CN114157205B - 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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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
-
- 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
- H02P21/18—Estimation of position or speed
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/007—Control circuits for doubly fed generators
-
- 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
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
Abstract
The application belongs to the technical field of motor control, and provides a brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling, which is realized based on a general reduced dq mathematical model of a brushless doubly-fed motor, can obtain required data to realize parameter identification by using simple open loop control under the working conditions of no-load and pure resistive load, is generally applicable to different occasions such as independent operation, grid-connected operation and the like, is suitable for the brushless doubly-fed motor with different structural design processes, and has good universality; based on simple calculation, all parameters r in reduced order model are directly identified c 、L pe 、L ce 、M e The method has the advantages that no approximate conversion and other processes are adopted, errors caused by intermediate identification and complex calculation processes can be avoided, and the method has good accuracy; meanwhile, only voltage and current amplitude and frequency data are needed, dq component data are not needed, so that rotor position angle information is not required to be known, and the method can be applied to application occasions with code discs and without code discs.
Description
Technical Field
The application 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 large background of realizing the 'double carbon' target 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 doubly-fed motor, the capacity of a frequency converter required by a power generation system is small, and active power and reactive power can be controlled. However, because the motor contains the electric brush slip ring which is easy to damage, the failure rate and the maintenance cost of the power generation system are high, and especially in application occasions with severe environments such as offshore wind power, remote mountain areas and the like, the system maintenance difficulty is further increased. The brushless double-fed motor has the advantages of the traditional double-fed motor and high reliability brought by the elimination of the brush slip ring structure through special structural design, 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.
Classical control methods for brushless doubly-fed motors mainly include scalar control, vector control, direct torque control; the novel control strategy mainly applies a nonlinear control theory to the brushless double-fed motor, and comprises intelligent control, fuzzy control, passive control, active disturbance rejection control and the like. These controls all rely on highly accurate brushless doubly fed motor parameters, so accurate identification of the parameters can be achieved in favor of implementation of the control strategy.
Currently, identifying motor parameters based on experimental measurement data is a common method for obtaining brushless doubly-fed motor parameters. For example, the document entitled "Equivalent Circuit for the Brushless Doubly Fed Machine (BDFM) Including Parameter Estimation and Experimental Verification" author P.C. Roberts, inc. IEE Proceedings-Electric Power Applications 152 (4), 2005:933-942 proposes a method for identifying motor parameters by performing torque-speed characteristic fitting using experimental data for rotor stall, stator winding no-load or open circuit conditions in different motor modes based on a brushless doubly-fed motor dq equivalent circuit; the document named as Full-Parameter Identification Model Based on Back Propagation Algorithm for Brushless Doubly Fed Induction Generator, author Jinyuan Su, origin IEEE Transactions on Power Electronics (10), 2020:9953-9958 proposes a method for training a network and realizing parameter identification by utilizing voltage and current dq experimental data based on a back propagation neural network of a brushless doubly-fed independent power generation system; the Chinese patent application with publication No. CN108322117B, publication No. 2019, 8 month and 13 days, proposes a brushless doubly-fed motor feedforward parameter identification method based on loose dq closed-loop control under no-load condition, and the feedforward parameters in the dq control system are adjusted on line according to the closed-loop tracking performance to obtain feedforward parameters which optimize the closed-loop performance. The method is realized based on experimental measurement data, is simple and visual, but requires voltage and current dq components, so that rotor position angle information is required, and the method is inconvenient to use in the situation of lacking a code disc or incomplete function of the code disc and only being capable of identifying the speed; or the rotor position angle information is not needed, but only part of parameters can be accurately identified, the rest parameters are obtained by approximate calculation, and the accuracy is required to be improved.
In addition, there are many methods for obtaining parameters based on experimental measurement for doubly-fed machines (i.e., asynchronous machines) having similar structure and characteristics to brushless doubly-fed machines. For example, a Chinese patent application with publication number CN103281033B, publication No. 2015, 6, 24, proposes an asynchronous motor parameter identification method based on rotational speed, rotor flux linkage and stator current experimental data, by inputting sinusoidal current signals with different frequencies into the stator winding, calculating equivalent total leakage inductance and mutual inductance based on a T-type equivalent circuit, and by applying trapezoidal current signals to the stator resistor, calculating stator-rotor leakage inductance and rotor resistance; the patent application of China, publication No. CN102611380B, publication No. 2014, 8-13, proposes an online identification method for doubly-fed motor parameters, establishes a standard form of least square method under the dq coordinate system of the doubly-fed motor, samples stator and rotor voltage and current and rotating speed data through experiments, and obtains doubly-fed motor parameters through 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 mutual coupling characteristics, and the parameter requirements of modeling and control of the brushless double-fed motor are difficult to meet along the parameter identification method.
It can be seen that the drawbacks of the prior art are: the existing brushless doubly-fed motor parameter acquisition method mostly needs voltage current dq component data, cannot be applied when rotor position angle information is unknown, has many changes such as locked rotor, short circuit and the like on a rack, is inconvenient to implement in application occasions with narrow space, and is difficult to acquire brushless doubly-fed motor parameters along an asynchronous motor or traditional doubly-fed motor method due to the fact that the motor structure is more complex, the parameter number is more and coupling is more tight.
Disclosure of Invention
In view of the above, the application provides a brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling, which is based on basic characteristics and reduced-order mathematical models of the brushless doubly-fed motor, and is suitable for brushless doubly-fed motors of different structures and integrated motor parameter identification methods in application occasions by sampling motor stator voltage and current amplitude data under steady-state working conditions of different rotating speeds and loads and combining mathematical relations of the reduced-order models to reversely solve required resistance and integrated parameters without depending on rotor position angle information and only needing voltage and current amplitude data of a power generation system under steady-state working conditions.
In order to achieve the above purpose, the specific technical scheme adopted by the application is as follows:
a brushless double-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling is characterized in that a control winding resistor r is adopted c Integrated inductance parameter L of power winding pe Integrated mutual inductance parameter M e Control winding integrated inductance parameter L ce As an identification parameter, the identification process is carried out according to the following steps:
s1: in a brushless doubly-fed motor open loop control system, a winding frequency omega is controlled in accordance with a first control winding frequency omega c1 And the first exciting voltage enables the system to operate in the no-load working condition 1 to obtain the voltage amplitude U of the control winding under the no-load working condition 1 c1 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 no-load working condition 1 p1 Frequency ω of power winding p1 And controlling winding current amplitude I c1 ；
S2: at a second control winding frequency omega c2 And the second exciting voltage enables the system to operate in the no-load working condition 2 to obtain the voltage amplitude U of the control winding under the no-load working condition 2 c2 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 no-load working condition 2 p2 Frequency ω of power winding p2 Control winding current amplitude I c2 ；
S3: accessing a pure resistive load according to the third control winding frequency omega c3 And a third exciting voltage to make the system operate under the working condition 3 with pure resistive load to obtain the product with pure resistanceControl winding voltage amplitude U under resistive load condition 3 c3 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 load p3 Frequency ω of power winding p3 Control winding current amplitude I c3 ；
S4: and (2) utilizing the data under the idle working condition 1 obtained in the step (S1) and the data under the idle working condition 2 obtained in the step (S2) according to the equation (1):solving the integrated mutual inductance parameter M e Control winding resistance r c Control winding integrated inductance parameter L ce ；
S5, utilizing the data with pure resistive load under the working condition 3 obtained in the step S3 and the parameters obtained in the step S4, and according to the equation 2:solving power winding integrated inductance parameter L pe ；
In equations 1 and 2, U p Corresponding to the voltage amplitude of the power winding, U c Corresponding to the voltage amplitude, omega of the control winding p Corresponds to the frequency of the power winding omega c Corresponding to control winding frequency, I c Corresponding to control winding current amplitude, R o Is the pure resistance load resistance of the access.
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 includes:
s101: allowing the brushless doubly-fed motor to run in a no-load mode according to a random rotation speed value;
s102: setting the frequency of a control winding, inputting an integration link, and obtaining the angle required by the current transformation of the control winding to 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 obtaining a three-phase reference value of the control winding voltage through Park inverse transformation by utilizing the angle determined in the step S12;
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 the machine side converter, and driving the converter by using the signal to output the corresponding control winding three-phase voltage;
s105: detecting the three-phase line voltage of the power winding and calculating the three-phase line voltage of the power winding;
s106: converting the 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 u pα And a second voltage component u pβ ；
S107: according toCalculating the voltage amplitude of the power winding;
s108: according toCalculating the electric quantity angle theta of the power winding p ；
S109: will be theta p Input differential link to obtain power winding frequency omega p 。
Optionally, the Park inverse transformation described in step S103 is performed as follows:
wherein ,three-phase reference values corresponding to the control winding voltages, respectively,/-, respectively>Respectively correspond to a control winding voltage d-axis reference value and a control winding voltage q-axis reference value, theta c To control the angle required for the winding current to be transformed to the dq coordinate system.
Optionally, the power winding three-phase voltages are calculated in step S105 as follows:
wherein ,upa 、u pb 、u pc Corresponding to the three-phase voltages of the power winding, u pab 、u pbc 、u pca Corresponding to the three-phase line voltages of the power winding respectively.
Optionally, the Clark coordinate transformation described in step S106 is in accordance withIs carried out.
Optionally, the step of acquiring the control winding current amplitude in step S1 or step S2 is:
s110: detecting three-phase current of a control winding, and converting 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 i cα And a second current component i cβ ；
S111: according toAnd calculating to obtain the current amplitude of the control winding.
Optionally, the Clark coordinate transformation described in step S110 is in accordance withProceed with i ca 、i cb 、i cc And the three-phase currents respectively correspond to the three-phase currents of the control winding.
Optionally, the integrated mutual inductance parameter M is calculated in step S4 as follows e Control winding resistance r c Control winding integrated inductance parameter L ce ：
Or->
Optionally, in step S5, as followsCalculating the integrated inductance parameter L of the power winding pe 。
Optionally, the pure resistive load accessed in step S3 is a parameter identification dedicated auxiliary resistive load or a target resistive load after the motor is started, and in order to ensure the safety of open loop operation, a light load, such as a 1/4 or 1/8 rated load, is generally adopted as the parameter identification dedicated auxiliary resistive load.
Compared with the prior art, the technical scheme provided by the application has the following technical effects or advantages:
(1) The method is realized based on a general reduced dq mathematical model of the brushless doubly-fed motor, and can obtain required data to realize parameter identification by using simple open loop control under the working conditions of no-load and pure resistive load, is generally applicable to different occasions such as independent operation, grid-connected operation and the like, is suitable for the brushless doubly-fed motor with different structural design processes, and has good universality;
(2) The method is based on simple calculation and directly identifies all parameters r in reduced order model c 、L pe 、L ce 、M e The method has the advantages that no approximate conversion and other processes are adopted, errors caused by intermediate identification and complex calculation processes can be avoided, and the method has good accuracy;
(3) The method only needs voltage and current amplitude and frequency data, and dq component data is not needed, so that rotor position angle information is not required to be obtained, the method is generally used for application occasions with code discs and without code discs, and the universality is further improved.
Drawings
FIG. 1 is a schematic diagram of open loop control of a brushless doubly-fed power generation system in accordance with an embodiment of the application;
FIG. 2 is a schematic diagram of power winding voltage magnitude acquisition;
FIG. 3 is a schematic diagram of control winding current magnitude acquisition;
FIG. 4 is a graph showing comparison of power winding voltage amplitude waveforms under no-load conditions;
FIG. 5 is a graph comparing the voltage amplitude waveforms of the power windings under load conditions.
Detailed Description
In order to better understand the above technical solution, the following detailed description will refer to the accompanying drawings and specific embodiments.
The application adopts a steady-state reduced dq model of the brushless doubly-fed motor, and before describing a specific embodiment, a brief description is made of a derivation process of the steady-state reduced dq model of the brushless doubly-fed motor. Specifically, the unified synchronous dq coordinate system model of the brushless doubly-fed motor widely adopted at present is shown in the formula (1):
wherein ,rp 、r c 、r r The power winding resistor, the control winding resistor and the rotor resistor are respectively arranged; l (L) p 、L c 、L r The self-inductance of the power winding, the self-inductance of the control winding and the self-inductance of the rotor are respectively; m is M pr For mutual inductance between the power winding and the rotor, M cr The mutual inductance between the winding and the rotor is controlled; u (u) pd 、u pq I is the d-axis component, q-axis component and i of the power winding voltage pd 、i pq For d-axis component, q-axis component, omega of power winding current p The angular frequency of the electric quantity of the power winding; u (u) cd 、u cq To control the d-axis component and q-axis component of the winding voltage, i cd 、i cq To control the d-axis component, q-axis component, ω of the winding current c To control the angular frequency of the electric quantity of the winding; i.e rd 、i rq For rotor currentd-axis component, q-axis component, ω r Angular frequency for rotor current; s is a differential operator;
because the differential terms containing s are 0 under the steady-state working condition, a unified synchronous dq coordinate system steady-state model 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 r p And load impedance X o (independent operation) or equivalent load impedance X oe (grid-connected operation) in series, and r p Far less than X o Or X oe Thus r p Negligible; since the rotor is used only for energy transfer, the copper loss thereof should be small enough to improve the transfer efficiency, r r Little, its effect is negligible. Based on the two preconditions, a steady-state simplified model of the unified synchronous dq coordinate system of the brushless doubly-fed motor is obtained, and the steady-state simplified model is shown as (3):
since the rotor of the brushless doubly-fed motor is of a closed structure, i rd 、i rq Is difficult to obtain through measurement and coordinate transformation, so i consisting of other electric quantity and parameters is obtained according to equations 5 and 6 of the formula (3) rd 、i rq The expression is:
substituting the formula (4) into the formula (3) to obtain steady-state reduced dq model formulas (5) and (6) of the brushless doubly-fed motor, wherein each integrated inductance parameter and L p 、L c 、L r 、M pr 、M cr The relationship is shown in formula (7):
taking into account the band-resistive load R o Under the working condition, the power winding voltage dq component u of the brushless doubly-fed motor pd 、u pq The following relationship also exists with the power winding current dq component:
further, the equation (8) is carried into the equations (5) and (6), and the steady-state reduced dq model equations (9) and (10) of the brushless doubly-fed motor can be obtained after the load influence is considered:
it can be seen that the steady-state reduced dq model of the brushless doubly-fed motor can be obtained based on the above process, and the 5 motor inductance parameters are integrated into 3 integrated inductance parameters, so that the parameter identification difficulty is reduced.
Example 1:
in this embodiment, taking a brushless doubly-fed motor with a 30kW wound rotor structure as an example, a method for identifying integrated parameters of a brushless doubly-fed motor based on steady-state electric quantity amplitude sampling is provided, where the brushless doubly-fed motor is a nonlinear, strongly-coupled, multivariable system, and for simplifying analysis, only the action of an air-gap fundamental magnetic field of the brushless doubly-fed motor is generally considered, and it is assumed that:
(1) The influence of tooth grooves of a stator and a rotor is not considered, the inner surface of the stator and the outer surface of the rotor are smooth, and the air gap is uniform;
(2) Irrespective of the influence of saturation, hysteresis and eddy current of ferromagnetic materials, linearizing parameters;
(3) Only the pole pair number p is considered in the magnetic field generated by the stator winding and the rotor winding p And polar logarithm p c The effect of the fundamental wave ignores the effect of the harmonic magnetic field.
Based on the assumption, a generator convention is adopted, the unified synchronous coordinate system dq reduced order model type (9) and formula (10) which are most widely applied at present can be obtained according to the coordinate transformation relation, and according to the dq mathematical model of the brushless doubly-fed motor, the mathematical relation exists between the motor parameters and each electric quantity. Under 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 resistive load and combining simple mathematical calculation c Integrated inductance parameter L pe 、L ce 、M e Is a single-chip microcomputer. The specific implementation process comprises the following steps:
s1: in the open loop control system of the brushless doubly-fed motor shown in the figure 1, the system is operated under the no-load working condition 1, and the frequency omega of the first control winding is set c1 =4pi rad/s, ω c1 Inputting the integral link to obtain the angleWherein s is a Laplacian; setting a control winding voltage d-axis reference value +.>Control winding voltage q-axis reference value +.>By theta c1 Will->Performing Park inverse transformation to obtain three-phase reference value of control winding voltage>
Will beSending the voltage to a pulse width modulation module to obtain a switch driving signal of the machine side converter, and driving the converter by the signal to output a corresponding control winding three-phase voltage u ca1 、u cb1 、u cc1 The open loop control of the brushless double-fed motor is realized;
according toThe control winding voltage amplitude U under no-load working condition 1 can be calculated c1 ＝14.14V。
According to the operating principle shown in fig. 2, the three-phase voltage u of the power winding is detected pab1 、u pbc1 、u pca1 According toCalculating the three-phase voltage u of the power winding pa1 、u pb1 、u pc1 The method comprises the steps of carrying out a first treatment on the surface of the Converting the phase voltage of the power winding from the static ABC coordinate to the unified reference alpha beta coordinate through Clark coordinate conversion to obtain u pα1 、u pβ1 The method comprises the following steps:
according toThe voltage amplitude U of the power winding under the no-load working condition 1 can be calculated p1 ＝269V；
Based on u pα1 、u pβ1 The power under the idle working condition 1 can be calculatedAngle of winding power
Will be theta p1 Input differential link to obtain frequency omega of power winding p1 ＝80πrad/s；
In combination with the working principle shown in fig. 3, the three-phase current i of the control winding is detected ca1 、i cb1 、i cc1 Converting 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 i cα1 And a second current component i cβ1, wherein ：
according toCalculating to obtain the current amplitude I of the control winding c1 ＝28.3A。
S2: according to the same principle of the step S1, the control winding frequency is modified and set to omega c2 =2pi rad/s, excitation voltage given as u cd2 * ＝10V、u cq2 * =5v to obtain the control winding voltage amplitude U under no-load condition 2 c2 =11.18v, power winding voltage amplitude U p2 = 412.2V, power winding angular frequency ω p2 Control winding current amplitude i=82 pi rad/s c2 ＝42.3A。
S3: accessing a pure resistive load R o =1Ω, at a third control winding frequency ω c3 =4pi rad/s, excitation voltage given as u cd3 * ＝5V、u cq3 * =5v, so that the system operates in the pure resistive load regime 3, resulting in a power winding voltage amplitude U under the pure resistive load regime 3 p3 = 55.38V, power winding frequency ω p3 Control winding current amplitude I=80 pi rad/s c3 ＝70.57A；
S4: according toCalculating to obtain integrated mutual inductance parameter M e ＝0.0378H；
According toAnd (3) calculating to obtain:
control winding resistance
According toAnd (3) calculating to obtain:
control winding integrated inductance parameter
S5, utilizing the data with pure resistive load working condition 3 obtained in the step S3 and the parameters obtained in the step S4, and according to the following stepsAnd (3) calculating to obtain:
power winding integrated inductance parameter
By combining the steps, the control winding resistor r of the brushless doubly-fed motor under the open loop load working condition is completed c =0.1Ω and integration parameter L pe ＝0.0472H、L ce ＝0.0389H、M e Identification of =0.0378H, brushless doubly fed motor control can be performed based on the obtained parameters.
The simplified model provided by the example is simulated and compared with the traditional complete model, and the complete model is formed by a complete model of a 30kW wound rotor brushless doubly-fed motor and an independent load R o The motor parameters were those in the experimental bench of the system employed in example 1, and the simplified model consisted of 30kW wound wireReduced order simplified simulation model of rotor brushless doubly-fed motor and independent load R o The composition of the motor parameters is the parameter identification result in the embodiment 1, so that the accuracy of the identification parameters and the reduced order simplified model is verified.
The motors in the two simulation systems generate power to run in the idle working condition of 420 revolutions per minute, and the exciting voltages are allThe amplitude waveform pair of the power winding voltage is shown in fig. 4, and the amplitude and dynamic response characteristics of the two waveforms can be found to be basically consistent.
Further, the motors in the two simulation systems are operated under the working conditions of 420 revolutions per minute and 1 omega resistive load with load, and the excitation voltages are allThe amplitude waveform pair of the power winding voltage is as shown in fig. 5, and the amplitude and dynamic response characteristics of the two waveforms can be found to be basically consistent.
In summary, the identification method is based on a brushless doubly-fed motor steady-state reduced dq model, and all resistance and integrated inductance parameters required by the reduced model, including the control winding resistance r of the brushless doubly-fed motor, can be obtained through simple calculation by utilizing the voltage and current amplitude data of the brushless doubly-fed motor control winding and the power winding under steady-state no-load and loaded working conditions c Integrated inductance parameter L of power winding pe Integrated inductance parameter L of control winding ce Integrated mutual inductance parameter M e And the identification accuracy is high, the parameter requirements of the model and control system design are met, and the brushless double-fed motor can be controlled.
Finally, it should be noted that the above description is not intended to limit the application, but rather to limit the application to the examples described, and that variations, modifications, additions or substitutions within the spirit and scope of the application may be made by those skilled in the art and are within the scope of the application.
Claims (9)
1. A brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling is characterized in that a control winding resistor r is adopted c Integrated inductance parameter L of power winding pe Integrated mutual inductance parameter M e Control winding integrated inductance parameter L ce As an identification parameter, the identification process is carried out according to the following steps:
s1: in a brushless doubly-fed motor open loop control system, a winding frequency omega is controlled in accordance with a first control winding frequency omega c1 And the first exciting voltage enables the system to operate in the no-load working condition 1 to obtain the voltage amplitude U of the control winding under the no-load working condition 1 c1 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 no-load working condition 1 p1 Frequency ω of power winding p1 And controlling winding current amplitude I c1 ；
S2: at a second control winding frequency omega c2 And the second exciting voltage enables the system to operate in the no-load working condition 2 to obtain the voltage amplitude U of the control winding under the no-load working condition 2 c2 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 no-load working condition 2 p2 Frequency ω of power winding p2 Control winding current amplitude I c2 ；
S3: accessing a pure resistive load according to the third control winding frequency omega c3 And the third exciting voltage enables the system to operate under the working condition 3 with pure resistive load, and the voltage amplitude U of the control winding under the working condition 3 with pure resistive load is obtained c3 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 load p3 Frequency ω of power winding p3 Control winding current amplitude I c3 ；
S4: and (2) utilizing the data under the idle working condition 1 obtained in the step (S1) and the data under the idle working condition 2 obtained in the step (S2) according to the equation (1):solving forIntegrated mutual inductance parameter M e Control winding resistance r c Control winding integrated inductance parameter L ce ；
S5, utilizing the data with pure resistive load under the working condition 3 obtained in the step S3 and the parameters obtained in the step S4, and according to the equation 2:solving power winding integrated inductance parameter L pe ；
In equations 1 and 2, U p Corresponding to the voltage amplitude of the power winding, U c Corresponding to the voltage amplitude, omega of the control winding p Corresponds to the frequency of the power winding omega c Corresponding to control winding frequency, I c Corresponding to control winding current amplitude, R o Is the accessed pure resistive load resistance value;
the step S1 or the step S2 of obtaining the voltage amplitude of the control winding, the voltage amplitude of the power winding and the frequency of the power winding comprises the following steps:
s101: allowing the brushless doubly-fed motor to run in a no-load mode according to a random rotation speed value;
s102: setting the frequency of a control winding, inputting an integration link, and obtaining the angle required by the current transformation of the control winding to 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 obtaining a three-phase reference value of the control winding voltage through Park inverse transformation by utilizing the angle determined in the step S12;
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 the machine side converter, and driving the converter by using the signal to output the corresponding control winding three-phase voltage;
s105: detecting the three-phase line voltage of the power winding and calculating the amplitude of the three-phase line voltage of the power winding;
s106: converting the 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 u pα And a second voltage component u pβ ；
S107: according toCalculating the voltage amplitude of the power winding;
s108: according toCalculating the electric quantity angle theta of the power winding p ；
S109: will be theta p Input differential link to obtain power winding frequency omega p 。
2. The brushless doubly-fed motor integrated parameter identification method based on steady-state power magnitude sampling as claimed in claim 1, wherein said Park inverse transformation in step S103 is performed as follows:
wherein ,three-phase reference values corresponding to the control winding voltages, respectively,/-, respectively>Respectively correspond to a control winding voltage d-axis reference value and a control winding voltage q-axis reference value, theta c To control the angle required for the winding current to be transformed to the dq coordinate system.
3. The brushless doubly fed machine integrated parameter identification method based on steady state electrical quantity amplitude sampling as claimed in claim 1, wherein in step S105 power winding three phase voltages are calculated as follows:
wherein ,upa 、u pb 、u pc Corresponding to the three-phase voltages of the power winding, u pab 、u pbc 、u pca Corresponding to the three-phase line voltages of the power winding respectively.
4. The brushless doubly-fed motor integrated parameter identification method based on steady state power amplitude sampling as claimed in claim 3, wherein said Clark coordinate transformation in step S106 is according to the followingIs carried out.
5. The method for identifying the brushless doubly-fed motor integration parameters based on steady-state electric quantity amplitude sampling according to claim 1, wherein the step of obtaining the control winding current amplitude in the step S1 or the step S2 is:
s110: detecting three-phase current of a control winding, and converting 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 i cα And a second current component i cβ ；
S111: according toAnd calculating to obtain the current amplitude of the control winding.
6. The method for identifying parameters of brushless doubly-fed motor integration based on steady-state power magnitude sampling as defined in claim 5, wherein said Clark coordinate transformation in step S110 is according to the followingProceed with i ca 、i cb 、i cc And the three-phase currents respectively correspond to the three-phase currents of the control winding.
7. According to claimThe brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling as described in 1 is characterized in that in the step S4, an integrated mutual inductance parameter M is calculated according to the following manner e Control winding resistance r c Control winding integrated inductance parameter L ce ：
Or->
8. The brushless doubly fed motor integrated parameter identification method based on steady state power magnitude sampling as claimed in claim 1 or 7, wherein in step S5, the method is as followsCalculating the integrated inductance parameter L of the power winding pe 。
9. The method for identifying the integrated parameters of the brushless doubly-fed machine based on the steady-state electric quantity amplitude sampling according to claim 1, wherein the pure resistive load accessed in the step S3 is an auxiliary resistive load special for parameter identification or a target resistive load after the motor is started.
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