CN112994561A - Asynchronous motor rotor resistance and leakage inductance identification method based on correlation function method - Google Patents

Asynchronous motor rotor resistance and leakage inductance identification method based on correlation function method Download PDF

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CN112994561A
CN112994561A CN202110104364.4A CN202110104364A CN112994561A CN 112994561 A CN112994561 A CN 112994561A CN 202110104364 A CN202110104364 A CN 202110104364A CN 112994561 A CN112994561 A CN 112994561A
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phase
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leakage inductance
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CN112994561B (en
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吴春
邢展鹏
刘奇
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Zhejiang University of Technology ZJUT
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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
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors

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Abstract

A method for identifying the rotor resistance and the leakage inductance of an asynchronous motor based on a correlation function method comprises the following steps: 1) applying sinusoidal voltage between certain two phases, detecting phase current, suspending the C phase of the motor through PWM configuration, applying two sinusoidal voltage signals with the same amplitude and opposite phases to the A, B two phases to generate a sinusoidal voltage signal between the A, B two phases, and detecting the A phase current of the motor after the current is stabilized; 2) obtaining the amplitudes of the voltage and current signals and the phase difference of the voltage and current signals by using a correlation function method; 3) considering the nonlinear factor of the inverter, the nonlinear voltage error delta U is calculated by giving two sinusoidal voltage signals with different amplitudes through stepsR、ΔULAnd the leakage inductance identification value of the rotor resistance and the stator and the rotor is obtained by substituting the original formula. The invention can eliminate the influence of the nonlinear factors of the inverter on the rotor resistance and leakage inductance identification, simplify the calculated amount and effectively improve the rotor resistance and the fixed rotationThe accuracy of the sub leakage inductance identification is high, and the method has important engineering application value.

Description

Asynchronous motor rotor resistance and leakage inductance identification method based on correlation function method
Technical Field
The invention relates to the field of asynchronous motor offline parameter identification, in particular to a correlation function method-based asynchronous motor rotor resistance and leakage inductance identification method.
Background
In a modern variable-frequency speed regulation system of an asynchronous motor, a vector control method is widely applied, and decoupling of exciting current and torque current of the asynchronous motor is realized, so that the asynchronous motor can be controlled according to a control rule similar to that of a direct-current motor. However, implementing vector control requires accurate motor parameters to ensure proper orientation of the rotor magnetic field. Partial electric parameters calculated according to data in an asynchronous motor nameplate or a product manual generally have larger deviation, and under the actual working condition, the actual motor parameters are changed due to the problems of winding temperature change, magnetic circuit saturation, skin effect and the like, so that the complete decoupling of current in vector control is difficult to ensure, and the running performance and the control effect of a system are influenced. In engineering application, parameter identification is executed before the system is put into normal operation, so that all electrical parameters of the asynchronous motor can be identified and used for parameter setting of the controller.
At present, scholars in the field of motor control propose various parameter identification methods without mechanical locked-rotor motors and professional operation. The core thought of the methods is that a series of excitation signals are applied to the asynchronous motor through a controller, then signals such as current or voltage are collected and processed, and accurate motor parameters can be obtained according to a mathematical model of the asynchronous motor. The electric parameters include stator and rotor resistance, stator and rotor leakage inductance, mutual inductance and the like.
The traditional off-line parameter identification is to obtain the parameters of the asynchronous motor through a direct current experiment, a single-phase experiment, a no-load experiment and the like in sequence. In the document, "offline identification of induction motor parameters" (luo hui, liu military front, wanshu yun. electric drive, 2006,036(008):16-21.), the traditional offline parameter identification method is improved, a direct current experiment, a single-phase experiment and a no-load experiment based on a space vector pulse width modulation technology are provided, and all motor parameters are obtained step by step. The method has the defect that the influence of the nonlinear factors of the inverter on parameter identification is not considered. The document entitled "induction motor parameter off-line identification based on recursive least square algorithm" (zhang hu, li zhenxi, south of childhood, chinese electro-mechanical engineering, 2011,31 (18): 79-86.) introduces an off-line identification method based on the recursive least square algorithm, which solves the butterworth filter equation by using an improved euler numerical solution, obtains the filter value of the signal, and simultaneously directly solves the 1 st order derivative and the 2 nd order derivative of the signal, thereby avoiding the error influence caused by the discretization of each order derivative of the signal, improving the operation precision, increasing the calculation load of a digital processor, and increasing the complexity of the system. The document ' asynchronous motor offline parameter self-tuning based on direct current bias excitation ' (Wangkai, Yawenxi, Lvjuyu. Zhejiang university's school report: engineering edition, 2015 (07): 187) 193) proposes a parameter identification method for injecting a signal with direct current bias excitation under the static working condition of an asynchronous motor, eliminates the influence of the nonlinear factors of an inverter on the resistance and leakage inductance identification results of a stator and a rotor, but improves the complexity of system design by the sine excitation method with direct current bias, and increases the calculation amount of the system by the used Fourier transform algorithm.
Therefore, how to improve the offline parameter identification precision and simplify the identification algorithm has important research value and application prospect. The method provided by the invention improves the traditional off-line parameter identification method, eliminates the influence of the inverter nonlinear factor on the parameter identification precision, improves the parameter identification precision, has no complex algorithm, and is beneficial to engineering realization.
Disclosure of Invention
In view of the above problems, the present invention provides a method for identifying rotor resistance and leakage inductance of an asynchronous motor based on a correlation function method, which improves the accuracy of identifying the rotor resistance and the leakage inductance, and has a simple algorithm and is convenient for engineering implementation. In the operation process of the system, the inverter has nonlinear voltage errors, an actual system generally does not have output voltage detection capability, and parameter identification precision is reduced by directly adopting command voltage. Therefore, the method of the present invention first needs to identify and compensate the nonlinear voltage error. Meanwhile, the voltage and current signals are processed by adopting a correlation function method, and the method has the advantages of convenience in algorithm implementation, high identification precision and the like.
The invention adopts the technical scheme for solving the technical problems that:
a method for identifying asynchronous motor rotor resistance and leakage inductance based on a correlation function method comprises the following steps:
step 1) applying a sinusoidal voltage between certain two phases, and detecting phase current; suspending the C phase of the motor through PWM configuration, applying two sinusoidal voltage signals with the same amplitude and opposite phases to the A, B two phases to generate a sinusoidal voltage signal between the A, B two phases, and detecting the A-phase current of the motor after the current is stable;
step 2) processing the voltage and current signals by using a correlation function method to obtain the amplitudes and phase differences of the voltage and current signals;
and 3) considering the nonlinear factors of the inverter, processing voltage and current signals, and identifying the rotor resistance and the leakage inductance of the stator and the rotor. Calculating nonlinear voltage error delta U by giving two sinusoidal voltage signals with different amplitudes through stepR、ΔULAnd the leakage inductance identification value of the rotor resistance and the stator and the rotor is obtained by substituting the original formula.
Further, in the step 1), a sinusoidal voltage is applied between two phases, a phase current is detected, and two voltage signals and two current signals (u) with different amplitudes are obtainedab1、uab2，ia1、ia2) The process is as follows:
1.1 suspending a motor C phase in the air through PWM configuration in a single-phase experiment to construct an equivalent H bridge; then, two sinusoidal voltage signals with the same amplitude and opposite phases are applied in steps on the A, B two phases, so that a sinusoidal voltage signal u is generated between the A, B two phasesab；
Figure BDA0002916773180000021
A voltage u between the two phases is obtained A, Bab
uab(t)＝Uasinω0t (2)
In the formula ua、ubRespectively A, B two-phase voltage, UdcIs a DC bus voltage, UaIs the magnitude of the voltage between two phases at A, B, ω0Is any angular frequency;
after the current is stabilized, detecting the phase current i of the motor Aa；
1.2 in a single-phase experiment,two sinusoidal voltage signals with different amplitudes of U are respectively applied between two phases of A, B in different time periodsab_REF1、Uab_REF2(ii) a After the current is stable, detecting the phase A current of the motor to respectively obtain the phase A current ia1、ia2。
Figure BDA0002916773180000022
In the formula uab1、uab2Two sinusoidal voltage signals with different amplitudes and same frequency are respectively provided, and the amplitudes are respectively Uab_REF1、Uab_REF2，t1、t2Two sinusoidal signal time variables respectively.
Still further, in step 2), the process of processing the voltage and current signals by using the correlation function method is as follows:
two voltage signals and two current signals (u) with different amplitudes can be obtained by the methodab1、uab2，ia1、ia2) And processing the resulting voltage and current signals, the four sinusoidal signals being represented at any frequency as follows:
Figure BDA0002916773180000031
Figure BDA0002916773180000032
in the formula Ia1、Uab_REF1Is the amplitude of the current and voltage signals sampled for the first time, Ia2、Uab_REF2Is the current, voltage signal amplitude of the second sampling, theta11、θ21Respectively, the first sampled A-phase current ia1And AB two phase voltage uab1Phase of (a), theta12、θ22Phase a current i of the second samplinga2And AB two phase voltage uab2The phase of (a) is determined,
Figure BDA0002916773180000033
for the first time the interference noise signal is present,
Figure BDA0002916773180000034
as a second interference noise signal, having a signal correlation function of
Figure BDA0002916773180000035
In the formula, T is a signal period. Ideally, the complete randomness of the noise results in it being uncorrelated with any function, i.e. uncorrelated with the signal, and also uncorrelated between the noise; the cross-correlation function between them is zero, so the integral is obtained
Figure BDA0002916773180000036
In the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000037
as a function of the correlation
Figure BDA0002916773180000038
The correlation function value when τ is 0,
Figure BDA0002916773180000039
as a function of the correlation
Figure BDA00029167731800000310
The correlation function value when τ is 0, and therefore, the phase cosine value thereof is expressed as
Figure BDA00029167731800000311
In the formula, thetaμIs ia1(t)、uab1(t) phase difference, θvIs ia2(t)、uab2Phase of (t)A potential difference;
and the amplitude and the autocorrelation function are related by
Figure BDA00029167731800000312
Figure BDA00029167731800000313
In the formula (I), the compound is shown in the specification,
Figure BDA00029167731800000314
the autocorrelation value is the zero-delay of its sinusoidal signal.
Further, in step 3), considering the nonlinear factor of the inverter, the process of identifying the rotor resistance and the leakage inductance of the stator and the rotor is as follows:
3.1 considering the nonlinear factor of the inverter, similar to the dc experiment, stepping the given voltage signal to eliminate the nonlinear voltage error of the inverter at the rotor resistance, therefore, U is given at both ends A, Bab_REF1、Uab_REF2Two voltage signals, their equivalent resistance ReqThe expression is as follows in two cases:
Figure BDA0002916773180000041
in the formula, Δ URFor non-linear voltage errors on the rotor resistance, Uab_REF1、Uab_REF2For a given voltage value, Uab_Real1、Uab_Real2Is the actual value applied to the rotor resistance;
obtaining Δ U by the formula (11)RExpression (c):
Figure BDA0002916773180000042
by substituting formula (12) for the first row of formula (11), an accurate equivalent resistance R can be obtainedeqDue to the factThus, the identification value of the rotor resistance is obtained according to the equivalent circuit
Figure BDA0002916773180000043
Figure BDA0002916773180000044
Figure BDA0002916773180000045
In the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000046
is a rotor resistance identification value, RsIs the stator resistance and is known;
3.2 considering the nonlinear factor of the inverter, the step gives the voltage signal to eliminate the nonlinear error of the inverter on the leakage inductance, therefore, U is respectively given at the two ends of A, Bab_REF1、Uab_REF2Two voltage signals, their equivalent reactance XeqThe expression is as follows in two cases:
Figure BDA0002916773180000047
obtaining Δ U by the formula (15)LExpression (c):
Figure BDA0002916773180000048
by substituting formula (16) for one of formulae (15), accurate X can be obtainedeqTherefore, the identification value of the leakage inductance of the stator and the rotor is obtained according to the equivalent circuit
Figure BDA0002916773180000049
Figure BDA00029167731800000410
Figure BDA0002916773180000051
In the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000052
is a leakage inductance identification value of stator and rotor, Delta ULIs a non-linear voltage error on the leakage inductance.
The invention provides a method for identifying the resistance and the leakage inductance of an asynchronous motor rotor based on a correlation function method, which has the technical conception that two voltage signals with different amplitudes are injected between A, B two phases in an equivalent H bridge shown in figure 4 to respectively generate two current signals with different amplitudes, the amplitudes of the voltage and the current and the phase difference between the voltage and the current are obtained by combining a correlation function signal analysis method, and then the voltage error delta U is obtained by calculationR、ΔULAnd obtaining accurate rotor resistance and stator and rotor leakage inductance identification values. The method provided by the invention is simple and easy to realize, and has important engineering application value.
The invention has the following beneficial effects:
(1) calculating the voltage error delta U by a given step voltage signalR、ΔULSo as to obtain accurate rotor resistance and stator and rotor leakage inductance identification values;
(2) and the calculation amount of a digital processor is reduced by combining a correlation function signal analysis method, and the software design of the system is simplified.
Drawings
Fig. 1 shows the connection of a voltage-type inverter to an asynchronous machine;
FIG. 2 shows a single-phase experimental equivalent circuit;
FIG. 3 shows an equivalent circuit after a single phase experimental change;
FIG. 4 shows a single-phase experimental equivalent H-bridge circuit;
FIG. 5 shows U at a given voltage of 80VabA voltage signal waveform;
FIG. 6 shows the A-phase current signal waveform at a given voltage of 80V;
FIG. 7 shows U at a given voltage of 80VabThe amplitude of the voltage signal waveform;
FIG. 8 shows the amplitude of the A-phase current signal waveform at a given voltage of 80V;
FIG. 9 shows the cosine of the voltage-to-current phase difference for a given voltage of 80V;
FIG. 10 shows rotor resistance identification results;
FIG. 11 shows stator-rotor leakage inductance identification results;
fig. 12 shows a flow chart of an asynchronous motor rotor resistance and leakage inductance identification method based on a correlation function method.
Detailed Description
The following describes the embodiments of the present invention with reference to the drawings, taking a three-phase asynchronous motor as an example.
Referring to fig. 1 to 12, a method for identifying rotor resistance and leakage inductance of an asynchronous motor based on a correlation function method. As shown in FIG. 4, two different amplitudes (U) are injected between the A, B phasesab_REF1、Uab_REF2) So that it respectively generates two different amplitudes (I)a1、Ia2) The amplitude of the voltage and the current and the phase difference (theta) between the voltage and the current are obtained by combining a correlation function signal analysis methodμ、θv) And then the voltage error delta U is obtained through calculationR、ΔULTo obtain accurate rotor resistance
Figure BDA0002916773180000053
And stator-rotor leakage inductance
Figure BDA0002916773180000054
Identifying the value. Fig. 5 to 9 show experimental results of single-phase experiments under a given voltage of 80V, wherein the experimental results of fig. 7, 8 and 9 are obtained by demodulation by a correlation function method. Fig. 10 shows the rotor resistance recognition result. Fig. 11 shows the result of the leakage inductance identification of the stator and the rotor.
A method for identifying the rotor resistance and the leakage inductance of an asynchronous motor based on a correlation function method comprises the following steps:
step 1) applying a sinusoidal voltage between certain two phases, and detecting phase current; suspending the C phase of the motor through PWM configuration, applying two sinusoidal voltage signals with the same amplitude and opposite phases to the A, B two phases to generate a sinusoidal voltage signal between the A, B two phases, and detecting the A-phase current of the motor after the current is stable;
in the step 1), a sinusoidal voltage is applied between certain two phases, phase current is detected, and two voltage signals and two current signals (u) with different amplitudes are obtainedab1、uab2，ia1、ia2) The process is as follows:
1.1, constructing an equivalent H bridge, obtaining A, B sinusoidal voltage between two phases, and detecting phase current;
in a single-phase experiment, the system suspends the motor C in the figure 1 through a PWM configuration, and the equivalent circuit of the motor C is shown in the figure 2. In FIG. 4, the system applies two sinusoidal voltage signals of the same amplitude and opposite phase to A, B two phases, so that a sinusoidal voltage signal u is generated A, B between the two phasesab；
Figure BDA0002916773180000061
A voltage u between the two phases is obtained A, Bab；
uab(t)＝Uasinω0t (2)
In the formula ua、ubRespectively A, B two-phase voltage, UdcIs a DC bus voltage, UaIs the magnitude of the voltage between two phases at A, B, ω0Is any angular frequency;
after the current is stabilized, detecting the phase current i of the motor Aa；
1.2 obtaining two sinusoidal voltages with different amplitudes, detecting the phase current
In a single-phase experiment, in the way described above, the system applies two sinusoidal voltage signals with different amplitudes, U respectively, to A, B two phases at different time intervalsab_REF1、Uab_REF2. After the current is stable, detecting the phase A current of the motor to respectively obtain the phase A current ia1、ia2。
Figure BDA0002916773180000062
In the formula uab1、uab2Two sinusoidal voltage signals with different amplitudes and same frequency are respectively provided, and the amplitudes are respectively Uab_REF1、Uab_REF2。t1、t2Two sinusoidal signal times respectively.
Step 2) processing the voltage and current signals by using a correlation function method to obtain the amplitudes and phase differences of the voltage and current signals;
in the step 2), the process of processing the voltage and current signals by using the correlation function method is as follows:
the signal processing method used in the invention is a correlation function method, and two voltage signals and current signals with different amplitudes are processed by the method. The correlation function method is a method for solving the impulse response of an object according to the correlation function between stable random input and output information of the object, and the phase difference between two sinusoidal signals can be obtained by utilizing the principle that the correlation function value when the time delay of the two sinusoidal signals is zero is in direct proportion to the cosine value of the phase difference. Phase a current iaAB two phase voltage uabThe representation of both signals at any frequency is as follows:
Figure BDA0002916773180000063
in the formula Ia、UabAs signal amplitude, ω0At an arbitrary angular frequency, θ1、θ2Respectively, phase A current iaAnd AB two phase voltage uabThe phase of (a) is determined,
Figure BDA0002916773180000071
for an interfering noise signal, the correlation function of the two signals is:
Figure BDA0002916773180000072
in the formula, T is a signal period. Ideally, the complete randomness of the noise results in it being uncorrelated with any function, i.e. with the signal, and also between the noises. The cross-correlation function between them is zero, so the integration results in:
Figure BDA0002916773180000073
in the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000074
as a function of the correlation
Figure BDA0002916773180000075
The correlation function value when τ is 0, and therefore, the cosine value of the phase difference is:
Figure BDA0002916773180000076
in the formula, theta is ia(t)、uab(t) phase difference.
And the zero-delay autocorrelation function of the two signals is:
Figure BDA0002916773180000077
in the formula, the relationship between the amplitude and the autocorrelation function is:
Figure BDA0002916773180000078
Figure BDA0002916773180000079
in the formula (I), the compound is shown in the specification,
Figure BDA00029167731800000710
is the autocorrelation value at zero delay of its sinusoidal signal.
In the digital processor, the sampled discrete sequence is processed, so that a corresponding discrete correlation function calculation formula is obtained:
Figure BDA00029167731800000711
where N is the number of sampling points, N is the nth sampling point, ia[n]For phase current i of AaOf discrete sequences of uab[n]Is A, B two-phase voltage uabOf (3) is performed.
2.2 processing two voltage signals and current signals with different amplitudes by using a correlation function method
According to the method, two voltage signals and two current signals (u) with different amplitudes are obtainedab1、uab2，ia1、ia2) And processing the resulting voltage and current signals. These four sinusoidal signals are represented at any frequency as follows:
Figure BDA00029167731800000712
Figure BDA0002916773180000081
in the formula Ia1、Uab_REF1Is the amplitude of the current and voltage signals sampled for the first time, Ia2、Uab_REF2Is the current, voltage signal amplitude of the second sampling, theta11、θ21Respectively, the first sampled A-phase current ia1And AB two phase voltage uab1Phase of (a), theta12、θ22Phase a current i of the second samplinga2And AB two phase voltage uab2The phase of (a) is determined,
Figure BDA0002916773180000082
for the first time the interference noise signal is present,
Figure BDA0002916773180000083
is the interference noise signal of the second time, omega0At any angular frequency. The signal correlation functions thereof are respectively
Figure BDA0002916773180000084
In the formula, T is a signal period. Ideally, the complete randomness of the noise results in it being uncorrelated with any function, i.e. with the signal, and also between the noises. The cross-correlation function between them is zero, so the integral is obtained
Figure BDA0002916773180000085
In the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000086
as a function of the correlation
Figure BDA0002916773180000087
The correlation function value when τ is 0,
Figure BDA0002916773180000088
as a function of the correlation
Figure BDA0002916773180000089
And the correlation function value when tau is 0. Thus, its phase cosine value expression is
Figure BDA00029167731800000810
In the formula, thetaμIs ia1(t)、uab1(t) phase difference, θvIs ia2(t)、uab2(t) phase difference.
And the amplitude and the autocorrelation function are related by
Figure BDA00029167731800000811
Figure BDA00029167731800000812
In the formula (I), the compound is shown in the specification,
Figure BDA00029167731800000813
an autocorrelation value that is a zero delay of its sinusoidal signal;
step 3) considering the nonlinear factors of the inverter, processing the voltage and current signals, identifying the leakage inductance of the rotor resistance and the stator and the rotor, and calculating the nonlinear voltage error delta U by giving two sinusoidal voltage signals with different amplitudes through stepR、ΔULAnd the leakage inductance identification value of the rotor resistance and the stator and the rotor is obtained by substituting the original formula;
in the step 3), the nonlinear factors of the inverter are considered, and the process of identifying the rotor resistance and the leakage inductance of the stator and the rotor is as follows:
3.1 recognizing rotor resistance in consideration of inverter nonlinearity
Considering the nonlinear factors of the inverter, similar to the direct current experiment, the given voltage signal is stepped to eliminate the nonlinear voltage error of the rotor resistance. Therefore, U is given at both ends of A, Bab_REF1、Uab_REF2Two voltage signals, their equivalent resistance ReqThe expression is as follows in two cases:
Figure BDA0002916773180000091
in the formula, Δ URFor non-linear voltage errors on the rotor resistance, Uab_REF1、Uab_REF2For a given voltage value, Uab_Real1、Uab_Real2Is the actual value applied to the rotor resistance.
Obtaining Δ U by the formula (11)RIs described in (1).
Figure BDA0002916773180000092
By substituting formula (12) for the first row of formula (11), an accurate equivalent resistance R can be obtainedeq. Thus, the identification value of the rotor resistance is obtained according to the equivalent circuit
Figure BDA0002916773180000093
Figure BDA0002916773180000094
Figure BDA0002916773180000095
In the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000096
is a rotor resistance identification value, RsIs the stator resistance.
3.2 recognizing leakage inductance of stator and rotor in consideration of nonlinear factors of inverter
Likewise, the given voltage signal is stepped to eliminate the non-linear voltage error of the inverter on the leakage inductance in consideration of the non-linear factor of the inverter. Therefore, U is given at both ends of A, Bab_REF1、Uab_REF2Two voltage signals, their equivalent reactance XeqThe expression is as follows in two cases:
Figure BDA0002916773180000097
obtaining Δ U by the formula (15)LIs described in (1).
Figure BDA0002916773180000098
By substituting formula (15) for one of formulae (16), accurate X can be obtainedeq. Therefore, the identification value of the leakage inductance of the stator and the rotor is obtained according to the equivalent circuit
Figure BDA0002916773180000099
Figure BDA0002916773180000101
Figure BDA0002916773180000102
In the formula (I), the compound is shown in the specification,
Figure BDA0002916773180000103
is a leakage inductance identification value of stator and rotor, Delta ULIs a non-linear voltage error on the leakage inductance.
In order to verify the effectiveness of the identification algorithm provided by the patent, the algorithm is verified on a 0.75kW asynchronous motor experiment platform. In the experiment, a voltage V is applied between two phases ABabHas a frequency of 50 HZ. After the current is stabilized, the system samples once every 0.05ms, and the total time is 1000, and about 2.5 periods of data are acquired. Giving different voltage amplitudes, i.e. V, at the same frequencyab_REF1Given 80V, Vab_REF2To different voltage values. FIG. 10 shows the result of identifying the rotor resistance
Figure BDA0002916773180000104
For identifying value, RrIs a motor rotor resistance reference value; FIG. 11 shows the result of the leakage inductance identification of the stator and rotor
Figure BDA0002916773180000105
For identifying value, Lls(Llr) And the leakage inductance reference value of the stator and the rotor of the motor is obtained. FIGS. 5 to 9 are graphs showing the results of single-phase experiments at a given voltage of 80V and processed by the correlation function method, in which FIGS. 7 and 8,The experimental results of fig. 9 are obtained by demodulation by a correlation function method.
The experimental result shows that the method provided by the invention can effectively eliminate the nonlinear voltage error caused by system operation and has higher identification precision. Meanwhile, the method combines a correlation function method with small calculation amount to process the voltage signal and the current signal acquired by hardware, so that the calculation load of a processor is reduced, the feasibility of the algorithm is improved, and the method has high engineering application value.

Claims (4)

1. A method for identifying asynchronous motor rotor resistance and leakage inductance based on a correlation function method is characterized by comprising the following steps: the identification method comprises the following steps:
step 1) applying a sinusoidal voltage between certain two phases, and detecting phase current; suspending the C phase of the motor through PWM configuration, applying two sinusoidal voltage signals with the same amplitude and opposite phases to the A, B two phases to generate a sinusoidal voltage signal between the A, B two phases, and detecting the A-phase current of the motor after the current is stable;
step 2) processing the voltage and current signals by using a correlation function method to obtain the amplitudes and phase differences of the voltage and current signals;
step 3) considering the nonlinear factors of the inverter, processing the voltage and current signals, identifying the leakage inductance of the rotor resistance and the stator and the rotor, and calculating the nonlinear voltage error delta U by giving two sinusoidal voltage signals with different amplitudes through stepR、ΔULAnd the leakage inductance identification value of the rotor resistance and the stator and the rotor is obtained by substituting the original formula.
2. The method for identifying the rotor resistance and the leakage inductance of the asynchronous motor based on the correlation function method as claimed in claim 1, wherein in the step 1), a sinusoidal voltage is applied between two phases, the phase current is detected, and two voltage signals and two current signals (u) with different amplitudes are obtainedab1、uab2，ia1、ia2) The process is as follows:
1.1 in a single-phase experiment, suspending the C phase of the motor through PWM configuration to constructAn equivalent H bridge; then, two sinusoidal voltage signals with the same amplitude and opposite phases are applied in steps on the A, B two phases, so that a sinusoidal voltage signal u is generated between the A, B two phasesab；
Figure FDA0002916773170000011
A voltage u between the two phases is obtained A, Bab
uab(t)＝Uasinω0t (2)
In the formula ua、ubRespectively A, B two-phase voltage, UdcIs a DC bus voltage, UaIs the magnitude of the voltage between two phases at A, B, ω0Is any angular frequency;
after the current is stabilized, detecting the phase current i of the motor Aa；
1.2 in the single-phase experiment, two sinusoidal voltage signals with different amplitudes, U respectively, are applied between A, B two phases at different time intervalsab_REF1、Uab_REF2(ii) a After the current is stable, detecting the phase A current of the motor to respectively obtain the phase A current ia1、ia2；
Figure FDA0002916773170000012
In the formula uab1、uab2Two sinusoidal voltage signals with different amplitudes and same frequency are respectively provided, and the amplitudes are respectively Uab_REF1、Uab_REF2，t1、t2Two sinusoidal signal time variables respectively.
3. The method for identifying the rotor resistance and the leakage inductance of the asynchronous motor based on the correlation function method as claimed in claim 2, wherein in the step 2), the process of processing the voltage and current signals by using the correlation function method is as follows:
two webs can be obtained by the above methodVoltage signal and current signal (u) of different valuesab1、uab2，ia1、ia2) And processing the resulting voltage and current signals, the four sinusoidal signals being represented at any frequency as follows:
Figure FDA0002916773170000021
Figure FDA0002916773170000022
in the formula Ia1、Uab_REF1Is the amplitude of the current and voltage signals sampled for the first time, Ia2、Uab_REF2Is the current, voltage signal amplitude of the second sampling, theta11、θ21Respectively, the first sampled A-phase current ia1And AB two phase voltage uab1Phase of (a), theta12、θ22Phase a current i of the second samplinga2And AB two phase voltage uab2The phase of (a) is determined,
Figure FDA0002916773170000023
for the first time the interference noise signal is present,
Figure FDA0002916773170000024
as a second interference noise signal, having a signal correlation function of
Figure FDA0002916773170000025
Where T is the signal period, ideally the complete randomness of the noise results in it being uncorrelated with any function, i.e. uncorrelated with the signal, and uncorrelated with noise; the cross-correlation function between them is zero, so the integral is obtained
Figure FDA0002916773170000026
In the formula (I), the compound is shown in the specification,
Figure FDA0002916773170000027
as a function of the correlation
Figure FDA0002916773170000028
The correlation function value when τ is 0,
Figure FDA0002916773170000029
as a function of the correlation
Figure FDA00029167731700000210
The correlation function value when τ is 0, and therefore, the phase cosine value thereof is expressed as
Figure FDA00029167731700000211
In the formula, thetaμIs ia1(t)、uab1(t) phase difference, θvIs ia2(t)、uab2(t) a phase difference;
and the amplitude and the autocorrelation function are related by
Figure FDA00029167731700000212
Figure FDA0002916773170000031
In the formula (I), the compound is shown in the specification,
Figure FDA0002916773170000032
the autocorrelation value is the zero-delay of its sinusoidal signal.
4. The method for identifying rotor resistance and leakage inductance of an asynchronous motor based on the correlation function method as claimed in claim 3, wherein in the step 3), the non-linear factors of the inverter are considered, and the process for identifying the rotor resistance and the leakage inductance of the stator and the rotor is as follows:
3.1 considering the nonlinear factor of the inverter, similar to the dc experiment, stepping the given voltage signal to eliminate the nonlinear voltage error of the inverter at the rotor resistance, therefore, U is given at both ends A, Bab_REF1、Uab_REF2Two voltage signals, their equivalent resistance ReqThe expression is as follows in two cases:
Figure FDA0002916773170000033
in the formula, Δ URFor non-linear voltage errors on the rotor resistance, Uab_REF1、Uab_REF2For a given voltage value, Uab_Real1、Uab_Real2Is the actual value applied to the rotor resistance;
obtaining Δ U by the formula (11)RExpression (c):
Figure FDA0002916773170000034
the equivalent resistance R is obtained by substituting the formula (12) into the first row of the formula (11)eqThus, the identification value of the rotor resistance is obtained according to the equivalent circuit
Figure FDA0002916773170000035
Figure FDA0002916773170000036
Figure FDA0002916773170000037
In the formula (I), the compound is shown in the specification,
Figure FDA0002916773170000038
is a rotor resistance identification value, RsIs the stator resistance and is known;
3.2 considering the nonlinear factor of the inverter, the step gives the voltage signal to eliminate the nonlinear error of the inverter on the leakage inductance, therefore, U is respectively given at the two ends of A, Bab_REF1、Uab_REF2Two voltage signals, their equivalent reactance XeqThe expression is as follows in two cases:
Figure FDA0002916773170000039
obtaining Δ U by the formula (15)LExpression (c):
Figure FDA0002916773170000041
substituting formula (16) into one of formula (15) to obtain XeqTherefore, the identification value of the leakage inductance of the stator and the rotor is obtained according to the equivalent circuit
Figure FDA0002916773170000042
Figure FDA0002916773170000043
Figure FDA0002916773170000044
In the formula (I), the compound is shown in the specification,
Figure FDA0002916773170000045
for the leakage inductance identification value of the stator and the rotor,ΔULis a non-linear voltage error on the leakage inductance.
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