CN114337430A - Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor - Google Patents
Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a method and a device for identifying stator resistance of a high-power permanent magnet synchronous motor off line, wherein the method comprises the steps of obtaining three-phase reference voltage output by a three-level frequency converter according to a steady-state equivalent circuit; obtaining an identification value of the three-phase stator resistor according to a kirchhoff voltage equation; acquiring a three-phase switching sequence of a thirteen-segment three-level PWM, and acquiring P, O, N action time in the three-phase switching sequence; and obtaining a switching state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switching sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switching sequence, generating a driving pulse and controlling the output voltage of the three-level frequency converter. The invention adopts thirteen-segment three-level PWM, obviously improves the voltage control precision under the condition of outputting extremely small voltage, and effectively solves the problem of low stator resistance identification precision caused by the factors of nonlinearity of a switching device, dead zone effect, midpoint potential deviation and the like.
Description
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, and particularly relates to a method and a device for identifying stator resistance of a high-power permanent magnet synchronous motor off line.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency, good speed regulation performance and the like, and is widely applied to the fields of new energy power generation, electric automobiles, servo motors and the like.
The high-performance speed regulation control of the permanent magnet synchronous motor needs to depend on some motor parameters, wherein the stator resistance is a key parameter for realizing functions such as direct torque control, current loop setting, control parameter design without a position sensor and the like, and has important significance for off-line identification of the stator resistance.
The high-power permanent magnet synchronous motor has high voltage level, large rated current and small stator resistance, and the stator resistance range of the high-power permanent magnet synchronous motor is usually between several milliohms and dozens of milliohms when the voltage level range is between 1140V and 3300V and the power range is between 500kW and 2000 kW.
The three-level frequency converter has the advantages of low device voltage resistance, small output harmonic, small insulation damage to the permanent magnet synchronous motor and the like, and has great advantages when being applied to the permanent magnet synchronous motor drive with the voltage grade range of 1140V to 3300V.
When the three-level frequency converter is used for identifying the stator resistance of the high-power permanent magnet synchronous motor, the required output voltage is extremely low due to the small stator resistance. The three-level frequency converter is influenced by factors such as nonlinearity of a switching device, a dead zone effect, midpoint potential deviation and the like, and under the condition of outputting extremely small voltage, the voltage control precision of the traditional seven-segment voltage space vector pulse width modulation strategy is difficult to meet the requirement, so that the estimation of the stator resistance is inaccurate, and even the condition of overcurrent shutdown occurs.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a device for identifying the stator resistance of a high-power permanent magnet synchronous motor off line, which effectively overcome the problem of inaccurate identification of stator resistance parameters caused by nonlinearity, dead zone effect, midpoint potential deviation and low control precision of output voltage of a three-level inverter power switching device.
The invention provides an off-line identification method for stator resistance of a high-power permanent magnet synchronous motor, which comprises the following steps of obtaining three-phase reference voltage output by a three-level frequency converter according to a steady-state equivalent circuit; obtaining an identification value of the three-phase stator resistor according to a kirchhoff voltage equation; acquiring a three-phase switching sequence of a thirteen-segment three-level PWM, and acquiring P, O, N action time in the three-phase switching sequence; obtaining a switch state table of the three-level frequency converter according to the identification values of the three-phase reference voltage and the stator resistance, the three-phase switching sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switching sequence; and generating a driving pulse through a switching state table of the three-level frequency converter so as to control the output voltage of the three-level frequency converter.
Preferably, the steady-state equivalent circuit is a steady-state equivalent circuit obtained when direct-current voltage is injected in a static state based on a mathematical model of the high-power permanent magnet synchronous motor in the static state and by combining a coordinate transformation theory;
the mathematical model expression under the static state is as follows:
wherein u isd、uqIs the direct-axis and quadrature-axis components, i, of the stator voltage of a high-power permanent magnet synchronous motord、iqIs the direct-axis and quadrature-axis components, R, of the stator current of the high-power permanent magnet synchronous motorsIs largeEquivalent stator resistance of the power permanent magnet synchronous motor.
Preferably, the three-phase reference voltage output by the three-level frequency converter is:
the a-phase reference voltage expression is as follows:
the b-phase reference voltage expression is as follows:
the c-phase reference voltage expression is as follows:
wherein u is0Setting the voltage as a small value for the probing voltage; u. of1For the current amplitude to be Im1A corresponding voltage value; u. of2For the current amplitude to be Im2A corresponding voltage value; t is t1-t5Is a state switching time point, where t5The total time for identifying the stator resistance of the high-power permanent magnet synchronous motor.
Preferably, the obtaining the identification value of the phase stator resistance according to kirchhoff voltage equation includes:
respectively obtaining t according to kirchhoff voltage equation1To t2、t2To t3、t3To t4And t4To t5U within a time perioda(t)、ub(t) and uc(t) and for u in each time perioda(t)、ub(t) and uc(t) simplifying kirchhoff voltage equation by the expression;
will t2To t3Kirchhoff voltage equation with simplified time period and t1To t2Kirchhoff voltage square with simplified time periodMaking a difference;
will t3To t4Kirchhoff voltage equation with simplified time period and t4To t5Carrying out difference on a kirchhoff voltage equation simplified in a time period;
at t5And combining the results of the difference between the two times to obtain the identification value of the three-phase stator resistance.
Preferably, t is obtained according to kirchhoff voltage equation1To t2、t2To t3、t3To t4And t4To t5U within a time perioda(t)、ub(t) and uc(t) and for u in each time perioda(t)、ub(t) and uc(t) simplifying kirchhoff voltage equation by the expression; with t1To t2The time period is taken as an example and comprises the following steps:
calculate 0.5t1To t1Average value I of a-phase current in a time perioda1And at t1Time u is calculated as follows1And u2The numerical value of (A):
wherein u is0To probe the voltage, Im1、Im2Is the current amplitude.
Calculating t1+0.5(t2-t1) To t2Average value I of a-phase current in a time perioda2Average value of b-phase current Ib2C-phase current average value Ic2；
At t2At a time according to t1To t2U within a time perioda(t)、ub(t) and uc(t) the kirchhoff voltage equation can be simplified as follows:
wherein the content of the first and second substances,
is a phase-a stator resistance identification value,
Is a b-phase stator resistance identification value,
Is a c-phase stator resistance identification value, Ia2、Ib2、Ic2Are each t1+0.5(t2-t1) To t2Average values of phase current a, b, c in the time period.
Preferably, the obtained identification value of the three-phase stator resistance is:
wherein, Delta Ia1、ΔIb1And Δ Ic1Is the current difference between the time period t 2-t 3 and the time period t 1-t 2,. DELTA.Ia2、ΔIb2And Δ Ic2K is the stator resistance imbalance coefficient for the current difference between the time period t 3-t 4 and the time period t 4-t 5.
Preferably, the calculation formula of the stator resistance imbalance coefficient k is as follows:
preferably, the action time of P, O, N in the three-phase switching sequence is:
wherein x represents a, b, c, triphase, VdcRepresenting the DC bus voltage, u, of a three-level frequency converterx(T) is a reference voltage, TcIs the carrier period of the three-level frequency converter.
Preferably, the action time of the P, O, N phase a further includes a midpoint potential balance compensation time, specifically:
wherein, tNPThe calculation formula is the midpoint potential balance compensation time and is used for realizing the balance control of the midpoint potential, and the calculation formula is as follows:
wherein C is the capacitance of the upper and lower DC buses, Vc1Is the upper DC bus voltage Vc2Is the lower dc bus voltage.
The invention provides a device for identifying the stator resistance of the high-power permanent magnet synchronous motor offline, which comprises a reference voltage generation module, a stator resistance calculation module, a thirteen-segment three-level PWM module and a switch state table module; the reference voltage generating module is used for obtaining three-phase reference voltage output by the three-level frequency converter according to the steady-state equivalent circuit; the stator resistance calculation module is used for obtaining an identification value of the phase stator resistance according to a kirchhoff voltage equation; the thirteen-segment three-level PWM module is used for acquiring a three-phase switching sequence of the thirteen-segment three-level PWM and obtaining P, O, N action time in the three-phase switching sequence; and the switch state table module is used for obtaining a switch state table of the three-level frequency converter according to the identification value of the three-phase reference voltage and the stator resistance, the three-phase switch sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switch sequence, generating a driving pulse and controlling the output voltage of the three-level frequency converter.
The invention has the beneficial effects that:
the invention adopts thirteen-segment three-level PWM, obviously improves the voltage control precision under the condition of outputting extremely small voltage, effectively solves the problem of low stator resistance identification precision caused by the factors of nonlinearity of a switching device, dead zone effect, midpoint potential deviation and the like, and has very high stator resistance identification precision.
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The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a flowchart of an off-line identification method for a stator resistance of a high-power permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a steady state equivalent circuit diagram provided by an embodiment of the present invention;
FIG. 3 is a sequence diagram of a thirteen-segment three-level PWM single-phase switch according to an embodiment of the present invention;
fig. 4 is a structural diagram of an offline identification device for stator resistance of a high-power permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 5 is a waveform diagram of a 1140V high-power permanent magnet synchronous motor of 630kW for test verification;
fig. 6 shows the off-line identification result of the three-phase stator resistance.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
The following further details the embodiments of the present invention:
as shown in fig. 1, the invention provides an off-line identification method based on a stator resistor of a high-power permanent magnet synchronous motor, which comprises the following steps:
s100, obtaining three-phase reference voltage output by the three-level frequency converter according to the steady-state equivalent circuit;
further, the steady-state equivalent circuit is based on establishing a mathematical model of the high-power permanent magnet synchronous motor in a static state, and combining a coordinate transformation theory to obtain the steady-state equivalent circuit of the high-power permanent magnet synchronous motor when injecting direct-current voltage in the static state.
The mathematical model expression of the high-power permanent magnet synchronous motor 2 in a static state is as follows:
wherein u isd、uqIs the direct-axis and quadrature-axis components, i, of the stator voltage of a high-power permanent magnet synchronous motord、iqIs the direct-axis and quadrature-axis components, R, of the stator current of the high-power permanent magnet synchronous motorsThe equivalent stator resistance of the high-power permanent magnet synchronous motor.
According to the above formula, in combination with the coordinate transformation theory, a steady-state equivalent circuit diagram 2 of the high-power permanent magnet synchronous motor when injecting the dc voltage in the static state can be obtained. In FIG. 2, ua(t) is a-phase reference voltage u output by the three-level frequency converterb(t) is b-phase reference voltage u of three-level frequency converterc(t) three-level frequency converter c-phase reference voltage, ia、ib、icRespectively the a phase, b phase and c phase currents, R of the high-power permanent magnet synchronous motora、Rb、RcThe three-phase stator resistor is a three-phase stator resistor of the high-power permanent magnet synchronous motor.
Further, the expression of the reference voltage of phase a is as follows:
the expression of the b-phase reference voltage is as follows:
the expression of the c-phase reference voltage is as follows:
wherein u is0Setting the voltage as a small value for the probing voltage; u. of1For the current amplitude to be Im1A corresponding voltage value; u. of2For the current amplitude to be Im2A corresponding voltage value; t is t1-t5Is a state switching time point, where t5The total time for identifying the stator resistance of the high-power permanent magnet synchronous motor.
S200, obtaining an identification value of the three-phase stator resistor according to a kirchhoff voltage equation;
in one embodiment, the step of obtaining the identification value of the phase stator resistance according to kirchhoff voltage equation comprises:
s201, respectively obtaining t according to kirchhoff voltage equation1To t2、t2To t3、t3To t4And t4To t5U within a time perioda(t)、ub(t) and uc(t) and for u in each time perioda(t)、ub(t) and uc(t) simplifying kirchhoff voltage equation by the expression;
s202, dividing t2To t3Kirchhoff voltage equation with simplified time period and t1To t2Carrying out difference on a kirchhoff voltage equation simplified in a time period;
s203, the t is3To t4Kirchhoff voltage equation with simplified time period and t4To t5Carrying out difference on a kirchhoff voltage equation simplified in a time period;
s204 at t5And combining the results of the difference between the two times to obtain the identification value of the three-phase stator resistance.
Specifically, step 1, 0.5t is calculated1To t1Average value I of a-phase current in a time perioda1And at t1Time u is calculated as follows1And u2The numerical value of (A):
wherein u is0To probe the voltage, Im1、Im2Is the current amplitude.
Step 2, calculating t1+0.5(t2-t1) To t2Average value I of a-phase current in a time perioda2Average value of b-phase current Ib2C-phase current average value Ic2。
And 3, step 3: at t2At a time according to t1To t2U within a time perioda(t)、ub(t) and uc(t) the kirchhoff voltage equation can be simplified as follows:
wherein the content of the first and second substances,
is a phase-a stator resistance identification value,
Is a b-phase stator resistance identification value,
Is a c-phase stator resistance identification value, Ia2、Ib2、Ic2Are each t1+0.5(t2-t1) To t2Average values of phase current a, b, c in the time period.
And 4, step 4: calculating t2+0.5(t3-t2) To t3Average value I of a-phase current in a time perioda3Average value of b-phase current Ib3C-phase current average value Ic3。
And 5, step 5: at t3At a time according to t2To t3U within a time perioda(t)、ub(t) anduc(t) the kirchhoff voltage equation can be simplified as follows:
and 6, step 6: at t3At that time, the difference between the two equations in the fifth step and the third step can be obtained as follows:
wherein Δ Ia1、ΔIb1And Δ Ic1Satisfies the following formula:
and 7, step 7: calculating t3+0.5(t4-t3) To t4Average value I of a-phase current in a time perioda4Average value of b-phase current Ib4C-phase current average value Ic4。
And 8, step 8: at t4At a time according to t3To t4U within a time perioda(t)、ub(t) and uc(t) the kirchhoff voltage equation can be simplified as follows:
step 9: calculating t4+0.5(t5-t4) To t5Average value I of a-phase current in a time perioda5Average value of b-phase current Ib5C-phase current average value Ic5。
Step 10: at t5At a time according to t4To t5U within a time perioda(t)、ub(t) and uc(t) the kirchhoff voltage equation can be simplified as follows:
and 11, step 11: at t5At this time, the difference between the two expressions in the eighth step and the tenth step can be obtained as follows:
wherein Δ Ia2、ΔIb2And Δ Ic2Satisfies the following formula:
step 12: at t5At the moment, two expressions in the sixth step and the tenth step are combined, and the identification value of the three-phase stator resistance can be calculated according to the following expression:
wherein, Delta Ia1、ΔIb1And Δ Ic1Is the current difference between the time period t 2-t 3 and the time period t 1-t 2,. DELTA.Ia2、ΔIb2And Δ Ic2K is the stator resistance imbalance coefficient for the current difference between the time period t 3-t 4 and the time period t 4-t 5.
Further, the method for calculating the imbalance coefficient k of the stator resistance is as follows:
s300, acquiring a three-phase switching sequence of the thirteen-segment three-level PWM, and obtaining P, O, N action time in the three-phase switching sequence;
further, the action time of P, O, N in the three-phase switching sequence is:
wherein x represents a, b, c, triphase, VdcRepresenting the DC bus voltage, u, of a three-level frequency converterx(T) is a reference voltage, TcIs the carrier period of the three-level frequency converter.
Specifically, the single-phase switching sequence of the thirteen-segment three-level PWM is shown in fig. 3, where j represents a corresponding phase (j ═ a, b, c), Vdc represents a dc bus voltage of the three-level converter, P state represents that a j-phase output terminal voltage is Vdc/2, O state represents that a j-phase output terminal voltage is 0, N state represents that a j-phase output terminal voltage is-Vdc/2, tjP represents time of the P state, tjO represents time of the O state, tjN represents time of the N state, and Tc represents a carrier period of the three-level converter.
The a, b and c three-phase switch sequences of the thirteen-segment three-level PWM all adopt the switch sequences in figure 3, and the combined three-phase switch sequences have thirteen segments. The action time of P, O, N three states of the a-phase switching sequence can be calculated according to the following formula:
the action time of P, O, N three states of the a-phase switching sequence can be calculated according to the following formula:
wherein t isNPThe calculation formula is the midpoint potential balance compensation time and is used for realizing the balance control of the midpoint potential, and the calculation formula is as follows:
wherein C is the capacitance of the upper and lower DC buses, Vc1Is the upper DC bus voltage Vc2Is the lower dc bus voltage.
The action time of the P, O, N three states of the b-phase switching sequence can be calculated as follows:
the action time of the P, O, N three states of the c-phase switching sequence can be calculated as follows:
further, in consideration of midpoint potential balance, the action time of the P, O, N of the a-phase may further include midpoint potential balance compensation time, specifically:
wherein, tNPThe calculation formula is the midpoint potential balance compensation time and is used for realizing the balance control of the midpoint potential, and the calculation formula is as follows:
wherein C is the capacitance of the upper and lower DC buses, Vc1Is the upper DC bus voltage Vc2Is the lower dc bus voltage.
And S400, obtaining a switching state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistance, the three-phase switching sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switching sequence, and generating a driving pulse so as to control the output voltage of the three-level frequency converter.
The invention provides a high-power permanent magnet synchronous motor stator resistance off-line identification method based on a three-level frequency converter, which remarkably improves the voltage control precision under the condition of outputting extremely small voltage by adopting stator resistance identification and thirteen-segment three-level PWM.
An embodiment of the present application further provides an offline identification device for stator resistance of a high-power permanent magnet synchronous motor, as shown in fig. 4, the device includes a reference voltage generation module, a stator resistance calculation module, a thirteen-segment three-level PWM module, and a switch state table module, where the reference voltage generation module is configured to obtain a three-phase reference voltage output by a three-level frequency converter according to a steady-state equivalent circuit; the stator resistance calculation module is used for obtaining an identification value of the phase stator resistance according to a kirchhoff voltage equation; the thirteen-segment three-level PWM module is used for acquiring a three-phase switching sequence of the thirteen-segment three-level PWM and obtaining P, O, N action time in the three-phase switching sequence; and the switch state table module is used for obtaining a switch state table of the three-level frequency converter according to the identification value of the three-phase reference voltage and the stator resistance, the three-phase switch sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switch sequence, generating a driving pulse and controlling the output voltage of the three-level frequency converter.
The high-power permanent magnet synchronous motor stator resistance off-line identification device is connected with the three-level frequency converter; the three-level frequency converter is connected with the high-power permanent magnet synchronous motor according to a specific phase sequence, and outputs three-phase voltage (u) according to a control result of the high-power permanent magnet synchronous motor stator resistance off-line identification deviceao,ubo,uco)。
Furthermore, the off-line identification device for the stator resistance of the high-power permanent magnet synchronous motor can be integrated in a digital operation module, and the digital operation module is composed of a control circuit board composed of a digital processing chip.
Further, as a specific example of the invention, a 1140V high-power permanent magnet synchronous motor of 630kW is selected to test and verify the invention, wherein the three-level frequency converter adopts 1140V three-phase power to supply power through uncontrolled rectification and the direct current bus voltage (V)dc) About 1600V, carrier period (T)c) Set to 1ms, t1、t2、t3、t4、t5Set to 2s, 4s, 6s, 10s, 12s, u, respectively0Set to 1.86V. FIG. 5 shows waveforms comprising the voltage waveform (V) at the a-phase terminal of a three-level converterao1000V/grid) and three-phase current waveform (i)a、ib、icDeviation fromHysteresis 500A, 200A/grid). Fig. 6 shows the identification result of the three-phase stator resistance, where Ra _ identity is the identification result of the a-phase stator resistance, and the value is 0.0204 ohm; rb _ identity is a b-phase stator resistance identification result, and the value is 0.0210 ohm; rc _ identity is the c-phase stator resistance identification result, and the value is 0.0213 ohms. The actual value of the three-phase stator resistance of the adopted high-power permanent magnet synchronous motor is about 0.02 ohm. Therefore, the invention has high stator resistance identification precision.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are also meant to be within the scope of the invention and form different embodiments. For example, in the above embodiments, those skilled in the art can use the combination according to the known technical solutions and technical problems to be solved by the present application.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for identifying the stator resistance of a high-power permanent magnet synchronous motor off line is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
obtaining three-phase reference voltage output by the three-level frequency converter according to the steady-state equivalent circuit;
obtaining an identification value of the three-phase stator resistor according to a kirchhoff voltage equation;
acquiring a three-phase switching sequence of a thirteen-segment three-level PWM, and acquiring P, O, N action time in the three-phase switching sequence;
and obtaining a switching state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switching sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switching sequence, generating a driving pulse and controlling the output voltage of the three-level frequency converter.
2. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 1, characterized in that: the steady-state equivalent circuit is a steady-state equivalent circuit obtained when direct-current voltage is injected in a static state based on a mathematical model of the high-power permanent magnet synchronous motor in the static state and by combining a coordinate transformation theory;
the mathematical model expression under the static state is as follows:
wherein u isd、uqIs the direct-axis and quadrature-axis components, i, of the stator voltage of a high-power permanent magnet synchronous motord、iqIs the direct-axis and quadrature-axis components, R, of the stator current of the high-power permanent magnet synchronous motorsThe equivalent stator resistance of the high-power permanent magnet synchronous motor.
3. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 1, characterized in that: the three-phase reference voltage output by the three-level frequency converter is as follows:
the a-phase reference voltage expression is as follows:
the b-phase reference voltage expression is as follows:
the c-phase reference voltage expression is as follows:
wherein u is0Setting the voltage as a small value for the probing voltage; u. of1For the current amplitude to be Im1A corresponding voltage value; u. of2For the current amplitude to be Im2A corresponding voltage value; t is t1-t5Is a state switching time point, where t5The total time for identifying the stator resistance of the high-power permanent magnet synchronous motor.
4. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 1, characterized in that: the obtaining of the identification value of the phase stator resistance according to the kirchhoff voltage equation comprises:
respectively obtaining t according to kirchhoff voltage equation1To t2、t2To t3、t3To t4And t4To t5U within a time perioda(t)、ub(t) and uc(t) and for u in each time perioda(t)、ub(t) and uc(t) simplifying kirchhoff voltage equation by the expression;
will t2To t3Kirchhoff voltage equation with simplified time period and t1To t2Carrying out difference on a kirchhoff voltage equation simplified in a time period;
will t3To t4Kirchhoff voltage equation with simplified time period and t4To t5Carrying out difference on a kirchhoff voltage equation simplified in a time period;
at t5And combining the results of the difference between the two times to obtain the identification value of the three-phase stator resistance.
5. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 4, characterized in that: respectively obtaining t according to kirchhoff voltage equation1To t2、t2To t3、t3To t4And t4To t5U within a time perioda(t)、ub(t) and uc(t) and for u in each time perioda(t)、ub(t) and uc(t) simplifying kirchhoff voltage equation by the expression; with t1To t2The time period is taken as an example and comprises the following steps:
calculate 0.5t1To t1Average value I of a-phase current in a time perioda1And at t1Time u is calculated as follows1And u2The numerical value of (A):
wherein u is0To probe the voltage, Im1、Im2Is the current amplitude.
Calculating t1+0.5(t2-t1) To t2Average value I of a-phase current in a time perioda2Average value of b-phase current Ib2C-phase current average value Ic2；
At t2At a time according to t1To t2U within a time perioda(t)、ub(t) and uc(t) the kirchhoff voltage equation can be simplified as follows:
wherein the content of the first and second substances,
is a phase-a stator resistance identification value,
Is a b-phase stator resistance identification value,
Is a c-phase stator resistance identification value, Ia2、Ib2、Ic2Are each t1+0.5(t2-t1) To t2Average values of phase current a, b, c in the time period.
6. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 4, characterized in that: the obtained identification value of the three-phase stator resistance is as follows:
wherein, Delta Ia1、ΔIb1And Δ Ic1Is the current difference between the time period t 2-t 3 and the time period t 1-t 2,. DELTA.Ia2、ΔIb2And Δ Ic2K is the stator resistance imbalance coefficient for the current difference between the time period t 3-t 4 and the time period t 4-t 5.
7. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 6, characterized in that: the calculation formula of the stator resistance unbalance coefficient k is as follows:
8. the off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 1, characterized in that: the action time of P, O, N in the three-phase switching sequence is as follows:
wherein x represents a, b, c, triphase, VdcRepresenting the DC bus voltage, u, of a three-level frequency converterx(T) is a reference voltage, TcIs the carrier period of the three-level frequency converter.
9. The off-line identification method for the stator resistance of the high-power permanent magnet synchronous motor according to claim 8, characterized in that: the action time of the P, O, N of the a-phase further comprises midpoint potential balance compensation time, and specifically comprises the following steps:
wherein, tNPThe calculation formula is the midpoint potential balance compensation time and is used for realizing the balance control of the midpoint potential, and the calculation formula is as follows:
wherein C is the capacitance of the upper and lower DC buses, Vc1Is the upper DC bus voltage Vc2Is the lower dc bus voltage.
10. The utility model provides a high-power PMSM stator resistance off-line identification device which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a reference voltage generating module, a stator resistance calculating module, a thirteen-segment three-level PWM module and a switch state table module, wherein,
the reference voltage generating module is used for obtaining three-phase reference voltage output by the three-level frequency converter according to the steady-state equivalent circuit;
the stator resistance calculation module is used for obtaining an identification value of the phase stator resistance according to a kirchhoff voltage equation;
the thirteen-segment three-level PWM module is used for acquiring a three-phase switching sequence of the thirteen-segment three-level PWM and obtaining P, O, N action time in the three-phase switching sequence;
and the switch state table module is used for obtaining a switch state table of the three-level frequency converter according to the identification value of the three-phase reference voltage and the stator resistance, the three-phase switch sequence of the thirteen-segment three-level PWM and the action time of P, O, N in the three-phase switch sequence, generating a driving pulse and controlling the output voltage of the three-level frequency converter.
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