CN115395850A - Motor parameter identification method and device, storage medium and electronic equipment - Google Patents

Motor parameter identification method and device, storage medium and electronic equipment Download PDF

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Publication number
CN115395850A
CN115395850A CN202211035736.3A CN202211035736A CN115395850A CN 115395850 A CN115395850 A CN 115395850A CN 202211035736 A CN202211035736 A CN 202211035736A CN 115395850 A CN115395850 A CN 115395850A
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phase
current
motor
value
determining
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赵跃东
武炳林
丁峰
汪利新
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Beijing Hekang Xinneng Frequency Conversion Technology Co ltd
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Beijing Hekang Xinneng Frequency Conversion Technology Co ltd
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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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a motor parameter identification method, a motor parameter identification device, a storage medium and electronic equipment, wherein the motor parameter identification method comprises the following steps: acquiring each phase voltage value and each phase current value based on a mode of applying direct-current voltage to a motor winding; determining the stator resistance of each phase according to the phase voltage value and the phase current value of each phase; and determining the stator resistance of the motor according to the stator resistance of each phase, determining the output voltage deviation of each phase according to the voltage value of each phase, the current value of each phase and the stator resistance of each phase, and determining the output phase voltage deviation of the frequency converter according to the output voltage deviation of each phase. The method not only can identify the motor stator resistance, but also can identify and obtain the output phase voltage deviation of the frequency converter, and further realizes the phase voltage balance control of the frequency converter based on the deviation.

Description

Motor parameter identification method and device, storage medium and electronic equipment
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a method and an apparatus for identifying motor parameters, a storage medium, and an electronic device.
Background
In the vector control of the asynchronous motor, motor parameters such as stator resistance, rotor resistance, leakage inductance, mutual inductance, rotor time constant and the like are usually required, but the parameters cannot be found in a motor nameplate, and even a plurality of motor manufacturers cannot measure and calibrate the parameters when the motor leaves a factory, so that the parameters are generally identified and obtained by an off-line static identification method or an on-line identification method in engineering.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a method for identifying motor parameters, which can not only identify the stator resistance of the motor, but also identify and obtain the output phase voltage deviation of the inverter, and further realize the phase voltage balance control of the inverter based on the deviation.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose an electronic device.
The fourth objective of the present invention is to provide a motor parameter identification apparatus.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for identifying a motor parameter, including: acquiring a voltage value and a current value of each phase based on a mode of applying direct current voltage to a motor winding; determining the stator resistance of each phase according to the phase voltage value and the phase current value of each phase; and determining the stator resistance of the motor according to the stator resistance of each phase, determining the output voltage deviation of each phase according to the voltage value of each phase, the current value of each phase and the stator resistance of each phase, and determining the output phase voltage deviation of the frequency converter according to the output voltage deviation of each phase.
According to the motor parameter identification method provided by the embodiment of the invention, each phase voltage value and each phase current value are obtained based on a mode of applying direct current voltage to a motor winding, each phase stator resistance is determined according to each phase voltage value and each phase current value, the motor stator resistance is determined according to each phase stator resistance, each phase output voltage deviation is determined according to each phase voltage value, each phase current value and each phase stator resistance, and the frequency converter output phase voltage deviation is determined according to each phase output voltage deviation, so that the identification of the motor stator resistance can be realized, the frequency converter output phase voltage deviation can be identified and obtained, and the phase voltage balance control of the frequency converter is realized based on the deviation.
According to an embodiment of the present invention, after the frequency converter stops outputting, the method further includes: acquiring each opposite potential of the motor; back emf mode values are determined from each back emf of the motor and a rotor time constant is determined from the back emf mode values.
According to one embodiment of the invention, determining the rotor time constant from the back emf mode value comprises: acquiring a back electromotive force module value determined at the first back electromotive force sampling moment, and acquiring a back electromotive force module value determined at the Nth back electromotive force sampling moment, wherein the back electromotive force module value determined at the Nth back electromotive force sampling moment is smaller than the product of a first preset coefficient and the back electromotive force module value determined at the first back electromotive force sampling moment; and determining a rotor time constant according to the counter potential module value determined at the first counter potential sampling moment, the counter potential module value determined at the Nth counter potential sampling moment and N counter potential sampling periods, wherein N is an integer greater than 1.
According to one embodiment of the invention, the rotor time constant is calculated according to the following formula:
Figure BDA0003818853570000021
wherein, T r Is the rotor time constant, T s For a back-emf sampling period, E mod0 Back-emf modulus determined for the first back-emf sampling instant, E modN The back emf modulus value determined for the nth back emf sampling instant.
According to one embodiment of the invention, acquiring each phase voltage value and each phase current value based on a mode of applying direct-current voltage to a motor winding comprises the following steps: controlling any phase of the frequency converter to output an open circuit, controlling the rest two phases of the frequency converter to apply direct current voltage to corresponding motor windings, and adjusting the duty ratio of the output voltage of the frequency converter to enable the output current of the frequency converter to respectively reach a first target current and a second target current; determining a first output voltage duty ratio when the output current of the frequency converter reaches a first target current, determining a second output voltage duty ratio when the output current of the frequency converter reaches a second target current, and determining a first phase voltage value and a second phase voltage value of at least one phase in the remaining two phases according to the first output voltage duty ratio, the second output voltage duty ratio and the bus voltage of the frequency converter; and when the output current of the frequency converter respectively reaches a first target current and a second target current, acquiring a first phase current value and a second phase current value of at least one phase in the remaining two phases.
According to one embodiment of the present invention, determining a stator resistance per phase from a phase voltage value per phase and a phase current value per phase includes: determining a voltage difference value between a first phase voltage value and a second phase voltage value of any phase, determining a current difference value between a first phase current value and a second phase current value of the phase, and determining the phase stator resistance according to the voltage difference value and the current difference value.
According to one embodiment of the present invention, the output voltage deviation of any one phase is calculated according to the following formula:
Figure BDA0003818853570000022
wherein, delta U x Is the deviation of the output voltage of any one phase,
Figure BDA0003818853570000023
respectively, a first phase voltage value and a second phase voltage value, I, of the phase x1 、I x2 A first phase current value and a second phase current value, R, of the phase, respectively sx Is the phase stator resistance.
According to an embodiment of the invention, after determining the inverter output phase voltage deviation, the method further comprises: controlling any phase of the frequency converter to output an open circuit, and controlling the remaining two phases of the frequency converter to apply alternating excitation current to corresponding motor windings so as to obtain reactive power and current effective value of at least one phase of the remaining two phases; determining the phase leakage inductance according to the reactive power and the current effective value of any phase and the current frequency of the alternating-current excitation current; and determining the leakage inductance of the motor stator and the leakage inductance of the motor rotor according to the leakage inductance of each phase.
According to an embodiment of the invention, after determining the motor stator leakage inductance and the motor rotor leakage inductance, the method further comprises: dragging the motor to a preset frequency to run by adopting a VF control mode, determining the current reactive power and the current effective value of current according to each phase voltage value and each phase current value, and determining the stator inductance and/or the rotor inductance of the motor according to the current reactive power and the current effective value of current; and determining the mutual inductance of the motor according to the inductance of the motor stator and/or the inductance of the motor rotor, and the leakage inductance of the motor stator and/or the leakage inductance of the motor rotor.
According to an embodiment of the invention, after determining the mutual inductance of the motor, the method further comprises: and controlling the frequency converter to stop outputting, and determining the resistance of the motor rotor according to the inductance of the motor rotor and the rotor time constant determined after the frequency converter stops outputting.
In order to achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a motor parameter identification program is stored, wherein the motor parameter identification program, when executed by a processor, implements the aforementioned motor parameter identification method.
According to the computer-readable storage medium of the embodiment of the invention, the processor executes the motor parameter identification method, so that the identification of the motor stator resistance can be realized, the output phase voltage deviation of the frequency converter can be identified and obtained, and the phase voltage balance control of the frequency converter can be realized based on the deviation.
In order to achieve the above-mentioned objective, a third aspect of the present invention provides an electronic device, which includes a memory, a processor, and a motor parameter identification program stored in the memory and executable on the processor, wherein when the processor executes the motor parameter identification program, the method for identifying the motor parameter according to the foregoing description is implemented.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the motor parameter identification method, so that the identification of the motor stator resistance can be realized, the output phase voltage deviation of the frequency converter can be identified and obtained, and the phase voltage balance control of the frequency converter is realized based on the deviation.
In order to achieve the above object, a fourth aspect of the present invention provides a motor parameter identification apparatus, including: the acquisition module acquires each phase voltage value and each phase current value based on a mode of applying direct-current voltage to a motor winding; and the identification module is used for determining the stator resistance of each phase according to the phase voltage value and the phase current value, determining the stator resistance of the motor according to the stator resistance of each phase, determining the output voltage deviation of each phase according to the phase voltage value, the current value of each phase and the stator resistance of each phase, and determining the output phase voltage deviation of the frequency converter according to the output voltage deviation of each phase.
According to the motor parameter identification device provided by the embodiment of the invention, the voltage value of each phase and the current value of each phase are obtained by the obtaining module in a mode of applying direct current voltage to the motor winding, the stator resistance of each phase is determined by the identification module according to the voltage value of each phase and the current value of each phase, the stator resistance of the motor is determined according to the stator resistance of each phase, the output voltage deviation of each phase is determined according to the voltage value of each phase, the current value of each phase and the stator resistance of each phase, and the output voltage deviation of the frequency converter is determined according to the output voltage deviation of each phase, so that the identification of the stator resistance of the motor can be realized, the output voltage deviation of the frequency converter can be identified and obtained, and the phase voltage balance control of the frequency converter is realized on the basis of the deviation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for identifying motor parameters according to an embodiment of the present invention;
FIG. 2 is a flow chart of the acquisition of phase-to-phase voltage values and phase-to-phase current values according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of applying a DC voltage to a motor according to one embodiment of the present invention;
FIG. 4 is a flow chart of a motor stator leakage inductance and a motor rotor leakage inductance acquisition according to one embodiment of the present invention;
FIG. 5 is a T-shaped equivalent circuit diagram of an electric machine according to one embodiment of the present invention;
FIG. 6 is a simplified diagram of the T-shaped equivalent circuit shown in FIG. 5;
FIG. 7 is a flow chart of a process for obtaining motor stator inductance, motor rotor inductance, and motor mutual inductance according to one embodiment of the present invention;
FIG. 8 is another simplified diagram of the T-shaped equivalent circuit shown in FIG. 5;
FIG. 9 is a flow chart of rotor time constant acquisition according to one embodiment of the present invention;
FIG. 10 is a schematic diagram of an electronic device according to an embodiment of the invention;
fig. 11 is a schematic structural diagram of a motor parameter identification device according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 is a flowchart of a motor parameter identification method according to an embodiment of the invention.
Referring to fig. 1, the method for identifying motor parameters may include the following steps:
and S11, acquiring a voltage value and a current value of each phase based on a mode of applying direct current voltage to the motor winding.
And S12, determining the stator resistance of each phase according to the phase voltage value and the phase current value of each phase.
It should be noted that, the present application does not limit the type of the motor, as long as the motor parameter identification method of the present application is used to identify the motor parameter, and for convenience of description, an asynchronous motor is taken as an example for description.
Specifically, the asynchronous motor parameters, such as the motor stator resistance, can be identified by the frequency converter, and at this time, the frequency converter can apply direct-current voltage to different wire windings of the motor, and obtain each phase voltage value and each phase current value of the motor, and further obtain each phase stator resistance of the motor based on each phase voltage value and each phase current value.
In some embodiments, as shown in fig. 2, obtaining the voltage value of each phase and the current value of each phase based on the manner of applying the direct current voltage to the motor winding includes:
and S21, controlling any phase of the frequency converter to output an open circuit, controlling the rest two phases of the frequency converter to apply direct current voltage to corresponding motor windings, and adjusting the duty ratio of the output voltage of the frequency converter to enable the output current of the frequency converter to respectively reach a first target current and a second target current.
For example, the open circuit of the C-phase output of the frequency converter can be controlled, and the a-phase and B-phase of the frequency converter can be controlled to apply the direct current voltage to the corresponding windings, and the equivalent circuit is shown in fig. 3, and as can be seen from fig. 3, the equivalent circuit is the open circuit of the C-phase winding of the motor, and the direct current voltage DC is applied between the a-phase winding and the B-phase winding. Then, the duty ratio of the output voltage of the frequency converter is adjusted step by step to adjust the output current of the frequency converter, for example, the amplitude of the output current is controlled based on an adjusting mode such as PI (proportional integral) or PID (proportional integral derivative), and the output current of the frequency converter is collected in real time until the output current reaches the target current. It can be understood that, at this time, the output current of the frequency converter, that is, the a-phase current of the frequency converter, therefore, the a-phase current of the frequency converter, that is, the output current of the frequency converter, can be obtained by sampling the sampling resistor connected in series to the a-phase of the frequency converter.
It should be noted that, in order to ensure the identification accuracy of the stator resistance of each phase of the motor, when the stator resistance of each phase of the motor is determined based on the output voltage and the output current of each phase, the stator resistance of each phase of the motor may be calculated based on the voltage variation and the current variation to reduce the sampling error, so that the output current of the frequency converter may reach different target currents, such as the first target current I, by adjusting the duty ratio of the output voltage of the frequency converter set1 And a second target current I set2 . Optionally, the first target current is 0.9 times of the rated current I of the motor e Second target current I set2 Rated current I of the motor is 0.6 times e Of course, not limited thereto.
S22, determining a first output voltage duty ratio when the output current of the frequency converter reaches a first target current, determining a second output voltage duty ratio when the output current of the frequency converter reaches a second target current, and determining a first phase voltage value and a second phase voltage value of at least one phase in the remaining two phases according to the first output voltage duty ratio, the second output voltage duty ratio and the bus voltage of the frequency converter.
And S23, when the output current of the frequency converter respectively reaches the first target current and the second target current, acquiring a first phase current value and a second phase current value of at least one phase in the remaining two phases.
For example, the example shown in fig. 3 is still taken as an example. When the output current of the frequency converter reaches the first target current I set1 While maintaining the present output voltage duty cycle (i.e., the first output voltage duty cycle d) 1 ) Keeping the output current of the frequency converter unchanged, wherein the output current can be kept unchanged according to the first output voltage duty ratio d 1 DC bus voltage U of frequency converter dc The first phase voltage value of the A phase is obtained by calculation (can be obtained by sampling)
Figure BDA0003818853570000051
Namely, it is
Figure BDA0003818853570000052
Meanwhile, the first phase current I of the A phase can be obtained by sampling the sampling resistor A1 . Likewise, the output current at the frequency converter reaches a second target current I set2 While maintaining the present output voltage duty cycle (i.e., the second output voltage duty cycle d) 2 ) Keeping the output current of the frequency converter unchanged, wherein the duty ratio d of the second output voltage can be used 2 DC bus voltage U of frequency converter dc Calculating to obtain the voltage value of the second phase of the A phase
Figure BDA0003818853570000061
Namely, it is
Figure BDA0003818853570000062
Meanwhile, the second phase current I of the A phase can be obtained by sampling the sampling resistor A2 。
It should be noted that the first phase current I of the a phase is obtained after sampling A1 And a second phase current I A2 In time, the parameter identification method can be obtained based on a mode of averaging by multiple times of sampling, so that the sampling error can be further reduced, and the accuracy of parameter identification is further improved. For example, when the output current of the frequency converter reaches a first target current I set1 In time, the phase current of the A phase can be sampled n times continuously and is marked as I A1i And calculating to obtain the first phase current I by a formula A1 I.e. by
Figure BDA0003818853570000063
Wherein i =0,1,. Cndot.n; likewise, the output current of the frequency converter reaches the second target current I set2 In time, the phase current of the A phase can be sampled n times continuously and is marked as I A2i And calculating to obtain the second phase current I by formula A2 I.e. by
Figure BDA0003818853570000064
Thereby, the a-phase voltage value and the a-phase current value can be obtained. Based on the same manner, the B-phase voltage value and the B-phase current value, and the C-phase voltage value and the C-phase current value may be obtained, which are not described herein again.
After obtaining the phase voltage value and the phase current value, calculating to obtain the stator resistance of each phase based on the phase voltage value and the phase current value, and as one implementation, determining the stator resistance of each phase according to the phase voltage value and the phase current value includes: determining a voltage difference value between a first phase voltage value and a second phase voltage value of any one phase, determining a current difference value between a first phase current value and a second phase current value of the phase, and determining the phase stator resistance according to the voltage difference value and the current difference value.
For example, the example shown in fig. 3 is still taken as an example. Obtaining the first phase voltage value of the A phase
Figure BDA0003818853570000065
Second phase voltage value
Figure BDA0003818853570000066
First phase current I A1 And a second phase current I A2 Then, the first phase voltage value may be based on
Figure BDA0003818853570000067
Second phase voltage value
Figure BDA0003818853570000068
First phase current I A1 And a second phase current I A2 Calculating to obtain A-phase stator resistance R sA I.e. A-phase stator resistance of the machine
Figure BDA0003818853570000069
Based on the same mode, B-phase stator resistance R of the motor can be obtained sB And C-phase stator resistance R sC 。
And S13, determining the motor stator resistance according to the stator resistance of each phase, determining the output voltage deviation of each phase according to the voltage value of each phase, the current value of each phase and the stator resistance of each phase, and determining the output phase voltage deviation of the frequency converter according to the output voltage deviation of each phase.
Specifically, after obtaining the stator resistance of each phase of the motor, the stator resistance R of the motor can be calculated according to the stator resistance of each phase s I.e. motor stator resistance
Figure BDA00038188535700000610
Further, after obtaining the stator resistance of each phase of the motor, the output voltage deviation of each phase may be calculated according to the stator resistance of each phase, the voltage value of each phase, and the current value of each phase of the motor, and as an implementation manner, the output voltage deviation of any phase is calculated according to the following formula:
Figure BDA0003818853570000071
wherein, delta U x For the output voltage deviation of any one phase,
Figure BDA0003818853570000072
respectively, a first phase voltage value and a second phase voltage value, I, of the phase x1 、I x2 A first phase current value and a second phase current value, R, of the phase, respectively sx Is the phase stator resistance.
For example, the output voltage of the A phase is deviated by
Figure BDA0003818853570000073
And the output voltage deviation of the B phase and the C phase can be obtained in the same way. And calculating to obtain the output phase voltage deviation U of the frequency converter according to the output voltage deviations of the A phase, the B phase and the C phase bias I.e. by
Figure BDA0003818853570000074
Wherein, delta U A 、ΔU B And Δ U C The output voltage deviations of the A phase, the B phase and the C phase are respectively.
In the above embodiment, by applying a direct-current voltage to the motor winding, obtaining a phase voltage value and a phase current value, determining a phase stator resistance according to the phase voltage value and the phase current value, determining a motor stator resistance according to the phase stator resistance, determining a phase output voltage deviation according to the phase voltage value, the phase current value and the phase stator resistance, and determining a frequency converter output phase voltage deviation according to the phase output voltage deviation, not only can the motor stator resistance be identified, but also the frequency converter output phase voltage deviation can be identified and obtained, and further phase voltage balance control of the frequency converter is realized based on the deviation; when each phase of stator resistance is obtained, each phase of voltage value is obtained based on a duty ratio and a direct current bus voltage, and each phase of current value is obtained by sampling when the output current of the frequency converter reaches a certain value, rather than directly sampling the output voltage and the output current, compared with a method for parameter identification of a motor by directly sampling the output voltage and the output current, the identification result is more accurate, and the reason is that: when the output voltage and the output current are directly sampled to identify parameters of the motor, particularly in an off-line static identification process, because the alternating current voltage and the direct current voltage need to be output, the motor does not rotate at the moment, induced electromotive force does not exist, the output voltage of the frequency converter is very low, the dead time of the frequency converter, the tube voltage drop and the system control signal error voltage are relatively large, for a medium-high voltage frequency conversion system with a complex topological structure, the system hardware parameters are complex, certain dispersity exists, the identification result consistency and the stability are easy to cause, the output current reaches a certain value, and the output voltage is obtained based on the direct current bus voltage, so that the problem that the complex topological system error is greatly influenced can be solved, and the identification accuracy is improved.
In some embodiments, as shown in fig. 4, after determining the inverter output phase voltage offset, the method further comprises:
and S31, controlling any phase output of the frequency converter to be open-circuited, and controlling the remaining two phases of the frequency converter to apply alternating excitation current to corresponding motor windings so as to obtain the reactive power and the current effective value of at least one phase of the remaining two phases.
Specifically, the symmetrical T-shaped equivalent circuit of the asynchronous machine is shown in fig. 5, where in fig. 5, R s Representing the motor stator resistance, L s Indicating motor stator leakage inductance, R r Representing the motor rotor resistance, L r Indicating leakage inductance of the motor rotor, L m Representing the mutual inductance of the motor,
Figure BDA0003818853570000081
the virtual resistance corresponding to the loss is represented, and S represents the slip. When alternating current excitation current with excitation frequency equal to the rated frequency of the motor is applied to the motor winding, the excitation impedance is far larger than the rotor loop impedance, so that an open circuit of the excitation loop can be assumed, and the iron loss is ignored, so that the equivalent circuit of the asynchronous motor can be simplified into the circuit shown in fig. 6.
When the leakage inductance of the motor is identified, the C-phase output open circuit of the frequency converter can be controlled firstly, the A-phase and the B-phase of the frequency converter are controlled to apply alternating excitation current, such as single-phase sine wave, to corresponding windings, and the effective value of the alternating excitation current is stabilized at a certain value, such as the rated current I of the motor e 80% -90% of the total frequency of the phase A winding, and controlling the frequency to be a certain value, such as 90% of the rated frequency of the motor, wherein the voltage at two ends of the phase A winding is single-phase sinusoidal voltage. Then, the current value of the A-phase winding, namely the A-phase current value, is sampled, the voltage value of the A-phase winding, namely the A-phase voltage value, is obtained, and the effective current value and the reactive power of the A-phase are obtained through calculation according to the current value, the voltage value, the sampling frequency and the current frequency of the alternating excitation current. It should be noted that the a-phase voltage value may be obtained by calculation or sampling. As one implementation, the effective current value of the a phase can be calculated by the following formula:
Figure BDA0003818853570000082
wherein, I evA Effective value of current of A phase, I evAj Is the jth A-phase current value, M is the sampling number of the A-phase current value, and can be determined according to the sampling frequency f c And the current frequency f of the alternating excitation current 0 Determining, e.g. M = M 0 *f c /f 0 ，M 0 For a predetermined factor, e.g. M 0 ≥4。
The reactive power of the phase A can be calculated by the following formula:
Figure BDA0003818853570000083
wherein, U evA Is the effective value of the voltage of the A phase, U evAj Is the jth A phase voltage value, and the A phase voltage values and the A phase current values are in one-to-one correspondence, P evA Active power of phase A, S evA Apparent power of phase A, Q evA Is the reactive power of phase A.
In the same way, the effective current value and the reactive power of the phase B and the effective current value and the reactive power of the phase C can be obtained, and detailed description is omitted here.
And S32, determining the phase leakage inductance according to the reactive power and the current effective value of any phase and the current frequency of the alternating excitation current.
Specifically, after obtaining the effective current value and the reactive power of the a-phase, the a-phase leakage inductance can be calculated, and the a-phase leakage inductance includes an a-phase stator leakage inductance and an a-phase rotor leakage inductance, and in general, the stator leakage inductance is equal to the rotor leakage inductance, so the a-phase leakage inductance can be calculated by the following formula:
Figure BDA0003818853570000091
wherein L is A Leakage inductance of phase A, L As Leakage inductance of A-phase stator, L Ar The leakage inductance of the A-phase rotor is obtained.
Based on the same manner, the B-phase leakage inductance and the C-phase leakage inductance can be obtained, and detailed description is omitted here.
And S33, determining the leakage inductance of the motor stator and the leakage inductance of the motor rotor according to the leakage inductance of each phase.
Specifically, the leakage inductance of the motor stator and the leakage inductance of the motor rotor can be calculated by the following formulas:
Figure BDA0003818853570000092
wherein L is s For leakage inductance of the motor stator, L r The leakage inductance of the motor rotor is the same.
In the above embodiment, by controlling the open circuit of any phase output of the frequency converter, and controlling the remaining two phases of the frequency converter to apply the ac excitation current to the corresponding motor winding, the reactive power and the current effective value of at least one of the remaining two phases are obtained, and the leakage inductance of the motor stator and the leakage inductance of the motor rotor can be obtained according to the reactive power and the current effective value of any one phase and the current frequency of the ac excitation current, the method is simple and reliable, and has high accuracy.
In some embodiments, as shown in fig. 7, after determining the motor stator leakage inductance and the motor rotor leakage inductance, the method further comprises:
s51, the motor is dragged to a preset frequency to operate in a VF control mode, the current reactive power and the current effective value of current are determined according to each phase voltage value and each phase current value, and the stator inductance and/or the rotor inductance of the motor are/is determined according to the current reactive power and the current effective value of current.
Specifically, when the motor is in the no-load state, the slip S is close to 0, and the equivalent circuit diagram of the motor is shown in fig. 8. In the no-load state of the motor, a VF control mode (i.e. a mode of ensuring that the output voltage is in direct proportion to the frequency) can be adopted to drive the motor to a preset frequency for running, the preset frequency can be 80% -90% of the rated frequency of the motor, then each phase voltage value and each phase current value of the motor are obtained, the reactive power and the current effective value of each phase are calculated according to the each phase voltage value and the each phase current value, and the stator inductance and the rotor inductance of the motor are calculated according to the reactive power and the current effective value of each phase. The reactive power and the effective current value of each phase, and the calculation of the stator inductance and the rotor inductance of the motor can be obtained by referring to the formulas (2) - (5), and the detailed description is omitted here.
And S52, determining the mutual inductance of the motor according to the inductance of the motor stator and/or the inductance of the motor rotor, and the leakage inductance of the motor stator and/or the leakage inductance of the motor rotor.
Specifically, the difference between the inductance of the motor stator and the leakage inductance of the motor stator is the motor mutual inductance, or the difference between the inductance of the motor rotor and the leakage inductance of the motor rotor is the motor mutual inductance.
In the embodiment, in the no-load state of the motor, the motor is dragged to the preset frequency to operate by adopting the VF control mode, the current reactive power and the current effective value of the current are determined according to each phase voltage value and each phase current value, and then the electronic inductance, the electronic rotor inductance and the motor mutual inductance of the motor are obtained according to the reactive power and the current effective value.
In some embodiments, as shown in fig. 9, after the frequency converter stops outputting, the method for identifying the motor parameter further includes:
and S61, acquiring each opposite potential of the motor.
Specifically, after the frequency converter stops outputting, under the action of inertia, the motor will continue to rotate and generate counter electromotive force (i.e. induced electromotive force), and at this time, the voltage of each phase winding of the motor can be acquired to obtain each counter electromotive force. It should be noted that the frequency converter stops outputting after the three-phase ac exciting current is applied to the motor, for example, after the motor mutual inductance identification is completed, the frequency converter stops outputting, and after half a rotation cycle of the frequency converter stopping outputting, the motor per-opposite potential starts to be collected, so as to ensure that the frequency converter stops outputting completely and the motor rotation speed is not too low, which results in inaccurate collected motor per-opposite potential.
And S62, determining a counter electromotive force module value according to each counter electromotive force of the motor, and determining a rotor time constant according to the counter electromotive force module value.
Specifically, after each counter potential of the motor is obtained, a counter potential modulus value E is calculated according to each counter potential of the motor mod I.e. by
Figure BDA0003818853570000101
Wherein E is A 、E B And E C Phase A, phase B and phase C are respectively opposite in potential. Then, according to the back electromotive force modulus E mod And calculating to obtain the rotor time constant of the motor.
In some embodiments, determining the rotor time constant from the back emf mode value comprises: acquiring a back electromotive force module value determined at the first back electromotive force sampling moment, and acquiring a back electromotive force module value determined at the Nth back electromotive force sampling moment, wherein the back electromotive force module value determined at the Nth back electromotive force sampling moment is smaller than the product of a first preset coefficient and the back electromotive force module value determined at the first back electromotive force sampling moment; and determining a rotor time constant according to the back electromotive force module value determined at the first back electromotive force sampling moment, the back electromotive force module value determined at the Nth back electromotive force sampling moment and N back electromotive force sampling periods, wherein N is an integer greater than 1.
That is, N back emf mode values may be obtained, and the rotor time constant calculated based on the N back emf mode values. Specifically, the back emf modulus value at the time t =0 may be obtained first
Figure BDA0003818853570000102
Wherein E is A0 、E B0 And E C0 T =0 respectivelyPhase A, phase B and phase C are opposite in potential; then, T = N × T is obtained s Back emf modulus of time
Figure BDA0003818853570000103
Wherein, E AN 、E BN And E CN T = N T respectively s Phase A, phase B and phase C at the moment are at opposite potentials, and E modN ＜K1*E mod0 And K1 is a first preset coefficient and can be determined according to actual conditions, for example, K1 is 0.3-0.5, so that a certain difference value is ensured between two back electromotive force mode values, and the accuracy of a rotor time constant is ensured. Then, the rotor time constant is calculated from the two back emf mode values, for example, by the following formula:
Figure BDA0003818853570000111
wherein, T r Is the rotor time constant, T s For a back-emf sampling period, E mod0 Back-emf modulus determined for the first back-emf sampling instant, E modN A back emf magnitude determined for the nth back emf sampling instant.
In the embodiment, after the frequency converter stops outputting, the rotor time constant can be quickly determined based on the counter electromotive force of the motor, and the method is simple and reliable and has high accuracy.
In some embodiments, after determining the motor mutual inductance, the method further comprises: controlling the frequency converter to stop outputting, and determining the motor rotor resistance according to the motor rotor inductance and the rotor time constant determined after the frequency converter stops outputting, namely the motor rotor resistance R r ＝L r /T r 。
It should be noted that, based on the T-type equivalent circuit of the asynchronous motor shown in fig. 5, a leakage inductance of the motor rotor and a resistance of the motor rotor are connected in series and then connected in parallel with a motor mutual inductance, and when identifying the leakage inductance of the motor rotor and the resistance of the motor rotor, a high-frequency ac excitation voltage is required, in the related art, a high-frequency pulse injection method or a high-frequency sine wave excitation method is usually adopted, but for a medium-high voltage frequency converter with a complex topology structure, due to the configuration of system hardware, the high-frequency pulse injection difficulty is large, and the high-frequency sine wave excitation is relatively easy to implement, but there are problems: because the stator and the rotor windings of the asynchronous motor are different in winding form, the stator of the motor is generally formed by connecting a plurality of strands of thin wires in parallel, the working current frequency is high, and the skin effect is small in high frequency, the rotor conducting bar of the motor is generally formed by welding a thick aluminum bar or a copper bar, the current working frequency of the rotor is close to the slip frequency, and the skin effect is obvious when high-frequency sine wave exciting current is injected, so that the resistance identification error of the motor rotor is too large. In the embodiment of the invention, the motor rotor inductance can be identified and obtained by inputting the alternating current excitation current to the motor, the rotor time constant can be identified and obtained based on the counter electromotive force of the motor after the output of the frequency converter is stopped, the motor rotor resistance can be obtained based on the motor rotor inductance and the rotor time constant, a high-frequency pulse injection method or a high-frequency sine wave excitation method is not needed, and the method is simple and reliable and has high accuracy.
In summary, according to the motor parameter identification method in the embodiment of the invention, the deviation between the motor stator resistance and the output phase voltage of the frequency converter can be identified by applying the direct current voltage to the motor; the leakage inductance of the motor stator and the leakage inductance of the motor rotor can be identified and obtained by applying alternating current excitation current with certain frequency to the motor; the motor stator inductance, the motor rotor inductance, the motor mutual inductance, the rotor time constant and the motor rotor resistance can be obtained by applying three-phase alternating-current excitation current to the motor in an identification manner. Therefore, the motor parameter identification is realized, the problems of large error influence of a complex topological system and high rotor resistance identification difficulty are solved, and experiments prove that the engineering application is simple and reliable, and the method is particularly suitable for medium-high voltage complex topological structure frequency conversion systems.
In some embodiments, a computer-readable storage medium is further provided, on which a motor parameter identification program is stored, the motor parameter identification program implementing the motor parameter identification method when executed by a processor.
According to the computer-readable storage medium of the embodiment of the invention, the processor executes the motor parameter identification method, so that the identification of the motor parameters is realized, the problems of large error influence and large rotor resistance identification difficulty of a complex topological system are solved, and experiments prove that the engineering application is simple and reliable, so that the method is particularly suitable for a medium-high voltage complex topological structure frequency conversion system.
In some embodiments, an electronic device is also provided.
Referring to fig. 10, the electronic device 100 includes a memory 110, a processor 120, and a motor parameter identification program stored in the memory 110 and executable on the processor 120, wherein the processor 120 implements the motor parameter identification method according to the foregoing description when executing the motor parameter identification program.
According to the electronic equipment provided by the embodiment of the invention, the motor parameter identification method is executed through the processor, so that the identification of the motor parameters is realized, the problems of large error influence and large rotor resistance identification difficulty of a complex topological system are solved, and experiments prove that the engineering application is simple and reliable, so that the electronic equipment is especially suitable for a medium-high voltage complex topological structure frequency conversion system.
In some embodiments, a motor parameter identification device is also provided.
Referring to fig. 11, the motor parameter identification device 200 includes: an acquisition module 210 and a recognition module 220. The obtaining module 210 is configured to obtain a voltage value of each phase and a current value of each phase based on a manner of applying a direct current voltage to a winding of the motor; the identification module 220 is configured to determine a stator resistance of each phase according to the phase voltage value and the phase current value, determine a stator resistance of the motor according to the stator resistance of each phase, determine an output voltage deviation of each phase according to the phase voltage value, the phase current value, and the stator resistance of each phase, and determine an output phase voltage deviation of the frequency converter according to the output voltage deviation of each phase.
In some embodiments, the obtaining module 210 is further configured to obtain each opposite electric potential of the motor after the frequency converter stops outputting; the identification module 220 is further configured to determine a back emf magnitude from each back emf of the motor and determine a rotor time constant from the back emf magnitude.
In some embodiments, the identification module 220 is specifically configured to: acquiring a back electromotive force module value determined at the first back electromotive force sampling moment, and acquiring a back electromotive force module value determined at the Nth back electromotive force sampling moment, wherein the back electromotive force module value determined at the Nth back electromotive force sampling moment is smaller than the product of a first preset coefficient and the back electromotive force module value determined at the first back electromotive force sampling moment; and determining a rotor time constant according to the counter potential module value determined at the first counter potential sampling moment, the counter potential module value determined at the Nth counter potential sampling moment and N counter potential sampling periods, wherein N is an integer greater than 1.
In some embodiments, the identification module 220 is specifically configured to calculate the rotor time constant according to the following equation:
Figure BDA0003818853570000121
wherein, T r Is the rotor time constant, T s For a back-emf sampling period, E mod0 Back emf norm, E, determined for the first back emf sampling instant modN The back emf modulus value determined for the nth back emf sampling instant.
In some embodiments, the obtaining module 210 is specifically configured to: controlling any phase of the frequency converter to output an open circuit, controlling the rest two phases of the frequency converter to apply direct current voltage to corresponding motor windings, and adjusting the duty ratio of the output voltage of the frequency converter to enable the output current of the frequency converter to respectively reach a first target current and a second target current; determining a first output voltage duty ratio when the output current of the frequency converter reaches a first target current, determining a second output voltage duty ratio when the output current of the frequency converter reaches a second target current, and determining a first phase voltage value and a second phase voltage value of at least one phase in the remaining two phases according to the first output voltage duty ratio, the second output voltage duty ratio and the bus voltage of the frequency converter; and when the output current of the frequency converter reaches a first target current and a second target current respectively, acquiring a first phase current value and a second phase current value of at least one phase in the remaining two phases.
In some embodiments, the recognition module 220 is specifically configured to: determining a voltage difference value between a first phase voltage value and a second phase voltage value of any phase, determining a current difference value between a first phase current value and a second phase current value of the phase, and determining the phase stator resistance according to the voltage difference value and the current difference value.
In some embodiments, the output voltage deviation of any one phase is calculated according to the following formula:
Figure BDA0003818853570000131
wherein, delta U x Is the deviation of the output voltage of any one phase,
Figure BDA0003818853570000132
a first phase voltage value and a second phase voltage value, I, of the phase x1 、I x2 A first phase current value and a second phase current value, R, of the phase, respectively sx Is the phase stator resistance.
In some embodiments, the recognition module 220 is further configured to: after determining the output phase voltage deviation of the frequency converter, controlling any phase of the frequency converter to output an open circuit, and controlling the remaining two phases of the frequency converter to apply alternating current excitation current to corresponding motor windings so as to obtain the reactive power and current effective value of at least one phase of the remaining two phases; determining the phase leakage inductance according to the reactive power and the current effective value of any phase and the current frequency of the alternating current excitation current; and determining the leakage inductance of the motor stator and the leakage inductance of the motor rotor according to the leakage inductance of each phase.
In some embodiments, the recognition module 220 is further configured to: after the leakage inductance of the motor stator and the leakage inductance of the motor rotor are determined, the motor is dragged to a preset frequency to operate in a VF control mode, the current reactive power and the current effective value of the current are determined according to each phase voltage value and each phase current value, and the inductance of the motor stator and/or the inductance of the motor rotor are determined according to the current reactive power and the current effective value of the current; and determining the mutual inductance of the motor according to the inductance of the motor stator and/or the inductance of the motor rotor, and the leakage inductance of the motor stator and/or the leakage inductance of the motor rotor.
In some embodiments, the recognition module 220 is further configured to: and after the mutual inductance of the motor is determined, controlling the frequency converter to stop outputting, and determining the resistance of the motor rotor according to the inductance of the motor rotor and a rotor time constant determined after the frequency converter stops outputting.
It should be noted that, for the description of the motor parameter identification apparatus in the present application, please refer to the description of the motor parameter identification method in the present application, and details are not repeated herein.
According to the motor parameter identification device provided by the embodiment of the invention, the deviation of the motor stator resistance and the output phase voltage of the frequency converter can be identified by applying direct-current voltage to the motor; the leakage inductance of the motor stator and the leakage inductance of the motor rotor can be identified and obtained by applying alternating current excitation current with certain frequency to the motor; the motor stator inductance, the motor rotor inductance, the motor mutual inductance, the rotor time constant and the motor rotor resistance can be identified and obtained by applying the three-phase alternating-current excitation current to the motor. Therefore, the motor parameter identification is realized, the problems of large error influence of a complex topological system and high rotor resistance identification difficulty are solved, and experiments prove that the engineering application is simple and reliable, and the method is particularly suitable for medium-high voltage complex topological structure frequency conversion systems.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (13)

1. A motor parameter identification method is characterized by comprising the following steps:
acquiring each phase voltage value and each phase current value based on a mode of applying direct-current voltage to a motor winding;
determining the stator resistance of each phase according to the phase voltage value and the phase current value of each phase;
determining the stator resistance of the motor according to the stator resistance of each phase, determining the output voltage deviation of each phase according to the voltage value of each phase, the current value of each phase and the stator resistance of each phase, and determining the output voltage deviation of the frequency converter according to the output voltage deviation of each phase.
2. The method of claim 1, wherein after the frequency converter stops outputting, the method further comprises:
acquiring each opposite potential of the motor;
and determining a back electromotive force module value according to each opposite potential of the motor, and determining a rotor time constant according to the back electromotive force module value.
3. The method of claim 2, wherein determining a rotor time constant from the back emf magnitude comprises:
acquiring a back electromotive force modulus determined at a first back electromotive force sampling moment, and acquiring a back electromotive force modulus determined at an Nth back electromotive force sampling moment, wherein the back electromotive force modulus determined at the Nth back electromotive force sampling moment is smaller than the product of a first preset coefficient and the back electromotive force modulus determined at the first back electromotive force sampling moment;
and determining the rotor time constant according to the back electromotive force module value determined at the first back electromotive force sampling moment, the back electromotive force module value determined at the Nth back electromotive force sampling moment and N back electromotive force sampling periods, wherein N is an integer greater than 1.
4. The method of claim 3, wherein the rotor time constant is calculated according to the following equation:
Figure FDA0003818853560000011
wherein, T r Is the rotor time constant, T s For the back-emf sampling period, E mod0 Back emf magnitude determined for said first back emf sampling instant, E modN A back emf modulus value determined for the nth back emf sampling instant.
5. The method according to any one of claims 1-4, wherein obtaining phase voltage values and phase current values based on applying a direct voltage to the motor windings comprises:
controlling any phase output open circuit of the frequency converter, controlling the rest two phases of the frequency converter to apply direct current voltage to corresponding motor windings, and adjusting the duty ratio of the output voltage of the frequency converter to enable the output current of the frequency converter to respectively reach a first target current and a second target current;
determining a first output voltage duty cycle when the output current of the frequency converter reaches the first target current, determining a second output voltage duty cycle when the output current of the frequency converter reaches the second target current, and determining a first phase voltage value and a second phase voltage value of at least one of the remaining two phases according to the first output voltage duty cycle, the second output voltage duty cycle and the bus voltage of the frequency converter;
and when the output current of the frequency converter respectively reaches the first target current and the second target current, acquiring a first phase current value and a second phase current value of at least one phase in the remaining two phases.
6. The method of claim 5, wherein determining a per-phase stator resistance based on the per-phase voltage values and per-phase current values comprises:
determining a voltage difference value between a first phase voltage value and a second phase voltage value of any one phase, determining a current difference value between a first phase current value and a second phase current value of the phase, and determining the phase stator resistance according to the voltage difference value and the current difference value.
7. The method of claim 6, wherein the output voltage deviation for any phase is calculated according to the following equation:
Figure FDA0003818853560000021
wherein, delta U x Is the deviation of the output voltage of any one phase,
Figure FDA0003818853560000022
a first phase voltage value and a second phase voltage value, I, of the phase x1 、I x2 A first phase current value and a second phase current value, R, of the phase, respectively sx Is the phase stator resistance.
8. The method of claim 5, wherein after determining the inverter output phase voltage offset, the method further comprises:
controlling any phase of the frequency converter to output an open circuit, and controlling the remaining two phases of the frequency converter to apply alternating excitation current to corresponding motor windings so as to obtain reactive power and current effective value of at least one phase of the remaining two phases;
determining the phase leakage inductance according to the reactive power and the current effective value of any phase and the current frequency of the alternating excitation current;
and determining the leakage inductance of the motor stator and the leakage inductance of the motor rotor according to the leakage inductance of each phase.
9. The method of claim 8, wherein after determining motor stator leakage inductance and motor rotor leakage inductance, the method further comprises:
dragging the motor to a preset frequency to run by adopting a VF control mode, determining a current reactive power and a current effective value of current according to each phase voltage value and each phase current value, and determining a stator inductance and/or a rotor inductance of the motor according to the current reactive power and the current effective value of current;
and determining the mutual inductance of the motor according to the inductance of the motor stator and/or the inductance of the motor rotor and the leakage inductance of the motor stator and/or the leakage inductance of the motor rotor.
10. The method of claim 9, wherein after determining the mutual inductance of the motor, the method further comprises:
and controlling the frequency converter to stop outputting, and determining the resistance of the motor rotor according to the inductance of the motor rotor and the rotor time constant determined after the frequency converter stops outputting.
11. A computer-readable storage medium, having stored thereon a motor parameter identification program which, when executed by a processor, implements a motor parameter identification method according to any one of claims 1 to 10.
12. An electronic device comprising a memory, a processor and a motor parameter identification program stored in the memory and executable on the processor, wherein the processor implements the motor parameter identification method according to any one of claims 1-10 when executing the motor parameter identification program.
13. An apparatus for identifying parameters of a motor, comprising:
the acquisition module acquires a voltage value and a current value of each phase based on a mode of applying direct current voltage to a motor winding;
and the identification module is used for determining the stator resistance of each phase according to the phase voltage value and the phase current value, determining the stator resistance of the motor according to the stator resistance of each phase, determining the output voltage deviation of each phase according to the phase voltage value, the current value of each phase and the stator resistance of each phase, and determining the output phase voltage deviation of the frequency converter according to the output voltage deviation of each phase.
CN202211035736.3A 2022-08-26 2022-08-26 Motor parameter identification method and device, storage medium and electronic equipment Pending CN115395850A (en)

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