CN111049450A - Asynchronous motor vector control rotor winding temperature on-line monitoring method - Google Patents
Asynchronous motor vector control rotor winding temperature on-line monitoring method Download PDFInfo
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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
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
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Abstract
The invention relates to an asynchronous motor vector control rotor winding temperature on-line monitoring method, which comprises the following steps: 1) according to current and voltage signals under the d-q synchronous rotation coordinate, the rotor magnetic field is accurately oriented based on load angle compensation correction; 2) estimating the rotor time constant on the basis of accurate orientation of the rotor magnetic field and correction compensation of slip frequency; 3) estimating a rotor time constant value within a short time when the motor is started for the first time and the rotating speed is stable, and acquiring the detection temperature of a motor cooling medium; 4) in the normal working process of the motor, estimating the current rotor time constant value, acquiring the detection temperature of the cooling medium of the motor corresponding to the current time, and estimating the rotor winding temperature in real time; 5) and solving the temperature rise of the rotor winding. Compared with the prior art, the invention has the advantages of accurate rotor magnetic field orientation, good robustness, convenient realization of rotor winding temperature monitoring, and no influence of the characteristics of hardware equipment and electromagnetic interference of working environment and the like.
Description
Technical Field
The invention relates to the technical field of asynchronous motor monitoring, in particular to an asynchronous motor vector control rotor winding temperature online monitoring method.
Background
The directional vector control of the variable-frequency speed-regulating rotor magnetic field of the asynchronous motor can change the inherent nonlinear mechanical characteristic of the asynchronous motor into the linear mechanical characteristic similar to that of a direct-current motor, and the current and the flux linkage are completely decoupled, so that the basic condition of achieving the excellent performance of speed regulation control of the direct-current motor is achieved. Therefore, the rotor magnetic field orientation is the most deeply researched and improved control technology in the vector control of the asynchronous motor. However, in the decades of development of the rotor magnetic field orientation vector control technology, the rotor magnetic field orientation is difficult to be accurate due to the influence of the great change of the rotor resistance Rr and the time constant Tr of the motor along with the difference of the operation state and the temperature, and the problem which is always pending and hinders the development of the high-performance variable frequency speed control technology is presented. The prior art approaches and approaches to solving this problem are mainly of two types:
1. a mathematical model of the rotor flux linkage is established by adopting various different methods, and the feedback closed-loop control is carried out on the rotor flux linkage. And then a very complex parameter identification algorithm (fuzzy logic algorithm, neural network algorithm, ant colony algorithm, genetic algorithm … … and the like, which are far immature) is used for carrying out off-line or on-line identification correction on the rotor resistance Rr and the time constant Tr in the model. The obvious disadvantage of this type of method is that it adds significantly to the complexity of the control system and may even have serious negative effects on the stability, reliability, rapidity and accuracy of the control system.
2. Various magnetic flux observation technologies, such as a full-order state observer, a sliding-mode observer, a kalman filter, a model reference observer … …, and the like, are adopted, and various problems still exist, and currently, the magnetic flux observation technology is still in a research and experiment stage, and a large distance is still left for accurately observing the magnetic flux actually used for the alternating current motor.
The temperature monitoring of the rotor winding is very important for the safe operation of the motor, and the measuring method is divided into a direct measuring method and an indirect measuring method. Because the rotor rotates at a high speed when the motor operates, the process is difficult to realize by adopting a direct temperature measurement method of embedding a sensing element in a rotor coil, and hidden troubles are brought to the safe and stable operation of the motor. Researchers put forward methods such as non-contact temperature measurement based on an infrared thermosensitive device and a light measurement technology based on a GaAs crystal temperature-sensitive element, but the technologies are limited by factors such as the characteristics of the sensor and electromagnetic interference of a working environment, so that most of the technologies are still in a test research stage and are not mature in the field of motor rotor temperature measurement. At present, indirect estimation methods are mostly adopted, and the methods are divided into a model loss estimation method and a winding resistance variation with temperature estimation method. The distribution and calculation method of the equivalent heat source depended by the model loss calculation method is still in the research and exploration stage. The estimation method of the winding resistance variation with temperature needs to accurately identify and detect the resistance of the rotor winding on line in real time, and the method is still under research and study as mentioned above.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an online monitoring method for the vector control rotor winding temperature of an asynchronous motor.
The purpose of the invention can be realized by the following technical scheme:
an asynchronous motor vector control rotor winding temperature on-line monitoring method comprises the following steps:
the current and voltage signals under d-q synchronous rotation coordinates are used to construct a synchronous rotating electric machine without stator resistance RsNor rotor resistance RrReference model of the load angle θ of (a):
wherein:
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, Lr、Ls、LmRespectively a rotor inductance, a stator inductance and a mutual inductance of the motor. Omega1Is the stator angular frequency.
Obtaining an adjustable model of a load angle theta according to the measured current:
inputting the tangent values of the load angles of the two models into a PI (proportional integral) regulator as a difference, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current to obtain the accurate orientation of the rotor magnetic field; the regulation output value is related to the output value of the rotating speed closed-loop regulation, and if the output value of the rotating speed closed-loop regulation is the q-axis current given value
The output value of the rotor field orientation module is
Directly regulating and controlling the exciting current; if the output value of the closed-loop regulation of the rotating speed is slip frequency omegasAnd if the output value of the rotor magnetic field orientation module is delta omega, correcting the differential frequency.
Step 2, under the conditions that the magnetic field of the rotor is accurately oriented and the slip frequency is corrected and compensated, the time constant of the rotor is determined based on the d-axis current and the q-axis current of the stator current under the synchronous rotating coordinate
And (4) estimating, wherein the calculation formula is as follows:
step 3, when the motor is started for the first time, the temperature of the motor and the temperature A of the cooling medium of the motor are obtainedr0When consistent, the obtained data in step 2 is obtained in a short time when the starting reaches the stable rotating speedIdentification correction value T of rotor time constantr0。
Step 4, in the normal working process of the motor, estimating the current rotor time constant value according to the method in the step 2
And obtaining the detection temperature A of the motor cooling medium corresponding to the current momentr1And (4) estimating the temperature of the rotor winding in real time by combining the values in the step (3). Real-time estimation of temperature of rotor windings
The expression of (a) is:
in the formula, βrTemperature coefficient of resistance of conductor material for rotor winding (copper: β)r234.5, Al βr＝225)。
Calculating the temperature rise delta A of the current rotor winding according to the temperature of the rotor windingsThe calculation formula is as follows:
compared with the prior art, the invention has the following beneficial effects:
1) the invention separates and releases the problem of accurate orientation of magnetic field hidden in the mutual interweaving of flux linkage identification, parameter identification and decoupling control, develops a new way, starts with the analysis of the relation between the load angle theta (phase angle difference between stator current vector and rotor flux linkage vector) of an asynchronous motor and the position of a rotor magnetic field, constructs a rotor load angle reference model irrelevant to both stator resistance and rotor resistance, obtains an adjustable model of the load angle according to the measured current signal under d-q synchronous rotation coordinate, inputs the difference value of tangent values of two load angles into a PI regulator, directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current, realizes the independent control of the rotor magnetic field orientation, has accurate orientation, simple and efficient control strategy, good stability and high convergence speed, and is not influenced by the parameter changes of the motor stator and the rotor resistance, the robustness is excellent, so that the problem of accurate orientation of the most basic and most critical rotor magnetic field in vector control is solved;
2) the method estimates the rotor time constant under the conditions that the rotor magnetic field is accurately oriented and the slip frequency is corrected and compensated, and has simple, efficient and accurate calculation method; the corresponding parameters in the controller are corrected in real time by using the time constant estimated in real time on line, so that the adverse effect of the time constant of the rotor changing along with the temperature on the control performance is avoided; on the other hand, favorable conditions are created for estimating the temperature of the rotor winding;
3) the method monitors the temperature of the rotor winding through the change condition of the rotor time constant, when the rotor resistance is difficult to estimate and output through an online measurement or control system, the change of the rotor resistance is reflected by the change of the rotor time constant according to the inverse relation between the rotor resistance and the rotor time constant, namely the change of the temperature is reflected, the temperature rise monitoring of the rotor winding does not depend on the analysis and calculation of an equivalent heat source, does not need to introduce a complex, tedious and time-consuming resource algorithm, does not need special hardware support, but jumps out the thinking limit which depends on the accurate identification of the rotor resistance, simply and efficiently realizes the online monitoring of the running temperature and the temperature rise of the rotor winding by utilizing the accurate identification of the rotor time constant, is not influenced by the self characteristics of hardware equipment, the electromagnetic interference of a working environment and other factors, is simple and easy to implement, the accuracy is good, and the practicality is strong.
Drawings
FIG. 1 is a schematic diagram of a variable-frequency speed-regulating vector control system of an asynchronous motor using an online monitoring method for vector control of rotor winding temperature of the asynchronous motor in the embodiment of the invention;
FIG. 2 is a schematic diagram illustrating the correction of the directional load angle of the rotor magnetic field according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating rotor time constant estimation in an embodiment of the present invention;
FIG. 4 is a schematic diagram of rotor temperature detection according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention relates to an asynchronous motor vector control rotor winding temperature online monitoring method, which is described by taking a current tracking type PWM inverter as an example, and is shown in FIG. 1. The method can also be applied to the asynchronous motor variable-frequency speed regulation vector control system adopting the voltage source type SVPWM inverter.
The working principle of the method is as follows:
from a speed command n*Obtaining a q-axis current given instruction under synchronous rotation coordinates through closed-loop regulation control of the rotation speed
After the rotor magnetic field orientation module corrects the load angle, a d-axis current instruction under a synchronous rotation coordinate is obtained
The two command currents are subjected to rotating coordinate transformation, current tracking PWM and an inverter to control the variable frequency speed regulation operation of the motor. Spatial position angle gamma rotation deviation required for coordinate transformation
With the speed of rotation omegarIntegral of the sum, TrIs the rotor time constant.
A reference model and an adjustable model of a load angle are constructed by utilizing a rotor magnetic field orientation module, namely current signals and voltage signals of a d axis and a q axis of a synchronous rotating coordinate system obtained by voltage and current detection and coordinate transformation, the load angle obtained by the reference model and the adjustable model is subjected to closed-loop control by taking the difference between the load angles, and the accurate rotor magnetic field is obtained after the load angle is correctedDirectional, output slip compensation Δ ωs。
Under the condition that the magnetic field of the rotor is accurately oriented, the d-axis current and the q-axis current of the stator under the synchronous rotating coordinate are orthogonal. The method can obtain a very simple and quick estimation mode of the rotor time constant, and the corresponding parameters in the controller are modified in real time based on the online real-time estimated time constant.
And finally, calculating the temperature and the temperature rise of the rotor winding by using a rotor temperature monitoring module according to the estimated rotor time constants at different cooling medium temperatures.
Based on the principle, the method specifically comprises the following steps:
the method comprises the steps of firstly, obtaining three-phase stator current and three-phase stator voltage of the asynchronous motor, and carrying out d-q synchronous rotation coordinate transformation on the three-phase stator current and the three-phase stator voltage to respectively obtain d-axis current, q-axis current, d-axis voltage and q-axis voltage.
Step two, the rotor magnetic field for closed-loop correction of the load angle is accurately oriented, as shown in fig. 2, specifically:
constructing a structure which does not contain stator resistance R by current and voltage signals under d-q synchronous rotation coordinatessNor rotor resistance RrReference model of the load angle θ of (a):
wherein:
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, Lr、Ls、LmRespectively a rotor inductance, a stator inductance and a mutual inductance of the motor. Omega1Is the stator angular frequency.
Obtaining an adjustable model of a load angle theta according to the measured current:
and (3) inputting the tangent values of the load angles of the two models into a PI (proportional integral) regulator as a difference, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current to obtain the accurate orientation of the rotor magnetic field. The regulated output value is related to the output value of the closed-loop regulation of the rotating speed. The output value of the closed-loop regulation of the rotating speed of the embodiment is a q-axis current instruction
The output value of the rotor magnetic field orientation module is a d-axis current instruction
The exciting current is directly regulated and controlled. If the output value for the closed-loop regulation of the rotational speed of the embodiment is slip frequency omegasAnd if the output value of the rotor magnetic field orientation module is delta omega, correcting the differential frequency.
Step three, identifying the rotor time constant, as shown in fig. 3, under the conditions that the rotor magnetic field is accurately oriented and the slip frequency is corrected and compensated, based on the stator current d-axis current i under the synchronous rotation coordinatedAnd q-axis current iqTime constant for rotor
Carrying out simple estimation:
the corresponding parameters in the controller are corrected in real time by using the online real-time estimated time constant, so that the adverse effect of the time constant of the rotor changing along with the temperature on the control performance is solved; and on the other hand, the method creates favorable conditions for estimating the temperature rise of the rotor winding.
And step four, carrying out online monitoring on the rotor temperature and the temperature rise, and calculating the temperature and the temperature rise of the rotor winding according to the rotor time constants estimated under different cooling medium temperatures as shown in fig. 4.
Estimating the rotor time constant value to be T within a short time when the motor is started for the first time and reaches the stable rotating speedr0At this time, the corresponding motor cooling medium detection temperature is Ar0. During the normal operation of the motor, the rotor time constant value estimated each time is as follows
The corresponding motor cooling medium detection temperature is Ar1The real-time estimated temperature of the rotor winding is
The expression for the real-time estimated temperature is:
wherein, βrTemperature coefficient of resistance of conductor material for rotor winding (copper: β)r234.5, Al βr＝225)。
At this time, the temperature of the rotor winding is increased by Delta ArComprises the following steps:
the invention constructs a rotor load angle reference model irrelevant to both stator resistance and rotor resistance, inputs the difference value of the tangent values of the two load angles into a PI regulator, and directly compensates and corrects the phase angle difference between the rotor flux linkage and the stator current, thereby realizing the independent control of the rotor magnetic field orientation. The temperature of the rotor winding is monitored through the change condition of the rotor time constant, when the rotor resistance is difficult to estimate output through online measurement or a control system, the change of the rotor resistance is reflected by the change of the rotor time constant according to the inverse relation of the rotor resistance and the rotor time constant, namely the change of the temperature is reflected, the influence of factors such as the self characteristic of hardware equipment, the electromagnetic interference of the working environment and the like is avoided, the operation is simple, and the practicability is high.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The method for monitoring the temperature of the vector control rotor winding of the asynchronous motor on line is characterized by comprising the following steps:
1) according to current and voltage signals under d-q synchronous rotation coordinates, accurate orientation of a rotor magnetic field is carried out based on load angle compensation correction, and meanwhile, slip frequency is compensated and corrected;
2) under the condition that slip frequency is corrected and compensated, estimating a rotor time constant;
3) estimating a rotor time constant value according to the method in the step 2) within a short time when the motor is started for the first time and reaches stable rotating speed, and acquiring the corresponding cooling medium detection temperature of the motor at the moment;
4) in the normal working process of the motor, estimating the current rotor time constant value according to the method in the step 2), acquiring the corresponding motor cooling medium detection temperature at the moment, and estimating the rotor winding temperature and the temperature rise in real time by combining the values in the step 3).
2. The method for monitoring the temperature of the vector control rotor winding of the asynchronous motor in the online manner according to claim 1, wherein in the step 1), the specific contents of the accurate orientation of the rotor magnetic field are as follows:
synchronized by d-qCurrent and voltage signals under a rotating coordinate form a structure containing no stator resistor RsNor rotor resistance RrReference model of the load angle θ of (a):
wherein:
sigma is the leakage coefficient of the motor, and the calculation formula is as follows:
in the formula id、iq、ud、uqRespectively a d-axis current, a q-axis current, a d-axis voltage and a q-axis voltage signal under synchronous rotation coordinates, Lr、Ls、LmRespectively motor rotor inductance, stator inductance and mutual inductance, omega1Is the stator angular frequency;
obtaining an adjustable model of the load angle theta from the measured current:
inputting the tangent values of the load angles of the two models into a PI (proportional integral) regulator as a difference, and directly compensating and correcting the phase angle difference between the rotor flux linkage and the stator current to obtain the accurate orientation of the rotor magnetic field; the regulation output value is related to the output value of the rotating speed closed-loop regulation, and if the output value of the rotating speed closed-loop regulation is the q-axis current given value
The output value of the rotor field orientation module is
Directly regulating and controlling the exciting current; if the output value of the closed-loop regulation of the rotating speed is slip frequency omegasAnd if the output value of the rotor magnetic field orientation module is delta omega, correcting the differential frequency.
3. The method for on-line monitoring the temperature of the vector control rotor winding of the asynchronous motor according to claim 1, wherein in the step 2), the estimation formula of the rotor time constant is
Comprises the following steps:
in the formula, ωsIs slip frequency, id、iqD-axis current and q-axis current under synchronous rotation coordinates are respectively.
4. The method for on-line monitoring the temperature of the vector control rotor winding of the asynchronous motor according to claim 1, wherein in the step 4), the real-time estimated temperature of the rotor winding is obtainedThe expression of (a) is:
in the formula, βrTemperature coefficient of resistance, T, for rotor winding conductor materialr0The value of the rotor time constant estimated according to the method of step 2) for a short time when the initial start reaches the speed stability when the motor temperature is consistent with the cooling medium temperature; a. the0Detecting a temperature for a motor cooling medium;
for estimating the current during normal operation of the motor according to the method of step 2)Value of rotor time constant, Ar1Detecting the temperature of the cooling medium of the current motor;
calculating the temperature rise delta A of the current rotor winding according to the temperature of the rotor windingsThe calculation formula is as follows:
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| CN113872496A (en) * | 2021-09-27 | 2021-12-31 | 重庆长安新能源汽车科技有限公司 | Motor control method and system for automobile electric drive system and vehicle |
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