CN104734593A - Permanent magnet synchronous motor control system and stator resistance identification method - Google Patents
Permanent magnet synchronous motor control system and stator resistance identification method Download PDFInfo
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- CN104734593A CN104734593A CN201310720313.XA CN201310720313A CN104734593A CN 104734593 A CN104734593 A CN 104734593A CN 201310720313 A CN201310720313 A CN 201310720313A CN 104734593 A CN104734593 A CN 104734593A
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Abstract
The invention provides a permanent magnet synchronous motor control system. The permanent magnet synchronous motor control system comprises a current sampling module, a first coordinate transformation module, a current correction module, a compensation module and a stator resistance identification module; the current sampling module is used for sampling N three-phase currents IUi, IVi and IWi of a permanent magnet synchronous motor; the first coordinate transformation module is used for conducting coordinate transformation on the N three-phase currents IUi, IVi and IWi when the given electrical angle is zero so as to obtain N direct-axis currents Idi and N quadrature-axis currents Iqi; the current correction module conducts current correction on the N Idi according to a direct-axis reference current Idref so as to obtain N direct-axis voltages Vdi; the compensation module conducts compensation on the N Vdi so as to obtain N compensated direct-axis voltages Vcomi; the stator resistance identification module is used for obtaining the resistance value of a stator resistor of the permanent magnet synchronous motor according to the N Vcomi and the N Idi. According to the control system, the influences of noise can be effectively weakened, and the identification accuracy of the stator resistor can be improved. The invention further provides a stator resistance identification method of the permanent magnet synchronous motor.
Description
Technical field
The present invention relates to household electrical appliance technical field, particularly a kind of control system of permagnetic synchronous motor and a kind of Stator resistance identification method of permagnetic synchronous motor.
Background technology
In the governing system of permagnetic synchronous motor, because position transducer can increase the cost of system, reduce the reliability of system, and be difficult to use, so the control mode of position-sensor-free obtains significant development under rugged environment.And in control system without position sensor, position estimation accuracy weighs the important indicator of systematic function.Wherein, the identification precision of stator resistance directly affects the precision of location estimation.And in most of civilian control system, based on cost consideration, DC power supply is often obtained by the direct rectification of mains supply, and therefore, this DC power supply inevitably exists certain voltage fluctuation.In addition, flow measurement transducer, as analogue device, also also exists temperature drift, easily the defect such as to be disturbed, and therefore measures electric current and certainly exists random noise.
For solving the problem, in correlation technique, propose the discrimination method of following several stator resistance.One is adopt direct voltammetry, although the method take into account the tube voltage drop of dead band pressure drop, IGBT and diode, does not but consider flow measurement noise and direct current power source voltage fluctuation, containing random noise in the identification result of therefore stator resistance; Two is the direct currents by injecting twice different value, the current/voltage value obtained is subtracted each other, thus offsets the pressure drop of IGBT and diode, thus weakens the dependence of device, cannot the problem of Removing Random No but still exist; Three is propose a kind of online resistance estimator, but its algorithm relative complex, not easily meet requirement of engineering.Therefore, the Stator resistance identification of the control system of the permagnetic synchronous motor in correlation technique needs to improve.
Summary of the invention
Object of the present invention is intended to solve above-mentioned technological deficiency at least to a certain extent.
For this reason, one object of the present invention is the control system proposing a kind of permagnetic synchronous motor, the impact of the fluctuation that effectively can slacken direct current power source voltage and the random noise measuring electric current, thus improves the identification precision of stator resistance.
Another object of the present invention is a kind of Stator resistance identification method proposing permagnetic synchronous motor.
For achieving the above object, the embodiment of one aspect of the present invention proposes a kind of control system of permagnetic synchronous motor, comprising: current sample module, for N number of three-phase current I of described permagnetic synchronous motor of sampling
ui, I
vi, I
wi, wherein, i is the positive integer being more than or equal to 1 and being less than or equal to N, sampling number N be greater than 1 positive integer; First coordinate transferring, for when given electrical degree is 0 to N number of described three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi; Current correction module, for according to d-axis reference current I
drefwith quadrature axis reference current I
qrefrespectively to N number of described direct-axis current I
diwith N number of described quadrature axis current I
qicarry out current correction to obtain N number of direct-axis voltage V
diwith N number of quadrature-axis voltage V
qi; Compensating module, for N number of described direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi; Stator resistance identification module, according to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
diobtain the resistance of the stator resistance of described permagnetic synchronous motor.
Further, the control system of described permagnetic synchronous motor also comprises: the second coordinate transferring, for when given electrical degree is 0 to the direct-axis voltage V after N number of described compensation
comiwith N number of described quadrature-axis voltage V
qicarry out Coordinate Conversion to obtain N number of three-phase reference voltage V
ai, V
bi, V
ci; Inversion module, for by N number of described three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of UVW three-phase voltage U of described permagnetic synchronous motor
ai, U
bi, U
ci; DC power supplier, for powering for described inversion module.
In one embodiment of the invention, described Stator resistance identification module also comprises: according to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
di, and utilize least-squares linear regression algorithm to obtain the resistance of described stator resistance.Like this, the impact of the fluctuation of direct current power source voltage and the random noise of measurement electric current is effectively slackened thus the identification precision of raising stator resistance.
Particularly, the resistance R of described stator resistance is obtained according to following formula:
Wherein, V
comifor the direct-axis voltage after described compensation and I
difor described direct-axis current.
In one particular embodiment of the present invention, according to following formula to described direct-axis voltage V
dicompensate:
V
comi=V
di+V
dead+V
IGBT
Wherein, V
comifor the direct-axis voltage after described compensation, V
difor described direct-axis voltage, V
deadfor the dead band pressure drop of described inversion module, V
iGBTfor the pressure drop in described inversion module between insulated gate bipolar transistor IGBT drain electrode and source electrode, V
iGBTvolt-ampere characteristic according to described IGBT obtains with the electric current flowing through described IGBT.
Thus, the pressure drop between consideration IGBT drain electrode and source electrode and the non-linear change tendencies of electric current, improve Stator resistance identification precision.
In a preferred embodiment of the invention, described direct-axis current I
diaccording to U phase current I in the described three-phase of described permagnetic synchronous motor
uiobtain; Described direct-axis voltage V
dithe phase voltage V alternate with V according to U phase in the described three-phase of described permagnetic synchronous motor
uVito obtain; Described direct-axis voltage V
difor the phase voltage V between the U phase of described permagnetic synchronous motor and V phase
uVi1.5 times, described direct-axis current I
difor the electric current I of the U phase of described permagnetic synchronous motor
ai; The phase voltage V that described Stator resistance identification module is alternate with V according to N number of described U phase
uViwith N number of described U phase current I
aiobtain the resistance of described stator resistance.
According to the control system of the permagnetic synchronous motor that the embodiment of the present invention proposes, by N number of three-phase current I of current sample module samples permagnetic synchronous motor
ui, I
vi, I
wi, when given electrical degree is 0, the first coordinate transferring is to N number of three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi, afterwards, current correction module is according to d-axis reference current I
drefwith quadrature axis reference current I
qrefrespectively to N number of direct-axis current I
diwith N number of quadrature axis current I
qicarry out current correction to obtain N number of direct-axis voltage V
diwith N number of quadrature-axis voltage V
qi, and compensating module is to N number of direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi, Stator resistance identification module 5 is according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
diobtain the resistance of stator resistance.Thus, the control system of the permagnetic synchronous motor of the embodiment of the present invention can improve Stator resistance identification precision, further, obtained the resistance of stator resistance by least-squares linear regression, to the random noise and direct current power source voltage measuring electric current, there is good vulnerability to jamming.
For achieving the above object, the embodiment of one aspect of the present invention proposes a kind of Stator resistance identification method of permagnetic synchronous motor, comprises the following steps: S1, N number of three-phase current I of described permagnetic synchronous motor of sampling
ui, I
vi, I
wi, wherein, i is the positive integer being more than or equal to 1 and being less than or equal to N, sampling number N be more than or equal to 1 positive integer; S2, when given electrical degree is 0, to N number of described three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi; S3, according to d-axis reference current I
drefwith quadrature axis reference current I
qrefrespectively to N number of described direct-axis current I
diwith N number of described quadrature axis current I
qicarry out current correction to obtain N number of direct-axis voltage V
diwith N number of quadrature-axis voltage V
qi; S4, to N number of described direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi; S5, according to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
diobtain the resistance of the stator resistance of described permagnetic synchronous motor.
Further, also comprise after described step S5: when given electrical degree is 0, to the direct-axis voltage V after N number of described compensation
comiwith N number of described quadrature-axis voltage V
qicarry out Coordinate Conversion to obtain N number of three-phase reference voltage V
ai, V
bi, V
ci; By N number of described three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of three-phase voltage U of described permagnetic synchronous motor
i, V
i, W
i.
In one embodiment of the invention, described step S5 also for: according to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
di, and utilize least-squares linear regression algorithm to obtain the resistance of described stator resistance.Like this, the impact of the fluctuation effectively slackening direct current power source voltage and the random noise measuring electric current, thus improve the identification precision of stator resistance.
Particularly, the resistance R of described stator resistance is obtained according to following formula:
Wherein, V
comifor the direct-axis voltage after described compensation, I
difor described direct-axis current.
In one particular embodiment of the present invention, according to following formula to described direct-axis voltage V
dicompensate:
V
comi=V
di+V
dead+V
IGBT
Wherein, V
comifor the described direct-axis voltage after compensation, V
difor described direct-axis voltage, V
deadfor the dead band pressure drop of inversion module, V
iGBTfor the pressure drop in inversion module between insulated gate bipolar transistor IGBT drain electrode and source electrode, the volt-ampere characteristic according to described IGBT obtains with the electric current flowing through described IGBT.
Thus, the pressure drop between consideration IGBT drain electrode and source electrode and the non-linear change tendencies of electric current, improve Stator resistance identification precision.
In a preferred embodiment of the invention, U phase current I in the described three-phase of described permagnetic synchronous motor is measured
uito obtain described direct-axis current I
di; Measure the phase voltage V that in the described three-phase of described permagnetic synchronous motor, U phase is alternate with V
uVito obtain described direct-axis voltage V
di; Described direct-axis voltage V
difor the phase voltage V between the U phase of described permagnetic synchronous motor and V phase
uVi1.5 times, described direct-axis current I
difor the electric current I of the U phase of described permagnetic synchronous motor
ai; The phase voltage V alternate with V according to N number of described U phase
uViwith N number of described U phase current I
aiobtain the resistance of described stator resistance.
According to the Stator resistance identification method of the permagnetic synchronous motor that the embodiment of the present invention proposes, by N number of three-phase current I of permagnetic synchronous motor of sampling
ui, I
vi, I
wi, when given electrical degree is 0, to N number of three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi, afterwards, according to d-axis reference current I
drefwith quadrature axis reference current I
qrefrespectively to N number of direct-axis current I
diwith N number of quadrature axis current I
qicarry out current correction to obtain N number of direct-axis voltage V
diwith N number of quadrature-axis voltage V
qi, and, to N number of direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi, according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
diobtain the resistance of stator resistance.Thus, the Stator resistance identification method of the permagnetic synchronous motor of the embodiment of the present invention can improve Stator resistance identification precision, further, obtained the resistance of stator resistance by least-squares linear regression, to the random noise and direct current power source voltage measuring electric current, there is good vulnerability to jamming.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the principle schematic of the control system of permagnetic synchronous motor according to the embodiment of the present invention;
Fig. 2 is the block diagram of Stator resistance identification module in the control system according to the permagnetic synchronous motor of the embodiment of the present invention;
Fig. 3 is the waveform schematic diagram of direct-axis voltage in the control system according to the permagnetic synchronous motor of the present invention's specific embodiment;
Fig. 4 is the waveform schematic diagram of direct-axis current in the control system according to the permagnetic synchronous motor of the embodiment of the present invention;
Fig. 5 is the flow chart of the Stator resistance identification method of permagnetic synchronous motor according to an invention embodiment; And
Fig. 6 is the flow chart of the Stator resistance identification method according to the permagnetic synchronous motor inventing another embodiment.
Reference numeral:
Current sample module 1, first coordinate transferring 2, current correction module 3, compensating module 4, Stator resistance identification module 5, second coordinate transferring 6, inversion module 7 and DC power supplier 8.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it " on " structure can comprise the embodiment that the first and second features are formed as directly contact, also can comprise other feature and be formed in embodiment between the first and second features, such first and second features may not be direct contacts.
In describing the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
With reference to description below and accompanying drawing, these and other aspects of embodiments of the invention will be known.Describe at these and in accompanying drawing, specifically disclose some particular implementation in embodiments of the invention, representing some modes of the principle implementing embodiments of the invention, but should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.
Below before describing the control system of permagnetic synchronous motor and the Stator resistance identification method of permagnetic synchronous motor proposed according to the embodiment of the present invention, simply introduce the general principle that the embodiment of the present invention adopts first.
According to electrotechnics principle:
R=U/I
Wherein, U is the voltage being applied to resistance two ends, and I is the electric current flowing through resistance.
If the voltage U being applied to resistance two ends changes N time, then can record N number of DC current values I.If voltage U seen dependent variable, regard electric current I as independent variable, obviously, the electric current of this N number of voltage and N number of measurement that are applied to resistance two ends meets linear relationship, namely can apply linear regression algorithm.Thus, calculate ratio juris according to based on least-squares linear regression, namely can pick out corresponding resistance value.
Based on above general principle, the embodiment of the present invention proposes a kind of control system of permagnetic synchronous motor and a kind of Stator resistance identification method of permagnetic synchronous motor.
The control system of permagnetic synchronous motor and the Stator resistance identification method of permagnetic synchronous motor that propose according to the embodiment of the present invention are described with reference to the accompanying drawings.
Fig. 1 is the principle schematic of the control system of permagnetic synchronous motor according to the embodiment of the present invention.As shown in Figure 1, the control system of permagnetic synchronous motor comprises: current sample module 1, first coordinate transferring 2, current correction module 3, compensating module 4 and Stator resistance identification module 5.
Current sample module 1 is for N number of three-phase current I of permagnetic synchronous motor 10 of sampling
ui, I
vi, I
wi, wherein, i is the positive integer being more than or equal to 1 and being less than or equal to N, sampling number N be greater than 1 positive integer.Specifically, current sample module 1 can with the N number of three-phase current I of predeterminated frequency continuous sampling
ui, I
vi, I
wi.
First coordinate transferring 2 is at given electrical degree θ
rwhen being 0, to N number of three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi.That is, the first coordinate transferring 2 for by three phase static Coordinate Conversion to two cordic phase rotators, wherein, given electrical degree θ
rbe 0 always, keep permagnetic synchronous motor transfixion.
Current correction module 3 is for according to d-axis reference current I
drefto N number of direct-axis current I
dicarry out current correction to obtain N number of direct-axis voltage V
di.Particularly, current correction module 3 can be proportional and integral controller, d-axis reference current I
drefwith direct-axis current I
didifference after proportional and integral controller, obtain direct-axis voltage V
di.Be understandable that, given electrical degree θ
rbe 0 always, keep permagnetic synchronous motor transfixion, then N number of direct-axis voltage V
diwith N number of direct-axis current I
dibetween there is approximate linear relationship.
Compensating module 4 is for N number of direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi.
Stator resistance identification module 5 is according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
diobtain the resistance R of the stator resistance of permagnetic synchronous motor 10.
Further, as shown in Figure 1, the control system of permagnetic synchronous motor also comprises: the second coordinate transferring 6, inversion module 7 and DC power supplier 8.
Wherein, the second coordinate transferring 6 for when given electrical degree is 0 to the direct-axis voltage V after N number of compensation
comiwith N number of quadrature-axis voltage V
qicarry out Coordinate Conversion to obtain N number of three-phase reference voltage V
ai, V
bi, V
ci, that is, the second coordinate transferring 6 for two cordic phase rotators are transformed into three phase static coordinate, N number of quadrature-axis voltage V
qican 0 be.
Inversion module 7 is for by N number of three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of three-phase voltage U of permagnetic synchronous motor 10
i, V
i, W
i, particularly, inversion module 7 can adopt IPM module (IntelligentPower Module, Intelligent Power Module).
DC power supplier 8 is for powering for inversion module 7, and specifically, alternating current through diode or diode bridge rectification, and is obtained direct current after utilizing filter filtering by DC power supplier 8, thus powers for inversion module 7.
In embodiments of the present invention, in system cloud gray model, given electrical degree θ
rbe 0 always, keep permagnetic synchronous motor 10 transfixion, N number of direct-axis voltage V
diwith N number of direct-axis current I
dibetween there is approximate linear relationship, and in engineer applied, the three-phase voltage being applied to permagnetic synchronous motor 10 is obtained by inversion module 7, and inversion module 7 itself also exists dead band pressure drop and power tube pressure drop, so, utilize compensating module 4 to N number of direct-axis voltage V
diafter compensating, the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
dibetween relation more close to linearly.Like this, least-squares linear regression algorithm can be utilized to obtain the resistance R of stator resistance.
Further, as depicted in figs. 1 and 2, Stator resistance identification module 5 is also for according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
di, and utilize least-squares linear regression algorithm to obtain the resistance of stator resistance.
Particularly, the resistance R of stator resistance can be obtained according to following formula:
Wherein, V
comifor the direct-axis voltage after compensation, I
difor direct-axis current.
In an embodiment of the invention, d-axis reference current I
drefcan be slope current, thus, the N number of direct-axis voltage V obtained by current correction module 3
difor ramp voltage, also can injecting voltage be called, and, according to the three-phase current I of sampling
ui, I
vi, I
withe N number of direct-axis current I obtained
dialso be slope current, also can be called measurement electric current, then, compensating module 4 is to N number of direct-axis voltage V
dicompensate, N number of direct-axis current I
diwith the direct-axis voltage V after N number of compensation
comiinput Stator resistance identification module 5, Stator resistance identification module 5 can pick out the resistance R of stator resistance according to least-squares linear regression algorithm.
Particularly, can according to following formula to described direct-axis voltage V
dicompensate:
V
comi=V
di+V
dead+V
IGBT
Wherein, V
comifor the direct-axis voltage after compensation, V
difor direct-axis voltage, V
deadfor the dead band pressure drop of inversion module 7, V
iGBTfor the pressure drop between the drain electrode of insulated gate bipolar transistor IGBT in inversion module 7 and source electrode, V
iGBTvolt-ampere characteristic according to IGBT obtains with the electric current flowing through IGBT.
In general, dead band pressure drop V
deadonce setting, can not change when system cloud gray model, therefore V
deadcan be a constant.And V
iGBTenter saturated before be change, therefore, when electric current is less, V
iGBTcan not simply be regarded as saturation pressure depreciation, therefore, form can be set up by the volt-ampere characteristic of model IGBT used, then table look-up according to concrete size of current, obtain the pressure drop between the drain electrode of the IGBT of respective model and source electrode.
In one particular embodiment of the present invention, permagnetic synchronous motor 10 can be a kind of built-in type permagnetic synchronous motor, and the line resistance R of permagnetic synchronous motor 10 is 1.09 Ω, d axle inductance L d is 8.8mH, q axle inductance L q is 14.4mH, back emf coefficient Ke is 17.2V/krpm, number of pole-pairs poles is 2, and moment of inertia is 6.85*10
-4kg.m
2.
Meanwhile, d-axis reference current I
drefbe the slope current of 0 ~ 5A, slope is 0.02A, like this, according to the control system of permagnetic synchronous motor as shown in Figure 1, with the frequency sampling three-phase current I of 100Hz
ui, I
vi, I
wi, thus within the regular hour, obtain N number of direct-axis voltage V
diwith N number of direct-axis current I
di, respectively as shown in Figure 3 and Figure 4, abscissa is sampling number N, and ordinate unit is respectively V and A.
To N number of direct-axis voltage V
dicompensate, according to N number of direct-axis current I
diwith the direct-axis voltage Vcomi after N number of compensation, the resistance R that Stator resistance identification module 5 can pick out stator resistance based on least-squares linear regression algorithm is 0.507, and the resistance R of stator resistance is the resistance of phase resistance.And in the present embodiment, what permagnetic synchronous motor 10 nameplate information provided is line resistance, and line resistance is converted to phase resistance, i.e. the phase resistance Rs=1.09/2=0.5045 of nameplate information, the resistance R of comparison stator resistance and the phase resistance Rs of nameplate information, obviously very close.
It can thus be appreciated that, although the N number of direct-axis voltage V in Fig. 3
dicontaining much noise, and the N number of direct-axis current I in Fig. 4
dialso containing noise, but the resistance R of the stator resistance obtained according to the Stator resistance identification module 5 of the embodiment of the present invention still has excellent precision, namely there is good vulnerability to jamming to direct current power source voltage fluctuation and measurement current noise, there is higher identification precision.
In a preferred embodiment of the invention, direct-axis current I
diaccording to U phase current I in the three-phase of permagnetic synchronous motor 10
uiobtain; Direct-axis voltage V
dithe phase voltage V alternate with V according to U phase in the three-phase of permagnetic synchronous motor 10
uVito obtain.Wherein, direct-axis voltage V
difor the phase voltage V between the U phase of permagnetic synchronous motor 10 and V phase
uVi1.5 times, direct-axis current I
difor the electric current I of the U phase of permagnetic synchronous motor 10
ai.Thus, the phase voltage V that Stator resistance identification module 5 is alternate with V according to N number of U phase
uViwith N number of U phase current I
aiobtain the resistance R of stator resistance.
That is, due to given electrical degree θ
rbe 0, therefore, direct-axis voltage V
diby monitoring the phase voltage of the UV two-phase of permagnetic synchronous motor 10, and by low-pass filtering and phase voltage V
uVi1.5 times obtain, and direct-axis current I
dithen can be obtained by the phase current of monitoring U phase.
According to the control system of the permagnetic synchronous motor that the embodiment of the present invention proposes, by N number of three-phase current I of current sample module samples permagnetic synchronous motor
ui, I
vi, I
wi, when given electrical degree is 0, the first coordinate transferring is to N number of three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi, afterwards, current correction module is according to d-axis reference current I
drefwith quadrature axis reference current I
qrefrespectively to N number of direct-axis current I
diwith N number of quadrature axis current I
qicarry out current correction to obtain N number of direct-axis voltage V
diwith N number of quadrature-axis voltage V
qi, and compensating module is to N number of direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi, Stator resistance identification module 5 is according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
diobtain the resistance of stator resistance.Thus, the control system of the permagnetic synchronous motor of the embodiment of the present invention can improve Stator resistance identification precision, further, obtained the resistance of stator resistance by least-squares linear regression, to the random noise and direct current power source voltage measuring electric current, there is good vulnerability to jamming.
Fig. 5 is the flow chart of the Stator resistance identification method of permagnetic synchronous motor according to an embodiment of the invention.As shown in Figure 5, the Stator resistance identification method of permagnetic synchronous motor comprises the following steps:
S1, N number of three-phase current I of sampling permagnetic synchronous motor
ui, I
vi, I
wi, wherein, i is the positive integer being more than or equal to 1 and being less than or equal to N, sampling number N be more than or equal to 1 positive integer.
Specifically, can with the N number of three-phase current I of predeterminated frequency continuous sampling
ui, I
vi, I
wi.
S2, when given electrical degree is 0, to N number of three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi.
That is, by three phase static Coordinate Conversion to two cordic phase rotators, wherein, given electrical degree is 0.
S3, according to d-axis reference current I
drefto N number of direct-axis current I
dicarry out current correction to obtain N number of direct-axis voltage V
di.
Particularly, d-axis reference current I
drefwith direct-axis current I
didifference after proportional and integral controller, obtain direct-axis voltage V
di.In system cloud gray model, given electrical degree θ
rbe 0 always, keep permagnetic synchronous motor transfixion, then N number of direct-axis voltage V
diwith N number of direct-axis current I
dibetween there is approximate linear relationship.
S4, to N number of direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi.
Particularly, can according to following formula to direct-axis voltage V
dicompensate:
V
comi=V
di+V
dead+V
IGBT
Wherein, V
comifor the direct-axis voltage after compensation, V
difor direct-axis voltage, V
deadfor the dead band pressure drop of inversion module, V
iGBTfor the pressure drop in inversion module between insulated gate bipolar transistor IGBT drain electrode and source electrode, the volt-ampere characteristic according to IGBT obtains with the electric current flowing through IGBT.
In general, dead band pressure drop V
deadonce setting, can not change when system cloud gray model, therefore V
deadcan be a constant.And V
iGBTenter saturated before be change, therefore, when electric current is less, V
iGBTcan not simply be regarded as saturation pressure depreciation, therefore, form can be set up by the volt-ampere characteristic of model IGBT used, then table look-up according to concrete size of current, obtain the pressure drop between the drain electrode of the IGBT of respective model and source electrode.
S5, according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
diobtain the resistance of the stator resistance of permagnetic synchronous motor.
Further, as shown in Figure 6, also comprise after step s 5:
S6, when given electrical degree is 0, to the direct-axis voltage V after N number of compensation
comiwith N number of quadrature-axis voltage V
qicarry out Coordinate Conversion to obtain N number of three-phase reference voltage V
ai, V
bi, V
ci.
That is, two cordic phase rotators are transformed into three phase static coordinate, wherein, given electrical degree is 0, N number of quadrature-axis voltage V
qican 0 be.
S7, by N number of three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of three-phase voltage U of described permagnetic synchronous motor
i, V
i, W
i.
Particularly, by inversion module by N number of three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of three-phase voltage U of permagnetic synchronous motor 10
i, V
i, W
i.
In embodiments of the present invention, in system cloud gray model, given electrical degree θ
rbe 0 always, keep permagnetic synchronous motor transfixion, N number of direct-axis voltage V
diwith N number of direct-axis current I
dibetween there is approximate linear relationship, and in engineer applied, the three-phase voltage being applied to permagnetic synchronous motor is obtained by inversion module, and inversion module itself also exists dead band pressure drop and power tube pressure drop, so, to N number of direct-axis voltage V
diafter compensating, the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
dibetween relation more close to linearly.Like this, least-squares linear regression algorithm can be utilized to obtain the resistance R of stator resistance.
Particularly, step S5 also comprises: according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
di, and utilize least-squares linear regression algorithm to obtain the resistance of stator resistance.
Particularly, the resistance R of stator resistance can be obtained according to following formula:
Wherein, V
comifor the direct-axis voltage after compensation, I
difor direct-axis current.
In an embodiment of the invention, d-axis reference current I
drefcan be slope current, thus, N number of direct-axis voltage V
difor ramp voltage, also can injecting voltage be called, and, according to the three-phase current I of sampling
ui, I
vi, I
withe N number of direct-axis current I obtained
dialso be slope current, also can be called measurement electric current, then, to N number of direct-axis voltage V
dicompensate, according to N number of direct-axis current I
diwith the direct-axis voltage V after N number of compensation
comi, and the resistance R of stator resistance can be picked out based on least-squares linear regression algorithm.
In a preferred embodiment of the invention, the Stator resistance identification method of permagnetic synchronous motor also comprises: measure U phase current I in the three-phase of permagnetic synchronous motor
uito obtain described direct-axis current I
di; Measure the phase voltage V that in the three-phase of permagnetic synchronous motor, U phase is alternate with V
uVito obtain direct-axis voltage V
di.Wherein, direct-axis voltage V
difor the phase voltage V between the U phase of permagnetic synchronous motor and V phase
uVi1.5 times, direct-axis current I
difor the electric current I of the U phase of permagnetic synchronous motor
ai.Like this, alternate with V according to N number of U phase phase voltage V
uViwith N number of U phase current I
aiobtain the resistance of stator resistance.
That is, due to given electrical degree θ
rbe 0, therefore, direct-axis voltage V
diby monitoring the phase voltage of the UV two-phase of permagnetic synchronous motor 10, and by low-pass filtering and phase voltage V
uVi1.5 times obtain, and direct-axis current I
dithen can be obtained by the phase current of monitoring U phase.
According to the Stator resistance identification method of the permagnetic synchronous motor that the embodiment of the present invention proposes, by N number of three-phase current I of permagnetic synchronous motor of sampling
ui, I
vi, I
wi, when given electrical degree is 0, to N number of three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi, afterwards, according to d-axis reference current I
drefwith quadrature axis reference current I
qrefrespectively to N number of direct-axis current I
diwith N number of quadrature axis current I
qicarry out current correction to obtain N number of direct-axis voltage V
diwith N number of quadrature-axis voltage V
qi, and, to N number of direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi, according to the direct-axis voltage V after N number of compensation
comiwith N number of direct-axis current I
diobtain the resistance of stator resistance.Thus, the Stator resistance identification method of the permagnetic synchronous motor of the embodiment of the present invention can improve Stator resistance identification precision, further, obtained the resistance of stator resistance by least-squares linear regression, to the random noise and direct current power source voltage measuring electric current, there is good vulnerability to jamming.
Describe and can be understood in flow chart or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this specification, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random-access memory (ram), read-only memory (ROM), erasablely edit read-only memory (EPROM or flash memory), fiber device, and portable optic disk read-only memory (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanner to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the application-specific integrated circuit (ASIC) of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (12)
1. a control system for permagnetic synchronous motor, is characterized in that, comprising:
Current sample module, for N number of three-phase current I of described permagnetic synchronous motor of sampling
ui, I
vi, I
wi, wherein, i is the positive integer being more than or equal to 1 and being less than or equal to N, sampling number N be greater than 1 positive integer;
First coordinate transferring, for when given electrical degree is 0 to N number of described three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi;
Current correction module, for according to d-axis reference current I
drefto N number of described direct-axis current I
dicarry out current correction to obtain N number of direct-axis voltage V
di;
Compensating module, for N number of described direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi;
Stator resistance identification module, according to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
diobtain the resistance of the stator resistance of described permagnetic synchronous motor.
2. the control system of permagnetic synchronous motor as claimed in claim 1, is characterized in that, also comprise:
Second coordinate transferring, for when given electrical degree is 0 to the direct-axis voltage V after N number of described compensation
comiwith N number of quadrature-axis voltage V
qicarry out Coordinate Conversion to obtain N number of three-phase reference voltage V
ai, V
bi, V
ci;
Inversion module, for by N number of described three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of three-phase voltage U of described permagnetic synchronous motor
i, V
i, W
i;
DC power supplier, for powering for described inversion module.
3. the control system of permagnetic synchronous motor as claimed in claim 1, is characterized in that, described Stator resistance identification module also for:
According to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
di, and utilize least-squares linear regression algorithm to obtain the resistance of described stator resistance.
4. the control system of permagnetic synchronous motor as claimed in claim 3, is characterized in that, obtain the resistance R of described stator resistance according to following formula:
Wherein, V
comifor the direct-axis voltage after described compensation and I
difor described direct-axis current.
5. the control system of the permagnetic synchronous motor as described in any one of claim 1-4, is characterized in that, according to following formula to described direct-axis voltage V
dicompensate:
V
comi=V
di+V
dead+V
IGBT
Wherein, V
comifor the direct-axis voltage after described compensation, V
difor described direct-axis voltage, V
deadfor the dead band pressure drop of described inversion module, V
iGBTfor the pressure drop between the drain electrode of insulated gate bipolar transistor IGBT in described inversion module and source electrode, V
iGBTvolt-ampere characteristic according to described IGBT obtains with the electric current flowing through described IGBT.
6. the control system of permagnetic synchronous motor as claimed in claim 2, is characterized in that, wherein,
Described direct-axis current I
diaccording to U phase current I in the described three-phase of described permagnetic synchronous motor
uiobtain;
Described direct-axis voltage V
dithe phase voltage V alternate with V according to U phase in the described three-phase of described permagnetic synchronous motor
uVito obtain;
Described direct-axis voltage V
difor the phase voltage V between the U phase of described permagnetic synchronous motor and V phase
uVi1.5 times, described direct-axis current I
difor the electric current I of the U phase of described permagnetic synchronous motor
ai;
The phase voltage V that described Stator resistance identification module is alternate with V according to N number of described U phase
uViwith N number of described U phase current I
aiobtain the resistance of described stator resistance.
7. a Stator resistance identification method for permagnetic synchronous motor, is characterized in that, comprise the following steps:
S1, N number of three-phase current I of described permagnetic synchronous motor of sampling
ui, I
vi, I
wi, wherein, i is the positive integer being more than or equal to 1 and being less than or equal to N, sampling number N be more than or equal to 1 positive integer;
S2, when given electrical degree is 0, to N number of described three-phase current I
ui, I
vi, I
wicarry out Coordinate Conversion to obtain N number of direct-axis current I
diwith N number of quadrature axis current I
qi;
S3, according to d-axis reference current I
drefto N number of described direct-axis current I
dicarry out current correction to obtain N number of direct-axis voltage V
di;
S4, to N number of described direct-axis voltage V
dicompensate the direct-axis voltage V after obtaining N number of compensation
comi;
S5, according to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
diobtain the resistance of the stator resistance of described permagnetic synchronous motor.
8. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 7, is characterized in that, also comprise after described step S5:
When given electrical degree is 0, to the direct-axis voltage V after N number of described compensation
comiwith N number of quadrature-axis voltage V
qicarry out Coordinate Conversion to obtain N number of three-phase reference voltage V
ai, V
bi, V
ci;
By N number of described three-phase reference voltage V
ai, V
bi, V
cicarry out power amplification to obtain N number of three-phase voltage U of described permagnetic synchronous motor
i, V
i, W
i.
9. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 7, it is characterized in that, described step S5 also comprises:
According to the direct-axis voltage V after N number of described compensation
comiwith N number of described direct-axis current I
di, and utilize least-squares linear regression algorithm to obtain the resistance of described stator resistance.
10. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 9, is characterized in that, obtain the resistance R of described stator resistance according to following formula:
Wherein, V
comifor the direct-axis voltage after described compensation, I
difor described direct-axis current.
The Stator resistance identification method of 11. permagnetic synchronous motors as described in any one of claim 7-10, is characterized in that, according to following formula to described direct-axis voltage V
dicompensate:
V
comi=V
di+V
dead+V
IGBT
Wherein, V
comifor the described direct-axis voltage after compensation, V
difor described direct-axis voltage, V
deadfor the dead band pressure drop of inversion module, V
iGBTfor the pressure drop in inversion module between insulated gate bipolar transistor IGBT drain electrode and source electrode, the volt-ampere characteristic according to described IGBT obtains with the electric current flowing through described IGBT.
The Stator resistance identification method of 12. permagnetic synchronous motors as claimed in claim 8, is characterized in that, wherein,
Measure U phase current I in the described three-phase of described permagnetic synchronous motor
uito obtain described direct-axis current I
di;
Measure the phase voltage V that in the described three-phase of described permagnetic synchronous motor, U phase is alternate with V
uVito obtain described direct-axis voltage V
di;
Described direct-axis voltage V
difor the phase voltage V between the U phase of described permagnetic synchronous motor and V phase
uVi1.5 times, described direct-axis current I
difor the electric current I of the U phase of described permagnetic synchronous motor
ai;
The phase voltage V alternate with V according to N number of described U phase
uViwith N number of described U phase current I
aiobtain the resistance of described stator resistance.
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| CN105356807A (en) * | 2015-10-28 | 2016-02-24 | 广东美的制冷设备有限公司 | Online resistance identification method and online resistance identification system for permanent-magnet synchronous motors |
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| CN111162709A (en) * | 2020-01-19 | 2020-05-15 | 珠海格力电器股份有限公司 | Motor drive control method, device and system and household appliance |
| CN113691182A (en) * | 2021-08-26 | 2021-11-23 | 上海儒竞智控技术有限公司 | Resistance identification method, system, medium and terminal of permanent magnet synchronous motor |
| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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| CN106788056A (en) * | 2016-11-21 | 2017-05-31 | 广东威灵电机制造有限公司 | The on-line identification method of motor stator resistance, device and electric machine control system |
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| CN113691182A (en) * | 2021-08-26 | 2021-11-23 | 上海儒竞智控技术有限公司 | Resistance identification method, system, medium and terminal of permanent magnet synchronous motor |
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| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
| CN114337430B (en) * | 2021-12-28 | 2023-11-14 | 江苏国传电气有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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