CN114337450A - Alternating current motor parameter identification method of current hysteresis loop width and voltage self-adaptive regulator - Google Patents
Alternating current motor parameter identification method of current hysteresis loop width and voltage self-adaptive regulator Download PDFInfo
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Abstract
Alternating current motors are widely used in industrial equipment, high-end manufacturing equipment has higher and higher requirements on the control performance of the alternating current motors, and the parameters of the alternating current motors play a decisive role in the control performance of the alternating current motors. The invention provides an alternating current motor parameter identification method of a current hysteresis loop width and voltage adaptive regulator, which determines the maximum loop width of the current hysteresis loop regulator according to the rated current and the identification point number of a motor name plate, and determines the adaptive voltage of the current hysteresis loop regulator according to the current variation of an alternating current motor after pulse voltage is injected and the loop width of the current hysteresis loop regulator. Injecting adaptive voltage into a d shaft of the alternating current motor, selecting a plurality of groups of different voltages and currents in the d shaft to identify the stator resistance of the alternating current motor when the d shaft current reaches the vicinity of the rated current of the motor, then respectively injecting the adaptive voltage into the d/q shaft, and identifying the inductance of the alternating current motor by adopting the flux linkage of the d/q shaft and the variable quantity of the current when the d/q shaft current reaches the vicinity of the positive value and the negative value of the rated current of the alternating current motor.
Description
Technical Field
The invention belongs to the field of alternating current motor parameter identification and alternating current motor high-performance control, and particularly relates to an alternating current motor parameter identification method of a current hysteresis loop width and voltage self-adaptive regulator.
Background
The alternating current motor has the advantages of high torque control precision, high power density and the like, so the alternating current motor is widely applied to modern industrial equipment, the parameters of the alternating current motor play a decisive role in high-performance control of the alternating current motor, and the motor parameters directly influence the estimation precision of the position and the angle of the magnetic field of the rotor in the control of the position-free sensor of the alternating current motor. In order to improve the control performance of the alternating current Motor, a plurality of parameter Identification methods related to the alternating current Motor are provided by scholars at home and abroad, and an Identification of machine Parameters of Synchronous motors is published by scholars in the IAS year by scholars K.M. Ranman, and the method is directly connected with a load and is not easy to disconnect in practice, so that the method has great limitation in practical application.
In order to improve the parameter identification precision of the permanent magnet synchronous motor, a patent with application number CN201710538011.9 "a permanent magnet synchronous motor parameter identification system based on an improved least square method" adopts an improved least square method to identify real-time stator resistance, real-time inductance value and real-time permanent magnet flux linkage value, but this method needs to make the permanent magnet synchronous motor in a sine wave vector control system, so that the method has great limitation in practical application, meanwhile, the calculation amount of the recursive least square method is large and more adjustable parameters are provided, and the change of parameters of each link makes the method have poor universality and consistency.
At present, no better method can simultaneously meet the requirements of alternating current motor parameter identification: 1) the alternating current motor parameter identification process is simple and has few adjustable parameters; 2) the inductance is identified by adopting the differential of the flux linkage to the current, and meanwhile, the identification precision is higher; 3) considering the influence of the nonlinearity of the inverter on the identification of the stator resistance of the alternating current motor; 4) the motor is always in a static state in the whole alternating current motor parameter identification process. Therefore, it is urgently needed to develop a motor parameter identification method with simple implementation, high precision and few adjustable parameters, and the universality and the practicability of the identification method are improved when higher alternating current motor parameter identification precision is obtained.
Disclosure of Invention
In order to solve the problems that the parameter identification process of the alternating current motor is complex and more in adjustable parameters, the invention provides a parameter identification method of a current hysteresis loop width and voltage self-adaptive regulator. The maximum loop width of the hysteresis current regulator can be preliminarily determined according to the rated current size of the motor name plate and the number of points needing to be identified, then the variable quantity of current in the alternating current motor can be obtained according to the pulse voltage injected in one control period, and the self-adaptive voltage injected can be determined according to the loop width of the hysteresis loop and the current variable quantity under the action of the pulse voltage. When the stator current is larger than the rated current, the injected adaptive voltage is negative, when the stator current is smaller than the rated current, the injected adaptive voltage is positive, when the d/q axis current passes through the rated current positive value or negative value respectively, the flux linkage and the current variable quantity are taken to identify the stator resistance and the d/q axis inductance of the alternating current motor, and the identification process can be repeated for many times to improve the parameter identification precision of the alternating current motor.
The technical scheme adopted by the invention is as follows:
a method for identifying alternating current motor parameters of a current hysteresis loop width and voltage self-adaptive regulator comprises the following steps:
step 1: according to the rated current I on the nameplate of the alternating current motoreAnd the number N of points to be identified, and preliminarily determining the width of the hysteresis loop of the current hysteresis loop regulator as follows: i isb＝Ie/N；
Step 2: injecting an amplitude value U in a control periodmaxAnd recording the current change dI under the action of the pulse voltage;
and step 3: according to the width of the current hysteresis loop determined in the step 1 and the current change dI after the pulse voltage is injected into the alternating current motor in the step 2, the self-adaptive voltage injected into each control period can be determined as follows: u shapeb＝Ib/dI*Umax；
Wherein IbdI is the width of the hysteresis loop and the pulse voltage U of the current hysteresis loop regulatormaxThe amount of change in current under action.
And 4, step 4: injecting the self-adaptive voltage determined in the step 3 into a d-axis of the alternating current motor, and when the d-axis current minus the d-axis reference current is detected to be larger than the width I of a hysteresis loopbWhen the difference between the d-axis current and the d-axis reference current is smaller than the hysteresis loop width-I, the injection voltage is zerobThen inject voltage UbOtherwise, the injection voltage keeps the injection voltage of the previous control period, and the process is used for identifying the stator resistance of the alternating current motor;
and 5: in order to improve the identification precision of the stator resistance of the alternating current motor, d-axis reference current is set near the rated current of the alternating current motor, and three groups of different d-axis currents i are selected near the rated currentsdAnd voltage usdThe stator resistance to identify the ac machine is:
wherein u issd(i),isd(i) The voltage and the current of the d axis of the alternating current motor selected from the ith group are respectively.
Step 6: injecting the self-adaptive voltage U obtained in the step 3 into a d shaft of the alternating current motorbWhen the d-axis current minus the rated current of the alternating current motor is detected to be larger than the width-I of the hysteresis loopbWhen the adaptive voltage is injected as-UbWhen the d-axis current plus the rated current of the alternating current motor is detected to be smaller than the hysteresis loop width IbWhen the adaptive voltage is injected as UbOtherwise, the injection voltage keeps the injection voltage of the previous control period, and the process is used for identifying the d-axis inductance of the alternating current motor;
and 7: according to the stator resistance identified in the step 5 and the d-axis current i of each sampling period in the step 6sdAnd d-axis voltage usdTherefore, the flux linkage of d-axis of adjacent sampling periods can be estimated as:
wherein u issd,isd,
Flux linkages of d-axis voltage, d-axis current, time k and time k +1, Rs,TscRespectively, the stator resistance and the sampling period of the alternating current motor.
And 8: when the d-axis current is detected to pass through the rated current negative value of the alternating current motor, the d-axis flux linkage variable quantity is differentiated on the current variable quantity according to the d-axis current from the rated current negative value to the positive value and then to the negative value, so that the d-axis inductance value can be identified as follows:
Ld＝Δψsd/Δisd
wherein L isd,Δψsd,ΔisdThe d-axis inductance, flux linkage variation, and current variation, respectively.
And step 9: identifying the q-axis inductor, wherein the identification process is the same as the method for identifying the d-axis inductor in the steps 6 to 8, and when the q-axis current is detected to pass through the positive value and the negative value of the rated current, the q-axis inductance value can be identified as follows:
Lq＝Δψsq/Δisq
wherein L isq,Δψsq,ΔisqQ-axis inductance, flux linkage variation, and current variation, respectively.
The invention has the following characteristics and advantages:
(1) determining the maximum ring width of the hysteresis regulator according to the name parameter and the number of the identification points of the alternating current motor, and then determining the self-adaptive voltage injected into the hysteresis current regulator according to the current change amount dI after pulse voltage is injected into a control cycle;
(2) the injected adaptive voltage enables the stator current of the alternating current motor to be alternately changed between positive and negative of a reference value, so that the motor is always in a static state in the whole parameter identification process;
(3) in order to avoid errors brought to motor resistance identification by inverter nonlinearity, when the stator current of the alternating current motor reaches the vicinity of rated current, a plurality of groups of different d-axis voltages and current values are taken to identify the stator resistance of the alternating current motor;
(4) the invention adopts the differentiation of d/q axis flux linkage to current in each current change period to identify the d/q axis inductance value, thereby identifying the alternating current motor parameters in a plurality of current change periods to improve the identification precision.
Drawings
FIG. 1 is a diagram of a permanent magnet motor parameter identification system and circuit configuration;
FIG. 2 is a block diagram of permanent magnet motor parameter identification control;
FIG. 3 is a d-axis current waveform identified by permanent magnet motor stator resistance;
FIG. 4 shows the result of identifying the stator resistance of the permanent magnet motor;
FIG. 5 is a waveform of a reference current and an actual current of a d-axis of a permanent magnet motor;
FIG. 6 shows the result of identifying the d-axis inductance of the permanent magnet motor;
FIG. 7 is a waveform of a reference current and an actual current of a q-axis of a permanent magnet motor;
fig. 8 shows the q-axis inductance identification result of the permanent magnet motor.
Detailed Description
The invention is further described below with reference to the accompanying drawings and the detailed description.
In the following embodiments, the ac motor is exemplified by a permanent magnet motor, and the inverter is exemplified by a two-level voltage-type inverter, but the invention is only explained and not limited to the scope of the invention:
fig. 1 is a diagram of a hardware circuit and system structure according to the present invention, which includes a permanent magnet motor, a three-phase inverter, a dc-side capacitor, a voltage and current sampling circuit, a DSP controller, and a driving circuit. The voltage and current sampling circuit respectively collects the voltage of a direct-current side bus and the phase current of a permanent magnet motor a/b by using a voltage Hall sensor and a current Hall sensor, and a sampling signal passes through a voltage and current signal conditioning circuit and then is converted into a digital signal by a digital processor. The invention adopts a DSP28335 digital processor to complete the verification of the proposed method, and the DSP28335 outputs six paths of pulse width modulation signals and then passes through a driving circuit to obtain driving pulse signals of six switching tubes of a three-phase inverter.
Fig. 2 is a block diagram of ac motor parameter identification control according to the present invention, where fig. 2 includes: the method comprises the following steps of hysteresis current regulator, coordinate transformation, space vector pulse width modulation, stator resistance identification and d/q axis inductance identification, and is sequentially realized on a DSP28335 digital processor in FIG. 1 according to the following steps:
step 1: according to the rated current I on the nameplate of the alternating current motoreAnd the number N of points to be identified, and preliminarily determining the width of the hysteresis loop of the current hysteresis loop regulator as follows: i isb＝Ie/N；
Step 2: injecting an amplitude value U in a control periodmaxAnd recording the current change dI under the action of the pulse voltage;
and step 3: according to the width of the current hysteresis loop determined in the step 1 and the current change dI after the pulse voltage is injected into the alternating current motor in the step 2, the self-adaptive voltage injected into each control period can be determined as follows: u shapeb＝Ib/dI*Umax；
Wherein IbdI is the width of the hysteresis loop and the pulse voltage U of the current hysteresis loop regulatormaxThe amount of change in current under action.
And 4, step 4: injecting the self-adaptive voltage determined in the step 3 into a d-axis of the alternating current motor, and when the d-axis current minus the d-axis reference current is detected to be larger than the width I of a hysteresis loopbWhen the difference between the d-axis current and the d-axis reference current is smaller than the hysteresis loop width-I, the injection voltage is zerobThen inject voltage UbOtherwise, the injection voltage keeps the injection voltage of the previous control period, and the process is used for identifying the stator resistance of the alternating current motor;
and 5: in order to improve the identification precision of the stator resistance of the alternating current motor, d-axis reference current is set near the rated current of the alternating current motor, and three groups of different d-axis currents i are selected near the rated currentsdAnd voltage usdThe stator resistance to identify the ac machine is:
wherein u issd(i),isd(i) The voltage and the current of the d axis of the alternating current motor selected from the ith group are respectively.
Step 6: injecting the self-adaptive voltage U obtained in the step 3 into a d shaft of the alternating current motorbWhen the d-axis current minus the rated current of the alternating current motor is detected to be larger than the width-I of the hysteresis loopbWhen the adaptive voltage is injected as-UbWhen the d-axis current plus the rated current of the alternating current motor is detected to be smaller than the hysteresis loop width IbWhen the adaptive voltage is injected as UbOtherwise, the injection voltage keeps the injection voltage of the previous control period, and the process is used for identifying the d-axis inductance of the alternating current motor;
and 7: according to the stator resistance identified in the step 5 and the d-axis current i of each sampling period in the step 6sdAnd d-axis voltage usdTherefore, the flux linkage of d-axis of adjacent sampling periods can be estimated as:
wherein u issd,isd,
Flux linkages of d-axis voltage, d-axis current, time k and time k +1, Rs,TscRespectively, the stator resistance and the sampling period of the alternating current motor.
And 8: when the d-axis current is detected to pass through the rated current negative value of the alternating current motor, the d-axis flux linkage variable quantity is differentiated on the current variable quantity according to the d-axis current from the rated current negative value to the positive value and then to the negative value, so that the d-axis inductance value can be identified as follows:
Ld＝Δψsd/Δisd
wherein L isd,Δψsd,ΔisdD-axis inductance, flux linkage variation and current variation respectively。
And step 9: identifying the q-axis inductor, wherein the identification process is the same as the method for identifying the d-axis inductor in the steps 6 to 8, and when the q-axis current is detected to pass through the positive value and the negative value of the rated current, the q-axis inductance value can be identified as follows:
Lq＝Δψsq/Δisq
wherein L isq,Δψsq,ΔisqQ-axis inductance, flux linkage variation, and current variation, respectively.
In order to verify the effectiveness of the method provided by the present invention, the ac motor provided by the present invention is exemplified by a permanent magnet motor, and simulation verification is performed in matlab/simulink environment, and the simulation results are shown in fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, and fig. 8. FIG. 3 shows the whole process of identifying the stator resistance of the permanent magnet motor, firstly injecting adaptive voltage into the d-axis of the AC motor to make the stator current of the permanent magnet motor rapidly reach the point near the rated current, when the actual current of the d-axis of the permanent magnet motor reaches the point near the rated current, identifying the stator resistance by taking three groups of different d-axis currents and taking a plurality of d-axis voltages and current values from each group of currents, the stator resistance values identified by each group of d-axis currents and voltage values are R respectively1,R2And R3As shown in fig. 4, finally, the average value of the three groups of resistance values is taken as the final permanent magnet motor stator resistance identification result. As can be seen from the simulation results of fig. 4: the stator resistance value identified by the method near the rated current is almost unchanged after being stable, and the identified stator resistance value is almost consistent with the true value, so the method provided by the invention has higher precision for identifying the stator resistance of the permanent magnet motor.
Fig. 5 is waveforms of a d-axis reference current and an actual current in an identification process of a d-axis inductor of a permanent magnet motor, adaptive voltages are respectively injected into a d-axis and a q-axis, and the amplitude of the q-axis voltage is much smaller than that of the d-axis voltage, so that the d-axis current changes back and forth between positive and negative of the d-axis reference current, and the q-axis current always fluctuates near zero. When actual d axle current passes through the rated current negative value at every turn, the variable quantity of d axle flux linkage and current is obtained again to distinguish d axle inductance, whole discernment process is repeated many times and discernment result improves permanent-magnet machine inductance identification precision through the wave filter at every turn, the result and the true value of permanent-magnet machine d axle inductance identification are as shown in figure 6, can know from the simulation result: after the identification is stable after a period of time, the identification value of the d-axis inductance tends to be stable and is very close to the value of the real d-axis inductance, so that the method provided by the invention has higher accuracy in identifying the d-axis inductance under the rated state of the permanent magnet motor.
Fig. 7 is a waveform of q-axis reference current and actual current in the identification process of a q-axis inductor of a permanent magnet motor, a self-adaptive voltage is injected into the q-axis, and the amplitude of the injected voltage of the d-axis is near zero, so that the q-axis current is changed back and forth between positive and negative of the q-axis reference current, the d-axis current is always fluctuated near zero, when the actual current of the q-axis passes through the positive and negative values of the rated current each time, the q-axis inductor is identified by obtaining the variation of the q-axis flux linkage and the q-axis current, the identification process of the inductor is repeated for many times, and the identification precision of the inductor of the permanent magnet motor is improved by passing the identified inductance value through a filter each time, the identification result and the actual value of the q-axis inductor of the permanent magnet motor are shown in fig. 8, and the simulation result shows: after the identification is stable after a period of time, the identification value of the q-axis inductance tends to be stable and is close to the value of the real q-axis inductance, so that the method provided by the invention has higher precision in identifying the q-axis inductance under the rated state of the permanent magnet motor.
Although the foregoing description describes illustrative embodiments of the invention to facilitate understanding thereof by those skilled in the art. It is to be understood that the invention is not limited in scope to the specific embodiments, but that various changes may be apparent to those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (2)
1. An alternating current motor parameter identification method of a current hysteresis loop width and voltage self-adaptive regulator is characterized by comprising the following steps:
step 1: according to the rated current I on the nameplate of the alternating current motoreAnd the number N of points to be identified, preliminarily determining the current hysteresisThe hysteresis loop width of the regulator is: i isb＝Ie/N；
Step 2: injecting an amplitude value U in a control periodmaxAnd recording the current change dI under the action of the pulse voltage;
and step 3: according to the width of the current hysteresis loop determined in the step 1 and the current change dI after the pulse voltage is injected into the alternating current motor in the step 2, the self-adaptive voltage injected into each control period can be determined as follows: u shapeb＝Ib/dI*Umax；
Wherein IbdI is the width of the hysteresis loop and the pulse voltage U of the current hysteresis loop regulatormaxThe amount of change in current under action.
And 4, step 4: injecting the self-adaptive voltage determined in the step 3 into a d-axis of the alternating current motor, and when the d-axis current minus the d-axis reference current is detected to be larger than the width I of a hysteresis loopbWhen the difference between the d-axis current and the d-axis reference current is smaller than the hysteresis loop width-I, the injection voltage is zerobThen inject voltage UbOtherwise, the injection voltage keeps the injection voltage of the previous control period, and the process is used for identifying the stator resistance of the alternating current motor;
and 5: in order to improve the identification precision of the stator resistance of the alternating current motor, d-axis reference current is set near the rated current of the alternating current motor, and three groups of different d-axis currents i are selected near the rated currentsdAnd voltage usdThe stator resistance to identify the ac machine is:
wherein u issd(i),isd(i) The voltage and the current of the d axis of the alternating current motor selected from the ith group are respectively.
Step 6: injecting the self-adaptive voltage U obtained in the step 3 into a d shaft of the alternating current motorbWhen the d-axis current minus the rated current of the alternating current motor is detected to be larger than the width-I of the hysteresis loopbWhen the adaptive voltage is injected as-UbWhen d-axis current plus AC motor is detectedRated current less than hysteresis loop width IbWhen the adaptive voltage is injected as UbOtherwise, the injection voltage keeps the injection voltage of the previous control period, and the process is used for identifying the d-axis inductance of the alternating current motor;
and 7: according to the stator resistance identified in the step 5 and the d-axis current i of each sampling period in the step 6sdAnd d-axis voltage usdTherefore, the flux linkage of d-axis of adjacent sampling periods can be estimated as:
wherein u issd,isd,
Flux linkages of d-axis voltage, d-axis current, time k and time k +1, Rs,TscRespectively, the stator resistance and the sampling period of the alternating current motor.
And 8: when the d-axis current is detected to pass through the rated current negative value of the alternating current motor, the d-axis flux linkage variable quantity is differentiated on the current variable quantity according to the d-axis current from the rated current negative value to the positive value and then to the negative value, so that the d-axis inductance value can be identified as follows:
Ld＝Δψsd/Δisd
wherein L isd,Δψsd,ΔisdThe d-axis inductance, flux linkage variation, and current variation, respectively.
2. The method for identifying the parameters of the alternating current motor of the adaptive current-hysteresis loop width and voltage regulator according to claim 1, further comprising the following steps:
and step 9: identifying the q-axis inductor, wherein the identification process is the same as the method for identifying the d-axis inductor in the steps 6 to 8, and when the q-axis current is detected to pass through the positive value and the negative value of the rated current, the q-axis inductance value can be identified as follows:
Lq＝Δψsq/Δisq
wherein L isq,Δψsq,ΔisqQ-axis inductance, flux linkage variation, and current variation, respectively.
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