CN114221594A - Brushless doubly-fed motor integrated parameter identification method based on steady-state dq electric quantity sampling - Google Patents

Brushless doubly-fed motor integrated parameter identification method based on steady-state dq electric quantity sampling Download PDF

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CN114221594A
CN114221594A CN202111451016.0A CN202111451016A CN114221594A CN 114221594 A CN114221594 A CN 114221594A CN 202111451016 A CN202111451016 A CN 202111451016A CN 114221594 A CN114221594 A CN 114221594A
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winding
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parameters
steady
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苏婧媛
陈梓锐
杜雄
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Chongqing University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0022—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

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Abstract

The invention discloses a brushless doubly-fed motor integrated parameter identification method based on steady-state dq electric quantity sampling, which comprises the following steps of: s1, performing open-loop control on a brushless double-fed motor, and constructing a steady-state reduced-order dq model of the brushless double-fed motor; s2, calculating to obtain brushless double-fed motor integration parameters based on a brushless double-fed motor steady state reduced step dq model; the brushless doubly-fed motor integration parameters comprise power winding integration inductance parameters, integration mutual inductance parameters, control winding resistance and control winding integration inductance parameters. The method can be suitable for identifying the parameters of the brushless double-fed motors with different structures and integrated motors in application occasions, and is good in universality and simple in calculation process.

Description

Brushless doubly-fed motor integrated parameter identification method based on steady-state dq electric quantity sampling
Technical Field
The invention relates to the technical field of motor control, in particular to a brushless double-fed motor integrated parameter identification method based on steady-state dq electric quantity sampling.
Background
Many control strategies have been proposed for brushless dual-feed machine control, such as vector-directed control and direct voltage control in standalone power generation applications, and dual-mode control and low-voltage ride-through control in grid-connected power generation applications. These control strategies are highly dependent on accurate brushless doubly fed motor parameters, so when motor parameters are unknown, parameter acquisition is necessary.
In the aspect of academic research, the acquisition of parameters of the brushless doubly-fed motor is mainly an off-line method, but the conventional method for acquiring the parameters of the motor is simple and visual, or changes the experiment bench more, and the locked rotor needs a professional operation tool, so that the method is inconvenient to implement in an application occasion with a narrow space, or requires sufficient priori knowledge of the structure of the brushless doubly-fed motor, is suitable for scientific research personnel, and has high difficulty for engineering application personnel.
In the aspect of patent research, due to the fact that the brushless doubly-fed motor is complex in structure, only a few patents mention related parameter obtaining methods at present. For example, after key parameters are definitely designed, based on a professional motor body electromagnetic simulation tool, the optimal rotor parameter design method is characterized in that the first decoupling parameter to the Nth decoupling parameter are screened downwards step by step to finally obtain optimal design values of all the key parameters; a brushless double-fed motor control system, a feedforward control method and a parameter identification method provide a brushless double-fed motor feedforward parameter identification method based on no-load working condition loose closed-loop control, and feedforward parameters in the control system are adjusted on line according to closed-loop tracking performance to obtain feedforward parameters enabling closed-loop performance to be optimal. The method is directly oriented to the control or design requirements, has higher pertinence, but has specific requirements on closed-loop control and given setting to ensure the system safety, or relates to professional ontology knowledge and simulation calculation, the difficulty in parameter acquisition can be further reduced, and the acquisition method can be further simplified.
In addition, for a double-fed motor (i.e. an asynchronous motor) with a structure and characteristics similar to those of a brushless double-fed motor, many parameter acquisition methods are currently studied. The methods have the advantages of simple calculation process, quick response and good engineering practicability. However, the brushless doubly-fed motor has more complex structure, more motor parameters and more complex mutual coupling characteristics, and the parameter acquisition method is difficult to be used for meeting the parameter requirements of modeling and controlling the brushless doubly-fed motor.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provides a brushless doubly-fed motor integrated parameter identification method based on steady-state dq electric quantity sampling, which is applicable to integrated motor parameter identification of brushless doubly-fed motors with different structures and application occasions, and has good universality and a simple calculation process.
The invention discloses a brushless double-fed motor integrated parameter identification method based on steady state dq electric quantity sampling, which comprises the following steps:
s1, performing open-loop control on the brushless doubly-fed motor, and constructing a steady-state reduced-order dq model of the brushless doubly-fed motor:
Figure BDA0003385244550000021
wherein u ispdAnd upqAre all components of the power winding phase voltage; l ispeIntegrating inductance parameters for the power winding; omegapThe power winding electrical angular frequency under the stable working condition; i.e. i pdAnd ipqAll components of the power winding current are converted from a static ABC coordinate to a unified reference dq coordinate system; i.e. icdAnd icqAll components are components for controlling the winding current to be converted from a static ABC coordinate to a unified reference dq coordinate system; meIntegrating mutual inductance parameters; u. ofcdTo control the d-axis component of the winding phase voltage; u. ofcqTo control the q-axis component of the winding phase voltage; r iscTo control winding resistance; l isceIntegrating inductance parameters for the control winding; omegacTo control the winding current angular frequency;
s2, calculating to obtain brushless double-fed motor integration parameters based on a brushless double-fed motor steady state reduced step dq model; the brushless doubly-fed motor integration parameters comprise power winding integration inductance parameters, integration mutual inductance parameters, control winding resistance and control winding integration inductance parameters.
Further, open loop control is carried out to brushless doubly-fed machine, specifically includes:
s11, determining and controlling the angular frequency omega of the winding currentc：
ωc＝(pp+pc)Ωm-ωp *；
Wherein p ispThe number of pole pairs of the power winding is; p is a radical ofcFor controlling the number of winding pole pairs; omegamIs the rotor mechanical angular velocity; omegap *Is the current angular frequency of the power winding;
s12, controlling the angular frequency omega of the winding currentcIntegral processing is carried out to obtain an angle theta required by the control winding current to be transformed to the unified reference dq coordinate system c；
S13, determining three-phase reference values of control winding voltage
Figure BDA0003385244550000031
And
Figure BDA0003385244550000032
Figure BDA0003385244550000033
wherein, thetacThe angle required for transforming the control winding current to a unified reference dq coordinate system;
Figure BDA0003385244550000034
d-axis reference value for control winding voltage;
Figure BDA0003385244550000035
a q-axis reference value for the control winding voltage;
s14, the reference value is used
Figure BDA0003385244550000036
And
Figure BDA0003385244550000037
and performing pulse width modulation processing to obtain a switch driving signal, and driving a converter by using the switch driving signal to enable the converter to output corresponding control winding three-phase voltage, so as to realize open-loop control on the brushless double-fed motor.
Further, the component i of the power winding current converted from the stationary ABC coordinate to the unified reference dq coordinate system is determined according to the following formulapdAnd ipq：
Figure BDA0003385244550000038
Wherein, thetapA transformation angle for transforming the power winding current from a stationary ABC coordinate to a unified reference dq coordinate system; i.e. ipa、ipbAnd ipcThree phase currents for the power winding;
the transformation angle θ used to transform the power winding current from a stationary ABC coordinate to a unified reference dq coordinate systempComprises the following steps:
θp＝(pp+pc)θr-θc；
wherein p ispThe number of pole pairs of the power winding is; p is a radical ofcFor controlling the number of winding pole pairs; thetarIs the rotor position angle; thetacThe angle required for controlling the transformation of the winding current to the unified reference dq coordinate system.
Further, a component u of the power winding phase voltage is determined according to the following formula pdAnd upq：
Figure BDA0003385244550000041
Wherein, thetapA transformation angle for transforming the power winding current from a stationary ABC coordinate to a unified reference dq coordinate system; u. ofpa、upbAnd upcIs the three-phase voltage of the power winding.
Further, the component i for converting the control winding current from the stationary ABC coordinate to the unified reference dq coordinate system is determined according to the following formulacdAnd icq：
Figure BDA0003385244550000042
Wherein, thetacThe angle required for transforming the control winding current to a unified reference dq coordinate system; i.e. ica、icbAnd iccTo control the three phase currents of the windings.
Further, the integrated inductance parameter L of the power winding is determined according to the following formulape：
Figure BDA0003385244550000043
Further, an integrated mutual inductance parameter M is determined according to the following formulae：
Figure BDA0003385244550000044
Further, the control winding resistance r is determined according to the following formulac：
Figure BDA0003385244550000045
Further, the integrated inductance parameter L of the control winding is determined according to the following formulace：
Figure BDA0003385244550000051
The invention has the beneficial effects that: the invention discloses a brushless double-fed motor integrated parameter identification method based on steady state dq electric quantity sampling, which is realized by a universal mathematical model based on a brushless double-fed motor, can obtain required data to realize parameter identification only by utilizing simple open-loop control under a light-load working condition, is universal for different power generation applications such as independent operation, grid-connected operation and the like, is universal for brushless double-fed motors with different structural design processes, and has good universality; based on the brushless doubly-fed motor steady state reduced order dq model, directly identifying all parameters r in the model c、Lpe、Lce、MeErrors introduced in the intermediate identification and calculation process can be avoided, and good pertinence is achieved; only the control program and the motor load need to be properly adjusted, and the motor winding, the rack wiring and the like do not need to be fedThe method is changed, a professional locked rotor or rotor current measuring tool is not needed, and the method is also suitable for application occasions with narrow space and inconvenience in changing the rack; the specific design information of the brushless doubly-fed motor is not required to be known, and only simple basic calculation is involved, so that the calculation burden is avoided, and the implementation easiness is high.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic diagram of open-loop control of a brushless doubly-fed generator system according to the present invention;
FIG. 2 is a schematic diagram of the power winding voltage and current dq component acquisition of the present invention;
FIG. 3 is a schematic diagram of the control winding current dq component acquisition of the present invention;
FIG. 4 is a comparison graph of inner loop performance before and after feedforward compensation based on a parameter identification result according to the present invention;
FIG. 5 is a comparison graph of outer loop performance before and after feedforward compensation based on the parameter identification result.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention discloses a brushless double-fed motor integrated parameter identification method based on steady state dq electric quantity sampling, which comprises the following steps:
S1, performing open-loop control on the brushless doubly-fed motor, and constructing a steady-state reduced-order dq model of the brushless doubly-fed motor:
Figure BDA0003385244550000061
wherein u ispdAnd upqAre all components of the power winding phase voltage; l ispeIntegrating inductance parameters for the power winding; omegapThe power winding electrical angular frequency under the stable working condition; i.e. ipdAnd ipqAll components of the power winding current are converted from a static ABC coordinate to a unified reference dq coordinate system; i.e. icdAnd icqAll control winding current is converted from static ABC coordinate to unified referenceComponents in dq coordinate system; meIntegrating mutual inductance parameters; u. ofcdTo control the d-axis component of the winding phase voltage; u. ofcqTo control the q-axis component of the winding phase voltage; r iscTo control winding resistance; l isceIntegrating inductance parameters for the control winding; omegacTo control the winding current angular frequency; the stable working condition is that the motor is started under open-loop control until the voltage and the current of each winding are stable alternating current signals;
s2, calculating to obtain brushless double-fed motor integration parameters based on a brushless double-fed motor steady state reduced step dq model; the brushless doubly-fed motor integration parameters comprise power winding integration inductance parameters, integration mutual inductance parameters, control winding resistance and control winding integration inductance parameters.
Based on the basic characteristics of the brushless doubly-fed motor and a reduced-order dq coordinate coefficient model, the required resistance and the required integrated parameter are obtained by sampling motor stator voltage and current dq data under the steady-state working conditions of different rotating speeds and loads and combining the inverse solution of the mathematical relation of the reduced-order model, and then the parameter requirements of modeling and controlling the brushless doubly-fed motor can be met based on simple sampling and calculation.
In this embodiment, in step S1, an open-loop control system of the brushless doubly-fed machine is built. According to the principle shown in FIG. 1, a brushless doubly-fed motor is connected with an auxiliary load; setting an excitation voltage reference value
Figure BDA0003385244550000062
Obtaining a three-phase reference value of the control winding voltage through Park inverse transformation
Figure BDA0003385244550000063
Will be provided with
Figure BDA0003385244550000064
Inputting the pulse width modulation module to generate a driving signal of the machine side converter, and driving the machine side converter to generate the required three-phase voltage u of the control windingca、ucb、uccDriving the brushless doubly-fed motor to operate under an open-loop control working condition;
the open-loop control of the brushless doubly-fed motor specifically comprises the following steps, and the principle of the open-loop control is shown in fig. 1:
(A) the power winding of the brushless double-feed motor is connected with a load, the load can be an auxiliary resistive/resistive-inductive load special for parameter identification or a target resistive/resistive-inductive load after the motor is started, but in order to ensure the open-loop operation safety, light load is recommended, such as 1/4 or 1/8 rated load;
(B) the mechanical angular speed omega of the rotor is obtained by mounting a code disc on the rotorm；
(C) Setting the angular frequency of the electric quantity of the power winding to omegap *According to the internal natural frequency relation of the brushless double-fed motor, the number p of pole pairs of the power winding is adjustedpControl the number p of pole pairs of the windingcAngular frequency omega of the current of the power windingp *Mechanical angular velocity omega of rotor mSubstituting the following formula to obtain the angular frequency omega of the control winding currentc：
ωc＝(pp+pc)Ωm-ωp * (9)
(D) Will omegacInputting an integral link to obtain an angle theta required by converting the control winding current to a unified reference dq coordinate systemc；
(E) Setting a d-axis reference value u of the control winding voltage according to design experience* cdControlling the q-axis reference value u of the winding voltage* cqFor smaller values, using θ in step (C)cWill ucd *、ucq *Obtaining a three-phase reference value u of the control winding voltage through Park inverse transformationca *、ucb *、ucc *：
Figure BDA0003385244550000071
Will uca *、ucb *、ucc *Sending to pulse width modulation module to obtain switch driving signal of machine side converter, and using said signal to drive converter to make it output correspondent control windingThree-phase voltage uca、ucb、uccAnd the open-loop control of the brushless double-fed motor is realized.
Detecting three-phase current i of power windingpa、ipbAnd ipcThree-phase line voltage u of power windingpab、upbc、upca. According to the principle shown in fig. 2(a), when the brushless double-fed motor reaches the steady-state working condition, the power winding current is converted from the static ABC coordinate system to be uniformly referenced to the dq coordinate system, and a component i is obtainedpd、ipq；
Converting the voltage of the power winding wire into a phase voltage and converting the phase voltage into a dq coordinate system from a static ABC coordinate system to obtain a component u according to the principle shown in FIG. 2(b)pd、upq；
The method specifically comprises the following steps of sampling the voltage and current dq information of the power winding, and the principle of the method is shown in fig. 2:
(A) The rotor position angle theta is obtained by mounting a code disc on a brushless doubly-fed motor rotorr；
(B) Number p of pole pairs of power windingpControl the number p of pole pairs of the windingcControlling the winding coordinate transformation angle thetacRotor position angle thetarSubstituting the following equation to obtain a transformation angle theta for transforming the power winding current from the stationary ABC coordinate to the unified reference dq coordinate systemp：
θp＝(pp+pc)θr-θc
(C) Detecting three-phase current i of power windingpa、ipb、ipc(ii) a At thetapAs a coordinate transformation angle, converting the power winding current from a static ABC coordinate to a unified reference dq coordinate system through Park coordinate transformation to obtain a component ipd、ipq：
Figure BDA0003385244550000081
(D) Detecting three-phase line voltage u of power windingpab、upbc、upcaIs calculated by mathematicsObtaining three-phase voltage u of the power windingpa、upb、upc：
Figure BDA0003385244550000082
(E) At thetapAs coordinate transformation angle, the power winding phase voltage u is transformed by Park coordinate transformationpa、upb、upcConverting the static ABC coordinate into a unified reference dq coordinate system to obtain a component upd、upq：
Figure BDA0003385244550000083
Detecting three-phase current i of control windingca、icb、icc. According to the principle shown in fig. 3, when the brushless doubly-fed motor reaches the steady-state working condition, the control winding current is converted from the static abc coordinate system to the unified reference dq coordinate system, and a component i is obtainedcd、icq；
The sampling of the information of the control winding current dq specifically includes the following steps, and the principle thereof is shown in fig. 3:
detecting three-phase current i of control winding ca、icb、icc(ii) a At thetacAs a coordinate transformation angle, converting the control winding current from a static ABC coordinate to a unified reference dq coordinate system through Park coordinate transformation to obtain a component icd、icq：
Figure BDA0003385244550000091
Building a steady state reduced order dq model of the brushless doubly-fed motor: based on a universal unified dq coordinate system model of the brushless doubly-fed motor, a steady-state reduced-order dq model of the brushless doubly-fed motor shown in formulas (1) to (4) is built, wherein rcFor controlling the winding resistance, LpeIntegration of inductance parameter, L, for power windingsceFor controlling the winding-integrated inductance parameter, MeTo integrate mutual inductance parameters.
upd＝-Lpeωpipq+ωpMeicq (1)
upq＝Lpeωpipd-ωpMeicd (2)
ucd＝rcicd+Lceωcicq-Meωcipq (3)
ucq＝rcicq-Lceωcicd+Meωcipd (4)
The method comprises the following steps of constructing a brushless doubly-fed motor steady-state reduced-order dq model:
(A) the unified synchronous dq coordinate system model of the brushless doubly-fed motor widely adopted at present is shown as a formula (16), wherein rp、rc、rrRespectively a power winding resistor, a control winding resistor and a rotor resistor; 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; i.e. ird、irqD-axis component, q-axis component, ω, of rotor currentrIs the rotor current angular frequency; s is a differential operator:
Figure BDA0003385244550000101
(B) 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 (16) as shown in the formula (17):
Figure BDA0003385244550000102
(C) In power generation applications, the power winding resistance rpAnd load impedanceXo(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 (18):
Figure BDA0003385244550000103
(D) because the rotor of the brushless doubly-fed motor is of a closed structure, ird、irqDifficult to obtain through measurement and coordinate transformation, therefore according to the 5 th and 6 th equations of the formula (18), i consisting of other electric quantities and parameters is obtainedrd、irqThe expression is as follows:
Figure BDA0003385244550000111
(E) substituting the formula (19) into the formula (18) to obtain the steady-state reduced-order dq models (1) - (4) of the brushless doubly-fed motor, wherein the inductance parameters and the L are integratedp、Lc、Lr、Mpr、McrThe relationship is as follows:
Figure BDA0003385244550000112
based on the steps, the steady state reduced-order dq model of the brushless doubly-fed motor can be obtained, 5 motor inductance parameter sets can be changed into 3 integrated inductance parameters, and therefore the difficulty of parameter identification is reduced.
In this embodiment, in step S2, the power winding integrates an inductance parameter LpeThe identification comprises the following steps:
(A) simultaneous step type (1) and step type (2) push-out L peThe calculation formula is as follows:
Figure BDA0003385244550000113
(B) power winding electrical angular frequency omega under stable working conditionpIs the set value omegap *ω to be set accordinglyp *And detecting the obtained icd、icq、ipd、ipq、upd、upqSubstituting an equation (21), and calculating to obtain a power winding integrated inductance parameter Lpe：
Figure BDA0003385244550000114
The integrated mutual inductance parameter MeThe identification comprises the following steps;
(A) coupled formulae (1) and (2), push-out MeThe calculation formula is as follows:
Figure BDA0003385244550000121
(B) similarly, ω to be setp *And detecting the obtained icd、icq、ipd、ipq、upd、upqSubstituting an equation (22) to obtain an integrated mutual inductance parameter M by calculatione：
Figure BDA0003385244550000122
The control winding resistance rcThe identification comprises the following steps:
(A) combined vertical type (3), (4) with rc、LceSolving the mathematical analysis thought of two unknown parameters based on two linear equations for the unknown parameters, and deducing rcAbout Me、icd、icq、ucd、ucq、ipd、ipq、ωcThe expression of (a) is:
Figure BDA0003385244550000123
(B) u to be set after the motor reaches steady statecd *、ucq *、ωcAnd detecting the obtained icd、icq、ipd、ipqAnd identifying the obtained MeThe controlled winding resistance r can be obtained by substituting the formula (23)c：
Figure BDA0003385244550000124
The control winding integrates an inductance parameter LceThe identification comprises the following steps:
(A) the same principle is combined with the vertical type (3) and (4) by rc、LceFor unknown parameters, a mathematical analysis idea about M is deduced based on two unknown parameters of two linear equationse、icd、icq、ucd、ucq、ipd、ipq、ωcL ofceThe expression is as follows:
Figure BDA0003385244550000125
(B) u to be set after the motor reaches steady statecd *、ucq *、ωcAnd detecting the obtained icd、icq、ipd、ipqAnd identifying the obtained M eThe integrated inductance parameter L of the control winding can be obtained by substituting an equation (24)ce：
Figure BDA0003385244550000131
The following takes a brushless doubly-fed motor with a 30kW wound rotor structure as an example, and further details the implementation process of the present invention with reference to the accompanying drawings:
the brushless doubly-fed machine is a nonlinear, strongly-coupled and multivariable system, and in order to simplify analysis, only the action of the air gap fundamental wave magnetic field of the brushless doubly-fed machine is generally considered, and the following assumptions are made:
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, the unified synchronous coordinate system dq model formula (16) of the brushless doubly-fed motor which is most widely applied at present can be obtained according to the coordinate transformation relation by adopting the generator convention. According to the dq mathematical model of the brushless doubly-fed motor, mathematical relations exist between motor parameters and all electric quantities. Under the condition of simple open-loop control, the control winding resistance r of the brushless doubly-fed motor can be realized by utilizing data under the steady-state on-load working condition and combining simple mathematical calculation cAnd integrated inductance parameter Lpe、Lce、MeAnd (4) identifying. The implementation process comprises the following steps:
according to the principle shown in figure 1, open-loop control is performed on a brushless doubly-fed motor.
(1) The power winding of the brushless double-feed motor is connected with an 8kW resistive load;
(2) mounting a code disc on the rotor, enabling a prime motor to drive a motor rotating shaft to rotate, and obtaining the mechanical angular speed of the rotor to be 13.33 pi rad/s through the code disc;
(3) setting the angular frequency of the electric quantity of the power winding to be 100 pi rad/s, and enabling the pole pair number p of the power winding to be pp2, control winding pole pair number pc4, the electrical angular frequency of the power winding is 100 pi rad/s, the mechanical angular speed of the rotor is 13.33 pi rad/s, and the formula (9) is substituted to obtain the current angular frequency omega of the control windingc：
ωc＝(2+4)·13.33π-100π＝-20π(rad/s)
(4) Will be calculated toTo ωcInputting the integral link to obtain an angle thetacWherein s is the laplace operator:
Figure BDA0003385244550000141
(5) setting a d-axis reference u of the control winding voltage* cd-19.8V, control winding voltage q-axis reference value u* cq2.7V,. theta.cWill ucd *、ucq *Obtaining a three-phase reference value u of the control winding voltage through Park inverse transformationca *、ucb *、ucc *：
Figure BDA0003385244550000142
Will uca *、ucb *、ucc *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 uca、ucb、uccAnd the open-loop control of the brushless double-fed motor is realized.
According to the principle shown in fig. 2, the current and voltage dq components of the power winding under the unified reference dq coordinate system are obtained.
(6) Obtaining the rotor position angle theta through a code disc arranged on the rotor of the brushless doubly-fed motorr；
(7) Combined power winding pole pair number pp2, control winding pole pair number pc＝4、θcRotor position angle thetarCalculating to obtain the angle thetap：
θp＝(2+4)·θr-θc
(8) Detecting three-phase current i of power windingpa、ipb、ipcAt θpThe power winding current is converted from a rest a through Park coordinate as a coordinate conversion angleConverting bc coordinate into a unified reference dq coordinate system to obtain a component ipd＝-5.0A，ipq＝0A；
Figure BDA0003385244550000143
(9) Detecting three-phase line voltage u of power windingpab、upbc、upcaThe three-phase voltage u of the power winding is obtained through mathematical calculationpa、upb、upc：
Figure BDA0003385244550000151
(10) At thetapAs coordinate transformation angle, the power winding phase voltage u is transformed by Park coordinate transformationpa、upb、upcConverting from the stationary abc coordinates to the unified reference dq coordinate system to obtain the component upd＝91.1V，upq＝0V；
Figure BDA0003385244550000152
The control winding current dq component in the unified reference dq coordinate system is obtained as shown in principle in fig. 3.
(11) Detecting three-phase current i of control windingca、icb、iccAt middle thetacConverting the control winding current from a static abc coordinate to a unified reference dq coordinate system by Park coordinate transformation as a coordinate transformation angle to obtain a component icd＝-6.3A，icq＝7.8A；
Figure BDA0003385244550000153
The method for constructing the reduced order simplified dq model of the brushless doubly-fed motor comprises the following steps:
(12) In a steady state, neglecting an s-related differential term in the brushless doubly-fed motor unified synchronous coordinate system model formula (16) to obtain a brushless doubly-fed motor unified synchronous dq coordinate system steady state model formula (17);
(13) r in neglected equation (17)p、rrObtaining a steady-state simplified model formula (18) of a unified synchronous dq coordinate system of the brushless doubly-fed motor;
(14) the equation (18) gives the equation i in the 5 th and 6 thrd、irqExpression (19);
(15) will ird、irqAnd (3) substituting the expression (19) for the expression (18) to obtain steady-state reduced dq models (1) - (4) of the brushless doubly-fed motor.
Identifying power winding integrated inductance parameter Lpe：
(16) Vertical combination (1) and (2) push out LpeThe calculation formula (21);
(17) setting omega for open loop controlp *100 π rad/s, detected icd＝-6.3A、icq＝7.8A、ipd＝-5.0A、ipq＝0A、upd＝91.1V、upqAnd (21) substituting 0V into an equation, and calculating to obtain a power winding integrated inductance parameter Lpe＝0.047H。
Identification of integrated mutual inductance parameter Me：
(18) United vertical type (1), formula (2), push out MeThe calculation formula (22);
(19) setting omega for open loop controlp *100 π rad/s, detection of the resulting icd＝-6.3A、icq＝7.8A、ipd＝-5.0A、ipq＝0A、upd＝91.1V、upqAnd (22) substituting 0V into formula, and calculating to obtain an integrated mutual inductance parameter Me＝0.037H。
Identifying control winding resistance rc：
(20) Coupled vertical type (3), (4), push out rcThe calculation formula (23);
(21) setting omega for open loop controlc＝-20πrad/s、u* cd＝-19.8V、u* cq2.7V, and detecting the obtained icd＝-6.3A、icq＝7.8A、ipd＝-5.0A、ipq0A, identifiedMeWhen r is calculated by substituting formula (23) with 0.037H, r is obtained c＝0.13Ω；
Identifying control winding integrated inductance parameter Lce：
(22) The joint type (3) and (4) push out LceThe calculation formula (24);
(23) setting omega for open loop controlc＝-20πrad/s、u* cd＝-19.8V、u* cq2.7V,. The obtained i was examinedcd＝-6.3A、icq＝7.8A、ipd＝-5.0A、ipqIdentifying the obtained M as 0AeSubstitution of formula (24) with 0.037H gave Lce＝0.038H；
The control winding resistance r of the brushless doubly-fed motor under the open-loop load working condition is completedcAnd an integration parameter Lpe、Lce、MeBased on the obtained parameters, the brushless dual-feeder control can be carried out.
The motor parameters and experimental waveforms of the present example are given below with reference to fig. 4 and 5. The present embodiment consists of a wound rotor brushless double-fed motor, independent load, back-to-back power electronic converter and common current inner-loop-voltage outer-loop double-loop controller.
The brushless doubly-fed motor is operated at 400 r/min in power generation, and r obtained according to the parameter identification method is inputc、Lpe、Lce、MeThe designed current inner loop controller controls to make the closed loop setting of the d and q axis components of the control winding current be i and q axis components respectivelycd *＝15A、icq *0A. FIG. 4 shows the control winding current d, q component i under two conditions of no feedforward control and feedforward by identifying the obtained parameters by the method of the present inventioncd、icqComparing the results. It can be seen that after performing feedforward control based on the identified parameters, i cdDip and i of waveform at given transition momentcqThe waveform is incdThe overshoot at the given jump moment is obviously reduced, and the speed of recovering stability is obviously accelerated.
The brushless doubly-fed motor generates electricity and operates at 400 r/m, andinputting r obtained by the parameter identification methodc、Lpe、Lce、MeThe designed current inner ring-voltage outer ring double-ring controller controls, the amplitude of the power winding voltage outer ring is given to Up *311V. FIG. 5 shows the power winding line voltage u when the brushless doubly-fed motor is loaded with 16kW from no load under two conditions of no feedforward control and feedforward by identifying the obtained parameters by the method of the present inventionpabThe dynamic control waveform of (1). It can be seen that the power winding line voltage u is suddenly dropped into the load from no load after the feedforward control is performed based on the identified parameterspabThe speed of recovering stability is obviously accelerated.
The control winding resistance r of the brushless doubly-fed motor can be obtained by using the identification method of the inventioncPower winding integrated inductance parameter LpeControl winding integrated inductance parameter LceIntegrating mutual inductance parameter MeThe dynamic control performance of the system can be obviously improved by applying the method to an independent operation control system.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (9)

1. A brushless doubly-fed motor integrated parameter identification method based on steady state dq electric quantity sampling is characterized in that: the method comprises the following steps:
s1, performing open-loop control on the brushless doubly-fed motor, and constructing a steady-state reduced-order dq model of the brushless doubly-fed motor:
Figure FDA0003385244540000011
wherein u ispdAnd upqAre all components of the power winding phase voltage; l ispeIntegrating inductance parameters for the power winding; omegapThe power winding electrical angular frequency under the stable working condition; i.e. ipdAnd ipqAll components of the power winding current are converted from a static ABC coordinate to a unified reference dq coordinate system; i.e. icdAnd icqAll components are components for controlling the winding current to be converted from a static ABC coordinate to a unified reference dq coordinate system; meIntegrating mutual inductance parameters; u. ofcdTo control the d-axis component of the winding phase voltage; u. ofcqTo control the q-axis component of the winding phase voltage; r iscTo control winding resistance; l isceIntegrating inductance parameters for the control winding; omegacTo control the winding current angular frequency;
s2, calculating to obtain brushless double-fed motor integration parameters based on a brushless double-fed motor steady state reduced step dq model; the brushless doubly-fed motor integration parameters comprise power winding integration inductance parameters, integration mutual inductance parameters, control winding resistance and control winding integration inductance parameters.
2. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: open-loop control is carried out on the brushless doubly-fed motor, and the method specifically comprises the following steps:
S11, determining and controlling the angular frequency omega of the winding currentc：
ωc＝(pp+pc)Ωm-ωp *；
Wherein p ispThe number of pole pairs of the power winding is; p is a radical ofcFor controlling the number of winding pole pairs; omegamIs the rotor mechanical angular velocity; omegap *Is the current angular frequency of the power winding;
s12, controlling the angular frequency omega of the winding currentcIntegral processing is carried out to obtain an angle theta required by the control winding current to be transformed to the unified reference dq coordinate systemc；
S13, determining three-phase reference values of control winding voltage
Figure FDA0003385244540000012
And
Figure FDA0003385244540000013
Figure FDA0003385244540000021
wherein, thetacThe angle required for transforming the control winding current to a unified reference dq coordinate system;
Figure FDA0003385244540000022
d-axis reference value for control winding voltage;
Figure FDA0003385244540000023
a q-axis reference value for the control winding voltage;
s14, the reference value is used
Figure FDA0003385244540000024
And
Figure FDA0003385244540000025
and performing pulse width modulation processing to obtain a switch driving signal, and driving a converter by using the switch driving signal to enable the converter to output corresponding control winding three-phase voltage, so as to realize open-loop control on the brushless double-fed motor.
3. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: determining the component i of the power winding current converted from the static ABC coordinate to the unified reference dq coordinate system according to the following formulapdAnd ipq：
Figure FDA0003385244540000026
Wherein, thetapTo supply current to the power winding Converting the static ABC coordinate into a transformation angle for a unified reference dq coordinate system; i.e. ipa、ipbAnd ipcThree phase currents for the power winding;
the transformation angle θ used to transform the power winding current from a stationary ABC coordinate to a unified reference dq coordinate systempComprises the following steps:
θp＝(pp+pc)θr-θc；
wherein p ispThe number of pole pairs of the power winding is; p is a radical ofcFor controlling the number of winding pole pairs; thetarIs the rotor position angle; thetacThe angle required for controlling the transformation of the winding current to the unified reference dq coordinate system.
4. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: determining a component u of a power winding phase voltage according to the following formulapdAnd upq：
Figure FDA0003385244540000031
Wherein, thetapA transformation angle for transforming the power winding current from a stationary ABC coordinate to a unified reference dq coordinate system; u. ofpa、upbAnd upcIs the three-phase voltage of the power winding.
5. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: determining the component i for converting the control winding current from the static ABC coordinate to the unified reference dq coordinate system according to the following formulacdAnd icq：
Figure FDA0003385244540000032
Wherein, thetacFor controlling the conversion of winding current to a uniform reference dq angle required by coordinate system; i.e. ica、icbAnd i ccTo control the three phase currents of the windings.
6. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: determining the integrated inductance parameter L of the power winding according to the following formulape：
Figure FDA0003385244540000033
7. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: determining an integrated mutual inductance parameter M according to the following formulae：
Figure FDA0003385244540000034
8. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: the control winding resistance r is determined according to the following formulac：
Figure FDA0003385244540000035
9. The method for identifying the integration parameters of the brushless doubly-fed machine based on the steady-state dq electric quantity sampling according to claim 1, wherein the method comprises the following steps: determining the control winding integrated inductance parameter L according to the following formulace：
Figure FDA0003385244540000041
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114157205A (en) * 2021-12-10 2022-03-08 重庆大学 Brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114157205A (en) * 2021-12-10 2022-03-08 重庆大学 Brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling
CN114157205B (en) * 2021-12-10 2023-08-22 重庆大学 Brushless doubly-fed motor integrated parameter identification method based on steady-state electric quantity amplitude sampling

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