CN117294199A - On-line identification method for counter electromotive force constant of motor - Google Patents

On-line identification method for counter electromotive force constant of motor Download PDF

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CN117294199A
CN117294199A CN202311587855.4A CN202311587855A CN117294199A CN 117294199 A CN117294199 A CN 117294199A CN 202311587855 A CN202311587855 A CN 202311587855A CN 117294199 A CN117294199 A CN 117294199A
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motor
electromotive force
force constant
axis
follows
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CN117294199B (en
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李昱兵
陈跃
赵鹏飞
任明艺
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Sichuan Aoku Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • 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
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Computational Mathematics (AREA)
  • Operations Research (AREA)
  • Algebra (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Direct Current Motors (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses an online identification method for a counter electromotive force constant of a motor, which relates to the technical field of motor control and comprises the following steps: constructing a Long Beige observer; discretizing the Long Beige observer; repeatedly iterating to obtain the estimated rotating speed and the estimated position of the motor, and simultaneously obtaining the counter electromotive force constant of the motor; according to the invention, the back electromotive force constant of the motor is identified on line while the rotation speed and the position of the motor are estimated by using the Dragon-Bager observer, so that the problem of on-line identification of the back electromotive force constant of the motor is solved.

Description

On-line identification method for counter electromotive force constant of motor
Technical Field
The invention relates to the technical field of motor control, in particular to an on-line identification method for a counter electromotive force constant of a motor.
Background
Counter electromotive force constant of variable frequency motorPlays a very important role in the motor control process. Neither can MTPA maximum torque control nor estimation of position velocity by a sensorless observer>And->The running current is dynamically changed along with the running frequency of the motor, and the running current is not fixed. If the counter electromotive force constant of the motor can be continuously obtained during the operation of the motor>The value can be controlled more finely to control the motor, the running efficiency of the motor is improved, and the running noise is reduced.
Disclosure of Invention
In order to solve the problems existing in the prior art, the invention aims to provide an on-line identification method for the counter electromotive force constant of a motor, which adopts a Lungberg observer to estimate the rotating speed and the position of the motor and simultaneously identifies the counter electromotive force constant of the motor on lineSolves->And (5) identifying the problem online.
In order to achieve the above purpose, the invention adopts the following technical scheme: an on-line identification method for a counter electromotive force constant of a motor comprises the following steps:
step 1, constructing a Long Beige observer;
step 2, discretizing the Long Beige observer;
and step 3, repeatedly iterating to obtain the estimated rotating speed and the estimated position of the motor, and simultaneously obtaining the counter electromotive force constant of the motor.
As a further improvement of the present invention, the step 1 is specifically as follows:
operation of an electric machineThe equation is as follows:；
and deforming the motor operation equation:
；
；
；
；
wherein:；/>、/>is the motor d/q axis voltage, +.>、/>Is the motor d/q-axis current, +.>、/>Is the d/q axis inductance of the motor, < >>Is the motor operating angular speed,/>Is the back electromotive force constant of the motor, ">Is the motor resistance>Is a differential operator;
and then coordinate transformation:
；
；
；
finally obtainEquation in the coordinate axis:
；
；
wherein:、/>is a motor->Shaft current->、/>Is a motor->Axle voltage>Is a rotation axis d axis and a fixed axis +.>The angle between the shafts is>、/>Is a motor->A shaft back emf voltage;
the Long Beige observer was thus constructed as follows:
；
wherein:、/>is a motor->Shaft current command value, ">、/>Is a motor->Shaft current detection value, ">、Is a feedback coefficient, and->。
As a further improvement of the invention, the motorShaft voltage->、/>Obtaining motor U-phase and W-phase voltages by duty cycle>、/>The calculation is performed as follows: />；
Wherein:、/>、/>u, V, W phase duty cycle, +.>For bus voltage sampling value, ">、/>U, W phase voltages respectively; thereby obtaining a motor +.>Shaft voltage->、/>The following are provided: />。
As a further improvement of the present invention, the step 2 is specifically as follows:
the first-order backward difference method is adopted, and the discretization is carried out to obtain an iterative formula as follows:
；
；
；
wherein: n is the number of iterations, n is a natural number,is the calculation period.
As a further improvement of the present invention, the step 3 is specifically as follows:
repeatedly iterating through an iteration formula to continuously obtain the back electromotive force voltage of the motor、/>Through again，/>Obtaining an axis error，/>Actual signals for the rotor position of the motor;
use of phase-locked loop PI regulation will +.>Adjusting to 0 to obtain a motor rotor position estimation signal +.>；
By passing throughObtaining the motor speed +.>The method comprises the steps of carrying out a first treatment on the surface of the By->Obtaining each algorithm period；
By passing throughOn-line obtaining motor back electromotive force constant in iterative process>。
The beneficial effects of the invention are as follows:
the invention can timely and accurately acquire the position, the rotating speed and the motor counter electromotive force constant of the motor rotor, is used for acquiring the motor counter electromotive force constant in real time, and can adjust the control of the motor in real time, thereby improving the control precision, and realizing the purposes of improving the motor operation efficiency and reducing the operation noise.
Drawings
FIG. 1 shows a rotational coordinate system d/q and a fixed coordinate system in an embodiment of the inventionSchematic drawing;
FIG. 2 is a schematic diagram of the actual rotor position d/q and the estimated rotor position in an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
An online identification method of a motor counter electromotive force constant is provided, wherein an observer and a discretization observer are constructed Long Beige, the estimated rotating speed and the estimated position of the motor are obtained through repeated iteration, and the motor counter electromotive force constant is obtained at the same time; the method specifically comprises the following steps:
the motor operation equation:
the deformation is by the formula:
；
；
；
；
wherein:；/>、/>is the motor d/q axis voltage, +.>、/>Is the motor d/q-axis current, +.>、/>Is the d/q axis inductance of the motor, < >>Is the motor operating angular speed,/>Is the back electromotive force constant of the motor, ">Is the motor resistance>Is a differential operator.
And then through the coordinate transformation as shown in fig. 1:
；
；
；
finally obtainEquation in the coordinate axis:
；
；
wherein:、/>is a motor->Shaft current->、/>Is a motor->Axle voltage>Is a rotation axis d axis and a fixed axis +.>The angle between the shafts is>、/>Is a motor->A shaft back emf voltage;
construct Long Beige observer:
；
wherein:、/>is a motor->Shaft current command value, ">、/>Is a motor->Shaft current detection value, ">、Is a feedback coefficient, and->。
In order to improve the control accuracy, further errors due to the estimated position errors are reduced,、/>not using voltage command value->、/>Shift to->、/>But +.>、/>Obtaining motor U-phase and W-phase voltages by duty cycle>、/>And then get->、/>。
Wherein:、/>、/>u, V, W phase duty cycle, +.>For bus voltage sampling value, ">、/>U, W phase voltages, respectively.
By the formula:
when (when)When (I)>By using a phase-locked loop PI regulator, will +.>Adjusting to 0 to obtain the motor estimated position +.>. Wherein->Is the true position of the motor, as shown in fig. 2. Further, by->Obtaining the motor rotation speed.
Due toObtain->After that, will get->。
The formula is:further obtaining the counter electromotive force constant of the motor：
。
A first-order backward difference method is adopted, and discretization is carried out to obtain:
；
；
where n is the number of iterations, n is a natural number,is the calculation period.
Repeatedly iterating through an iteration formula to continuously obtain the back electromotive force of the motor//>Through again，/>Obtaining an axis error，/>Use of phase-locked loop PI regulation will +.>Adjusting to 0 to obtain a motor rotor position estimation signal +.>By->Obtaining the motor speed +.>Can also pass->Obtain +/every algorithm period>By->On-line obtaining motor back electromotive force constant +.>。
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims (5)

1. The on-line identification method for the counter electromotive force constant of the motor is characterized by comprising the following steps of:
step 1, constructing a Long Beige observer;
step 2, discretizing the Long Beige observer;
and step 3, repeatedly iterating to obtain the estimated rotating speed and the estimated position of the motor, and simultaneously obtaining the counter electromotive force constant of the motor.
2. The method for on-line identification of a back electromotive force constant of a motor according to claim 1, wherein the step 1 is specifically as follows:
the motor operation equation is as follows:；
and deforming the motor operation equation:
；
；
；
；
wherein:；/>、/>is the motor d/q axis voltage, +.>、/>Is the motor d/q-axis current, +.>、/>Is the d/q axis inductance of the motor, < >>Is the motor operating angular speed,/>Is the back electromotive force of the motorCount (n)/(l)>Is the motor resistance>Is a differential operator;
and then coordinate transformation:
；
；
；
finally obtainEquation in the coordinate axis:
；
；
wherein:、/>is a motor->Shaft current->、/>Is a motor->Axle voltage>Is a rotation axis d axis and a fixed axis +.>The angle between the shafts is>、/>Is a motor->A shaft back emf voltage;
the Long Beige observer was thus constructed as follows:
；
wherein:、/>is a motor->Shaft current command value, ">、/>Is a motor->Shaft current detection value, ">、/>Is a feedback coefficient, and->。
3. The method for on-line identification of back electromotive force constant of motor according to claim 2, wherein the motorShaft voltage->、/>Obtaining motor U-phase and W-phase voltages by duty cycle>、/>The calculation is performed as follows:；
wherein:、/>、/>u, V, W phase duty cycle, +.>For bus voltage sampling value, ">、/>U, W phase voltages respectively; thereby obtaining a motor +.>Shaft voltage->、/>The following are provided: />。
4. The method for on-line identification of back electromotive force constant of motor according to claim 3, wherein the step 2 is specifically as follows:
the first-order backward difference method is adopted, and the discretization is carried out to obtain an iterative formula as follows:
；
；
；
wherein: n is the number of iterations and,is the calculation period.
5. The method for on-line identification of back electromotive force constant of motor according to claim 4, wherein the step 3 is specifically as follows:
repeatedly iterating through an iteration formula to continuously obtain the back electromotive force voltage of the motor、/>Through again，/>Obtaining an axis error，/>Actual signals for the rotor position of the motor;
use of phase-locked loop PI regulation will +.>Adjusting to 0 to obtain a motor rotor position estimation signal +.>；
By passing throughObtaining the motor speed +.>The method comprises the steps of carrying out a first treatment on the surface of the By->Obtain +/every algorithm period>；
By passing throughOn-line obtaining motor back electromotive force constant in iterative process。
CN202311587855.4A 2023-11-27 2023-11-27 On-line identification method for counter electromotive force constant of motor Active CN117294199B (en)

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CN113644853A (en) * 2021-06-22 2021-11-12 浙大城市学院 Permanent magnet synchronous motor directional correction system based on Longberger observer
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CN106208855A (en) * 2015-05-27 2016-12-07 发那科株式会社 The temperature estimation rneans of synchronous motor
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CN113726249A (en) * 2021-08-10 2021-11-30 青岛海信日立空调系统有限公司 Air conditioner
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