CN112003529A - General permanent magnet synchronous motor flux linkage off-line identification method and system - Google Patents

General permanent magnet synchronous motor flux linkage off-line identification method and system Download PDF

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Publication number
CN112003529A
CN112003529A CN202010817061.2A CN202010817061A CN112003529A CN 112003529 A CN112003529 A CN 112003529A CN 202010817061 A CN202010817061 A CN 202010817061A CN 112003529 A CN112003529 A CN 112003529A
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Prior art keywords
stator current
permanent magnet
magnet synchronous
motor
flux linkage
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赵许强
甄远伟
侯运昌
张家明
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CRRC Qingdao Sifang Rolling Stock Research Institute Co Ltd
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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
    • 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
    • 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
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a general permanent magnet synchronous motor flux linkage off-line identification method and system. The magnetic linkage off-line identification method comprises the following steps: the permanent magnet synchronous motor operates at the highest working frequency under the control of V/F, and after the operation is stable, the V/F control is switched to active three-phase symmetrical short circuit control; continuously acquiring a stator current signal of an acquisition period after switching to active three-phase symmetrical short circuit control; taking the maximum value of the collected stator current signal as the peak value of the stator current, and obtaining the d-axis inductance component L according to the knowledgedAnd calculating permanent magnetic linkage psi by using the peak value of the stator currentf. The flux linkage off-line identification method is strong in universality and high in identification precision, and an identification system for realizing the method is simple in structure and easy to implement in engineering.

Description

General permanent magnet synchronous motor flux linkage off-line identification method and system
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly relates to a general permanent magnet synchronous motor flux linkage offline identification method and system.
Background
The permanent magnet synchronous motor has the obvious advantages of simple structure, reliable operation, small volume, light weight, small loss, high efficiency and the like, and is widely applied to the fields of aerospace, national defense, industrial and agricultural production and the like. Accurate motor parameters are the precondition for realizing a high-performance control system of the permanent magnet synchronous motor. The permanent magnet synchronous motor high-performance control system is widely applied to a vector control technology, and permanent magnet flux linkage is an essential main parameter in the vector control technology, however, some permanent magnet synchronous motors do not give flux linkage parameters when leaving a factory, and the permanent magnet flux linkage needs to be identified.
The conventional permanent magnet flux linkage identification method needs to obtain the rotating speed or the counter electromotive force of the motor, and can be only applied to a motor controller provided with an output voltage sensor or a motor rotating speed sensor. However, at present, almost all motor controllers are provided with output current sensors, and part of the motor controllers are not provided with output voltage sensors and motor speed sensors, so that the existing common permanent magnet flux linkage identification method has poor universality and cannot be widely applied to various motor controllers.
Disclosure of Invention
The invention provides a general permanent magnet synchronous motor flux linkage off-line identification method and system for identifying permanent magnet flux linkage by only measuring the stator current of a motor aiming at the technical problems of the common permanent magnet flux linkage identification method.
In order to achieve the above object, the present invention provides a general method for identifying flux linkage of a permanent magnet synchronous motor offline, comprising the following steps:
the permanent magnet synchronous motor operates at the highest working frequency under the control of V/F, and after the operation is stable, the V/F control is switched to active three-phase symmetrical short circuit control;
continuously acquiring a stator current signal of an acquisition period after switching to active three-phase symmetrical short circuit control;
taking the maximum value of the collected stator current signal as the peak value of the stator current according to the known d-axis inductance component LdAnd calculating permanent magnetic linkage psi by using the peak value of the stator currentf。
Preferably, the collection period of the stator current signal is
Figure BDA0002633101310000021
Wherein f ismaxThe maximum working frequency of the permanent magnet synchronous motor.
Preferably, the permanent magnetic linkage psi is calculatedfThe method comprises the following steps:
the state equation of the permanent magnet synchronous motor dq under a rotating coordinate system is
Figure BDA0002633101310000022
Wherein u isdStator voltage d-axis component, uqAs stator voltage q-axis component, RsIs stator resistance, idStator current d-axis component, iqBeing the q-axis component of the stator current, ωeFor synchronizing the angular frequency, LdIs d-axis inductance component, LqAs a component of the q-axis inductance,
Figure BDA0002633101310000023
is a differential operator;
in steady state of active three-phase symmetrical short circuit, ud＝0，uq＝0，
Figure BDA0002633101310000024
It is substituted by formula (1) to obtain:
Figure BDA0002633101310000025
solving equation (2) can obtain idAnd iq；
The stator current peak is then:
Figure BDA0002633101310000026
in the formula (3), the synchronous angular frequency is:
Figure BDA0002633101310000031
wherein Speed is motor Speed, npThe number of pole pairs of the motor is;
if 0.8 x motor Speed peak ≦ Speed ≦ motor Speed peak, ω ise 4ψf 2Ld 2Much larger than omegae 2ψf 2Ld 2，ωe 4Ld 2Lq2Far greater than Rs 4+2ωe 2Ld Lq Rs 2The peak value of the stator current under the rotating Speed of the motor is as follows:
Figure BDA0002633101310000032
the permanent magnetic linkage is:
ψf≈IsmLd (6)
wherein, IsmIs the stator current peak;
the obtained stator current peak value IsmAnd a known d-axis inductance component LdCan calculate the permanent magnetic linkage psi by substituting into formula (6)f。
The invention also provides a general flux linkage off-line identification system of the permanent magnet synchronous motor, which is used for realizing the flux linkage identification method and comprises a motor controller, wherein the motor controller further comprises:
the three-phase output end of the inversion unit is connected with the permanent magnet synchronous motor;
the control unit is connected with the inversion unit and used for switching the V/F control to active three-phase symmetrical short circuit control;
the current sensor is connected with the permanent magnet synchronous motor and is used for acquiring a stator current signal;
the calculating unit is connected with the current sensor and used for calculating the stator current signal according to the stator current signal acquired by the current sensor,obtaining the peak value of the stator current, and calculating the permanent magnetic linkage psi according to the peak value of the stator current and the known d-axis inductance component Ldf。
Preferably, the motor controller further comprises a direct current power supply and a pair of control switches, and two ends of the direct current power supply respectively supply power to the motor controller through one control switch.
Preferably, when the motor controller is switched to active three-phase symmetric short circuit control, the control switch is in a normally open state.
Preferably, the active three-phase symmetric short circuit control is to simultaneously turn on six IGBT switching tubes on three inverter arms of the inverter unit and keep the on state.
Compared with the prior art, the invention has the advantages and positive effects that: the flux linkage off-line identification method does not need a motor controller to be provided with an output voltage sensor, does not need to acquire the rotating speed information of the motor, can identify the permanent magnet flux linkage only by measuring the current of the stator of the motor, and has the advantages of strong universality, simple method, easy engineering realization and higher identification precision.
Drawings
FIG. 1 is a schematic diagram of a basic structure of an identification system according to the present invention;
FIG. 2 is a waveform of the motor rotation speed during the simulation of the permanent magnet flux linkage of the permanent magnet synchronous motor according to the present invention;
FIG. 3 is a waveform diagram of the motor stator current during the simulation of the permanent magnet flux linkage of the permanent magnet synchronous motor according to the present invention;
fig. 4 is a waveform diagram of the motor stator current in an acquisition period in the process of simulating the permanent magnet flux linkage of the permanent magnet synchronous motor.
In the figure, 1, a motor controller; 11. an inversion unit; 2. a permanent magnet synchronous motor; 3. a direct current power supply; 4. and controlling the switch.
Detailed Description
Hereinafter, embodiments of the present invention will be further described with reference to the accompanying drawings.
The invention firstly provides a general permanent magnet synchronous motor flux linkage off-line identification method, which comprises the following steps:
and S1, operating the permanent magnet synchronous motor at the highest working frequency under the control of the V/F, and switching to active three-phase symmetrical short circuit control by the V/F after the operation is stable.
In this embodiment, V/F control is very mature in the prior art, and therefore is not described in detail; the active three-phase symmetrical short circuit control is to simultaneously conduct six IGBT switching tubes on three inverter bridge arms of the inverter unit and keep the six IGBT switching tubes on.
S2, continuously acquiring a stator current signal of an acquisition period after switching to active three-phase symmetrical short circuit control; the collection period of the stator current is
Figure BDA0002633101310000051
Wherein f ismaxThe maximum working frequency of the permanent magnet synchronous motor.
Specifically, in this embodiment, after the control mode of the permanent magnet synchronous motor is switched from the V/F control to the active three-phase symmetric short circuit control, the electromagnetic torque is changed from the driving torque to the braking torque, and the rotation speed of the motor slowly decreases under the action of the braking torque, so the stator current frequency is smaller than FmaxBut not soon below
Figure BDA0002633101310000052
It is considered that the frequency of the stator current in the permanent magnet flux linkage identification process is always greater than that in the permanent magnet flux linkage identification process
Figure BDA0002633101310000053
I.e. the period of the stator current is less than
Figure BDA0002633101310000054
Thus acquiring one acquisition cycle
Figure BDA0002633101310000055
The stator current signal in time must have a stator current peak value in the acquisition period.
S3, taking the maximum value of the collected stator current signal as the peak value of the stator current according to the known d-axis inductance component LdAnd calculating permanent magnetic linkage psi by using the peak value of the stator currentf。
Further, calculating the permanent magnetic linkage psifThe method comprises the following steps:
the state equation of the permanent magnet synchronous motor dq under a rotating coordinate system is
Figure BDA0002633101310000056
Wherein u isdStator voltage d-axis component, uqAs stator voltage q-axis component, RsIs stator resistance, idStator current d-axis component, iqBeing the q-axis component of the stator current, ωeFor synchronizing the angular frequency, LdIs d-axis inductance component, LqAs a component of the q-axis inductance,
Figure BDA0002633101310000057
is a differential operator;
in steady state of active three-phase symmetrical short circuit, ud＝0，uq＝0，
Figure BDA0002633101310000058
It is substituted by formula (1) to obtain:
Figure BDA0002633101310000059
solving equation (2) can obtain idAnd iq；
The stator current peak is then:
Figure BDA0002633101310000061
in the formula (3), the synchronous angular frequency is:
Figure BDA0002633101310000062
wherein Speed is motor Speed, npThe number of pole pairs of the motor is;
if 0.8 x motor Speed peak ≦ Speed ≦ motor Speed peak, ω ise 4ψf 2Ld 2Much larger than omegae 2ψf 2Ld 2，ωe 4Ld 2Lq2Far greater than Rs 4+2ωe 2Ld Lq Rs 2The peak value of the stator current under the rotating Speed of the motor is as follows:
Figure BDA0002633101310000063
the permanent magnetic linkage is:
ψf≈IsmLd (6)
wherein, IsmIs the stator current peak;
the obtained stator current peak value IsmAnd a known d-axis inductance component LdCan calculate the permanent magnetic linkage psi by substituting into formula (6)f。
Referring to fig. 1, the system includes a motor controller 1, a dc power supply 2 and a pair of control switches 4, where two ends of the dc power supply 3 are respectively connected with the motor controller 1 through one control switch 4 to supply power to the motor controller 1.
The motor controller 1 further includes:
the three-phase output end of the inversion unit 11 is connected with the permanent magnet synchronous motor 2;
the control unit is connected with the inversion unit and used for switching the V/F control to active three-phase symmetrical short circuit control;
the current sensor is connected with the permanent magnet synchronous motor and is used for acquiring a stator current signal;
the calculating unit is connected with the current sensor and used for acquiring a stator current peak value according to a stator current signal acquired by the current sensor and acquiring a known d-axis inductance component L according to the stator current peak valuedCalculating the permanent magnetic linkage psif。
Furthermore, the active three-phase symmetric short circuit control is to simultaneously turn on six IGBT switch tubes on three inverter bridge arms of the inverter unit and keep on, and how to specifically control the on-off of the IGBT switch tubes is a gettering technology, which is not described herein again; when the control unit of the motor controller 1 is switched to active three-phase symmetrical short circuit control, the control switch is in a normally open state.
The specific work flow of the system is as follows:
(1) the permanent magnet synchronous motor operates at the highest working frequency under the control of V/F, after the operation is stable, the motor controller 1 is switched to active three-phase symmetrical short circuit control from the control of V/F, namely, six IGBT switching tubes on three inverter bridge arms of an inverter unit are simultaneously switched on and kept in a switched-on state, and meanwhile, a control switch is switched off, so that the short circuit on the direct current power supply side of the motor controller is avoided. At the moment, the inverter bridge arm and the permanent magnet synchronous motor form a closed loop, and the stator current is formed;
(2) continuous collection of current sensor
Figure BDA0002633101310000071
Stator current signal over time;
(3) the calculating unit obtains a stator current signal acquired by the current sensor, takes the maximum value of the stator current signal as a stator current peak value, and obtains the known d-axis inductance component L according to the stator current peak valuedAnd calculating the permanent magnetic flux linkage.
And (3) establishing a Simulink simulation model by using MATLAB, and verifying the method. Wherein permanent magnet synchronous motor stator resistance RsAn inductance L of 0.015 omega and q axisqAn axial inductance L of 0.002H, dd0.0005H and permanent magnetic linkage psif0.25Wb, the number of pole pairs npAt a maximum operating frequency f of the motor of 2maxIs 200Hz (corresponding to a rotational speed of 6000rpm) and the acquisition period of the stator current signal is therefore 0.01 s. The simulation results are shown in fig. 2, 3, and 4. FIG. 2 shows a waveform of motor speed with time on the abscissa in units(s); the ordinate is the motor speed in units (rpm); FIG. 3 and FIG. 4 show stator current wavesShape, abscissa is time, unit(s); the ordinate is the stator current in units (a).
The permanent magnet synchronous motor under the V/F control at 1.8s operates at the maximum working frequency of 200Hz and corresponds to the rotating speed of 6000rpm, at the moment, the active three-phase symmetrical short circuit control is switched, and the rotating speed of the motor begins to slowly decrease.
Referring to FIG. 2, FIG. 3 and FIG. 2.5s, the motor speed is 5780rpm, and the peak value of the stator current Ism499.93A, the permanent magnetic linkage psi identified by the calculation of the method of the inventionf0.249965Wb, which is highly consistent with the actual value of 0.25Wb, and the recognition accuracy is 99.986%.
Referring to FIG. 2, FIG. 4, and FIG. 3.0s, the motor speed is 5330rpm, and the stator current peak value I issm499.91A, the permanent magnetic linkage psi identified by the calculation of the method of the inventionf0.249955Wb, which is highly consistent with the actual value of 0.25Wb, and the recognition accuracy is 99.982%.
The magnetic linkage off-line identification method is simple, high in universality, high in identification precision and easy to implement in engineering.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims (7)

1. The general permanent magnet synchronous motor flux linkage off-line identification method is characterized by comprising the following steps of:
the permanent magnet synchronous motor operates at the highest working frequency under the control of V/F, and after the operation is stable, the V/F control is switched to active three-phase symmetrical short circuit control;
continuously acquiring a stator current signal of an acquisition period after switching to active three-phase symmetrical short circuit control;
taking the collectedThe maximum value of the stator current signal is the peak value of the stator current according to the known d-axis inductance component LdAnd calculating permanent magnetic linkage psi by using the peak value of the stator currentf。
2. The general offline identification method for flux linkage of permanent magnet synchronous motor according to claim 1, characterized in that: the acquisition period of the stator current signal is
Figure FDA0002633101300000011
Wherein f ismaxThe maximum working frequency of the permanent magnet synchronous motor.
3. The method of claim 1, wherein the calculating the PMSM flux linkage psi is performed by a general PMSM flux linkage offline identification methodfThe method comprises the following steps:
the state equation of the permanent magnet synchronous motor dq under a rotating coordinate system is
Figure FDA0002633101300000012
Wherein u isdStator voltage d-axis component, uqAs stator voltage q-axis component, RsIs stator resistance, idStator current d-axis component, iqBeing the q-axis component of the stator current, ωeFor synchronizing the angular frequency, LdIs d-axis inductance component, LqAs a component of the q-axis inductance,
Figure FDA0002633101300000013
is a differential operator;
in steady state of active three-phase symmetrical short circuit, ud＝0，uq＝0，
Figure FDA0002633101300000014
It is substituted by formula (1) to obtain:
Figure FDA0002633101300000021
solving equation (2) can obtain idAnd iq；
The stator current peak is then:
Figure FDA0002633101300000022
in the formula (3), the synchronous angular frequency is:
Figure FDA0002633101300000023
wherein Speed is motor Speed, npThe number of pole pairs of the motor is;
if 0.8 x motor Speed peak ≦ Speed ≦ motor Speed peak, ω ise 4ψf 2Ld 2Much larger than omegae 2ψf 2Ld 2，ωe 4Ld 2Lq2Far greater than Rs 4+2ωe 2LdLqRs 2The peak value of the stator current under the rotating Speed of the motor is as follows:
Figure FDA0002633101300000024
the permanent magnetic linkage is:
ψf≈IsmLd (6)
wherein, IsmIs the stator current peak;
the obtained stator current peak value IsmAnd a known d-axis inductance component LdCan calculate the permanent magnetic linkage psi by substituting into formula (6)f。
4. General PMSM flux linkage off-line identification system, its characterized in that, including motor controller, motor controller further includes:
the three-phase output end of the inversion unit is connected with the permanent magnet synchronous motor;
the control unit is connected with the inversion unit and used for switching the V/F control to active three-phase symmetrical short circuit control;
the current sensor is connected with the permanent magnet synchronous motor and is used for acquiring a stator current signal;
the calculation unit is connected with the current sensor and used for acquiring a stator current peak value according to a stator current signal acquired by the current sensor and calculating the permanent magnet flux linkage psi according to the stator current peak value and a known d-axis inductance component Ldf。
5. The PMSM flux linkage offline identification system as recited in claim 4, further comprising a DC power supply and a pair of control switches, wherein two ends of the DC power supply respectively supply power to the motor controller through one control switch.
6. The PMSM flux linkage offline identification system as recited in claim 5, wherein the control switch is in a normally open state when the motor controller switches to active three-phase symmetric short circuit control.
7. The system for identifying the flux linkage of the universal permanent magnet synchronous motor according to any one of claims 4 to 6, wherein the active three-phase symmetric short circuit control is to simultaneously conduct six IGBT switching tubes on three inverter bridge arms in an inverter unit and keep the conduction state.
CN202010817061.2A 2020-08-14 2020-08-14 General permanent magnet synchronous motor flux linkage off-line identification method and system Pending CN112003529A (en)

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Application publication date: 20201127