CN114337430B - Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor - Google Patents
Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor Download PDFInfo
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Abstract
The application discloses a method and a device for identifying stator resistance of a high-power permanent magnet synchronous motor in an off-line manner, wherein the method comprises the steps of obtaining three-phase reference voltage output by a three-level frequency converter according to a steady-state equivalent circuit; according to the kirchhoff voltage equation, obtaining an identification value of the three-phase stator resistor; acquiring a three-phase switching sequence of thirteen-stage three-level PWM, and obtaining the acting time of P, O, N in the three-phase switching sequence; according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switching sequence of the thirteen-section type three-level PWM and the acting time of P, O, N in the three-phase switching sequence, a switching state table of the three-level frequency converter is obtained, driving pulses are generated, and the output voltage of the three-level frequency converter is controlled. The application adopts thirteen-segment three-level PWM, which remarkably improves the voltage control precision under the condition of outputting extremely small voltage and effectively solves the problem of low stator resistance identification precision caused by the factors of nonlinearity, dead zone effect, midpoint potential deviation and the like of a switching device.
Description
Technical Field
The application belongs to the field of permanent magnet synchronous motor control, and particularly relates to a method and a device for identifying stator resistance of a high-power permanent magnet synchronous motor offline.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency, good speed regulation performance and the like, and is widely applied to the fields of new energy power generation, electric automobiles, servo motors and the like.
The high-performance speed regulation control of the permanent magnet synchronous motor needs to depend on some motor parameters, wherein the stator resistance is a key parameter for realizing the functions of direct torque control, current loop setting, position sensor-free control parameter design and the like, and has important significance for off-line identification.
The high-power permanent magnet synchronous motor has high voltage level, large rated current and small stator resistance, and for the high-power permanent magnet synchronous motor with the voltage level ranging from 1140V to 3300V and the power ranging from 500kW to 2000kW, the stator resistance range of the high-power permanent magnet synchronous motor is often from a few milliohms to tens of milliohms.
The three-level frequency converter has the advantages of low device withstand voltage, small output harmonic, small insulation damage to the permanent magnet synchronous motor and the like, and has great advantages when being applied to the driving of the permanent magnet synchronous motor with the voltage class ranging from 1140V to 3300V.
When the three-level frequency converter is used for identifying the stator resistance of the high-power permanent magnet synchronous motor, the required output voltage is extremely small due to the small stator resistance. The three-level frequency converter is affected by factors such as nonlinearity, dead zone effect, midpoint potential deviation and the like of a switching device, and under the condition of outputting extremely small voltage, the voltage control precision of a traditional seven-segment voltage space vector pulse width modulation strategy is often difficult to meet the requirement, so that the stator resistance estimation is inaccurate and even the situation of overcurrent shutdown occurs.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a method and a device for identifying the stator resistance of a high-power permanent magnet synchronous motor in an off-line manner, which effectively solve the problem of inaccurate stator resistance parameter identification caused by nonlinearity, dead zone effect, midpoint potential deviation and lower output voltage control precision of a three-level inverter power switching device.
In one aspect of the application, the application provides an off-line identification of the stator resistance of a high-power permanent magnet synchronous motor, which comprises the steps of obtaining three-phase reference voltages output by a three-level frequency converter according to a steady-state equivalent circuit; according to the kirchhoff voltage equation, obtaining an identification value of the three-phase stator resistor; acquiring a three-phase switching sequence of thirteen-stage three-level PWM, and obtaining the acting time of P, O, N in the three-phase switching sequence; according to the three-phase reference voltage, the identification value of the stator resistance and the action time of P, O, N in the three-phase switching sequence and the three-phase switching sequence of the thirteen-section three-level PWM, a switching state table of the three-level frequency converter is obtained; and generating driving pulses through a switching state table of the three-level frequency converter, so as to control the output voltage of the three-level frequency converter.
Preferably, the steady-state equivalent circuit is based on a mathematical model of the high-power permanent magnet synchronous motor in a static state, and is combined with a coordinate transformation theory, so that the steady-state equivalent circuit is obtained when direct-current voltage is injected in the static state;
the mathematical model expression in the static state is as follows:
wherein u is d 、u q I is the direct axis component and the quadrature axis component of the stator voltage of the high-power permanent magnet synchronous motor d 、i q R is the direct axis component and the quadrature axis component of the stator current of the high-power permanent magnet synchronous motor s Is the equivalent stator resistance of the high-power permanent magnet synchronous motor.
Preferably, the three-phase reference voltage output by the three-level frequency converter is:
the a-phase reference voltage expression is as follows:
the b-phase reference voltage expression is as follows:
the c-phase reference voltage expression is as follows:
wherein u is 0 Setting a small value for the heuristic voltage; u (u) 1 For a current amplitude of I m1 Corresponding voltage value; u (u) 2 For a current amplitude of I m2 Corresponding voltage value; t is t 1 -t 5 Is a state switching time point, wherein t 5 The total time for identifying the stator resistance of the high-power permanent magnet synchronous motor is used.
Preferably, the obtaining the identification value of the phase stator resistance according to kirchhoff voltage equation includes:
respectively obtaining t according to the kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 U in time period a (t)、u b (t) and u c Expression of (t), and for u in each time period a (t)、u b (t) and u c Performing kirchhoff voltage equation simplification on the expression of (t);
let t 2 To t 3 Kirchhoff voltage equation and t for time period simplification 1 To t 2 The kirchhoff voltage equation with simplified time period is differenced;
let t 3 To t 4 Kirchhoff voltage equation and t for time period simplification 4 To t 5 The kirchhoff voltage equation with simplified time period is differenced;
at t 5 And combining the results of the two differences at the moment to obtain the identification value of the three-phase stator resistor.
Preferably, t is obtained according to kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 U in time period a (t)、u b (t) and u c Expression of (t), and for u in each time period a (t)、u b (t) and u c Performing kirchhoff voltage equation simplification on the expression of (t); at t 1 To t 2 The time period is exemplified by the following:
calculate 0.5t 1 To t 1 Average value of a-phase current I in time period a1 And at t 1 The time of day is calculated as follows 1 And u 2 Is a numerical value of (1):
wherein u is 0 To test voltage, I m1 、I m2 Is the current amplitude.
Calculating t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a-phase current I in time period a2 Average value of b-phase current I b2 Average value of c-phase current I c2 ；
At t 2 Time according to t 1 To t 2 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
wherein,is a phase a stator resistance identification value,/->Is the identification value of b-phase stator resistance,/-phase stator resistance>For the identification value of the c-phase stator resistance, I a2 、I b2 、I c2 Respectively t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a, b and c phase currents in the time period.
Preferably, the identification value of the obtained three-phase stator resistor is:
wherein DeltaI a1 、ΔI b1 And delta I c1 Is the current difference between the time period from t2 to t3 and the time period from t1 to t2, deltaI a2 、ΔI b2 And delta I c2 And k is the unbalance coefficient of the stator resistance, which is the current difference between the time period from t3 to t4 and the time period from t4 to t 5.
Preferably, the calculation formula of the stator resistance unbalance coefficient k is as follows:
preferably, the action time of P, O, N in the three-phase switching sequence is as follows:
wherein x represents a, b, c, three phases, V dc Representing the DC bus voltage of a three-level frequency converter, u x (T) is the reference voltage, T c Is the carrier period of the three-level frequency converter.
Preferably, the action time of the a-phase P, O, N further comprises a midpoint potential balance compensation time, specifically:
wherein t is NP For the neutral potential balance compensation time, the calculation formula is as follows, and the balance control of the neutral potential is realized:
wherein C is the capacitance value of the upper and lower DC buses, V c1 Is the upper DC bus voltage, V c2 Is the lower dc bus voltage.
The application further provides a high-power permanent magnet synchronous motor stator resistance off-line identification device, which comprises a reference voltage generation module, a stator resistance calculation module, a thirteen-segment three-level PWM module and a switch state table module; the reference voltage generation module is used for obtaining three-phase reference voltages output by the three-level frequency converter according to the steady-state equivalent circuit; the stator resistance calculation module is used for obtaining the identification value of the phase stator resistance according to the kirchhoff voltage equation; the thirteenth-section three-level PWM module obtains a three-phase switching sequence of the thirteenth-section three-level PWM and obtains the acting time of P, O, N in the three-phase switching sequence; the switch state table module is used for obtaining a switch state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switch sequence of the thirteen-section type three-level PWM and the action time of P, O, N in the three-phase switch sequence, generating driving pulses and controlling the output voltage of the three-level frequency converter.
The application has the beneficial effects that:
the application adopts thirteen-segment three-level PWM, obviously improves the voltage control precision under the condition of outputting extremely small voltage, effectively solves the problem of low stator resistance identification precision caused by the factors of nonlinearity of a switching device, dead zone effect, midpoint potential deviation and the like, and has high stator resistance identification precision.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort.
FIG. 1 is a flowchart of a method for identifying stator resistance of a high-power permanent magnet synchronous motor offline according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a steady state equivalent circuit according to an embodiment of the present application;
FIG. 3 is a single-phase switching sequence diagram of a thirteen-segment three-level PWM according to an embodiment of the present application;
FIG. 4 is a diagram illustrating an apparatus for identifying the stator resistance of a high-power permanent magnet synchronous motor offline according to an embodiment of the present application;
FIG. 5 is a waveform diagram of test verification using a 630kW 1140V high power permanent magnet synchronous motor;
fig. 6 is an off-line identification result of three-phase stator resistance.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and the following embodiments are used to illustrate the present application, but are not intended to limit the scope of the present application.
The following detailed description of specific embodiments of the application provides further details:
as shown in fig. 1, the application provides a method for identifying stator resistance of a high-power permanent magnet synchronous motor offline, which comprises the following steps:
s100, obtaining three-phase reference voltages output by a three-level frequency converter according to a steady-state equivalent circuit;
further, the steady-state equivalent circuit is based on establishing a mathematical model of the high-power permanent magnet synchronous motor in a static state, and combining a coordinate transformation theory to obtain the steady-state equivalent circuit of the high-power permanent magnet synchronous motor when the direct-current voltage is injected in the static state.
The mathematical model expression of the high-power permanent magnet synchronous motor 2 in the static state is as follows:
wherein u is d 、u q I is the direct axis component and the quadrature axis component of the stator voltage of the high-power permanent magnet synchronous motor d 、i q R is the direct axis component and the quadrature axis component of the stator current of the high-power permanent magnet synchronous motor s Is the equivalent stator resistance of the high-power permanent magnet synchronous motor.
According to the above theory, the steady-state equivalent circuit of the high-power permanent magnet synchronous motor when DC voltage is injected in a static state can be obtained as shown in figure 2. In FIG. 2, u a (t) a phase reference voltage u output by the three-level frequency converter b (t) is the b-phase reference voltage of the three-level frequency converter, u c (t) three-level converter c-phase reference voltage, i a 、i b 、i c The current of a phase, b phase and c phase of the high-power permanent magnet synchronous motor respectively, R a 、R b 、R c Is a three-phase stator resistor of a high-power permanent magnet synchronous motor.
Further, the a-phase reference voltage expression is as follows:
the expression of the b-phase reference voltage is as follows:
the c-phase reference voltage expression is as follows:
wherein u is 0 Setting a small value for the heuristic voltage; u (u) 1 For a current amplitude of I m1 Corresponding voltage value; u (u) 2 For a current amplitude of I m2 Corresponding voltage value; t is t 1 -t 5 Is a state switching time point, wherein t 5 The total time for identifying the stator resistance of the high-power permanent magnet synchronous motor is used.
S200, according to a kirchhoff voltage equation, obtaining an identification value of the three-phase stator resistor;
in an embodiment, the step of obtaining the identification value of the phase stator resistance according to kirchhoff voltage equation includes:
s201, respectively obtaining t according to a kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 U in time period a (t)、u b (t) and u c Expression of (t), and for u in each time period a (t)、u b (t) and u c Performing kirchhoff voltage equation simplification on the expression of (t);
s202, t 2 To t 3 Kirchhoff voltage equation and t for time period simplification 1 To t 2 The kirchhoff voltage equation with simplified time period is differenced;
s203, t is calculated 3 To t 4 Kirchhoff voltage equation and t for time period simplification 4 To t 5 The kirchhoff voltage equation with simplified time period is differenced;
s204 at t 5 And combining the results of the two differences at the moment to obtain the identification value of the three-phase stator resistor.
Specifically, step 1, calculate 0.5t 1 To t 1 Average value of a-phase current I in time period a1 And at t 1 The time of day is calculated as follows 1 And u 2 Is a numerical value of (1):
wherein u is 0 To test voltage, I m1 、I m2 Is the current amplitude.
Step 2, calculating t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a-phase current I in time period a2 Average value of b-phase current I b2 Average value of c-phase current I c2 。
Step 3: at t 2 Time according to t 1 To t 2 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
wherein,is a phase a stator resistance identification value,/->Is the identification value of b-phase stator resistance,/-phase stator resistance>For the identification value of the c-phase stator resistance, I a2 、I b2 、I c2 Respectively t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a, b and c phase currents in the time period.
Step 4: calculating t 2 +0.5(t 3 -t 2 ) To t 3 Average value of a-phase current I in time period a3 Average value of b-phase current I b3 Average value of c-phase current I c3 。
Step 5: at t 3 Time according to t 2 To t 3 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 6: at t 3 At the moment, the two formulas in the fifth step and the third step are differentiated to obtain the following formula:
wherein DeltaI a1 、ΔI b1 And delta I c1 Satisfies the following formula:
step 7: calculating t 3 +0.5(t 4 -t 3 ) To t 4 Average value of a-phase current I in time period a4 Average value of b-phase current I b4 Average value of c-phase current I c4 。
Step 8: at t 4 Time according to t 3 To t 4 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 9: calculating t 4 +0.5(t 5 -t 4 ) To t 5 Average value of a-phase current I in time period a5 Average value of b-phase current I b5 Average value of c-phase current I c5 。
Step 10: at t 5 Time according to t 4 To t 5 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 11: at t 5 At this time, the two formulas in the eighth step and the tenth step are differentiated to obtain the following formulas:
wherein DeltaI a2 、ΔI b2 And delta I c2 Satisfies the following formula:
step 12: at t 5 At the moment, two formulas in the sixth step and the eleventh step are combined, and the identification value of the three-phase stator resistor can be calculated according to the following formula:
wherein DeltaI a1 、ΔI b1 And delta I c1 Is the current difference between the time period from t2 to t3 and the time period from t1 to t2, deltaI a2 、ΔI b2 And delta I c2 And k is the unbalance coefficient of the stator resistance, which is the current difference between the time period from t3 to t4 and the time period from t4 to t 5.
Further, the method for calculating the stator resistance unbalance coefficient k is as follows:
s300, acquiring a three-phase switching sequence of thirteen-segment three-level PWM and obtaining the acting time of P, O, N in the three-phase switching sequence;
further, the action time of P, O, N in the three-phase switching sequence is as follows:
wherein x represents a, b, c, three phases, V dc Representing the DC bus voltage of a three-level frequency converter, u x (T) is the reference voltage, T c Is the carrier period of the three-level frequency converter.
Specifically, the single-phase switching sequence of the thirteen-stage three-level PWM is shown in fig. 3, where j represents the corresponding phase (j=a, b, c), vdc represents the dc bus voltage of the three-level frequency converter, P represents the j-phase output voltage of Vdc/2, O represents the j-phase output voltage of 0, N represents the j-phase output voltage of Vdc/2, tjP represents the P-state time, tjO represents the O-state active time, tjN represents the N-state active time, and Tc is the carrier period of the three-level frequency converter.
The a, b and c three-phase switching sequences of the thirteen-section three-level PWM adopt the switching sequences in figure 3, and the combined three-phase switching sequences have thirteen sections. The action time of the three states P, O, N of the a-phase switching sequence can be calculated according to the following formula:
the action time of the three states P, O, N of the a-phase switching sequence can be calculated according to the following formula:
wherein t is NP For the neutral potential balance compensation time, the calculation formula is as follows, and the balance control of the neutral potential is realized:
wherein C is the capacitance value of the upper and lower DC buses, V c1 Is the upper DC bus voltage, V c2 Is the lower dc bus voltage.
The duration of the three phases P, O, N of the b-phase switching sequence can be calculated as follows:
the duration of the three phases P, O, N of the c-phase switching sequence can be calculated as follows:
further, in consideration of the neutral point potential balance, the action time of P, O, N of the a phase may further include a neutral point potential balance compensation time, specifically:
wherein t is NP For the neutral potential balance compensation time, the calculation formula is as follows, and the balance control of the neutral potential is realized:
wherein C is the capacitance value of the upper and lower DC buses, V c1 Is the upper DC bus voltage, V c2 Is the lower dc bus voltage.
S400, obtaining a switch state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switching sequence of the thirteen-stage three-level PWM and the action time of P, O, N in the three-phase switching sequence, and generating driving pulses so as to control the output voltage of the three-level frequency converter.
The application provides a three-level frequency converter-based high-power permanent magnet synchronous motor stator resistance off-line identification method, which remarkably improves the voltage control precision under the condition of outputting extremely small voltage by adopting stator resistance identification and thirteen-section three-level PWM.
The application also provides an off-line identification device for the stator resistance of the high-power permanent magnet synchronous motor, which is shown in fig. 4, and comprises a reference voltage generation module, a stator resistance calculation module, a thirteen-section type three-level PWM module and a switch state table module, wherein the reference voltage generation module is used for obtaining three-phase reference voltages output by a three-level frequency converter according to a steady-state equivalent circuit; the stator resistance calculation module is used for obtaining the identification value of the phase stator resistance according to the kirchhoff voltage equation; the thirteenth-section three-level PWM module obtains a three-phase switching sequence of the thirteenth-section three-level PWM and obtains the acting time of P, O, N in the three-phase switching sequence; the switch state table module is used for obtaining a switch state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switch sequence of the thirteen-section type three-level PWM and the action time of P, O, N in the three-phase switch sequence, generating driving pulses and controlling the output voltage of the three-level frequency converter.
The high-power permanent magnet synchronous motor stator resistance off-line identification device is connected with a three-level frequency converter; the three-level frequency converter is connected with the high-power permanent magnet synchronous motor according to a specific phase sequence, and outputs three-phase voltage (u) according to the control result of the high-power permanent magnet synchronous motor stator resistance off-line identification device ao ,u bo ,u co )。
Furthermore, the high-power permanent magnet synchronous motor stator resistance off-line identification device can be integrated in a digital operation module, and the digital operation module consists of a control circuit board formed by a digital processing chip.
Further, as a specific example of the present application, a 630kW 1140V high power permanent magnet synchronous motor was selected to test the present application, wherein a three-level inverter powered by 1140V three-phase power through uncontrolled rectification, dc bus voltage (V dc ) About 1600V, carrier period (T c ) Set to 1ms, t 1 、t 2 、t 3 、t 4 、t 5 Are respectively set as 2s, 4s, 6s, 10s, 12s, u 0 Set to 1.86V. Fig. 5 shows waveforms including a-phase terminal voltage waveforms (V ao 1000V/grid) and three-phase current waveform (i) a 、i b 、i c Skew 500a,200 a/grid). FIG. 6 shows three-phase stator resistance identification, wherein Ra_Identify is a phase a stator resistance identification, and the value is 0.0204 ohm; rb_Identify is the identification result of the b-phase stator resistance, and the value is 0.0210 ohm; rc_identify is the identification result of the c-phase stator resistance, and the value is 0.0213 ohms. The actual value of the three-phase stator resistance of the adopted high-power permanent magnet synchronous motor is about 0.02 ohm. Therefore, the application has high identification precision of the stator resistance.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features contained in other embodiments, but not others, combinations of features of different embodiments are equally meant to be within the scope of the application and form different embodiments. For example, in the above embodiments, those skilled in the art can use the above embodiments in combination according to known technical solutions and technical problems to be solved by the present application.
The foregoing description is only illustrative of the preferred embodiment of the present application, and is not to be construed as limiting the application, but is to be construed as limiting the application to any simple modification, equivalent variation and variation of the above embodiments according to the technical matter of the present application without departing from the scope of the application.
Claims (7)
1. A high-power permanent magnet synchronous motor stator resistance off-line identification method is characterized by comprising the following steps of: comprising the steps of (a) a step of,
according to the steady-state equivalent circuit, three-phase reference voltages output by the three-level frequency converter are obtained;
according to the kirchhoff voltage equation, obtaining an identification value of the three-phase stator resistor;
the identifying value of the three-phase stator resistor is obtained according to the kirchhoff voltage equation, and the identifying value comprises the following steps:
respectively obtaining t according to the kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 Three-level frequency converter a-phase reference voltage u in time period a (t)B-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c Expression of (t) and respectively reference voltage u to a phase of three-level frequency converter a in each time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c Performing kirchhoff voltage equation simplification on the expression of (t);
let t 2 To t 3 Kirchhoff voltage equation and t for time period simplification 1 To t 2 The kirchhoff voltage equation with simplified time period is differenced;
let t 3 To t 4 Kirchhoff voltage equation and t for time period simplification 4 To t 5 The kirchhoff voltage equation with simplified time period is differenced;
at t 5 At moment, combining the results of the two differences to obtain the identification value of the three-phase stator resistor;
respectively obtaining t according to kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 Three-level frequency converter a-phase reference voltage u in time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c Expression of (t) and respectively reference voltage u to a phase of three-level frequency converter a in each time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c The expression of (t) performs kirchhoff voltage equation simplification, including:
step 1, calculate 0.5t 1 To t 1 Average value of a-phase current I in time period a1 And at t 1 The time of day is calculated as follows 1 And u 2 Is a numerical value of (1):
wherein u is 0 To test voltage, I m1 、I m2 Is the current amplitude;
step 2, calculating t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a-phase current I in time period a2 Average value of b-phase current I b2 Average value of c-phase current I c2 ；
Step 3: at t 2 Time according to t 1 To t 2 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
wherein,is a phase a stator resistance identification value,/->Is the identification value of b-phase stator resistance,/-phase stator resistance>For the identification value of the c-phase stator resistance, I a2 、I b2 、I c2 Respectively t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a, b and c phase currents in a time period;
step 4: calculating t 2 +0.5(t 3 -t 2 ) To t 3 Average value of a-phase current I in time period a3 Average value of b-phase current I b3 Average value of c-phase current I c3 ；
Step 5: at t 3 Time according to t 2 To t 3 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 6: at t 3 At the moment, the two formulas in the step 5 and the step 3 are differentiated to obtain the following formula:
wherein DeltaI a1 、ΔI b1 And delta I c1 Satisfies the following formula:
step 7: calculating t 3 +0.5(t 4 -t 3 ) To t 4 Average value of a-phase current I in time period a4 Average value of b-phase current I b4 Average value of c-phase current I c4 ；
Step 8: at t 4 Time according to t 3 To t 4 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 9: calculating t 4 +0.5(t 5 -t 4 ) To t 5 Average value of a-phase current I in time period a5 Average value of b-phase current I b5 Average value of c-phase current I c5 ；
Step 10: at t 5 Time according to t 4 To t 5 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 11: at t 5 At the moment, the two formulas in the 8 th step and the 10 th step are differentiated to obtain the following formulas:
wherein DeltaI a2 、ΔI b2 And delta I c2 Satisfies the following formula:
step 12: at t 5 At the moment, two formulas in the step 6 and the step 11 are combined, and the identification value of the three-phase stator resistor can be calculated according to the following formula:
wherein DeltaI a1 、ΔI b1 And delta I c1 Is the current difference between the time period from t2 to t3 and the time period from t1 to t2, deltaI a2 、ΔI b2 And delta I c2 The current difference between the time period from t3 to t4 and the time period from t4 to t5 is represented by k, which is the unbalanced coefficient of the stator resistance;
acquiring a three-phase switching sequence of thirteen-segment three-level PWM, and obtaining the acting time of P, O, N in the three-phase switching sequence;
according to the three-phase reference voltage, the identification value of the stator resistor, the three-phase switching sequence of the thirteen-section type three-level PWM and the acting time of P, O, N in the three-phase switching sequence, a switching state table of the three-level frequency converter is obtained, driving pulses are generated, and the output voltage of the three-level frequency converter is controlled.
2. The method for identifying the stator resistance of the high-power permanent magnet synchronous motor offline according to claim 1, wherein the method comprises the following steps of: the steady-state equivalent circuit is based on a mathematical model of the high-power permanent magnet synchronous motor in a static state and is combined with a coordinate transformation theory, and the steady-state equivalent circuit is obtained when direct-current voltage is injected in the static state;
the mathematical model expression in the static state is as follows:
wherein u is d 、u q I is the direct axis component and the quadrature axis component of the stator voltage of the high-power permanent magnet synchronous motor d 、i q R is the direct axis component and the quadrature axis component of the stator current of the high-power permanent magnet synchronous motor s Is the equivalent stator resistance of the high-power permanent magnet synchronous motor.
3. The method for identifying the stator resistance of the high-power permanent magnet synchronous motor offline according to claim 1, wherein the method comprises the following steps of: the three-phase reference voltage output by the three-level frequency converter is as follows:
the a-phase reference voltage expression is as follows:
the b-phase reference voltage expression is as follows:
the c-phase reference voltage expression is as follows:
wherein u is 0 Setting a small value for the heuristic voltage; u (u) 1 For a current amplitude of I m1 Corresponding voltage value; u (u) 2 For a current amplitude of I m2 Corresponding voltage value; t is t 1 -t 5 Is a state switching time point, wherein t 5 The total time for identifying the stator resistance of the high-power permanent magnet synchronous motor is used.
4. The method for identifying the stator resistance of the high-power permanent magnet synchronous motor offline according to claim 3, wherein the method comprises the following steps of: the calculation formula of the stator resistance unbalance coefficient k is as follows:
5. the method for identifying the stator resistance of the high-power permanent magnet synchronous motor offline according to claim 1, wherein the method comprises the following steps of: the action time of P, O, N in the three-phase switch sequence is as follows:
wherein x represents a, b, c, three phases, V dc Representing the DC bus voltage of a three-level frequency converter, u x (T) is the reference voltage, T c Is the carrier period of the three-level frequency converter.
6. The method for identifying the stator resistance of the high-power permanent magnet synchronous motor offline according to claim 5, wherein the method comprises the following steps of: the action time of the a phase P, O, N also comprises midpoint potential balance compensation time, and specifically comprises the following steps:
wherein t is NP For the neutral potential balance compensation time, the calculation formula is as follows, and the balance control of the neutral potential is realized:
wherein C is the capacitance value of the upper and lower DC buses, V c1 Is the upper DC bus voltage, V c2 Is the lower dc bus voltage.
7. The utility model provides a high-power PMSM stator resistance off-line identification device which characterized in that: comprising the steps of (a) a step of,
a reference voltage generating module, a stator resistance calculating module, a thirteen-segment three-level PWM module and a switch state table module, wherein,
the reference voltage generation module is used for obtaining three-phase reference voltages output by the three-level frequency converter according to the steady-state equivalent circuit;
the stator resistance calculation module is used for obtaining identification values of three-phase stator resistances according to a kirchhoff voltage equation;
the identifying value of the three-phase stator resistor is obtained according to the kirchhoff voltage equation, and the identifying value comprises the following steps:
respectively obtaining t according to the kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 Three-level frequency converter a-phase reference voltage u in time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c Expression of (t) and respectively reference voltage u to a phase of three-level frequency converter a in each time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c Performing kirchhoff voltage equation simplification on the expression of (t);
let t 2 To t 3 Kirchhoff voltage equation and t for time period simplification 1 To t 2 The kirchhoff voltage equation with simplified time period is differenced;
let t 3 To t 4 Kirchhoff voltage equation and t for time period simplification 4 To t 5 The kirchhoff voltage equation with simplified time period is differenced;
at t 5 At the moment, willCombining the results of the two differences to obtain the identification value of the three-phase stator resistor;
respectively obtaining t according to kirchhoff voltage equation 1 To t 2 、t 2 To t 3 、t 3 To t 4 T 4 To t 5 Three-level frequency converter a-phase reference voltage u in time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c Expression of (t) and respectively reference voltage u to a phase of three-level frequency converter a in each time period a (t), b-phase reference voltage u of three-level frequency converter b (t) reference voltage u with three-level frequency converter c phase c The expression of (t) performs kirchhoff voltage equation simplification, including:
step 1, calculate 0.5t 1 To t 1 Average value of a-phase current I in time period a1 And at t 1 The time of day is calculated as follows 1 And u 2 Is a numerical value of (1):
wherein u is 0 To test voltage, I m1 、I m2 Is the current amplitude;
step 2, calculating t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a-phase current I in time period a2 Average value of b-phase current I b2 Average value of c-phase current I c2 ；
Step 3: at t 2 Time according to t 1 To t 2 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
wherein,is a phase a stator resistance identification value,/->Is the identification value of b-phase stator resistance,/-phase stator resistance>For the identification value of the c-phase stator resistance, I a2 、I b2 、I c2 Respectively t 1 +0.5(t 2 -t 1 ) To t 2 Average value of a, b and c phase currents in a time period;
step 4: calculating t 2 +0.5(t 3 -t 2 ) To t 3 Average value of a-phase current I in time period a3 Average value of b-phase current I b3 Average value of c-phase current I c3 ；
Step 5: at t 3 Time according to t 2 To t 3 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 6: at t 3 At the moment, the two formulas in the step 5 and the step 3 are differentiated to obtain the following formula:
wherein DeltaI a1 、ΔI b1 And delta I c1 Satisfies the following formula:
step 7: calculating t 3 +0.5(t 4 -t 3 ) To t 4 Average value of a-phase current I in time period a4 Average value of b-phase current I b4 Average value of c-phase current I c4 ；
Step 8: at t 4 Time according to t 3 To t 4 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 9: calculating t 4 +0.5(t 5 -t 4 ) To t 5 Average value of a-phase current I in time period a5 Average value of b-phase current I b5 Average value of c-phase current I c5 ；
Step 10: at t 5 Time according to t 4 To t 5 U in time period a (t)、u b (t) and u c The expression of (t) can simplify kirchhoff's voltage equation as follows:
step 11: at t 5 At the moment, the two formulas in the 8 th step and the 10 th step are differentiated to obtain the following formulas:
wherein DeltaI a2 、ΔI b2 And delta I c2 Satisfies the following formula:
step 12: at t 5 The two equations in steps 6 and 11 are combined at the moment according to the followingCalculating the identification value of the three-phase stator resistor:
wherein DeltaI a1 、ΔI b1 And delta I c1 Is the current difference between the time period from t2 to t3 and the time period from t1 to t2, deltaI a2 、ΔI b2 And delta I c2 The current difference between the time period from t3 to t4 and the time period from t4 to t5 is represented by k, which is the unbalanced coefficient of the stator resistance;
the thirteenth-section type three-level PWM module is used for obtaining a thirteen-section type three-level PWM three-phase switching sequence and obtaining the acting time of P, O, N in the three-phase switching sequence;
the switch state table module is used for obtaining a switch state table of the three-level frequency converter according to the three-phase reference voltage, the identification value of the stator resistor and the three-phase switch sequence of the thirteen-section three-level PWM and the action time of P, O, N in the three-phase switch sequence, generating driving pulses and controlling the output voltage of the three-level frequency converter.
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