异步电机参数的在线辨识研究
摘要
异步电机的参数辨识既是基础理论课题，又是应用课题。目前有两类辨识方法。一为频域响应法，该法在计算方法上已较为成熟，算法稳定性较好且具有一定的滤波功能；但其缺点是对输入的信号要求严格。频响分析是建立在线性系统基础上，它不能反映动态过程中的非线性特征。二为时域辨识法，其最大优点是能够自动计及工况影响，一旦辨识成功，很多因素都自然包含在参数的估计值中，简单易行、计算简便、不需附加任何其他条件。但时域辨识法用于在线辨识时也存在一些问题：如周围环境的影响；辨识信号不能太大否则会影响电机的正常工作；在线辨识还有可能遇到不同实验或同一实验所识别的参数不稳定的问题。目前时域辨识方法主要有卡尔曼滤波法和最小二乘法，这两种方法一是存在局部最小或收敛性问题，二是往往采取线性化而带来误差。
本文分析了上述辨识方法，结合实例对比分析了其应用特点；并提出了在电机T参数模型下将转子漏抗集中折算到定子侧的电机参数识别方案。通过理论分析，阐述了方案的可行性，并通过仿真试验验证了其可靠性和准确性。在可接受测量精度的条件下，该方案使辨识方法更简单，运算速度更快，易实现，对驱动系统本身不须做大的改动。
There are two kinds of methods for parameter identification at present. The one is making use of frequency response of system, the other is identification in time domain. The former has the well-developed algorithm, which is stable and can own some function of filter. However, too strictly demand about inputs and analysis of frequency response based on linear system stop it developing deeply. The latter is a simple approach, without any limits. The greatest advantage is that the results include many natural factors so long as identification is successful. But on-line identification also meets some difficulty such as disadvantage, unstable parameter and extra input which will cause motor work abnormally. There two kinds of algorithm in identification in time domain, the extended Kalman filter and recursive least square estimation, which also have problems of convergence and linearization errors.
This paper explains the theory of approaches of identification above and discusses their application with some example, then sets forth a plan that real-time measures parameter of induction by transform the leakage inductance on rotor to stator in T topol configuration. The paper
expatiates the feasibility of the plan in theory and proves its veracity by simulation, and finally show it is a good plan that use less time, cause less changes to the drive, but results is satisfied.
本文分析了上述辨识方法，结合实例对比分析了其应用特点；并提出了在电机T参数模型下将转子漏抗集中折算到定子侧的电机参数识别方案。通过理论分析，阐述了方案的可行性，并通过仿真试验验证了其可靠性和准确性。在可接受测量精度的条件下，该方案使辨识方法更简单，运算速度更快，易实现，对驱动系统本身不须做大的改动。
There are two kinds of methods for parameter identification at present. The one is making use of frequency response of system, the other is identification in time domain. The former has the well-developed algorithm, which is stable and can own some function of filter. However, too strictly demand about inputs and analysis of frequency response based on linear system stop it developing deeply. The latter is a simple approach, without any limits. The greatest advantage is that the results include many natural factors so long as identification is successful. But on-line identification also meets some difficulty such as disadvantage, unstable parameter and extra input which will cause motor work abnormally. There two kinds of algorithm in identification in time domain, the extended Kalman filter and recursive least square estimation, which also have problems of convergence and linearization errors.
This paper explains the theory of approaches of identification above and discusses their application with some example, then sets forth a plan that real-time measures parameter of induction by transform the leakage inductance on rotor to stator in T topol configuration. The paper
expatiates the feasibility of the plan in theory and proves its veracity by simulation, and finally show it is a good plan that use less time, cause less changes to the drive, but results is satisfied.
引文
1． Blaschke. F. 磁场定向原理在交流电机闭环控制系统中应用--矢量变换控制。1971 (德文), 1972 (英文)
2． Blaschke. F. Dissertation T. U. Braunschweig 1974
3． B. D. Bedford and R. G. Hoft, Principles of Inverter Circuit: Wiely, 1964
4． B. R. Pelly, Thyristor Phase-controlled Converters and Cycloconverters. Wiley, 1971
5． W. Leonhard, Control of Electrical Drives, Springer-VerLag 1985．
6． P. Vas/Vector control of AC Machine .Oxford University Press, 1990
7． W. Leonhard: Microcomputer Control of high Dynamic Performance AC Drive-A Surrey, Automatiica Vol. 22． N01． 1986
8． W. Leonhard: 30 year space vectors, 20 years orientation, 10 years digital signal procesing with control ac-drives part I II, EPE Journal 1(1) , 13-20, 1(2) , 89-100, 1991
9． LinsayJ.F., Barton T. H. : A Modern Approach to Machine Parameter Identification, IEEE Tras. PAS, vol. PAS-51 N?4, 1972 , pp. 1493-1500
10． Richards G. G., Tan 0． T. : Dynamic Equivaelent of an Industrial Motor Load by Parameter Identification, Archiv. Fur Electrotechnik, N? 61, 1979, pp. 279-285
11． Garces L. :Parameter Adaption for the Speed-controlled Static AC Drive with a Squirrel-cage Induction Motor, IEEE Trans. IA, vol. IA-16, N? 2． March/April 1980, pp. 173-178
12． Velez-Reys M. :Speed and Parameter Estimation for Induction Machines, MSc Elect. Eng., Massachusetts Institute of Technology, May 1988
13． Zai L. C. , Lipo T. A. :An Extended Kalman Filter Approach to Rotor Time Constant Measurement in PMW Induction Motor Drive, Research Report 87-14, July 1987
14． Gabriel R. And Leonhard W. : Microprocessor Control of Induction Motor, Conf. Rec. IEEE-ISPCC,1982, pp.564-569
15． H. Schierling, Self-Commission-a novel feature of Modern Induction Motor Drive, Conf. Rec. 1988 IEE Conference on Power Electonic and Variable Speed Drives, pp. 287-290
16． A Khambadkone, J. Holtz, Vector-Controlled Induction Motor Drive with a self-Commissioning Scheme IEEE Trans. On Ind. Electronics, vol. IE-38, No. 5, pp. 322-327． 1991
17． G. Heinemann and W. Leonhard, Self Tuning Field Oriented Control of an Induction Motor Drive Conf. Rec. 1990 Proceedings of IPEC, pp. 465-472
18． M. Sumner, B. Asher, Self-Commissioning for Voltage-Referenced fed Vector Controlled Induction Motor Drives, Conf. Rec. 1992 IEEE Power Electronics Specialists Conference, pp. 139-144
19． T. Kudor, K. Ishikara, H. Naitoh, Self-Commissioning for Vector Controlled Induction Motors, Confer. Rec. 1993 28th Annu. Meet. IEEE Ind. Appl. Soc., pp.528-535
20． E. Cerruto, M. Coco, A. Cosoli.A. Raciti.A. Testa Rotor Time Constant Determination Motor Drives Via Steady-State Torque Analysis, Conf. Rec. 1994 pp. 1318-1321
21． Li, Y. M., Bergmann, C., Feuvrie, B. Approach of parameter identification for asynchronous machine, Proceedings of the 1996 IEEE 22nd International Conf. on Ind. Electronics, Control, and Instrumentation, IECON. Part 3, pp. 1711-1716
22． P. Vas, Parameter Estimation, Condition Monitoring, and Diagnosis of Electrial Machines, Oxford : Oxford Science Publications, 1993
23． Scott Wade, Matthew f. Dunnigan, and Barry W. William, A New Method of Rotor Resistance Estimate for Vector-Controlled Induction Machines, IEEE Trans on Ind. Electronics, vol 44, No. 2, April, 1997, pp, 247-257
24． Scott Wade, MatthewW. Dunnigan, and Barry W. William, Parameter Identification for Vector Controlled Induction Machine, in Conf. Rec. IEE Control 1994, vol.2, No. 389, pp. 1187-1192
25． T. On, P. Vas, and F. Stronach, Design and Applicatien of Extended Observers for Joint State and Parameter Estimation in High-Performance AC Drives, in Proc. IEE Electronics .Power Appl., Vol. 142, No. 2, pp.73-78, 1995
26． R. Summer and G. M. Asher, Developmentsin Real-Time Control for Induction Motor Drives, in Conf. Rec. IEE Colloquium Advances in Drives in London, UK., 1993, pp. 4/1-4/3
27． H. Ghnishi, Y. Ueda, and K. Miyachi, Reference Adaptive System against Rotor Resistance Variation in Motor Drive, IEE Trans. Ind. Electron, vol IE-33, pp. 217-223, June, 1986
28． H. Sugimoto and S. Tamai, Secondary Resistance Identification of an Induction-Motor Applied Model Reference Adaptive System and its Characteristics, IEEE Trans. Ind. Appl.., vol. IA-23, pp. 296-303, Mar./Apr. 1987
29． M. Boussak and G. A. Capolino, Recursive Least Squares Rotor Time Constant Identification for Vector Controlled Induction Machine, Elect. Mach. Power Syst., vol. 20, No. 2 pp. 137-147, 1992
30． Jennifer Stephan, Marc Bodson and John Chiasson, Real-Time Estimatimation of the Parameters and Fluxes of Induction Motor, IEEE Trans, on Ind. Appl. Vol. 30, NO. 3, May/June, 1994, pp. 746-758
31． J. Holtz and Thomas Thim, Identification of the Machine Parameters in a Vector-controlled Induction Motor Drive, IEEE Trans, on Ind. Appl., vol.27, NO. 6 Nov./Dec. 1991, pp:1111-1118
32． D. J. Atkinson, P. P. Acarney, and J. W. Finch, Parameter identification techniques for Induction Motor Drives, EPE Aachen, PP. 307-312, 1989
33． R. D. Lorenz and D. B. Lawson, A Simplified Approach to Continuous, on-Line tuning of Field Oriented Induction Machine Drives, in Proc. IEEE Ind. Appl. Society Ann. Meeting, Pittsburgh, PA, 1988, pp:444-449
34． J. Holtz and S. Stadtfeld, A PWM Inverter drives system with on-Line Optimized Pulse Patterns, in Proc European Conf. On Power Elect, and App. EPE,
Brussels, Belgium, 1985, pp:3.21-3.25
35. C. Wang, D.W. Novotny, and T.A. Lipo, An Automated Rotor Time Constant Measurement System for Indirect Field-Oriented Drives, IEEE Trans. Ind. Appl., vol. IA-24, NO. 1 pp, 151-159, 1988
36．许镇琳，何启莲，李国民，王秀芝，马小亮，异步机矢量控制系统的电机参数自设定，电工技术学报 1995，2，pp：44-47
37．于功军，钟彦儒，杨耕，无速度传感器矢量控制系统中电机参数辨识，电气传动，1999，1，pp：7-10
38．陈伯时，电力拖动系统，上海工业大学，机械工业出版社，1991
39．W. Leonhard，电气传动控制，科学出版社，1988
40．夏超英，交直流传动系统的自适应控制，机械工业出版社，1999
41．程卫国，冯峰，MATLAB 5.3应用指南，人民邮电出版社，1999
2． Blaschke. F. Dissertation T. U. Braunschweig 1974
3． B. D. Bedford and R. G. Hoft, Principles of Inverter Circuit: Wiely, 1964
4． B. R. Pelly, Thyristor Phase-controlled Converters and Cycloconverters. Wiley, 1971
5． W. Leonhard, Control of Electrical Drives, Springer-VerLag 1985．
6． P. Vas/Vector control of AC Machine .Oxford University Press, 1990
7． W. Leonhard: Microcomputer Control of high Dynamic Performance AC Drive-A Surrey, Automatiica Vol. 22． N01． 1986
8． W. Leonhard: 30 year space vectors, 20 years orientation, 10 years digital signal procesing with control ac-drives part I II, EPE Journal 1(1) , 13-20, 1(2) , 89-100, 1991
9． LinsayJ.F., Barton T. H. : A Modern Approach to Machine Parameter Identification, IEEE Tras. PAS, vol. PAS-51 N?4, 1972 , pp. 1493-1500
10． Richards G. G., Tan 0． T. : Dynamic Equivaelent of an Industrial Motor Load by Parameter Identification, Archiv. Fur Electrotechnik, N? 61, 1979, pp. 279-285
11． Garces L. :Parameter Adaption for the Speed-controlled Static AC Drive with a Squirrel-cage Induction Motor, IEEE Trans. IA, vol. IA-16, N? 2． March/April 1980, pp. 173-178
12． Velez-Reys M. :Speed and Parameter Estimation for Induction Machines, MSc Elect. Eng., Massachusetts Institute of Technology, May 1988
13． Zai L. C. , Lipo T. A. :An Extended Kalman Filter Approach to Rotor Time Constant Measurement in PMW Induction Motor Drive, Research Report 87-14, July 1987
14． Gabriel R. And Leonhard W. : Microprocessor Control of Induction Motor, Conf. Rec. IEEE-ISPCC,1982, pp.564-569
15． H. Schierling, Self-Commission-a novel feature of Modern Induction Motor Drive, Conf. Rec. 1988 IEE Conference on Power Electonic and Variable Speed Drives, pp. 287-290
16． A Khambadkone, J. Holtz, Vector-Controlled Induction Motor Drive with a self-Commissioning Scheme IEEE Trans. On Ind. Electronics, vol. IE-38, No. 5, pp. 322-327． 1991
17． G. Heinemann and W. Leonhard, Self Tuning Field Oriented Control of an Induction Motor Drive Conf. Rec. 1990 Proceedings of IPEC, pp. 465-472
18． M. Sumner, B. Asher, Self-Commissioning for Voltage-Referenced fed Vector Controlled Induction Motor Drives, Conf. Rec. 1992 IEEE Power Electronics Specialists Conference, pp. 139-144
19． T. Kudor, K. Ishikara, H. Naitoh, Self-Commissioning for Vector Controlled Induction Motors, Confer. Rec. 1993 28th Annu. Meet. IEEE Ind. Appl. Soc., pp.528-535
20． E. Cerruto, M. Coco, A. Cosoli.A. Raciti.A. Testa Rotor Time Constant Determination Motor Drives Via Steady-State Torque Analysis, Conf. Rec. 1994 pp. 1318-1321
21． Li, Y. M., Bergmann, C., Feuvrie, B. Approach of parameter identification for asynchronous machine, Proceedings of the 1996 IEEE 22nd International Conf. on Ind. Electronics, Control, and Instrumentation, IECON. Part 3, pp. 1711-1716
22． P. Vas, Parameter Estimation, Condition Monitoring, and Diagnosis of Electrial Machines, Oxford : Oxford Science Publications, 1993
23． Scott Wade, Matthew f. Dunnigan, and Barry W. William, A New Method of Rotor Resistance Estimate for Vector-Controlled Induction Machines, IEEE Trans on Ind. Electronics, vol 44, No. 2, April, 1997, pp, 247-257
24． Scott Wade, MatthewW. Dunnigan, and Barry W. William, Parameter Identification for Vector Controlled Induction Machine, in Conf. Rec. IEE Control 1994, vol.2, No. 389, pp. 1187-1192
25． T. On, P. Vas, and F. Stronach, Design and Applicatien of Extended Observers for Joint State and Parameter Estimation in High-Performance AC Drives, in Proc. IEE Electronics .Power Appl., Vol. 142, No. 2, pp.73-78, 1995
26． R. Summer and G. M. Asher, Developmentsin Real-Time Control for Induction Motor Drives, in Conf. Rec. IEE Colloquium Advances in Drives in London, UK., 1993, pp. 4/1-4/3
27． H. Ghnishi, Y. Ueda, and K. Miyachi, Reference Adaptive System against Rotor Resistance Variation in Motor Drive, IEE Trans. Ind. Electron, vol IE-33, pp. 217-223, June, 1986
28． H. Sugimoto and S. Tamai, Secondary Resistance Identification of an Induction-Motor Applied Model Reference Adaptive System and its Characteristics, IEEE Trans. Ind. Appl.., vol. IA-23, pp. 296-303, Mar./Apr. 1987
29． M. Boussak and G. A. Capolino, Recursive Least Squares Rotor Time Constant Identification for Vector Controlled Induction Machine, Elect. Mach. Power Syst., vol. 20, No. 2 pp. 137-147, 1992
30． Jennifer Stephan, Marc Bodson and John Chiasson, Real-Time Estimatimation of the Parameters and Fluxes of Induction Motor, IEEE Trans, on Ind. Appl. Vol. 30, NO. 3, May/June, 1994, pp. 746-758
31． J. Holtz and Thomas Thim, Identification of the Machine Parameters in a Vector-controlled Induction Motor Drive, IEEE Trans, on Ind. Appl., vol.27, NO. 6 Nov./Dec. 1991, pp:1111-1118
32． D. J. Atkinson, P. P. Acarney, and J. W. Finch, Parameter identification techniques for Induction Motor Drives, EPE Aachen, PP. 307-312, 1989
33． R. D. Lorenz and D. B. Lawson, A Simplified Approach to Continuous, on-Line tuning of Field Oriented Induction Machine Drives, in Proc. IEEE Ind. Appl. Society Ann. Meeting, Pittsburgh, PA, 1988, pp:444-449
34． J. Holtz and S. Stadtfeld, A PWM Inverter drives system with on-Line Optimized Pulse Patterns, in Proc European Conf. On Power Elect, and App. EPE,
Brussels, Belgium, 1985, pp:3.21-3.25
35. C. Wang, D.W. Novotny, and T.A. Lipo, An Automated Rotor Time Constant Measurement System for Indirect Field-Oriented Drives, IEEE Trans. Ind. Appl., vol. IA-24, NO. 1 pp, 151-159, 1988
36．许镇琳，何启莲，李国民，王秀芝，马小亮，异步机矢量控制系统的电机参数自设定，电工技术学报 1995，2，pp：44-47
37．于功军，钟彦儒，杨耕，无速度传感器矢量控制系统中电机参数辨识，电气传动，1999，1，pp：7-10
38．陈伯时，电力拖动系统，上海工业大学，机械工业出版社，1991
39．W. Leonhard，电气传动控制，科学出版社，1988
40．夏超英，交直流传动系统的自适应控制，机械工业出版社，1999
41．程卫国，冯峰，MATLAB 5.3应用指南，人民邮电出版社，1999