WO2003047084A1 - Procede d'identification de parametres de moteur asynchrone - Google Patents

Procede d'identification de parametres de moteur asynchrone Download PDF

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Publication number
WO2003047084A1
WO2003047084A1 PCT/CN2002/000852 CN0200852W WO03047084A1 WO 2003047084 A1 WO2003047084 A1 WO 2003047084A1 CN 0200852 W CN0200852 W CN 0200852W WO 03047084 A1 WO03047084 A1 WO 03047084A1
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WIPO (PCT)
Prior art keywords
motor
frequency
stator
current
rotor
Prior art date
Application number
PCT/CN2002/000852
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English (en)
Chinese (zh)
Inventor
Hongxin Liu
Kemeng Zhang
Yulei Wang
Original Assignee
Emerson Network Power Co. Ltd
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Publication date
Application filed by Emerson Network Power Co. Ltd filed Critical Emerson Network Power Co. Ltd
Priority to AU2002349458A priority Critical patent/AU2002349458A1/en
Publication of WO2003047084A1 publication Critical patent/WO2003047084A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines

Definitions

  • the present invention relates to motor parameter identification technology, and more particularly, to a method for obtaining parameters of an asynchronous motor in a frequency control system of vector control or direct torque control. This method can be used as an independent module to identify the parameters of asynchronous motors in such systems. Background technique
  • the vector control system of asynchronous motor is a high-precision variable-frequency speed-adjusting system based on the rotor magnetic flux remaining unchanged and the instantaneous torque controllable by the magnetic field orientation.
  • the performance of the vector control system completely depends on the accuracy of the motor parameters used in it. If the motor parameters are inaccurate, it will directly cause the performance of the vector control to decrease and even cause the inverter to malfunction.
  • FIG. 1 The block diagram of a common vector control system is shown in Figure 1. From Figure 1, it can be seen that the motor parameters are used in the calculation of the dynamic mathematical model of the motor and the speed identification. It can be seen that the motor parameters play an important role in the vector control system. How to accurately obtain the motor parameters becomes the key to vector control or direct torque control.
  • the technical problem to be solved by the present invention is to provide a high-precision method for offline identification of asynchronous motor parameters in response to the above-mentioned shortcomings of the prior art.
  • the traditional electrical engineering test principle is used, and the on-voltage in the vector control system is considered in detail The effects of falling, time delay, dead time, and skin effect are compensated correctly to achieve high accuracy of identification parameters.
  • the motor parameters tested include at least the leakage inductance of the stator and rotor, the resistance of the stator and rotor, the inductance or mutual inductance of the stator and rotor, and the no-load excitation current.
  • the asynchronous motor parameter identification method of the present invention includes at least the steps of the following short-circuit experiment: opening any one of the three-phase windings of the electric motor;
  • the closed-loop proportional integral (PI) adjustment control is used for the currents in the other two-phase windings, and when the current stable value reaches the rated current of the motor At that time, the voltage between the other two-phase windings is measured; the stator and rotor leakage inductance and the sum of the stator and rotor resistance are calculated accordingly.
  • PI proportional integral
  • the stator resistance of the motor is tested by DC voltammetry.
  • the steps include: applying a high-frequency chopped DC bus voltage between any two-phase windings of the motor. ; Use closed-loop PI control to control the current in the two-phase windings. When the current reaches the rated current of the motor, test the voltage between the two-phase windings. Based on this, calculate the stator resistance of the motor, and then use the obtained The rotor resistance is obtained by subtracting the stator resistance from the sum of the stator and rotor resistance.
  • the method when testing the resistance of the motor rotor, the method further includes the step of testing the mutual inductance between the stator and the rotor of the motor through a no-load test: applying a no-load test to the motor with an alternating current of 80% of its rated frequency to calculate the stator of the motor And rotor inductance.
  • a no-load test to the motor with an alternating current of 80% of its rated frequency to calculate the stator of the motor And rotor inductance.
  • each two-phase (arbitrary two-phase winding) combination of the three-phase windings of the motor is tested, and the average of the three combinations is taken as Identification results of stator resistance and rotor resistance.
  • a fast Fourier (FFT) algorithm is used to calculate the active and reactive components of the current.
  • an alternating current having a first and a second frequency of ⁇ and f2 is applied to the two-phase windings, respectively. Calculate the rotor resistance at the rated slip frequency and use it as the rotor resistance value that is actually recognized.
  • the first and second frequencies ⁇ and f2 are larger than a rated slip frequency of the motor and smaller than a rated frequency of the motor.
  • the first frequency fl is 10 Hz
  • the second frequency f2 is 30 ⁇ .
  • the voltage value of the input current needs to be calculated first, and then the voltage value is calculated. Subtract the multiple of the transistor's on-voltage value to get the new fundamental voltage value.
  • the output modulation ratio (M) is adjusted correspondingly according to the sampled bus voltage, so that the magnitude of the output voltage and current does not fluctuate with the fluctuation of the grid voltage.
  • the present invention improves the accuracy and stability of identification parameters by compensating the on-voltage drop, switching delay and dead time in the variable frequency speed regulation system.
  • the two-point method is used to calculate the rotor resistance value at the rated slip frequency to overcome the skin effect, so as to obtain the accurate rotor resistance value and make it fully meet the requirements of the vector control system.
  • Figure 1 is a block diagram of a common vector control system
  • Figure 2 is a steady-state equivalent circuit diagram of an asynchronous motor
  • Figure 3 is a schematic diagram of the main circuit of the variable frequency speed regulation system
  • Figure 4-a and Figure 4-b are the wiring diagrams when testing the stator resistance of Y-shaped and ⁇ -shaped asynchronous motors by voltammetry;
  • Figure 5 is a control block diagram of stator resistance identification
  • Figure 6 is a schematic diagram of the actual waveform of the pulse after considering the pressure drop of the tube;
  • Figure 7 is a steady-state equivalent circuit diagram of the motor during a stall test
  • Figure 8 is the equivalent circuit diagram after ignoring the excitation circuit during the motor stall test
  • Figure 9 is a schematic diagram of phase A in a PWM inverter
  • Figures 10-a and 10-b are schematic diagrams of the effect of the interlocking effect on the actually applied phase voltage when the load current is greater than zero and less than zero, respectively;
  • Figure 11 is the equivalent circuit diagram of the asynchronous motor during no-load test
  • Figure 12 is a block diagram of the dead-time compensation algorithm during no-load test. Detailed description of the invention
  • the method of the invention is a high-precision offline identification method which is practical in engineering.
  • the method of the present invention utilizes traditional electromechanical test principles, and considers in detail the effects of on-voltage drop, switching delay, dead time, and skin effect in the vector control system, and corrects them by correcting them. Achieve high accuracy of identification parameters.
  • Figure 1 is a block diagram of a common vector control system.
  • the method of the present invention is based on a steady-state equivalent circuit of a motor as shown in FIG. 2, and the identified parameters are all parameters in the steady-state equivalent circuit.
  • Figure 3 is a schematic diagram of the main circuit of a variable frequency speed regulation system.
  • the method of the present invention is an offline parameter identification method used in this voltage-type AC-DC-AC variable frequency speed regulation system.
  • the method of the present invention includes three processes: short circuit test, stator resistance identification test, and no-load test. The implementation methods of these three main experimental steps will be described in detail below.
  • the tested motor parameters include at least the stator and rotor leakage inductance, the stator and rotor resistance, the stator or rotor inductance or mutual inductance, and the no-load excitation current.
  • the parameters of the asynchronous motor first obtained are the short-circuit experiment steps to obtain the stator and rotor leakage inductance, and the sum of the stator and rotor resistance.
  • the steps include opening any one of the three-phase windings of the electric machine; applying a certain frequency of alternating current between the other two-phase windings of the electric machine to carry out a short-circuit test; and then applying the current in the other two-phase windings to Closed-loop proportional integral (PI) adjustment control, when the current stable value reaches the rated current of the motor, the voltage between the other two-phase windings is measured; the stator and rotor leakage inductance, and the stator and rotor resistance are calculated accordingly.
  • PI proportional integral
  • the stator resistance identification test can be measured by a simple DC voltammetry method, that is, low-voltage direct current is passed between any two-phase windings of the motor, and the voltage U and the The magnitude of the current I passed.
  • the one-phase stator resistance equivalent to the star connection method is
  • the key to test the stator resistance by DC voltammetry is how to obtain a low voltage DC power source.
  • the inverter when the inverter is directly connected to the power grid, its DC bus voltage will reach about 540 volts. It is impossible to apply such a high voltage directly to the stator windings.
  • the usual solution is to chop the DC bus voltage to obtain a high-frequency voltage pulse sequence with a low average value, a fixed period, and a fixed duty cycle. After the high-frequency pulse is filtered by the inductor in the stator winding, the current flowing through the stator winding is a small pulsating DC current. For example, in FIG.
  • the transistor T1 is always turned on, the transistors T2, T3, T5, and T6 are directly turned off, and the transistor T4 is driven by a pulse sequence.
  • One of the key points in the identification of the stator resistance of the present invention is the calculation of the voltage considering the influence of the on-off delay time.
  • the transistor is an isolated gate bipolar transistor (IGBT)
  • IGBT isolated gate bipolar transistor
  • the on-delay as ⁇
  • the off-delay as t 0 ff
  • the pulse width is t
  • the actual pulse width is tt on + t of f
  • the duty cycle is controlled by current using the current closed loop plus PI
  • the control method of the regulator is the second key point of the present invention in the identification of the stator resistance.
  • the method of adding a PI regulator to the current closed loop to obtain the duty ratio is used to control its size to prevent overcurrent.
  • / is the control target, that is, a given current
  • / is the feedback current.
  • the value of the given current / in the present invention is determined as the rated current value of the identified motor.
  • the calculation of the voltage taking into account the effect of the on-voltage drop is the third of the key points of the present invention in identifying stator resistance.
  • the on-voltage drop includes the on-voltage drop O T of the IGBT transistor and the on-voltage drop of the freewheeling diode.
  • the short-circuit test is also called the stall test.
  • a more accurate measurement should use a three-phase stall test.
  • the motor equivalent circuit is shown in Figure 7.
  • the impedance of the excitation branch is much larger than the impedance of the rotor circuit. Therefore, it can be considered that the excitation branch is open and the iron loss is ignored.
  • the equivalent circuit diagram of the short-circuit test is shown in Figure 8. The situation of the three-phase stall test is described in detail in any book of electrical engineering, and it will not be repeated here.
  • a single-phase short-circuit test is used instead of a three-phase short-circuit test in the present invention.
  • the specific method is: open one phase of the motor and pass a single-phase sinusoidal alternating current between the other two phases to make the current passing through the winding reach the rated value.
  • measure the voltage, current and input power on the stator Divide the sum of power by 2 and convert it to the voltage and power of one phase winding, then the short-circuit resistance and reactance of the motor can be calculated.
  • the difference between the results obtained and the three-phase short-circuit test is negligible. .
  • a sinusoidal pulse width modulation (SPWM) voltage is applied only between two-phase windings (such as A and B terminals) to make the current reach the rated value, the current is sampled, and the short-circuit parameters of the motor are obtained through a series of calculations.
  • SPWM sinusoidal pulse width modulation
  • a voltage is applied across the windings of A and B, and a sine voltage can be generated as follows: The transistors T5 and T6 connected to the C-phase winding are always turned off, which is equivalent to leaving the C-phase winding floating.
  • the transistor T1 is always turned on, the transistor T2 is always turned off, and the transistor T4 is pulsed with a pulse whose pulse width changes in a sinusoidal manner to trigger its turn-on, which appears between the two-phase windings.
  • Positive half-cycle voltage between 180 ° and 360 °, the transistor T1 is always turned off, the transistor T2 is always on, and the transistor T3 is pulsed with a pulse width that changes in a sinusoidal manner to trigger its conduction. Then the two-phase windings A, B A negative half-cycle voltage appears between the two ends.
  • the pulse width of the SP Li pulse is calculated by the equal area method. From the single-phase SPWM principle, between ta-tb, the area of the sine wave is equal to the area of the rectangular pulse:
  • the value setting method is similar to the duty setting method in stator resistance identification.
  • / m 2 (/ 'êt e .) 2 + (/ mS ii ⁇ ) 2.
  • the alternating current of the frequency of the first frequency fl and the second frequency f2 is applied to the winding, and the rotor resistance value at the rated slip frequency is calculated as the rotor resistance value actually recognized.
  • the effect can be seen in Figure 7. If it is smaller, the value becomes smaller, and the impedance of the excitation branch cannot be ignored; if ⁇ is large, the effect of skin effect is serious, which leads to the identification of a large resistance of the rotor. . Because the frequency of the rotor current is very low (slip frequency) in actual operation, it is basically about 1-4 Hz, and the frequency of the rotor current in the stall test is more than ten times that frequency, so the skin effect is quite significant.
  • the feasible method is to identify the rotor resistance value at high frequency, and then to estimate the rotor resistance value at the rated slip frequency according to a certain model to overcome the effect of skin effect.
  • a single-phase short-circuit test is performed at ⁇ and two frequency points to obtain the rotor resistance value and R 2 .
  • the effect of the skin effect is approximately linear with the frequency, and the rotor resistance at the rated slip frequency can be calculated using the resistance value ⁇ and the two-point method as the true rotor resistance value. This method can effectively overcome the problem. Skin effect to obtain accurate rotor resistance values.
  • the calculation formula for the rotor resistance is as follows: ⁇ J i
  • & is the rated slip frequency, which can be calculated from the motor nameplate data.
  • the method for compensating for the on-voltage drop (that is, the second key point of the present invention in the short-circuit test) is that in the short-circuit test, the current can reach the rated value by applying only a small voltage. Therefore,
  • the on-voltage drop, switching delay, and interlock time in the IPM module will affect the voltage pulses sent out, making them deviate from the expected SP Li waveform, and corresponding compensation is required.
  • the dead-time compensation method (ie, the third key point of the present invention in the short-circuit test) is implemented in this way.
  • an interlocking time (dead time) must be added to the action between the upper and lower switch tubes of the same bridge arm of the inverter.
  • the function of the interlock time is to make the edge of the trigger signal of the pipe open when the bridge arm is activated, and the edge of the trigger signal of the pipe to be turned off has a time delay. This causes the two tubes of one bridge arm to be turned off during the interlocking time, but because the motor is an inductive load, the current will not change suddenly and will continue to flow by the corresponding diode.
  • the control deviation introduced by the inverter system can be compensated, so that the actual voltage output and control requirements of the inverter system are consistent.
  • the no-load test of the present invention is described in detail below.
  • the present invention uses alternating current with a frequency of 80% of the rated frequency of the motor, and uses the Fourier FFT algorithm to calculate the active and reactive components of the current.
  • the slip s 0, and the equivalent circuit becomes as shown in Figure 11.
  • the method of conventional no-load test of electrical engineering please refer to the book of electrical engineering, which will not be repeated here.
  • the no-load test under the inverter power supply is very similar to the conventional electrical test.
  • the space vector SP method is used to make the motor run at the frequency without any load.
  • the current of this phase is sampled from the phase of the voltage of the phase is zero.
  • the fundamental amplitude and Phase that is, "' si ⁇ and ⁇ ⁇ (The current phase is calculated by FFT operation.
  • One of the key points in the test is that the magnitude of the voltage amplitude of each phase can be calculated by the space vector SPLi method according to the detected DC bus voltage. In this way, the resistance and reactance in the no-load equivalent circuit of the asynchronous motor can be calculated according to the calculation method of the short-circuit test. Motor excitation reactance is-
  • X is the stator leakage reactance obtained in the short-circuit test, /, practiceis the required no-load excitation current, and the corresponding excitation inductance is" " ⁇ .
  • the stator inductance ⁇ , and the rotor inductance 2 ⁇ can be obtained from the parameter (A) in the above-mentioned T-shaped equivalent circuit.
  • the frequency of the no-load operation of the motor is set to 80% of the rated frequency of the motor.
  • the voltage output by the inverter is also controlled to 80% of the rated voltage of the motor.
  • the output modulation ratio M should be adjusted accordingly according to the sampled bus voltage. If the output modulation ratio is set to ⁇ when the bus voltage is normal, the adjusted modulation ratio is: M * 540 / U DC . (Using the bus voltage regulation method to overcome the influence of the grid voltage fluctuation on the no-load test is the third key point of the invention in the no-load test)
  • the switching delay of the power device and the compensation of the interlock time are also very important.
  • the introduction of the interlock time reduces the output voltage amplitude and phase drift, so that the motor current is also small.
  • the identified impedance value is too large.
  • the compensation of interlock time and The magnitude and direction of the current are related. Considering the on-off time of the device, the on-voltage drop, and the forward voltage drop of the freewheeling diode, it is difficult to determine the compensation amount accurately. Therefore, a rigorous analysis should establish a mathematical model of the output change amount and these times, and change the size of the compensation amount through real-time detection.
  • the compensation scheme in the present invention adopts a method of combining current feedforward and current feedback, and determines the magnitude of the compensation voltage ⁇ ⁇ by detecting the polarity and amplitude of the current.
  • the method of the invention can be successfully applied in a vector control frequency converter parameter identification algorithm.
  • the inverter uses TMS320F240 chip as the core control CPU, and the output of the inverter controls the motor operation.
  • a 7.5KW inverter with 2.2KW and 4KW motors was used to conduct the parameter identification test, and the results of the identification were compared with the results of conventional electromechanical tests.
  • the PM3000A power analyzer of Voltech Company is used to measure the voltage, current and power in order to obtain more accurate parameters.
  • the nameplate parameters of the two motors are shown in Table 1.
  • the results of identification of the inverter parameters are shown in Table 2.
  • the results of the conventional electrical test are shown in Table 3.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

La présente invention concerne un procédé d'identification de paramètres de moteur asynchrone, qui mesure la résistance du stator du moteur par utilisation d'un procédé de tension-ampérage de courant continu, qui permet d'obtenir la résistance du stator et la fuite d'inductance de la masse tournante et du stator au moyen de tests de court circuit et qui permet d'obtenir l'inductance mutuelle de la masse tournante et du stator et du courant à vide au moyen de tests de caractéristiques à vide. Ce procédé améliore la précision et la stabilité de ces paramètres par compensation de la chute de tension de conductance, le délais en marche-coupé et le temps mort dans le système de régulation de vitesse de conversion de fréquence. Il calcule la résistance de la masse tournante à une fréquence de glissement nominale selon le procédé à deux détecteurs et il permet d'obtenir la valeur exacte de la résistance de la masse tournante surpassant l'influence du facteur d'endommagement de façon à correspondre complètement au cas de la lutte contre les vecteurs.
PCT/CN2002/000852 2001-11-28 2002-11-28 Procede d'identification de parametres de moteur asynchrone WO2003047084A1 (fr)

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AU2002349458A AU2002349458A1 (en) 2001-11-28 2002-11-28 Method for identifying parameters of asynchronous motor

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CN01130041.8 2001-11-28
CNB011300418A CN1157845C (zh) 2001-11-28 2001-11-28 异步电机参数辨识方法

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