WO2014009580A1 - Method for estimating the stator resistance of electrical machines - Google Patents
Method for estimating the stator resistance of electrical machines Download PDFInfo
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- WO2014009580A1 WO2014009580A1 PCT/ES2013/070451 ES2013070451W WO2014009580A1 WO 2014009580 A1 WO2014009580 A1 WO 2014009580A1 ES 2013070451 W ES2013070451 W ES 2013070451W WO 2014009580 A1 WO2014009580 A1 WO 2014009580A1
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- stator
- electric machine
- value
- flow
- resistance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- 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
- G01R31/343—Testing dynamo-electric machines in operation
Definitions
- the present invention is related to the systems used to control the operation of electric machines, proposing a method of estimating the stator resistance of an electric machine, regardless of the temperature of the machine, which allows to calculate the stator flow of the machine even when it runs at low speeds.
- sensors are used that determine the speed of the machine, this speed is used to calculate mainly the electromagnetic torque of the machine and other functionalities linked to its operation.
- control techniques in which it is not necessary to use speed sensors to control electric machines.
- These control techniques called “sensorless”, mean a reduction in costs as well as greater simplicity of assembly and maintenance.
- control techniques of electric machines usually determine the flow of the stator from the integration of the electromotive voltage according to the following equations:
- emf is the electromotive voltage
- v s is the phase voltage at motor terminals
- R s is the stator resistance
- stator resistance depends on the temperature of the stator winding and therefore varies during machine operation, due to the change in temperature. At high machine speeds, the voltage drop across the stator resistance is of small value, so it can be neglected. However, at low speeds, the voltage drop in the stator resistance is of an order similar to the electromotive voltage, therefore, the difference between the actual value of the stator resistance and the predefined value used in the systems of conventional control, causes appreciable errors in the estimation of the stator flow.
- Chinese Patent document CN 1,697,308 of Lu et al. A method of regulating the speed of an induction motor is disclosed by means of a closed-loop control of the stator flow. In this solution, a setpoint value of the stator flow is compared with another value of the stator flow obtained by means of a flow estimator, and from the difference of both stator flow values an error signal is obtained which is used to Correct the stator resistance value.
- This regulation method does not allow an efficient estimation of the stator resistance, since when using a setpoint value of the stator flow, it does not allow the adaptation of the stator resistance to converge when there are high initial errors of the value of the stator itself. stator resistance, or for example when other errors occur in the control strategy.
- a method for estimating the stator resistance in an electric machine which allows obtaining an accurate estimate of the stator flow of the electric machine regardless of the winding temperature.
- the method for calculating the resistance of the stator object of the present invention comprises a first stage in which a first value of the stator flow is calculated by a reference model, and a second stage in which a second value of the flow of stator using a stator flow estimator.
- an error signal is calculated which is a function of the difference between both values of the stator flow calculated in the previous stages. By means of a temporary reduction of the error signal, a new value of the stator resistance is calculated.
- an activation logic is implemented to calculate a new stator resistance value.
- T em is the electromagnetic torque of the electric machine
- p is the number of pairs of poles of the electric machine
- AR S max is the maximum estimation error of the stator resistance
- eos is the electrical pulsation of power of the electrical machine
- i s is the stator current of the electric machine.
- the new estimated value of the stator resistance can be used to calculate efficient the stator flow of the electric machine or other variables of the electric machine, such as the average stator temperature, which is a direct function of the stator resistance.
- Figure 1 shows a block diagram of the stator resistance estimation method based on an adaptive control by reference model.
- the method of estimating the stator resistance object of the present invention is based on a feedback by reference model (Model Reference Adaptative System, MRAS), in which the estimation of stator resistance (Rs) is compared through two models, one of which is a reference model (Mr) and the other an adjustable model (Ma).
- the feedback by reference model is based on the fact that the behavior of the physical process is identical to a model that is given as a reference. If there is one difference between the outputs of the adjustable model (Ma) and the reference model (Mr), an adaptation algorithm tries to minimize it, adjusting the parameters of the adjustable model (Ma) or adding a variation in the action on the physical process.
- the method of estimating the stator resistance object of the invention is based on a series of stages that are executed in a sequentially programmed processor for each sampling period.
- the input signals to the system which are the voltage (V s) of phase terminals of the electrical machine and the current (i s) of the stator of the electrical machine is obtained.
- a three-phase machine In the case of a three-phase machine, two or three currents will be measured and three voltages will be measured or estimated, obtaining the tensions in terminals of the electric machine from the value of the continuous voltage of an inverter that is associated with the electric machine and the switching orders of some power switches.
- a first calculation of the stator flow raised to a power is performed, using a reference model.
- the electrical pulse (QS) can be calculated, either by measuring the frequency in the magnitude of current, or in the magnitude of voltage, or in any other equivalent electrical magnitude. If the calculated electrical pulse value is zero, it is applied a small offset signal, to avoid errors in later phases.
- L is the magnetizing inductance
- L r is the inductance of the electric machine
- Q s is the reactive power consumed by the electric machine
- eos is the electrical pulsation of power of the electrical machine
- L s is the phase inductance of the electric machine
- ⁇ is the dispersion factor of the electric machine
- i s is the stator current of the electric machine.
- a second calculation of the stator flow raised to a power is performed, using a stator flow estimator.
- an error signal (e) is calculated, by means of the difference of the two stator flow calculations raised to a power obtained in the previous two stages.
- the following expression can be used:
- the error signal (e) can be limited in a range of values, and its variation over time is also subject to limitation.
- a fourth stage (4) of the method an activation logic is implemented, for the calculation of a new stator resistance value (Rs).
- Rs stator resistance value
- T em is the electromagnetic torque of the electric machine, which is a reference value or is estimated by a control system
- p is the number of pairs of poles of the electric machine
- AR S max is the maximum error in estimating the stator resistance due to the different operating points of the electric machine.
- the maximum estimation error of the stator resistance must be calculated taking into account the operating temperature range of the electric machine, so that for the calculation of this maximum error a positive or signed sign estimate value can be obtained negative, said value being a function of whether the electric machine is cold, because it is at the time of starting, or if it is hot because it is running.
- max R S R ⁇ s initial (minimum working temperature]
- max ⁇ R S (-) R s initial - R s (maximum temperature)
- a new stator resistance value (Rs) is calculated, by means of a regulator that temporarily reduces the error signal (e) obtained in the third stage (3).
- a new stator resistance value (Rs) will be determined by implementing a temporary reduction algorithm of the error signal (e) obtained in the third stage ( 3) .
- any regulation algorithm from the dynamic system control theory can be used.
- an integral regulator can be used, whose new stator resistance value (Rs) is calculated by temporarily integrating the error signal (e).
- the regulator used to temporarily reduce the error signal (e), may have a fixed gain or a variable gain, having at least one component that is inversely proportional to:
- T em is the electromagnetic torque of the electric machine, eos is the electrical pulse of power. ' electric machine.
Abstract
Method for estimating the stator resistance of electrical machines, wherein a first value of the stator flux is calculated using a reference model and a second value of the stator flux is calculated using a stator flux estimator, with an error signal (e) being obtained from the difference between both values of the stator flux, and with a new value of the stator resistance (Rs) being calculated by temporally reducing the error signal (e) when the following condition is met: (I), where: Tem is the electromagnetic torque of the electrical machine; p is the number of pole pairs of the electrical machine; ΔRS_max is the maximum estimation error of the stator resistance; ϖs is the electrical power supply pulse of the electrical machine, is is the stator current of the electrical machine.
Description
METODO DE ESTIMACION DE LA RESISTENCIA DE ESTATOR DE METHOD OF ESTIMATING THE STATOR RESISTANCE OF
MÁQUINAS ELÉCTRICAS ELECTRIC MACHINES
Sector de la técnica Technical sector
La presente invención está relacionada con los sistemas empleados para controlar el funcionamiento de máquinas eléctricas, proponiendo un método de estimación de la resistencia de estator de una máquina eléctrica, con independencia de la temperatura de la máquina, que permite calcular el flujo de estator de la máquina incluso cuando ésta funciona a bajas velocidades . The present invention is related to the systems used to control the operation of electric machines, proposing a method of estimating the stator resistance of an electric machine, regardless of the temperature of the machine, which allows to calculate the stator flow of the machine even when it runs at low speeds.
Estado de la técnica State of the art
Actualmente para controlar distintas variables de funcionamiento de las máquinas eléctricas se emplean sensores que determinan la velocidad de la máquina, esta velocidad se utiliza para calcular principalmente el par electromagnético de la máquina y otras funcionalidades ligadas a su funcionamiento. Currently, to control different operating variables of electric machines, sensors are used that determine the speed of the machine, this speed is used to calculate mainly the electromagnetic torque of the machine and other functionalities linked to its operation.
Los últimos desarrollos en el campo de los sistemas de control, están proponiendo técnicas de control en las que no es necesario emplear sensores de velocidad para controlar las máquinas eléctricas. Estas técnicas de control, denominadas "sensorless", suponen una reducción de costes asi como una mayor simplicidad de montaje y mantenimiento. The latest developments in the field of control systems are proposing control techniques in which it is not necessary to use speed sensors to control electric machines. These control techniques, called "sensorless", mean a reduction in costs as well as greater simplicity of assembly and maintenance.
Mediante las técnicas de control "sensorless" se estiman diferentes magnitudes de la máquina eléctrica que se controla, para después poderlas emplear en su estrategia de control, entre los parámetros estimados
se encuentran el flujo de estator y de rotor, par electromagnético, velocidad mecánica, frecuencia de estator y deslizamiento. By means of the "sensorless" control techniques, different magnitudes of the electrical machine that is controlled are estimated, and then they can be used in their control strategy, among the estimated parameters Stator and rotor flow, electromagnetic torque, mechanical speed, stator frequency and slippage are found.
Las técnicas de control de máquinas eléctricas suelen determinar el flujo del estator a partir de la integración de la tensión electromotriz según las siguientes ecuaciones: The control techniques of electric machines usually determine the flow of the stator from the integration of the electromotive voltage according to the following equations:
emf=vs-Rsis [A]
emf = v s -R s i s [A]
[C] en donde : [C] where:
emf es la tensión electromotriz, emf is the electromotive voltage,
vs es la tensión de fase en bornas del motor, v s is the phase voltage at motor terminals,
is es la corriente de estator, i s is the stator current,
ΨΞ es el flujo de estator, Ψ Ξ is the stator flow,
Rs es la resistencia de estator R s is the stator resistance
El problema reside en que la resistencia del estator depende de la temperatura del devanado del estator y por tanto varia durante el funcionamiento de la máquina, debido al cambio de la temperatura. A altas velocidades de la máquina, la caída de tensión a través de la resistencia del estator es de pequeño valor, por lo que puede despreciarse. Sin embargo, a bajas velocidades, la caída de tensión en la resistencia del estator es de un orden semejante a la tensión electromotriz, por lo tanto, la diferencia entre el valor real de la resistencia del estator y el valor predefinido empleado en los sistemas de control convencionales, provoca errores apreciables en la estimación del flujo del estator.
Por el documento de Patente China CN 1.697.308 de Lu et al., se da a conocer un método de regulación de la velocidad de un motor de inducción por medio de un control por lazo cerrado del flujo de estator. En esta solución se compara un valor de consigna del flujo de estator con otro valor del flujo de estator obtenido por medio de un estimador de flujo, y de la diferencia de ambos valores de flujo de estator se obtiene un señal de error que se emplea para corregir el valor de la resistencia de estator. The problem is that the stator resistance depends on the temperature of the stator winding and therefore varies during machine operation, due to the change in temperature. At high machine speeds, the voltage drop across the stator resistance is of small value, so it can be neglected. However, at low speeds, the voltage drop in the stator resistance is of an order similar to the electromotive voltage, therefore, the difference between the actual value of the stator resistance and the predefined value used in the systems of conventional control, causes appreciable errors in the estimation of the stator flow. From Chinese Patent document CN 1,697,308 of Lu et al., A method of regulating the speed of an induction motor is disclosed by means of a closed-loop control of the stator flow. In this solution, a setpoint value of the stator flow is compared with another value of the stator flow obtained by means of a flow estimator, and from the difference of both stator flow values an error signal is obtained which is used to Correct the stator resistance value.
Este método de regulación no permite una estimación eficiente de la resistencia del estator, ya que al emplear un valor de consigna del flujo de estator, no permite que la adaptación de la resistencia de estator converja cuando se tienen altos errores iniciales del valor de la propia resistencia de estator, o por ejemplo cuando se producen otros errores en la estrategia de control. This regulation method does not allow an efficient estimation of the stator resistance, since when using a setpoint value of the stator flow, it does not allow the adaptation of the stator resistance to converge when there are high initial errors of the value of the stator itself. stator resistance, or for example when other errors occur in the control strategy.
Se hace por tanto necesario un método que permita estimar de una manera eficiente el valor de la resistencia de estator de las máquinas eléctricas, para poder estimar el flujo de estator con independencia de la temperatura de la máquina. It is therefore necessary a method that allows to estimate in an efficient way the value of the stator resistance of the electric machines, to be able to estimate the stator flow regardless of the temperature of the machine.
Objeto de la invención Object of the invention
De acuerdo con la presente invención se propone un método para la estimación de la resistencia de estator en una máquina eléctrica, el cual permite obtener una estimación precisa del flujo de estator de la máquina eléctrica con independencia de la temperatura del devanado .
El método para calcular la resistencia del estator objeto de la presente invención comprende una primera etapa en la que se calcula un primer valor del flujo de estator mediante un modelo de referencia, y una segunda etapa en la que se calcula un segundo valor del flujo de estator mediante un estimador de flujo de estator. En una tercera etapa se calcula una señal de error que es función de la diferencia entre ambos valores del flujo de estator calculados en las etapas anteriores. Mediante una reducción temporal de la señal de error se procede al cálculo de un nuevo valor de la resistencia de estator. In accordance with the present invention, a method for estimating the stator resistance in an electric machine is proposed, which allows obtaining an accurate estimate of the stator flow of the electric machine regardless of the winding temperature. The method for calculating the resistance of the stator object of the present invention comprises a first stage in which a first value of the stator flow is calculated by a reference model, and a second stage in which a second value of the flow of stator using a stator flow estimator. In a third stage an error signal is calculated which is a function of the difference between both values of the stator flow calculated in the previous stages. By means of a temporary reduction of the error signal, a new value of the stator resistance is calculated.
En una cuarta etapa del método se implementa una lógica de activación para proceder al cálculo de un nuevo valor de resistencia de estator. Asi, para que la señal de error obtenida en la tercera etapa pueda dar lugar a un nuevo cálculo de la resistencia de estator (Rs), se debe cumplir la siguiente condición:
en donde : In a fourth stage of the method, an activation logic is implemented to calculate a new stator resistance value. Thus, for the error signal obtained in the third stage to give rise to a new calculation of the stator resistance (Rs), the following condition must be met: where :
Tem es el par electromagnético de la máquina eléctrica; p es el número de pares de polos de la máquina eléctrica; T em is the electromagnetic torque of the electric machine; p is the number of pairs of poles of the electric machine;
ARS max es el máximo error de estimación de la resistencia de estator; AR S max is the maximum estimation error of the stator resistance;
eos es la pulsación eléctrica de alimentación de la máquina eléctrica, eos is the electrical pulsation of power of the electrical machine,
is es la corriente de estator de la máquina eléctrica. i s is the stator current of the electric machine.
El nuevo valor estimado de la resistencia del estator puede ser empleado para calcular de manera
eficiente el flujo de estator de la máquina eléctrica u otras variables de la máquina eléctrica, como por ejemplo la temperatura media de estator, que es función directa de la resistencia de estator. The new estimated value of the stator resistance can be used to calculate efficient the stator flow of the electric machine or other variables of the electric machine, such as the average stator temperature, which is a direct function of the stator resistance.
Al calcular el primer flujo de estator mediante un modelo de referencia, en vez de emplear un flujo de estator de consigna como en las soluciones convencionales, se consigue que la adaptación de la resistencia de estator converja aun cuando existen altos errores iniciales de la propia resistencia del estator u otros errores de la estrategia de control. Asimismo, al emplear una lógica de activación como la descrita por la invención se consigue estimar la resistencia del estator de una manera sencilla y eficaz . When calculating the first stator flow by means of a reference model, instead of using a setpoint stator flow as in conventional solutions, it is possible that the adaptation of the stator resistance converges even when there are high initial errors of the resistance itself of the stator or other errors of the control strategy. Also, by using an activation logic such as that described by the invention, it is possible to estimate the stator resistance in a simple and efficient manner.
Descripción de las figuras La figura 1 muestra un diagrama de bloques del método de estimación de la resistencia de estator en base a un control adaptativo por modelo de referencia. Description of the figures Figure 1 shows a block diagram of the stator resistance estimation method based on an adaptive control by reference model.
Descripción detallada de la invención Detailed description of the invention
El método de estimación de la resistencia de estator objeto de la presente invención se basa en una realimentación por modelo de referencia (Model Reference Adaptative System, MRAS ) , en la que se compara la estimación de la resistencia de estator (Rs) a través de dos modelos, uno de los cuales es un modelo de referencia (Mr) y el otro un modelo ajustable (Ma) . La realimentación por modelo de referencia se basa en que el comportamiento del proceso físico sea idéntico a un modelo que se da como referencia. Si existe una
diferencia entre las salidas del modelo ajustable (Ma) y del modelo de referencia (Mr) , un algoritmo de adaptación intenta minimizarla, ajusfando los parámetros del modelo ajustable (Ma) o añadiendo una variación en la acción sobre el proceso físico. The method of estimating the stator resistance object of the present invention is based on a feedback by reference model (Model Reference Adaptative System, MRAS), in which the estimation of stator resistance (Rs) is compared through two models, one of which is a reference model (Mr) and the other an adjustable model (Ma). The feedback by reference model is based on the fact that the behavior of the physical process is identical to a model that is given as a reference. If there is one difference between the outputs of the adjustable model (Ma) and the reference model (Mr), an adaptation algorithm tries to minimize it, adjusting the parameters of the adjustable model (Ma) or adding a variation in the action on the physical process.
El método de estimación de la resistencia del estator objeto de la invención se basa en una serie de etapas que se ejecutan en un procesador programado de manera secuencial para cada periodo de muestreo. The method of estimating the stator resistance object of the invention is based on a series of stages that are executed in a sequentially programmed processor for each sampling period.
En una etapa preliminar se obtienen las señales de entrada al sistema, que son la tensión (Vs) de fase en bornas de la máquina eléctrica y la corriente (is) de estator de la máquina eléctrica. In a preliminary step the input signals to the system, which are the voltage (V s) of phase terminals of the electrical machine and the current (i s) of the stator of the electrical machine is obtained.
Para el caso de una máquina trifásica se medirán dos o tres corrientes y se medirán o estimarán tres tensiones, obteniéndose las tensiones en bornas de la máquina eléctrica a partir del valor de la tensión continua de un inversor que va asociado a la máquina eléctrica y de las órdenes de conmutación de unos interruptores de potencia. En una primera etapa (1) del método se realiza un primer cálculo del flujo de estator elevado a una potencia, mediante un modelo de referencia. In the case of a three-phase machine, two or three currents will be measured and three voltages will be measured or estimated, obtaining the tensions in terminals of the electric machine from the value of the continuous voltage of an inverter that is associated with the electric machine and the switching orders of some power switches. In a first stage (1) of the method, a first calculation of the stator flow raised to a power is performed, using a reference model.
En base a las señales de entrada al sistema, tensiones en bornas de la máquina eléctrica y corrientes de estator, se realiza un cálculo de los siguientes parámetros: a) Cálculo del valor de las corrientes de la máquina eléctrica en un sistema equivalente bifásico ligado
a los devanados del estator {iaS/- ίβΞ) / según las siguientes expresiones: Based on the input signals to the system, voltages in terminals of the electric machine and stator currents, a calculation of the following parameters is made: a) Calculation of the value of the currents of the electric machine in a biphasic equivalent system linked to the stator windings {i aS / - ίβ Ξ ) / according to the following expressions:
2 1 1 2 1 1
1 1 eleven
ips~ Iv~ Iw i ps ~ Iv ~ Iw
La corriente Iw puede ser medida mediante un sensor o calculada a través de la siguiente expresión: The current I w can be measured by a sensor or calculated through the following expression:
Iw=-Iu-Iv [III] b) Cálculo del valor de las tensiones de la máquina eléctrica en un sistema equivalente bifásico ligado a los devanados del estator {vas, νβΞ) , según las siguientes expresiones: I w = -I u -I v [III] b) Calculation of the value of the voltages of the electric machine in a biphasic equivalent system linked to the stator windings {v as , ν βΞ ), according to the following expressions:
■ una tabla calibraba cuya salida es la inductancia de fase (Ls) y cuya entrada es la corriente de la máquina eléctrica y/o el valor promediado de la estimación de flujo de esta primera etapa en periodos de muestreo anteriores, o; ■ a calibrated table whose output is the phase inductance (L s ) and whose input is the current of the electric machine and / or the average value of the flow estimate of this first stage in previous sampling periods, or;
■ cualquier otro método de adaptación de la inductancia de fase (Ls) que sea compatible con el método de estimación de la resistencia de estator (Rs) de la presente invención. f) Cálculo del valor en tiempo real del factor ( σ) de dispersión de la máquina eléctrica, según la siguiente expresión: ■ any other method of adapting the phase inductance (L s ) that is compatible with the stator resistance estimation method (Rs) of the present invention. f) Calculation of the real-time value of the dispersion factor (σ) of the electric machine, according to the following expression:
a=l-(Lh 2/ (Ls*Lr) ) [VII] en donde : a = l- (L h 2 / (L s * L r )) [VII] where:
L es la inductancia magnetizante, L is the magnetizing inductance,
Lr es la inductancia de la máquina eléctrica, y L r is the inductance of the electric machine, and
Ls es la inductancia de fase. g) En base a las variables de entrada al sistema y de los cálculos efectuados en los pasos anteriores de esta primera etapa, se implementa el cálculo del flujo de estator elevado a una potencia al cuadrado según la siguiente expresión: |ψ = ¾,(ΐ + σ)-σ4¾2 [VIII]
en donde : L s is the phase inductance. g) Based on the input variables to the system and the calculations made in the previous steps of this first stage, the calculation of the stator flow raised to a squared power according to the following expression is implemented: | ψ = ¾, ( ΐ + σ ) -σ4¾ 2 [VIII] where :
ΨΞ es el flujo de estator, Ψ Ξ is the stator flow,
Qs es la potencia reactiva consumida por la máquina eléctrica, Q s is the reactive power consumed by the electric machine,
eos es la pulsación eléctrica de alimentación de la máquina eléctrica, eos is the electrical pulsation of power of the electrical machine,
Ls es la inductancia de fase de la máquina eléctrica, σ es el factor de dispersión de la máquina eléctrica, is es la corriente de estator de la máquina eléctrica. L s is the phase inductance of the electric machine, σ is the dispersion factor of the electric machine, i s is the stator current of the electric machine.
En una segunda etapa (2) del método se realiza un segundo cálculo del flujo de estator elevado a una potencia, mediante un estimador de flujo de estator. In a second stage (2) of the method, a second calculation of the stator flow raised to a power is performed, using a stator flow estimator.
En esta segunda etapa se puede emplear cualquier tipo de estimador de flujo que en sus ecuaciones intrínsecas presente directa o indirectamente alguna de las tensiones de los devanados del estator (vas. νβΞ) , por ejemplo según las siguientes ecuaciones: In this second step you can employ any type of flow estimator that its intrinsic equations directly or indirectly any of the voltages of the stator windings (v as ν βΞ.), For example according to the following equations present:
En una tercera etapa (3) del método se calcula una señal de error (e), mediante la diferencia de los dos cálculos de flujo del estator elevados a una potencia obtenidos en las dos etapas anteriores. Como ejemplo de ecuación para el cálculo de la señal de error, puede emplearse la siguiente expresión:
La señal de error (e) puede limitarse en un rango de
valores, y su variación en el tiempo también es susceptible de limitación. In a third stage (3) of the method an error signal (e) is calculated, by means of the difference of the two stator flow calculations raised to a power obtained in the previous two stages. As an example of an equation for the calculation of the error signal, the following expression can be used: The error signal (e) can be limited in a range of values, and its variation over time is also subject to limitation.
En una cuarta etapa (4) del método se implementa una lógica de activación, para el cálculo de un nuevo valor de resistencia de estator (Rs) . Para que la señal de error obtenida en la tercera etapa (3) pueda dar lugar a un nuevo cálculo de la resistencia de estator (Rs), se debe cumplir la siguiente condición:
In a fourth stage (4) of the method an activation logic is implemented, for the calculation of a new stator resistance value (Rs). In order for the error signal obtained in the third stage (3) to give rise to a new calculation of the stator resistance (Rs), the following condition must be met:
3p cos J en donde : 3p co s J where:
Tem es el par electromagnético de la máquina eléctrica, el cual es un valor de referencia o es estimado por un sistema de control; T em is the electromagnetic torque of the electric machine, which is a reference value or is estimated by a control system;
p es el número de pares de polos de la máquina eléctrica; p is the number of pairs of poles of the electric machine;
ARS max es el máximo error de estimación de la resistencia de estator debido a los diferentes puntos de funcionamiento de la máquina eléctrica. AR S max is the maximum error in estimating the stator resistance due to the different operating points of the electric machine.
El máximo error de estimación de la resistencia del estator se debe calcular teniendo en cuenta el rango de temperatura de trabajo de la máquina eléctrica, de modo que para el cálculo de este máximo error se puede tener un valor de estimación con signo positivo o con signo negativo, siendo dicho valor función de si la máquina eléctrica está fría, porque se encuentra en el momento del arranque, o de si está caliente porque se encuentra en funcionamiento. max =RS inicial ~ Rs (mínima temperatura de trabajo] ÁRS max(-)=Rs inicial - Rs (máxima temperatura de trabajo)
En una quinta etapa (5) del método, cuando se ha cumplido la condición de activación de la etapa anterior, se procede al cálculo de un nuevo valor de la resistencia de estator (Rs), mediante un regulador que reduce temporalmente la señal de error (e) obtenida en la tercera etapa (3) . The maximum estimation error of the stator resistance must be calculated taking into account the operating temperature range of the electric machine, so that for the calculation of this maximum error a positive or signed sign estimate value can be obtained negative, said value being a function of whether the electric machine is cold, because it is at the time of starting, or if it is hot because it is running. max = R S R ~ s initial (minimum working temperature] max ÁR S (-) = R s initial - R s (maximum temperature) In a fifth stage (5) of the method, when the activation condition of the previous stage has been fulfilled, a new stator resistance value (Rs) is calculated, by means of a regulator that temporarily reduces the error signal (e) obtained in the third stage (3).
En esta quinta etapa (5), siempre y cuando esté activado el permiso de cálculo, se determinará un nuevo valor de resistencia de estator (Rs) implementando un algoritmo de reducción temporal de la señal de error (e) obtenida en la tercera etapa (3) . Para ello se puede utilizar cualquier algoritmo de regulación proveniente de la teoría de control de sistemas dinámicos. Como ejemplo sencillo de regulador válido, puede utilizarse un regulador integral, cuyo nuevo valor de resistencia de estator (Rs) se calcule integrando temporalmente la señal de error (e) . In this fifth stage (5), as long as the calculation permission is activated, a new stator resistance value (Rs) will be determined by implementing a temporary reduction algorithm of the error signal (e) obtained in the third stage ( 3) . For this, any regulation algorithm from the dynamic system control theory can be used. As a simple example of a valid regulator, an integral regulator can be used, whose new stator resistance value (Rs) is calculated by temporarily integrating the error signal (e).
El regulador empleado para reducir temporalmente la señal de error (e), puede presentar una ganancia fija o una ganancia variable, que tenga, al menos, una componente que sea inversamente proporcional a: The regulator used to temporarily reduce the error signal (e), may have a fixed gain or a variable gain, having at least one component that is inversely proportional to:
71 71
[XIII] ω en donde : [XIII] ω where:
Tem es el par electromagnético de la máquina eléctrica, eos es la pulsación eléctrica de alimentación de .' máquina eléctrica. T em is the electromagnetic torque of the electric machine, eos is the electrical pulse of power. ' electric machine.
De tal forma que se pueda asegurar que la dinámica de adaptación de la resistencia de estator (Rs) sea constante con independencia del nivel de flujo de
estator , par electromagnético o velocidad de la máquina eléctrica .
In such a way that it can be ensured that the dynamics of adaptation of the stator resistance (Rs) is constant regardless of the flow level of Stator, electromagnetic torque or speed of the electric machine.
Claims
1.- Método de estimación de la resistencia de estator de máquinas eléctricas, en donde se obtienen dos valores del flujo de estator de la máquina eléctrica, se calcula la diferencia entre ambos valores, y se emplea dicha diferencia para obtener un nuevo valor de la resistencia de estator (Rs), caracterizado en que un primer valor del flujo de estator se calcula mediante un modelo de referencia, y un segundo valor del flujo de estator se calcula mediante un estimador de flujo de estator, obteniéndose una señal de error (e) de la diferencia de ambos valores del flujo de estator, y procediéndose al cálculo de un nuevo valor de la resistencia de estator (Rs), mediante una reducción temporal de la señal de error (e) , cuando se cumple la siguiente condición:
1.- Method for estimating the stator resistance of electric machines, where two values of the stator flow of the electric machine are obtained, the difference between both values is calculated, and said difference is used to obtain a new value of the stator resistance (Rs), characterized in that a first value of the stator flow is calculated by a reference model, and a second value of the stator flow is calculated by a stator flow estimator, obtaining an error signal (e ) of the difference of both values of the stator flow, and proceeding to the calculation of a new value of the stator resistance (Rs), by means of a temporary reduction of the error signal (e), when the following condition is met:
en donde : where :
Tem es el par electromagnético de la máquina eléctrica; p es el número de pares de polos de la máquina eléctrica; T em is the electromagnetic torque of the electric machine; p is the number of pairs of poles of the electric machine;
ARS max es el máximo error de estimación de la resistencia de estator; AR S max is the maximum estimation error of the stator resistance;
eos es la pulsación eléctrica de alimentación de la máquina eléctrica, eos is the electrical pulsation of power of the electrical machine,
is es la corriente de estator de la máquina eléctrica. i s is the stator current of the electric machine.
2.- Método de estimación de la resistencia del estator de máquinas eléctricas, de acuerdo con la primera reivindicación, caracterizado en que el flujo de estator calculado mediante el modelo de referencia
se corresponde con la expresión: 2.- Method for estimating the stator resistance of electric machines, according to the first claim, characterized in that the stator flow calculated by the reference model corresponds to the expression:
en donde : where :
ΨΞ es el flujo de estator, Ψ Ξ is the stator flow,
Qs es la potencia reactiva consumida por la máquina eléctrica, Q s is the reactive power consumed by the electric machine,
eos es la pulsación eléctrica de alimentación de la máquina eléctrica, eos is the electrical pulsation of power of the electrical machine,
Ls es la inductancia de fase de la máquina eléctrica, σ es el factor de dispersión de la máquina eléctrica, is es la corriente de estator de la máquina eléctrica. L s is the phase inductance of the electric machine, σ is the dispersion factor of the electric machine, i s is the stator current of the electric machine.
3.- Método de estimación de la resistencia de estator de máquinas eléctricas, de acuerdo con la primera reivindicación, caracterizado en que el regulador que reduce temporalmente la señal de error (e) presenta una ganancia variable con una componente inversamente proporcional a: 3. Method of estimating the stator resistance of electric machines, according to the first claim, characterized in that the regulator that temporarily reduces the error signal (e) has a variable gain with a component inversely proportional to:
T em T em
en donde : where :
Tem es el par electromagnético de la máquina eléctrica, eos es la pulsación eléctrica de alimentación de .' máquina eléctrica.
T em is the electromagnetic torque of the electric machine, eos is the electrical pulse of power. ' electric machine.
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| ESP201231099 | 2012-07-13 | ||
| ES201231099A ES2442782B1 (en) | 2012-07-13 | 2012-07-13 | METHOD OF ESTIMATING THE STATOR RESISTANCE OF ELECTRICAL MACHINES |
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| CN103269199A (en) * | 2013-05-22 | 2013-08-28 | 电子科技大学 | Electric car induction motor torque current setting device |
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| CN1697308A (en) * | 2004-05-13 | 2005-11-16 | 卢骥 | Closed loop control method of stator magnetic linkage in use for variable frequency speed control of asynchronous motor |
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| CN1697308A (en) * | 2004-05-13 | 2005-11-16 | 卢骥 | Closed loop control method of stator magnetic linkage in use for variable frequency speed control of asynchronous motor |
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| CN103269199A (en) * | 2013-05-22 | 2013-08-28 | 电子科技大学 | Electric car induction motor torque current setting device |
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