CN114499319B - Decoupling identification method for motor rotor rotating speed and rotor time constant - Google Patents
Decoupling identification method for motor rotor rotating speed and rotor time constant Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
Abstract
The invention discloses a decoupling identification method for the rotating speed and the time constant of a motor rotor. The method comprises the following steps: s1, constructing an adaptive observer for synchronously identifying the rotating speed and the time constant of a rotor of a motor; s2, determining a coupling relation between the rotating speed of a motor rotor and the self-adaptive rate of the time constant of the rotor; s3, introducing two phase shift angles into an expression of the rotor speed self-adaption rate and the rotor time constant self-adaption rate, and updating the coupling relation of the motor rotor speed self-adaption rate and the rotor time constant self-adaption rate; s4, solving values of two phase shift angles when the self-adaptive rate of the motor rotor speed and the rotor time constant is decoupled, substituting the values of the two phase shift angles into the self-adaptive rate expression, and synchronously observing the motor rotor speed and the rotor time constant. The invention can decouple the observation of the rotor rotating speed and the rotor time constant, and has higher identification accuracy.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a decoupling identification method for motor rotor speed and rotor time constant.
Background
The accuracy of the orientation of the motor rotor magnetic field depends on the motor parameters. Aiming at the motor running state distinction, the parameter identification technology comprises off-line identification, static identification and on-line identification. The off-line identification means that the parameters are measured by using the conventional methods of direct current, locked rotor, no-load and the like when the motor rotor is separated from the transmission shaft. The static identification is to inject direct current and single-phase sine quantities with different frequencies into the motor under the static condition of the motor, and calculate and identify motor parameters through feedback signals. Because the motor is not required to rotate, parameter identification can be carried out under the condition that the motor is connected with a load, and great convenience is brought to debugging work. However, the motor parameters are changed along with the temperature and the magnetic field, and whether the motor parameters are identified offline or identified at rest, the motor parameters cannot be updated in real time in the motor operation process, so that the motor control performance is reduced, and the motor parameter online identification has important significance. In the on-line identification, in the normal operation process of the motor, the motor parameters are observed by constructing an observer, so that the on-line updating of the motor parameters is realized.
From the implementation method, there are several common methods for online parameter identification of the motor at present: (1) signal injection method. (2) recursive least squares method. (3) model reference adaptive systems. (4) full-order observer method. (5) Kalman filtering. For the model method represented by the full-order observer method, the synchronous rotor time constant is beneficial to accurately calculating the rotating speed and the rotor position in the speed sensor-free mode. However, since the rotor speed observer and the rotor time constant observer are coupled at the time of synchronous observation, errors in the speed and the rotor time constant are caused, causing a decrease in the control accuracy of the system.
Disclosure of Invention
Aiming at least one defect or improvement requirement of the prior art, the invention provides a decoupling identification method for the rotor speed and the rotor time constant of a motor, which can decouple the observation of two parameters of the rotor speed and the rotor time constant, and has higher identification accuracy.
In order to achieve the above object, according to the present invention, there is provided a method for decoupling and identifying a rotor speed and a rotor time constant of a motor, comprising:
s1, constructing an adaptive observer for synchronously identifying the rotating speed and the time constant of a rotor of a motor;
s2, determining a coupling relation between the self-adaptive rate of the rotating speed of the motor rotor and the self-adaptive rate of the time constant of the rotor;
s3, introducing a first phase shift angle into a rotor speed self-adaptive rate expression, introducing a second phase shift angle into a rotor time constant self-adaptive rate expression, and updating the coupling relation between the motor rotor speed self-adaptive rate and the rotor time constant self-adaptive rate;
s4, solving the values of a first phase shift angle and a second phase shift angle when the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant are decoupled, substituting the value of the first phase shift angle into the self-adaptive rate expression of the rotor speed, substituting the value of the second phase shift angle into the self-adaptive rate expression of the rotor time constant, and synchronously observing the motor rotor speed and the rotor time constant.
Further, the step S1 includes the steps of:
constructing a mathematical model of the motor;
selecting the rotation speed of a rotor and the time constant of the rotor as observables, taking the current of a stator and the flux linkage of the rotor as state variables, and obtaining a self-adaptive observer equation by a mathematical model of the motor;
obtaining an error vector equation according to the self-adaptive observer equation and a mathematical model of the motor;
based on the Liapunov function stability theorem, a rotor rotation speed self-adaptive rate expression and a rotor time constant self-adaptive rate expression are obtained.
Further, the step S2 includes the steps of:
carrying out Laplace transformation on the error vector equation and simplifying the error vector equation to obtain a current error expression;
according to the current error expression, the current error is expressed as a rotor rotating speed error and a rotor time constant error under a two-phase static coordinate system;
and iterating the current error expression under the two-phase static coordinate system to a rotor rotating speed self-adaptive rate expression and a rotor time constant self-adaptive rate expression to obtain the coupling relation between the motor rotor rotating speed self-adaptive rate and the rotor time constant self-adaptive rate.
Further, the step of updating the coupling relation between the rotor speed self-adaptive rate and the rotor time constant self-adaptive rate of the motor comprises the following steps:
and introducing a position error to update a current error expression, and updating the coupling relation between the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant by using the updated current expression and the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant after introducing the first phase shift angle and the second phase shift angle.
Further, the adaptation rates of the rotor rotational speed and the rotor time constant in S1 are expressed as:
in the formula ,is to observe the rotation speed of the rotor,/->Is the observed rotor time constant,/->G cω ＝K pω +K iω ∫dt,G cτ ＝K pτ +K iτ ∫dt，K pω 、K iω Is the PI parameter, K of the rotation speed observer pτ 、K iτ Is the rotor time constant observer PI parameter, is stator current, +.>Is the stator current observation,/->Is a rotor flux linkage observation,/->T represents the matrix transpose.
Further, the coupling relation between the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant in the S2 is as follows:
wherein ,Δωr Is the error of the rotation speed of the observation,is to observe the rotor time constant error,/-, and>is the exciting current, +.>Is torque current, L m Is the mutual inductance of the motor and is->s is a pull operator, m 1 ＝r 1 /l σ +1/τ r ,/>m 3 ＝2ω e -ω r ,m 4 ＝m 1 ω e -ω r R s /l σ ，l σ ＝σL s , />k r ＝L m /L r ,/>τ r ＝L r /R r ，R s Is the resistance of the motor stator, R r Is the resistance of the motor rotor, L s Is the inductance of the motor stator, L r Is the inductance of the motor rotor, L m Is the mutual inductance of the motor, tau r Is the motor rotor time constant, sigma is the leakage inductance coefficient, omega e Is the synchronous rotation speed omega of the motor r Is the rotation speed omega of the motor rotor s Is the motor slip speed.
Further, in S3, after the first phase shift angle and the second phase shift angle are introduced, the adaptive rates of the rotor rotational speed and the rotor time constant are respectively expressed as:
in the formula ,
further, the coupling relation between the self-adaptive rate of the rotor speed of the updated motor and the self-adaptive rate of the rotor time constant is as follows:
in the formula ,
G o11 、G o12 、G o21 、G o22 are all transfer function coefficient matrixes, whereinΔθ is the position error, +.>
Further, the value calculation formulas of the first phase shift angle and the second phase shift angle are as follows:
wherein , is the observed rotational speed +.>Is a rotational speed command.
Overall, compared with the prior art, the invention has the beneficial effects: by introducing two phase shift angles into the rotor speed self-adaptive rate and rotor time constant self-adaptive rate expression, solving the values of the two phase shift angles when the motor rotor speed and rotor time constant self-adaptive rate are decoupled, substituting the values of the two phase shift angles into the self-adaptive rate expression, the observation decoupling of the rotor speed and rotor time constant two parameters can be realized, and the identification accuracy is higher.
Drawings
FIG. 1 is a flow chart of a method for decoupling and identifying the rotor speed and the rotor time constant of a motor according to an embodiment of the invention;
FIG. 2 shows the current error Q-axis component e under a 5Hz full load condition at a rotational speed in accordance with an embodiment of the present invention iq Relation with error of rotational speed and error of rotor time constant;
FIG. 3 is a flow chart of rotational speed and rotor time constant observation coupling in accordance with an embodiment of the present invention;
FIG. 4 is a vector relationship diagram when considering position errors in accordance with an embodiment of the present invention;
FIG. 5 is a graph of m for various conditions according to an embodiment of the present invention 2 The value of (2) affects.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment of the invention provides a motor rotor based on a rotor rotating speed and rotor time constant coupling mechanismA decoupling identification method for speed and rotor time constant. First, the coupling mechanism at the time of dual-parameter synchronous identification is deduced. Second, two phase shift angles are introduced into the dual-parameter observer and />The rotation speed including the phase shift angle and the rotor time constant adaptive rate are deduced by considering the error angle. On the basis of this, two phase shift angles +.>Andis a value of (a).
As shown in fig. 1, a method for decoupling and identifying a rotor speed and a rotor time constant of a motor according to an embodiment of the present invention includes steps S1 to S4:
s1, constructing an adaptive observer for synchronously identifying the rotating speed and the time constant of the rotor of the motor.
Further, S1 includes the steps of:
constructing a mathematical model of the motor;
selecting the rotation speed of a rotor and the time constant of the rotor as observables, taking the current of a stator and the flux linkage of the rotor as state variables, and obtaining a self-adaptive observer equation by a mathematical model of the motor;
obtaining an error vector equation according to the self-adaptive observer equation and a mathematical model of the motor;
based on the Liapunov function stability theorem, a rotor rotation speed self-adaptive rate expression and a rotor time constant self-adaptive rate expression are obtained.
First, the motor mathematical model is:
wherein ,is stator current, +.>Is rotor flux linkage->Is the input voltage of the motor and is used for controlling the motor,
A 11 ＝-r 1 I/l σ -ω e J,A 12 ＝k r (I/τ r -ω r J)/l σ ,A 21 ＝k r R r I,A 22 ＝-I/τ r -(ω e -ω r )J；l σ ＝σL s , k r ＝L m /L r ,/>τ r ＝L r /R r ；B＝[1/l σ 0] T ,R s is the resistance of the motor stator, R r Is the resistance of the motor rotor, L s Is the inductance of the motor stator, L r Is the inductance of the motor rotor, L m Is the mutual inductance of the motor, tau r Is the motor rotor time constant, sigma is the leakage inductance coefficient, omega e Is the synchronous frequency of the motor omega r Is the motor rotor frequency, omega s Is the motor slip frequency.
The rotor speed and the rotor time constant are selected as observables, the current and the flux linkage are used as state variables, and a motor mathematical model (1) can obtain a full-order observer equation which is
Where "≡" represents the physical quantity of the observer,is an observer coefficient matrix, "≡" here indicates that the rotor speed and rotor time constant in the corresponding coefficient matrix in (1) are replaced with observables, ">It is the observation of the stator current that,is to observe the rotor flux linkage.
Subtracting equation (2) from equation (1) yields the error vector equation:
wherein the current errorFlux linkage error-> Representing the differentiation of the error vector,
using Lyapunov stability theorem, rotational speed and rotor time constant observations can be expressed as:
in the formula ,is to observe the rotation speed of the rotor,/->Is the observed rotor time constant,/-> G cω ＝K pω +K iω ∫dt,G cτ ＝K pτ +K iτ ∫dt；K pω 、K iω Is the PI parameter, K of the rotation speed observer pτ 、K iτ Is the rotor time constant observer PI parameter.
S2, determining the coupling relation between the self-adaptive rate of the rotating speed of the motor rotor and the self-adaptive rate of the time constant of the rotor.
Further, S2 includes the steps of:
carrying out Laplace transformation on the error vector equation and simplifying the error vector equation to obtain a current error expression;
according to the current error expression, the current error is expressed as a rotor rotating speed error and a rotor time constant error under a two-phase static coordinate system;
and iterating the current error expression under the two-phase static coordinate system to a rotor rotating speed self-adaptive rate expression and a rotor time constant self-adaptive rate expression to obtain the coupling relation between the motor rotor rotating speed self-adaptive rate and the rotor time constant self-adaptive rate.
The error vector type (3) is subjected to pull-type transformation, and the method can be used for obtaining:
where s is a pull operator.
Simplifying the above formula, the current error can be obtained as:
in the formula ,
according to equations (6) - (7), under a two-phase stationary coordinate system, the current error can be expressed as a rotational speed error and a rotor time constant error, written as:
in the formula ,G o11 、G o12 、G o21 、G o22 are all transfer function coefficient matrices, wherein m 1 ＝r 1 /l σ +1/τ r ,/>m 3 ＝2ω e -ω r ,m 4 ＝m 1 ω e -ω r R s /l σ 。
In general, in a two-phase stationary coordinate system, there is:
thus, the Q-axis component e of the current error iq Can be expressed as:
under steady-state working conditions, the above formula can be simplified as:
according to the above formula (11), under steady-state working condition, the rotor is in 5Hz full-load working condition, and the Q-axis component e of the current error is drawn iq The relationship between the rotational speed error and the rotor time constant error is shown in fig. 1.
It can be seen that the current error follows the rotational speed error and the rotor time constant error. Due to the presence of the adaptive controller for rotational speed and rotor time constant, the current error will converge to 0, as indicated by the line in fig. 2. However, due to the coupling effect, the rotational speed and the rotor time constant may be trapped in a locally optimal solution, i.e. the current error is 0, but there is a large error in both rotational speed and rotor time identification. The current error e can be deduced iq When the rotation speed error is zero, the relation between the rotation speed error and the rotor time constant error is as follows:
at the same time, bringing (9) and (10) into the observer adaptation rate (4) can result in:
according to the above formula (13), the observed rotational speed eventually generates a coupling effect, and a coupling flow chart is drawn as shown in fig. 3. It can be found that the rotor time constant observation error has an influence on the rotational speed observation flow, and in turn, the rotational speed observation error also has an influence on the rotor time constant observation.
S3, introducing a first phase shift angle into the rotor speed self-adaptive rate expression, introducing a second phase shift angle into the rotor time constant self-adaptive rate expression, and updating the coupling relation between the motor rotor speed self-adaptive rate and the rotor time constant self-adaptive rate.
Further, a position error is introduced to update a current error expression, and the coupling relation between the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant is updated by using the updated current expression and the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant after the first phase shift angle and the second phase shift angle are introduced.
Two phase shift angles are introduced into an observer (4), so that a new rotor rotating speed and a rotor time constant observation adaptive rate of the rotor can be obtained
in the formula ,
in the vector control system, a position error is considered due to factors such as a rotational speed and a rotor time constant error, as shown in fig. 4.
When the position error is considered, the formula (9) can be updated as:
where Δθ is the position error.
Bringing the above formula into the vector error (8), it is possible to obtain:
then, the updated adaptive rate (13) is brought into (16) (14), and the following can be obtained:
in the formula ,
s4, solving the values of a first phase shift angle and a second phase shift angle when the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant are decoupled, substituting the value of the first phase shift angle into the self-adaptive rate expression of the rotor speed, substituting the value of the second phase shift angle into the self-adaptive rate expression of the rotor time constant, and synchronously observing the motor rotor speed and the rotor time constant.
In order to ensure decoupling of the rotation speed and rotor time constant observer, for synchronous observation of rotation speed and rotor time constant equation (17), it is required to satisfy:
where det represents the determinant of the matrix.
The above method can be simplified into:
under non-idle conditions, formula (19) is equal to
Due to G c P(s) is a diagonal matrix, and because of attack, the non-diagonal elements in the matrix are all 0, the following can be obtained:
under steady state conditions, the above formula can be simplified as:
to solve the above equation, m needs to be analyzed 2 The effect of this value is shown in figure 5. Under the working conditions of low speed and light load, m exists 2 >0; under medium-high speed and heavy load conditions, m is present 2 <0。
At m 2 When equal to 0, the solution (22) cannot be solved, so that after the working condition is eliminated, the following can be obtained:
based on equation (23), the relationship of the two phase shift angles can be deduced as:
thus, it is possible to obtain:
because the error angle is generally smaller in the actual control system, the above formula can be further simplified
According to the simplified formula, obtaining the phase shift angle as
On the other hand, the sensorless system error angle is difficult to measure, and is handled herein using the following scheme:
thus, the phase shift angle can be adjusted according to the above formulas (27) and (28) and />And taking the value, substituting the value into an observation self-adaption rate (14) to synchronously observe the rotating speed and the rotor time constant in real time, thereby ensuring decoupling of two observation parameters.
The embodiment of the invention provides a decoupling identification system for the rotating speed and the time constant of a motor rotor, which comprises the following components:
the modeling module is used for constructing an adaptive observer for synchronously identifying the rotating speed and the time constant of the rotor of the motor;
the coupling relation analysis module is used for determining the coupling relation between the self-adaptive rate of the rotating speed of the motor rotor and the self-adaptive rate of the time constant of the rotor;
the updating module is used for introducing a first phase shifting angle into the rotor speed self-adaptive rate expression, introducing a second phase shifting angle into the rotor time constant self-adaptive rate expression, and updating the coupling relation between the motor rotor speed self-adaptive rate and the rotor time constant self-adaptive rate;
the solving module is used for solving the values of the first phase shift angle and the second phase shift angle when the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant are decoupled, substituting the value of the first phase shift angle into the self-adaptive rate expression of the rotor speed, substituting the value of the second phase shift angle into the self-adaptive rate expression of the rotor time constant, and synchronously observing the motor rotor speed and the rotor time constant.
The implementation principle and technical effect of the system are similar to those of the method, and are not repeated here.
It should be noted that, in any of the above embodiments, the methods are not necessarily sequentially executed in the sequence number, and it is meant that the methods may be executed in any other possible sequence, as long as it cannot be inferred from the execution logic that the methods are necessarily executed in a certain sequence.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention, and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or changes may be made within the spirit and principles of the invention.
Claims (5)
1. A decoupling identification method for the rotating speed and the time constant of a motor rotor is characterized by comprising the following steps:
s1, constructing an adaptive observer for synchronously identifying the rotating speed and the time constant of a rotor of a motor;
s2, determining a coupling relation between the self-adaptive rate of the rotating speed of the motor rotor and the self-adaptive rate of the time constant of the rotor;
s3, introducing a first phase shift angle into a rotor speed self-adaptive rate expression, introducing a second phase shift angle into a rotor time constant self-adaptive rate expression, and updating the coupling relation between the motor rotor speed self-adaptive rate and the rotor time constant self-adaptive rate;
s4, solving values of a first phase shift angle and a second phase shift angle when the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant are decoupled, substituting the value of the first phase shift angle into an expression of the self-adaptive rate of the rotor speed, substituting the value of the second phase shift angle into an expression of the self-adaptive rate of the rotor time constant, and synchronously observing the motor rotor speed and the rotor time constant;
the coupling relation between the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant in the S2 is as follows:
wherein ,Δωr Is the error of the rotation speed of the observation,is to observe the rotor time constant error,/-, and>is the exciting current, +.>Is torque current, L m Is the mutual inductance of the motor and is->s is a pull operator, m 1 ＝r 1 /l σ +1/τ r ,m 3 ＝2ω e -ω r ,m 4 ＝m 1 ω e -ω r R s /l σ ，l σ ＝σL s ,/>k r ＝L m /L r ,τ r ＝L r /R r ，R s Is the resistance of the motor stator, R r Is the resistance of the motor rotor, L s Is the inductance of the motor stator, L r Is the inductance of the motor rotor, L m Is the mutual inductance of the motor, tau r Is the motor rotor time constant, sigma is the leakage inductance coefficient, omega e Is the synchronous rotation speed omega of the motor r Is the rotation speed omega of the motor rotor s Is the slip speed of the motor;
in S3, after the first phase shift angle and the second phase shift angle are introduced, the adaptive rates of the rotor rotational speed and the rotor time constant are respectively expressed as:
in the formula ,
the coupling relation between the self-adaptive rate of the rotor speed of the motor after updating and the self-adaptive rate of the rotor time constant is as follows:
in the formula ,
G o11 、G o12 、G o21 、G o22 are transfer function coefficient matrixes;
the value calculation formulas of the first phase shift angle and the second phase shift angle are as follows:
wherein , is a rotational speed command.
2. The method for decoupling and identifying the rotational speed and the time constant of the rotor of a motor as claimed in claim 1, wherein said step S1 comprises the steps of:
constructing a mathematical model of the motor;
selecting the rotation speed of a rotor and the time constant of the rotor as observables, taking the current of a stator and the flux linkage of the rotor as state variables, and obtaining a self-adaptive observer equation by a mathematical model of the motor;
obtaining an error vector equation according to the self-adaptive observer equation and a mathematical model of the motor;
based on the Liapunov function stability theorem, a rotor rotation speed self-adaptive rate expression and a rotor time constant self-adaptive rate expression are obtained.
3. The method for decoupling and identifying the rotational speed and the time constant of the rotor of the motor as claimed in claim 2, wherein said step S2 comprises the steps of:
carrying out Laplace transformation on the error vector equation and simplifying the error vector equation to obtain a current error expression;
according to the current error expression, the current error is expressed as a rotor rotating speed error and a rotor time constant error under a two-phase static coordinate system;
and iterating the current error expression under the two-phase static coordinate system to a rotor rotating speed self-adaptive rate expression and a rotor time constant self-adaptive rate expression to obtain the coupling relation between the motor rotor rotating speed self-adaptive rate and the rotor time constant self-adaptive rate.
4. A method for decoupling and identifying a rotor speed and a rotor time constant of a motor as claimed in claim 3, wherein said updating the coupling relation between the rotor speed adaptive rate and the rotor time constant adaptive rate comprises the steps of:
and introducing a position error to update a current error expression, and updating the coupling relation between the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant by using the updated current expression and the self-adaptive rate of the motor rotor speed and the self-adaptive rate of the rotor time constant after introducing the first phase shift angle and the second phase shift angle.
5. The method for decoupling and identifying rotor speed and rotor time constant of motor as claimed in claim 1, wherein the adaptation rates of rotor speed and rotor time constant in S1 are respectively expressed as:
in the formula ,is to observe the rotation speed of the rotor,/->Is the observed rotor time constant,/->G cω ＝K pω +K iω ∫dt,G cτ ＝K pτ +K iτ ∫dt，K pω 、K iω Is the PI parameter, K of the rotation speed observer pτ 、K iτ Is the rotor time constant observer PI parameter, is stator current, +.>Is the stator current observation,/->Is a rotor flux linkage observation,/->T represents the matrix transpose.
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Citations (3)
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|---|---|---|---|---|
| CN109687792A (en) * | 2019-01-15 | 2019-04-26 | 同济大学 | Traction electric machine rotor parameter on-line identification optimization method towards vector control system |
| CN109889119A (en) * | 2019-03-26 | 2019-06-14 | 哈尔滨工业大学 | A kind of induction motor stator resistance and the parallel decoupled identification method of revolving speed |
| CN110649851A (en) * | 2019-09-18 | 2020-01-03 | 重庆中涪科瑞工业技术研究院有限公司 | Multi-parameter decoupling online identification method for asynchronous motor |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109687792A (en) * | 2019-01-15 | 2019-04-26 | 同济大学 | Traction electric machine rotor parameter on-line identification optimization method towards vector control system |
| CN109889119A (en) * | 2019-03-26 | 2019-06-14 | 哈尔滨工业大学 | A kind of induction motor stator resistance and the parallel decoupled identification method of revolving speed |
| CN110649851A (en) * | 2019-09-18 | 2020-01-03 | 重庆中涪科瑞工业技术研究院有限公司 | Multi-parameter decoupling online identification method for asynchronous motor |
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