基于改进转矩模型的异步电机转子时间常数在线辨识算法
|
摘要
在异步电机间接矢量控制系统中,基于电磁转矩的模型参考自适应系统可以实现转子时间常数的在线辨识。但是,转矩模型的有效作用区间仅限于电机重载工况。通过建立辨识系统的小信号模型深入分析转矩模型的稳定性,得出结论:转矩模型具有2个平衡点,即期望平衡点和错误平衡点;错误平衡点是限制转矩模型作用范围的根本原因。为此,通过修改传统转矩模型中的参考转矩计算式,进而构造一种改进转矩模型。借助所提算法,可以避免错误平衡点问题。此外,从系统稳定运行和优化收敛过程2个角度给出比例积分自适应律参数的设计思路。实验验证了理论分析的正确性。
Electromagnetic torque is one of the feasible variables to model reference adaptive systems(MRASs) for online rotor time constant updating in indirect field oriented induction motor drives. However, the effective range of the torque model is limited to the heavy-load operation. In this paper, the stability of the torque model was further analyzed based on the established small-signal model of the estimation system. It was concluded that the torque model was characterized by the desired equilibrium point(EP) and the false EP. Moreover, the root cause of the constraints of the torque model was coming from the false EP. Then, an improved torque based MRAS was proposed through a simple modification of the traditional reference torque model. With the proposed method, the false EP was naturally avoided in practice. Besides, design strategy of the adaptation proportional-integral(PI) gains was proposed to achieve stability and optimized dynamic performance over the whole operation range. The effectiveness of the proposed theory is validated through experiments.
Electromagnetic torque is one of the feasible variables to model reference adaptive systems(MRASs) for online rotor time constant updating in indirect field oriented induction motor drives. However, the effective range of the torque model is limited to the heavy-load operation. In this paper, the stability of the torque model was further analyzed based on the established small-signal model of the estimation system. It was concluded that the torque model was characterized by the desired equilibrium point(EP) and the false EP. Moreover, the root cause of the constraints of the torque model was coming from the false EP. Then, an improved torque based MRAS was proposed through a simple modification of the traditional reference torque model. With the proposed method, the false EP was naturally avoided in practice. Besides, design strategy of the adaptation proportional-integral(PI) gains was proposed to achieve stability and optimized dynamic performance over the whole operation range. The effectiveness of the proposed theory is validated through experiments.
引文
[1]Suman M,Chandan C,Yoichi H.Model reference adaptive controller-based rotor resistance and speed estimation techniques for vector controlled induction motor drive utilizing reactive power[J].IEEE Transactions on Industrial electronics,2008,55(2):594-601.
[2]Bose B K.现代电力电子学与交流传动[M].王聪译.北京:机械工业出版社,2005:294-296.Bose B K.Modern power electronics and AC drives[M].Translated by Wang Chong.Beijing:China Machine Press,2005:294-296(in Chinese).
[3]Toliyat H A,Levi E,Raina M.A review of RFO induction motor parameter estimation techniques[J].IEEETransactions on Energy Conversion,2000,18(2):271-283.
[4]Levi E,Sokola M,Vukosavic S N.A method for magnetizing curve identification in rotor flux oriented induction machines[J].IEEE Transactions on Energy Conversion,2000,15(2):157-162.
[5]曹朋朋,张兴,杨淑英,等.基于李雅普诺夫稳定理论的异步电机在线转子时间常数辨识方法[J].中国电机工程学报,2016,36(14):3947-3954.Cao Pengpeng,Zhang Xing,Yang Shuying,et al.Online rotor time constant identification of induction motors based on Lyapunov stability theory[J].Proceedings of the CSEE,2016,36(14):3947-3954(in Chinese).
[6]吕昊,马伟明,聂子玲,等.磁场定向不准对感应电动机系统性能影响的分析[J].电工技术学报,2005,20(8):84-88.LüHao,Ma Weiming,Nie Ziling,et al.Analysis of induction machine system performance influence about field-oriented inaccuracy[J].Transactions of China Electrotechnical Society,2005,20(8):84-88(in Chinese).
[7]Hasan S M N,Husain I.A Luenberger-sliding mode observer for online parameter estimation and adaptation in high-performance induction motor drives[J].IEEETransactions on Industry Applications,2009,45(2):772-781.
[8]Amuliu Bogdan Proca,Ali Keyhani.Sliding-mode flux observer with online rotor parameter estimation for induction motors[J].IEEE Transactions on Industrial Electronics,2007,54(2):716-723.
[9]Degner M W,Guerrero J M,Briz F.Slip-gain estimation in field-orientation-controlled induction machines using the system transient response[J].IEEE Transactions on Industry Applications,2006,42(3):702-711.
[10]Marcetic D P,Vukosavic S N.Speed-sensorless AC drives with the rotor time constant parameter update[J].IEEETransactions on Industrial Electronics,2007,54(5):2618-2625.
[11]Jevremovic V R,Vasic V,Marcetic D P,et al.Speed sensorless control of induction motor based on reactive power with rotor time constant identification[J].IETElectric Power Applications,2010,4(6):462-473.
[12]Kubota H,Matsuse K.Speed sensorless field-oriented control of induction motor with rotor resistance adaptation[J].IEEE Transactions on Industry Applications,1994,30(5):1219-1224.
[13]Wang Kai,Chen Bin,Shen Guangtong,et al.Online updating of rotor time constant based on combined voltage and current mode flux observer for speed-sensorless ACdrives[J].IEEE Transactions on Industrial Electronic,2014,61(9):4583-4593.
[14]Karanayil B,Rahman M F,Grantham C.On-line stator and rotor resistance estimation scheme using artificial neural networks for vector controlled speed sensorless induction motor drive[J].IEEE Transactions on Industrial Electronic,2007,54(1):167-176.
[15]Barut M,Bogosyan S,Gokasan M.Experimental evaluation of braided EKF for sensorless control of induction motors[J].IEEE Transactions on Industrial Electronic,2008,55(2):620-632.
[16]张杰,柴建云,孙旭东,等.基于参数在线校正的电动汽车[J].电工技术学报,2014,29(7):90-96.Zhang Jie,Chai Jianyun,Sun Xudong,et al.Indirect vector control of induction motor drives for electric vehicles based on parameters on-line tuning[J].Transactions of China Electrotechnical Society,2014,29(7):90-96(in Chinese).
[17]Yang shuying,Cao Pengpeng,Zhang Xing.Stability analysis of q-axis rotor flux based model reference adaptive system updating rotor time constant in induction motor drives[J].CES Transactions on Electrical Machines and Systems,2017,1(2):109-116.
[18]Yu X,Dunnigan M W,Williams B W.A novel rotor resistance identification method for an indirect rotor flux-orientated controlled induction machine system[J].IEEE Transactions on Power Electronics,2002,17(3):353-364.
[19]Kan J,Zhang K,Wang Z.Indirect vector control with simplified rotor resistance adaptation for induction machines[J].IET Power Electronics,2015,8(7):1284-1294.
[20]王高林,杨荣峰,张家皖,等.一种感应电机转子时间常数MRAS的在线辨识方法[J].电工技术学报,2012,27(4):49-53.Wang Gaolin,Yang Rongfeng,Zhang Jiawan,et al.Rotor time constant on-line estimation of induction motors based on MRAS[J].Transactions of China Electrotechnical Society,2012,27(4):49-53(in Chinese).
[21]陆海峰,瞿文龙,张磊,等.一种基于无功功率的异步电机矢量控制转子磁场准确定向方法[J].中国电机工程学报,2005,25(16):116-120.Lu Haifeng,Qu Wenlong,Zhang Lei,et al.A novel rotor flux oriented scheme of induction motor based on reactive power[J].Proceedings of the CSEE,2005,25(16):116-120(in Chinese).
[22]Lorenz R D,Lawson D B.A simplified approach to continuous on-line tuning of field-oriented induction machine drives[J].IEEE Transactions on Industry Applications,1990,26:420-424.
[23]Rowan T M,Kerrman R J,Leggate D.A simple on-line adaption for indirect field orientation of an induction machine[J].IEEE Transactions on Industry Applications,1991,27(4):720-727.
[24]Mapelli F L,Bezzolato A,Tarsitano D.A rotor resistance MRAS estimator for induction motor traction drive for electrical vehicles[C]//IEEE international conference on Electrical Machines,Marseille,2012.
[25]燕俊峰,王晓琳,廖启新.一种利用转矩观测矫正异步电机转子磁场定向的方法[J].中国电机工程学报,2015,35(17):4517-4523.Yan Junfeng,Wang Xiaolin,Liao Qixin.A correction method for rotor field orientation of induction machine based on torque observation[J].Proceedings of the CSEE,2015,35(17):4517-4523(in Chinese).
[26]Cao Pengpeng,Zhang Xing,Yang Shuying.A unified model based analysis of MRAS for online rotor time constant estimation in an induction motor drive[J].IEEETransactions on Industrial.Electronics,2017,64(4):4361-4371.
[27]Stojic D,Milinkovic M,Veinnovic S,et al.Improved stator flux estimator for speed sensorless induction motor drives[J].IEEE Transactions on Power Electronics,2015,30(4):2363-2370.
[28]宋文祥,尹赟,曹大鹏.感应电机静态补偿电压模型及其稳定性分析[J].中国电机工程学报,2012,32(24):117-125.Song Wenxiang,Yin Yun,Cao Dapeng.Modeling and stability analysis of the static compensation voltage model for induction motors[J].Proceedings of the CSEE,2012,32(24):117-125(in Chinese).
[29]Suwankawin S,Sangwongwanich S.Design strategy of an adaptive full-order observer for speed-sensorless induction motor drives-tracking performance and stabilization[J].IEEE Transactions on Industrial electronics,2006,53(1):96-119.
[30]Mastorocostas C,Kioskeridis I,Margaris N.Thermal and slip effects on rotor time constant in vector controlled induction motor drives[J].IEEE Transactions on Power Electronics,2006,21(2):495-504.
[2]Bose B K.现代电力电子学与交流传动[M].王聪译.北京:机械工业出版社,2005:294-296.Bose B K.Modern power electronics and AC drives[M].Translated by Wang Chong.Beijing:China Machine Press,2005:294-296(in Chinese).
[3]Toliyat H A,Levi E,Raina M.A review of RFO induction motor parameter estimation techniques[J].IEEETransactions on Energy Conversion,2000,18(2):271-283.
[4]Levi E,Sokola M,Vukosavic S N.A method for magnetizing curve identification in rotor flux oriented induction machines[J].IEEE Transactions on Energy Conversion,2000,15(2):157-162.
[5]曹朋朋,张兴,杨淑英,等.基于李雅普诺夫稳定理论的异步电机在线转子时间常数辨识方法[J].中国电机工程学报,2016,36(14):3947-3954.Cao Pengpeng,Zhang Xing,Yang Shuying,et al.Online rotor time constant identification of induction motors based on Lyapunov stability theory[J].Proceedings of the CSEE,2016,36(14):3947-3954(in Chinese).
[6]吕昊,马伟明,聂子玲,等.磁场定向不准对感应电动机系统性能影响的分析[J].电工技术学报,2005,20(8):84-88.LüHao,Ma Weiming,Nie Ziling,et al.Analysis of induction machine system performance influence about field-oriented inaccuracy[J].Transactions of China Electrotechnical Society,2005,20(8):84-88(in Chinese).
[7]Hasan S M N,Husain I.A Luenberger-sliding mode observer for online parameter estimation and adaptation in high-performance induction motor drives[J].IEEETransactions on Industry Applications,2009,45(2):772-781.
[8]Amuliu Bogdan Proca,Ali Keyhani.Sliding-mode flux observer with online rotor parameter estimation for induction motors[J].IEEE Transactions on Industrial Electronics,2007,54(2):716-723.
[9]Degner M W,Guerrero J M,Briz F.Slip-gain estimation in field-orientation-controlled induction machines using the system transient response[J].IEEE Transactions on Industry Applications,2006,42(3):702-711.
[10]Marcetic D P,Vukosavic S N.Speed-sensorless AC drives with the rotor time constant parameter update[J].IEEETransactions on Industrial Electronics,2007,54(5):2618-2625.
[11]Jevremovic V R,Vasic V,Marcetic D P,et al.Speed sensorless control of induction motor based on reactive power with rotor time constant identification[J].IETElectric Power Applications,2010,4(6):462-473.
[12]Kubota H,Matsuse K.Speed sensorless field-oriented control of induction motor with rotor resistance adaptation[J].IEEE Transactions on Industry Applications,1994,30(5):1219-1224.
[13]Wang Kai,Chen Bin,Shen Guangtong,et al.Online updating of rotor time constant based on combined voltage and current mode flux observer for speed-sensorless ACdrives[J].IEEE Transactions on Industrial Electronic,2014,61(9):4583-4593.
[14]Karanayil B,Rahman M F,Grantham C.On-line stator and rotor resistance estimation scheme using artificial neural networks for vector controlled speed sensorless induction motor drive[J].IEEE Transactions on Industrial Electronic,2007,54(1):167-176.
[15]Barut M,Bogosyan S,Gokasan M.Experimental evaluation of braided EKF for sensorless control of induction motors[J].IEEE Transactions on Industrial Electronic,2008,55(2):620-632.
[16]张杰,柴建云,孙旭东,等.基于参数在线校正的电动汽车[J].电工技术学报,2014,29(7):90-96.Zhang Jie,Chai Jianyun,Sun Xudong,et al.Indirect vector control of induction motor drives for electric vehicles based on parameters on-line tuning[J].Transactions of China Electrotechnical Society,2014,29(7):90-96(in Chinese).
[17]Yang shuying,Cao Pengpeng,Zhang Xing.Stability analysis of q-axis rotor flux based model reference adaptive system updating rotor time constant in induction motor drives[J].CES Transactions on Electrical Machines and Systems,2017,1(2):109-116.
[18]Yu X,Dunnigan M W,Williams B W.A novel rotor resistance identification method for an indirect rotor flux-orientated controlled induction machine system[J].IEEE Transactions on Power Electronics,2002,17(3):353-364.
[19]Kan J,Zhang K,Wang Z.Indirect vector control with simplified rotor resistance adaptation for induction machines[J].IET Power Electronics,2015,8(7):1284-1294.
[20]王高林,杨荣峰,张家皖,等.一种感应电机转子时间常数MRAS的在线辨识方法[J].电工技术学报,2012,27(4):49-53.Wang Gaolin,Yang Rongfeng,Zhang Jiawan,et al.Rotor time constant on-line estimation of induction motors based on MRAS[J].Transactions of China Electrotechnical Society,2012,27(4):49-53(in Chinese).
[21]陆海峰,瞿文龙,张磊,等.一种基于无功功率的异步电机矢量控制转子磁场准确定向方法[J].中国电机工程学报,2005,25(16):116-120.Lu Haifeng,Qu Wenlong,Zhang Lei,et al.A novel rotor flux oriented scheme of induction motor based on reactive power[J].Proceedings of the CSEE,2005,25(16):116-120(in Chinese).
[22]Lorenz R D,Lawson D B.A simplified approach to continuous on-line tuning of field-oriented induction machine drives[J].IEEE Transactions on Industry Applications,1990,26:420-424.
[23]Rowan T M,Kerrman R J,Leggate D.A simple on-line adaption for indirect field orientation of an induction machine[J].IEEE Transactions on Industry Applications,1991,27(4):720-727.
[24]Mapelli F L,Bezzolato A,Tarsitano D.A rotor resistance MRAS estimator for induction motor traction drive for electrical vehicles[C]//IEEE international conference on Electrical Machines,Marseille,2012.
[25]燕俊峰,王晓琳,廖启新.一种利用转矩观测矫正异步电机转子磁场定向的方法[J].中国电机工程学报,2015,35(17):4517-4523.Yan Junfeng,Wang Xiaolin,Liao Qixin.A correction method for rotor field orientation of induction machine based on torque observation[J].Proceedings of the CSEE,2015,35(17):4517-4523(in Chinese).
[26]Cao Pengpeng,Zhang Xing,Yang Shuying.A unified model based analysis of MRAS for online rotor time constant estimation in an induction motor drive[J].IEEETransactions on Industrial.Electronics,2017,64(4):4361-4371.
[27]Stojic D,Milinkovic M,Veinnovic S,et al.Improved stator flux estimator for speed sensorless induction motor drives[J].IEEE Transactions on Power Electronics,2015,30(4):2363-2370.
[28]宋文祥,尹赟,曹大鹏.感应电机静态补偿电压模型及其稳定性分析[J].中国电机工程学报,2012,32(24):117-125.Song Wenxiang,Yin Yun,Cao Dapeng.Modeling and stability analysis of the static compensation voltage model for induction motors[J].Proceedings of the CSEE,2012,32(24):117-125(in Chinese).
[29]Suwankawin S,Sangwongwanich S.Design strategy of an adaptive full-order observer for speed-sensorless induction motor drives-tracking performance and stabilization[J].IEEE Transactions on Industrial electronics,2006,53(1):96-119.
[30]Mastorocostas C,Kioskeridis I,Margaris N.Thermal and slip effects on rotor time constant in vector controlled induction motor drives[J].IEEE Transactions on Power Electronics,2006,21(2):495-504.