变频空调永磁同步电机的参数辨识
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摘要
随着人民生活水平的不断提高及科技的持续进步,制冷和空调业得到了很大的发展,已经成为衡量一个社会经济实力、科技水平和人民生活质量的重要标志之一。同时随着世界能源危机的到来,节能、舒适成了各大空调厂商竞争的主要焦点。因此以节能静音的优点著称的变频空调得到了越来越广泛的应用。但是在变频空调产品的用户使用中,由于压缩机拖动电机参数不准确造成的压缩机运行状况不良等现象,降低了系统效率,同时影响了用户使用的舒适度。因此本课题根据业界的要求,对变频空调压缩机电机的参数识别进行研究,以此优化控制参数,从而使变频空调的各项指标得到提高,达到环保舒适的目的。
本文在深入分析永磁同步电机数学模型及其矢量控制的基础上,研究永磁同步电机在各个状态下的运动规律,并且依此构建电机电气参数的辨识方案。同时在Matlab/Simulink环境下对方案进行了仿真分析。
针对以往的电机参数辨识主要通过手动测试或者空载、堵转等试验方法,以及在线辨识技术对系统要求高的缺点,本文从控制理论的角度出发,设计相应的辨识控制模块,进行参数的自动离线辨识。同时在深入分析系统的实际运行特性的基础上,综合考虑在辨识过程中由于开关时间和器件压降等因素对辨识精度造成的影响,对辨识方案进行合理补偿,提高了辨识精度。
最后本课题的样机以IRMCF312芯片为主要控制芯片,采用数字有源功率因数校正技术和无传感器矢量控制技术实现对永磁同步压缩机的控制。并且结合本控制系统,开发了具有离线辨识功能的实验系统。在此系统上通过仿真分析和实验验证了所制定的辨识方案的正确性,能够较准确的对电机的电气参数进行辨识,达到了预期效果。
With the continuous improvement of living standards and the continued progress of technology, refrigeration and air conditioning industry has a great development, has become an important symbol of the measurement of a socio-economic strength, technological levels and quality of life. At the same time as the arrival of the world's energy crisis, energy conservation and comfort became the major air conditioning companies’main focus of competition. Therefore, in order to save energy-saving and quiet advantages, variable-frequency air conditioner has been applied more and more. However, when variable-frequency air conditioner users used, as for the compressor drive motor parameters being not exactly, bad situation caused by such phenomena reduced the system efficiency, and influences the user's comfortable feeling. Therefore, this issue according to the industry’s needs, research on the variable-frequency air conditioner compressor’s parameter identification, in order to optimal controls parameters, so that the target variable-frequency air conditioner’performance is improved, to achieve the purpose of environmental comfort.
This issue based on in-depth analysis of permanent magnet synchronous motor(PMSM) model and its vector control, research in various state of PMSM under the law of motion, and so as to construct electric motor parameter identification program. At the same time, simulate the program in the Matlab / Simulink environment
In the past, motor parameter identification primarily through manual testing, no-load, blocking test and other methods. And online identification technology had a high system requirements ,so this paper from the system control point of view, design the corresponding identify control modules of off-line automatic parameters recognition. With the in-depth analysis of the system actual operating characteristics, and comprehensive consideration factors which could reduce the accuracy such as switching delay time and device voltage drop, compensate the identification program, and improve the estimation accuracy.
In this paper, we use IRMCF312 as the main control chip, and control the permanent magnet synchronous compressor using the digital active power factor correction technology and sensorless vector control technology. Finally, develop the control experimental system with the off-line identification function. In this system, the motor electrical parameters can be accurate identified, finally achieve the desired result.
本文在深入分析永磁同步电机数学模型及其矢量控制的基础上,研究永磁同步电机在各个状态下的运动规律,并且依此构建电机电气参数的辨识方案。同时在Matlab/Simulink环境下对方案进行了仿真分析。
针对以往的电机参数辨识主要通过手动测试或者空载、堵转等试验方法,以及在线辨识技术对系统要求高的缺点,本文从控制理论的角度出发,设计相应的辨识控制模块,进行参数的自动离线辨识。同时在深入分析系统的实际运行特性的基础上,综合考虑在辨识过程中由于开关时间和器件压降等因素对辨识精度造成的影响,对辨识方案进行合理补偿,提高了辨识精度。
最后本课题的样机以IRMCF312芯片为主要控制芯片,采用数字有源功率因数校正技术和无传感器矢量控制技术实现对永磁同步压缩机的控制。并且结合本控制系统,开发了具有离线辨识功能的实验系统。在此系统上通过仿真分析和实验验证了所制定的辨识方案的正确性,能够较准确的对电机的电气参数进行辨识,达到了预期效果。
With the continuous improvement of living standards and the continued progress of technology, refrigeration and air conditioning industry has a great development, has become an important symbol of the measurement of a socio-economic strength, technological levels and quality of life. At the same time as the arrival of the world's energy crisis, energy conservation and comfort became the major air conditioning companies’main focus of competition. Therefore, in order to save energy-saving and quiet advantages, variable-frequency air conditioner has been applied more and more. However, when variable-frequency air conditioner users used, as for the compressor drive motor parameters being not exactly, bad situation caused by such phenomena reduced the system efficiency, and influences the user's comfortable feeling. Therefore, this issue according to the industry’s needs, research on the variable-frequency air conditioner compressor’s parameter identification, in order to optimal controls parameters, so that the target variable-frequency air conditioner’performance is improved, to achieve the purpose of environmental comfort.
This issue based on in-depth analysis of permanent magnet synchronous motor(PMSM) model and its vector control, research in various state of PMSM under the law of motion, and so as to construct electric motor parameter identification program. At the same time, simulate the program in the Matlab / Simulink environment
In the past, motor parameter identification primarily through manual testing, no-load, blocking test and other methods. And online identification technology had a high system requirements ,so this paper from the system control point of view, design the corresponding identify control modules of off-line automatic parameters recognition. With the in-depth analysis of the system actual operating characteristics, and comprehensive consideration factors which could reduce the accuracy such as switching delay time and device voltage drop, compensate the identification program, and improve the estimation accuracy.
In this paper, we use IRMCF312 as the main control chip, and control the permanent magnet synchronous compressor using the digital active power factor correction technology and sensorless vector control technology. Finally, develop the control experimental system with the off-line identification function. In this system, the motor electrical parameters can be accurate identified, finally achieve the desired result.
引文
1许玫.阴云笼罩2009年全球空调市场.电器. 2009, (3):69~70
2 2008年中国空调行业研究咨询报告. 2008:2~14
3成建宏.我国制冷空调的节能标准现状及发展趋势.第十三届全国热泵与系统节能技术大会论文集. 2008:23~26
4唐任远.现代永磁电机理论与设计.机械工业出版社, 1997: 161~272
5谭泓,曲国杰.基于系统识别理论在线参数辨识的永磁同步电动机无传感器控制.电力电子. 2007,05:27~36
6殷光文.定速及变频空调器节能技术的探讨.暖通空调. 2009, 39(1):88~93
7张华俊,王俊,杨晓第,宋洪涛,孙民.家用空调压缩机的发展趋势.压缩机技术. 2000, (5): 44~46
8罗慧,刘军锋,万淑芸.感应电机参数的离线辨识.电气传动. 2006, 36 (8): 16~21
9 Raja Ramakrishnan, Rakib Islam, Mohammad Islam. Real Time Estimation of Parameters for Controlling and Monitoring Permanent Magnet Synchronous Motors. IEEE Transactions on Industrial Electronics. 2009,22(4):1194~1199
10蔡超,陈光东,段三丁,成志明.最小二乘法在感应电机参数辨识中的应用研究.武汉化工学院学报. 2003, 25(2):57~60
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12林伟杰.永磁同步电机伺服系统控制策略的研究.浙江大学博士论文. 2005:9~18
13冬雷,李永东,王文森,李明才.矢量控制中感应电动机转子电阻的自适应辨识.电工技术学报. 2002, 17(4):13~18
14 Y.A.-R.I. Mohamed. Design and Implementation of a Robust Current-Control Scheme for a PMSM Vector Drive with a Simple Adaptive Disturbance Observer. IEEE Transactions on Industrial Electronics. 2007, 54(4):1981~1988
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16 Huijun Wang, Dong-Hee Lee, Zhen-Guo Lee, Jin-Woo Ahn. Vibration RejectionScheme of Servo Drive System with Adaptive Notch Filter. Power Electronics Specialists Conference, 2006. IEEE 37th Annual, 2006:1~6
17 F. Khatounian, S. Moreau, E. Monmasson, A. Janot, F. Louveau. Parameters Estimation of the Actuator used in Haptic Interfaces: Comparison of two Identification Methods. IEEE ISIE, Canada. 2006:211-216
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20 J. Nakatsugawa, Y. Notohara, D. Li, Y. Iwaji. Inductance Measurement Method for Permanent Magnet Synchronous Motors Using AC with DC Bias. Fuzzy Systems. IEEE World Congress on Computational Intelligence. Proceedings of the Third IEEE Conference, 2008:810 ~814
21胡建平.模糊控制技术在暖通空调领域的应用综述.制冷空调与电力机械. 2005, (5):35~38
22王永富,柴天佑.自适应模糊控制理论的研究综述.控制工程. 2006, 13(3):193~198
23刘洋,房庆海,辜小兵.调速永磁同步电动机参数的离线辨识.冶金自动化.2008,1:528-533
24尚喆,赵荣祥,窦汝振.基于自适应滑模观测器的永磁同步电机无位置传感器控制研究.中国电机工程学报. 2007, 27(1):23~27
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28任荣杰,高强,王卫.永磁同步压缩机自适应内模控制方法研究.伺服控制. 2009, (2):27~29
29王卫平.内置式永磁同步电机交、直轴电枢反应电抗的准确计算.微电机. 2007, 7(2):24~28
30武立国,温旭辉,赵峰.永磁同步电机电感参数测量系统研究.微电机. 2008, 41(12):56~60
31 L. Liu, D.Cartes. Synchronization based adaptive parameter identification for permanent magnet synchronous motors. IET Control Theory , 2007, 1(4): 1015~1022
32黄海宏,张敬华.电势法计算永磁同步电机的电枢反应电抗.电机技术. 1999, (4):28~31
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2 2008年中国空调行业研究咨询报告. 2008:2~14
3成建宏.我国制冷空调的节能标准现状及发展趋势.第十三届全国热泵与系统节能技术大会论文集. 2008:23~26
4唐任远.现代永磁电机理论与设计.机械工业出版社, 1997: 161~272
5谭泓,曲国杰.基于系统识别理论在线参数辨识的永磁同步电动机无传感器控制.电力电子. 2007,05:27~36
6殷光文.定速及变频空调器节能技术的探讨.暖通空调. 2009, 39(1):88~93
7张华俊,王俊,杨晓第,宋洪涛,孙民.家用空调压缩机的发展趋势.压缩机技术. 2000, (5): 44~46
8罗慧,刘军锋,万淑芸.感应电机参数的离线辨识.电气传动. 2006, 36 (8): 16~21
9 Raja Ramakrishnan, Rakib Islam, Mohammad Islam. Real Time Estimation of Parameters for Controlling and Monitoring Permanent Magnet Synchronous Motors. IEEE Transactions on Industrial Electronics. 2009,22(4):1194~1199
10蔡超,陈光东,段三丁,成志明.最小二乘法在感应电机参数辨识中的应用研究.武汉化工学院学报. 2003, 25(2):57~60
11苏健勇,杨贵杰,李铁才. PMSM扩展状态滑模观测器及转子位置和速度估算.电机与控制学报. 2008, 12(5):524~529
12林伟杰.永磁同步电机伺服系统控制策略的研究.浙江大学博士论文. 2005:9~18
13冬雷,李永东,王文森,李明才.矢量控制中感应电动机转子电阻的自适应辨识.电工技术学报. 2002, 17(4):13~18
14 Y.A.-R.I. Mohamed. Design and Implementation of a Robust Current-Control Scheme for a PMSM Vector Drive with a Simple Adaptive Disturbance Observer. IEEE Transactions on Industrial Electronics. 2007, 54(4):1981~1988
15 Y.A.-R.I. Mohamed. A Current Control Scheme with an Adaptive Internal Model for Robust Current Regulation and Torque Ripple Minimization in PMSM Vector Drive. Electric Machines & Drives Conference, 2007. IEMDC'07. IEEE International, 2007:300~305
16 Huijun Wang, Dong-Hee Lee, Zhen-Guo Lee, Jin-Woo Ahn. Vibration RejectionScheme of Servo Drive System with Adaptive Notch Filter. Power Electronics Specialists Conference, 2006. IEEE 37th Annual, 2006:1~6
17 F. Khatounian, S. Moreau, E. Monmasson, A. Janot, F. Louveau. Parameters Estimation of the Actuator used in Haptic Interfaces: Comparison of two Identification Methods. IEEE ISIE, Canada. 2006:211-216
18 T. Hasegawa, T. Furuhashi, Y. Uchikawa. Approximated Discrete System of Fuzzy Control System and Stability Analysis. Fuzzy Systems, 1996. Proceedings of the Fifth IEEE International Conference, 1996, 3:2155~2161
19 N. Iijima, K. Koizumi, H. Mitsui, M. Sone. Fuzzy Control Design System based on DSP. Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence. Proceedings of the Third IEEE Conference, 1994, 3:1786 ~1790
20 J. Nakatsugawa, Y. Notohara, D. Li, Y. Iwaji. Inductance Measurement Method for Permanent Magnet Synchronous Motors Using AC with DC Bias. Fuzzy Systems. IEEE World Congress on Computational Intelligence. Proceedings of the Third IEEE Conference, 2008:810 ~814
21胡建平.模糊控制技术在暖通空调领域的应用综述.制冷空调与电力机械. 2005, (5):35~38
22王永富,柴天佑.自适应模糊控制理论的研究综述.控制工程. 2006, 13(3):193~198
23刘洋,房庆海,辜小兵.调速永磁同步电动机参数的离线辨识.冶金自动化.2008,1:528-533
24尚喆,赵荣祥,窦汝振.基于自适应滑模观测器的永磁同步电机无位置传感器控制研究.中国电机工程学报. 2007, 27(1):23~27
25 A. Garcia-Gerrada, J. A. tanfiq. Convergence of Rotor Flux Estimation in Field Oriented Control. Third International Conference on Power Electronics and Variable-Speed Drives. 1998:291~295
26徐祖华.模型预测控制理论及应用研究.浙江大学博士论文. 2004:1~22
27 Qiang Gao, Rongjie Ren, Wei Wang. Research on Fuzzy-PID Controller in Variable Frequency Air Conditioner System. 2nd International Conference on Bioinformatics and Biomedical Engineering. 2008:3879~3882
28任荣杰,高强,王卫.永磁同步压缩机自适应内模控制方法研究.伺服控制. 2009, (2):27~29
29王卫平.内置式永磁同步电机交、直轴电枢反应电抗的准确计算.微电机. 2007, 7(2):24~28
30武立国,温旭辉,赵峰.永磁同步电机电感参数测量系统研究.微电机. 2008, 41(12):56~60
31 L. Liu, D.Cartes. Synchronization based adaptive parameter identification for permanent magnet synchronous motors. IET Control Theory , 2007, 1(4): 1015~1022
32黄海宏,张敬华.电势法计算永磁同步电机的电枢反应电抗.电机技术. 1999, (4):28~31
33赵莉,郭秋鉴,赵峰.内嵌式永磁同步电动机电感参数辨识.微电机. 2008, 41(10):35~39
34高景德,王祥珩,李发海.交流电机及其系统的分析.清华大学出版社,2005:48~65
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