CN104218866A - Online recognizing method of rotor resistance of asynchronous motor - Google Patents
Online recognizing method of rotor resistance of asynchronous motor Download PDFInfo
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- CN104218866A CN104218866A CN201410475530.1A CN201410475530A CN104218866A CN 104218866 A CN104218866 A CN 104218866A CN 201410475530 A CN201410475530 A CN 201410475530A CN 104218866 A CN104218866 A CN 104218866A
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- rotor
- rotor resistance
- asynchronous
- recognition method
- online recognition
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Abstract
The present invention provides a kind of asynchronous electromotor rotor resistance online recognition method, comprising the following steps: firstly, obtaining spinner velocity Wr in real time by the velocity sensor in asynchronous machine; Motor synchronizing speed W1=60f/P is obtained, wherein f is the frequency of frequency converter, and P is number of magnetic pole pairs; Mutual inductance Lm and inductor rotor Lr is obtained by no-load test; Obtain stator current is in real time by Hall current sensor; Obtain 2 parameter of rotor flux ψ; Then, rotor resistance is identified by following formula
Finally, completing the vector controlled for having the asynchronous machine of velocity sensor using the rotor resistance as control parameter. Asynchronous electromotor rotor resistance online recognition method provided by the invention carries out vector controlled to the motor for having velocity sensor, and method is simple, lower to the performance requirement of processing chip, improves the performance of motor vector controlled.
Description
Technical field
The present invention relates to a kind of parameter of electric machine recognition methods, relate in particular to a kind of asynchronous electromotor rotor resistance ONLINE RECOGNITION method.
Background technology
At present, asynchronous machine uses increasingly extensive, and the theoretical research of speed regualtion of AC motor gradually deeply.The parameter of rotor resistance is larger with the variations in temperature of motor, exceed more than 20%, thereby the directed accuracy in magnetic field is affected, thereby affects the vector control of motor in working order time than in the time of inactive state.
Adopt now the motor vector control application of speed sensor more and more, rotor resistance is larger on the accuracy impact of field orientation, differ larger if control the parameter of rotor resistance and actual rotor resistance parameter, can cause larger weak magnetic or overexcitation effect, affect motor vector control effect, along with more and more higher to the precision of controlling and efficiency requirement in industrial production, the rotor resistance ONLINE RECOGNITION of the asynchronous machine of research speed sensor is significant.
Often more complicated of existing rotor resistance ONLINE RECOGNITION method, needs calculating torque and power.
Summary of the invention
The invention reside in and solve comparatively complicated technical problem of existing asynchronous electromotor rotor resistance ONLINE RECOGNITION method, provide one comparatively simple, can improve the asynchronous electromotor rotor resistance ONLINE RECOGNITION method of motor vector control performance.
In order to solve the problems of the technologies described above, the present invention adopts technical scheme as described below.A kind of asynchronous electromotor rotor resistance ONLINE RECOGNITION method, comprises the following steps: first, and by the velocity transducer Real-time Obtaining spinner velocity W in asynchronous machine
r; Obtain motor synchronizing speed W
1=60f/P, the frequency that wherein f is frequency converter, P is magnetic pole logarithm; Obtain mutual inductance L by no-load test
mand inductor rotor L
r; By transducer Real-time Obtaining stator current i
s; Obtain rotor flux ψ
2parameter; Then, by following formula identification rotor resistance R
2:
finally, using described rotor resistance as controlling parameter, complete the vector control of the asynchronous machine of speed sensor.
Its further technical scheme is, during in low cruise, obtains described rotor flux by current model at asynchronous machine rotor, and under stable situation, described current model is: Ψ
2=L
mi
d; Wherein, i
dfor described stator current i
squadrature axis component; Choose two-phase rotation d-q coordinate system.
Its further technical scheme is to adopt current model to obtain rotor flux ψ
2time, set up a low pass filter, described low pass filter is used for suppressing DC shift, improves interference free performance.
Its further technical scheme is that the parameter of described low pass filter is
Its further technical scheme is, in the time that asynchronous machine rotor speed is higher, to obtain described rotor flux ψ by voltage model
2, described voltage model is
wherein, U
sfor stator voltage value, it is frequency converter output voltage value; R
sfor stator resistance, adopt DC va method measurement to obtain; L
sfor stator inductance, obtained by no-load test; σ is leakage inductance coefficient, and described leakage inductance factor sigma can be by mutual inductance L
m, stator inductance L
sand inductor rotor L
rcalculating is obtained, and computing formula is:
Its further technical scheme is to obtain rotor flux ψ by voltage model integration
2time, set up high pass filter, the DC shift of described high pass filter for suppressing to produce because of integration.
Its further technical scheme is that the parameter of described high pass filter is
Its further technical scheme is that described low pass filter is consistent with the corner frequency of described high pass filter.
Its further technical scheme is that described transducer is Hall current sensor.
Useful technique effect of the present invention is: asynchronous electromotor rotor resistance ONLINE RECOGNITION method provided by the invention, the motor of speed sensor is carried out to vector control, rotating speed can be measured, slippage obtains by measuring rotating speed, and electric current is directly measured, and only need to estimate the amplitude of magnetic flux, and magnetic flux changes in amplitude is slow, method is simple and reliable, lower to the performance requirement of process chip, has improved the performance of motor vector control.
Brief description of the drawings
Fig. 1 is the flow chart of asynchronous electromotor rotor resistance ONLINE RECOGNITION method of the present invention one embodiment.
Embodiment
For setting forth thought of the present invention and object, below in conjunction with the drawings and specific embodiments, the present invention is described further.
Shown in figure 1, asynchronous electromotor rotor resistance ONLINE RECOGNITION method provided by the invention is applicable to the motor vector control occasion at speed sensor and Hall current sensor.
First, by the velocity transducer Real-time Obtaining spinner velocity W in asynchronous machine
r;
Obtain motor synchronizing speed W
1=60f/P;
Wherein, the frequency that f is frequency converter, is known parameters; P is magnetic pole logarithm, is known parameters.
Obtain mutual inductance L by no-load test
m, inductor rotor L
rand stator inductance L
s, no-load test is machine field common method, specific implementation refers to the relevant books of Electrical Motor, repeats no more here.
Adopt DC va method measurement to obtain stator resistance R
s, this method of measurement is machine field common method, specific implementation refers to the relevant books of Electrical Motor, repeats no more here.
By transducer Real-time Obtaining stator current i
s, this transducer is preferably Hall current sensor, further obtains stator current i
squadrature axis component i
d, choose two-phase rotation d-q coordinate system.
Stator voltage U
sfor frequency converter output voltage value, it is known parameters.
Leakage inductance factor sigma can be by mutual inductance L
m, stator inductance L
sand inductor rotor L
rcalculating is obtained, and computing formula is:
Due to mutual inductance L
m, stator inductance L
sand inductor rotor L
rbeing obtained by no-load test, is known parameter, and therefore, leakage inductance coefficient δ is known parameters.
Obtain rotor flux ψ
2parameter.In the time that asynchronous machine rotor reaches stable state, the slip-frequency W of speed sensor vector control
sbe accurately, can be used as definite value and treat.
In the time that motor rotor speed is lower, rotor flux ψ
2obtain by current model, under stable situation, current model is:
Ψ
2=L
mi
d(formula 1)
Mutual inductance L
mand stator current i
squadrature axis component i
dfor known parameters, therefore, can obtain rotor flux ψ by formula 1
2, choose two-phase rotation d-q coordinate system.
Preferably, adopting current model to obtain rotor flux ψ
2shi Zengshe mono-low pass filter, this low pass filter is used for suppressing DC shift, improves interference free performance.The parameter of this low pass filter is:
In the time that motor rotor speed is higher, rotor flux ψ
2obtain by voltage model integration:
Wherein, inductor rotor L
r, mutual inductance L
m, stator voltage U
s, stator current i
s, stator resistance R
s, stator inductance L
sand leakage inductance coefficient δ is known parameters, therefore, can obtain rotor flux ψ by formula 2
2.
Preferably, adopting voltage model to obtain rotor flux ψ
2shi Zengshe mono-high pass filter, the DC shift of this high pass filter for suppressing to produce because of integration.The parameter of this high pass filter is:
It should be noted that, low pass filter is elected as consistent with the corner frequency of high pass filter.
Then, obtain rotor resistance R by Electrical Motor relative theory
2, choose two-phase rotation d-q coordinate system.
Stator current vector:
(formula 3)
Wherein, i
d, i
qfor two-phase rotating coordinate system component.
Slip-frequency:
(formula 4)
Wherein, R
2for rotor resistance, L
rfor inductor rotor, i
dfor stator current i
squadrature axis component.
In the time of stable state, rotor flux ψ
2=L
mi
d(formula 5)
Wherein, L
mfor mutual inductance, i
dfor stator current i
squadrature axis component.
Slip-frequency W
s=W
1-W
r(formula 6)
Wherein, W
1for synchronizing speed, W
rfor spinner velocity.
Can obtain asynchronous electromotor rotor resistance parameter by formula 3, formula 4, formula 5 and formula 6 is:
In formula 7, inductor rotor L
r, synchronizing speed W
1, mutual inductance L
mfor known; Spinner velocity W
rby the velocity transducer Real-time Obtaining in asynchronous machine; Stator current i
sby Hall current sensor Real-time Obtaining; When motor rotor speed is lower, rotor flux ψ
2obtain by formula 1, in the time that motor rotor speed is higher, rotor flux ψ
2obtain by formula 2.
Go out rotor resistance R by formula 7 Real time identification
2value.
Finally, to identify the rotor resistance obtaining as parameter, complete the motor vector control of speed sensor.
For speed sensor vector control, slip-frequency W
saccurately, so as long as accurately obtain rotor flux ψ
2just can accurately obtain rotor resistance R
2.Asynchronous electromotor rotor resistance ONLINE RECOGNITION method provided by the invention is actual is to adopt current model in the time of rotor low-speed running, adopts voltage model to obtain rotor flux ψ in the time that rotor high-speed turns round
2with the rotor resistance parameter being optimized.In the time of empty load of motor, slip-frequency | W
s| very little or approach zero, calculate and have error, conventionally exist | W
s| while being greater than 20% rated slip frequency, can accurately identify rotor resistance.But the present invention is all effective in loaded situation, be not limited to only be greater than 20% rated slip frequency.
Fig. 1 is the flow chart of asynchronous electromotor rotor resistance ONLINE RECOGNITION method of the present invention.
Step S10, starts rotor resistance R
2oNLINE RECOGNITION.
Step S20, judges slip-frequency | W
s| whether be greater than 20% rated slip frequency.
Be specially, step S21, works as slip-frequency | W
s| while being less than 20% rated slip frequency, adopt current model to calculate rotor flux ψ
2;
Step S22, works as slip-frequency | W
s| while being greater than 20% rated slip frequency, adopt voltage model to calculate rotor flux ψ
2.
Step S30, calculates rotor resistance R by formula 8
2.
Step S40, to the rotor resistance R by calculating in step S30
2carry out filtering.
Be specially, if adopt current model to calculate rotor flux ψ
2, adopt low pass filter to the rotor resistance R calculating
2carry out low-pass filtering; If adopt voltage model to calculate rotor flux ψ
2, adopt high pass filter to the rotor resistance R calculating
2carry out high-pass filtering.
Step S50, upgrades the rotor resistance R that Vector Control System of Induction Motor is used
2parameter, optimize Vector Control System of Induction Motor performance.
Embodiment
The present invention is in the frequency converter of vector control that the has encoder application of succeeding.This frequency converter adopts TMS320F28034 as control chip, adopts the encoder of 1000 lines to test the speed, and the output control motor operation of frequency converter is carried out rotor resistance on-line identification test with a 7.5KW frequency converter band 7.5KW motor.
Table 1 experiment electric motor nameplate parameter
Motor model | Rated power | Rated voltage | Rated current | Rated speed | Power factor |
Y132M-4 | 7.5KW | 380V | 15.4A | 1440 | 0.87 |
Table 2 frequency converter rotates the parameter of electric machine of initial identification at normal temperatures
Stator resistance (Ω) | Rotor resistance (Ω) | Leakage inductance (mH) | Mutual inductance (mH) | No-load current (A) |
0.541 | 0.570 | 6.0 | 114.4 | 5.8 |
The rotor resistance of storing in amendment frequency converter is 0.8 Ω, when frequency is 25Hz, load torque is loaded into 25Nm, adopts this algorithm to carry out rotor resistance correction after filtering, after 2 seconds, converge to 0.602 Ω, the rotor resistance error of rotating at normal temperatures initial identification with frequency converter is 4.0%.
The rotor resistance of storing in amendment frequency converter is 0.3 Ω, when frequency is 40Hz, load torque is loaded into 20Nm, adopts this algorithm to carry out rotor resistance correction after filtering, after 2 seconds, converge to 0.552 Ω, the rotor resistance error of rotating at normal temperatures initial identification with frequency converter is 3.2%.
At different rotating speeds, under different loads, prove through repetition test, in the time that load >20% is above, last rotor resistance convergency value error is in 5%.But in load <10% time, rotor resistance convergency value error is large.This is mainly that very hour error of calculation is large because of slip-frequency.
Asynchronous electromotor rotor resistance ONLINE RECOGNITION method provided by the invention, the motor of speed sensor is carried out to vector control, and rotating speed can be measured, and slippage obtains by measuring rotating speed, electric current is directly measured, only need to estimate the amplitude of magnetic flux, and magnetic flux changes in amplitude is slow, method is simple and reliable, performance requirement to process chip is lower, value that can real-time identification rotor resistance, has improved the performance of motor vector control, simple and practical.
Above the present invention is described in detail, has applied specific case herein structural principle of the present invention and execution mode are set forth, above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (9)
1. an asynchronous electromotor rotor resistance ONLINE RECOGNITION method, is characterized in that, comprises the following steps:
First, by the velocity transducer Real-time Obtaining spinner velocity W in asynchronous machine
r;
Obtain motor synchronizing speed W
1=60f/P, the frequency that wherein f is frequency converter, P is magnetic pole logarithm;
Obtain mutual inductance L by no-load test
mand inductor rotor L
r;
By transducer Real-time Obtaining stator current i
s;
Obtain rotor flux ψ
2parameter;
Then, by following formula identification rotor resistance R
2:
Finally, using described rotor resistance as controlling parameter, complete the vector control of the asynchronous machine of speed sensor.
2. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 1, is characterized in that, during in low cruise, obtains described rotor flux by current model at asynchronous machine rotor, and under stable situation, described current model is: Ψ
2=L
mi
d; Wherein, i
dfor described stator current i
squadrature axis component; Choose two-phase rotation d-q coordinate system.
3. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 2, is characterized in that, is adopting current model to obtain rotor flux ψ
2time, set up a low pass filter, described low pass filter is used for suppressing DC shift, improves interference free performance.
4. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 3, is characterized in that, the parameter of described low pass filter is
5. the asynchronous electromotor rotor resistance ONLINE RECOGNITION method as described in claim 1 or 4, is characterized in that, in the time that asynchronous machine rotor speed is higher, obtains described rotor flux ψ by voltage model
2, described voltage model is
Wherein, U
sfor stator voltage value, it is frequency converter output voltage value;
R
sfor stator resistance, adopt DC va method measurement to obtain;
L
sfor stator inductance, obtained by no-load test;
σ is leakage inductance coefficient, and described leakage inductance factor sigma can be by mutual inductance L
m, stator inductance L
sand inductor rotor L
rcalculating is obtained, and computing formula is:
6. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 5, is characterized in that, is obtaining rotor flux ψ by voltage model integration
2time, set up high pass filter, the DC shift of described high pass filter for suppressing to produce because of integration.
7. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 6, is characterized in that, the parameter of described high pass filter is
8. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 7, is characterized in that, described low pass filter is consistent with the corner frequency of described high pass filter.
9. asynchronous electromotor rotor resistance ONLINE RECOGNITION method as claimed in claim 1, is characterized in that, described transducer is Hall current sensor.
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Cited By (2)
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CN109709857A (en) * | 2018-12-29 | 2019-05-03 | 上海新时达电气股份有限公司 | A kind of setting method of the parameter of electric machine based on elevator on-site |
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US20040249596A1 (en) * | 2001-11-12 | 2004-12-09 | International Rectifier Corporation | Start-up method and system for permanent magnet synchronous motor drive |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106169894A (en) * | 2016-08-08 | 2016-11-30 | 中车大连电力牵引研发中心有限公司 | Threephase asynchronous machine on-line parameter discrimination method and device |
CN109709857A (en) * | 2018-12-29 | 2019-05-03 | 上海新时达电气股份有限公司 | A kind of setting method of the parameter of electric machine based on elevator on-site |
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Application publication date: 20141217 |