmdWith Xmq's
Saturation effect, according to defined saturation coefficient KdsWith Kqs, ignoring stator resistance RsIn the case where, the expression formula of set end voltage
It is as follows.
For the set end voltage calculated value of electric excitation synchronous motor, vqFor q shaft voltage, vdFor d shaft voltage, XlFor stator leakage
It is anti-, KdsFor d axis saturation coefficient, XmduFor the unsaturated value of d axis principal reactance, KqsFor q axis saturation coefficient, XmquFor q axis principal reactance
Unsaturated value.
The mixing intelligent algorithm program that global optimizing algorithm and local search of algorithm combine is write, the present invention is implemented
Global optimizing algorithm and local search of algorithm are respectively genetic annealing algorithms and population annealing algorithm in example.It is saturated with d axis and is
Number Kds, q axis saturation coefficient KqsAnd the angle of armature voltage and d axisFor optimization aim, following optimization object function is constructed,
In above formula, subscript i corresponds to the value of the parameter at ith measurement point.With the mixing intelligent algorithm write, ask
The minimum value for solving optimization object function, obtains the saturation coefficient and angle values of each measurement point, and by resulting different measurement points
D, the saturation coefficient of q axis draws curve.
When an electric excitation synchronous motor underloading operates normally, its set end voltage and armature electricity under different exciting electric current
Flow valuve is as shown in table 1 below:
Table 1
In the identification process of saturation coefficient, the genetic annealing algorithms with the short annealing factor have been used, will have been tested above
Data substitute into the optimization object function of construction, obtained d, q axis parameter saturation coefficient curve such as attached drawing 2.Demonstrating this method can
It is effectively recognized with the saturation coefficient to online electric excitation synchronous motor, is electric excitation synchronous motor parameter saturation coefficient
It calculates and provides new approaches with identification.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method characterized by comprising
(1) when electric excitation synchronous motor operates normally, the set end voltage and armature supply of motor are acquired；
(2) when main magnetic circuit is saturated, using d, q axis saturation coefficient, armature supply and exciting current, electric excitation synchronous motor is obtained
Set end voltage calculated value；
(3) global optimizing algorithm and local search of algorithm are combined to obtain mixing intelligent algorithm, electricity is synchronized with electrical excitation
The minimum target of error between the set end voltage calculated value of machine and the set end voltage of motor is constructed with d axis saturation coefficient and q axis
Saturation coefficient is the optimization object function of optimization object；
(4) optimization object function is recognized using mixing intelligent algorithm, obtains optimal d axis saturation coefficient and optimal q
Axis saturation coefficient.
2. a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method as described in claim 1, which is characterized in that
The step (2) includes:
D shaft current i of the electric excitation synchronous motor under dq0 coordinate system is obtained using armature supplyd, q shaft current iq, due to leakage field
Field is not in saturation under normal circumstances, only considers main magnetic circuit saturation, at this point, full using stator leakage reactance, d axis saturation coefficient, q axis
With coefficient, d shaft current id, q shaft current iqWith excitation winding electric current if, obtain the set end voltage calculated value of electric excitation synchronous motor.
3. a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method as claimed in claim 1 or 2, feature exist
In the d axis saturation coefficient and q axis saturation coefficient are as follows:
Kds=Xmds/Xmdu
Kqs=Xmqs/Xmqu
Wherein, KdsFor d axis saturation coefficient, XmdsFor the saturation value of d axis principal reactance, XmduFor the unsaturated value of d axis principal reactance, KqsFor
Q axis saturation coefficient, XmqsFor the saturation value of q axis principal reactance, XmquFor the unsaturated value of q axis principal reactance.
4. a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method as claimed in claim 3, which is characterized in that
The set end voltage calculated value of the electric excitation synchronous motor are as follows:
Wherein,For the set end voltage calculated value of electric excitation synchronous motor, vqFor q shaft voltage, vdFor d shaft voltage, XlFor stator leakage
It is anti-, KdsFor d axis saturation coefficient, XmduFor the unsaturated value of d axis principal reactance, KqsFor q axis saturation coefficient, XmquFor q axis principal reactance
Unsaturated value.
5. a kind of electric excitation synchronous motor parameter saturation coefficient on-line identification method as claimed in claim 1 or 2, feature exist
In the mixing intelligent algorithm is genetic annealing algorithms or population annealing algorithm.
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| CN116505832A (en) * | 2023-06-19 | 2023-07-28 | 深圳弘远电气有限公司 | Device, system and method for measuring inductance and core saturation coefficient of permanent magnet motor |
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| CN116505832A (en) * | 2023-06-19 | 2023-07-28 | 深圳弘远电气有限公司 | Device, system and method for measuring inductance and core saturation coefficient of permanent magnet motor |
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