CN104601069A - Method and system for acquiring inductance parameters of permanent magnet synchronizing motor - Google Patents

Abstract

The invention provides method and system for acquiring inductance parameters of a permanent magnet synchronizing motor. The method and system are that a voltage space vector is applied to the permanent magnet synchronizing motor; the current parameters of the permanent magnet synchronizing motor under the influence of the voltage space vector are acquired; the position of a rotor of the permanent magnet synchronizing motor is calculated according to the current parameters; then the inductance parameters of the permanent magnet synchronizing motor are calculated according to the rotor position. The method and system for acquiring the inductance parameters are out of dependence on the voltage of a transducer, the inductance is obtained according to the relation of inductance and current, and therefore, the interference resistance is high, the recognition process is stable, the recognition result has a little deviation, and as a result, accurate inductance parameters can be obtained.

Description

A kind of inductance parameters acquisition methods of permagnetic synchronous motor and system

Technical field

The application relates to technical field of motors, more particularly, relates to a kind of inductance parameters acquisition methods and system of permagnetic synchronous motor.

Background technology

In vector control system, electric current loop responds a fastest ring in governing system, the quality of its controller parameter will directly have influence on the performance of whole governing system, and according to classical control theory method, be the most directly stator resistance and the inductance of motor to current controller parameter influence.Motor its stator resistance and inductance in running are not unalterable, the resistance of motor and permanent magnet can change because of the change of temperature for magnetic energy power, inductance value can change because of the magnetic saturation in various degree under different service conditions caused by curent change, along with the change of current of electric, magnetic linkage more approaches to saturation, inductance change is in nonlinear change, be difficult to the parameter accurately calculating saturation region inductance when design of electrical motor, thus cause the control performance impact of saturation region inductance on system more severe.Therefore, obtain the performance of accurate inductance parameters to permanent magnet transmission system most important, carrying out identification accurately to the inductance parameters of motor will directly determine the quality of current controller control performance, and then has influence on the performance of whole governing system.

Summary of the invention

In view of this, the application provides a kind of inductance parameters acquisition methods and system of permagnetic synchronous motor, to obtain the accurate inductance parameters of permagnetic synchronous motor.

To achieve these goals, the existing scheme proposed is as follows:

An inductance parameters acquisition methods for permagnetic synchronous motor, comprises the steps:

Space vector of voltage is applied to described permagnetic synchronous motor;

Obtain the current parameters of described permagnetic synchronous motor under described space vector of voltage impact;

The rotor-position of the rotor of described permagnetic synchronous motor is calculated according to described current parameters;

The inductance parameters of described permagnetic synchronous motor is calculated according to described rotor-position.

Preferably, described to described permagnetic synchronous motor applying space vector of voltage, comprising:

Three-phase inverter is utilized to apply described space vector of voltage to the stator coil of described permagnetic synchronous motor.

Preferably, the described inductance parameters calculating described permagnetic synchronous motor according to described rotor-position, comprising:

Described inductance parameters is calculated according to the phase self-induction of described permagnetic synchronous motor and the relational expression of rotor-position and described rotor-position.

Preferably, described permanent magnet synchronous motor is provided with position transducer, and the described rotor-position calculating the rotor of described permagnetic synchronous motor according to described current parameters, comprising:

The position of described rotor is calculated respectively according to the current parameters of the three-phase of described stator.

Preferably, described permanent magnet synchronous motor does not have position transducer, and the described rotor-position calculating the rotor of described permagnetic synchronous motor according to described current parameters, comprising:

Transferred the rotor of described permagnetic synchronous motor to 0 degree by continuous current excitation, after stable, calculated described d-axis inductance according to described current parameters, using described 0 degree as described rotor-position;

Transferred described rotor to 90 degree by continuous current excitation, after stable, calculated described quadrature axis inductance according to described current parameters, using described 90 degree as described rotor-position.

The inductance parameters of permagnetic synchronous motor obtains a system, comprising:

Voltage applies module, for applying space vector of voltage to described permagnetic synchronous motor;

Current parameters acquisition module, for obtaining the current parameters of described permagnetic synchronous motor under described space vector of voltage impact;

Rotor-position determination module, for calculating the rotor-position of the rotor of described permagnetic synchronous motor according to described current parameters;

Inductance parameters computing module, for calculating the inductance parameters of described permagnetic synchronous motor according to described rotor-position.

Preferably, described voltage applying module comprises:

Three-phase inverter, for applying described space vector of voltage to the stator coil of described permagnetic synchronous motor.

Preferably, described inductance parameters calculates and is used for calculating described inductance parameters according to the phase self-induction of described permagnetic synchronous motor and the relational expression of rotor-position and described rotor-position.

Preferably, described permanent magnet synchronous motor is provided with position transducer, and described rotor-position determination module is used for the position calculating described rotor respectively according to the current parameters of the three-phase of described stator.

Preferably, described permanent magnet synchronous motor does not have position transducer, and described rotor-position determination module comprises:

Excitation driver element, for being transferred the rotor of described permagnetic synchronous motor to 0 degree by continuous current excitation;

First computing unit, for calculating described d-axis inductance according to described current parameters after described rotor stability, and using described 0 degree as described rotor-position;

Excitation driver element is also for being transferred described rotor to 90 degree by continuous current excitation;

Second computing unit, for calculating described quadrature axis inductance according to described current parameters after described rotor stability, and using described 90 degree as described rotor-position.

As can be seen from technique scheme, this application provides a kind of inductance parameters acquisition methods and system of permagnetic synchronous motor, first the method and system apply space vector of voltage to permagnetic synchronous motor, then the current parameters of permagnetic synchronous motor under the impact of this space vector of voltage is obtained, calculate the rotor-position of the rotor of permagnetic synchronous motor again according to this current parameters, calculate the inductance parameters of permagnetic synchronous motor according to this rotor-position.The inductance parameters acquisition methods provided due to the application and system do not rely on frequency converter voltage, but obtaining inductance by the relational expression of inductance and electric current, antijamming capability is strong, and identification process is stablized, identification result deviation is little, thus can obtain point-device inductance parameters.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

The flow chart of the inductance parameters acquisition methods of a kind of permagnetic synchronous motor that Fig. 1 provides for the embodiment of the present application;

The state diagram of the switching tube of a kind of inverter that Fig. 2 a provides for the application;

The state diagram of a kind of state of the switching tube of the inverter that Fig. 2 b provides for the application;

The state diagram of the another kind of state of the switching tube of the inverter that Fig. 2 c provides for the application;

The d-axis location drawing of a kind of rotor that Fig. 3 a provides for the application;

The d-axis location drawing of the another kind of rotor that Fig. 3 b provides for the application;

The inductance of the permagnetic synchronous motor that Fig. 4 provides for the application and the graph of a relation of its rotor-position.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present application, be clearly and completely described the technical scheme in the embodiment of the present application, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the application's protection.

Facility one

The flow chart of the inductance parameters acquisition methods of a kind of permagnetic synchronous motor that Fig. 1 provides for the embodiment of the present application.

As shown in Figure 1, the inductance parameters acquisition methods of permagnetic synchronous motor that the present embodiment provides comprises the steps:

S101: apply space vector of voltage to permagnetic synchronous motor.

Utilize three-phase inverter to generate during space vector of voltage, then space vector of voltage is outputted to the stator coil of permagnetic synchronous motor.

There is a lot of method at present to generate space voltage vector u _s, comparing main flow is all directly utilize inverter to be formed by opening of control IGBT pipe, respectively along the axis of ABC winding, positive and negative both direction, alternately applies voltage vector, such as A axle, can apply 0 ° of vector u _s1with 180 ° of vector u _s4, its inverter switching device tubulose state as shown in Figure 2 a and 2 b:

The pulse voltage formed and current response as shown in Figure 2 c, apply reverse vector u in time period I _s4, the time is T ₁, in time II, apply u _s1, the time is T ₂=2T ₁; Reverse vector u is applied in time III _s4, time T ₃=2T ₁; U is applied in time period IV _s1, time T ₄=T ₁.So, current waveform can be kept symmetrical, the amplitude of current pulsation can be reduced again, and in the whole time period, average current, close to zero, produces average torque and exists hardly, keeps rotor-position constant.

S102: the current parameters obtaining this permagnetic synchronous motor.

Namely the current parameters of this permagnetic synchronous motor under the impact of above-mentioned space vector of voltage is obtained.

S103: the rotor-position calculating its rotor according to current parameters.

Permagnetic synchronous motor is comprise position transducer a bit, and some does not have position transducer, is need to obtain in different ways for these two kinds of its rotor-positions of permagnetic synchronous motor.

For the permagnetic synchronous motor comprising position transducer, obtain this rotor-position with following method:

For A phase, inject contrary pulse vector, the information abbreviation obtained is as follows:

${\mathrm{\Δi}}_A={\mathrm{\Δi}}_{s1}-{\mathrm{\Δi}}_{s4}=\frac{\left|u_s\right|}{L_d{L}_q}((L_d+L_q)-(L_d-L_q)\cos {2\mathrm{\θ}}_r)\mathrm{\Δt}$

For B phase, inject contrary pulse vector, following formula of can deriving:

${\mathrm{\Δi}}_B=\frac{\left|u_s\right|}{L_d{L}_q}((L_d+L_q)-(L_d-L_q)\cos 2({\mathrm{\θ}}_r-\frac{4}{3}\mathrm{\π}))\mathrm{\Δt}$

For C phase, inject contrary pulse vector, following formula of can deriving:

${\mathrm{\Δi}}_c=\frac{\left|u_s\right|}{L_d{L}_q}((L_d+L_q)-(L_d-L_q)\cos 2({\mathrm{\θ}}_r-\frac{2}{3}\mathrm{\π}))\mathrm{\Δt}$

Therefore, do to derive as follows:

$\begin{array}{c}{\mathrm{\Δi}}_A-{\mathrm{\Δi}}_B=\frac{\left|u_s\right|}{L_d{L}_q}(L_d-L_q)(\cos 2({\mathrm{\θ}}_r-\frac{4}{3}\mathrm{\π})-\cos 2\left({\mathrm{\θ}}_r\right))\mathrm{\Δt}\\ \⇒\frac{1}{L_q}-\frac{1}{L_d}=\frac{{\mathrm{\Δi}}_A-{\mathrm{\Δi}}_B}{\left|u_s\right|(\cos 2({\mathrm{\θ}}_r-\frac{4}{3}\mathrm{\π})-\cos 2\left({\mathrm{\θ}}_r\right))\mathrm{\Δt}}\end{array}$

Make the following assumptions:

$M_1=\frac{{\mathrm{\Δi}}_A}{\left|u_s\right|\mathrm{\Δt}},M_2=\frac{{\mathrm{\Δi}}_A-{\mathrm{\Δi}}_B}{\left|u_s\right|(\cos 2({\mathrm{\θ}}_r-\frac{4}{3}\mathrm{\π})-\cos 2\left({\mathrm{\θ}}_r\right))\mathrm{\Δt}}$

Can derive inductance to ask for formula as follows:

$L_q=\frac{2}{M_1+M_2(1+\cos 2{\mathrm{\θ}}_r)}$

$L_d=\frac{2}{M_1+M_2(\cos {2\mathrm{\θ}}_r-1)}$

As can be seen from above-mentioned formula, wherein include positional information, therefore separate the rotor-position that this equation can obtain permagnetic synchronous motor.

For the permagnetic synchronous motor not comprising position transducer, two processes can be divided into realize the relation of inductance and electric current.

1) d-axis inductance and direct-axis current relation is solved:

If by the angle of rotor, changed to 0 ° by continuous current excitation, namely d-axis overlaps as shown in Figure 3 a with static coordinate.

After rotor stability, inject the information of voltage of alternation in the A phase, that is, can by as follows for inform formula abbreviation:

${\mathrm{\Δi}}_A=\frac{\left|u_s\right|}{L_d{L}_q}\left({2L}_q\right)\mathrm{\Δt}\⇒L_d=\frac{2\left|u_s\right|\mathrm{\Δt}}{{\mathrm{\Δi}}_A}$

Wherein, due to the known Δ I of changes in coordinates _d=Δ I _a, therefore, can obtain wherein, Δ i _din contain instantaneous direct-axis current information, i _d1, i _d2, i _d3, i _d4, obtaining current average i _{d_ref}=0.25 (i _d1+ i _d2+ i _d3+ i _d4), therefore can draw d-axis inductance L _dwith direct-axis current i _{d_ref}relation.

2) quadrature axis inductance and quadrature axis current relation is solved:

If by the angle of rotor, changed to 90 ° by continuous current excitation, namely d-axis and static coordinate relation are as shown in Figure 3 b,

After rotor stability, inject the information of voltage of alternation in the A phase, that is, can by as follows for inform formula abbreviation:

${\mathrm{\Δi}}_A=\frac{\left|u_s\right|}{L_d{L}_q}\left({2L}_d\right)\mathrm{\Δt}\⇒L_q=\frac{2\left|u_s\right|\mathrm{\Δt}}{{\mathrm{\Δi}}_A}$

Wherein, due to the known Δ i of changes in coordinates _q=-Δ i _a, therefore, can obtain wherein, Δ i _qin contain instantaneous quadrature axis current information, i _q1, i _q2, i _q3, i _q4, obtaining current average i _{q_ref}=0.25 (i _q1+ i _q2+ i _q3+ i _q4), therefore can draw quadrature axis inductance L _qwith quadrature axis current i _{q_ref}relation.

All including the rotor information of rotor in above-mentioned relation formula, therefore can obtain the rotor information of rotor by solving this relational expression.

S104: the inductance parameters calculating permagnetic synchronous motor according to rotor-position.

Ignore stator, the impact of rotor teeth groove and iron core cutter effect when, for presenting salient pole permanent magnet synchronous motor, the mutual inductance between the self-induction of stator winding and stator winding rotates by doubled frequency change along with rotor-position.When certain phase winding axis overlaps with rotor axis, this phase self-induction is L _d, after rotor rotates pi/2 electrical degree, this phase self-induction overlaps with center line between rotor pole, and self-induction becomes L _q, rotor often changes π electrical degree, winding self-induction size variation one week.Therefore, this phase self-induction and position relationship as follows:

L _a(θ _r)＝L ₀+L ₂cos(2θ _r)

$L_b\left({\mathrm{\θ}}_r\right)=L_0+L_2\cos ({2\mathrm{\θ}}_r+\frac{2\mathrm{\π}}{3})$

$L_c\left({\mathrm{\θ}}_r\right)=L_0+L_2\cos ({2\mathrm{\θ}}_r+\frac{4\mathrm{\π}}{3})$

The relational expression of phase inductance mutual inductance is as follows:

$M_{\mathrm{ab}}=M_{\mathrm{ba}}=-\frac{L_0}{2}-L_2\cos ({2\mathrm{\θ}}_r-\frac{2\mathrm{\π}}{3})$

$M_{\mathrm{bc}}=M_{\mathrm{cb}}=-\frac{L_0}{2}-L_2\cos \left({2\mathrm{\θ}}_r\right)$

$M_{\mathrm{ca}}=M_{\mathrm{ac}}=-\frac{L_0}{2}-L_2\cos ({2\mathrm{\θ}}_r+\frac{2\mathrm{\π}}{3})$

Wherein, $L_0=\frac{L_d+L_q}{2},L_2=\frac{L_d-L_q}{2}.$

Inductance and location diagram as shown in Figure 4, can be known from figure, and when rotor-position is in 0 position or pi/2 angle, the value of phase inductance is respectively the cross, straight axle inductance value of motor.

Utilize above-mentioned inductance and the relational expression of position, the rotor-position also having above-mentioned steps to obtain can obtain the inductance parameters of this permagnetic synchronous motor.

As can be seen from technique scheme, present embodiments provide a kind of inductance parameters acquisition methods of permagnetic synchronous motor, first the method applies space vector of voltage to permagnetic synchronous motor, then the current parameters of permagnetic synchronous motor under the impact of this space vector of voltage is obtained, calculate the rotor-position of the rotor of permagnetic synchronous motor again according to this current parameters, calculate the inductance parameters of permagnetic synchronous motor according to this rotor-position.The inductance parameters acquisition methods provided due to the application does not rely on frequency converter voltage, but obtains inductance by the relational expression of inductance and electric current, and antijamming capability is strong, and identification process is stablized, and identification result deviation is little, thus can obtain point-device inductance parameters.

Embodiment two

The present embodiment is that a kind of inductance parameters of permagnetic synchronous motor obtains system, and this system comprises voltage and applies module, current parameters acquisition module, rotor-position determination module and inductance parameters computing module.

Voltage applies module and is used for applying space vector of voltage to described permagnetic synchronous motor.It comprises the three-phase inverter for output voltage space vector.

Current parameters acquisition module is for obtaining the current parameters of described permagnetic synchronous motor under described space vector of voltage impact;

Rotor-position determination module is used for the rotor-position of the rotor calculating described permagnetic synchronous motor according to described current parameters; If permagnetic synchronous motor is provided with position transducer, then calculate this inductance parameters according to the current parameters of three of stator.

If permagnetic synchronous motor comprises position transducer, then rotor-position determination module includes excitation driver element, the first computing unit and the second computing unit, and wherein excitation driver element is used for being transferred the rotor of permagnetic synchronous motor to 0 degree by continuous current excitation; First computing unit is used for calculating d-axis inductance according to current parameters after rotor stability, and using 0 degree as rotor-position; Excitation driver element is also for being transferred the rotor of permagnetic synchronous motor to 90 degree by continuous current excitation; Second computing unit is used for calculating quadrature axis inductance according to current parameters after rotor stability, and using 90 degree as described rotor-position.

Inductance parameters computing module is for calculating the inductance parameters of permagnetic synchronous motor according to the relational expression of rotor-position and rotor-position and inductance.

As can be seen from technique scheme, the inductance parameters present embodiments providing a kind of permagnetic synchronous motor obtains system, and this system comprises voltage and applies module, current parameters acquisition module, rotor-position determination module and inductance parameters computing module.Voltage applies module and is used for applying space vector of voltage to permagnetic synchronous motor, current parameters acquisition module is for obtaining the current parameters of permagnetic synchronous motor under the impact of this space vector of voltage, rotor-position determination module is used for the rotor-position of the rotor calculating permagnetic synchronous motor according to this current parameters, and inductance parameters computing module finally calculates the inductance parameters of permagnetic synchronous motor according to this rotor-position.The inductance parameters acquisition system provided due to the application does not rely on frequency converter voltage, but obtaining inductance by the relational expression of inductance and electric current, antijamming capability is strong, and identification process is stablized, identification result deviation is little, thus can obtain point-device inductance parameters.

In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the application.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (10)

1. an inductance parameters acquisition methods for permagnetic synchronous motor, is characterized in that, comprise the steps:

Space vector of voltage is applied to described permagnetic synchronous motor;

Obtain the current parameters of described permagnetic synchronous motor under described space vector of voltage impact;

The rotor-position of the rotor of described permagnetic synchronous motor is calculated according to described current parameters;

The inductance parameters of described permagnetic synchronous motor is calculated according to described rotor-position.

2. inductance parameters acquisition methods as claimed in claim 1, is characterized in that, described to described permagnetic synchronous motor applying space vector of voltage, comprising:

Three-phase inverter is utilized to apply described space vector of voltage to the stator coil of described permagnetic synchronous motor.

3. inductance parameters acquisition methods as claimed in claim 1, it is characterized in that, the described inductance parameters calculating described permagnetic synchronous motor according to described rotor-position, comprising:

Described inductance parameters is calculated according to the phase self-induction of described permagnetic synchronous motor and the relational expression of rotor-position and described rotor-position.

4. inductance parameters acquisition methods as claimed in claim 1, it is characterized in that, described permanent magnet synchronous motor is provided with position transducer, and the described rotor-position calculating the rotor of described permagnetic synchronous motor according to described current parameters, comprising:

The position of described rotor is calculated respectively according to the current parameters of the three-phase of described stator.

5. inductance parameters acquisition methods as claimed in claim 1, it is characterized in that, described permanent magnet synchronous motor does not have position transducer, and the described rotor-position calculating the rotor of described permagnetic synchronous motor according to described current parameters, comprising:

Transferred the rotor of described permagnetic synchronous motor to 0 degree by continuous current excitation, after stable, calculated described d-axis inductance according to described current parameters, using described 0 degree as described rotor-position;

Transferred described rotor to 90 degree by continuous current excitation, after stable, calculated described quadrature axis inductance according to described current parameters, using described 90 degree as described rotor-position.

6. the inductance parameters of permagnetic synchronous motor obtains a system, it is characterized in that, comprising:

Voltage applies module, for applying space vector of voltage to described permagnetic synchronous motor;

Current parameters acquisition module, for obtaining the current parameters of described permagnetic synchronous motor under described space vector of voltage impact;

Rotor-position determination module, for calculating the rotor-position of the rotor of described permagnetic synchronous motor according to described current parameters;

Inductance parameters computing module, for calculating the inductance parameters of described permagnetic synchronous motor according to described rotor-position.

7. inductance parameters as claimed in claim 6 obtains system, it is characterized in that, described voltage applies module and comprises:

Three-phase inverter, for applying described space vector of voltage to the stator coil of described permagnetic synchronous motor.

8. inductance parameters acquisition methods as claimed in claim 6, is characterized in that, described inductance parameters calculates and is used for calculating described inductance parameters according to the phase self-induction of described permagnetic synchronous motor and the relational expression of rotor-position and described rotor-position.

9. inductance parameters as claimed in claim 6 obtains system, and it is characterized in that, described permanent magnet synchronous motor is provided with position transducer, and described rotor-position determination module is used for the position calculating described rotor respectively according to the current parameters of the three-phase of described stator.

10. inductance parameters as claimed in claim 6 obtains system, and it is characterized in that, described permanent magnet synchronous motor does not have position transducer, and described rotor-position determination module comprises:

Excitation driver element, for being transferred the rotor of described permagnetic synchronous motor to 0 degree by continuous current excitation;

First computing unit, for calculating described d-axis inductance according to described current parameters after described rotor stability, and using described 0 degree as described rotor-position;

Excitation driver element is also for being transferred described rotor to 90 degree by continuous current excitation;

Second computing unit, for calculating described quadrature axis inductance according to described current parameters after described rotor stability, and using described 90 degree as described rotor-position.