CN112994561B - 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 PDFInfo
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Abstract
A method for identifying the resistance and the leakage inductance of an asynchronous motor rotor based on a correlation function method comprises the following steps: 1) applying a sinusoidal voltageDetecting phase current between certain two phases, 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; 2) obtaining the amplitudes and phase differences 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 steps R 、ΔU L And the original formula is taken in to obtain accurate rotor resistance and stator and rotor leakage inductance identification values. The method can eliminate the influence of the nonlinear factors of the inverter on the rotor resistance and leakage inductance identification, simplifies the calculated amount, effectively improves the rotor resistance and stator and rotor leakage inductance identification precision, and has important engineering application value.
Description
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 idea of the methods is to apply a series of excitation signals to the asynchronous motor through the controller, then collect signals such as current or voltage and the like and perform signal processing, 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 off-line parameter self-tuning based on direct current bias excitation' (Wangkai, Yawenxi, Lvconyu. Zhejiang university school report: engineering edition, 2015 (07): 187) 193-), proposes a parameter identification method with direct current bias excitation signals under the static working condition of an asynchronous motor, eliminates the influence of the nonlinear factors of an inverter on the stator and rotor resistance and leakage inductance identification results, but improves the complexity of system design by using a direct current bias sine excitation method, and increases the system calculation amount by using a Fourier transform algorithm method.
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 offline parameter identification method, eliminates the influence of the nonlinear factors of the inverter 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 can be reduced by directly adopting command voltages. 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 the 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 step R 、ΔU L And 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 obtained ab1 、u ab2 ，i a1 、i a2 ) The process is as follows:
1.1 in a single-phase experiment, suspending a motor C phase through PWM configuration 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 phases ab ；
A voltage u between the two phases is obtained A, B ab
u ab (t)＝U a sinω 0 t (2)
In the formula u a 、u b Respectively A, B two-phase voltage, U dc Is a DC bus voltage, U a Is the magnitude of the voltage between two phases at A, B, ω 0 Is any angular frequency;
after the current is stabilized, detecting the phase current i of the motor A a ；
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 intervals ab_REF1 、U ab_REF2 (ii) a After the current is stable, detecting the phase A current of the motor to respectively obtain the phase A current i a1 、i a2 。
In the formula u ab1 、u ab2 Two sinusoidal voltage signals with different amplitudes and same frequency are respectively provided, and the amplitudes are respectively U ab_REF1 、U ab_REF2 ，t 1 、t 2 Two sinusoidal signal time variables respectively.
Still further, in the 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 method ab1 、u ab2 ，i a1 、i a2 ) And to the obtainedThe voltage signal and the current signal are processed, and the four sinusoidal signals have the following expression form at any frequency:
in the formula I a1 、U ab_REF1 Is the amplitude of the current and voltage signals sampled for the first time, I a2 、U ab_REF2 Is the current, voltage signal amplitude of the second sampling, theta 11 、θ 21 Respectively, the first sampled A-phase current i a1 Voltage u between phases AB and AB ab1 Phase of (a), theta 12 、θ 22 Respectively, a-phase current i of the second sampling a2 And AB two phase voltage u ab2 The phase of (a) is determined,
is the first time the interference noise signal is present,
as a second interference noise signal, having a signal correlation function of
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
In the formula (I), the compound is shown in the specification,
as a function of the correlation
The value of the correlation function when τ is 0,
as a function of the correlation
The correlation function value when τ is 0, and thus, the phase cosine value thereof is expressed as
In the formula, theta μ Is i a1 (t)、u ab1 (t) phase difference, θ v Is i a2 (t)、u ab2 (t) a phase difference;
and the amplitude and the autocorrelation function are related as
In the formula (I), the compound is shown in the specification,
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 factors 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, atA. Two ends of B are respectively given U ab_REF1 、U ab_REF2 Two voltage signals, their equivalent resistance R eq The expression is as follows in two cases:
in the formula, Δ U R For non-linear voltage errors on the rotor resistance, U ab_REF1 、U ab_REF2 For a given voltage value, U ab_Real1 、U ab_Real2 Is the actual value applied to the rotor resistance;
obtaining Δ U by the formula (11) R Expression (c):
by substituting formula (12) for the first row of formula (11), an accurate equivalent resistance R can be obtained eq Thus, the identification value of the rotor resistance is obtained according to the equivalent circuit
In the formula (I), the compound is shown in the specification,
is a rotor resistance identification value, R s Is 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, B ab_REF1 、U ab_REF2 Two voltage signalHorn of equivalent reactance X eq The expression is in both cases as follows:
obtaining Δ U by the formula (15) L Expression (c):
by substituting formula (16) for one of formulae (15), accurate X can be obtained eq Therefore, the identification value of the leakage inductance of the stator and the rotor is obtained according to the equivalent circuit
In the formula (I), the compound is shown in the specification,
is a leakage inductance identification value of stator and rotor, Delta U L Is 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 calculation R 、ΔU L And 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 hasImportant engineering application value.
The invention has the following beneficial effects:
(1) calculating the voltage error delta U by a given step voltage signal R 、ΔU L So 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 80V ab A 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 80V ab The 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 phases ab_REF1 、U ab_REF2 ) Respectively to generate sinusoidal voltage signals ofTwo different amplitudes (I) a1 、I a2 ) 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 method μ 、θ v ) And then the voltage error delta U is obtained through calculation R 、ΔU L To obtain accurate rotor resistance
And stator and rotor leakage inductance
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 obtained ab1 、u ab2 ，i a1 、i a2 ) 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 phases ab ；
A, B voltage u between two phases is obtained ab ；
u ab (t)＝U a sinω 0 t (2)
In the formula u a 、u b A, B two-phase voltages, U dc Is a DC bus voltage, U a Is the magnitude of the voltage between two phases at A, B, ω 0 Is any angular frequency;
after the current is stabilized, detecting the phase current i of the motor A a ；
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 between two phases at different time intervals ab_REF1 、U ab_REF2 . After the current is stable, detecting the A-phase current of the motor to respectively obtain the A-phase current i a1 、i a2 。
In the formula u ab1 、u ab2 Two sinusoidal voltage signals with different amplitudes and same frequency are respectively provided, and the amplitudes are respectively U ab_REF1 、U ab_REF2 。t 1 、t 2 Two 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 object stable random input and output information, and two sinusoidal signals are used for delayingThe phase difference between two sinusoidal signals can be obtained by the principle that the correlation function value at zero time is in direct proportion to the cosine value of the phase difference. Phase a current i a AB two phase voltage u ab The representation of both signals at any frequency is as follows:
in the formula I a 、U ab As signal amplitude, ω 0 At an arbitrary angular frequency, θ 1 、θ 2 Respectively, phase A current i a And AB two phase voltage u ab The phase of (a) is determined,
for an interfering noise signal, the correlation function of the two signals is:
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 uncorrelated between the noise. The cross-correlation function between them is zero, so the integration results in:
in the formula (I), the compound is shown in the specification,
as a function of the correlation
The correlation function value when τ is 0, and therefore, the cosine value of the phase difference is:
in the formula, theta is i a (t)、u ab (t) phase difference.
And the zero-delay autocorrelation function of the two signals is:
in the formula, the relationship between the amplitude and the autocorrelation function is:
in the formula (I), the compound is shown in the specification,
is the autocorrelation value of zero delay of its sinusoid.
In the digital processor, the sampled discrete sequence is processed, so that a corresponding discrete correlation function calculation formula is obtained:
where N is the number of sampling points, N is the nth sampling point, i a [n]For phase current i of A a Of discrete sequences of u ab [n]Is A, B two-phase voltage u ab Of (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 obtained ab1 、u ab2 ，i a1 、i a2 ) And processing the resulting voltage and current signals. The four sinusoidal signals represent at any frequencyThe formula is as follows:
in the formula I a1 、U ab_REF1 Is the amplitude of the current and voltage signals sampled for the first time, I a2 、U ab_REF2 Is the current, voltage signal amplitude of the second sampling, theta 11 、θ 21 Respectively, the first sampled A-phase current i a1 And AB two phase voltage u ab1 Phase of (a), theta 12 、θ 22 Phase a current i of the second sampling a2 And AB two phase voltage u ab2 The phase of (a) is determined,
for the first time the interference noise signal is present,
for the second interference noise signal, ω 0 At any angular frequency. The signal correlation functions are respectively
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
In the formula (I), the compound is shown in the specification,
as a function of the correlation
The value of the correlation function when τ is 0,
as a function of the correlation
And the correlation function value when tau is 0. Thus, its phase cosine value expression is
In the formula, theta μ Is i a1 (t)、u ab1 Phase difference of (t), θ v Is i a2 (t)、u ab2 (t) phase difference.
And the amplitude and the autocorrelation function are related by
In the formula (I), the compound is shown in the specification,
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 resistor and the stator and the rotor, and calculating the nonlinear voltage error delta U by giving two sinusoidal voltage signals with different amplitudes through step change R 、ΔU L And 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, the given voltage signal is stepped to eliminate the nonlinear voltage error in the rotor resistance, similar to the dc experiment. Therefore, U is given at both ends of A, B ab_REF1 、U ab_REF2 Two voltage signals, their equivalent resistance R eq The expression is in both cases as follows:
in the formula, Δ U R For non-linear voltage errors on the rotor resistance, U ab_REF1 、U ab_REF2 For a given voltage value, U ab_Real1 、U ab_Real2 Is the actual value applied to the rotor resistance.
Obtaining Δ U by the formula (11) R The expression (c).
By substituting formula (12) for the first row of formula (11), an accurate equivalent resistance R can be obtained eq . Thus, the identification value of the rotor resistance is obtained according to the equivalent circuit
In the formula (I), the compound is shown in the specification,
is an identification value of rotor resistance, R s Is 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, B ab_REF1 、U ab_REF2 Two voltage signals of equivalent reactance X eq The expression is as follows in two cases:
obtaining Δ U by the formula (15) L Is described in (1).
By substituting formula (15) for one of formulae (16), accurate X can be obtained eq . Therefore, the identification value of the leakage inductance of the stator and the rotor is obtained according to the equivalent circuit
In the formula (I), the compound is shown in the specification,
is a leakage inductance identification value of stator and rotor, Delta U L Is a non-linear voltage error on the leakage inductance.
For verifying the identification algorithm proposed in this patentAnd effectiveness, and the algorithm is experimentally verified on a 0.75kW asynchronous motor experimental platform. In the experiment, a voltage V is applied between two phases AB ab Has 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 frequency ab_REF1 Given 80V, V ab_REF2 To different voltage values. FIG. 10 shows the result of identifying the rotor resistance
For identifying value, R r Is a motor rotor resistance reference value; FIG. 11 shows the result of the leakage inductance identification of the stator and rotor
For identifying value, L ls (L lr ) And the leakage inductance reference value of the stator and the rotor of the motor is obtained. Fig. 5 to 9 show the results of the single-phase experiment processed by the correlation function method at a given voltage of 80V, wherein the results of the experiments of fig. 7, 8 and 9 are obtained by the demodulation of the 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 (2)
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 step R 、ΔU L And 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 2), the process of processing the voltage and current signals by using the correlation function method is as follows:
obtaining two voltage signals u with different amplitudes from the step 1) ab1 、u ab2 And a current signal i a1 、i a2 And processing the resulting voltage and current signals, the four sinusoidal signals being represented at any frequency as follows:
in the formula I a1 、U ab_REF1 Is the amplitude of the current and voltage signals sampled for the first time, I a2 、U ab_REF2 Is the current, voltage signal amplitude of the second sampling, theta 11 、θ 21 Respectively, a-phase current i sampled for the first time a1 And AB two phase voltage u ab1 Phase of (a), theta 12 、θ 22 Phase a current i of the second sampling a2 And AB two phase voltage u ab2 The phase of (a) is determined,
for the first time the interference noise signal is present,
is a second interference noise signal with a signal correlation function of
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
In the formula (I), the compound is shown in the specification,
as a function of the correlation
The correlation function value when τ is 0,
as a function of the correlation
The correlation function value when τ is 0, and therefore, the phase cosine value thereof is expressed as
In the formula, theta μ Is i a1 (t)、u ab1 (t) phase difference, θ ν Is i a2 (t)、u ab2 (t) a phase difference;
and the amplitude and the autocorrelation function are related by
In the formula (I), the compound is shown in the specification,
an autocorrelation value that is a zero delay of its sinusoidal signal;
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 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, B ab_REF1 、U ab_REF2 Two voltage signals, their equivalent resistance R eq The expression is as follows in two cases:
in the formula,. DELTA.U R For non-linear voltage errors on the rotor resistance, U ab_REF1 、U ab_REF2 For a given voltage value, U ab_Real1 、U ab_Real2 Is the actual value applied to the rotor resistance;
obtaining Δ U by the formula (11) R Expression (c):
the equivalent resistance R is obtained by substituting the formula (12) into the first line of the formula (11) eq Thus, the identification value of the rotor resistance is obtained according to the equivalent circuit
In the formula (I), the compound is shown in the specification,
is a rotor resistance identification value, R s Is 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, B ab_REF1 、U ab_REF2 Two voltage signals of equivalent reactance X eq The expression is in both cases as follows:
obtaining Δ U by the formula (15) L Expression (c):
substituting formula (16) into one of formula (15) to obtain X eq Therefore, the identification value of the leakage inductance of the stator and the rotor is obtained according to the equivalent circuit
In the formula (I), the compound is shown in the specification,
is a leakage inductance identification value of stator and rotor, Delta U L Is a non-linear voltage error on the leakage inductance.
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 u with different amplitudes are obtained ab1 、u ab2 And a current signal i a1 、i a2 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 phases ab ；
A voltage u between the two phases is obtained A, B ab
u ab (t)＝U a sinω 0 t (2)
In the formula u a 、u b Respectively A, B two-phase voltage, U dc Is a DC bus voltage, U a Is the magnitude of the voltage between two phases at A, B, ω 0 Is any angular frequency;
after the current is stabilized, detecting the phase current i of the motor A a ；
1.2 in the single-phase experiment, two sinusoids with different amplitudes are respectively applied to A, B between two phases at different time intervalsVoltage signals of respective amplitudes U ab_REF1 、U ab_REF2 (ii) a After the current is stable, detecting the phase A current of the motor to respectively obtain the phase A current i a1 、i a2 ；
In the formula u ab1 、u ab2 Two sinusoidal voltage signals with different amplitudes and same frequency are respectively provided, and the amplitudes are respectively U ab_REF1 、U ab_REF2 ，t 1 、t 2 Two sinusoidal signal time variables respectively.
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