CN109660169A - A kind of rotary inertia transient state discrimination method of induction machine - Google Patents
A kind of rotary inertia transient state discrimination method of induction machine Download PDFInfo
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- CN109660169A CN109660169A CN201811418290.6A CN201811418290A CN109660169A CN 109660169 A CN109660169 A CN 109660169A CN 201811418290 A CN201811418290 A CN 201811418290A CN 109660169 A CN109660169 A CN 109660169A
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- rotary inertia
- induction machine
- discrimination method
- transient state
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/143—Inertia or moment of inertia estimation
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Abstract
The present invention relates to Motor Control Field, the rotary inertia transient state discrimination method of especially a kind of induction machine, the method is used for the induction Motor Vector Control under Speedless sensor operating condition.The excessive transient rotative speed that is not able to satisfy of existing discrimination method calculation amount accurately estimates requirement, the present invention provides a kind of rotary inertia transient state discrimination method of induction machine, including the following steps sequentially carried out: (1) detecting threephase stator voltage, electric current and be denoted as vector us and is respectively；(2) stator magnetic linkage, rotor flux are calculated according to Γ type equivalent circuit；(3) electromagnetic torque is calculated；(4) revolving speed is calculated；(5) it is filtered to calculating tach signal；(6) computational load torque；(7) Adaptive Identification of rotary inertia is constructed.The present invention works from extraction rotary inertia information in transient torque signal and in induction machine transient process；Machinery-free type velocity sensor can be achieved with the identification of rotary inertia transient state, promote Speedless sensor operation state performance；Calculating step is simple, and process operand is small.
Description
Technical field
The present invention relates to Motor Control Field, the rotary inertia transient state discrimination method of especially a kind of induction machine is described
Method is used for the induction Motor Vector Control under Speedless sensor operating condition.
Background technique
The induction machine of Speedless sensor operation is widely applied in industrial circle at present, to avoid mechanical revolution speed sensing is installed
Acquisition cost needed for device, maintenance cost simultaneously save installation space.Induction machine under current Speedless sensor operational mode
How the difficult point for making high performance control is under the transient operation situation of motor acceleration and deceleration to electricity such as rotary inertia, fixed rotor resistances
Machine parameter makes real-time identification.Although existing some Speedless sensor algorithms can be made compared with subject in motor steady-state operation
True speed estimate, but the error calculated during motor transient is very big, it is difficult to it is competent at more demanding to control performance answer
Use occasion.
The rotary inertia of induction machine can be obtained as the known parameters in motor control by the method for off-line test,
There are certain errors for described measurement result itself.In having speed sensor system, it can be surveyed based on mechanical speed sensors
Accurate rotary speed information is measured, and then realizes the identification of rotary inertia.But in Speedless sensor operating system,
Although the revolving speed that general speed algorithm for estimating obtains has preferable stable state estimated accuracy, the accuracy of transient state is lower, uses
Same thinking can not achieve the identification of rotary inertia.On the other hand, sufficiently accurate identification of rotational inertia is only first realized, it will
Identification result is supplied to the current existing non-linear method for estimating rotating speed containing motor movement equation (as based on sliding mode theory
Method), the revolving speed for being just able to achieve transient process is accurately estimated.Have identification scheme at present and is based on least square method, extension karr
Revolving speed, rotary inertia and some other parameter of electric machine are carried out while being recognized by the principles such as graceful filter, and calculation amount is excessive, causes
Control response speed is relatively slow, is not able to satisfy the requirement that transient rotative speed is accurately estimated.
Summary of the invention
The technical problem to be solved in the present invention and the technical assignment of proposition are that existing discrimination method calculation amount is overcome to cross very much not
It is able to satisfy transient rotative speed and accurately estimates the problem of requiring, the present invention provides a kind of rotary inertia transient state identification side of induction machine
Method, the discrimination method can be used for induction machine transient process under the premise of machinery-free type velocity sensor, according to induced electricity
The stator voltage of machine, current signal calculate magnetic linkage, revolving speed, torque, construct the adaptive of rotary inertia.
The present invention solves a kind of technical solution that technical problem uses: rotary inertia transient state discrimination method of induction machine,
Including the following steps sequentially carried out:
(1) threephase stator voltage, electric current are detected and is denoted as vector u respectivelysAnd is；
(2) stator magnetic linkage, rotor flux are calculated according to Γ type equivalent circuit:
ψr=ψs-Lσis
The RsFor stator resistance, LσFor leakage inductance, p is integral operator；
(3) electromagnetic torque is calculated
The nppIt is the number of phases of induction machine, J is following matrix
(4) revolving speed is calculated
The RrFor rotor resistance；
(5) it is filtered to calculating tach signal
The τ1For time constant filter；
(6) computational load torque
The τ2For time constant filter, Js0For the initial given value of rotary inertia；
(7) Adaptive Identification of rotary inertia is constructed
The τpIn the period of rotational speed setup variation, make
q1It calculates as follows
As further improving and supplementing to above-mentioned technical proposal, the present invention uses following technical measures: the step
(2) rotor flux linkage calculation in replaces pure integral element by the low-pass first order filter with amplitude and phase compensation.
Beneficial effects of the present invention: (1) extracting the information of rotary inertia from transient torque signal, can be in induction machine wink
It works during state；(2) the transient state identification of rotary inertia can be realized by being not required to mechanical speed sensors, to further mention
Rise the dynamic property of Speedless sensor operation；(3) calculating step is simple, and the operand of entire calculating process is smaller.
Detailed description of the invention
Fig. 1: the vector control system schematic diagram of induction machine.
Fig. 2: the rotary inertia transient state discrimination method schematic diagram of induction machine Speedless sensor operating system.
Fig. 3: indirect field-orientated control rotor flux synchro angle calculates schematic diagram.
Fig. 4: the first-order low-pass wave rotor flux observer schematic diagram with compensation.
Specific embodiment
The present invention is described further with specific embodiment for explanation with reference to the accompanying drawing.
By taking the induction machine of a 4kW as an example, design parameter is shown in Table 1, and table 1 is induction motor parameter.
It include voltage, current sensor using indirect field_oriented control vector control mode, indirect field-orientated control device,
Discrimination method proposed by the present invention realizes module, and voltage sinusoidal pulse width modulation module is as shown in Figure 1.The invention mainly relates to rotations
Inertia identification and velocity estimation, specific structure is as shown in Figure 2；Other modules are functional mould needed for induction Motor Vector Control
Block is state of the art and common knowledge.
System-wide workflow is described below, to introduce the connection relationship of each module.
As shown in figures 1-4, the rotary inertia transient state discrimination method of a kind of induction machine, including the following step sequentially carried out
It is rapid:
(1) each phase current and voltage of threephase asynchronous machine are measured by sensor, detection obtains threephase stator voltage vector
usWith current phasor is；
(2) it is based on stator voltage vector us, current phasor is, stator magnetic linkage, rotor magnetic are calculated according to Γ type equivalent circuit
Chain:
ψr=ψs-Lσis
The RsFor stator resistance, LσFor leakage inductance, p is integral operator；
There are pure integral elements in above formula, are not pressed down due to pure integral element to direct current biasing and error in systems in practice
Production is used, and will lead to error accumulation.Pure integral element, tool are replaced using amplitude and the low-pass first order filter of phase compensation thus
Body is realized referring to Fig. 3；The cutoff frequency ω of low-pass first order filtercGiven according to motor running condition, system just brings into operation
When, by cutoff frequency ωcIt is set as a suitable value (such as 30rad/s)；After space bit angle setting is stablized, ωcBy synchronous angular velocity
ω1It is obtained multiplied by compensating gain COEFFICIENT K (taking 3).Synchronous angular velocity ω1Calculation method see step 7；
(3) it is based on stator current isWith rotor flux ψrCalculate electromagnetic torque
The nppIt is the number of phases of induction machine, J is following matrix
(4) revolving speed is calculated
The RrFor rotor resistance；
(5) it is filtered to calculating tach signal
The τ1For time constant filter, value is 0.2s in the present embodiment；
(6) computational load torque
The τ2For time constant filter, this example takes 0.032s；Js0It is given for the initial of rotary inertia after motor bringing onto load
Definite value, value is 0.015kgm in the present embodiment2；
(7) Adaptive Identification of rotary inertia is constructed
The τpIn the period of rotational speed setup variation, makeThe present embodiment is rotated in operation
It is 2s that a period of change is superimposed when inertia identification program, on rotational speed setup, and variable quantity is the staircase waveform of 20r/min, i.e. τpIt takes
2s；q1It calculates as follows
By q in microprocessor realization1Carry out discretization:
Wherein TsIndicate the cycle of operation of microprocessor, k indicates certain once-through operation.
According to given T axis stator currentWith given M axis stator currentCalculate slippage:
By slip ωsThe revolving speed calculated value obtained with no rate algorithmIt is added, obtains synchronous angular frequency1, then to ω1
Integral obtains rotor flux given angle θ1, for the indirect field_oriented control vector controlled of induction machine, specific embodiment is shown in
Fig. 4.
In addition, the revolving speed that step 4 is calculated can guarantee the accuracy under motor stable situation, using the revolving speed as vector
Dynamic control performance does not protrude when the foundation of control, also needs the rotary inertia parameter for obtaining identification to be supplied to existing at present
Non-linear method for estimating rotating speed containing motor movement equation, to realize that the revolving speed of transient process is accurately estimated.
Claims (2)
1. a kind of rotary inertia transient state discrimination method of induction machine, including the following steps sequentially carried out:
(1) threephase stator voltage, electric current are detected and is denoted as vector u respectivelysAnd is；
(2) stator magnetic linkage, rotor flux are calculated according to Γ type equivalent circuit:
ψr=ψs-Lσis
The RsFor stator resistance, LσFor leakage inductance, p is integral operator；
(3) electromagnetic torque is calculated
The nppIt is the number of phases of induction machine, J is following matrix
(4) revolving speed is calculated
The RrFor rotor resistance；
(5) it is filtered to calculating tach signal
The τ1For time constant filter；
(6) computational load torque
The τ2For time constant filter, Js0For the initial given value of rotary inertia；
(7) Adaptive Identification of rotary inertia is constructed
The τpIn the period of rotational speed setup variation, make
q1It calculates as follows
2. the rotary inertia transient state discrimination method of induction machine according to claim 1, it is characterized in that in the step (2)
Rotor flux calculates, and replaces pure integral element by the low-pass first order filter with amplitude and phase compensation.
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| CN201811418290.6A CN109660169B (en) | 2018-11-26 | 2018-11-26 | Transient identification method for rotational inertia of induction motor |
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| CN201811418290.6A CN109660169B (en) | 2018-11-26 | 2018-11-26 | Transient identification method for rotational inertia of induction motor |
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| CN109660169B CN109660169B (en) | 2020-09-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110518846A (en) * | 2019-08-01 | 2019-11-29 | 南京理工大学 | More motor servo system active disturbance rejection sliding mode speed control methods based on inertia identification |
| CN113067514A (en) * | 2021-03-23 | 2021-07-02 | 华中科技大学 | Rapid online rotational inertia identification method and system suitable for servo system |
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| JPS6188780A (en) * | 1984-10-08 | 1986-05-07 | Hitachi Ltd | Control constant setting method for speed controller |
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| CN103219939A (en) * | 2013-03-19 | 2013-07-24 | 哈尔滨工业大学 | Rotational inertia on-line identification method for alternating current (AC) permanent magnet synchronous motor servo system |
| CN104639003A (en) * | 2013-11-06 | 2015-05-20 | 沈阳高精数控技术有限公司 | AC servo system rotation inertia identification method |
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2018
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| JPS6188780A (en) * | 1984-10-08 | 1986-05-07 | Hitachi Ltd | Control constant setting method for speed controller |
| CN101989827A (en) * | 2010-11-18 | 2011-03-23 | 东南大学 | Method for automatically adjusting speed loop control parameters of alternating-current servo system based on inertia identification |
| CN103219939A (en) * | 2013-03-19 | 2013-07-24 | 哈尔滨工业大学 | Rotational inertia on-line identification method for alternating current (AC) permanent magnet synchronous motor servo system |
| CN104639003A (en) * | 2013-11-06 | 2015-05-20 | 沈阳高精数控技术有限公司 | AC servo system rotation inertia identification method |
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| LIHANG ZHAO等: "A Parallel Speed and Rotor Time Constant Identification Scheme for Indirect Field Oriented Induction Motor Drives", 《IEEE TRANSACTIONS ON POWER ELECTRONICS》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110518846A (en) * | 2019-08-01 | 2019-11-29 | 南京理工大学 | More motor servo system active disturbance rejection sliding mode speed control methods based on inertia identification |
| CN113067514A (en) * | 2021-03-23 | 2021-07-02 | 华中科技大学 | Rapid online rotational inertia identification method and system suitable for servo system |
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| CN109660169B (en) | 2020-09-01 |
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