CN106602953B - The verification method of induction electromotor rotor time constant based on field orientation accuracy - Google Patents
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Abstract
Description
技术领域technical field
本发明公开一种感应电机参数值准确性的验证方法，特别涉及一种基于磁场定向准确性的鼠笼式感应电机的转子时间常数准确性的验证方法，属于电机参数自整定领域。The invention discloses a method for verifying the accuracy of parameter values of an induction motor, in particular to a method for verifying the accuracy of a rotor time constant of a squirrel-cage induction motor based on the accuracy of magnetic field orientation, and belongs to the field of motor parameter self-tuning.
技术背景technical background
在实验阶段，应该设计特定的参数精度验证方法对不同方法辨识所得的参数进行检验，以此来判断方法的有效性和准确性。最常见、直观的方法就是时域模型验证，即比较相同输入激励下的测量电流和仿真电流(或者测量转矩和仿真转矩)，以此验证辨识所得的等效电路参数的准确性。另外，通过比较测量稳态特性曲线和估算的特性曲线，也能验证等效电路参数的准确性。当然，对于实际应用而言，由辨识参数而设计的系统的运行性能本身，就是一个很好的辨识精度评估指标，比如转速动态响应的快速性和无速度传感器系统中的估计速度的准确性。In the experimental stage, a specific parameter accuracy verification method should be designed to test the parameters identified by different methods, so as to judge the validity and accuracy of the method. The most common and intuitive method is time-domain model verification, which compares the measured current and simulated current (or measured torque and simulated torque) under the same input excitation to verify the accuracy of the identified equivalent circuit parameters. In addition, by comparing the measured steady-state characteristic curve with the estimated characteristic curve, the accuracy of the equivalent circuit parameters can also be verified. Of course, for practical applications, the operating performance of the system designed by the identification parameters itself is a good identification accuracy evaluation index, such as the rapidity of the dynamic response of the rotational speed and the accuracy of the estimated speed in the speed sensorless system.
如果目的是评估某个特定的参数的准确性，比如励磁电感曲线和转子时间常数，上面描述的方法仍可被采用，但是我们期望能有专用的方法以辨别测量和仿真、估算之间的矛盾是否是由于某个特定的参数的辨识精度不足而导致的。对于励磁电感准确性的验证，如果电机硅钢片的设计参数已知，那么有限元分析可以被用于分析励磁电感曲线的准确性。而在一般情况下，励磁电感曲线的参考都会采用经典的空载实验的结果。If the purpose is to evaluate the accuracy of a specific parameter, such as the magnetizing inductance curve and the rotor time constant, the method described above can still be used, but we expect that there will be a dedicated method to identify the contradiction between measurement and simulation and estimation Whether it is caused by insufficient identification accuracy of a specific parameter. For the verification of the accuracy of the excitation inductance, if the design parameters of the motor silicon steel sheet are known, then the finite element analysis can be used to analyze the accuracy of the excitation inductance curve. In general, the reference of the magnetizing inductance curve will use the result of the classic no-load experiment.
至于转子时间常数的辨识精度评估，一般认为是比较困难的，因为转子电流往往是无法测量的。也正是因此，可以用绕线式感应电机来验证转子时间常数辨识的准确性。然而，对于鼠笼式感应电机，则只能进行间接的验证。文献中有不少对转子时间常数在线调节的方法，但是往往依赖于其他参数的准确性。很长一段时间里，有效的转子时间常数的辨识方法就是Lorenz在1986年提出的“方波转矩给定下检验三角波转速波形”。令感应电机运行在转矩模式下，并给定额定励磁，以及一个交变的方波转矩参考波形，如果控制器中的转子时间常数值是准确的，速度响应将会是一个三角波的形状。如果转子时间常数值不准确，那么响应的转矩波形就会与给定转矩不同，速度响应也会偏离理想的三角波形状。该方法需要肉眼检验，不同的人可能有不同的判断，所以对转子时间常数的辨识精度的评价是非常有限的。As for the evaluation of the identification accuracy of the rotor time constant, it is generally considered to be more difficult, because the rotor current is often unmeasurable. It is precisely because of this that a wound induction motor can be used to verify the accuracy of rotor time constant identification. However, for squirrel-cage induction motors, only indirect verification can be done. There are many online adjustment methods for the rotor time constant in the literature, but they often depend on the accuracy of other parameters. For a long time, the effective identification method of the rotor time constant is Lorenz proposed in 1986 "testing the triangular wave speed waveform under the given square wave torque". Let the induction motor run in torque mode, and given the rated excitation, and an alternating square wave torque reference waveform, if the value of the rotor time constant in the controller is accurate, the speed response will be a triangle wave shape . If the value of the rotor time constant is inaccurate, the torque waveform of the response will be different from the given torque, and the speed response will deviate from the ideal triangular wave shape. This method requires visual inspection, and different people may have different judgments, so the evaluation of the identification accuracy of the rotor time constant is very limited.
发明内容Contents of the invention
为了克服现有技术的不足，在电机转速可测且负载为直流发电机负载的前提下，本发明提出一种基于磁场定向准确性的感应电机转子时间常数的验证方法。In order to overcome the deficiencies of the prior art, on the premise that the motor speed can be measured and the load is a DC generator load, the present invention proposes a method for verifying the rotor time constant of an induction motor based on the accuracy of field orientation.
一种基于磁场定向准确性的感应电机转子时间常数的验证方法，A verification method for induction motor rotor time constants based on field orientation accuracy,
在鼠笼式感应电机间接转子磁场定向控制系统中，在不测量其转子电流的前提下，对转子侧参数“转子时间常数”的准确性进行判断，其实现步骤如下：In the indirect rotor field-oriented control system of the squirrel-cage induction motor, the accuracy of the rotor-side parameter "rotor time constant" is judged without measuring the rotor current, and the implementation steps are as follows:
(1)在间接转子磁场定向控制中，给定相等的转矩电流和励磁电流；(1) In the indirect rotor field oriented control, given equal torque current and excitation current;
(2)让电机以转矩给定运行的方式拖动直流发电机负载转动；(2) Let the motor drive the load of the DC generator to rotate in the mode of torque given operation;
(3)不断改变控制器中的转子时间常数值，并记录相应的电机稳态转速值；(3) Constantly change the rotor time constant value in the controller, and record the corresponding motor steady-state speed value;
(4)观察电机的稳态转速对应某一个转子时间常数值的时候达到最高，该转子时间常数(4) Observe that the steady-state speed of the motor reaches the highest value when it corresponds to a certain value of the rotor time constant.
值即为准确值。The value is the exact value.
所述步骤(1)包括如下步骤：Described step (1) comprises the steps:
(1A)在转子磁场定向控制中，各电量被变换到MT系下，其M轴和转子磁链矢量对齐，T轴由M轴逆时针旋转90°电角度确定；(1A) In the rotor field oriented control, each electrical quantity is transformed into the MT system, and its M axis is aligned with the rotor flux vector, and the T axis is determined by the 90° electrical angle of the M axis counterclockwise;
(1B)电流的T轴分量即为转矩电流，而M轴分量则为励磁电流；一般给定电流的M轴分量可选为电机的额定励磁电流，给定电流的T轴分量则等于M轴分量。(1B) The T-axis component of the current is the torque current, while the M-axis component is the excitation current; generally, the M-axis component of the given current can be selected as the rated excitation current of the motor, and the T-axis component of the given current is equal to M axis component.
所述步骤(2)包括如下步骤：Described step (2) comprises the steps:
(2A)要求电机负载的负载特性满足负载转矩随着电机转速的升高而相应升高，这里以直流发电机负载为例；(2A) The load characteristics of the motor load are required to meet the load torque and correspondingly increase with the increase of the motor speed. Here, the load of the DC generator is taken as an example;
(2B)电机的运行模式为转矩给定运行模式，即电机最终会运行于产生给定的电磁转矩的状态；由于负载的作用，电机最终会运行于某一稳定转速下。(2B) The operation mode of the motor is the torque given operation mode, that is, the motor will eventually run in the state of generating a given electromagnetic torque; due to the load, the motor will eventually run at a certain stable speed.
所述步骤(3)包括如下步骤：Described step (3) comprises the steps:
(3A)间接磁场定向控制中，其滑差按下式计算(3A) In indirect field oriented control, the slip is calculated by the following formula
其中，顶标“^”代表控制器中使用的数值，也即估计值；τr代表转子时间常数，ωsl代表滑差，而和分别为给定电流的T轴分量和M轴分量；最后，为了方便描述，我们将转子时间常数的倒数记作 Among them, the top mark "^" represents the value used in the controller, that is, the estimated value; τ r represents the rotor time constant, ω sl represents the slip, and and are the T-axis component and M-axis component of the given current respectively; finally, for the convenience of description, we record the reciprocal of the rotor time constant as
(3B)如果α的值不准确，那么转子磁场定向就是有偏的；这时，我们引入M′T′坐标系，其M′轴平行于实际转子磁链矢量，而T′轴则超前于M′轴90度；此时转子时间常数误差满足下式(3B) If the value of α is inaccurate, then the rotor magnetic field orientation is biased; at this time, we introduce the M'T' coordinate system, whose M' axis is parallel to the actual rotor flux vector, and the T' axis is ahead of The M' axis is 90 degrees; at this time, the error of the rotor time constant satisfy the following formula
这是因为，我们总能控制电机的同步速，所以有下式成立This is because we can always control the synchronous speed of the motor, so the following formula holds
其中，ωe和ωr分别代表同步速和电气转速；进一步地，电机的电磁转矩Tem满足下式Among them, ω e and ω r represent synchronous speed and electrical speed respectively; further, the electromagnetic torque T em of the motor satisfies the following formula
其中，为电机常值参数；通过令给定电流的M轴分量和T轴分量相等，即我们得到in, is the constant value parameter of the motor; by making the M-axis component and the T-axis component of the given current equal, that is we got
容易发现，电机产生的电磁转矩在的时候可以取到最大值也就是说，当且只有转子时间常数的值是准确的时候，即的时候，电机输出的转矩才能达到最大；It is easy to find that the electromagnetic torque generated by the motor is at The maximum value can be obtained when That is, if and only when the value of the rotor time constant is accurate, ie When the motor output torque can reach the maximum;
(3C)改变控制器中的转子时间常数值，就会影响电机的转矩输出能力；由于电机的负载转矩的值正比于电机的转速值，所以，尽管电机的电流给定保持不变，但是电机的稳态转速将随着转子时间常数值的改变而改变。(3C) Changing the value of the rotor time constant in the controller will affect the torque output capability of the motor; since the value of the load torque of the motor is proportional to the speed value of the motor, even though the given current of the motor remains unchanged, But the steady-state speed of the motor will change with the value of the rotor time constant.
所述步骤(4)包括如下步骤：Described step (4) comprises the steps:
(4A)在一定范围内改变转子时间常数的值，将观察到电机的稳态转速在对应某一个转子时间常数值的时候达到最高，该转子时间常数值即为准确值。(4A) Change the value of the rotor time constant within a certain range, and it will be observed that the steady-state speed of the motor reaches the highest when corresponding to a certain value of the rotor time constant, and the value of the rotor time constant is the accurate value.
本发明的有益效果：Beneficial effects of the present invention:
本发明描述了一个基于磁场定向准确性的鼠笼式感应电机的转子时间常数验证方法。该方法基于转子时间常数不准确对间接转子磁场定向控制的作用机制，以电机运行于转矩模式下的稳态转速为判据，自动对转子时间常数准确性的判断，其结果不需要进一步的人工判断，并且实施起来非常方便，将获得的数据制成图表将非常直观。The present invention describes a method for verifying the rotor time constant of a squirrel-cage induction motor based on field orientation accuracy. This method is based on the mechanism of the inaccurate rotor time constant on the indirect rotor field-oriented control, and uses the steady-state speed of the motor running in torque mode as the criterion to automatically judge the accuracy of the rotor time constant, and the result does not require further research. Manual judgment, and it is very convenient to implement, and it will be very intuitive to chart the obtained data.
附图说明Description of drawings
图1是实现本发明的间接转子磁场定向控制系统示意图；Fig. 1 is the schematic diagram of realizing the indirect rotor field orientation control system of the present invention;
图2是实现本发明的算法的实验验证图。Fig. 2 is an experimental verification diagram for implementing the algorithm of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的阐述。The present invention will be further elaborated below in conjunction with the accompanying drawings and embodiments.
参见图1，强电部分，三相交流电源经过不控整流得到直流母线电压Udc，供给电压源型逆变器，再得到供给异步电机的三相电源。Refer to Fig. 1, the part of high power, the three-phase AC power supply is uncontrolled rectified to obtain the DC bus voltage U dc , which is supplied to the voltage source inverter, and then the three-phase power supply to the asynchronous motor is obtained.
弱电部分，采用矢量控制方式，包含电压、电流传感器，3相/2相静止坐标变换模块，2相静止/2相同步速坐标变换模块，滑差、磁场角度等计算，额定励磁电流给定，速度环PI控制器模块，电流环PI控制器模块，2相同步速/2相静止坐标变换模块，电压空间矢量脉宽调制模块。The weak current part adopts vector control mode, including voltage and current sensors, 3-phase/2-phase static coordinate transformation module, 2-phase static/2-phase synchronous speed coordinate transformation module, calculation of slip, magnetic field angle, etc., rated excitation current given, Speed loop PI controller module, current loop PI controller module, 2-phase synchronous speed/2-phase static coordinate transformation module, voltage space vector pulse width modulation module.
本发明主要涉及本发明的转子时间常数准确性的验证方法，其他模块为感应电机间接磁场定向控制所需的功能性模块，为本领域公知常识。The present invention mainly relates to the method for verifying the accuracy of the rotor time constant of the present invention, and other modules are functional modules required for indirect field oriented control of induction motors, which are common knowledge in the field.
下面描述整个系统的工作流程，以介绍各模块的连接关系。The workflow of the whole system is described below to introduce the connection relationship of each module.
1.由传感器测得三相异步电机的各相电流与电压，输入“3相/2相静止坐标变换模块”，得到定子电流is的分量isα和isβ，定子电压us的分量usα和usβ；1. The current and voltage of each phase of the three-phase asynchronous motor are measured by the sensor, and input into the "3-phase/2-phase static coordinate transformation module" to obtain the components i sα and isβ of the stator current i s and the component u of the stator voltage u s sα and u sβ ;
2.在间接转子磁场定向控制中，给定相等的转矩电流和励磁电流；2. In indirect rotor field oriented control, given equal torque current and field current;
(2A)在转子磁场定向控制中，各电量被变换到MT系下，其M轴和转子磁链矢量对齐，T轴由M轴逆时针旋转90°电角度确定；(2A) In the rotor field-oriented control, each electrical quantity is transformed into the MT system, and its M-axis is aligned with the rotor flux vector, and the T-axis is determined by the 90° electrical angle of the M-axis counterclockwise;
(2B)电流的T轴分量即为转矩电流，而M轴分量则为励磁电流；一般给定电流的M轴分量可选为电机的额定励磁电流，给定电流的T轴分量则等于M轴分量。(2B) The T-axis component of the current is the torque current, while the M-axis component is the excitation current; generally, the M-axis component of the given current can be selected as the rated excitation current of the motor, and the T-axis component of the given current is equal to M axis component.
3.电流PI根据电流误差来计算电压给定。3. The current PI calculates the voltage reference according to the current error.
4.电压空间矢量脉宽调制模块以α轴电压usα和β轴电压usβ作为输入，输出三相PWM给逆变器的门极，从而让电机以转矩给定运行的方式拖动直流发电机负载转动；4. The voltage space vector pulse width modulation module takes the α-axis voltage u sα and the β-axis voltage u sβ as input, and outputs three-phase PWM to the gate of the inverter, so that the motor can drive the DC in the way of torque given operation Generator load rotation;
(4A)要求电机负载的负载特性满足负载转矩随着电机转速的升高而相应升高，这里以直流发电机负载为例；(4A) It is required that the load characteristics of the motor load meet the requirement that the load torque increases correspondingly with the increase of the motor speed. Here, the DC generator load is taken as an example;
(4B)电机的运行模式为转矩给定运行模式，即电机最终会运行于产生给定的电磁转矩的状态；由于负载的作用，电机最终会运行于某一稳定转速下。(4B) The operation mode of the motor is the torque given operation mode, that is, the motor will eventually run in the state of generating a given electromagnetic torque; due to the load, the motor will eventually run at a certain stable speed.
5.不断改变控制器中的转子时间常数值，并记录相应的电机稳态转速值；5. Constantly change the rotor time constant value in the controller, and record the corresponding motor steady-state speed value;
(5A)间接磁场定向控制中，其滑差按下式计算(5A) In indirect field oriented control, the slip is calculated by the following formula
其中，顶标“^”代表控制器中使用的数值，也即估计值；τr代表转子时间常数，ωsl代表滑差，而和分别为给定电流的T轴分量和M轴分量；最后，为了方便描述，我们将转子时间常数的倒数记作 Among them, the top mark "^" represents the value used in the controller, that is, the estimated value; τ r represents the rotor time constant, ω sl represents the slip, and and are the T-axis component and M-axis component of the given current respectively; finally, for the convenience of description, we record the reciprocal of the rotor time constant as
(5B)如果α的值不准确，那么转子磁场定向就是有偏的；这时，我们引入M′T′坐标系，其M′轴平行于实际转子磁链矢量，而T′轴则超前于M′轴90度；此时转子时间常数误差满足下式(5B) If the value of α is inaccurate, then the rotor magnetic field orientation is biased; at this time, we introduce the M'T' coordinate system, whose M' axis is parallel to the actual rotor flux vector, and the T' axis is ahead of The M' axis is 90 degrees; at this time, the error of the rotor time constant satisfy the following formula
这是因为，我们总能控制电机的同步速，所以有下式成立This is because we can always control the synchronous speed of the motor, so the following formula holds
其中，ωe和ωr分别代表同步速和电气转速；进一步地，电机的电磁转矩Tem满足下式Among them, ω e and ω r represent synchronous speed and electrical speed respectively; further, the electromagnetic torque T em of the motor satisfies the following formula
其中，为电机常值参数；通过令给定电流的M轴分量和T轴分量相等，即我们得到in, is the constant value parameter of the motor; by making the M-axis component and the T-axis component of the given current equal, that is we got
容易发现，电机产生的电磁转矩在的时候可以取到最大值也就是说，当且只有转子时间常数的值是准确的时候，即的时候，电机输出的转矩才能达到最大；It is easy to find that the electromagnetic torque generated by the motor is at The maximum value can be obtained when That is, if and only when the value of the rotor time constant is accurate, ie When the motor output torque can reach the maximum;
(5C)改变控制器中的转子时间常数值，就会影响电机的转矩输出能力；由于电机的负载转矩的值正比于电机的转速值，所以，尽管电机的电流给定保持不变，但是电机的稳态转速将随着转子时间常数值的改变而改变。(5C) Changing the value of the rotor time constant in the controller will affect the torque output capability of the motor; since the value of the load torque of the motor is proportional to the speed value of the motor, even though the given current of the motor remains unchanged, But the steady-state speed of the motor will change with the value of the rotor time constant.
6.观察电机的稳态转速对应某一个转子时间常数值的时候达到最高，该转子时间常数值即为准确值。6. Observe that the steady-state speed of the motor reaches the highest value when it corresponds to a certain rotor time constant value, and the rotor time constant value is the accurate value.
(6A)在一定范围内改变转子时间常数的值，将观察到电机的稳态转速在对应某一个转子时间常数值的时候达到最高，该转子时间常数值即为准确值。(6A) Change the value of the rotor time constant within a certain range, and it will be observed that the steady-state speed of the motor reaches the highest when corresponding to a certain value of the rotor time constant, and the value of the rotor time constant is the accurate value.
7.相应的实验结果如图2所示。实验这里我们设计一个转矩模式运行实验，以验证所用转子时间常数值的准确性。因此，转速由码盘测量获得，电机的负载选为直流发电机负载。由于在不同的实验中，转矩给定和励磁给定都是保持不变的，电机最终稳定的转速的大小就是电机输出转矩的能力强弱的指标。我们发现电机的稳态转速ωr|t＝∞在控制器中转子时间常数的倒数的时候达到最大。7. The corresponding experimental results are shown in Figure 2. Experiment Here we design a torque mode run experiment to verify the accuracy of the rotor time constant value used. Therefore, the rotational speed is obtained by measuring the code disc, and the load of the motor is selected as the DC generator load. Since in different experiments, the given torque and excitation are kept constant, the final stable speed of the motor is the index of the ability of the motor to output torque. We find that the steady-state speed of the motor ω r | t = ∞ is the reciprocal of the rotor time constant in the controller reaches the maximum when .
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