CN111224598A - Method for simultaneously identifying parameter saturation values of permanent magnet motor - Google Patents
Method for simultaneously identifying parameter saturation values of permanent magnet motor Download PDFInfo
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- CN111224598A CN111224598A CN202010139819.1A CN202010139819A CN111224598A CN 111224598 A CN111224598 A CN 111224598A CN 202010139819 A CN202010139819 A CN 202010139819A CN 111224598 A CN111224598 A CN 111224598A
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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
- H02P21/141—Flux estimation
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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 relates to the technical field of motor control, in particular to a method for simultaneously identifying parameter saturation values of a permanent magnet motor. The method comprises the following steps: dragging the permanent magnet motor to a determined rotating speed; setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set; giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component; when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes; when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current; when the current control is stable, calculating the equivalent value of the output torque of the motor; simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting; and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method for simultaneously identifying parameter saturation values of a permanent magnet motor.
Background
With the wider application of the permanent magnet synchronous motor control system, the control method thereof is gradually mature, and the main involved parts in the methods are MTPA control and flux weakening control. The application of these methods often requires three important permanent magnet motor parameters: quadrature axis inductance, direct axis inductance, rotor flux linkage. Generally, an impedance method principle is adopted to identify inductance parameters, and a voltage detection principle is adopted to identify rotor flux linkage. However, in the existing permanent magnet motor parameter testing or identifying method, most of the three parameters do not consider the saturation values of the three parameters under different stator currents, and only one parameter value under a specific load is often tested. The saturation characteristic of the inductor is considered in some methods, but the influence of the saturation condition on the rotor permanent magnet is not considered, and the orthogonal and orthogonal axis inductors need to be tested and identified respectively. In addition, the existing identification technology is not high in precision when the impedance method principle is applied.
The Chinese invention patent application with the patent application number of 201810428845.9 discloses an on-line identification method for parameter saturation coefficients of an electrically excited synchronous motor, and particularly, the accuracy of a result can be ensured by monitoring the terminal voltage and the armature current, applying a hybrid artificial intelligence algorithm and reasonably setting an optimization objective function of the algorithm. But the acquired saturation coefficient parameter index is relatively single.
Disclosure of Invention
The invention aims to provide a method for simultaneously identifying parameter saturation values of a permanent magnet motor, which can simultaneously identify quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents. Three parameter tables formed by the saturation values of the parameters provide a calibration basis for the vector control of the permanent magnet motor.
The embodiment of the invention is realized by the following steps:
a method for simultaneously identifying parameter saturation values of a permanent magnet motor comprises the following steps:
dragging the permanent magnet motor to a determined rotating speed;
setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component;
when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes;
when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current;
when the current control is stable, calculating the equivalent value of the output torque of the motor;
simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting;
and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
In the preferred embodiment of the present invention:
the dragging the permanent magnet motor to a determined rotation speed comprises the following steps: the rotating speed interval is 50-80% of the rated rotating speed.
In any of the above aspects, preferably, the driving of the permanent magnet motor to a certain rotation speed includes: the permanent magnet motor is pulled to a determined rotational speed by the test bench.
In any of the above aspects, it is preferable that the setting of the dq-axis current gives, each of which has a dc give and an ac give, includes: setting direct current as a working point for identifying a motor parameter saturation value; alternating current is given to be used as an excitation source required by identification of the inductor; the alternating current is given exactly the same frequency and phase.
In any of the above embodiments, preferably, the ac setting is a high frequency ac setting.
In any of the above aspects, preferably, the combined current controller performs combined control using a deviation of the current control system so that the current feedback matches a predetermined value.
In any one of the above aspects, preferably, the calculating of the equivalent values of the ac and dc output reactive powers, the ac component, and the motor output torque when the current control is stable includes: setting variables, and calculating the mean value of a plurality of equivalent physical quantities in an integral number of periods of the given alternating current component of the current.
In any of the above embodiments, preferably, the simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance, and rotor flux linkage under the current dq-axis current includes: the single-phase reactive power is used for identifying the inductance values of the alternating and direct axes of the motor, and the influence of dead zones of switching devices and pipe voltage drop factors is eliminated.
In any of the above embodiments, preferably, the simultaneously calculating saturation values of quadrature axis inductance, direct axis inductance, and rotor flux linkage under the current dq-axis current includes: and (3) stabilizing a motor system by using a direct current component in current giving and utilizing a dynamometer bench to identify the inductance values of the motor under the condition of alternating-direct axis saturation and cross saturation.
A second aspect of the present invention relates to a method for simultaneously identifying saturation values of parameters of a permanent magnet motor, comprising:
dragging the permanent magnet motor to a determined rotating speed;
judging whether the inductance test is finished at different working points;
if the detection is finished, outputting an inductance matrix;
if not:
setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component;
when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes;
when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current;
when the current control is stable, calculating the equivalent value of the output torque of the motor;
simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting;
and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
When the method for simultaneously identifying the parameter saturation values of the permanent magnet motor provided by the embodiment of the invention is used, the permanent magnet motor is dragged to a certain rotating speed by using a prime mover of a test bench, the specific dq axis current of the permanent magnet motor is given at the moment, and the composite current controller provided by the invention is used for controlling the stator current to track the given current. The reactive power equivalent value and the output current equivalent value of the alternating and direct axes defined by the invention are calculated, and then the inductance value under the specific load current can be identified simultaneously. Meanwhile, by calculating the output torque, the permanent magnet flux linkage of the rotor under a specific load current can be identified. And changing different stator currents, and finally identifying the parameter saturation values of the permanent magnet motor at all working points.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
Fig. 1 is a diagram illustrating a dq-axis current setting of a permanent magnet motor.
Fig. 2 is a flow chart of permanent magnet motor parameter saturation value identification.
Fig. 3 is a control block diagram of the composite current controller.
Fig. 4 is a flowchart illustrating a process of determining and identifying a saturation value of a permanent magnet motor parameter.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, which shows a flowchart of a method for identifying saturation values of parameters of a permanent magnet motor simultaneously according to an embodiment of the present application, as shown in fig. 2, the method includes:
dragging the permanent magnet motor to a determined rotating speed;
setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component;
when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes;
when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current;
when the current control is stable, calculating the equivalent value of the output torque of the motor;
simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting;
and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
The permanent magnet motor is dragged to a determined rotating speed by using the test bench, which is a prerequisite for identification, the rotating speed cannot be too low so as not to influence the calculation accuracy of the reactive power equivalent value and the output torque equivalent value, and cannot be too high so as not to cause the output voltage saturation due to inductance voltage drop. The rotating speed is optimally within the range of 50-80% of the rated rotating speed. Without setting the speed to nRefAt this time, the synchronous frequency of the motor is fs. In this embodiment, n is suggestedRef＝40％nNWherein n isNThe rotation speed is the rated rotation speed, so that the calculation precision in the identification process is ensured, and the problem of voltage output saturation is solved.
Referring to fig. 1 for the purpose of illustrating the current settings of the dq axis of a permanent magnet motor, the dq axis is defined in this manner, and each setting contains a dc setting and a high frequency ac setting. The DC component is used as a working point for identifying the saturation value of the motor parameter, and the AC component is used as an identification inductorThe required excitation source. The frequency and phase of the dq ac component are required to be identical. In the present embodiment, it is assumed that the maximum operating phase current peak value of the permanent magnet motor is IPeakD-axis current given DC component from-IPeakStarting to 0, sequentially taking 10 test points, and setting the direct current component of the q-axis current from IPeakStart to-IPeakAnd sequentially taking 20 test points. The amplitude of the alternating current component given by the two-axis current is 5 percent IPeak。
Referring to fig. 2, a flow chart of identifying saturation values of parameters of a permanent magnet motor, different given combinations of dq-axis currents can identify a set of parameters of the permanent magnet motor under the working current condition. The reason that the d-axis current is given to take the value only at the negative half axis is that the permanent magnet motor cannot work in a magnetism increasing (paramagnetic) state. The reason why the q-axis current is given to be a value in the positive and negative maximum currents is that the permanent magnet motor can work in an electric state and a power generation state.
Because the given value of the control system is not a pure direct current quantity, the invention designs a composite current controller. The composite current controller carries out composite control by utilizing the deviation of the current control system, and finally the current feedback is consistent with the given value.
Based on this, the control block diagram of the composite current controller provided by the present application is shown in fig. 3. Let d-axis current be given as IdRefWherein the direct current component is IdRefDcSetting q-axis current given as IqRefThe direct current component is IqRefDc. Two alternating current components being set to high-frequency signals of the same amplitude and frequency, i.e. iRefAc＝IAcsin2πfht. The final setting is thus:
in general, to accurately calculate the equivalent value of a subsequent variable, f will generally behIs set as a beat frequency f which can be sampledcThe value of integer division is not provided
Thus, every N sampling beats, the high frequency ac component goes through a complete cycle. Meanwhile, in order to reduce the signal-to-noise ratio in identification, the inductance voltage drop must be larger, the inductance impedance is higher, and the frequency f is generally sethThe higher value is set at least more than twice the synchronous frequency of the motor operation.
In order to accurately identify the motor parameters, the invention designs variables beneficial to accurate identification: the reactive power equivalent values of the alternating and direct axis output and the alternating component equivalent values of the alternating and direct axis currents. The calculation of these variables requires the averaging of several equivalent physical quantities over an integer number of cycles of a given alternating current component of the current. And finally, identifying the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage in a certain working current state by using the variables.
Based on this, the present invention contemplates the following variable definitions:
d-axis current AC component equivalent value IdAcAvgDefined as the square average of the ac component of the d-axis current over M cycles of the high frequency ac component, since the composite current controller of the above embodiment is used, the current feedback is equal to the current setpoint, and therefore the current setpoint calculation is used, namely, there are
q-axis current AC component equivalent value IqAcAvgThis is defined as averaging the square of the ac component of the q-axis current over M periods of the high-frequency ac component. Since the high frequency AC component of the dq axis current is given the same, there is IqAcAvg＝IdAcAvg。
The d-axis output reactive power equivalent value is defined as the average value of reactive power generated by the alternating current component of the d-axis current in M periods of high-frequency alternating current components. Because the solution is carried out in integral cycles, the voltage component of the alternating current component generating the d-axis current does not need to be calculated, and the d-axis voltage output is directly used, namely
The q-axis output reactive power equivalent value is defined as the average value of reactive power generated by the alternating current component of the q-axis current in M periods of high-frequency alternating current components. Also using the q-axis voltage output directly, i.e. having
Because the saturation values of the parameters of the permanent magnet motor need to be identified in all working current states, the given dq-axis current is changed, repeated calculation is carried out, the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents can be obtained, and finally a permanent magnet motor parameter saturation value table is obtained.
The single-phase reactive power is used for identifying the inductance values of the alternating and direct axes of the motor, and the influence of dead zones of switching devices and pipe voltage drop factors is eliminated. Because factors such as the dead zone of the switching device, the voltage drop of the tube and the like are reflected as active power in power, the reactive power is used for identifying the inductance value, and the influence of the nonlinear factors can be eliminated. And calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting.
And (3) stabilizing a motor system by using a direct current component in current giving and utilizing a dynamometer bench to identify the inductance values of the motor under the condition of alternating-direct axis saturation and cross saturation. The measured inductance is the saturation inductance at a given dc current.
And identifying saturation values of the direct-axis inductor and the quadrature-axis inductor corresponding to respective currents, namely identifying a direct-axis inductor saturation value under a certain direct-axis current and a quadrature-axis inductor saturation value under a certain quadrature-axis current. Meanwhile, the cross saturation value of the quadrature-direct axis inductance can be identified, namely the direct axis inductance saturation value under a certain quadrature axis current and the quadrature axis inductance saturation value under a certain direct axis current are identified.
Referring to fig. 4, it shows a flowchart for determining and identifying a saturation value of a permanent magnet motor parameter simultaneously according to an embodiment of the present application, and as shown in fig. 4, the method includes:
dragging the permanent magnet motor to a determined rotating speed;
judging whether the inductance test is finished at different working points;
if the detection is finished, outputting an inductance matrix;
if not:
setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component;
when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes;
when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current;
when the current control is stable, calculating the equivalent value of the output torque of the motor;
simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting;
and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
Based on the method, repeated calculation is avoided and efficiency is improved by judging the historical data.
In summary, the method for simultaneously identifying the parameter saturation values of the permanent magnet motor has the beneficial effects that:
when the method for simultaneously identifying the parameter saturation values of the permanent magnet motor is used, the permanent magnet motor is dragged to a certain rotating speed by using a prime mover of a test bench, the specific dq-axis current of the permanent magnet motor is given at the moment, and the composite current controller is used for controlling the stator current to track the given current. The reactive power equivalent value and the output current equivalent value of the alternating and direct axes defined by the invention are calculated, and then the inductance value under the specific load current can be identified simultaneously. Meanwhile, by calculating the output torque, the permanent magnet flux linkage of the rotor under a specific load current can be identified. And changing different stator currents, and finally identifying the parameter saturation values of the permanent magnet motor at all working points.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It should also be noted that, in this document, the term "comprises/comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group of processes, methods, articles, or devices that include the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for simultaneously identifying parameter saturation values of a permanent magnet motor is characterized by comprising the following steps:
dragging the permanent magnet motor to a determined rotating speed;
setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component;
when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes;
when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current;
when the current control is stable, calculating the equivalent value of the output torque of the motor;
simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting;
and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
2. The method of claim 1, wherein said drawing the permanent magnet motor to a determined rotational speed comprises:
the rotating speed interval is 50-80% of the rated rotating speed.
3. The method of claim 1, wherein said drawing the permanent magnet motor to a determined rotational speed comprises:
a counter-traction test bench with a prime mover and a motor to be tested is used, the prime mover is operated in a speed control mode by a control device, and the permanent magnet motor is driven to a determined speed by the prime mover on the test bench.
4. The method of claim 1, wherein setting dq-axis current commands, each command having a dc command and an ac command, comprises:
setting direct current as a working point for identifying a motor parameter saturation value;
alternating current is given to be used as an excitation source required by identification of the inductor;
the alternating current is given exactly the same frequency and phase.
5. The method of claim 3, wherein the AC supply is a high frequency AC supply.
6. The method of claim 1, wherein the compound current controller utilizes a bias of a current control system for compound control to achieve current feedback consistent with a given.
7. The method of claim 1, wherein calculating the ac and dc output reactive power, ac component and motor output torque equivalents while the current control is stable comprises: setting variables, and calculating the mean value of a plurality of equivalent physical quantities in an integral number of periods of the given alternating current component of the current.
8. The method of claim 1, wherein the simultaneously calculating the saturation values of quadrature-axis inductance, direct-axis inductance, and rotor flux linkage given the current dq-axis current comprises:
the single-phase reactive power is used for identifying the inductance values of the alternating and direct axes of the motor.
9. The method of claim 1, wherein the simultaneously calculating the saturation values of quadrature-axis inductance, direct-axis inductance, and rotor flux linkage given the current dq-axis current comprises:
and (3) stabilizing a motor system by using a direct current component in current giving and utilizing a dynamometer bench to identify the inductance values of the motor under the condition of alternating-direct axis saturation and cross saturation.
10. A method for simultaneously identifying parameter saturation values of a permanent magnet motor is characterized by comprising the following steps:
dragging the permanent magnet motor to a determined rotating speed;
judging whether the inductance test is finished at different working points;
if the detection is finished, outputting an inductance matrix;
if not:
setting dq-axis current set, wherein each set comprises a direct current set and an alternating current set;
giving and feeding back the current of the dq axis, controlling the actual stator current through a composite current controller, and tracking the given current containing an alternating current component;
when the current control is stable, calculating the equivalent value of the output reactive power of the alternating and direct axes;
when the current control is stable, calculating the equivalent values of alternating current components in alternating current and direct current;
when the current control is stable, calculating the equivalent value of the output torque of the motor;
simultaneously calculating the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under the current dq axis current setting;
and (3) changing the given dq axis current, and repeatedly calculating to obtain the saturation values of quadrature axis inductance, direct axis inductance and rotor flux linkage under different stator currents.
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