CN117277905A - Mutual inductance identification system and method suitable for on-load of asynchronous motor - Google Patents

Mutual inductance identification system and method suitable for on-load of asynchronous motor Download PDF

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Publication number
CN117277905A
CN117277905A CN202311220984.XA CN202311220984A CN117277905A CN 117277905 A CN117277905 A CN 117277905A CN 202311220984 A CN202311220984 A CN 202311220984A CN 117277905 A CN117277905 A CN 117277905A
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China
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calc
mutual inductance
asynchronous motor
current
motor
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CN202311220984.XA
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Inventor
吴春杨
刘毅
李飞
姚欣
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Henan Jiachen Intelligent Control Co Ltd
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Henan Jiachen Intelligent Control Co Ltd
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Priority to CN202311220984.XA priority Critical patent/CN117277905A/en
Publication of CN117277905A publication Critical patent/CN117277905A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The application belongs to the technical field of mutual inductance parameter identification of an alternating-current asynchronous motor of an electric forklift, and particularly relates to a mutual inductance identification system and method applicable to an asynchronous motor under load, wherein the mutual inductance identification system applicable to the asynchronous motor under load comprises the following parts: the system comprises a current closed-loop control module, an actual dq axis current and voltage calculation module, a voltage difference calculation module, a compensation angle integral adjustment module and a mutual inductance calculation module; mutual inductance identification method suitable for on-load of asynchronous motorThe method utilizes the system to realize mutual sensing identification of the asynchronous motor under load; the compensation angle integral adjusting module can be replaced by proportional integral adjustment, so that the convergence speed is high; the actual dq-axis current and voltage calculation module can calculate the actual dq-axis current and voltage id by id, iq, ud, uq in combination with the compensation angle calc And iq (q) calc 、ud calc And uq calc The method comprises the steps of carrying out a first treatment on the surface of the Taking the voltage difference value as input, integrating and adjusting the output compensation angle; and the actual dq axis current and voltage calculation module is used for taking the compensation angle as an input.

Description

Mutual inductance identification system and method suitable for on-load of asynchronous motor
Technical Field
The application belongs to the technical field of mutual inductance parameter identification of an alternating current asynchronous motor of an electric forklift, and particularly relates to a mutual inductance identification system and method suitable for an asynchronous motor under load.
Background
In the control of an asynchronous motor, slip frequency calculation is needed, wherein slip frequency calculation relates to identification of mutual inductance parameters, the existing mutual inductance parameter identification is based on the condition that no load of the motor is taken as a precondition, however, mutual inductance identification is needed after actual loading, a motor transmission chain is provided with a speed reducer and a tire, and absolute no load cannot be realized when braking exists.
The Chinese patent 2022113818179 discloses a method for identifying mutual inductance parameters on load of an asynchronous motor, which belongs to the field of asynchronous motor control and comprises the following steps: sampling three-phase current and output voltage of the motor in steady state; judging whether the orientation angle of the coordinate system is correct or not through the three-phase voltage and the three-phase current, and correcting the orientation angle of the coordinate system according to the judging result; finally, calculating a motor mutual inductance value according to the current and voltage signals and the corrected orientation angle; the asynchronous motor has low accuracy of identifying mutual inductance parameters under load and poor effect.
The prior art is that different currents are added to an asynchronous motor under no load, all the added currents are considered to be on a d-axis, and mutual inductance parameter calculation is carried out according to a dq-axis voltage formula; however, in some practical situations, the motor may be difficult to realize no-load, and some current under load is on the q-axis, but at this time, the current is still considered to be on the d-axis, and the identification result may be inaccurate.
Under the condition of carrying in the common method, id and iq are different from actual id and iq, the reliability of the result is insufficient, a voltage supply method is adopted in the related patent, the current cannot be controlled, and the operability on the finally obtained mutual inductance values of different currents is poor; the method for giving the angle compensation value in the related patent adopts a fixed amount to calculate the voltage difference value each time, and has limited convenience for automatically realizing angle optimization.
Disclosure of Invention
Aiming at the problems, the application provides a mutual inductance identification system and method suitable for an asynchronous motor under load.
In order to achieve the above purpose, the present application provides the following technical solutions: the mutual inductance identification system suitable for the on-load of the asynchronous motor comprises the following parts: the system comprises a current closed-loop control module, an actual dq axis current and voltage calculation module, a voltage difference calculation module, a compensation angle integral adjustment module and a mutual inductance calculation module.
The mutual inductance identification method suitable for the on-load induction of the asynchronous motor utilizes the mutual inductance identification system suitable for the on-load induction of the asynchronous motor to realize mutual inductance identification of the asynchronous motor, and comprises the following steps:
step 1, the current closed-loop control module is a common method, and given the electrical angular frequency and id, iq=0, the current of the motor is controlled, and the motor can stably run at a fixed frequency or can not be started;
step 2, extracting i in a two-phase coordinate system in the current closed-loop control module α And i β 、u α And u β Electric angular frequency ω of motor s Given d-axis angle θ ref And outputting the compensation angle theta by the compensation angle integral regulating module offset And theta ref Adding to the actual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc Calculating;
step 3, use id calc And iq (q) calc 、ud calc And uq calc Omega, omega s Calculating a voltage difference Deltau d ；
Step 4, deltau d As input, integral adjustment is performed to output a compensation angle theta offset ；
Step 5, use id calc And iq (q) calc 、ud calc And uq calc Omega, omega s And calculating a mutual inductance value, and obtaining a final stable value as the calculated value.
Through calculation of each data, the mutual inductance identification system and method suitable for the on-load of the asynchronous motor are obtained, and the detection efficiency of the detection precision is improved.
As a preferred technical scheme of the application, the electric angular frequency and id are set under no load, iq=0, when the motor rotation speed is stable, the current id, iq, ud, uq is obtained, the mutual inductance is calculated according to the following formula,wherein R is s Is stator resistance L σ Is leakage inductance.
As a preferable technical scheme of the application, the current closed-loop control module sets the motor electrical frequency and id and iq to perform current closed-loop control and outputs i in a two-phase coordinate system α And i β 、u α And u β Electric angular frequency ω of motor s Electric angle θ of motor ref 。
As a preferable technical scheme of the application, the actual dq axis current and voltage calculation module outputs the compensation angle theta through the compensation angle integral adjustment module offset And theta in step 1 ref Adding to obtain the compensated electric angle theta 0 According to theta 0 、i α And i β 、u α And u β Calculating the actual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc 。
As a preferred embodiment of the present application, the voltage difference calculation module uses id calc 、iq calc Electric angular frequency ω of motor s Calculating to obtain ud * calc Will ud * calc And ud calc The voltage difference Deltau is obtained by subtraction d 。
As a preferred embodiment of the present application, the compensation angle integral adjustment module uses the voltage difference Δu obtained in step 3 d Integral adjustment of output compensation angle θ for input offset 。
As a preferable technical scheme of the application, when the voltage difference value is close to 0, the mutual inductance calculation is performed according to the formula of the mutual inductance calculation module.
As a preferred technical solution of the present application, the given current and frequency control motor in step 1 can ensure a controlled current level and normal operation.
As a preferable technical scheme of the application, the integration adjustment in the step 4 can realize automatic optimization, and the convergence speed is high.
Compared with the prior art, the beneficial effects of the application are as follows:
1. the invention provides a method for automatically compensating the position angle of a rotor under the condition of load to obtain the real dq axis current, so that the mutual inductance parameter calculated under the condition of load is basically consistent with the mutual inductance parameter calculated under the condition of no load.
2. The compensation angle integral adjusting module can be replaced by proportional integral adjustment, the convergence speed is high, but the output compensation angle is easy to fluctuate.
3. The actual dq-axis current and voltage calculation module can calculate the actual dq-axis current and voltage id by id, iq, ud, uq in combination with the compensation angle calc And iq (q) calc 、ud calc And uq calc Both effects are consistent.
4. The invention takes the voltage difference as input, integrates and adjusts the output compensation angle; the actual dq axis current and voltage calculation module is used for carrying out the actual dq axis current and voltage calculation module by taking the compensation angle as input, and the actual dq axis current and voltage calculation module is used for calculating the voltage difference value, so that the three steps form a closed loop to calculate the accurate actual dq axis current and voltage.
Drawings
Fig. 1 is a block diagram of a system scheme in the prior art.
Fig. 2 is a block diagram of a system scheme of the present invention.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
According to the present invention, as shown in fig. 1 and 2, there is provided a mutual inductance identification system suitable for use in an asynchronous motor under load, wherein mutual inductance identification means that mutual inductance values of an asynchronous motor are identified by giving different current values, and the mutual inductance identification system suitable for use in an asynchronous motor under load includes the following parts: the device comprises a current closed-loop control module, an actual dq axis current voltage calculation module, a voltage difference calculation module, an angle integral adjustment module and a mutual inductance calculation module, wherein mutual inductance is identified as the mutual inductance value of the asynchronous motor is identified by giving different current values, and mutual inductance parameter identification of different currents of the asynchronous motor under load and no load is realized.
In the control of the asynchronous motor, slip frequency calculation is needed, wherein slip frequency calculation relates to identification of mutual inductance parameters, the existing mutual inductance parameter identification is based on the condition that no load of the motor is taken as a precondition, however, mutual inductance identification is needed after actual loading, a motor transmission chain is provided with a speed reducer and a tire, and absolute no load cannot be realized when braking exists.
Under no-load in the prior art, given the electrical angular frequency and id, iq=0, when the motor rotation speed is stable, the current id, iq, ud, uq is obtained, the mutual inductance is calculated according to the following formula,wherein R is s Is stator resistance L σ Is leakage inductance.
The main technical problems of the prior art are as follows: the prior art is that different currents are added to an asynchronous motor under no load, all the added currents are considered to be on a d-axis, and mutual inductance parameter calculation is carried out according to a dq-axis voltage formula; however, in some practical situations, the motor may be difficult to realize no-load, and some current under load is on the q-axis, but at this time, the current is still considered to be on the d-axis, and the identification result may be inaccurate.
Under the condition of carrying in the common method, id and iq are different from actual id and iq, the reliability of the result is insufficient, a voltage supply method is adopted in the related patent, the current cannot be controlled, and the operability on the finally obtained mutual inductance values of different currents is poor; the method for giving the angle compensation value in the related patent adopts a fixed amount to calculate the voltage difference value each time, and has limited convenience for automatically realizing angle optimization.
Therefore, the embodiment provides a method for automatically compensating the rotor position angle under the condition of load and obtaining the real dq-axis current, so that the mutual inductance parameter calculated under the load is basically consistent with the mutual inductance parameter calculated under the no-load.
The method for identifying the mutual inductance of the asynchronous motor under load by utilizing the mutual inductance identification system under load of the asynchronous motor comprises the following steps:
step 1, a current closed-loop control module is a common method, and given an electrical angular frequency and id, iq=0, motor current control is performed, and the motor can be stably operated at a fixed frequency or can not be started.
Step 2, extracting i in a two-phase coordinate system in the current closed-loop control module α And i β 、u α And u β Electric angular frequency ω of motor s Given d-axis angle θ ref The compensation angle theta output by the compensation angle integral regulating module offset And theta ref Adding to the actual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc And (5) calculating.
Step 3, use id calc And iq (q) calc 、ud calc And uq calc Omega, omega s Calculating a voltage difference Deltau d 。
Step 4, deltau d As input, integral adjustment is performed to output a compensation angle theta offset 。
Step 5, use id calc And iq (q) calc 、ud calc And uq calc Omega, omega s And calculating a mutual inductance value, and obtaining a final stable value as the calculated value.
Wherein, the current closed-loop control module is provided with a motor electricityThe frequency sum id and iq are subjected to current closed-loop control, and i in a two-phase coordinate system is output α And i β 、u α And u β Electric angular frequency ω of motor s Electric angle θ of motor ref 。
The actual dq axis current and voltage calculation module outputs the compensation angle theta to the compensation angle integral adjustment module offset And theta in step 1 ref Adding to obtain the compensated electric angle theta 0 According to theta 0 、i α And i β 、u α And u β Calculating the actual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc 。
Voltage difference calculating module id calc 、iq calc Electric angular frequency ω of motor s Calculating to obtain ud * calc Will ud * calc And ud calc The voltage difference Deltau is obtained by subtraction d 。
The compensation angle integral adjusting module uses the voltage difference delta u obtained in the step 3 d Integral adjustment of output compensation angle θ for input offset 。
And when the voltage difference is close to 0, performing the mutual inductance calculation module according to a formula of the mutual inductance calculation module.
The given current and frequency control motor in step 1 can ensure that the current is controlled and operates normally.
In the step 4, the integral adjustment can realize automatic optimization, and the convergence speed is high.
When the motor rotation speed is stable, steps 4 and 5 are carried out again, and when the motor is in the acceleration and deceleration process, the reliability of the calculation result is insufficient.
When the original scheme is loaded, the accuracy of the identification result is insufficient, and the scheme automatically corrects the electric angle of the motor, so that the accuracy of the identification result of mutual inductance is improved.
In addition, the compensation angle integral adjusting module can be replaced by proportional integral adjustment, the convergence speed is high, but the output compensation angle is easy to fluctuate, and the actual dq axis current and voltage calculating module can calculate by combining id, iq, ud, uq of the step 1 with the compensation angleActual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc Both effects are consistent.
In the embodiment, the voltage difference is taken as input, the compensation angle is regulated and output by integration, the actual dq-axis current and voltage calculation module is carried out by taking the compensation angle as input, the voltage difference of the actual dq-axis current and voltage calculation module is taken, and the three steps form a closed loop to calculate the accurate actual dq-axis current and voltage.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. Mutual inductance identification system under load suitable for asynchronous motor, characterized by comprising the following parts: the system comprises a current closed-loop control module, an actual dq axis current and voltage calculation module, a voltage difference calculation module, a compensation angle integral adjustment module and a mutual inductance calculation module.
2. A mutual inductance identification method suitable for an asynchronous motor under load, which realizes mutual inductance identification of the asynchronous motor under load by using the mutual inductance identification system suitable for the asynchronous motor under load according to claim 1, and is characterized by comprising the following steps:
step 1, the current closed-loop control module is a common method, and given the electrical angular frequency and id, iq=0, the current of the motor is controlled, and the motor can stably run at a fixed frequency or can not be started;
step 2, extracting i in a two-phase coordinate system in the current closed-loop control module α And i β 、u α And u β Electric angular frequency ω of motor s Given d-axis angle θ ref And outputting the compensation angle theta by the compensation angle integral regulating module offset And theta ref Adding to the actual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc Calculating;
step 3, use id calc And iq (q) calc 、ud calc And uq calc Omega, omega s Calculating a voltage difference Deltau d ；
Step 4, deltau d As input, integral adjustment is performed to output a compensation angle theta offset ；
Step 5, use id calc And iq (q) calc 、ud calc And uq calc Omega, omega s And calculating a mutual inductance value, and obtaining a final stable value as the calculated value.
3. The method for identifying the mutual inductance under load of the asynchronous motor according to claim 2, wherein the frequency and id of the electrical angle under load are set, iq=0, when the rotation speed of the motor is stable, the current id, iq, ud, uq is obtained, the mutual inductance is calculated according to the following formula,wherein R is s Is stator resistance L σ Is leakage inductance.
4. The method for identifying the mutual inductance under load of the asynchronous motor according to claim 2, wherein the current closed-loop control module is provided with a motor electrical frequency and id,iq performs current closed-loop control to output i in a two-phase coordinate system α And i β 、u α And u β Electric angular frequency ω of motor s Electric angle θ of motor ref 。
5. The method for identifying the mutual inductance under load of the asynchronous motor according to claim 2, wherein the actual dq-axis current and voltage calculation module is a compensation angle θ outputted by the compensation angle integral adjustment module offset And theta in step 1 ref Adding to obtain the compensated electric angle theta 0 According to theta 0 、i α And i β 、u α And u β Calculating the actual dq-axis current voltage id calc And iq (q) calc 、ud calc And uq calc 。
6. The method for identifying the mutual inductance under load of the asynchronous motor according to claim 2, wherein the voltage difference calculation module uses id calc 、iq calc Electric angular frequency ω of motor s Calculating to obtain ud * calc Will ud * calc And ud calc The voltage difference Deltau is obtained by subtraction d 。
7. The method as claimed in claim 2, wherein the compensation angle integral adjustment module uses the voltage difference Δu obtained in step 3 d Integral adjustment of output compensation angle θ for input offset 。
8. The method for identifying the mutual inductance under load of the asynchronous motor according to claim 2, wherein when the voltage difference is close to 0, the mutual inductance calculation is performed according to the formula of the mutual inductance calculation module.
9. The method for identifying the on-load mutual inductance of the asynchronous motor according to claim 2, wherein the given current and frequency control motor in the step 1 can ensure the controlled and normal operation of the current.
10. The method for identifying the on-load mutual inductance of the asynchronous motor according to claim 2, wherein the step 4 is characterized in that the automatic optimization can be realized by adopting integral adjustment and the convergence speed is high.
CN202311220984.XA 2023-09-19 2023-09-19 Mutual inductance identification system and method suitable for on-load of asynchronous motor Pending CN117277905A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311220984.XA CN117277905A (en) 2023-09-19 2023-09-19 Mutual inductance identification system and method suitable for on-load of asynchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311220984.XA CN117277905A (en) 2023-09-19 2023-09-19 Mutual inductance identification system and method suitable for on-load of asynchronous motor

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Publication Number Publication Date
CN117277905A true CN117277905A (en) 2023-12-22

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