CN111030535B - On-line identification method for induction parameters of asynchronous motor - Google Patents
On-line identification method for induction parameters of asynchronous motor Download PDFInfo
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- CN111030535B CN111030535B CN201911361133.0A CN201911361133A CN111030535B CN 111030535 B CN111030535 B CN 111030535B CN 201911361133 A CN201911361133 A CN 201911361133A CN 111030535 B CN111030535 B CN 111030535B
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
Abstract
The invention relates to an on-line identification method for inductance parameters of an asynchronous motor, which comprises the following steps: 1) According to current and voltage signals under d-q synchronous rotation coordinates, accurately orienting a rotor magnetic field based on load angle compensation correction; 2) Performing closed-loop adjustment on the d-axis flux linkage of the stator under the condition of accurate orientation of the rotor magnetic field; 3) On-line identification is carried out on stator inductance parameters under the conditions of accurate orientation of a rotor magnetic field and closed-loop adjustment of a stator d-axis magnetic linkage; 4) And under the conditions of accurate rotor magnetic field orientation and closed-loop adjustment of the stator d-axis magnetic linkage, the leakage magnetic coefficient is identified on line, and the result of the on-line identification of the leakage magnetic coefficient is fed back to the accurate rotor magnetic field orientation. Compared with the prior art, the method has the advantages that complicated and tedious algorithms consuming time and resources are not required to be introduced, special hardware support is not required, the stator inductance and the leakage inductance can be rapidly and accurately identified on line, and the real-time accuracy of inductance parameters required by a vector control system is ensured.
Description
Technical Field
The invention relates to the technical field of asynchronous motor control, in particular to an online identification method for induction parameters of an asynchronous motor.
Background
The magnetic field directional vector control of the variable-frequency speed-regulating rotor of the asynchronous motor can change the inherent nonlinear mechanical characteristic of the asynchronous motor into linear mechanical characteristic similar to that of a direct-current motor, and the current and the flux linkage are completely decoupled, so that the control method has the basic condition of achieving the excellent performance of the speed-regulating control of the direct-current motor. Therefore, rotor magnetic field orientation is the most worthy of intensive research and perfected control technology in vector control of asynchronous motors. However, in the decades of development history of the rotor magnetic field directional vector control technology, the rotor magnetic field is difficult to be accurate due to the influence of the great change of the motor rotor resistance Rr and the time constant Tr along with the different running states and temperatures, and the problem of obstructing the development of the high-performance variable-frequency speed regulation technology is always pending. Methods and approaches to solve this problem in prior art studies are mainly of two types:
1. and (3) establishing a mathematical model of the rotor flux linkage by adopting various different methods, and performing feedback closed-loop control 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 very complex parameter identification algorithms (fuzzy logic algorithm, neural network algorithm, ant colony algorithm, genetic algorithm and the like, which are still far immature). The obvious disadvantage of such methods is that they greatly increase 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 problems exist in the adoption of 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, and the magnetic flux observation technology is still in a research and experiment stage at present, and is actually used for accurately observing magnetic flux of an alternating current motor and has a larger distance.
The inductance and leakage inductance of the asynchronous motor are important parameters essential for high-performance variable-frequency speed-regulating 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, an idle test method, an injection signal test method and the like. Because the offline test has large workload and low accuracy, and the working state of the motor has large difference from the actual running state, the tested parameters are difficult to meet the requirements of a control system. The current online parameter identification method mainly comprises an extended Kalman filtering method, a model reference self-adaptive 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 still far from mature in the accurate observation of inductance parameters actually used for alternating current motors. 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 on-line identification method for inductance parameters of an asynchronous motor.
The aim of the invention can be achieved by the following technical scheme:
an induction parameter on-line identification method of an asynchronous motor comprises the following steps:
s1, accurately orienting a rotor magnetic field based on load angle compensation correction according to current and voltage signals under d-q synchronous rotation coordinates. Specifically:
constructing a stator-free resistor R by using current and voltage signals under d-q synchronous rotation coordinates r And rotor resistance R r Reference model of load angle thetaThe expression is:
wherein:
sigma is the leakage inductance of the motor, and the calculation formula is as follows:
wherein i is d 、i q 、u d 、u q Respectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, L r 、L s 、L m Respectively the motor rotor inductance, the stator inductance and the stator-rotor mutual inductance omega 1 Is the stator angular frequency.
Obtaining an adjustable model of the load angle according to the actual measurement current signal under the d-q synchronous rotation coordinate:
inputting tangent values of the two model load angles into a PI regulator, and directly compensating and correcting phase angle differences between a rotor flux linkage and stator currents to obtain accurate orientation of a rotor magnetic field; the regulated output value is related to the output value of the rotating speed closed-loop regulation, if the output value of the rotating speed closed-loop regulation is the q-axis current given value
The output value of the rotor magnetic field orientation module is i d * Directly regulating and controlling exciting current; if the output value of the closed-loop regulation of the rotating speed is the slip frequency omega s The output value of the rotor magnetic field orientation module is delta omega, and the slip frequency is carried outAnd (5) correcting.
S2, carrying out closed-loop adjustment on the d-axis flux linkage of the stator under the condition of accurate orientation of the rotor magnetic field.
S3, under the conditions of accurate rotor magnetic field orientation and stator d-axis magnetic linkage closed-loop adjustment, on-line identification is carried out on the stator inductance parameters, and the on-line identification result of the stator inductance parameters is fed back to the accurate rotor magnetic field orientation.
The expression of the stator inductance parameter on-line identification is:
in the method, in the process of the invention,
the flux linkage is given for the stator d-axis.
S4, under the conditions of accurate rotor magnetic field orientation and stator d-axis magnetic linkage closed-loop adjustment, on-line identification is carried out on the leakage magnetic coefficient, and the on-line identification result of the leakage magnetic coefficient is fed back to the accurate rotor magnetic field orientation.
The online identification expression of the leakage magnetic coefficient is as follows:
preferably, the specific method for performing closed-loop adjustment on the d-axis flux linkage of the stator under the condition of accurate orientation of the rotor magnetic field is as follows:
stator d-axis flux linkage instruction
And the actual magnetic linkage psi d ＝L s i d Taking the difference as input of a stator flux linkage adjusting unit, wherein the adjusting unit adopts PI control, and the output is given value of d-axis current +.>
And then adjusts the exciting current of the stator. />
Compared with the prior art, the invention has the following advantages:
1. the invention separates and releases the problem of accurate orientation of magnetic field hidden in mutual interweaving of flux linkage identification, parameter identification and decoupling control, and develops a new way, and constructs a rotor load angle reference model irrelevant to stator resistance and rotor resistance from the analysis of the relation between the load angle theta (phase angle difference between a stator current vector and a rotor flux vector) of an asynchronous motor and the position of a rotor magnetic field, obtains an adjustable model of the load angle according to an actually measured current signal under d-q synchronous rotation coordinates, inputs the adjustable model into a PI regulator by the difference value of two load angle tangent values, directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current, realizes independent control of rotor magnetic field orientation, has accurate orientation, high efficiency, good stability and high convergence speed, is not influenced by motor stator and rotor resistance parameter variation, has excellent robustness, and solves the problem of accurate orientation of the rotor magnetic field which is most basic in vector control;
2. the method of the invention does not need to introduce complex and tedious algorithm which takes time and resources, does not need special hardware support, and can quickly and accurately identify the stator inductance and the leakage magnetic coefficient on line by a simple calculation method on the basis of accurate orientation of the rotor magnetic field and closed-loop adjustment of the stator d-axis magnetic 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-regulating vector control.
Drawings
FIG. 1 is a schematic diagram of an asynchronous motor variable frequency speed control vector control system utilizing an online identification method of induction parameters of an asynchronous motor in an embodiment of the invention;
FIG. 2 is a schematic diagram of rotor field directional load angle correction in an embodiment of the invention;
FIG. 3 is a schematic diagram of a stator d-axis flux linkage adjustment control according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating identification of stator inductance parameters according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating identification of leakage inductance of a stator according to an embodiment of the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Examples
The invention relates to an on-line identification method for induction parameters of an asynchronous motor, which is realized by mainly carrying out on-line identification on induction parameters and leakage coefficients of a stator and carrying out a series of operations by obtaining parameter information in a system in real time. The present embodiment is described using a current tracking PWM inverter as an example, as shown in fig. 1. The method of the invention is also applicable to an asynchronous motor variable frequency speed regulation vector control system adopting a voltage source type SVPWM inverter.
The working principle of the invention is as follows:
n is given by the rotation speed * The rotating speed outer ring formed by the rotating speed feedback n and the rotating speed regulator obtains a slip angle frequency signal omega s Output slip compensation delta omega after correcting load angle through rotor magnetic field orientation module s The two are added to obtain the compensated slip angular frequency
On the one hand->
And the rotation speed signal omega r Adding to obtain accurate stator angular frequency +.>
For omega 1 Integrating to obtain the space position angle theta required by the coordinate transformation. On the other hand by->
Get q-axis current command +.>
(T r Is the rotor time constant). The stator d-axis flux linkage adjusting module obtains a d-axis current instruction +.>
The two current instructions control the motor to perform variable frequency speed regulation through rotation coordinate transformation, current tracking PWM and an inverter. />
The rotor magnetic field orientation module, i.e. the synchronous rotation coordinate system d-axis current and q-axis current and voltage signals obtained by voltage and current detection and coordinate transformation, is utilized to construct a reference model and an adjustable model of a load angle, the load angle difference obtained by the reference model and the adjustable model is subjected to closed-loop control, the load angle is corrected, the accurate orientation of the rotor magnetic field is obtained, and the slip compensation delta omega is output s 。
Stator d-axis flux linkage instruction for stator d-axis flux linkage adjusting module
And the actual magnetic linkage psi d ＝L s i d Difference is made, and exciting current is controlled by PI regulation>
Under the conditions of accurate orientation of a rotor magnetic field and closed-loop adjustment of d-axis magnetic linkage, an inductance identification module calculates inductance parameters of the motor
And sending the real-time identified inductance parameters into a rotor magnetic field orientation module and a stator d-axis magnetic linkage adjusting module.
The leakage magnetic coefficient sigma identification module sends the real-time identified parameter sigma to the rotor magnetic field orientation module.
According to the above principle, the specific steps of the method of the invention include:
step one, accurately orienting a rotor magnetic field for closed loop correction of a load angle, as shown in fig. 2, specifically:
synchronous rotation by d-qThe current and voltage signals in the coordinates form a resistor R without stator s Nor rotor resistance R r Reference model of load angle θ:
wherein:
sigma is the leakage inductance of the motor, and the calculation formula is as follows:
wherein i is d 、i q 、u d 、u q Respectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, L r 、L s 、L m The motor rotor inductance, the stator inductance and the stator-rotor mutual inductance are respectively. Omega 1 Is the stator angular frequency.
Obtaining an adjustable model of the load angle theta from the measured current:
the tangent value of the load angle of the two models is input into a PI regulator, and the phase angle difference between the rotor flux linkage and the stator current is directly compensated and corrected 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 the slip frequency omega s Correcting the slip frequency when the output value of the rotor magnetic field orientation module is delta omega; if the output value for the embodiment speed closed loop adjustment is q-axis current command
The output value of the rotor magnetic field orientation module is d-axis current command +.>
The exciting current is directly regulated.
Step two, performing closed-loop adjustment on the d-axis flux linkage of the stator under the condition of accurate orientation of the rotor magnetic field, as shown in fig. 3:
stator d-axis flux linkage instruction
And the actual magnetic linkage psi d ＝L s i d Taking the difference as input of a stator flux linkage adjusting unit, wherein the adjusting unit adopts PI control, and the output is given value of d-axis current +.>
And then adjusts the exciting current of the stator. />
Step three, identifying the stator inductance parameter, as shown in fig. 4, specifically:
under the conditions of accurate orientation of a rotor magnetic field and closed-loop adjustment of d-axis magnetic linkage, the inductance parameters of the motor are simply and quickly identified according to d-axis current under synchronous rotation coordinates:
inductance parameter L to be subsequently recognized in real time s And feeding back to a rotor magnetic field orientation step and a stator d-axis magnetic linkage adjustment step.
Step four, identifying the leakage magnetic coefficient sigma, as shown in fig. 5, specifically:
under the conditions of accurate orientation of a rotor magnetic field and closed-loop adjustment of d-axis magnetic linkage, the calculation formula of the leakage magnetic coefficient sigma is deduced according to d-axis current and q-axis current under synchronous rotation coordinates as follows:
wherein:
and feeding back the leakage magnetic coefficient sigma obtained through real-time identification to a rotor magnetic field orientation step.
The method of the invention realizes the independent control of the rotor magnetic field orientation by constructing a rotor load angle reference model which is not related to the stator resistance and the rotor resistance and inputting the difference value of the two load angle tangent values into the 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 fast convergence speed. Under the conditions of accurate orientation of the rotor magnetic field and closed-loop regulation of the stator d-axis magnetic linkage, the method does not need to introduce a complex and tedious algorithm which is time-consuming and resource-consuming, does not need special hardware support, can quickly and accurately identify the stator inductance and the leakage inductance on line by a simple calculation method on the basis of accurate orientation of the rotor magnetic field and closed-loop regulation of the stator d-axis magnetic linkage, ensures the real-time accuracy of inductance parameters required by a vector control system, and lays a solid foundation for realizing high-performance variable-frequency speed-regulating vector control.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (1)
1. An on-line identification method for induction parameters of an asynchronous motor is characterized by comprising the following steps:
1) According to current and voltage signals under d-q synchronous rotation coordinates, accurately orienting a rotor magnetic field based on load angle compensation correction;
2) Performing closed-loop adjustment on the d-axis flux linkage of the stator under the condition of accurate orientation of the rotor magnetic field;
3) Under the conditions of accurate orientation of the rotor magnetic field and closed-loop adjustment of the stator d-axis magnetic linkage, on-line identification of the stator inductance parameter is carried out, and the on-line identification result of the stator inductance parameter is fed back to the accurate orientation of the rotor magnetic field;
4) Under the conditions of accurate rotor magnetic field orientation and closed-loop adjustment of stator d-axis magnetic flux linkage, on-line identification of leakage magnetic coefficients is carried out, and the on-line identification result of the leakage magnetic coefficients is fed back to the accurate rotor magnetic field orientation;
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 coordinates r And rotor resistance R r Reference model of load angle θ:
wherein:
wherein i is d 、i q 、u d 、u q Respectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, L s For motor stator inductance, ω 1 Is the stator angular frequency;
obtaining an adjustable model of the load angle theta according to the actual measurement current signal under the d-q synchronous rotation coordinate:
the tangent value of the load angle of the two models is input into a PI regulator, the phase angle difference between the rotor flux linkage and the stator current is directly compensated and corrected,obtaining the accurate orientation of the rotor magnetic field; the regulated output value is related to the output value of the rotating speed closed-loop regulation, if the output value of the rotating speed closed-loop regulation is the q-axis current given value
The output value of the rotor magnetic field orientation module is +.>
Directly regulating and controlling exciting current; if the output value of the closed-loop regulation of the rotating speed is the slip frequency omega s Correcting the slip frequency when the output value of the rotor magnetic field orientation module is delta omega;
in the step 3), the expression of the stator inductance parameter on-line identification is as follows:
in the method, in the process of the invention,
given flux linkage for stator d-axis, i d D-axis current in synchronous rotation coordinates;
in the step 4), the online identification expression of the leakage magnetic coefficient is as follows:
wherein:
wherein i is d 、i q 、u d 、u q Respectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, L s For motor stator inductance, ω 1 Is the stator angular frequency.
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| CN115425895B (en) * | 2022-11-07 | 2023-01-31 | 成都希望电子研究所有限公司 | Method for identifying mutual inductance parameter of asynchronous motor under load |
| CN116073726B (en) * | 2023-03-06 | 2023-06-20 | 成都希望电子研究所有限公司 | Constant magnetic linkage closed-loop energy-saving control method for asynchronous motor without magnetic field orientation |
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