CN113141140B - Online identification method for parameters of surface-mounted permanent magnet synchronous motor - Google Patents
Online identification method for parameters of surface-mounted permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN113141140B CN113141140B CN202110383258.4A CN202110383258A CN113141140B CN 113141140 B CN113141140 B CN 113141140B CN 202110383258 A CN202110383258 A CN 202110383258A CN 113141140 B CN113141140 B CN 113141140B
- Authority
- CN
- China
- Prior art keywords
- axis
- parameter
- permanent magnet
- magnet synchronous
- synchronous motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
An online identification method of parameters of a surface-mounted permanent magnet synchronous motor is characterized in that an online identification model of inductance parameters considering digital delay is constructed to realize inductance parameter identification; transforming the zero-order retainer discrete domain voltage model of the motor to eliminate flux linkage influence and realize resistance parameter identification; and according to the identification results of the inductance and the resistance, combining the q-axis voltage steady-state model to realize the identification of the flux linkage parameters. The on-line identification of inductance, resistance and flux linkage parameters is realized without injecting d-axis current; the resistor identification is realized by using the voltage model discretized by the zero-order retainer, so that the full-rank operation of an identification equation is ensured, and the identification accuracy is improved; the method solves the problem that the output reference voltage of the controller is unequal to the voltage of the stator end due to time delay in the digital control system, compensates the digital time delay in the identification model, realizes the identification of the motor parameters by utilizing the information such as the output reference voltage of the controller, and the like, does not need to measure the voltage of the stator end of the motor, and improves the accuracy of multi-parameter identification.
Description
Technical Field
The invention relates to the field of control of permanent magnet synchronous motors, in particular to an on-line identification method of parameters of a surface-mounted permanent magnet synchronous motor.
Background
Compared with asynchronous motors, permanent magnet synchronous motors (Permanent magnet Synchronous motor, PMSM) have the advantages of high power density, high efficiency, high reliability and the like, and are widely applied in the fields of industry, household appliances and electric automobiles in recent years. However, in practical application, the motor parameters are greatly changed due to the influence of factors such as temperature change, magnetic field saturation and the like. The change of motor parameters can seriously affect the performance of the controller, such as current loop parameter design, rotor position precision, fault diagnosis and the like. Therefore, in order to realize high performance control of PMSM, research on a method of parameter on-line identification is required.
In the prior art, for a PMSM control system, three parameters of stator resistance, d or q axis inductance and rotor flux linkage have great influence on control performance, so the three parameters are mainly identified. In order to realize the on-line identification of parameters, many scholars have proposed a number of algorithms, including least square method, model reference adaptation, kalman filtering, neural network algorithm, etc. However, when the motor is operating in a steady state and three or more parameters are identified simultaneously, the various algorithms described above are underrun, potentially resulting in the calculated PMSM parameters converging to erroneous values. To solve this problem, the first type of solution is to reduce the number of parameters that are identified by the system at the same time, for example, when identifying the resistance parameters of the motor online, the flux linkage parameters are set to their nominal values to ensure that the underrank problem does not occur, but the estimation accuracy of this method depends on the accuracy of the nominal values of the motor used, and the nominal values of the motor may change during the actual operation, or additional auxiliary devices such as a thermocouple and a load torque measuring instrument are needed to implement the measurement of the resistance and flux linkage of the motor. Another type of solution is to inject transient d-axis current to construct a full rank system during operation, ensuring accuracy of parameter identification. However, during operation, the injected d-axis current may change the saturation level of the air gap flux linkage, resulting in changes in motor parameters such as inductance and flux linkage, resulting in an unsuitable equation, and the injected d-axis current may cause the motor to deviate from a steady state operation.
At present, when the motor works under a stable working condition, due to the underrank problem, no better method is available for guaranteeing simultaneous identification of a plurality of parameters of the motor.
Disclosure of Invention
In order to solve the defects existing in the prior art, the invention aims to provide an on-line identification method for parameters of a surface-mounted permanent magnet synchronous motor, and an on-line identification model for inductance parameters is constructed by considering digital delay, so that the identification of the inductance parameters is realized; transforming a zero-order retainer discrete domain voltage model of the motor, eliminating the influence of motor flux linkage, and realizing identification of resistance parameters; and according to the identification results of the inductance and resistance parameters, combining the q-axis voltage steady-state model to realize the identification of the flux linkage parameters.
The invention adopts the following technical scheme.
The on-line identification method of the parameters of the surface-mounted permanent magnet synchronous motor comprises the following steps:
step 2, taking d-axis reference voltage, q-axis reference voltage and q-axis feedback current as input data of an inductance parameter online identification model, and outputting an inductance parameter online identification result by the inductance parameter online identification model; the inductance parameter online identification model is a model which considers d-axis reference voltage and q-axis reference voltage of digital control delay;
step 3, taking q-axis feedback current and the angular speed of motor operation as input data of a first parameter online identification model, and outputting a first parameter online identification result by the first parameter online identification model; the first parameter online identification model is an identification model obtained based on a least square method by utilizing an inductance parameter online identification model and a preprocessed d-axis and q-axis voltage model; preprocessing d-axis and q-axis voltage models includes discretization and demagnetization chaining;
the first parameter online identification result and the inductance parameter online identification result are used as input data of a resistance parameter online identification model, and the resistance parameter online identification result is obtained by the resistance parameter online identification model; wherein the first parameter comprises an inductance parameter and a resistance parameter;
step 4, taking the inductance parameter and the resistance parameter as input data of the flux linkage parameter online identification model, and outputting flux linkage parameter online identification results by the flux linkage parameter online identification model; the flux linkage parameter online identification model is a q-axis voltage steady-state model.
Preferably, in step 1, when the permanent magnet synchronous motor is operated in the maximum torque current ratio control mode, the d-axis feedback current of the permanent magnet synchronous motor is equal to 0.
Preferably, in step 2, the inductance parameter online identification model satisfies the following relation:
v d cosθ d +v q sinθ d ＝-ω e L s i q
in the method, in the process of the invention,
v d for the d-axis reference voltage output by the controller,
v q for the q-axis reference voltage output by the controller,
θ d for the purpose of digitally controlling the delay angle,
ω e is the angular speed of the permanent magnet synchronous motor,
i q for the q-axis feedback current,
L s in the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance.
Preferably, the method comprises the steps of,
the digital control delay comprises sampling delay, calculation delay and pulse width modulation delay; the digital control delay enables the actual terminal voltage of the permanent magnet synchronous motor and the output reference voltage of the controller to meet the following relation:
in the method, in the process of the invention,
u d for the actual d-axis voltage applied to the stator terminals of the motor,
u q for the actual q-axis voltage applied to the stator terminals of the motor,
by digitally controlling the delay angle theta d Reflecting the relation between the actual terminal voltage of the permanent magnet synchronous motor and the output reference voltage of the controller, and digitally controlling the delay angle theta d 1.5 omega e T s Wherein T is s Is a switching period.
Preferably, step 3 comprises:
step 3.1, discretizing the d-axis and q-axis voltage models by using a zero-order retainer in consideration of digital control delay to obtain the following relational expression:
in the method, in the process of the invention,
i d (k)、i d (k-1) is the d-axis feedback current at the kth time and the kth-1 time respectively,
i q (k)、i q (k-1) is the q-axis feedback current at the kth time and the kth-1 time respectively,
v d (k-2) is the d-axis reference voltage at the k-2 time output by the controller,
v q (k-2) is the q-axis reference voltage at the k-2 th moment output by the controller,
b represents a first parameter, satisfying
a represents a second parameter, satisfying
L s In the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance,
R s the stator phase resistance of the surface-mounted permanent magnet synchronous motor is the resistance parameter which needs to be identified on line,
T s for the switching period of the switch-on and switch-off period,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
ω e is the angular speed of the permanent magnet synchronous motor,
wherein omega e T s Representing a digitally controlled delay angle theta d ；
Step 3.2, for the d-axis sum after discretizationThe q-axis voltage model removes the flux linkage parameters, at i d (k) When=0, the preprocessed d-axis and q-axis voltage models are obtained, and the following relation is satisfied:
-i q (k)sin(ω e T s )＝b[v d (k-2)cos(ω e T s )+v q (k-2)sin(ω e T s )]
the preprocessed d-axis and q-axis voltage models do not contain flux linkage parameters;
and 3.3, obtaining a first parameter on-line identification model by utilizing the inductance parameter on-line identification model and the preprocessed d-axis and q-axis voltage model based on a least square method, wherein the first parameter on-line identification model meets the following relation:
in the method, in the process of the invention,
θ d for digitally controlling the delay angle to be 1.5 omega e T s Wherein T is s Is a switching period;
the rank of the matrix in the first parameter on-line identification model is equal to the number of parameters to be identified and is 2;
and 3.4, taking the first parameter online identification result and the inductance parameter online identification result as input data of the resistance parameter online identification model, and obtaining the resistance parameter online identification result by the resistance parameter online identification model meeting the following relation:
wherein b represents a first parameter comprising an inductance parameter and a resistance parameter.
Preferably, the method comprises the steps of,
in step 3.2, the step of removing the flux linkage parameter includes: discretizing the d-axis and q-axis voltage model
I in (a) d (k) Multiplying by cos (omega) e T s )、i q (k) Multiplied by sin (omega) e T s ) And subtracting the two products.
In step 3.3, the rank of the matrix in the first parameter online identification model is equal to the number of parameters to be identified, and the number of the matrix is 2.
Preferably, the flux linkage parameter online identification model satisfies the following relation:
-v d sinθ d +v q cosθ d +i q R s ＝ω e ψ f
in the method, in the process of the invention,
v d for the d-axis reference voltage output by the controller,
v q for the q-axis reference voltage output by the controller,
θ d for digitally controlling the delay angle to be 1.5 omega e T s Wherein T is s For the switching period of the switch-on and switch-off period,
ω e is the angular speed of the permanent magnet synchronous motor,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
i q for the q-axis feedback current,
R s is the stator phase resistance of the surface-mounted permanent magnet synchronous motor.
The invention has the beneficial effects that compared with the prior art:
1. the on-line identification of the inductance, the resistance and the flux linkage parameters of the motor can be realized without injecting d-axis current or additionally adding auxiliary equipment;
2. the zero-order retainer discretized voltage equation is utilized to realize the identification of the motor resistance, so that the full-rank operation of the identification equation can be ensured, and the accuracy of the identification result is improved;
3. aiming at the problem that in a digital control system, given voltage output by a controller and stator terminal voltage are unequal due to the existence of delay, the influence of digital delay is compensated in an identification model, the motor parameters are identified by utilizing information such as reference voltage output by the controller, the stator terminal voltage of the motor is not required to be measured, and the accuracy of multi-parameter identification is improved.
Drawings
FIG. 1 is a flow chart of an on-line identification method of parameters of a surface-mounted permanent magnet synchronous motor according to the present invention;
FIG. 2 is a schematic diagram of the application of the on-line identification method of the surface-mounted permanent magnet synchronous motor parameter in a motor control system;
fig. 3 is a schematic diagram of control logic of a least square method used in the on-line identification method of parameters of the surface-mounted permanent magnet synchronous motor.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present invention and are not intended to limit the scope of protection of the present application.
As shown in fig. 1, the method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor comprises the following steps:
and step 1, when the permanent magnet synchronous motor operates in a maximum torque current ratio control mode, collecting d-axis reference voltage and q-axis reference voltage output by a permanent magnet synchronous motor controller, and collecting q-axis feedback current and the angular speed of motor operation.
Specifically, in step 1, when the permanent magnet synchronous motor is operated in the maximum torque current ratio control mode, the d-axis feedback current of the permanent magnet synchronous motor is equal to 0.
In the preferred embodiment, when the surface-mounted permanent magnet synchronous motor ignores magnetic saturation, iron loss and eddy current loss, the voltage model under the dq coordinate system satisfies the following relation:
in the method, in the process of the invention,
i d for the d-axis feedback current, i.e. the d-axis stator current,
i q for q-axis feedback current, i.e. q-axis stator current,
u d for actual d-axis electricity applied to stator terminals of the motorThe pressure is applied to the pressure-sensitive adhesive,
u q for the actual q-axis voltage applied to the stator terminals of the motor,
L s in the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance,
R s the stator phase resistance of the surface-mounted permanent magnet synchronous motor is the resistance parameter which needs to be identified on line,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
ω e is the angular speed of the permanent magnet synchronous motor,
s is the Laplace operator.
Step 2, taking d-axis reference voltage, q-axis reference voltage and q-axis feedback current as input data of an inductance parameter online identification model, and outputting an inductance parameter online identification result by the inductance parameter online identification model; the inductance parameter online identification model is a model which considers d-axis reference voltage and q-axis reference voltage of digital control delay.
Specifically, in step 2, the inductance parameter online identification model satisfies the following relation:
v d cosθ d +v q sinθ d ＝-ω e Lsi q
in the method, in the process of the invention,
v d for the d-axis reference voltage output by the controller,
v q for the q-axis reference voltage output by the controller,
θ d for the purpose of digitally controlling the delay angle,
ω e is the angular speed of the permanent magnet synchronous motor,
i q feedback current for q-axis
L s In the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance.
In particular, the method comprises the steps of,
in an actual digital control system, in order to ensure the normal operation of the motor system, digital control delay generally exists, wherein the digital control delay comprises sampling delay, calculation delay and pulse width modulation delay; the existence of digital control delay causes the output reference voltage of the controller and the voltage of the stator end of the motor to be unequal; in order to improve the accuracy of parameter identification, the stator terminal voltage of the motor needs to be accurately measured, however, the stator terminal voltage is a high-frequency output signal and cannot be directly measured, so that the controller is used for outputting the reference voltage instead of the stator terminal voltage in the preferred embodiment.
In order to accurately utilize the voltage signal for identification, the voltage of the motor stator end needs to be accurately fitted by utilizing the output reference voltage of the controller, so that the digital control delay is fully utilized, and the actual end voltage of the permanent magnet synchronous motor and the output reference voltage of the controller meet the following relation:
in the method, in the process of the invention,
u d for the actual d-axis voltage applied to the stator terminals of the motor,
u q for the actual q-axis voltage applied to the stator terminals of the motor,
by digitally controlling the delay angle theta d Reflecting the relation between the actual terminal voltage of the permanent magnet synchronous motor and the output reference voltage of the controller, and controlling the delay angle theta generally digitally d 1.5 omega e T s Wherein T is s Is a switching period. In the preferred embodiment, the digital delay is modeled in the continuous domain, so that the influence of the digital delay on the inductance parameter identification model is reduced.
Step 3, taking q-axis feedback current and the angular speed of motor operation as input data of a first parameter online identification model, and outputting a first parameter online identification result by the first parameter online identification model; the first parameter online identification model is an identification model obtained based on a least square method by utilizing an inductance parameter online identification model and a preprocessed d-axis and q-axis voltage model; preprocessing d-axis and q-axis voltage models includes discretization and demagnetization chaining;
the first parameter online identification result and the inductance parameter online identification result are used as input data of a resistance parameter online identification model, and the resistance parameter online identification result is obtained by the resistance parameter online identification model; wherein the first parameter comprises an inductance parameter and a resistance parameter.
Specifically, step 3 includes:
step 3.1, discretizing the d-axis and q-axis voltage models by using a zero-order retainer in consideration of digital control delay to obtain the following relational expression:
in the method, in the process of the invention,
i d (k)、i d (k-1) is the d-axis feedback current at the kth time and the kth-1 time respectively,
i q (k)、i q (k-1) is the q-axis feedback current at the kth time and the kth-1 time respectively,
v d (k-2) is the d-axis reference voltage at the k-2 time output by the controller,
v q (k-2) is the q-axis reference voltage at the k-2 th moment output by the controller,
b represents a first parameter, satisfying
a represents a second parameter, satisfying
L s In the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance,
R s the stator phase resistance of the surface-mounted permanent magnet synchronous motor is the resistance parameter which needs to be identified on line,
T s for the switching period of the switch-on and switch-off period,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
ω e is the angular speed of the permanent magnet synchronous motor,
wherein omega e T s Representing a digitally controlled delay angle theta d 。
Step 3.2, removing flux linkage parameters from the discretized d-axis and q-axis voltage models, and performing i d (k) When=0, the preprocessed d-axis and q-axis voltage models are obtained, and the following relation is satisfied:
-i q (k)sin(ω e T s )＝b[v d (k-2)cos(ω e T s )+v q (k-2)sin(ω e T s )]
in step 3.2, the step of removing the flux linkage parameter includes: discretizing the d-axis and q-axis voltage model
I in (a) d (k) Multiplying by cos (omega) e T s )、i q (k) Multiplied by sin (omega) e T s ) And subtracting the two products.
The preprocessed d-axis and q-axis voltage models do not contain flux linkage parameters.
The d-axis and q-axis voltage models preprocessed in the step 3.1 and the step 3.2 do not contain flux linkage parameters any more, so that the resistance identification result can be converged to a correct value.
And 3.3, obtaining a first parameter on-line identification model by utilizing the inductance parameter on-line identification model and the preprocessed d-axis and q-axis voltage model based on a least square method, wherein the first parameter on-line identification model meets the following relation:
in the method, in the process of the invention,
θ d for digitally controlling the delay angle, typically 1.5 omega e T s Wherein T is s Is a switching period;
the rank of the matrix in the first parameter online identification model is equal to the number of parameters to be identified, and the number of the matrix is 2, so that the full rank condition is met.
Step 3.4, using the first parameter on-line identification result and the inductance parameter on-line identification result as input data of the resistance parameter on-line identification model, and meeting the following conditions at the first parameter
On the premise of carrying out numerical change on the obtained product to obtain
Obtained by Taylor expansion>
The resistor parameter on-line identification model with the following relation is obtained through simplification:
wherein b represents a first parameter comprising an inductance parameter and a resistance parameter. And obtaining an online identification result of the resistance parameter by using the online identification model of the resistance parameter.
In the preferred embodiment, in the step 2, the steady-state model constructed by the continuous domain can only realize the identification of the motor inductance parameter, and if the motor resistance or the rotor flux linkage and other parameters are to be further identified, the underrank problem can occur, so that the identification result converges to the error value. To construct the full rank model, a motor zero-order keeper discretized voltage model was derived. In order to eliminate the influence of motor flux linkage on parameter identification, the voltage model is transformed, the identification of resistance parameters is realized on the basis of no need of additional injection signals, and meanwhile, the full-rank operation of an identification matrix is ensured.
Step 4, taking the inductance parameter and the resistance parameter as input data of the flux linkage parameter online identification model, and outputting flux linkage parameter online identification results by the flux linkage parameter online identification model; the flux linkage parameter online identification model is a q-axis voltage steady-state model.
Specifically, the flux linkage parameter online identification model satisfies the following relation:
-v d sinθ d +v q cosθ d +i q R s ＝ω e ψ f
in the method, in the process of the invention,
v d for the d-axis reference voltage output by the controller,
v q for the q-axis reference voltage output by the controller,
θ d for digitally controlling the delay angle, typically 1.5 omega e T s Wherein T is s For the switching period of the switch-on and switch-off period,
ω e is the angular speed of the permanent magnet synchronous motor,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
i q for the q-axis feedback current,
R s is the stator phase resistance of the surface-mounted permanent magnet synchronous motor.
As shown in fig. 2, an on-line identification system for parameters of a surface-mounted permanent magnet synchronous motor is realized by using an on-line identification method for parameters of the surface-mounted permanent magnet synchronous motor, and when the surface-mounted permanent magnet synchronous motor operates in a maximum torque current ratio control mode, d-axis stator current and q-axis stator current of the motor, d-axis reference voltage and q-axis reference voltage output by a controller, and angular speed of operation of the permanent magnet synchronous motor are used as input data of the on-line identification system; the online identification system outputs an inductance parameter online identification result, a resistance parameter online identification result and a flux linkage parameter online identification result; wherein, the online identification system includes: the device comprises an inductance parameter online identification module, a resistance parameter online identification module and a flux linkage parameter online identification module.
In the preferred embodiment, the permanent magnet synchronous motor adopts a control system with a typical structure, and the online identification system can be directly applied to the motor control system without any influence on the motor control system.
Specifically, an inductance parameter online identification module is internally provided with a digital control delay logic unit and an inductance parameter online identification model unit; the digital control delay logic unit is used for providing digital control delay including sampling delay, calculation delay and pulse width modulation delay for the inductance parameter on-line identification model unit; and the inductance parameter online identification model unit is used for outputting an inductance parameter online identification result according to the d-axis reference voltage, the q-axis reference voltage and the q-axis stator current output by the controller.
Specifically, the resistance parameter online identification module is internally provided with a d-axis and q-axis voltage model preprocessing unit, a first parameter online identification model unit and a resistance parameter online identification model unit; the device comprises a d-axis voltage model preprocessing unit, a q-axis voltage model preprocessing unit and a magnetic control unit, wherein the d-axis voltage model preprocessing unit and the q-axis voltage model preprocessing unit are used for sequentially discretizing and demagnetizing the d-axis voltage model and the q-axis voltage model; the first parameter online identification model unit is used for outputting a first parameter online identification result according to the q-axis feedback current and the motor rotating speed; the resistor parameter online identification unit is used for outputting a resistor parameter online identification result according to the first parameter online identification result and the inductance parameter online identification result;
the resistance parameter online identification module further comprises a model fitting unit, wherein the model fitting unit is used for utilizing the inductance parameter online identification model and the preprocessed d-axis and q-axis voltage models to obtain a first parameter identification model based on a least square method. In the preferred embodiment, the control logic of the least squares method is shown in fig. 3.
It is noted that the model fitting unit adopts the least square method to realize the construction process of the first parameter identification model, which is a non-limiting preferred choice, and adopts other methods to realize the model fitting between the inductance parameter on-line identification model and the preprocessed d-axis and q-axis voltage models, and the invention concept of outputting the model for carrying out the first parameter identification falls within the protection scope of the invention.
Specifically, the flux linkage parameter online identification module is internally provided with a flux linkage parameter online identification model and is used for outputting a flux linkage parameter online identification result according to an inductance parameter online identification result and a resistance parameter online identification result.
The invention has the beneficial effects that compared with the prior art:
1. the on-line identification of the inductance, the resistance and the flux linkage parameters of the motor can be realized without injecting d-axis current or additionally adding auxiliary equipment;
2. the zero-order retainer discretized voltage equation is utilized to realize the identification of the motor resistance, so that the full-rank operation of the identification equation can be ensured, and the accuracy of the identification result is improved;
3. aiming at the problem that in a digital control system, given voltage output by a controller and stator terminal voltage are unequal due to the existence of delay, the influence of digital delay is compensated in an identification model, the motor parameters are identified by utilizing information such as reference voltage output by the controller, the stator terminal voltage of the motor is not required to be measured, and the accuracy of multi-parameter identification is improved.
While the applicant has described and illustrated the embodiments of the present invention in detail with reference to the drawings, it should be understood by those skilled in the art that the above embodiments are only preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not to limit the scope of the present invention, but any improvements or modifications based on the spirit of the present invention should fall within the scope of the present invention.
Claims (9)
1. An on-line identification method for parameters of a surface-mounted permanent magnet synchronous motor is characterized in that,
the online identification method comprises the following steps:
step 1, when a permanent magnet synchronous motor operates in a maximum torque current ratio control mode, collecting d-axis reference voltage and q-axis reference voltage output by a permanent magnet synchronous motor controller, and collecting q-axis feedback current and angular speed of motor operation;
step 2, taking d-axis reference voltage, q-axis reference voltage and q-axis feedback current as input data of an inductance parameter online identification model, and outputting an inductance parameter online identification result by the inductance parameter online identification model; the inductance parameter online identification model is a model considering d-axis reference voltage and q-axis reference voltage of digital control delay;
step 3, taking q-axis feedback current and the angular speed of motor operation as input data of a first parameter online identification model, and outputting a first parameter online identification result by the first parameter online identification model; the first parameter online identification model is an identification model obtained based on a least square method by utilizing an inductance parameter online identification model and a preprocessed d-axis and q-axis voltage model; preprocessing d-axis and q-axis voltage models includes discretization and demagnetization chaining;
the first parameter online identification result and the inductance parameter online identification result are used as input data of a resistance parameter online identification model, and the resistance parameter online identification result is obtained by the resistance parameter online identification model meeting the following relation:
wherein T is s For the switching period, L s In the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance, R s The stator phase resistance of the surface-mounted permanent magnet synchronous motor is a resistance parameter which needs to be identified on line, b represents a first parameter, and the first parameter comprises an inductance parameter and a resistance parameter;
step 4, taking the inductance parameter and the resistance parameter as input data of the flux linkage parameter online identification model, and outputting flux linkage parameter online identification results by the flux linkage parameter online identification model; the flux linkage parameter online identification model is a q-axis voltage steady-state model.
2. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 1, wherein,
in the step 1, when the permanent magnet synchronous motor operates in a maximum torque current ratio control mode, the d-axis feedback current of the permanent magnet synchronous motor is equal to 0.
3. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 1, wherein,
in step 2, the inductance parameter online identification model satisfies the following relation:
v d cosθ d +v q sinθ d ＝-ω e L s i q
in the method, in the process of the invention,
v d for the d-axis reference voltage output by the controller,
v q for the q-axis reference voltage output by the controller,
θ d for the purpose of digitally controlling the delay angle,
ω e is the angular speed of the permanent magnet synchronous motor,
i q for the q-axis feedback current,
L s in the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance.
4. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 3, wherein,
the digital control delay comprises sampling delay, calculation delay and pulse width modulation delay; the digital control delay enables the actual terminal voltage of the permanent magnet synchronous motor and the output reference voltage of the controller to meet the following relation:
in the method, in the process of the invention,
u d for the actual d-axis voltage applied to the stator terminals of the motor,
u q for the actual q-axis voltage applied to the stator terminals of the motor,
by digitally controlling the delay angle theta d Reflecting the relation between the actual voltage of the stator end of the permanent magnet synchronous motor and the output reference voltage of the controller.
5. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 4, wherein,
the digital controlDelay angle theta d 1.5 omega e T s Wherein ω is e For the angular speed of the permanent magnet synchronous motor, T s Is a switching period.
6. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 1, wherein,
the step 3 comprises the following steps:
step 3.1, discretizing the d-axis and q-axis voltage models by using a zero-order retainer in consideration of digital control delay to obtain the following relational expression:
in the method, in the process of the invention,
i d (k)、i d (k-1) is the d-axis feedback current at the kth time and the kth-1 time respectively,
i q (k)、i q (k-1) is the q-axis feedback current at the kth time and the kth-1 time respectively,
v d (k-2) is the d-axis reference voltage at the k-2 time output by the controller,
v q (k-2) is the q-axis reference voltage at the k-2 th moment output by the controller,
b represents a first parameter, satisfying
a represents a second parameter, satisfying
L s In the surface-mounted permanent magnet synchronous motor, the d-axis inductance is equal to the q-axis inductance,
R s the stator phase resistance of the surface-mounted permanent magnet synchronous motor is the resistance parameter which needs to be identified on line,
T s for the switching period of the switch-on and switch-off period,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
ω e is the angular speed of the permanent magnet synchronous motor,
step 3.2, removing flux linkage parameters from the discretized d-axis and q-axis voltage models, and performing i d (k) When=0, the preprocessed d-axis and q-axis voltage models are obtained, and the following relation is satisfied:
-i q (k)sin(ω e T s )＝b[v d (k-2)cos(ω e T s )+v q (k-2)sin(ω e T s )]
the preprocessed d-axis and q-axis voltage models do not contain flux linkage parameters;
and 3.3, obtaining a first parameter on-line identification model by utilizing the inductance parameter on-line identification model and the preprocessed d-axis and q-axis voltage model based on a least square method, wherein the first parameter on-line identification model meets the following relation:
in the method, in the process of the invention,
θ d for digitally controlling the delay angle to be 1.5 omega e T s Wherein T is s Is a switching period;
and 3.4, taking the first parameter online identification result and the inductance parameter online identification result as input data of the resistance parameter online identification model so as to obtain the resistance parameter online identification result by using the resistance parameter online identification model meeting the following relation:
wherein b represents a first parameter comprising an inductance parameter and a resistance parameter.
7. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 6, wherein,
in step 3.2, the step of removing the flux linkage parameter includes: discretizing the d-axis and q-axis voltage model
I in (a) d (k) Multiplying by cos (omega) e T s )、i q (k) Multiplied by sin (omega) e T s ) And subtracting the two products.
8. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 6, wherein,
in step 3.3, the rank of the matrix in the first parameter online identification model is equal to the number of parameters to be identified, and the number of the matrix is 2.
9. The method for on-line identification of parameters of a surface-mounted permanent magnet synchronous motor according to claim 1, wherein,
the flux linkage parameter online identification model meets the following relation:
-v d sinθ d +v q cosθ d +i q R s ＝ω e ψ f
in the method, in the process of the invention,
v d for the d-axis reference voltage output by the controller,
v q for the q-axis reference voltage output by the controller,
θ d for digitally controlling the delay angle to be 1.5 omega e T s Wherein T is s For the switching period of the switch-on and switch-off period,
ω e is the angular speed of the permanent magnet synchronous motor,
ψ f is the rotor flux linkage of the surface-mounted permanent magnet synchronous motor,
i q for the q-axis feedback current,
R s is the stator phase resistance of the surface-mounted permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383258.4A CN113141140B (en) | 2021-04-09 | 2021-04-09 | Online identification method for parameters of surface-mounted permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110383258.4A CN113141140B (en) | 2021-04-09 | 2021-04-09 | Online identification method for parameters of surface-mounted permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113141140A CN113141140A (en) | 2021-07-20 |
| CN113141140B true CN113141140B (en) | 2023-04-25 |
Family
ID=76810500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110383258.4A Active CN113141140B (en) | 2021-04-09 | 2021-04-09 | Online identification method for parameters of surface-mounted permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113141140B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001112285A (en) * | 1999-10-04 | 2001-04-20 | Yaskawa Electric Corp | Resistance identification method for synchronous motor and controller thereof |
| CN109327152A (en) * | 2017-07-28 | 2019-02-12 | 南京理工大学 | Grid-connected current ring critical damping parameter determination method comprising digital control delay |
| CN110535392A (en) * | 2019-09-09 | 2019-12-03 | 佛山科学技术学院 | A kind of permanent magnet synchronous motor parameter identification method based on LM algorithm |
-
2021
- 2021-04-09 CN CN202110383258.4A patent/CN113141140B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001112285A (en) * | 1999-10-04 | 2001-04-20 | Yaskawa Electric Corp | Resistance identification method for synchronous motor and controller thereof |
| CN109327152A (en) * | 2017-07-28 | 2019-02-12 | 南京理工大学 | Grid-connected current ring critical damping parameter determination method comprising digital control delay |
| CN110535392A (en) * | 2019-09-09 | 2019-12-03 | 佛山科学技术学院 | A kind of permanent magnet synchronous motor parameter identification method based on LM algorithm |
Non-Patent Citations (2)
| Title |
|---|
| 基于自适应全阶观测器的永磁同步电机参数辨识策略;姜红等;《微电机》;20161130;第49卷(第11期);全文 * |
| 高速低开关频率下永磁同步电机的解耦控制;***等;《中国电机工程学报》;20201015;第40卷(第19期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113141140A (en) | 2021-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109428525B (en) | Parameter self-correction-based maximum torque current ratio control method for permanent magnet synchronous motor | |
| CN108183648B (en) | Permanent magnet synchronous motor parameter identification method based on inverter nonlinear compensation | |
| CN105680755B (en) | The model-free current control device and method of a kind of permagnetic synchronous motor | |
| CN108322117B (en) | Control system, feed forward control method and the parameter identification method of brushless dual-feed motor | |
| CN104485868A (en) | Predictive control method for current of surface-mounted permanent magnet synchronous motor | |
| CN106160616B (en) | A kind of motor stator resistance on-line identification method | |
| CN112054730A (en) | Permanent magnet synchronous motor online parameter identification method | |
| Kilthau et al. | Appropriate models for the control of the synchronous reluctance machine | |
| CN110649851B (en) | Multi-parameter decoupling online identification method for asynchronous motor | |
| CN101295954B (en) | Torque estimator for IPM motors | |
| CN112821834B (en) | Online parameter identification method and device for permanent magnet synchronous motor | |
| Min et al. | On-line estimation of permanent-magnet flux and temperature rise in stator winding for PMSM | |
| CN107395080B (en) | Speed sensor-free torque control system and method based on cascade nonsingular terminal sliding mode observer | |
| CN113141140B (en) | Online identification method for parameters of surface-mounted permanent magnet synchronous motor | |
| Pengcheng et al. | Offline parameter identification strategy of permanent magnet synchronous motor considering the inverter nonlinearities | |
| CN107437913A (en) | A kind of permanent-magnetic electric machine inductance measuring method | |
| CN112083349A (en) | Method for diagnosing turn-to-turn short circuit fault of stator winding of permanent magnet synchronous motor | |
| CN115528952A (en) | Permanent magnet synchronous motor resistance online identification method under no-speed control and application | |
| Jin et al. | Permanent magnet synchronous motor parameter identification with multi-innovation least squares | |
| CN113131825A (en) | Current prediction control method and system for modular multi-winding permanent magnet motor | |
| Meng et al. | A non-invasive dual-EKF-based rotor temperature estimation technique for permanent magnet machines | |
| CN111181462A (en) | Surface-mounted permanent magnet synchronous motor parameter identification method based on variable step size neural network | |
| Liu et al. | Sensorless Fault-Tolerant Control of A Nine-phase Permanent Magnet Synchronous Motor Under One-phase Open-Circuited Fault | |
| Zhong et al. | Experimental Saliency Modeling of Synchronous Reluctance Motor with Four-Vector Injection | |
| Li et al. | Research on Control Strategy of PMSM For Electric Vehicles Based on Nonlinear Model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |