CN114157205A - Brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling - Google Patents
Brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling Download PDFInfo
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- 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
- H02P21/18—Estimation of position or speed
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- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/007—Control circuits for doubly fed generators
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Abstract
The invention belongs to the technical field of motor control, and provides a brushless double-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling, which is realized based on a universal reduced-order dq mathematical model of a brushless double-fed motor, can obtain required data to realize parameter identification only by utilizing simple open-loop control under the working conditions of no-load and pure-resistance load, is universal for different occasions such as independent operation, grid-connected operation and the like, is suitable for brushless double-fed motors with different structural design processes, and has good universality; direct identification of all parameters r in reduced order model based on simple calculationc、Lpe、Lce、MeWithout approximate conversion, intermediate discrimination can be avoidedErrors are introduced in the identification and complex calculation process, and the accuracy is better; meanwhile, only voltage and current amplitude and frequency data are needed, and dq component data are not needed, so that the rotor position angle information is not required to be acquired, and the method can be universally used in the application occasions with code discs and without code discs.
Description
Technical Field
The invention relates to a motor control technology, in particular to a brushless double-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling.
Background
Under the big background of realizing the aim of 'double carbon' in China, the wind power generation technology shows a high-speed development trend. In wind power generation, the current mainstream machine type is a brush double-fed motor, the capacity of a frequency converter required by a power generation system is small, and the controllability of active power and reactive power can be realized. However, since the motor contains the easily damaged brush slip ring, the failure rate and the maintenance cost of the power generation system are high, and the system maintenance difficulty is further increased particularly in the application occasions with severe environments such as offshore wind power, remote mountainous areas and the like. The brushless double-fed motor is designed by a special structure, can have the advantages of the traditional double-fed motor and high reliability brought by the elimination of an electric brush slip ring structure, can reduce the maintenance difficulty and cost of a power generation system, improves the reliability of the power generation system, and has ideal application prospect.
The classical control method for the brushless doubly-fed motor mainly comprises scalar control, vector control and direct torque control; the novel control strategy is mainly characterized in that a nonlinear control theory is applied to a brushless double-fed motor, and the nonlinear control theory comprises intelligent control, fuzzy control, passive control, active disturbance rejection control and the like. The control depends on the parameters of the brushless doubly-fed motor with high precision, so that the accurate identification of the parameters is beneficial to the implementation of a control strategy.
At present, identifying motor parameters based on experimental measurement data is a common method for obtaining parameters of a brushless doubly-fed motor. For example, a document entitled "Equivalent Circuit for the Brushless double-Fed Machine (BDFM) associated Parameter Estimation and Experimental validation" author P.C. Roberts, IEE Proceedings-Electric Power Applications 152(4),2005:933-942 proposes a method for performing torque-speed characteristic fitting by using Experimental data of working conditions such as rotor lock-up, stator winding no-load or open-Circuit and the like under different motor modes based on a Brushless double-Fed motor dq Equivalent Circuit, and further identifying motor parameters; the document entitled "Full-Parameter Identification Model Based on Back Propagation Algorithm for Brushless double Fed indication Generator", the author Jingyuan Su, the institute IEEE Transactions on Power Electronics 35(10),2020: 9953-; the Chinese patent application with the publication number of CN108322117B and the publication number of 2019, 8 and 13, provides a brushless doubly-fed motor feedforward parameter identification method based on no-load working condition loose dq closed-loop control, and the feedforward parameter in the dq control system is adjusted on line according to the closed-loop tracking performance to obtain the feedforward parameter which enables the closed-loop performance to be optimal. The method is realized based on experimental measurement data, is simple and visual, but needs voltage and current dq components, so that rotor position angle information is needed, and the method is inconvenient to use in occasions where code discs are lacked or are incomplete in function and only speed can be identified; or although the rotor position angle information is not needed, only part of parameters can be accurately identified, and the rest parameters are obtained by approximate calculation, so that the accuracy needs to be improved.
In addition, for a doubly-fed motor (i.e. an asynchronous motor) with a structure and characteristics similar to those of a brushless doubly-fed motor, a plurality of parameter acquisition methods based on experimental measurement exist at present. For example, a method for identifying parameters of an asynchronous motor is provided in chinese patent application entitled "method for identifying parameters of an asynchronous motor", publication No. CN103281033B, publication No. 2015, 6 months and 24 days, and a method for identifying parameters of an asynchronous motor based on experimental data of a rotating speed, a rotor flux linkage and a stator current is provided, wherein sinusoidal current signals with different frequencies are introduced to a stator winding, equivalent total leakage inductance and mutual inductance are calculated based on a T-type equivalent circuit, and stator leakage inductance and rotor resistance of the asynchronous motor are calculated by applying a trapezoidal current signal to a stator resistance; the method for identifying parameters of the doubly-fed motor on line is provided by Chinese patent application with the name of 'a method for identifying parameters of the doubly-fed motor on line', publication No. CN102611380B, publication No. 2014, 8, 13, and establishes a least square method standard form under a dq coordinate system of the doubly-fed motor, and obtains the parameters of the doubly-fed motor through experimental sampling of voltage and current of a stator and a rotor and rotation speed data and repeated iterative fitting. The method has the advantages of simple calculation process, quick response and good engineering practicability, but the brushless double-fed motor has more complex structure, more motor parameters and more complex mutual coupling characteristics, and the parameter identification method is difficult to meet the parameter requirements of modeling and controlling the brushless double-fed motor.
It can be seen that the drawbacks of the prior art are: the existing brushless double-fed motor parameter acquisition method needs more voltage and current dq component data, cannot be applied when the position angle information of a rotor is unknown, has more changes such as locked rotor and short circuit on a rack, and is inconvenient to implement in an application occasion with a narrow space.
Disclosure of Invention
In view of the above, the invention provides a brushless double-fed motor integrated parameter identification method based on steady state electric quantity amplitude sampling, based on basic characteristics and a reduced order mathematical model of a brushless double-fed motor, motor stator voltage and current amplitude data are sampled under steady state conditions of different rotating speeds and loads, a required resistance and an integrated parameter are obtained by combining inverse solution of a reduced order model mathematical relation, the method is independent of rotor position angle information, only voltage and current amplitude data of a power generation system under the steady state conditions are required, and the method can be suitable for brushless double-fed motors with different structures and integrated motor parameter identification methods of application occasions.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
a brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling is characterized in that a winding resistance r is controlledcPower winding integrated inductance parameter LpeIntegrating mutual inductance parameter MeAnd controlling the winding integrated inductance parameter LceAs an identification parameter, the identification process is carried out according to the following steps:
s1: in the open-loop control system of the brushless doubly-fed motor, the frequency omega of the first control winding is usedc1And the first excitation voltage enables the system to operate in a no-load working condition 1, and the voltage amplitude U of the control winding under the no-load working condition 1 is obtainedc1And after the operation is stable, detecting the three-phase line voltage of the power winding and controlling the three-phase current of the winding to obtain the voltage amplitude U of the power winding under the no-load working condition 1p1Power, powerWinding frequency omegap1And controlling the winding current amplitude Ic1；
S2: at a second control winding frequency omegac2And the second excitation voltage enables the system to operate in the no-load working condition 2, and the voltage amplitude U of the control winding under the no-load working condition 2 is obtainedc2And after the operation is stable, detecting the three-phase line voltage of the power winding and controlling the three-phase current of the winding to obtain the voltage amplitude U of the power winding under the no-load working condition 2p2Frequency omega of the power windingp2Controlling the current amplitude I of the windingc2；
S3: by switching in purely resistive loads, controlling the winding frequency omega by a third controlc3And the third excitation voltage enables the system to operate under the working condition 3 with the pure resistive load, and the voltage amplitude U of the control winding under the working condition 3 with the pure resistive load is obtainedc3And after the operation is stable, detecting the three-phase line voltage of the power winding and the three-phase current of the control winding to obtain the voltage amplitude U of the power winding under the working condition 3 with the pure resistive loadp3Frequency omega of the power windingp3Controlling the current amplitude I of the windingc3；
S4: using the data under the no-load condition 1 obtained in step S1 and the data under the no-load condition 2 obtained in step S2, according to equation 1:
solving integrated mutual inductance parameter MeControl winding resistance rcAnd controlling the winding integrated inductance parameter Lce；
And S5, utilizing the data under the working condition 3 with the pure resistive load obtained in the step S3 and the parameters obtained in the step S4 according to the equation 2:
solving power winding integrated inductance parameter Lpe；
In equations 1 and 2, UpCorresponding to the power winding voltage amplitude, UcCorresponding to the control winding voltage amplitude, omegapCorresponding to the power winding frequency, omegacCorresponding to the control winding frequency, IcCorresponding to the control winding current amplitude, RoIs the value of the switched-in purely resistive load resistance.
Optionally, the step of obtaining the control winding voltage amplitude, the power winding voltage amplitude and the power winding frequency in step S1 or step S2 is:
s101: the brushless doubly-fed motor is enabled to run in an idle load mode according to a random rotating speed value;
s102: setting the frequency of a control winding, and inputting the frequency into an integration link to obtain an angle required by the current of the control winding to be converted into a dq coordinate system;
s103: setting a control winding voltage d-axis reference value and a control winding voltage q-axis reference value according to empirical data, and performing Park inverse transformation by using the angle determined in the step S12 to obtain a three-phase reference value of the control winding voltage;
s104: sending the three-phase reference value of the control winding voltage into a pulse width modulation module to obtain a switch driving signal of a machine side converter, and driving the converter by using the signal to output corresponding three-phase voltage of the control winding;
s105: detecting the three-phase line voltage of the power winding and calculating the three-phase voltage of the power winding;
s106: converting three-phase voltage of the power winding from a static ABC coordinate to an alpha beta static coordinate system through Clark coordinate transformation to obtain a first voltage component upαAnd a second voltage component upβ；
S107: according to
Calculating the voltage amplitude of the power winding;
s108: according to
Calculating the electric quantity angle theta of the power windingp；
S109: will thetapInputting a differential link to obtain the frequency omega of the power windingp。
Optionally, the inverse Park transform in step S103 is performed as follows:
wherein ,
respectively corresponding to three-phase reference values of the control winding voltage,
corresponding to a control winding voltage d-axis reference value and a control winding voltage q-axis reference value, thetacThe angle required for the transformation of the control winding current to the dq coordinate system.
Optionally, in step S105, the three-phase voltages of the power winding are calculated as follows:
wherein ,upa、upb、upcCorresponding to three-phase voltage u of power windingpab、upbc、upcaThe three-phase line voltages of the power windings are respectively corresponded.
Optionally, the Clark coordinate transformation described in step S106 is in accordance with
The process is carried out.
Optionally, the step of obtaining the control winding current amplitude in step S1 or step S2 is:
s110: detecting three-phase current of the control winding, converting the three-phase current of the control winding from a static ABC coordinate to an alpha beta static coordinate system through Clark coordinate conversion to obtain a first current component icαAnd a second current component icβ；
S111: according to
And calculating to obtain the current amplitude of the control winding.
Optionally, C is described in step S110The lark coordinate transformation is according to
In which i isca、icb、iccCorresponding to the three-phase current of the control winding respectively.
Optionally, the integrated mutual inductance parameter M is calculated in step S4 in the following mannereControl winding resistance rcAnd controlling the winding integrated inductance parameter Lce：
Optionally, in step S5 as
Calculating integrated inductance parameter L of power windingpe。
Optionally, the pure resistive load accessed in step S3 is an auxiliary resistive load dedicated for parameter identification or a target resistive load after the motor is started, and to ensure open-loop operation safety, a light load, such as a 1/4 or 1/8 rated load, is usually adopted as the auxiliary resistive load dedicated for parameter identification.
Compared with the prior art, the technical scheme that this application provided, the technological effect or advantage that have are:
(1) the method is realized based on a universal reduced-order dq mathematical model of the brushless double-fed motor, only simple open-loop control under no-load and pure-resistance load working conditions is needed, the required data can be obtained to realize parameter identification, the method is universal for different occasions such as independent operation, grid-connected operation and the like, and the method is suitable for brushless double-fed motors with different structural design processes and has good universality;
(2) the method directly identifies all parameters r in the reduced order model based on simple calculationc、Lpe、Lce、MeThe method has no processing such as approximate conversion, can avoid errors introduced by intermediate identification and complex calculation processes, and has better accuracy;
(3) the method only needs voltage and current amplitude and frequency data, does not need dq component data, does not need to acquire rotor position angle information, is generally used in application occasions with code discs and without code discs, and further improves the universality.
Drawings
FIG. 1 is a schematic diagram of an open-loop control of a brushless doubly-fed generator system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of power winding voltage amplitude acquisition;
FIG. 3 is a schematic diagram of control winding current amplitude acquisition;
FIG. 4 is a comparison graph of voltage amplitude waveforms of the power winding under no-load conditions;
FIG. 5 is a comparison graph of the voltage amplitude of the power winding under load.
Detailed Description
In order to better understand the technical solutions, the technical solutions will be described in detail below with reference to the drawings and specific embodiments.
The invention adopts the brushless doubly-fed motor steady state reduced order dq model, and firstly briefly introduces the derivation process of the brushless doubly-fed motor steady state reduced order dq model before describing a specific implementation case. Specifically, a brushless doubly-fed machine unified synchronous dq coordinate system model widely adopted at present is shown as formula (1):
wherein ,rp、rc、rrRespectively a power winding resistor and a control windingResistance, rotor resistance; l isp、Lc、LrThe self-inductance of the power winding, the self-inductance of the control winding and the self-inductance of the rotor are respectively; mprFor mutual inductance between power winding and rotor, McrTo control the mutual inductance between the winding and the rotor; u. ofpd、upqIs the d-axis component, q-axis component, i, of the power winding voltagepd、ipqIs the d-axis component, q-axis component, omega, of the power winding currentpThe angular frequency of the electric quantity of the power winding; u. ofcd、ucqFor controlling the d-and q-axis components, i, of the winding voltagecd、icqFor controlling the d-and q-axis components, omega, of the winding currentcTo control the angular frequency of the winding electric quantity; i.e. ird、irqD-axis component, q-axis component, ω, of rotor currentrIs the rotor current angular frequency; s is a differential operator;
because the differential terms containing s under the steady-state working condition are all 0, the steady-state model of the unified synchronous dq coordinate system of the brushless doubly-fed motor can be constructed by the formula (1) and is shown as the formula (2):
in power generation applications, the power winding resistance rpAnd a load impedance Xo(independent operation) or equivalent load impedance Xoe(grid-connected operation) in series, and rpMuch less than XoOr XoeThus r ispCan be ignored; since the rotor is used only for energy transfer, its copper losses should be small enough to improve the transfer efficiency, so rrVery small, its effect is negligible. Based on the two premises, the steady-state simplified model of the unified synchronous dq coordinate system of the brushless doubly-fed motor can be obtained as shown in formula (3):
because the rotor of the brushless doubly-fed motor is of a closed structure, ird、irqDifficult to obtain by measurement and coordinate transformation, and thus according to equation (3), equation 5 and equation 6Obtaining i composed of other electric quantities and parametersrd、irqThe expression is as follows:
substituting the formula (4) into the formula (3) to obtain the steady state reduced dq model formula (5) and the formula (6) of the brushless doubly-fed motor, wherein the inductance parameters and the L are integratedp、Lc、Lr、Mpr、McrThe relationship is shown in formula (7):
considering the bandstop load RoUnder the working condition, the voltage dq component u of the power winding of the brushless doubly-fed motorpd、upqThe following relationship also exists with the power winding current dq component:
further, the formula (8) is brought into the formula (5) and the formula (6), so that the steady state reduced-order dq model formula (9) and the steady state reduced-order dq model formula (10) of the brushless doubly-fed motor, which are considered to be influenced by the load, can be obtained:
it can be seen that the brushless doubly-fed motor steady-state reduced-order dq model can be obtained based on the process, 5 motor inductance parameter sets are changed into 3 integrated inductance parameters, and the difficulty in parameter identification is reduced.
Example 1:
in this embodiment, a brushless doubly-fed machine with a 30kW wound rotor structure is taken as an example, and a brushless doubly-fed machine integrated parameter identification method based on steady-state electric quantity amplitude sampling is provided, where the brushless doubly-fed machine is a nonlinear, strongly-coupled, multivariable system, and in order to simplify analysis, only the effect of the fundamental wave magnetic field of the air gap of the brushless doubly-fed machine is generally considered, and it is assumed that:
(1) the influence of the tooth grooves of the stator and the rotor is not counted, the inner surface of the stator and the outer surface of the rotor are smooth, and the air gap is uniform;
(2) the influences of ferromagnetic material saturation, magnetic hysteresis and eddy current are not counted, and parameters are linearized;
(3) considering only the pole pair number p in the magnetic field generated by stator winding and rotor windingpNumber of sum pole pairs pcThe effect of the fundamental wave ignores the influence of harmonic magnetic field.
Based on the above assumptions, by adopting a generator routine, the dq reduction model expressions (9) and (10) of the brushless doubly-fed motor unified synchronous coordinate system which are most widely applied at present can be obtained according to the coordinate transformation relation, and the mathematical relation exists between the motor parameters and each electric quantity according to the dq mathematical model of the brushless doubly-fed motor. Under the simple open-loop control, the control winding resistance r of the brushless doubly-fed motor can be realized by utilizing data under the working conditions of steady-state no-load and band-resistance load and combining simple mathematical calculationcAnd integrated inductance parameter Lpe、Lce、MeAnd (4) identifying. The specific implementation process comprises the following steps:
s1: in the open-loop control system of the brushless doubly-fed motor as shown in 1, the system is operated under the no-load working condition 1, and the frequency omega of a first control winding is setc14 π rad/s, converting ω to ωc1Inputting the integral link to obtain an angle
Wherein s is a laplace operator; setting a d-axis reference value for the control winding voltage
Control winding voltage q-axis reference
Using thetac1Will be provided with
Carrying out Park inverse transformation to obtain a three-phase reference value of the control winding voltage
Will be provided with
Sending the signal into a pulse width modulation module to obtain a switch driving signal of a machine side converter, and driving the converter by using the signal to output a corresponding control winding three-phase voltage uca1、ucb1、ucc1The open-loop control of the brushless double-fed motor is realized;
according to
The voltage amplitude U of the control winding under the no-load working condition 1 can be calculatedc1＝14.14V。
According to the working principle shown in fig. 2, the three-phase line voltage u of the power winding is detectedpab1、upbc1、upca1According to
Calculating three-phase voltage u of power windingpa1、upb1、upc1(ii) a Phase-phasing power windings by Clark coordinate transformationConverting the voltage from a static ABC coordinate to a unified reference alpha beta coordinate to obtain upα1、upβ1Namely:
according to
Namely, the voltage amplitude U of the power winding under the no-load working condition 1 can be calculatedp1＝269V；
Based on upα1、upβ1The electric quantity angle of the power winding under the no-load working condition 1 can be calculated
Will thetap1Inputting a differential link to obtain the frequency omega of the power windingp1＝80πrad/s；
In conjunction with the working principle shown in fig. 3, three-phase current i of the control winding is detectedca1、icb1、icc1Converting the three-phase current of the control winding from a static ABC coordinate to an alpha beta static coordinate system through Clark coordinate transformation to obtain a first current component icα1And a second current component icβ1, wherein ：
according to
Calculating to obtain the current amplitude I of the control windingc1＝28.3A。
S2: modifying and setting the control winding frequency to be omega according to the same principle of the step S1 c22 pi rad/s, excitation voltage given as ucd2 *＝10V、ucq2 *Obtaining the voltage amplitude U of the control winding under the no-load working condition 2 as 5Vc211.18V, power winding voltage amplitude Up2412.2V, power winding angular frequency omegap282 pi rad/s, controlling the current amplitude I of the windingc2＝42.3A。
S3: accessing purely resistive loads Ro1 omega, according to a third control winding frequency omega c34 pi rad/s, excitation voltage given as ucd3 *＝5V、ucq3 *And (5) operating the system under the working condition 3 with the pure resistive load to obtain the voltage amplitude U of the power winding under the working condition 3 with the pure resistive loadp355.38V, power winding frequency omega p380 pi rad/s, control winding current amplitude Ic3＝70.57A；
S4: according to
Calculating to obtain integrated mutual inductance parameter Me＝0.0378H；
According to
And calculating to obtain:
controlling winding resistance
According to
And calculating to obtain:
controlling winding integrated inductance parameters
S5, using the data under the working condition 3 with the pure resistive load obtained in the step S3 and the parameters obtained in the step S4 according to the data
And calculating to obtain:
power winding integrated inductance parameter
The steps are combined, and the control winding resistance r of the brushless doubly-fed motor under the open-loop loaded working condition is completedc0.1 Ω and an integration parameter Lpe＝0.0472H、Lce＝0.0389H、MeThe brushless dual-feed motor control can be performed based on the obtained parameters by the identification of 0.0378H.
The simplified model provided by the embodiment is compared with the conventional complete model in a simulation mode, wherein the complete model consists of a 30kW wound rotor brushless double-fed motor complete model and an independent load RoThe motor parameters are the motor parameters in the experiment bench of the system adopted in the specific embodiment 1, and the simplified model is a 30kW wound rotor brushless double-fed motor reduced order simplified simulation model and an independent load RoIn the composition, the motor parameters are the parameter identification results in embodiment 1, so as to verify the accuracy of the identification parameters and the reduced-order simplified model.
The motors in the two simulation systems are both used for generating power and operating under the no-load working condition of the rotating speed of 420 r/min, and the excitation voltages are all
The amplitude waveform pair of the power winding voltage is shown in fig. 4, and the amplitude and the dynamic response characteristics of the two waveforms are basically consistent.
Furthermore, the motors in the two simulation systems are both enabled to generate power and operate under the working conditions of 420 r/min of rotating speed and 1 omega of resistive load with load, and the excitation voltages are both
The amplitude waveform pair of the power winding voltage is shown in fig. 5, and the amplitude and the dynamic response characteristics of the two waveforms are basically consistent.
In conclusion, the identification method is based on the brushless doubly-fed motor steady-state reduced dq model, and all resistance and integrated inductance parameters required by the reduced model can be obtained through simple calculation by utilizing voltage and current amplitude data of the control winding and the power winding of the brushless doubly-fed motor under the steady-state no-load and load working conditions, including the control winding resistance r of the brushless doubly-fed motorcPower winding integrated inductance parameter LpeControl winding integrated inductance parameter LceAnd integration of mutual inductance parameter MeAnd the identification accuracy is high, the parameter requirements of model and control system design are met, and the method can be used for controlling the brushless double-fed motor.
Finally, it should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. A brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling is characterized in that a winding resistance r is controlledcPower winding integrated inductance parameter LpeIntegrating mutual inductance parameter MeAnd controlling the winding integrated inductance parameter LceAs an identification parameter, the identification process is carried out according to the following steps:
s1: in the open-loop control system of the brushless doubly-fed motor, the frequency omega of the first control winding is usedc1And the first excitation voltage enables the system to operate in a no-load working condition 1, and the voltage amplitude U of the control winding under the no-load working condition 1 is obtainedc1And after the operation is stable, detecting the three-phase line voltage of the power winding and controlling the three-phase current of the winding to obtain the voltage amplitude U of the power winding under the no-load working condition 1p1Frequency omega of the power windingp1And controlling the winding current amplitude Ic1；
S2: at a second control winding frequency omegac2And the second excitation voltage enables the system to operate in the no-load working condition 2, and the voltage amplitude U of the control winding under the no-load working condition 2 is obtainedc2And after the operation is stable, detecting the three-phase line voltage of the power winding and controlling the three-phase current of the winding to obtain the voltage amplitude U of the power winding under the no-load working condition 2p2Frequency omega of the power windingp2Controlling the current amplitude I of the windingc2；
S3: by switching in purely resistive loads, controlling the winding frequency omega by a third controlc3And a third excitation voltage to cause the system to operateOperating under the working condition 3 with the pure resistive load to obtain the voltage amplitude U of the control winding under the working condition 3 with the pure resistive loadc3And after the operation is stable, detecting the three-phase line voltage of the power winding and the three-phase current of the control winding to obtain the voltage amplitude U of the power winding under the working condition 3 with the pure resistive loadp3Frequency omega of the power windingp3Controlling the current amplitude I of the windingc3；
S4: using the data under the no-load condition 1 obtained in step S1 and the data under the no-load condition 2 obtained in step S2, according to equation 1:
solving integrated mutual inductance parameter MeControl winding resistance rcAnd controlling the winding integrated inductance parameter Lce；
And S5, utilizing the data under the working condition 3 with the pure resistive load obtained in the step S3 and the parameters obtained in the step S4 according to the equation 2:
solving power winding integrated inductance parameter Lpe；
In equations 1 and 2, UpCorresponding to the power winding voltage amplitude, UcCorresponding to the control winding voltage amplitude, omegapCorresponding to the power winding frequency, omegacCorresponding to the control winding frequency, IcCorresponding to the control winding current amplitude, RoIs the value of the switched-in purely resistive load resistance.
2. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity as claimed in claim 1, wherein the step of obtaining the voltage amplitude of the control winding, the voltage amplitude of the power winding and the frequency of the power winding in the step S1 or the step S2 comprises the following steps:
s101: the brushless doubly-fed motor is enabled to run in an idle load mode according to a random rotating speed value;
s102: setting the frequency of a control winding, and inputting the frequency into an integration link to obtain an angle required by the current of the control winding to be converted into a dq coordinate system;
s103: setting a control winding voltage d-axis reference value and a control winding voltage q-axis reference value according to empirical data, and performing Park inverse transformation by using the angle determined in the step S12 to obtain a three-phase reference value of the control winding voltage;
s104: sending the three-phase reference value of the control winding voltage into a pulse width modulation module to obtain a switch driving signal of a machine side converter, and driving the converter by using the signal to output corresponding three-phase voltage of the control winding;
s105: detecting the three-phase line voltage of the power winding and calculating the amplitude of the three-phase voltage of the power winding;
s106: converting three-phase voltage of the power winding from a static ABC coordinate to an alpha beta static coordinate system through Clark coordinate transformation to obtain a first voltage component upαAnd a second voltage component upβ；
S107: according to
Calculating the voltage amplitude of the power winding;
s108: according to
Calculating the electric quantity angle theta of the power windingp；
S109: will thetapInputting a differential link to obtain the frequency omega of the power windingp。
3. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity according to claim 2, wherein the inverse Park transform in the step S103 is performed as follows:
wherein ,
respectively corresponding to three-phase reference values of the control winding voltage,
corresponding to a control winding voltage d-axis reference value and a control winding voltage q-axis reference value, thetacThe angle required for the transformation of the control winding current to the dq coordinate system.
4. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity according to claim 2, wherein in the step S105, the three-phase voltage of the power winding is calculated according to the following method:
wherein ,upa、upb、upcCorresponding to three-phase voltage u of power windingpab、upbc、upcaThe three-phase line voltages of the power windings are respectively corresponded.
5. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity according to claim 4, wherein the Clark coordinate transformation in the step S106 is performed according to
The process is carried out.
6. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity as claimed in claim 1, wherein the step of obtaining the current amplitude of the control winding in the step S1 or the step S2 is:
s110: detecting three-phase current of the control winding, converting the three-phase current of the control winding from a static ABC coordinate to an alpha beta static coordinate system through Clark coordinate conversion to obtain a first current component icαAnd a second current component icβ；
S111: according to
And calculating to obtain the current amplitude of the control winding.
7. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity according to claim 6, wherein the Clark coordinate transformation in the step S110 is performed according to
In which i isca、icb、iccCorresponding to the three-phase current of the control winding respectively.
8. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the amplitude of the steady-state electric quantity as claimed in claim 1, wherein the integration mutual inductance parameter M is calculated in the following manner in the step S4eControl winding resistance rcAnd controlling the winding integrated inductance parameter Lce：
9. The method for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the magnitude of the steady-state electric quantity according to claim 1 or 8, wherein the method is used for identifying the integration parameters of the brushless doubly-fed machine based on the sampling of the magnitude of the steady-state electric quantityCharacterized in that in step S5, the method is as follows
Calculating integrated inductance parameter L of power windingpe。
10. The method for identifying the integrated parameters of the brushless doubly-fed motor based on the sampling of the steady-state electrical quantity amplitude as claimed in claim 1, wherein the pure resistive load accessed in the step S3 is an auxiliary resistive load dedicated for parameter identification or a target resistive load after the motor is started.
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