Method for observing rotary speed of induction motor of Kalman filter with index fading factor

A technology of Kalman filter and induction motor, which is applied in the direction of electronically commutated motor control, generator control, motor generator control, etc. It can solve the problems of large noise covariance matrix error and influence on state variable observation results, etc., and achieve dynamic Excellent performance, accelerated convergence speed, and accurate rotational speed observation

Inactive Publication Date: 2011-09-07
HARBIN INST OF TECH
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the existing standard Kalman filter EKF algorithm used to observe the rotational speed of the induction motor, due to the large error of the noise covariance matrix and affect the observation of the state variable. Induction Motor Speed ​​Observation Method Based on Kalman Filter of Factor

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  • Method for observing rotary speed of induction motor of Kalman filter with index fading factor
  • Method for observing rotary speed of induction motor of Kalman filter with index fading factor
  • Method for observing rotary speed of induction motor of Kalman filter with index fading factor

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specific Embodiment approach 1

[0031] Specific Embodiment 1: In this embodiment, the rotational speed observation is realized based on the rotational speed observer, and the Kalman filter is used in the rotational speed observer to perform error prediction. During the operation of the rotational speed observer, the Kalman filter adopts The exponential fading factor λ(k+1) is introduced into the prediction equation of the error covariance matrix, and the prediction equation of the error covariance matrix for:

[0032] P ~ ( k + 1 ) = λ ( k + 1 ) G ( k ) P ^ ( k ) G ( k ) + Q ,

[0033] The expression of λ(k+1) is:

[0034] ...

specific Embodiment approach 2

[0042] Specific implementation mode two: this implementation mode is a further description of implementation mode one,

[0043] The state variable x of the speed observer is:

[0044] x=(i sα , i sβ , ψ rα , ψ rβ , ω r ) T ,

[0045] where i sα is the α-axis component of the stator current, i sβ is the β-axis component of the stator current, ψ rα is the α-axis component of the rotor flux linkage, ψ rβ is the β-axis component of the rotor flux linkage, ω r is the rotor speed;

[0046] Thus, the state equation of the induction motor used by the speed observer in the α-β two-phase stationary coordinate system is:

[0047] d dt i sα = - 1 T sr ′ ...

specific Embodiment approach 3

[0073] Specific implementation mode three: the following combination Figure 1 to Figure 12 Describe this embodiment, this embodiment is a further description of Embodiment 2,

[0074] The specific operation process of the speed observer is:

[0075] Step 1: Initialize the identification value of the state variable x and the identification value of the error covariance matrix ,Make Simultaneously select the initial value of the system noise covariance matrix Q and the initial value of the measurement noise covariance matrix R; and set the sampling period;

[0076] Step 2: Predict state variables and the output variable , the specific process is:

[0077] At the beginning of the k+1th sampling period, use the state identification result of the kth sampling period Calculate and obtain A(k) and G(k), measure the three-phase stator voltage of the induction motor, and then obtain the α-axis of the stator voltage of the k+1th sampling period according to the transform...

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Abstract

The invention provides a method for observing a rotary speed of am induction motor of a Kalman filter with index fading factor, belonging to the field of drive control of motors. The method solves the problem that the observing result of state variable is influenced because the matrix error of the noise covariance is great in the standard Kalman filter EKF (Extended Kalman Filter) algorithm which is used for observing the rotary speed of the induction motor in the prior art. In the invention, the method realizes the rotary speed observation on the basis of a rotary speed observer and the Kalman filter is utilized in the rotary speed observer to carrying out error predication; the index fading factor lambda (K+1) is introduced into an error covariance matrix predictive equation of the Kalman filter in the process of realizing the rotary speed observation by operating the rotary speed observer; and the error covariance matrix predictive equation is shown in the specification. The method provided by the invention is suitable for observing the rotary speed of the induction motor.

Description

technical field [0001] The invention relates to a method for observing the rotational speed of an induction motor with a Kalman filter with an exponential fading factor, belonging to the field of motor drive control. Background technique [0002] Among all kinds of electromechanical energy conversion devices, the induction motor has been widely used in the industrial field because of its advantages such as simple structure, sturdy and durable, small moment of inertia, reliable operation, convenient manufacture, low cost, easy maintenance, and ability to work in harsh environments. application. With the rapid development of power electronics technology, microelectronics technology and modern control theory, especially the introduction of high-performance control strategies such as vector control technology and direct torque control technology, the speed regulation technology of induction motors has achieved unprecedented development. The induction motor vector control system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/13
Inventor 吴凤江李伟孙力赵克彭浩荣孙奎
Owner HARBIN INST OF TECH
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