CN101275988A - Permanent magnetism synchronous electric machine test system and method - Google Patents

Abstract

The present invention discloses a permanent magnet synchronous machine test system and a test method thereof. The test system comprises an inverter, a permanent magnet synchronous machine, a test computer and a temperature sensor. The invention is characterized in that the side of the permanent magnet synchronous machine is provided with a rotor position sensor which is connected with the test computer through a DSP chip. The rotating axis of the rotor is also connected with a rotation-blocking device. As the test system and test method are adopted, the inductor parameter measurement of the permanent magnet motor is executed through the rotor position sensor and the rotation-blocking device which fixes the position of the magnetic pole of the rotor. The position of the rotor is detected through a device which fixes the position of rotor with simple regulation and a DSP chip. The rotor of electric machine is finally fixed to the test position through a method of testing together with regulating. The inductor parameter test is realized through a voltage integrating method. Compared with prior art, the invention uses a simple device and uncomplicated method for realizing an accurate measurement to the inductor parameter of the permanent magnet synchronous machine.

Description

A kind of permagnetic synchronous motor test macro and method of testing

Technical field

The present invention relates to electric machine testing device, relate in particular to a kind of embedded permanent magnet synchronous motor test coefficient and method of testing.

Background technology

The d-axis of permagnetic synchronous motor and friendship axle inductance have very big influence for the stable state and the dynamic property of permagnetic synchronous motor, and the accuracy of d-axis and friendship axle inductance parameters is not only for prediction moment of torsion and weak magnetic property but also for the design maximal efficiency, and the design of power factor dispatch control system is very crucial.Magnetically saturated influence can take in by the inductance that changes with inductance usually.Therefore for d-axis with hand over the definite extremely important of axle inductance parameters.Multiple technologies are used to predict that winding inductance is such as Finite Element Method at present, can obtain by the method for determining inductance parameters in the finite element, if yet magnetic saturation is obvious, finite element analysis can be used, need analyze a plurality of current distributions in the winding, need a lot of computational resources, relatively complicated loaded down with trivial details.Therefore can obtain d-axis and hand over the axle inductance parameters by method of testing.Compare with the traditional electrical excitation magnetic synchronization motor, permagnetic synchronous motor can be referred to as a kind of new technology, because different fully with electric excitation mode, therefore at present in some countries and international standard, there is not concrete relevant magneto method of testing, the content of the test of permagnetic synchronous motor and measuring technology have its singularity, and be therefore much no longer suitable for magneto about the test method and the testing requirements of electric excitation.Because the permagnetic synchronous motor permanent magnet excitation, it hands over the method for testing and the electric excitation synchronous motor of axle, d-axis inductance parameters that very big difference is arranged.And the shape and the position of permanent magnet is varied in the permagnetic synchronous motor, and rotor is handed over, the d-axis magnetic circuit is complicated unusually, and inductance parameters is not only saturated relevant with magnetic circuit, cross saturation phenomenon between friendship, d-axis magnetic circuit also occurred.Direct current attenuation method commonly used at present and voltage integration require than higher for test unit, and be relatively complicated.

Summary of the invention

Technical matters to be solved by this invention provides a kind of permagnetic synchronous motor test coefficient and method of testing, realizes the purpose that permagnetic synchronous motor hands over axle, d-axis inductance parameters to test to reach by proving installation and method of testing.

For solving the problems of the technologies described above, technical scheme of the present invention is, a kind of permagnetic synchronous motor test macro, comprise inverter, permagnetic synchronous motor, electric machine controller, temperature sensor, it is characterized in that: a side of the rotor of described permagnetic synchronous motor is provided with rotor-position sensor, the output of rotor-position sensor is connected with dsp chip in the electric machine controller, and described rotor shaft also is connected with a stall device; Described electric machine controller is connected with test computer.

The permagnetic synchronous motor test macro, described rotor-position sensor is made up of detector and ring-type destination disk, and described ring-type destination disk is sleeved on rotor shaft by rotor field spider, and described detector is installed on the end cap of stator by sensor stand.

The permagnetic synchronous motor test macro, described stall device comprises end plate, slide bar, base, coarse adjustment fixed block, the fine setting fixed block stall sleeve that has deep-slotted chip breaker, one end of slide bar is connected with the stall sleeve, and by being connected with rotor shaft with the cooperation of sleeve through hole, the other end of slide bar is fixed on slide bar on the end plate inclined-plane by two coarse adjustment fixed blocks and fine setting fixed block in the deep-slotted chip breaker of end plate, end plate is fixed by base and ground, and an end that is positioned at the slide bar of deep-slotted chip breaker slides along the end plate inclined-plane and drives the rotor shaft rotation.Thereby drive the rotating shaft rotation by the slide bar in the regulating tank, rotation shaft regulated when the demand rotor magnetic pole position when making, can make rotating shaft be fixed within the relatively little range of movement by fixing two coarse adjustment modules, make rotating shaft be fixed on the demand position by the adjusting of finely tuning fixed block.

The permagnetic synchronous motor test macro, described ring-type destination disk end faces of both sides is provided with sinusoidal curve decorative pattern shape.The end faces of both sides of described ring-type destination disk is provided with cosine curve decorative pattern shape.The ring-type destination disk is aluminium or ferrous metal material.

The ring-type destination disk is along with rotor rotates together, and destination disk is in the electromagnetic field of alternation, because destination disk is a metallic conductor, can produce induction current, and eddy effect produces, and the conductive material of destination disk produces eddy current loss.Detector is made up of four plane windings that one-period differs 90 degree in the sensor element, and four plane windings are the part of resonant circuit in the detector, because the eddy effect of destination disk conductive material can cause the minimizing of inductance in the winding of plane.The area and the inductance of the destination disk that the plane winding of this sensor is inswept are varied to direct ratio, and variation inductance causes the phase shift of resonant circuit simultaneously, therefore can accurately determine the position of rotor by definite phase shift.

The another kind of technical scheme of the present invention is a kind of permagnetic synchronous motor method of testing, test computer execution the following step of storage DSP (digital signal processor) CCS (special software of dsp chip) test procedure;

A) beginning; After finishing the dsp chip initial configuration, enter PWM (inverter pulse-width signal) and interrupt carrying out;

B) ADC (analog to digital conversion) sampled value is upgraded.The AD channel measurement electric machine phase current of dsp chip, dc bus current, DC bus-bar voltage, the output of rotor-position sensor two-way and temperature sensor output signal;

C) ADC sampled value low-pass filtering.The signal ADC value that measures is carried out low-pass filtering.

D) position and speed is determined; According to the rotor-position sensor two-way output signal that obtains after ADC sampling and the low-pass filtering is the sine and the cosine component of rotor position angle, and the tangent of negating obtains rotor absolute position θ, according to $\mathrm{\ω}=\frac{\mathrm{\θ}\left(t\right)-\mathrm{\θ}(t-1)}{\mathrm{\Δt}},$ Wherein θ (t), θ (t-1) are the speed sampling t moment, t-1 angle, rotor absolute position value constantly, and Δ t is the speed sampling time;

E) ADC value fault detect; ADC signal to above-mentioned processing carries out fault detect, thinks then that when the ADC of certain signal value exceeds predetermined scope this ADC signal produces fault, puts its corresponding failure and is masked as 1;

F) MCU system failure detection; By to the system-computed value, for example signals such as rotor position angle, speed and temperature carry out fault detect, think then that when certain calculated value exceeds predetermined scope this system signal produces fault, puts its corresponding failure and is masked as 1.According to ADC value fault detect sign and system signal Reflector situation, unrecoverable failure is thought in investigation when official hour internal fault aggregate-value surpasses predetermined value, otherwise for can recover fault, it is that mcu mode is a fault mode that the unrecoverable failure motor enters guard mode;

G) produce sinusoidal voltage command signal V _Ab=U sin (θ '), wherein θ ' (t)=θ ' (t-1)+ω _cΔ t ', θ ' (t) be according to along with sampling time Δ t ' with constant rotational speed ω _cConstantly thereby the amount of accumulated change produces the sinusoidal voltage command signal that constantly changes in time;

H) each sampling obtains PWM drive motor according to producing the sinusoidal voltage command signal by carry out the SPWM modulation in dsp software;

I) when mcu mode is fault mode or motor speed＞200rpm, the zero setting of inverter conducting sign, inverter disabled, otherwise the inverter conducting be masked as at 1 o'clock then inverter enable, otherwise inverter conducting sign puts 1;

J) in CCS software, write down A, B, C phase current and rotor-position angle signal.

A kind of permagnetic synchronous motor method of testing is characterized in that: in the described sine pulse width modulation (PWM) method operational process, with oscillograph recording A phase current and ab line change in voltage data point.

A kind of permagnetic synchronous motor method of testing is characterized in that: by stall during in zero position, can obtain the d axle inductance L that changes with the d shaft current at rotor position angle according to through type (1) and (2) according to the sampling number of oscillograph recording _d(t), in like manner at rotor position angle by stall during at 90 °, can obtain the q axle inductance L that changes with the q shaft current according to through type (3) and (4) according to the sampling number of oscillograph recording _q(t)

A kind of permagnetic synchronous motor test macro and method of testing, owing to adopt above-mentioned test macro and method of testing, the stall device by rotor-position sensor and fixed rotor position of magnetic pole carries out permanent-magnetic electric machine inductance parameter measuring.The inductance of permanent-magnetic electric machine inductance parameter measuring more concerns d axle (magnetic-field component) and q axle (torque component).The permagnetic synchronous motor method of testing is by adjusting rotor magnetic pole stall device to rotor-position monitoring and limit in dsp software, make rotor magnetic pole be fixed on d axle or the q axle (in the motor rotating coordinate system), only produce d shaft voltage or q shaft voltage component by applying voltage, by real time record A phase current this moment i _aWith ab line voltage u _AbCalculate d axle inductance or q axle inductance.By device and the dsp chip detection rotor position that utilizes easy adjusting fixed rotor position, the method for surveying the limit adjustment by frontier inspection finally makes rotor be fixed on test position, realizes the inductance parameters test by voltage integration.Compared with prior art; Utilize easy device, utilize uncomplicated method realization permagnetic synchronous motor inductance parameters accurately to measure.

Description of drawings

The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments;

Fig. 1 is inverter and permagnetic synchronous motor circuit connection structure synoptic diagram in the permagnetic synchronous motor test macro of the present invention;

Fig. 2 is permanent-magnet synchronous motor rotor position sensing device scheme of installation in the permagnetic synchronous motor test macro of the present invention;

Fig. 3 is stall apparatus structure synoptic diagram in the permagnetic synchronous motor test macro of the present invention;

Fig. 4 is the process flow diagram of a kind of permagnetic synchronous motor method of testing of the present invention;

In Fig. 1～Fig. 3,1, signal panels; 2, detector; 3, stator; 4, rotor; 5, position transducer support; 6, rotor shaft; 7, rotor field spider; 8, end plate; 9, deep-slotted chip breaker; 10, slide bar; 11, fine setting piece; 12, coarse adjustment piece 1,13, coarse adjustment piece 2; 14, base; 15 stall sleeves; 16, inverter; 17, sleeve through hole; 18, synchronous motor stator winding.

Embodiment

Contrast accompanying drawing below, by description to embodiment, to the effect of the mutual alignment between the shape of the specific embodiment of the present invention such as related each member, structure, the each several part and annexation, each several part and principle of work, method of testing etc., be described in further detail, inventive concept of the present invention, technical scheme had more complete, accurate and deep understanding to help those skilled in the art.

As Fig. 1, Fig. 2, shown in Figure 3, a kind of permagnetic synchronous motor test macro, the A that comprises inverter (16), permagnetic synchronous motor, electric machine controller, temperature sensor, synchronous motor stator winding 18 links to each other with inverter 16 first brachium pontis, B links to each other with inverter 16 second brachium pontis mutually with behind the C phase short circuit, and the 3rd brachium pontis suspends.One side of the rotor 4 of described permagnetic synchronous motor is provided with rotor-position sensor, and the output of rotor-position sensor is connected with dsp chip in the electric machine controller, and described rotor shaft 6 also is connected with a stall device; Described electric machine controller is connected with test computer.

Rotor-position sensor is made up of detector 2 and ring-type destination disk 1, and ring-type destination disk 1 is sleeved on rotor shaft 6 by rotor field spider 7, and described detector 2 is installed on the end cap of stator by sensor stand 5.Ring-type destination disk 1 end faces of both sides is provided with sinusoidal curve or cosine curve decorative pattern shape, ring-type destination disk 1 is aluminium or ferrous metal material, be fixed on the rotor field spider on 7, with rotor 4 sub-rotating shaft 6 rotations that rotate, detector 2 is installed in stator terminal by mounting frame for sensor 5 (do not draw among the figure and extend part) and covers.Detector 2 output terminals are the sinusoidal signal and the cosine signal at rotor magnetic pole position angle, and this two-way output is connected to two AD passages of DSP (digital signal processor) chip TMS320f2808.

Described stall device comprises end plate 8, slide bar 10, base 14, coarse adjustment fixed block 12,13, the fine setting fixed block 11 stall sleeves 15 that have deep-slotted chip breaker, one end of slide bar 10 is connected with stall sleeve 15, and be connected with rotor shaft 4 by cooperating with sleeve through hole 17, have the stall sleeve 15 on the machine shaft 4 of being sleeved on of several sleeve through holes 17 on the surface.Stall sleeve 15 is fixed as one by engagement or other modes with rotating shaft 4.Thereby an end of slide bar is by cooperating the other end that is connected slide bar 10 with rotating shaft by two coarse adjustment fixed blocks 12,13 and fine setting fixed block 11 slide bar 10 to be fixed on end plate 8 inclined-planes in the deep-slotted chip breaker 9 of end plate 8 with the sleeve through hole, end plate 8 is fixed by base 14 and ground, and an end that is positioned at the slide bar 10 of deep-slotted chip breaker 9 slides along end plate 8 inclined-planes and drives rotor shaft 4 rotations.The dsp chip that permagnetic synchronous motor control is adopted is carried out rotor position detection.Move this rotor position detection code, by monitoring rotor position angle in DSP CCS software is reference, constantly adjust rotor-position by device shown in Figure 3 and reach the precalculated position up to the rotor position angle that in DSP CCS software, monitors, as 0 position (or 90 degree positions), angle herein is meant synchronous rotating frame d axle and A angle mutually, fixedly makes motor rotation blockage in the precalculated position by coarse adjustment and fine setting module.

Referring to Fig. 4, a kind of permagnetic synchronous motor method of testing, the test computer of storage DSP CCS test procedure is carried out the following step;

In beginning step 100; After finishing the dsp chip initial configuration, enter PWM (inverter pulse-width signal) and interrupt carrying out;

Step 101 is upgraded the ADC sampled value, signals such as the AD channel measurement electric machine phase current of dsp chip, dc bus current, DC bus-bar voltage, the output of rotor-position sensor two-way and temperature sensor output.

Step 102 is with ADC sampled value low-pass filtering.The signal ADC value that measures is carried out low-pass filtering.

Step 103 is determined position and speed; According to the rotor-position sensor two-way output signal that obtains after ADC sampling and the low-pass filtering is the sine and the cosine component of rotor position angle, and the tangent of negating obtains rotor absolute position θ, according to $\mathrm{\ω}=\frac{\mathrm{\θ}\left(t\right)-\mathrm{\θ}(t-1)}{\mathrm{\Δt}},$ Wherein θ (t), θ (t-1) are the speed sampling t moment, t-1 angle, rotor absolute position value constantly, and Δ t is the speed sampling time.

Step 104 is carried out the fault detect of ADC value; ADC signal to above-mentioned processing carries out fault detect, thinks then that when the ADC of certain signal value exceeds predetermined scope this ADC signal produces fault, puts its corresponding failure and is masked as 1.

Step 105 pair MCU system failure detection; By to the system-computed value, for example signals such as rotor position angle, speed and temperature carry out fault detect, think then that when certain calculated value exceeds predetermined scope this system signal produces fault, puts its corresponding failure and is masked as 1.According to ADC value fault detect sign and system signal Reflector situation; unrecoverable failure is thought in investigation when official hour internal fault aggregate-value surpasses predetermined value; otherwise for can recover fault, it is that mcu mode is a fault mode that the unrecoverable failure motor enters guard mode.

Step 106 produces sinusoidal voltage command signal V _Ab=U sin (θ '), wherein θ ' (t)=θ ' (t-1)+ω _cΔ t ', θ ' (t) be according to along with sampling time Δ t ' with constant rotational speed ω _cConstantly thereby the amount of accumulated change produces the sinusoidal voltage command signal that constantly changes in time.

Step 107 obtains PWM drive motor after enter determination step 108 when mcu mode be fault mode or motor speed＞200rpm according to producing the sinusoidal voltage command signal by carry out the SPWM modulation in dsp software according to each sampling, enter step 109 with the zero setting of inverter conducting sign, enter step 113 after the inverter disabled and write down in CCS software that A, B, C phase current and rotor-position angle signal are laggard goes into end step 114.

If determination step 108 result of determination then enter determination step 109 and judge whether inverter conducting signs are 1 for not, if the time then enter and enter step 113 after step 112 enables inverter, enter step 113 after then inverter conducting sign being put 1 if not.After execution of step 113, enter end step 114.

A kind of permagnetic synchronous motor method of testing is in the described sine pulse width modulation (PWM) method operational process, with oscillograph recording A phase current and ab line change in voltage data point.When the employing rotor-position sensor is measured the rotor position of magnetic pole; usually can use DSP CCS debugging software handles rotor-position signal and obtains rotor magnetic pole position; can in this type of software, monitor the rotor-position signal that obtains; adjust rotor magnetic pole position stall device while monitoring up in software, monitoring rotor magnetic pole position at this moment at d axle or q axle, the fixing rotating shaft position this moment of the stall device of rotor magnetic pole position.

Guarantee that by the sinusoidal voltage that AB is applied mutually a certain size current of electric is allowing within the range of current, by oscillograph recording AB line voltage u _Ab(u _Ac) and A phase current i _aWhen rotor magnetic pole position is fixed on the d axle, this moment i _d=i _a, $u_{\mathrm{ab}}=u_{\mathrm{ac}}=\frac{3}{2}{u}_d;$ When rotor magnetic pole position is fixed on the q axle, this moment i _q=-i _a, $u_{\mathrm{ab}}=u_{\mathrm{ac}}=\frac{3}{2}{u}_q;$

U according to test record _Ab, i _aAnd enough fast sampling time Δ t and magneto voltage equation can obtain:

${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-{\mathrm{Ri}}_a\left(t\right)]\mathrm{\Δt}---\left(1\right)$

$L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_a\left(t\right)}---\left(2\right)$

${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-{\mathrm{Ri}}_a\left(t\right)]\mathrm{\Δt}---\left(3\right)$

$L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_a\left(t\right)}---\left(4\right)$

Wherein, ψ _d(t), ψ _q(t) be sample constantly stator winding d-axis and hand over an axle magnetic linkage, ψ of t _d(t-1) be the t-1 stator winding d-axis magnetic linkage of sampling constantly, i _d(t), i _q(t) be sample constantly stator winding d-axis and hand over shaft current, u of t _Ab(t), u _Ac(t) be respectively t sample constantly AB, AC line voltage, i _a(t) be the t stator winding A phase current of sampling constantly, L _d(t), L _q(t) be respectively sample constantly stator winding d-axis and hand over an axle inductance of t.

A kind of permagnetic synchronous motor method of testing by stall during in zero position, can obtain the d axle inductance L that changes with the d shaft current at rotor position angle according to through type (1) and (2) according to the sampling number of oscillograph recording _d(t), in like manner at rotor position angle by stall during at 90 °, can obtain the q axle inductance L that changes with the q shaft current according to through type (3) and formula (4) according to the sampling number of oscillograph recording _q(t).

In conjunction with the accompanying drawings the present invention has been carried out exemplary description above; obviously specific implementation of the present invention is not subjected to the restriction of aforesaid way; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or design of the present invention and technical scheme are directly applied to other occasion without improving, all within protection scope of the present invention.

Claims (9)

1, a kind of permagnetic synchronous motor test macro, comprise inverter (16), permagnetic synchronous motor, electric machine controller, temperature sensor, it is characterized in that: a side of the rotor of described permagnetic synchronous motor (4) is provided with rotor-position sensor, the output of rotor-position sensor is connected with dsp chip in the electric machine controller, and described rotor shaft (6) also is connected with a stall device; Described electric machine controller is connected with test computer.

2, permagnetic synchronous motor test macro according to claim 1, it is characterized in that: described rotor-position sensor is made up of detector (2) and ring-type destination disk (1), described ring-type destination disk (1) is sleeved on rotor shaft (6) by rotor field spider (7), and described detector (2) is installed on the end cap of stator by sensor stand (5).

3, permagnetic synchronous motor test macro according to claim 1, it is characterized in that: described stall device comprises the end plate (8) that has deep-slotted chip breaker, slide bar (10), base (14), coarse adjustment fixed block (12,13), fine setting fixed block (11) stall sleeve (15), one end of slide bar (10) is connected with stall sleeve (15), and by being connected with rotor shaft (4) with sleeve through hole (17) cooperation, the other end of slide bar (10) passes through two coarse adjustment fixed blocks (12 in the deep-slotted chip breaker (9) of end plate (8), 13) and the fine setting fixed block (11) slide bar (10) is fixed on end plate (8) inclined-plane, end plate (8) is fixed by base (14) and ground, and an end that is positioned at the slide bar (10) of deep-slotted chip breaker (9) slides along end plate (8) inclined-plane and drives rotor shaft (4) rotation.

4, permagnetic synchronous motor test macro according to claim 2 is characterized in that: described ring-type destination disk (1) end faces of both sides is provided with sinusoidal curve decorative pattern shape.

5, permagnetic synchronous motor test macro according to claim 2 is characterized in that: the end faces of both sides of described ring-type destination disk (1) is provided with cosine curve decorative pattern shape.

6, according to claim 2 or 4 or 5 described permagnetic synchronous motor test macros, it is characterized in that: described ring-type destination disk (1) is aluminium or ferrous metal material.

7, a kind of permagnetic synchronous motor method of testing, the test computer of storage DSP CCS test procedure is carried out the following step;

A) beginning; After finishing the dsp chip initial configuration, enter PWM (inverter pulse-width signal) and interrupt carrying out;

B) the ADC sampled value is upgraded.Signals such as the AD channel measurement electric machine phase current of dsp chip, dc bus current, DC bus-bar voltage, the output of rotor-position sensor two-way and temperature sensor output;

C) ADC sampled value low-pass filtering.The signal ADC value that measures is carried out low-pass filtering.

D) position and speed is determined; According to the rotor-position sensor two-way output signal that obtains after ADC sampling and the low-pass filtering is the sine and the cosine component of rotor position angle, and the tangent of negating obtains rotor absolute position θ, according to $\mathrm{\ω}=\frac{\mathrm{\θ}\left(t\right)-\mathrm{\θ}(t-1)}{\mathrm{\Δt}},$ Wherein θ (t), θ (t-1) are the speed sampling t moment, t-1 angle, rotor absolute position value constantly, and Δ t is the speed sampling time;

E) ADC value fault detect; ADC signal to above-mentioned processing carries out fault detect, thinks then that when the ADC of certain signal value exceeds predetermined scope this ADC signal produces fault, puts its corresponding failure and is masked as 1;

F) MCU system failure detection; By to the system-computed value, for example signals such as rotor position angle, speed and temperature carry out fault detect, think then that when certain calculated value exceeds predetermined scope this system signal produces fault, puts its corresponding failure and is masked as 1.According to ADC value fault detect sign and system signal Reflector situation, unrecoverable failure is thought in investigation when official hour internal fault aggregate-value surpasses predetermined value, otherwise for can recover fault, it is that mcu mode is a fault mode that the unrecoverable failure motor enters guard mode;

G) produce sinusoidal voltage command signal V _Ab=U sin (θ '), wherein θ ' (t)=θ ' (t-1)+ω _cΔ t ', θ ' (t) be according to along with sampling time Δ t ' with constant rotational speed ω _cConstantly thereby the amount of accumulated change produces the sinusoidal voltage command signal that constantly changes in time;

H) each sampling obtains PWM drive motor according to producing the sinusoidal voltage command signal by carry out the SPWM modulation in dsp software;

I) when mcu mode is fault mode or motor speed＞200rpm, the zero setting of inverter conducting sign, inverter disabled, otherwise the inverter conducting be masked as at 1 o'clock then inverter enable, otherwise inverter conducting sign puts 1;

J) in CCS software, write down A, B, C phase current and rotor-position angle signal.

8, a kind of permagnetic synchronous motor method of testing according to claim 7 is characterized in that: in the described sine pulse width modulation (PWM) method operational process, with oscillograph recording A phase current and ab line change in voltage data point.

9, a kind of permagnetic synchronous motor method of testing according to claim 7 is characterized in that: at rotor position angle by stall during in zero position, according to the sampling number of oscillograph recording according to through type (1) ${\mathrm{\ψ}}_d\left(t\right)={\mathrm{\ψ}}_d(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-{\mathrm{Ri}}_a\left(t\right)]\mathrm{\Δt}$ And formula (2) $L_d\left(t\right)=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_d\left(t\right)}=\frac{{\mathrm{\ψ}}_d\left(t\right)}{i_a\left(t\right)}$ Can obtain d axle inductance L with the variation of d shaft current _d(t), in like manner at rotor position angle by stall during at 90 °, according to the sampling number of oscillograph recording according to through type (3) ${\mathrm{\ψ}}_q\left(t\right)={\mathrm{\ψ}}_q(t-1)+[\frac{2}{3}{u}_{\mathrm{ab}}\left(t\right)-{\mathrm{Ri}}_a\left(t\right)]\mathrm{\Δt}$ And formula (4) $L_q\left(t\right)=\frac{{\mathrm{\ψ}}_q\left(t\right)}{i_q\left(t\right)}=\frac{{\mathrm{\ψ}}_q\left(t\right)}{-i_a\left(t\right)}$ Can obtain q axle inductance L with the variation of q shaft current _q(t).

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