Stator resistance online identification method and device, storage medium and electronic equipment

Abstract

The application discloses an online identification method and device of stator resistance, a storage medium and an electronic device. The method comprises the following steps: obtaining a reference excitation current and a feedback excitation current of an asynchronous motor, determining an excitation current deviation according to the reference excitation current and the feedback excitation current, determining a first conversion relationship between a flux deviation and the excitation current deviation of the asynchronous motor, determining a second conversion relationship between a stator resistance online identification increment and the flux deviation of the asynchronous motor, and determining an online identification result of the stator resistance according to the first conversion relationship, the second conversion relationship and the excitation current deviation. Therefore, the identification process of the online identification result of the stator resistance can be simplified.

Description

Technical Field

[0001] This application relates to the field of motor control, specifically to an online identification method, device, storage medium, and electronic device for stator resistance. Background Technology

[0002] Sensorless control systems for asynchronous motors require precise flux linkage information. Voltage-type flux linkage observers are the simplest method for observing the stator and rotor flux linkages of the motor. Stator resistance is the only motor parameter involved in this model, directly affecting the accuracy of magnetic field orientation and influencing the motor's load-carrying capacity at low frequencies and the stability of the vector control system.

[0003] However, during motor operation, the stator resistance will change due to the heating of the motor windings and changes in ambient temperature, which will affect the low-speed control effect and may even cause instability in the sensorless induction motor drive system.

[0004] Currently, there are two common methods for identifying stator resistance in industrial applications using frequency converters driving asynchronous motors: offline identification and online identification. Offline identification obtains the stator resistance using the DC volt-ampere method when the motor is stationary, but it cannot handle resistance changes during normal motor operation. Online identification generally includes the least squares method and the current injection method based on the motor voltage equation. Among these, the least squares method is complex, computationally intensive, and consumes a lot of memory resources, making its engineering implementation difficult. The current injection method is based on the motor's steady-state model, injecting DC current into the windings and then calculating the stator resistance based on the extracted DC voltage and current. This method can cause speed fluctuations and requires the design of complex filters to accurately extract the effective signal.

[0005] It is evident that the methods for online identification of stator resistance provided in related technologies are quite complex. Summary of the Invention

[0006] This application provides an online identification method, apparatus, storage medium, and electronic device for stator resistors, which can simplify the identification process of online stator resistor identification.

[0007] In a first aspect, embodiments of this application provide an online identification method for stator resistance, applied to an asynchronous motor, comprising:

[0008] Obtain the reference excitation current of the asynchronous motor, and obtain the feedback excitation current of the asynchronous motor;

[0009] The excitation current deviation is determined based on the reference excitation current and the feedback excitation current.

[0010] Determine a first conversion relationship between the flux linkage deviation and the excitation current deviation of the asynchronous motor;

[0011] Determine a second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation;

[0012] The online identification result of the stator resistance is determined based on the first conversion relationship, the second conversion relationship, and the excitation current deviation.

[0013] Secondly, embodiments of this application also provide an online stator resistance identification device, comprising:

[0014] The acquisition unit is used to acquire the reference excitation current of the asynchronous motor and the feedback excitation current of the asynchronous motor.

[0015] The first determining unit is used to determine the excitation current deviation based on the reference excitation current and the feedback excitation current.

[0016] The second determining unit is used to determine the first conversion relationship between the flux linkage deviation of the asynchronous motor and the excitation current deviation;

[0017] The third determining unit is used to determine the second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation;

[0018] The fourth determining unit is used to determine the online identification result of the stator resistance based on the first conversion relationship, the second conversion relationship, and the excitation current deviation.

[0019] Thirdly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when run on a computer, causes the computer to execute the online identification method for stator resistance as provided in any embodiment of this application.

[0020] Fourthly, embodiments of this application also provide an electronic device, including a processor and a memory, the memory having a computer program, the processor executing an online stator resistance identification method as provided in any embodiment of this application by calling the computer program.

[0021] The technical solution provided in this application obtains the reference excitation current and the feedback excitation current of the asynchronous motor. Based on the reference excitation current and the feedback excitation current, it determines the excitation current deviation, establishes a first conversion relationship between the flux linkage deviation and the excitation current deviation, and establishes a second conversion relationship between the online identification increment of the stator resistance and the flux linkage deviation. Based on the first conversion relationship, the second conversion relationship, and the excitation current deviation, it determines the online identification result of the stator resistance. This application simplifies the identification process of the online stator resistance by determining the correlation between the excitation current deviation and the online identification result of the stator resistance through the first conversion relationship between the excitation current deviation and the flux linkage deviation, and the second conversion relationship between the flux linkage deviation and the online identification increment of the stator resistance (i.e., the stator resistance deviation). Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic flowchart of an online stator resistance identification method provided in an embodiment of this application.

[0024] Figure 2 This is a schematic diagram showing the waveform comparison between the online identification of stator resistance being turned off and on, in an example of the online identification method for verifying stator resistance provided in this application.

[0025] Figure 3 This is a waveform diagram illustrating the online stator resistance identification method provided in this application embodiment, where the online stator resistance identification function is enabled and the system operates at zero speed and full load for 20 minutes.

[0026] Figure 4 This is a schematic diagram of the structure of the online stator resistance identification device provided in an embodiment of this application.

[0027] Figure 5 This is a schematic diagram of a first structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] This application provides an online identification method for stator resistance. The execution entity of this online stator resistance identification method can be the online stator resistance identification device provided in this application, or an electronic device integrating the online stator resistance identification device. The online stator resistance identification device can be implemented in hardware or software. The electronic device can be any device equipped with a processor and possessing processing capabilities. This electronic device can be various production machinery, such as looms, machine tools, etc.

[0031] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating an online stator resistance identification method provided in this application embodiment. The online stator resistance identification method provided in this application embodiment is applied to an asynchronous motor, and the specific process of the method may include the following steps:

[0032] S110. Obtain the reference excitation current of the asynchronous motor and the feedback excitation current of the asynchronous motor.

[0033] (1) The specific process for obtaining the reference excitation current of the asynchronous motor in this application can be as follows:

[0034] The stator flux linkage equation of the induction motor in a rotating coordinate system based on stator magnetic field orientation is as follows:

[0035]

[0036]

[0037] When the asynchronous motor is in steady state, we can obtain:

[0038] ψ s =-ω sl T r Lσ i sq +L s i sd

[0039] L s i sq =ω sl T r (ψ s -L σ i sd )

[0040] Furthermore, we can obtain:

[0041]

[0042] Based on the observed quantum flux obtained from the system estimation The reference excitation current can be obtained as follows:

[0043]

[0044] in, For reference excitation current, To observe the amplitude of the quantum flux linkage, L s For stator inductance, L σ For total leakage, i s This represents the stator current amplitude.

[0045] It should be noted that the observed quantum magnetic flux in this application The flux linkage can be estimated using a flux linkage observer, after obtaining the quantum flux linkage from this observer. Then, the amplitude of the observed quantum flux can also be obtained.

[0046] (2) The specific process for obtaining the feedback excitation current of the asynchronous motor in this application can be as follows:

[0047] In the estimated observation quantum flux angle In the rotating coordinate system, the feedback excitation current can be estimated using the Park transformation as follows:

[0048]

[0049] in, For feedback excitation current, i sα i sβ These are the components of the stator current in the two-phase stationary coordinate system. To observe the angle of the quantum magnetic flux.

[0050] It should be noted that the observed quantum flux is estimated using a flux observer in this application. Afterwards, the angle of the observed quantum flux can also be obtained.

[0051] S120. Determine the excitation current deviation based on the reference excitation current and the feedback excitation current.

[0052] In this application, the excitation current deviation is obtained by subtracting the formula for calculating the reference excitation current obtained in step S110 and the formula for calculating the feedback excitation current. The specific process is as follows:

[0053] When the asynchronous motor is running, the excitation current deviation is calculated using the following formula:

[0054]

[0055] When the asynchronous motor is generating electricity, the excitation current deviation is calculated using the following formula:

[0056]

[0057] Where, Δi d The excitation current deviation is denoted as .

[0058] S130. Determine the first conversion relationship between the flux linkage deviation of the asynchronous motor and the excitation current deviation.

[0059] Since the relationship between flux deviation and excitation current deviation is approximately:

[0060] Δψ s ≈L s Δi d

[0061] Where, Δψ s The flux linkage deviation is represented by s, which stands for stator, and d represents the d-axis in the two-phase rotating coordinate system dq-axis.

[0062] Therefore, the above approximate relationship can be used as a conversion formula between the flux linkage deviation and the excitation current deviation, that is, the first conversion relationship between the flux linkage deviation and the excitation current deviation can be characterized by the conversion formula.

[0063] When the asynchronous motor is running, When the asynchronous motor is generating electricity, ψ s This represents the actual stator flux linkage of the motor. The above conversion formula shows that the excitation current deviation can be used to reflect the flux linkage observation deviation information.

[0064] S140. Determine the second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux deviation.

[0065] Since the stator resistance is required as a parameter to solve for the stator flux linkage when obtaining the stator flux linkage, in this application, when determining the second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation, the equations for solving the actual stator flux linkage and the equations for solving the observed stator flux linkage are obtained respectively. Based on these two equations, the conversion relationship between the flux linkage deviation and the online identification increment of the stator resistance is obtained. The specific process of determining the second conversion relationship is as follows:

[0066] According to relevant technologies, the equation for a voltage-type flux linkage observer is:

[0067] ψ s =∫(u s -R s i s )dt

[0068] Where, ψ s For the actual stator flux linkage, u s R is the actual stator voltage. s i is the actual stator resistance. s This represents the stator current amplitude.

[0069] In digital system implementation, the above equation must be discretized. The pure integral term here will have initial integration values ​​and integral saturation caused by DC bias. Furthermore, the voltage here is generally a command value, which deviates from the actual value due to inverter nonlinearity. These factors need to be compensated for to obtain an accurate flux linkage estimate. Here, we take a known scheme as an example:

[0070]

[0071] in, To observe the quantum flux, The stator voltage is the command voltage. The result shows the online identification of the stator resistance, and Δu is the compensation voltage. This compensation voltage is used to eliminate the effects of inverter nonlinearity and integral saturation caused by the initial integral value and DC bias in the pure integral stage. This application assumes that these factors are accurately compensated and that the voltage is error-free.

[0072] Therefore, the formula for calculating the flux linkage deviation based on the equation of the actual stator flux linkage and the equation of the observed stator flux linkage is as follows:

[0073]

[0074] Where, ΔR s Online identification of stator resistance increments;

[0075] As can be seen from the above formula, the flux linkage deviation (i.e., the flux linkage observation error) comes entirely from the stator resistance. If ΔR s→0, then Δψ s →0.

[0076] Therefore, in this application, the second conversion relationship between the flux linkage deviation and the online identification increment of the stator resistance can be characterized by the formula for calculating the flux linkage deviation.

[0077] S150. Determine the online identification result of the stator resistance based on the first conversion relationship, the second conversion relationship, and the excitation current deviation.

[0078] In this application, the first conversion relationship characterizes the relationship between flux linkage deviation and the excitation current deviation, and the second conversion relationship characterizes the relationship between flux linkage deviation and the online identification increment of stator resistance. Based on these two relationships, the relationship between the excitation current deviation and the online identification increment of stator resistance can be obtained. Therefore, the online identification increment of stator resistance can be obtained, as detailed below:

[0079] Based on the conversion formula and the formula for calculating the flux linkage deviation, the formula for calculating the online identification increment of the stator resistance is as follows:

[0080] ΔR s =(k p +k i / s)Δi d

[0081] Where, ΔR s To identify the increase in stator resistance online, k p k i The proportional and integral gains of the PI control, k i In / s, 's' represents the derivative in the Laplace transform, '1 / s' represents the integral, and all Ki / s represent the integral part of the PI controller.

[0082] The above formula can be understood as the excitation current deviation Δi d It is caused by the stator resistance deviation ΔR s This is caused by [a specific factor], so it can be adjusted using a PI controller. The input of the PI controller is Δi. d The output is ΔR s .

[0083] It is understandable that the flux linkage observation error comes entirely from the stator resistance deviation, and the flux linkage observation error can be reflected by the excitation current deviation. Therefore, the online identification method of stator resistance can be determined based on the first conversion relationship and the second conversion relationship.

[0084] After obtaining the formula for the online identification increment of stator resistance in this application, the formula for calculating the online identification result of stator resistance can be obtained according to the formula for calculating the online identification increment of stator resistance, as follows:

[0085]

[0086] in, The result is the offline identification result of the stator resistance, which can be obtained according to the methods provided in the prior art.

[0087] This application takes into account the variation of stator resistance, making the stator resistance identification results obtained in this application more accurate.

[0088] Furthermore, stator resistance is the only motor parameter used in the voltage model flux linkage observer. Compared to high-speed operation, stator resistance has the greatest impact on the accuracy of flux linkage observation at low speeds. Therefore, accurately obtaining the stator resistance can also improve low-speed performance, thereby achieving stable operation of the asynchronous motor at low speeds or even zero speeds.

[0089] In some embodiments, since the flux linkage observer uses stator resistance, the stator resistance identified in this application can also be used for flux linkage observation, that is, to estimate the above-mentioned observation stator flux linkage and improve the accuracy of flux linkage observation.

[0090] In practice, this application is not limited by the execution order of the described steps. Without causing conflicts, some steps may be performed in other orders or simultaneously.

[0091] As can be seen from the above, the online stator resistance identification method provided in this application obtains the reference excitation current and the feedback excitation current of the asynchronous motor, determines the excitation current deviation based on the reference excitation current and the feedback excitation current, determines a first conversion relationship between the flux linkage deviation and the excitation current deviation of the asynchronous motor, determines a second conversion relationship between the online identification increment of the stator resistance and the flux linkage deviation, and determines the online identification result of the stator resistance based on the first conversion relationship, the second conversion relationship, and the excitation current deviation. In this application, the correlation between the excitation current deviation and the online stator resistance identification result is determined through the first conversion relationship between the excitation current deviation and the flux linkage deviation, and the second conversion relationship between the flux linkage deviation and the stator resistance deviation. The online stator resistance identification result is determined through this correlation relationship and the excitation current deviation, simplifying the identification process of the online stator resistance identification result.

[0092] Since resistance changes relatively slowly with temperature, in order to verify the effectiveness of the online identification method for stator resistance provided in this application, the offline identification results are modified and the online identification increment is observed. As long as the sum of the two is the true value of resistance, the learning method is proven to be effective.

[0093] Specifically, in this application, the verification results on a 5.5kW, 4-pole asynchronous motor are shown in Table 1. With the offline identification value deviating from the true value by ±50%, the online identification result deviation was within 10%. This demonstrates the effectiveness of the online stator resistance identification method provided in this application.

[0094]

[0095] Table 1

[0096] Please refer to Figure 2 , Figure 2 This image shows a comparison of the stator resistance online identification being turned off and on for a 5.5kW asynchronous motor operating at 0 speed under full load without a speed sensor. Without online identification, the speed and torque current fluctuations gradually increase at 0 speed, and the stator flux linkage gradually becomes distorted, indicating a tendency for system instability. With online stator identification enabled, the speed and torque current fluctuations disappear, the stator flux linkage sinusoidal characteristic improves, and the system stabilizes.

[0097] Please refer to Figure 3 , Figure 3 The waveform of a 5.5kW asynchronous motor operating at 0 speed and full load without a speed sensor shows that the stator resistance increases slowly due to heat generation. The online stator resistance identification method provided in this application can identify the stator resistance in real time, and the system remains stable after 20 minutes of full load operation.

[0098] In one embodiment, an online stator resistance identification device is also provided. Please refer to... Figure 4 , Figure 4 This is a schematic diagram of the structure of the online stator resistor identification device 200 provided in an embodiment of this application. The online stator resistor identification device 200 is applied to electronic equipment and includes an acquisition unit 201, a first determination unit 202, a second determination unit 203, a third determination unit 204, and a fourth determination unit 205, as follows:

[0099] The acquisition unit 201 is used to acquire the reference excitation current of the asynchronous motor and the feedback excitation current of the asynchronous motor.

[0100] The first determining unit 202 is used to determine the excitation current deviation based on the reference excitation current and the feedback excitation current.

[0101] The second determining unit 203 is used to determine a first conversion relationship between the flux linkage deviation of the asynchronous motor and the excitation current deviation;

[0102] The third determining unit 204 is used to determine the second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux deviation;

[0103] The fourth determining unit 205 is used to determine the online identification result of the stator resistance based on the first conversion relationship, the second conversion relationship, and the excitation current deviation.

[0104] In some embodiments, the acquisition unit 201 may be used for:

[0105] The reference excitation current is calculated using the following formula:

[0106]

[0107] in, For reference excitation current, To observe the amplitude of the quantum flux linkage, L s For stator inductance, L σ For total leakage, i s This represents the stator current amplitude.

[0108] In some embodiments, the acquisition unit 201 may be used for:

[0109] The feedback excitation current is calculated using the following formula:

[0110]

[0111] in, For feedback excitation current, i sα i sβ These are the components of the stator current in the two-phase stationary coordinate system. To observe the angle of the quantum magnetic flux.

[0112] In some embodiments, the first determining unit 202 may be used for:

[0113] When the asynchronous motor is running, the excitation current deviation is calculated using the following formula:

[0114]

[0115] When the asynchronous motor is generating electricity, the excitation current deviation is calculated using the following formula:

[0116]

[0117] Where, Δi d The excitation current deviation is denoted as .

[0118] In some embodiments, the second determining unit 203 may be used for:

[0119] The conversion formula between the flux linkage deviation and the excitation current deviation is as follows:

[0120] Δψs ≈L s Δi d

[0121] The conversion formula characterizes the first conversion relationship between the flux linkage deviation and the excitation current deviation, where Δψ s This is the magnetic flux deviation.

[0122] In some embodiments, the third determining unit 204 may be used for:

[0123] The equations for calculating the actual stator flux linkage are as follows:

[0124] ψ s =∫(u s -R s i s )dt

[0125] Where, ψ s For the actual stator flux linkage, u s R is the actual stator voltage. s i is the actual stator resistance. s This refers to the stator current amplitude.

[0126] The equations for obtaining the quantum flux linkage of the computational observation are as follows:

[0127]

[0128] in, To observe the quantum flux, The stator voltage is the command voltage. The result is the online identification of the stator resistance, and Δu is the compensation voltage;

[0129] The formula for calculating the flux linkage deviation based on the equations of the actual stator flux linkage and the observed stator flux linkage is as follows:

[0130]

[0131] Where, ΔR s Online identification of stator resistance increments;

[0132] The formula for calculating the flux linkage deviation characterizes the second conversion relationship between the flux linkage deviation and the online identification increment of the stator resistance.

[0133] In some embodiments, the fourth determining unit 205 may be used for:

[0134] Based on the conversion formula and the formula for calculating the flux linkage deviation, the formula for calculating the online identification increment of the stator resistance is as follows:

[0135] ΔRs =(k p +k i / s)Δi d

[0136] Where, ΔR s To identify the increase in stator resistance online, k p k i The proportional and integral gains of PI control are respectively;

[0137] Based on the formula for calculating the online identification increment of the stator resistance, the formula for calculating the online identification result of the stator resistance is as follows:

[0138]

[0139] in, The results show the offline identification of the stator resistance.

[0140] It should be noted that the online stator resistor identification device provided in this application embodiment belongs to the same concept as the online stator resistor identification method in the above embodiment. The online stator resistor identification device can implement any of the methods provided in the online stator resistor identification method embodiment. For details of its implementation process, please refer to the online stator resistor identification method embodiment, which will not be repeated here.

[0141] Furthermore, to better implement the online stator resistance identification method in the embodiments of this application, this application also provides an electronic device based on the online stator resistance identification method. Please refer to... Figure 5 , Figure 5 A schematic diagram of one structure of the electronic device 300 provided in this application is shown, such as... Figure 5 As shown, the electronic device 300 provided in this application includes a processor 301 and a memory 302. The processor 301 executes the computer program stored in the memory 302 to implement the steps of the online stator resistance identification method as described in the above embodiments of this application, such as:

[0142] Obtain the reference excitation current of the asynchronous motor, and obtain the feedback excitation current of the asynchronous motor;

[0143] The excitation current deviation is determined based on the reference excitation current and the feedback excitation current.

[0144] Determine a first conversion relationship between the flux linkage deviation and the excitation current deviation of the asynchronous motor;

[0145] Determine a second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation;

[0146] The online identification result of the stator resistance is determined based on the first conversion relationship, the second conversion relationship, and the excitation current deviation.

[0147] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory 302 and executed by processor 301 to complete the embodiments of this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a computer device.

[0148] Electronic device 300 may include, but is not limited to, processor 301 and memory 302. Those skilled in the art will understand that the illustrations are merely examples of electronic device 300 and do not constitute a limitation on electronic device 300. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, electronic device 300 may also include input / output devices, network access devices, buses, etc., with processor 301, memory 302, input / output devices, and network access devices connected via a bus.

[0149] Processor 301 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of electronic device 300, connecting various parts of the electronic device 300 through various interfaces and lines.

[0150] The memory 302 can be used to store computer programs and / or modules. The processor 301 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 302 and by calling the data stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 300 (such as audio data, video data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0151] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the online stator resistance identification device, electronic device 300 and its corresponding units described above can be referred to the description of the online stator resistance identification method in the above embodiments of this application, and will not be repeated here.

[0152] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0153] Therefore, embodiments of this application provide a computer-readable storage medium storing multiple instructions that can be loaded by a processor to execute the steps in the online stator resistance identification method of the above embodiments of this application, such as:

[0154] Obtain the reference excitation current of the asynchronous motor, and obtain the feedback excitation current of the asynchronous motor;

[0155] The excitation current deviation is determined based on the reference excitation current and the feedback excitation current.

[0156] Determine a first conversion relationship between the flux linkage deviation and the excitation current deviation of the asynchronous motor;

[0157] Determine a second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation;

[0158] The online identification result of the stator resistance is determined based on the first conversion relationship, the second conversion relationship, and the excitation current deviation.

[0159] For specific instructions, please refer to the description of the online identification method for stator resistance in the above embodiments of this application, which will not be repeated here.

[0160] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0161] Since the instructions stored in the computer-readable storage medium can execute the steps in the online stator resistance identification method in the above embodiments of this application, the beneficial effects that the online stator resistance identification method in the above embodiments of this application can achieve can be realized, as detailed in the preceding description, and will not be repeated here.

[0162] Furthermore, the terms "first," "second," and "third," etc., used in this application are used to distinguish different objects, not to describe a specific order. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but some embodiments may also include steps or modules not listed, or some embodiments may include other steps or modules inherent to these processes, methods, products, or devices.

[0163] The above provides a detailed description of the online identification method, apparatus, electronic device, and storage medium for stator resistors provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An online identification method for stator resistance, characterized in that, Applied to asynchronous motors, including: Obtain the reference excitation current of the asynchronous motor, and obtain the feedback excitation current of the asynchronous motor; The excitation current deviation is determined based on the reference excitation current and the feedback excitation current. Determine a first conversion relationship between the flux linkage deviation and the excitation current deviation of the asynchronous motor; Determine a second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation; The online identification result of the stator resistance is determined based on the first conversion relationship, the second conversion relationship, and the excitation current deviation; The step of obtaining the reference excitation current of the asynchronous motor includes: The reference excitation current is calculated using the following formula: in, For reference excitation current, To observe the amplitude of the quantum flux linkage, For stator inductance, For total leakage, This refers to the stator current amplitude. The online identification result of determining the stator resistance based on the first conversion relationship, the second conversion relationship, and the excitation current deviation includes: The first conversion relationship between the flux deviation and the excitation current deviation is characterized by a conversion formula. The second conversion relationship between the flux linkage deviation and the online identification increment of the stator resistance is characterized by the formula for calculating the flux linkage deviation; Based on the conversion formula and the formula for calculating the flux linkage deviation, the formula for calculating the online identification increment of the stator resistance is as follows: in, To identify the increment of stator resistance online, , The proportional and integral gains of PI control respectively. The excitation current deviation; Based on the formula for calculating the online identification increment of the stator resistance, the formula for calculating the online identification result of the stator resistance is as follows: in, The results show the offline identification of the stator resistance.

2. The online identification method for stator resistance as described in claim 1, characterized in that, The step of obtaining the feedback excitation current of the asynchronous motor includes: The feedback excitation current is calculated using the following formula: in, To provide feedback excitation current, , These are the components of the stator current in the two-phase stationary coordinate system. To observe the angle of the quantum magnetic flux.

3. The online identification method for stator resistance as described in claim 2, characterized in that, The step of determining the excitation current deviation based on the reference excitation current and the feedback excitation current includes: When the asynchronous motor is running, the excitation current deviation is calculated using the following formula: When the asynchronous motor is generating electricity, the excitation current deviation is calculated using the following formula: in, The excitation current deviation is denoted as .

4. The online identification method for stator resistance as described in claim 3, characterized in that, Determining the first conversion relationship between the flux linkage deviation and the excitation current deviation of the asynchronous motor includes: The conversion formula between the flux linkage deviation and the excitation current deviation is as follows: The conversion formula characterizes the first conversion relationship between the flux linkage deviation and the excitation current deviation, wherein... This is the magnetic flux deviation.

5. The online identification method for stator resistance as described in claim 4, characterized in that, The determination of the second conversion relationship between the online identification increment of the stator resistance of the asynchronous motor and the flux linkage deviation includes: The equations for calculating the actual stator flux linkage are as follows: in, For actual stator flux linkage, This is the actual stator voltage. This is the actual stator resistance. This refers to the stator current amplitude. The equations for obtaining the quantum flux linkage of the computational observation are as follows: in, To observe the quantum flux, The stator voltage is the command voltage. The results of online stator resistance identification. To compensate for voltage; The formula for calculating the flux linkage deviation based on the equations of the actual stator flux linkage and the observed stator flux linkage is as follows: in, Online identification of stator resistance increments; The formula for calculating the flux linkage deviation characterizes the second conversion relationship between the flux linkage deviation and the online identification increment of the stator resistance.

6. An online stator resistance identification device, characterized in that, It includes a unit for performing the online identification method for stator resistance as described in any one of claims 1 to 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run on a computer, it causes the computer to perform the online identification method for stator resistance as described in any one of claims 1 to 5.

8. An electronic device comprising a processor and a memory, the memory storing a computer program, characterized in that, The processor invokes the computer program to execute the online identification method for stator resistance as described in any one of claims 1 to 5.

Images