CN111030535A - Asynchronous motor inductance parameter online identification method - Google Patents

Asynchronous motor inductance parameter online identification method Download PDF

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CN111030535A
CN111030535A CN201911361133.0A CN201911361133A CN111030535A CN 111030535 A CN111030535 A CN 111030535A CN 201911361133 A CN201911361133 A CN 201911361133A CN 111030535 A CN111030535 A CN 111030535A
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stator
magnetic field
rotor magnetic
inductance
axis
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CN111030535B (en
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梅柏杉
刘涛
李晓华
孙改平
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Shanghai Electric Power 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
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • 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
    • H02P2207/01—Asynchronous machines

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Abstract

The invention relates to an asynchronous motor inductance parameter online identification method, which comprises the following steps: 1) according to current and voltage signals under the d-q synchronous rotation coordinate, the rotor magnetic field is accurately oriented based on load angle compensation correction; 2) performing closed-loop regulation on a stator d-axis flux linkage under the condition of accurate orientation of a rotor magnetic field; 3) carrying out online identification on stator inductance parameters under the conditions of accurate orientation of a rotor magnetic field and closed-loop regulation of stator d-axis flux linkage; 4) and under the conditions of accurate orientation of the rotor magnetic field and closed-loop regulation of the stator d-axis flux linkage, carrying out online identification on the flux leakage coefficient, and feeding back the online identification result of the flux leakage coefficient to the accurate orientation of the rotor magnetic field. Compared with the prior art, the method does not need to introduce a complex, tedious and time-consuming algorithm and special hardware support, can quickly and accurately identify the stator inductance and the magnetic leakage coefficient on line, and ensures the real-time accuracy of the inductance parameter required by the vector control system.

Description

Asynchronous motor inductance parameter online identification method
Technical Field
The invention relates to the technical field of asynchronous motor control, in particular to an online identification method for inductance parameters of an asynchronous motor.
Background
The directional vector control of the variable-frequency speed-regulating rotor magnetic field of the asynchronous motor can change the inherent nonlinear mechanical characteristic of the asynchronous motor into the linear mechanical characteristic similar to that of a direct-current motor, and the current and the flux linkage are completely decoupled, so that the basic condition of achieving the excellent performance of speed regulation control of the direct-current motor is achieved. Therefore, the rotor magnetic field orientation is the most deeply researched and improved control technology in the vector control of the asynchronous motor. However, in the decades of development of the rotor magnetic field orientation vector control technology, the rotor magnetic field orientation is difficult to be accurate due to the influence of the great change of the rotor resistance Rr and the time constant Tr of the motor along with the difference of the operation state and the temperature, and the problem which is always pending and hinders the development of the high-performance variable frequency speed control technology is presented. The prior art approaches and approaches to solving this problem are mainly of two types:
1. a mathematical model of the rotor flux linkage is established by adopting various different methods, and the feedback closed-loop control is carried out on the rotor flux linkage. And then, carrying out off-line or on-line identification correction on the rotor resistance Rr and the time constant Tr in the model by using a very complex parameter identification algorithm (a fuzzy logic algorithm, a neural network algorithm, an ant colony algorithm, a genetic algorithm and the like which are far immature. The obvious disadvantage of this type of method is that it adds significantly to the complexity of the control system, and may even have serious negative effects on the stability, reliability, rapidity and accuracy of the control system.
2. Various magnetic flux observation technologies, such as a full-order state observer, a sliding-mode observer, a kalman filter, a model reference observer … …, and the like, are adopted, and various problems still exist, and currently, the magnetic flux observation technology is still in a research and experiment stage, and a large distance is still left for accurately observing the magnetic flux actually used for the alternating current motor.
The inductance and the magnetic leakage coefficient of the asynchronous motor are essential important parameters for high-performance variable-frequency speed regulation vector control, and are usually obtained by an off-line parameter test or an on-line parameter identification method. The off-line parameter test mainly comprises a motor locked rotor test method, a no-load test method, an injection signal test method and the like. Because the workload of the off-line test is large, the accuracy is not high, and the difference between the working state of the motor and the actual running state is large, the tested parameters are difficult to meet the requirements of the control system. The current online parameter identification method mainly comprises an extended Kalman filtering method, a model reference self-adaption method, an improved least square method and an intelligent algorithm such as a neural network algorithm, a genetic algorithm, an ant colony algorithm and the like. The methods are far from mature in the practical application of accurate observation of inductance parameters of the alternating current motor. The obvious disadvantage is that the complexity of the control system is greatly increased, and even serious negative effects on the stability, reliability, rapidity and accuracy of the control system are possible.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an online identification method for inductance parameters of an asynchronous motor.
The purpose of the invention can be realized by the following technical scheme:
an asynchronous motor inductance parameter online identification method comprises the following steps:
and S1, accurately orienting the rotor magnetic field based on load angle compensation correction according to the current and voltage signals under the d-q synchronous rotation coordinate. Specifically, the method comprises the following steps:
constructing a stator-free resistor R by using current and voltage signals under d-q synchronous rotation coordinatesrAnd rotor resistance RrIs expressed as:
Figure BDA0002337190760000021
wherein:
Figure BDA0002337190760000022
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
Figure BDA0002337190760000023
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, Lr、Ls、LmRespectively motor rotor inductance, stator inductance and stator-rotor mutual inductance, omega1Is the stator angular frequency.
Obtaining an adjustable model of a load angle according to an actually measured current signal under the d-q synchronous rotation coordinate:
Figure BDA0002337190760000024
inputting the tangent values of the load angles of the two models into a PI (proportional integral) regulator as a difference, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current to obtain the accurate orientation of the rotor magnetic field; the regulation output value is related to the output value of the rotating speed closed-loop regulation, and if the output value of the rotating speed closed-loop regulation is the q-axis current given value
Figure BDA0002337190760000025
The output value of the rotor field orientation module is id *Directly regulating and controlling the exciting current; if the output value of the closed-loop regulation of the rotating speed is slip frequency omegasAnd if the output value of the rotor magnetic field orientation module is delta omega, correcting the differential frequency.
And S2, performing closed-loop adjustment on the stator d-axis flux linkage under the condition of accurate orientation of the rotor magnetic field.
S3, under the conditions of accurate orientation of the rotor magnetic field and closed loop regulation of the stator d-axis flux linkage, online identification is carried out on the stator inductance parameters, and the online identification result of the stator inductance parameters is fed back to the accurate orientation of the rotor magnetic field.
The expression of stator inductance parameter online identification is as follows:
Figure BDA0002337190760000031
in the formula (I), the compound is shown in the specification,
Figure BDA0002337190760000032
the flux linkage is given for the stator d-axis.
S4, carrying out online identification on the magnetic leakage coefficient under the conditions of accurate orientation of the rotor magnetic field and closed-loop regulation of the stator d-axis flux linkage, and feeding back the online identification result of the magnetic leakage coefficient to the accurate orientation of the rotor magnetic field.
The online identification expression of the magnetic leakage coefficient is as follows:
Figure BDA0002337190760000033
preferably, the specific method for performing closed-loop adjustment on the stator d-axis flux linkage under the condition of accurate orientation of the rotor magnetic field comprises the following steps:
stator d-axis flux linkage command
Figure BDA0002337190760000034
With the actual flux linkage psid＝LsidMaking a difference, taking the difference value as the input of a stator flux linkage adjusting unit, wherein the adjusting unit adopts PI control, and the output of the PI control is the set value of d-axis current
Figure BDA0002337190760000035
And then the exciting current of the stator is adjusted.
Compared with the prior art, the invention has the following advantages:
the invention separates and releases the problem of accurate orientation of magnetic field hidden in flux linkage identification, parameter identification and decoupling control, develops a new method, starts with the analysis of the relation between the load angle theta (phase angle difference between stator current vector and rotor flux linkage vector) of an asynchronous motor and the position of a rotor magnetic field, constructs a rotor load angle reference model irrelevant to both stator resistance and rotor resistance, obtains an adjustable model of the load angle according to the measured current signal under d-q synchronous rotation coordinate, inputs the difference value of two load angle tangent values into a PI regulator, directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current, realizes the independent control of the rotor magnetic field orientation, has accurate orientation, simple and efficient control strategy, good stability and high convergence speed, and is not influenced by the parameter changes of the motor stator and the rotor resistance, the robustness is excellent, so that the problem of accurate orientation of the most basic and most critical rotor magnetic field in vector control is solved;
secondly, the method does not need to introduce a complex and tedious algorithm which wastes time and resources, does not need special hardware support, and can quickly and accurately identify the stator inductance and the magnetic leakage coefficient on line through a simple calculation method on the basis of accurate orientation of the rotor magnetic field and closed-loop regulation of the stator d-axis flux linkage, thereby ensuring the real-time accuracy of inductance parameters required by a vector control system and laying a solid foundation for realizing high-performance variable-frequency speed regulation vector control.
Drawings
FIG. 1 is a schematic diagram of a variable-frequency speed-regulating vector control system of an asynchronous motor using an online identification method of inductive parameters of the asynchronous motor in the embodiment of the invention;
FIG. 2 is a schematic diagram illustrating the correction of the directional load angle of the rotor magnetic field according to an embodiment of the present invention;
FIG. 3 is a schematic view of a stator d-axis flux linkage adjustment control in an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating stator inductance parameter identification according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating stator leakage coefficient identification according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention relates to an asynchronous motor inductance parameter online identification method, which is mainly implemented by carrying out online identification on stator inductance parameters and magnetic leakage coefficients and carrying out a series of operations by acquiring parameter information in a system in real time. In this embodiment, the present invention will be described by taking a current tracking type PWM inverter as an example, as shown in fig. 1. The method can also be applied to the asynchronous motor variable-frequency speed regulation vector control system adopting the voltage source type SVPWM inverter.
The working principle of the invention is as follows:
given n by the speed of rotation*Speed feedback n and speed regulatorThe formed rotating speed outer ring obtains a slip angular frequency signal omegasThe rotor magnetic field orientation module corrects the load angle and outputs slip compensation delta omegasThe two are added to obtain the compensated angular frequency of the rotation difference
Figure BDA0002337190760000041
In one aspect
Figure BDA0002337190760000042
With the rotational speed signal omegarAdding to obtain accurate angular frequency of stator
Figure BDA0002337190760000043
For omega1The integration yields the spatial position angle theta required for coordinate transformation. On the other hand by
Figure BDA0002337190760000044
Obtaining a q-axis current command
Figure BDA0002337190760000045
(TrIs the rotor time constant). Obtaining a d-axis current instruction by a stator d-axis flux linkage adjusting module
Figure BDA0002337190760000046
And the two current commands control the variable-frequency speed-regulating operation of the motor through rotating coordinate transformation, current tracking PWM and an inverter.
A reference model and an adjustable model of a load angle are constructed by utilizing a rotor magnetic field orientation module, namely current signals and voltage signals of a d axis and a q axis of a synchronous rotating coordinate system obtained by voltage and current detection and coordinate transformation, the load angle obtained by the reference model and the adjustable model is subjected to closed-loop control by taking the difference between the load angles, the accurate orientation of a rotor magnetic field is obtained after the load angle is corrected, and slip compensation delta omega is outputs。
Stator d-axis flux linkage instruction of stator d-axis flux linkage adjusting module
Figure BDA0002337190760000051
With the actual flux linkage psid＝LsidMaking difference, controlling exciting current by PI regulation
Figure BDA0002337190760000052
Under the conditions of accurate orientation of a rotor magnetic field and d-axis flux linkage closed-loop regulation, the inductance identification module calculates inductance parameters of the motor
Figure BDA0002337190760000053
And sending the real-time identified inductance parameters to the rotor magnetic field orientation module and the stator d-axis flux linkage adjusting module.
And the magnetic leakage coefficient sigma identification module sends the parameter sigma identified in real time to the rotor magnetic field orientation module.
According to the principle, the method comprises the following specific steps:
firstly, the rotor magnetic field for closed-loop correction of the load angle is accurately oriented, as shown in fig. 2, specifically:
constructing a structure which does not contain stator resistance R by current and voltage signals under d-q synchronous rotation coordinatessNor rotor resistance RrReference model of the load angle θ of (a):
Figure BDA0002337190760000054
wherein:
Figure BDA0002337190760000055
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
Figure BDA0002337190760000056
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, Lr、Ls、LmThe inductance of the motor rotor, the inductance of the stator and the mutual inductance of the stator and the rotor are respectively. Omega1Is the stator angular frequency.
Obtaining an adjustable model of the load angle theta from the measured current:
Figure BDA0002337190760000057
and (3) inputting the tangent values of the load angles of the two models into a PI (proportional integral) regulator as a difference, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current to obtain the accurate orientation of the rotor magnetic field. The regulated output value is related to the output value of the closed-loop regulation of the rotating speed. The output value of the closed-loop regulation of the rotating speed of the embodiment is slip frequency omegasIf the output value of the rotor magnetic field orientation module is delta omega, correcting the differential frequency; if the output value for closed-loop regulation of the rotating speed of the embodiment is a q-axis current instruction
Figure BDA0002337190760000061
The output value of the rotor magnetic field orientation module is a d-axis current instruction
Figure BDA0002337190760000062
The exciting current is directly regulated and controlled.
Step two, performing closed-loop adjustment on the stator d-axis flux linkage under the condition of accurate orientation of the rotor magnetic field, as shown in fig. 3:
stator d-axis flux linkage command
Figure BDA0002337190760000063
With the actual flux linkage psid＝LsidMaking a difference, taking the difference value as the input of a stator flux linkage adjusting unit, wherein the adjusting unit adopts PI control, and the output of the PI control is the set value of d-axis current
Figure BDA0002337190760000064
And then the exciting current of the stator is adjusted.
Step three, identifying the inductance parameters of the stator, as shown in fig. 4, specifically:
under the conditions of accurate orientation of a rotor magnetic field and closed-loop regulation of d-axis flux linkage, inductance parameters of the motor are simply identified according to d-axis current under a synchronous rotation coordinate as follows:
Figure BDA0002337190760000065
the real-time identified inductance parameter L is thensFeeding back to the rotor magnetic field orientation step and the stator d-axis flux linkage adjustment step.
Step four, identifying the magnetic leakage coefficient sigma, as shown in fig. 5, specifically:
under the conditions of accurate orientation of a rotor magnetic field and closed-loop regulation of d-axis flux linkage, a calculation formula of a magnetic leakage coefficient sigma is deduced according to d-axis current and q-axis current under a synchronous rotation coordinate as follows:
Figure BDA0002337190760000066
wherein:
Figure BDA0002337190760000067
and feeding back the magnetic leakage coefficient sigma obtained by real-time identification to the rotor magnetic field orientation step.
The method realizes the independent control of the rotor magnetic field orientation by constructing a rotor load angle reference model irrelevant to both the stator resistance and the rotor resistance and inputting the difference value of the tangent values of the two load angles into a PI regulator to directly compensate and correct the phase angle difference between the rotor flux linkage and the stator current, and has the characteristics of accurate magnetic field orientation, good robustness, simple and efficient control strategy, good stability and high convergence speed. Under the conditions of accurate orientation of a rotor magnetic field and closed-loop regulation of a stator d-axis flux linkage, the method does not need to introduce a complex and tedious algorithm which wastes time and resources, does not need special hardware support, and can quickly and accurately identify the stator inductance and the magnetic flux leakage coefficient on line through a simple calculation method on the basis of the accurate orientation of the rotor magnetic field and the closed-loop regulation of the stator d-axis flux linkage, thereby ensuring the real-time accuracy of inductance parameters required by a vector control system and laying a solid foundation for realizing high-performance variable-frequency speed regulation vector control.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (4)

1. An asynchronous motor inductance parameter online identification method is characterized by comprising the following steps:
1) according to current and voltage signals under the d-q synchronous rotation coordinate, the rotor magnetic field is accurately oriented based on load angle compensation correction;
2) performing closed-loop regulation on a stator d-axis flux linkage under the condition of accurate orientation of a rotor magnetic field;
3) under the conditions of accurate orientation of a rotor magnetic field and closed loop regulation of a stator d-axis flux linkage, online identification is carried out on stator inductance parameters, and the online identification result of the stator inductance parameters is fed back to the accurate orientation of the rotor magnetic field;
4) and under the conditions of accurate orientation of the rotor magnetic field and closed-loop regulation of the stator d-axis flux linkage, carrying out online identification on the flux leakage coefficient, and feeding back the online identification result of the flux leakage coefficient to the accurate orientation of the rotor magnetic field.
2. The method for online identifying the inductance parameter of the asynchronous motor according to claim 1, wherein the specific content of the step 1) is as follows:
constructing a stator-free resistor R by using current and voltage signals under d-q synchronous rotation coordinatesrAnd rotor resistance RrReference model of the load angle θ of (a):
Figure FDA0002337190750000011
wherein:
Figure FDA0002337190750000012
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
Figure FDA0002337190750000013
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, Lr、Ls、LmRespectively motor rotor inductance, stator inductance and stator-rotor mutual inductance, omega1Is the stator angular frequency;
obtaining an adjustable model of a load angle theta according to an actually measured current signal under the d-q synchronous rotation coordinate:
Figure FDA0002337190750000014
inputting the tangent values of the load angles of the two models into a PI (proportional integral) regulator as a difference, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current to obtain the accurate orientation of the rotor magnetic field; the regulation output value is related to the output value of the rotating speed closed-loop regulation, and if the output value of the rotating speed closed-loop regulation is the q-axis current given value
Figure FDA0002337190750000021
The output value of the rotor field orientation module is
Figure FDA0002337190750000022
Directly regulating and controlling the exciting current; if the output value of the closed-loop regulation of the rotating speed is slip frequency omegasAnd if the output value of the rotor magnetic field orientation module is delta omega, correcting the differential frequency.
3. The method for online identifying the inductance parameter of the asynchronous motor according to claim 1, wherein in the step 3), an expression for online identifying the inductance parameter of the stator is as follows:
Figure FDA0002337190750000023
in the formula (I), the compound is shown in the specification,
Figure FDA0002337190750000024
giving flux linkage, i, to the stator d-axisdIs d-axis current in synchronous rotation coordinates.
4. The method for online identifying the inductance parameters of the asynchronous motor according to claim 1, wherein in the step 4), an expression of online identification of the leakage magnetic coefficient is as follows:
Figure FDA0002337190750000025
wherein:
Figure FDA0002337190750000026
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, LsFor the stator inductance, omega, of the machine1Is the stator angular frequency.
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CN116073726A (en) * 2023-03-06 2023-05-05 成都希望电子研究所有限公司 Constant magnetic linkage closed-loop energy-saving control algorithm of asynchronous motor without magnetic field orientation

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