CN111917350B - Multi-parameter identification method for flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor - Google Patents

Multi-parameter identification method for flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor Download PDF

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CN111917350B
CN111917350B CN202010572541.7A CN202010572541A CN111917350B CN 111917350 B CN111917350 B CN 111917350B CN 202010572541 A CN202010572541 A CN 202010572541A CN 111917350 B CN111917350 B CN 111917350B
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flux linkage
frequency
permanent magnet
direct
lambda
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CN111917350A (en
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王政
余开亮
叶江川
李玉庆
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Southeast 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
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/098—Arrangements for reducing torque ripple
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses a multi-parameter identification method of a flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor, which is mainly divided into four steps under the coordination of a torque flux linkage control algorithm: step A, establishing a static inductance data table and an iron loss current data table based on offline finite element electromagnetic field analysis; b, identifying high-frequency equivalent resistance and dynamic inductance based on high-frequency components; step C, identifying the stator resistance and the permanent magnetic flux linkage based on the fundamental frequency component; and step D, separating different coercive force flux linkages and identifying the temperature of the rotor. The method not only can realize the online identification of a plurality of physical parameters such as static/dynamic inductance, stator resistance, permanent magnetic flux linkage, rotor temperature and the like of the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor, but also can realize the dynamic separation of the low coercive force permanent magnetic flux linkage.

Description

Multi-parameter identification method for flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor
Technical Field
The invention relates to a multi-parameter identification method for a flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor, and belongs to the technical field of motor parameter identification.
Background
The flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor adopts a permanent magnet and direct axis current mixed excitation mode, adopts permanent magnet torque auxiliary reluctance torque, has no copper loss in a rotor, and introduces a flux linkage adjustable low coercive force permanent magnet in the rotor, so the motor has good comprehensive motor performance in the aspects of torque density, power factor, efficiency, flux regulation capability and fault tolerance. The high-performance control and the on-line identification of the model parameters of the motor cannot be avoided in the performance of improving the torque of the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor.
The existing permanent magnet synchronous motor parameter identification mainly includes the following categories: 1) a motor parameter identification method based on motor fundamental frequency components. Generally speaking, the number of the equation of the motor state is often less than the number of parameters to be identified, and partial parameter rating setting, disturbance injection and other methods are required to solve the underrank problem of the motor parameter identification. 2) A motor parameter identification method based on a motor high-frequency voltage and current signal model is disclosed. High-frequency voltage signals or flux linkage excitation signals are injected into the motor, high-frequency voltage or current response signals are extracted, and parameters such as motor inductance and the like are observed in real time according to a high-frequency signal mathematical model of the motor. 3) A motor parameter identification method based on parameter temperature physical characteristics such as resistance and flux linkage. And (3) carrying out online identification on the stator resistance and the permanent magnet flux linkage parameters by a back electromotive force method and a high-frequency signal injection method in combination with temperature physical characteristics.
Different from the traditional permanent magnet synchronous motor, the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor has the inherent characteristics of rich magnetic field space harmonic wave, tight AC/DC shaft current coupling, strong rotor salient polarity and time-varying parameter nonlinearity, thereby bringing a difficult problem to the online parameter identification of the motor. On the premise of stably controlling the torque, how to realize multi-parameter identification of the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor becomes a problem to be solved urgently for high-performance control and wide industrial application of the motor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method combines the parameter identification method with offline finite element electromagnetic field analysis, data storage and data fitting, comprehensively considers the influence of space magnetic field harmonic waves, magnetic saturation, alternating/direct axis coupling, temperature change and other factors on a motor model, and realizes the torque ripple-free during the parameter identification.
The invention adopts the following technical scheme for solving the technical problems:
a multi-parameter identification method for a flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor comprises the following steps:
step 1, establishing a static inductance database and a loss database based on offline finite element electromagnetic field analysis;
step 2, when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is under flux linkage torque control, setting the frequency of a high-frequency pulse vibration flux linkage signal, respectively injecting the high-frequency pulse vibration flux linkage signal into a direct axis and a quadrature axis, and identifying the dynamic inductance and the high-frequency equivalent resistance based on the high-frequency pulse vibration flux linkage signal;
step 3, stopping injecting the high-frequency pulse vibration flux linkage signal, and identifying the stator resistance and the permanent magnet flux linkage based on the fundamental frequency component, the static inductance database and the loss database;
and 4, identifying the temperature of the rotor by combining the high-frequency equivalent resistor identified in the step 2 and the stator resistor identified in the step 3, and separating the permanent magnet flux linkages with different coercive forces based on the temperature of the rotor.
As a preferred embodiment of the present invention, the specific process of step 2 is as follows:
step 2.1, when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is in flux linkage torque control, setting the frequency omega of the high-frequency pulse vibration flux linkage signalh1Respectively injecting high-frequency pulse vibration magnetic linkage signals from a direct axis and a quadrature axis to obtain the pulse vibration magnetic linkage amplitude | lambda | under the steady-state condition during the direct axis injectionshI, direct axis current id1Obtaining the amplitude of the magnetic linkage of the pulsating vibration in the steady state condition when the quadrature axis is injectedshI, quadrature axis current iq1；
Step 2.2, analyzing the direct-axis current i by using a discrete Fourier analysis methodd1And quadrature axis current iq1Obtaining the amplitude I of the high-frequency component of the direct-axis currentdh1Amplitude I of high-frequency component of quadrature axis currentqh1Combined with the amplitude | λ of the high frequency pulsating flux linkage signal at that timeshCalculating the dynamic inductance of the straight axis
Figure BDA0002549927490000021
Dynamic inductance of quadrature axis
Figure BDA0002549927490000022
Step 2.3, when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is in flux linkage torque control, setting the frequency omega of the high-frequency pulse vibration flux linkage signalh2Injecting high frequency pulsating flux linkage from the straight axisDirect axis voltage u under steady state of signal acquisitiond2Direct axis current id2；
Step 2.4, analyzing the direct-axis voltage u by using a discrete Fourier analysis methodd2And a direct axis current id2Obtaining the high-frequency component amplitude U of the direct-axis voltagedh2And the amplitude I of the high-frequency component of the direct-axis currentdh2Combined with the frequency omega of the high-frequency pulse-vibration magnetic linkage signalh2Calculating the equivalent resistance R of high frequencyeqh。
As a preferable embodiment of the present invention, the direct axis dynamic inductor
Figure BDA0002549927490000031
Dynamic inductance of quadrature axis
Figure BDA0002549927490000032
The calculation formula is as follows:
Figure BDA0002549927490000033
Figure BDA0002549927490000034
Figure BDA0002549927490000035
Figure BDA0002549927490000036
high frequency equivalent resistance ReqhThe calculation formula is as follows:
Figure BDA0002549927490000037
Figure BDA0002549927490000038
wherein N is the number of sampling points, omegasFor the system sampling angular frequency, j denotes the imaginary unit, id1(k)、iq1(k) Respectively the direct axis current and the quadrature axis current i of the kth samplingd2(k)、ud2(k) The current and the voltage of the direct axis of the kth sampling are respectively.
As a preferred embodiment of the present invention, the specific process of step 3 is as follows:
step 3.1, stopping injecting the high-frequency pulse vibration magnetic linkage signal, and setting an initial value lambda of the permanent magnetic linkagepm(i＝0)；
Step 3.2, obtaining the stator straight-axis voltage u under the steady state conditiondQuadrature axis voltage uqStator direct axis current idQuadrature axis current iqAnd a rotational speed ωr；
Step 3.3, according to the static inductance database established in the step 1, utilizing the current permanent magnetic flux linkage lambdapm(i) And stator direct axis current idQuadrature axis current iqObtaining the static inductance L of the direct and alternating axesd、Lq；
Step 3.4, according to the loss database established in the step 1, utilizing the current permanent magnetic flux linkage lambdapm(i) And stator direct axis current idQuadrature axis current iqObtaining direct and alternating axis loss current idF、iqF；
Step 3.5, according to the direct and alternating axis loss current idF、iqFStator direct axis voltage udQuadrature axis voltage uqStator direct axis current idQuadrature axis current iqAnd a rotational speed ωrCalculating stator resistance RsAnd a permanent magnetic flux linkage lambdapm；
Step 3.6, the current permanent magnetic flux linkage lambda is determinedpm(i) And the permanent magnetic flux linkage lambda obtained by calculation in the step 3.5pmComparing the error lambdapm(i)-λpm| is less than or equal to a set allowable range λΔIf so, executing step 3.9; when error | λpm(i)-λpm| is greater than the set allowable range λΔIf so, executing step 3.7;
step 3.7, increasing the iteration count i to i + 1;
step 3.8, setting the permanent magnetic linkage as a calculated value lambdapm(i)＝λpmReturning to the step 3.2;
and 3.9, finishing the iteration process and calculating values of the stator resistance and the permanent magnet flux linkage.
In a preferred embodiment of the present invention, the stator resistor R is a resistorsThe calculation formula is as follows:
Figure BDA0002549927490000041
permanent magnet flux linkage lambdapmThe calculation formula is as follows:
Figure BDA0002549927490000042
as a preferred embodiment of the present invention, the specific process of step 4 is as follows:
step 4.1, acquiring temperature physical characteristics of permanent magnets with different coercive forces, and establishing a data table lambda of a permanent magnet flux linkage and temperature of the permanent magnet flux linkage, wherein the data table lambda is LUT _ T (T);
step 4.2, measuring the temperature T of the stator winding before working0Combining the initial time high frequency equivalent resistance R provided in step 2eqh(0) And the initial moment stator resistance R provided in step 3s(0) Obtaining an initial value R of the equivalent resistance of the rotorreqh(0) And an initial value of rotor temperature Tr0；
Rreqh(0)＝Reqh(0)-Rs(0)
Tr0＝T0
Step 4.3, combining the t-time high-frequency equivalent resistance R provided in step 2eqh(t) and the stator resistance R at time t provided in step 3s(t) calculating the equivalent resistance R of the rotor under the injection of the high-frequency signalreqh(T) and rotor temperature Tr；
Rreqh(t)＝Reqh(t)-Rs(t)
Figure BDA0002549927490000043
Wherein, alpha is the temperature coefficient of the equivalent resistance of the rotor;
step 4.4, calculating the permanent magnet flux linkage lambda of the high-coercivity permanent magnet according to the temperature characteristic of the high-coercivity permanent magnet and the rotor temperature provided in the step 4.3HCF＝LUT_T(Tr)；
Step 4.5, according to the permanent magnetic linkage lambda with high coercive forceHCFSeparating out permanent magnetic flux linkage lambda with low coercive forceLCF：
λLCF＝λpm-λHCF
Wherein λ ispmIs a permanent magnetic linkage.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the motor parameter identification method is combined with motor offline finite element electromagnetic field analysis, data storage and data fitting, and the motor control model comprehensively considers the influence of multiple factors such as space magnetic field harmonic waves, magnetic saturation, alternating/direct axis coupling, temperature change and the like, so that the motor mathematical model for the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor multi-parameter identification is more accurate.
2. The invention adopts high-frequency flux linkage signal injection of different frequency bands, can simultaneously realize the online identification of the dynamic inductance and the high-frequency resistance of the motor on the premise of stably controlling the torque of the motor, and provides a basis for the temperature observation of the motor.
3. According to the invention, the flux linkage of the permanent magnets with different coercive forces can be separated by combining the temperature identification of the motor rotor according to the different temperature characteristics of the different permanent magnets, and the magnetization state of the permanent magnet flux linkage is provided for the online charging/demagnetizing of the low coercive force permanent magnet of the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor system.
4. The method makes full use of the modes of finite element off-line electromagnetic field analysis, high-frequency signal injection and state observation, fundamental frequency state equation observation and multi-information fusion of the physical characteristics of the permanent magnet temperature to provide supporting information mutually, and effectively and accurately realizes the on-line identification of the static/dynamic inductance, the stator resistance, the permanent magnet flux linkage, the rotor temperature and other physical parameters of the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor.
Drawings
Fig. 1 is a multi-parameter identification control block diagram for controlling flux linkage adjustable permanent magnet assisted synchronous reluctance motor based on flux linkage torque.
Fig. 2 is a flowchart of a multi-parameter identification method for a flux linkage adjustable permanent magnet assisted synchronous reluctance motor according to the present invention.
Fig. 3 is a flow chart of high frequency equivalent resistance and inductance identification based on high frequency components.
Fig. 4 is a flow chart of stator resistance and permanent magnet flux linkage identification based on fundamental frequency components.
FIG. 5 is a flow chart of different coercivity flux linkage separation and rotor temperature identification.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 and fig. 2, in cooperation with the torque flux linkage control algorithm, on one hand, the torque flux linkage control algorithm performs high-frequency flux linkage signal injection, and on the other hand, the torque flux linkage control algorithm provides high-frequency flux linkage λ of the flux linkage adjustable permanent magnet assisted synchronous reluctance motor in a steady stateshRotational speed ωrTemperature T of stator0Voltage u of the alternating and direct axesdqAnd current idq。
Based on this, the parameter identification method provided by the invention is mainly divided into four steps:
step A, establishing a static inductance data table and an iron loss current data table based on offline finite element electromagnetic field analysis;
step B is high frequency equivalent resistance and dynamic inductance identification based on high frequency components, and the specific steps are as shown in fig. 3:
step B.1: when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is inFlux linkage torque control setting the frequency omega of the high frequency pulsating flux linkage signalh1The frequency satisfies the following relation:
Figure BDA0002549927490000061
wherein ω issSampling angular frequency for the system, not set to
Figure BDA0002549927490000062
The direct axis injects the pulsating magnetic linkage signal, and the expression is as follows:
Figure BDA0002549927490000063
then obtaining steady state data including the amplitude of the magnetic linkage of the pulse vibration in the injection of the straight axisshI, direct axis current id1。
Injecting a pulsating magnetic linkage signal into the quadrature axis, wherein the expression is as follows:
Figure BDA0002549927490000064
then obtaining steady state data including the amplitude of the pulsating magnetic linkage lambda when the quadrature axis is injectedshI, quadrature axis current iq1。
Step B.2: direct axis current i is analyzed using Discrete Fourier Transform (DFT)d1And quadrature axis current iq1Obtaining the amplitude I of the high-frequency component of the direct-axis currentdh1Amplitude I of high-frequency component of quadrature axis currentqh1The formula is as follows:
Figure BDA0002549927490000071
where N is the number of sampling points, ωsSampling the angular frequency, i, for the systemd1(k)，iq1(k) Respectively for the kth samplingDirect axis current and quadrature axis current. Combining the amplitude lambda of the high-frequency pulse vibration magnetic linkage signal at the momentshFinally calculating the dynamic inductance of the straight axis
Figure BDA0002549927490000072
Dynamic inductance of quadrature axis
Figure BDA0002549927490000073
Figure BDA0002549927490000074
Step B.3: when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is controlled based on flux linkage torque, setting the frequency omega of a high-frequency pulse vibration flux linkage signalh2The frequency satisfies the following relation:
Figure BDA0002549927490000075
wherein ω ish1The high-frequency flux linkage frequency set for step B.1 is not set to
Figure BDA0002549927490000076
Then the expression of the high frequency magnetic linkage signal at this time is as follows:
Figure BDA0002549927490000077
steady state data, including the direct axis voltage u, are then obtainedd2Direct axis current id2。
Step B.4: analysis of the direct-axis voltage u by DFTd2And a direct axis current id2The high-frequency component amplitude I of the direct-axis current can be obtaineddh2And the amplitude U of the high-frequency component of the direct-axis voltagedh2：
Figure BDA0002549927490000078
Where N is the number of sampling points, ωsSampling the angular frequency, i, for the systemd2(k)、ud2(k) The current and voltage of the direct axis of the kth sample are respectively. Then combining the frequency omega of the high-frequency pulse vibration magnetic linkage signal at the momenth2Calculating the equivalent resistance R of high frequencyeqh。
Figure BDA0002549927490000081
Step C is stator resistance and permanent magnet flux linkage identification based on fundamental frequency components, and the specific steps are shown in fig. 4:
step C.1: stopping high-frequency flux linkage signal injection, and setting permanent magnet flux linkage initial value lambdapm(i＝0)。
Step C.2: for obtaining steady-state data, stator voltages u are includeddq(including u)dAnd uq) And current idq(including i)dAnd iq) Rotational speed ωr。
Step C.3: providing a static inductance database LUT _ L (lambda) according to step Apm(i),id,iq) Using the current permanent magnetic flux linkage lambdapm(i) And stator current idqObtaining the static inductance Ld,Lq。
Step C.4: the loss database LUT _ F (lambda) provided according to step Apm(i),id,iq) Using the current permanent magnetic flux linkage lambdapm(i) And stator current idqObtaining a loss current idF,iqF。
Step C.5: according to loss current idF,iqFStator voltage udqAnd current idqRotational speed ωrEqual calculation of stator resistance RsAnd a permanent magnetic flux linkage lambdapm。
Step C.6: error comparison module for comparing the set permanent magnetic flux linkage lambdapm(i) With calculated permanent magnetic flux linkage lambdapmComparing the error lambdapm(i)-λpm| is less than or equal to a set allowable range λΔThen step C.9 is performed. If error | λpm(i)-λpm| is greater than the set allowable range λΔThen step c.7 is performed.
Step C.7: increment iteration count i ═ i + 1.
Step C.8: setting the permanent magnet flux linkage to a calculated value λpm(i)＝λpmAnd returning to the step C.2.
Step C.9: ending the iterative process, and storing the calculated value to obtain the stator resistance RsAnd permanent magnet λpmAnd (3) a chain.
The stator resistance calculation formula is as follows:
Figure BDA0002549927490000082
the permanent magnetic flux linkage calculation formula is thus as follows:
Figure BDA0002549927490000083
step D is the separation of different coercive force flux linkages and the rotor temperature identification, the specific steps are as shown in fig. 5:
step D.1: acquiring the temperature physical characteristics of permanent magnets with different coercive forces, and establishing a data table lambda of the permanent magnet flux linkage and the temperature of the permanent magnet flux linkage.
Step D.2: firstly, the temperature T of the stator winding is measured before working0Combining the high frequency equivalent resistance R provided in step Beqh(0) And step C providing a stator winding resistance Rs(0) Thereby obtaining an initial value R of the equivalent resistance of the rotorreqh(0) And an initial value of rotor temperature Tr0。
Rreqh(0)＝Reqh(0)-Rs(0) (12)
Tr0＝T0 (13)
Step D.3: combining the high frequency equivalent resistance R provided in step Beqh(t) and the stator winding resistance R provided in step Cs(t), the equivalent resistance R of the rotor under the injection of the high-frequency signal can be calculatedreqh(T) to obtain a rotor temperature Tr。
Rreqh(t)＝Reqh(t)-Rs(t) (14)
Figure BDA0002549927490000091
Wherein the coefficient alpha is the temperature coefficient of the equivalent resistance of the rotor.
Step D.4: according to the temperature characteristic of the high-coercivity permanent magnet (neodymium iron boron permanent magnet), the permanent magnet flux linkage lambda of the high-coercivity permanent magnet is calculated by combining the rotor temperature provided in the step D.3HCF＝LUT_T(Tr)。
Step D.5: according to the two groups of data, the permanent magnet flux linkage lambda of the low coercive force (the low coercive force permanent magnet such as alnico, samarium cobalt and the like) can be separatedLCFAs shown in the following formula:
λLCF＝λpm-λHCF (16)
wherein LUT _ T is a data table of the permanent magnetic flux linkage of the high coercivity permanent magnet as a function of temperature.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.

Claims (3)

1. A multi-parameter identification method for a flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is characterized by comprising the following steps:
step 1, establishing a static inductance database and a loss database based on offline finite element electromagnetic field analysis;
step 2, when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is under flux linkage torque control, setting the frequency of a high-frequency pulse vibration flux linkage signal, respectively injecting the high-frequency pulse vibration flux linkage signal into a direct axis and a quadrature axis, and identifying the dynamic inductance and the high-frequency equivalent resistance based on the high-frequency pulse vibration flux linkage signal;
the specific process of the step 2 is as follows:
step 2.1, when flux linkage is adjustable, the permanent magnet is assistedSetting the frequency omega of the high-frequency pulse vibration flux linkage signal when the synchronous reluctance-assisted motor is in flux linkage torque controlh1Respectively injecting high-frequency pulse vibration magnetic linkage signals from a direct axis and a quadrature axis to obtain the pulse vibration magnetic linkage amplitude | lambda | under the steady-state condition during the direct axis injectionshI, direct axis current id1Obtaining the amplitude of the magnetic linkage of the pulsating vibration in the steady state condition when the quadrature axis is injectedshI, quadrature axis current iq1；
Step 2.2, analyzing the direct-axis current i by using a discrete Fourier analysis methodd1And quadrature axis current iq1Obtaining the amplitude I of the high-frequency component of the direct-axis currentdh1Amplitude I of high-frequency component of quadrature axis currentqh1Combined with the amplitude | λ of the high frequency pulsating flux linkage signal at that timeshCalculating the dynamic inductance of the straight axis
Figure FDA0003337254910000011
Dynamic inductance of quadrature axis
Figure FDA0003337254910000012
Step 2.3, when the flux linkage adjustable permanent magnet auxiliary synchronous reluctance motor is in flux linkage torque control, setting the frequency omega of the high-frequency pulse vibration flux linkage signalh2Obtaining the direct-axis voltage u under the steady-state condition by injecting a high-frequency pulse vibration flux linkage signal from the direct axisd2Direct axis current id2；
Step 2.4, analyzing the direct-axis voltage u by using a discrete Fourier analysis methodd2And a direct axis current id2Obtaining the high-frequency component amplitude U of the direct-axis voltagedh2And the amplitude I of the high-frequency component of the direct-axis currentdh2Combined with the frequency omega of the high-frequency pulse-vibration magnetic linkage signalh2Calculating the equivalent resistance R of high frequencyeqh；
Step 3, stopping injecting the high-frequency pulse vibration flux linkage signal, and identifying the stator resistance and the permanent magnet flux linkage based on the fundamental frequency component, the static inductance database and the loss database;
the specific process of the step 3 is as follows:
step 3.1, stopping injecting the high-frequency pulse vibration magnetic linkage signal, and setting an initial value lambda of the permanent magnetic linkagepm(i)，i＝0；
Step 3.2, obtaining the stator straight-axis voltage u under the steady state conditiondQuadrature axis voltage uqStator direct axis current idQuadrature axis current iqAnd a rotational speed ωr；
Step 3.3, according to the static inductance database established in the step 1, utilizing the current permanent magnetic flux linkage lambdapm(i) And stator direct axis current idQuadrature axis current iqObtaining the static inductance L of the direct and alternating axesd、Lq；
Step 3.4, according to the loss database established in the step 1, utilizing the current permanent magnetic flux linkage lambdapm(i) And stator direct axis current idQuadrature axis current iqObtaining direct and alternating axis loss current idF、iqF；
Step 3.5, according to the direct and alternating axis loss current idF、iqFStator direct axis voltage udQuadrature axis voltage uqStator direct axis current idQuadrature axis current iqAnd a rotational speed ωrCalculating stator resistance RsAnd a permanent magnetic flux linkage lambdapm；
Step 3.6, the current permanent magnetic flux linkage lambda is determinedpm(i) And the permanent magnetic flux linkage lambda obtained by calculation in the step 3.5pmComparing the error lambdapm(i)-λpm| is less than or equal to a set allowable range λΔIf so, executing step 3.9; when error | λpm(i)-λpm| is greater than the set allowable range λΔIf so, executing step 3.7;
step 3.7, increasing the iteration count i to i + 1;
step 3.8, setting the permanent magnetic linkage as a calculated value lambdapm(i)＝λpmReturning to the step 3.2;
step 3.9, ending the iteration process and outputting the calculated values of the stator resistance and the permanent magnet flux linkage;
step 4, identifying the rotor temperature by combining the high-frequency equivalent resistor identified in the step 2 and the stator resistor identified in the step 3, and separating the permanent magnet flux linkages with different coercive forces based on the rotor temperature;
the specific process of the step 4 is as follows:
step 4.1, acquiring the temperature physical characteristics of the high-coercivity permanent magnet, and establishing a data table lambda of the permanent magnet flux linkage and the temperature of the permanent magnetHCF＝LUT_T(Tr)；
Step 4.2, measuring the temperature T of the stator winding before working0Combining the initial time high frequency equivalent resistance R provided in step 2eqh(0) And the initial moment stator resistance R provided in step 3s(0) Obtaining an initial value R of the equivalent resistance of the rotorreqh(0) And an initial value of rotor temperature Tr0；
Rreqh(0)＝Reqh(0)-Rs(0)
Tr0＝T0
Step 4.3, combining the t-time high-frequency equivalent resistance R provided in step 2eqh(t) and the stator resistance R at time t provided in step 3s(t) calculating the equivalent resistance R of the rotor under the injection of the high-frequency signalreqh(T) and rotor temperature Tr；
Rreqh(t)＝Reqh(t)-Rs(t)
Figure FDA0003337254910000021
Wherein, alpha is the temperature coefficient of the equivalent resistance of the rotor;
step 4.4, calculating the permanent magnet flux linkage lambda of the high-coercivity permanent magnet according to the temperature characteristic of the high-coercivity permanent magnet and the rotor temperature provided in the step 4.3HCF＝LUT_T(Tr)；
Step 4.5, according to the permanent magnetic linkage lambda with high coercive forceHCFSeparating out permanent magnetic flux linkage lambda with low coercive forceLCF：
λLCF＝λpm-λHCF
Wherein λ ispmIs a permanent magnetic linkage.
2. The method of claim 1, wherein the direct axis dynamics is applied to the multi-parameter identification of the flux-linkage-adjustable PMSMInductance
Figure FDA0003337254910000031
Dynamic inductance of quadrature axis
Figure FDA0003337254910000032
The calculation formula is as follows:
Figure FDA0003337254910000033
Figure FDA0003337254910000034
Figure FDA0003337254910000035
Figure FDA0003337254910000036
high frequency equivalent resistance ReqhThe calculation formula is as follows:
Figure FDA0003337254910000037
Figure FDA0003337254910000038
wherein N is the number of sampling points, omegasFor the system sampling angular frequency, j denotes the imaginary unit, id1(k)、iq1(k) Respectively the direct axis current and the quadrature axis current i of the kth samplingd2(k)、ud2(k) The current and the voltage of the direct axis of the kth sampling are respectively.
3. The method of claim 1, wherein the stator resistance R is a resistance of the permanent magnet synchronous reluctance machinesThe calculation formula is as follows:
Figure FDA0003337254910000039
permanent magnet flux linkage lambdapmThe calculation formula is as follows:
Figure FDA0003337254910000041
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