CN114337450B - 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
Ac motors are widely used in industrial equipment, and high-end manufacturing equipment has increasingly high requirements on the control performance of the ac motor, while parameters of the ac motor play a decisive role in the control performance of the ac motor. The invention provides an alternating current motor parameter identification method of a current hysteresis loop width and voltage self-adaptive regulator, which is characterized in that the maximum loop width of the current hysteresis loop regulator is determined according to rated current and identification points of a motor name plate, and the self-adaptive voltage of the current hysteresis loop regulator is determined by the current variation of an alternating current motor after pulse voltage is injected and the loop width of the current hysteresis loop regulator. The method comprises the steps of injecting self-adaptive voltage into the d-axis of the alternating current motor, selecting a plurality of groups of different voltages and currents in the d-axis to identify the stator resistance of the alternating current motor when the d-axis current reaches the vicinity of the rated current of the motor, then injecting the self-adaptive voltage into the d/q-axis respectively, and identifying the inductance of the alternating current motor by adopting the d/q-axis flux linkage and the variation of the current when the d/q-axis current reaches the vicinity of the positive and negative values 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 high-performance control of alternating current motors, and particularly relates to an alternating current motor parameter identification method of a current hysteresis loop width and voltage self-adaptive regulator.
Background
The AC motor has the advantages of high torque control precision, high power density and the like, so that the AC motor is widely applied to modern industrial equipment, the parameters of the AC motor play a decisive role in high-performance control of the AC motor, and meanwhile, the parameters of the AC motor directly influence the estimation precision of the position and the angle of a rotor magnetic field in the control of the AC motor without a position sensor. In order to improve the control performance of the ac motor, scholars at home and abroad put forward a plurality of parameter identification methods related to the ac motor, and scholars k.m. rahman published a parameter identification method related to the rotation state of the permanent magnet motor in the annual meeting of IAS, but in practice, the motor is directly connected with the load and is not easy to disconnect, so that the method has a great limitation in practical application.
In order to improve the parameter identification precision of the permanent magnet synchronous motor, the application number CN201710538011.9 of a permanent magnet synchronous motor parameter identification system based on an improved least square method adopts the improved least square method to identify the real-time stator resistance, the real-time inductance value and the real-time permanent magnet flux linkage value, but the method needs to enable the permanent magnet synchronous motor to be in a sine wave vector control system, so that the method has great limitation in practical application, and simultaneously, the recursive least square method has large calculated amount and more adjustable parameters, and the change of parameters of each link leads to poor universality and consistency of the method.
At present, no better method can simultaneously meet the following requirements for parameter identification of an alternating current motor: 1) The parameter identification process of the alternating current motor is simple and has few adjustable parameters; 2) The inductance is identified by differentiating the flux linkage to the current, and the identification precision is high; 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, there is an urgent need to develop a motor parameter identification method with simple implementation, high precision and few adjustable parameters, so as to improve the versatility and practicality of the identification method when obtaining higher ac motor parameter identification precision.
Disclosure of Invention
In order to solve the problems that the parameter identification process of an alternating current motor is complex and the number of adjustable parameters is large, 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 loop current regulator can be preliminarily determined according to the rated current of the motor name plate and the number of points to be identified, then the variation of the current in the alternating current motor can be obtained according to the pulse voltage injected in one control period, and the injected self-adaptive voltage can be determined according to the hysteresis loop width and the current variation under the action of the pulse voltage. When the stator current is larger than the rated current, the self-adaptive voltage is injected to be negative, when the stator current is smaller than the rated current, the self-adaptive voltage is injected to be positive, when the d/q axis current passes through the positive value or the negative value of the rated current respectively, the variation of the flux linkage and the current is taken to identify the stator resistance and the d/q axis inductance of the alternating current motor, and the identification process can be circulated for a plurality of times to improve the parameter identification precision of the alternating current motor.
The technical scheme adopted by the invention is as follows:
an alternating current motor parameter identification method of a current hysteresis loop width and voltage self-adaptive regulator, the method comprises the following steps:
step 1: according to rated current I on nameplate of alternating current motor e And the number N of points to be identified, preliminarily determining that the hysteresis loop width of the current hysteresis loop regulator is: i b ＝I e /N；
Step 2: injecting a signal of amplitude U in a control period max And recording the current variation dI under the action of the pulse voltage;
step 3: according to the current hysteresis loop width determined in the step 1 and the current variation dI of the alternating current motor after pulse voltage is injected in the step 2, the injected self-adaptive voltage in each control period can be determined as follows: u (U) b ＝I b /dI*U max ；
Wherein I is b dI is the hysteresis width and pulse voltage U of the current hysteresis regulator respectively max Current variation under action.
Step 4: after the self-adaptive voltage determined in the step 3 is injected into the d-axis of the alternating current motor, when the d-axis current minus the d-axis reference current is detected to be larger than the hysteresis loop width I b When the d-axis current minus the d-axis reference current is detected to be smaller than the hysteresis loop width-I b At the time, injection voltage U b Otherwise, the injection voltage is kept for the injection voltage of the previous control period, and the process is used for identifying the stator resistance of the alternating current motor;
step 5: in order to improve the identification accuracy of the stator resistance of the AC motor, the d-axis reference current is set near the rated current of the AC motor, and three different d-axis currents i are selected near the rated current sd And a voltage u sd To identify the exchangeThe stator resistance of the current motor is:
wherein u is sd (i),i sd (i) The d-axis voltage and the current value of the alternating current motor selected from the i group are respectively.
Step 6: injecting the adaptive voltage U obtained in the step 3 into the d axis of the alternating current motor b When the d-axis current minus the rated current of the AC motor is detected to be larger than the hysteresis loop width-I b When the injection adaptive voltage is-U b When the d-axis current plus the rated current of the alternating current motor is detected to be smaller than the hysteresis loop width I b When the self-adaptive voltage is injected to U b Otherwise, the injection voltage is kept in the previous control period, and the process is used for identifying the d-axis inductance of the alternating current motor;
step 7: based on the stator resistance identified in step 5 and the d-axis current i for each sampling period in step 6 sd D-axis voltage u sd Thus, the flux linkage of the d axis of the adjacent sampling period can be estimated as follows:
wherein u is sd ,i sd ,
Flux linkages of d-axis voltage, d-axis current, k-time and k+1-time, R s ,T sc Respectively the stator resistance and the sampling period of the alternating current motor.
Step 8: when the d-axis current is detected to pass through the rated current negative value of the alternating current motor, then the d-axis flux linkage variable quantity is differentiated 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:
L d ＝Δψ sd /Δi sd
wherein L is d ,Δψ sd ,Δi sd The d-axis inductance, the flux linkage variation and the current variation are respectively shown.
Step 9: the q-axis inductance is identified, the identification process is the same as the method for d-axis inductance identification in the steps 6 to 8, and when the q-axis current passing through the rated current positive and negative values is detected, the q-axis inductance value can be identified as follows:
L q ＝Δψ sq /Δi sq
wherein L is q ,Δψ sq ,Δi sq The q-axis inductance, the flux linkage variation and the current variation are respectively.
The invention has the following characteristics and advantages:
(1) Determining the maximum loop width of the hysteresis loop regulator according to the name plate parameters and the number of identification points of the alternating current motor, and determining the self-adaptive voltage injected into the hysteresis loop current regulator according to the current variation dI after pulse voltage is injected in a control period;
(2) Because the injected self-adaptive voltage makes the stator current of the alternating current motor alternate between the positive and negative of the reference value, the motor is always in a static state in the whole parameter identification process;
(3) In order to avoid errors caused by non-linearity of an inverter to motor resistance identification, 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 d/q axis inductance value, thus being capable of identifying AC motor parameters in a plurality of current change periods to improve identification accuracy.
Drawings
FIG. 1 is a diagram of a permanent magnet motor parameter identification system and circuit configuration;
FIG. 2 is a permanent magnet motor parameter identification control block diagram;
FIG. 3 is a d-axis current waveform for permanent magnet motor stator resistance identification;
FIG. 4 is a permanent magnet motor stator resistance identification result;
FIG. 5 is a graph of the d-axis reference current versus actual current waveform of a permanent magnet motor;
FIG. 6 is a graph showing the d-axis inductance identification result of a permanent magnet motor;
FIG. 7 is a graph of the q-axis reference current versus actual current waveform of a permanent magnet motor;
fig. 8 is a q-axis inductance identification result of the permanent magnet motor.
Detailed Description
The invention is further described below with reference to the drawings and 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 present invention is merely explained and not limited to the scope of the present invention:
fig. 1 is a block diagram of a hardware circuit and system of the present invention, including 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 the bus at the direct current side and the current of the a/b phase of the permanent magnet motor by using a voltage Hall sensor and a current Hall sensor, and the sampled signals are converted into digital signals by a digital processor after passing through a voltage and current signal conditioning circuit. The invention adopts the 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 the driving circuit, thus obtaining the driving pulse signals of six switching tubes of the three-phase inverter.
Fig. 2 is a block diagram of parameter identification control of an ac motor according to the present invention, and fig. 2 includes: the method is implemented on a DSP28335 digital processor in FIG. 1 in sequence according to the following steps:
step 1: according to rated current I on nameplate of alternating current motor e And the number N of points to be identified, preliminarily determining that the hysteresis loop width of the current hysteresis loop regulator is: i b ＝I e /N；
Step 2: injecting a signal of amplitude U in a control period max And recording the current variation dI under the action of the pulse voltage;
step 3: according to the current hysteresis loop width determined in the step 1 and the current variation dI of the alternating current motor after pulse voltage is injected in the step 2, the injected self-adaptive voltage in each control period can be determined as follows: u (U) b ＝I b /dI*U max ；
Wherein I is b dI is the hysteresis width and pulse voltage U of the current hysteresis regulator respectively max Current variation under action.
Step 4: after the self-adaptive voltage determined in the step 3 is injected into the d-axis of the alternating current motor, when the d-axis current minus the d-axis reference current is detected to be larger than the hysteresis loop width I b When the d-axis current minus the d-axis reference current is detected to be smaller than the hysteresis loop width-I b At the time, injection voltage U b Otherwise, the injection voltage is kept for the injection voltage of the previous control period, and the process is used for identifying the stator resistance of the alternating current motor;
step 5: in order to improve the identification accuracy of the stator resistance of the AC motor, the d-axis reference current is set near the rated current of the AC motor, and three different d-axis currents i are selected near the rated current sd And a voltage u sd The stator resistance to identify the ac motor is:
wherein u is sd (i),i sd (i) The d-axis voltage and the current value of the alternating current motor selected from the i group are respectively.
Step 6: injecting the adaptive voltage U obtained in the step 3 into the d axis of the alternating current motor b When the d-axis current minus the rated current of the AC motor is detected to be larger than the hysteresis loop width-I b When the injection adaptive voltage is-U b When the d-axis current plus the rated current of the alternating current motor is detected to be smaller than the hysteresis loop width I b When the self-adaptive voltage is injected to U b Otherwise, the injection voltage is kept in the previous control period, and the process is used for identifying the d-axis inductance of the alternating current motor;
step 7: according to the identification in step 5The stator resistance of (2) and the d-axis current i per sampling period in step 6 sd D-axis voltage u sd Thus, the flux linkage of the d axis of the adjacent sampling period can be estimated as follows:
wherein u is sd ,i sd ,
Flux linkages of d-axis voltage, d-axis current, k-time and k+1-time, R s ,T sc Respectively the stator resistance and the sampling period of the alternating current motor.
Step 8: when the d-axis current is detected to pass through the rated current negative value of the alternating current motor, then the d-axis flux linkage variable quantity is differentiated 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:
L d ＝Δψ sd /Δi sd
wherein L is d ,Δψ sd ,Δi sd The d-axis inductance, the flux linkage variation and the current variation are respectively shown.
Step 9: the q-axis inductance is identified, the identification process is the same as the method for d-axis inductance identification in the steps 6 to 8, and when the q-axis current passing through the rated current positive and negative values is detected, the q-axis inductance value can be identified as follows:
L q ＝Δψ sq /Δi sq
wherein L is q ,Δψ sq ,Δi sq The q-axis inductance, the flux linkage variation and the current variation are respectively.
In order to verify the effectiveness of the method provided by the invention, the alternating current motor is exemplified by a permanent magnet motor, and simulation verification is carried out in a matlab/simulink environment, and simulation results are shown in fig. 3, 4, 5, 6, 7 and 8. FIG. 3 shows the whole process of identifying the stator resistance of a permanent magnet motor, wherein self-injection is firstly performed in the d-axis of the AC motorThe adaptive voltage enables the stator current of the permanent magnet motor to reach the point near the rated current rapidly, when the actual current of the d-axis of the permanent magnet motor reaches the point near the rated current, three groups of different d-axis currents are taken, a plurality of d-axis voltages and current values are taken in each group of currents to identify the stator resistance, and the stator resistance values obtained by identifying the d-axis currents and the voltage values of each group are respectively R 1 ,R 2 R is as follows 3 As shown in fig. 4, the average value of the three groups of resistance values is finally taken as the final permanent magnet motor stator resistance identification result. From the simulation results of fig. 4, it can be seen that: the method provided by the invention has the advantages that the stator resistance value identified near the rated current is almost unchanged after being stabilized, and meanwhile, the identified stator resistance value is almost consistent with the true value, so that the method provided by the invention has higher precision for identifying the stator resistance of the permanent magnet motor.
Fig. 5 is waveforms of d-axis reference current and actual current in the process of identifying d-axis inductance of the permanent magnet motor, self-adaptive voltages are respectively injected into d-axis and q-axis, and the q-axis voltage amplitude is far smaller than the d-axis voltage amplitude, 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 around zero. When the actual d-axis current passes through the rated current negative value each time, the d-axis flux linkage and the current variation are acquired to identify the d-axis inductance, the whole identification process is repeated for a plurality of times, the identification result passes through the filter each time to improve the permanent magnet motor inductance identification precision, the permanent magnet motor d-axis inductance identification result and the true value are shown in fig. 6, and the simulation result shows that: after the identification is stable for a period of time, the d-axis inductance identification value tends to be stable and is very close to the value of the true d-axis inductance, so that the method provided by the invention has higher accuracy on d-axis inductance identification in the rated state of the permanent magnet motor.
Fig. 7 is a waveform of q-axis reference current and actual current in the q-axis inductance identification process of the permanent magnet motor, an adaptive voltage is injected into the q-axis, and the d-axis injection voltage amplitude is near zero, so that the q-axis current is changed back and forth between the positive and negative of the q-axis reference current, the d-axis current is always in fluctuation near zero, when the q-axis actual current passes through the positive and negative values of rated current each time, the q-axis inductance is identified by acquiring the variation of q-axis flux linkage and current, the inductance identification process is repeated for a plurality of times, and each time, the identified inductance value passes through a filter to improve the permanent magnet motor inductance identification precision, the identification result and the actual value of the q-axis inductance of the permanent magnet motor are shown in fig. 8, and from simulation results, it can be known that: after the identification is stable for a period of time, the q-axis inductance identification value tends to be stable and is close to the value of the real q-axis inductance, so that the q-axis inductance identification method has higher accuracy in the rated state of the permanent magnet motor.
While the foregoing has described illustrative embodiments of the invention, it is convenient for those skilled in the art to understand the invention. It should be understood that the invention is not limited to the precise embodiments and that various changes may be made by one skilled in the art without departing from the scope and spirit of the invention as defined in the appended claims.
Claims (2)
1. A method for identifying parameters of an alternating current motor of a current hysteresis loop width and voltage self-adaptive regulator is characterized by comprising the following steps:
step 1: according to rated current I on nameplate of alternating current motor e And the number N of points to be identified, preliminarily determining that the hysteresis loop width of the current hysteresis loop regulator is: i b ＝I e /N；
Step 2: injecting a signal of amplitude U in a control period max And recording the current variation dI under the action of the pulse voltage;
step 3: according to the current hysteresis loop width determined in the step 1 and the current variation dI of the alternating current motor after pulse voltage is injected in the step 2, the injected self-adaptive voltage in each control period can be determined as follows: u (U) b ＝I b /dI*U max ；
Wherein I is b dI is the hysteresis width and pulse voltage U of the current hysteresis regulator respectively max Current variation under action;
step 4: after the self-adaptive voltage determined in the step 3 is injected into the d-axis of the alternating current motor, when the d-axis current minus the d-axis reference current is detected to be larger than the hysteresis loopWidth of ring I b When the d-axis current minus the d-axis reference current is detected to be smaller than the hysteresis loop width-I b At the time, injection voltage U b Otherwise, the injection voltage is kept for the injection voltage of the previous control period, and the process is used for identifying the stator resistance of the alternating current motor;
step 5: in order to improve the identification accuracy of the stator resistance of the AC motor, the d-axis reference current is set near the rated current of the AC motor, and three different d-axis currents i are selected near the rated current sd And a voltage u sd The stator resistance to identify the ac motor is:
wherein u is sd (i),i sd (i) The d-axis voltage and the current value of the alternating current motor selected in the ith group are respectively;
step 6: injecting the adaptive voltage U obtained in the step 3 into the d axis of the alternating current motor b When the d-axis current minus the rated current of the AC motor is detected to be larger than the hysteresis loop width-I b When the injection adaptive voltage is-U b When the d-axis current plus the rated current of the alternating current motor is detected to be smaller than the hysteresis loop width I b When the self-adaptive voltage is injected to U b Otherwise, the injection voltage is kept in the previous control period, and the process is used for identifying the d-axis inductance of the alternating current motor;
step 7: based on the stator resistance identified in step 5 and the d-axis current i for each sampling period in step 6 sd D-axis voltage u sd Thus, the flux linkage of the d axis of the adjacent sampling period can be estimated as follows:
wherein u is sd ,i sd ,
Respectively is d-axis voltage and d-axisCurrent, flux linkage at time k and time k+1, R s ,T sc Respectively an alternating current motor stator resistance and a sampling period;
step 8: when the d-axis current is detected to pass through the rated current negative value of the alternating current motor, then the d-axis flux linkage variable quantity is differentiated 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:
L d ＝Δψ sd /Δi sd
wherein L is d ,Δψ sd ,Δi sd The d-axis inductance, the flux linkage variation and the current variation are respectively shown.
2. The method for identifying parameters of an ac motor of a current hysteresis loop width and voltage adaptive regulator according to claim 1, further comprising the steps of:
step 9: the q-axis inductance is identified, the identification process is the same as the method for d-axis inductance identification in the steps 6 to 8, and when the q-axis current passing through the rated current positive and negative values is detected, the q-axis inductance value can be identified as follows:
L q ＝Δψ sq /Δi sq
wherein L is q ,Δψ sq ,Δi sq The q-axis inductance, the flux linkage variation and the current variation are respectively.
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