CN104836507B - The cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor and system - Google Patents
The cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor and system Download PDFInfo
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Abstract
The invention discloses a kind of cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor and system, wherein method to include:Control permagnetic synchronous motor static and the winding current of permagnetic synchronous motor is zero, load first voltage vector to the winding of permagnetic synchronous motor respectivelySecond voltage vectorWith tertiary voltage vectorPermagnetic synchronous motor is sampled respectively in first voltage vectorSecond voltage vectorWith tertiary voltage vectorElectric current under effect, and the first current variable I is calculated1With the second current variable I2;According to DC bus-bar voltage udc, the first current variable I1With the second current variable I2, the quadrature axis inductance parameters L of permagnetic synchronous motor is calculatedqAnd d-axis inductance parameters Ld;Its amount of calculation is small, effectively solve it is computationally intensive in existing permagnetic synchronous motor parameter off-line identification, the problem of being not easy to realize.
Description
Technical field
The present invention relates to machine field, more particularly to a kind of cross, straight axle inductance parameter off-line identification of permagnetic synchronous motor
Method and system.
Background technology
Permagnetic synchronous motor(Permanent Magnet Synchronous Motor, PMSM)With its simple in construction, fortune
The advantages that row is reliable, small volume, loss are low, efficiency high, is used widely in Digit Control Machine Tool, electric field.Permanent magnetism is same
The step parameter of electric machine has important influence for its application.The off-line identification of permagnetic synchronous motor parameter is mainly by same in permanent magnetism
Before walking motor operation, control inverter applies various forms of voltages, current excitation to permagnetic synchronous motor winding, and detection is forever
The voltage x current exciter response of magnetic-synchro motor, and according to the relation between exciter response and the parameter of electric machine, calculate accordingly forever
The magnetic-synchro parameter of electric machine, or using certain fitting algorithm identification permagnetic synchronous motor parameter:Needed using pulse voltage ballistic method
Method by applying direct current obtains the d axles of permagnetic synchronous motor(Rotor magnetic pole axle)If the axle of permagnetic synchronous motor can not
Rotate, for example band band-type brake is mechanical, then can not obtain the d axles of permagnetic synchronous motor;And use the high-frequency electrical of one group of three-phase equilibrium
Pressure or current signal are applied on permagnetic synchronous motor, the feedback high frequency electric or voltage of permagnetic synchronous motor are sampled, according to anti-
The quadrature axis inductance parameters L of permagnetic synchronous motor is calculated in the amplitude of the curtage of feedbackq, and permagnetic synchronous motor is straight
Axle inductance parameter Ld, it is computationally intensive, it is not easy to realize.
The content of the invention
Based on this, it is necessary to for computationally intensive in existing permagnetic synchronous motor parameter off-line identification, be not easy to realize
The problem of, there is provided a kind of cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor and system.
A kind of cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor, comprises the following steps:
Control permagnetic synchronous motor static and the winding current of the permagnetic synchronous motor is zero, U phases in conduction inverter
Bridge arm under upper bridge arm, V phases and W phases, bridge arm in bridge arm, V phases and W phases is disconnected in the inverter under U phases, in αuβuUnder coordinate system,
A length of first preset time t when being loaded to the winding of the permagnetic synchronous motor1First voltage vector
Bridge arm under bridge arm, U phases and W phases is turned in the inverter in V phases, disconnects in the inverter bridge arm, U under V phases
Bridge arm in phase and W phases, in αvβvUnder coordinate system, a length of second preset time t when being loaded to the winding of the permagnetic synchronous motor2
Second voltage vector
Bridge arm under bridge arm, U phases and V phases is turned in the inverter in W phases, disconnects in the inverter bridge arm, U under W phases
Bridge arm in phase and V phases, in αwβwUnder coordinate system, a length of 3rd preset time t when being loaded to the winding of the permagnetic synchronous motor3
Tertiary voltage vector
Detect DC bus-bar voltage udc, and the permagnetic synchronous motor is sampled respectively in the first voltage vectorThe second voltage vectorWith the tertiary voltage vectorElectric current under effect, and be calculated
First current variable I1With the second current variable I2;
According to the DC bus-bar voltage udc, the first current variable I1With the second current variable I2, calculate
To the quadrature axis inductance parameters L of the permagnetic synchronous motorq, and the d-axis inductance parameters L of the permagnetic synchronous motord;
Wherein, first preset time t1, second preset time t2With the 3rd preset time t3Respectively less than d
Axle time constantAnd it is less than q axle time constantsRsFor the phase resistance parameter of the permagnetic synchronous motor.
What deserves to be explained is the second voltage vectorThe direction first voltage vector in advanceDirection
120 °, the tertiary voltage vectorThe direction second voltage vector in advance120 ° of direction;
αuAxle is the permagnetic synchronous motor U phases direction, βuAxle is 90 ° of directions of the advanced U phases of the permagnetic synchronous motor;αv
Axle is the permagnetic synchronous motor V phases direction, βvAxle is 90 ° of directions of the advanced V phases of the permagnetic synchronous motor;αwAxle for it is described forever
Magnetic-synchro motor W phases direction, βw90 ° of directions of the advanced W phases of permagnetic synchronous motor described in axle.
It is preferred that first preset time t1, second preset time t2With the 3rd preset time t3It is equal,
And value is t.
As a kind of embodiment, the sampling permagnetic synchronous motor is respectively in the first voltage vectorThe second voltage vectorWith the tertiary voltage vectorElectric current under effect, and be calculated
First current variable I1With the second current variable I2, comprise the following steps:
The permagnetic synchronous motor is sampled respectively in the second voltage vectorWith the tertiary voltage vectorUnder effect, caused first electric current ivAnd the second electric current i (t)w(t);
To the first electric current ivAnd the second electric current i (t)w(t) Clarke conversion is carried out respectively, obtains described first
Electric current iv(t) in the αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, and the second electric current iw(t) exist
The αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]T;
Respectively to the first electric current iv(t) in the αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, with
And the second electric current iw(t) in the αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]TCurrent transformation is carried out, is obtained
Arrive
It is described according to the DC bus-bar voltage u as a kind of embodimentdc, the first current variable I1And institute
State the second current variable I2, the quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the permagnetic synchronous motor
D-axis inductance parameters Ld, comprise the following steps:
According to formula:
The quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the d-axis electricity of the permagnetic synchronous motor
Feel parameter Ld。
Accordingly, to realize the cross, straight axle inductance parameter offline identification method of above-mentioned permagnetic synchronous motor, the present invention also provides
A kind of permagnetic synchronous motor cross, straight axle inductance parameter off-line identification system, including pulse signal generator, inverter,
Clarke converter units, current transformation unit, control unit and inductance computing unit, wherein:
The output end of the pulse signal generator is connected with the input of the inverter, the output end of the inverter
It is connected with the input of permagnetic synchronous motor;
Described control unit includes the first control subelement, the second control subelement, the 3rd control subelement and the first inspection
Subelement is surveyed, wherein:
It is described first control subelement, for control the permagnetic synchronous motor static and the permagnetic synchronous motor around
Group electric current is zero, bridge arm under bridge arm, V phases and W phases in U phases in conduction inverter, disconnects in the inverter bridge arm, V phases under U phases
With bridge arm in W phases, in αuβuUnder coordinate system, the pulse signal generator is controlled to be loaded to the winding of the permagnetic synchronous motor
The preset time ts of Shi Changwei first1First voltage vector
The second control subelement, for turning on bridge arm, disconnection under bridge arm, U phases and W phases in V phases in the inverter
Bridge arm in bridge arm, U phases and W phases under V phases in the inverter, in αvβvUnder coordinate system, the pulse signal generator is controlled to institute
A length of second preset time t when stating the winding loading of permagnetic synchronous motor2Second voltage vector
The 3rd control subelement, for turning on bridge arm, disconnection under bridge arm, U phases and V phases in W phases in the inverter
Bridge arm in bridge arm, U phases and V phases under W phases in the inverter, in αwβwUnder coordinate system, the pulse signal generator is controlled to institute
A length of 3rd preset time t when stating the winding loading of permagnetic synchronous motor3Tertiary voltage vector
First detection sub-unit, for detecting DC bus-bar voltage udc;
The Clarke converter units, for sampling the permagnetic synchronous motor respectively in the first voltage vectorThe second voltage vectorWith the tertiary voltage vectorElectric current under effect, and carry out
Clarke is converted;
The current transformation unit, for according to carrying out the permagnetic synchronous motor after the Clarke conversion described
First voltage vectorThe second voltage vectorWith the tertiary voltage vectorElectricity under effect
Stream, calculate the first current variable I1With the second current variable I2;
The inductance computing unit, for according to the DC bus-bar voltage udc, the first current variable I1With it is described
Second current variable I2, the quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the permagnetic synchronous motor
D-axis inductance parameters Ld;
Wherein, first preset time t1, second preset time t2With the 3rd preset time t3Respectively less than d
Axle time constantAnd it is less than q axle time constantsRsFor the phase resistance parameter of the permagnetic synchronous motor.
What deserves to be explained is the second voltage vectorThe direction first voltage vector in advanceDirection
120 °, the tertiary voltage vectorThe direction second voltage vector in advance120 ° of direction;
αuAxle is the permagnetic synchronous motor U phases direction, βuAxle is 90 ° of directions of the advanced U phases of the permagnetic synchronous motor;αv
Axle is the permagnetic synchronous motor V phases direction, βvAxle is 90 ° of directions of the advanced V phases of the permagnetic synchronous motor;αwAxle for it is described forever
Magnetic-synchro motor W phases direction, βwAxle is 90 ° of directions of the advanced W phases of the permagnetic synchronous motor.
Preferably, first preset time t1, second preset time t2With the 3rd preset time t3It is equal,
And value is t.
It is preferred that the Clarke converter units include the first sampling subelement and the first conversion subelement, the electric current
Converter unit includes the second conversion subelement and the 3rd conversion subelement, wherein:
The first sampling subelement, for sampling the permagnetic synchronous motor respectively in the second voltage vectorWith the tertiary voltage vectorUnder effect, caused first electric current iVAnd the second electric current i (t)w(t);
The first conversion subelement, for the first electric current ivAnd the second electric current i (t)w(t) carry out respectively
Clarke is converted, and obtains the first electric current iv(t) in the αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T,
And the second electric current iw(t) in the αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]T;
The second conversion subelement, for the first electric current iv(t) in the αvβvExpression i under coordinate systemv
(t)=[iαv(t),iβv(t)]TCurrent transformation is carried out, is obtained:
The 3rd conversion subelement, for the second electric current iw(t) in the αwβwExpression i under coordinate systemw
(t)=[iαw(t),iβw(t)]TCurrent transformation is carried out, is obtained:
As a kind of embodiment, the inductance computing unit, for according to formula:
The quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the d-axis electricity of the permagnetic synchronous motor
Feel parameter Ld。
A kind of cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor provided by the invention and system, pass through to
Permagnetic synchronous motor applies different voltage vectors, by detecting electricity of the permagnetic synchronous motor under different voltage vector effects
Stream, and line translation is entered to electric current of the permagnetic synchronous motor under different voltage vector effects, obtain being used to calculate permanent-magnet synchronous
Motor quadrature axis inductance parameters LqWith d-axis inductance parameters LdThe first current variable I1With the second current variable I2, and according to first
Current variable I1With the second current variable I2The quadrature axis inductance parameters L of permagnetic synchronous motor is calculatedqWith d-axis inductance parameters
Ld, it fixes the rotating shaft of permagnetic synchronous motor without external equipment, it is easy to accomplish, and amount of calculation is small, and the degree of accuracy is high, effectively
Solve it is computationally intensive in existing permagnetic synchronous motor parameter off-line identification, the problem of being not easy to realize.
Brief description of the drawings
Fig. 1 is the cross, straight specific embodiment flow chart of axle inductance parameter offline identification method one of permagnetic synchronous motor;
Fig. 2 is the cross, straight specific embodiment schematic diagram of axle inductance parameter off-line identification system one of permagnetic synchronous motor;
Fig. 3 is the cross, straight axle inductance parameter off-line identification system still another embodiment schematic diagram of permagnetic synchronous motor.
Embodiment
To make technical solution of the present invention clearer, the present invention is done below in conjunction with drawings and the specific embodiments further in detail
Describe in detail bright.
Referring to Fig. 1, the specific implementation as the cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor of the present invention
Example, comprises the following steps:
S100, controls permagnetic synchronous motor static and the winding current of permagnetic synchronous motor is zero, U phases in conduction inverter
Bridge arm under upper bridge arm, V phases and W phases, bridge arm in bridge arm, V phases and W phases is disconnected in inverter under U phases, in αuβuUnder coordinate system, Xiang Yong
A length of first preset time t during the winding loading of magnetic-synchro motor1First voltage vector, detect and obtain dc bus
Voltage udc;
S200, bridge arm under bridge arm, U phases and W phases in V phases in conduction inverter, disconnect in inverter bridge arm under V phases, U phases and
Bridge arm in W phases, in αvβvUnder coordinate system, a length of second preset time t when being loaded to the winding of permagnetic synchronous motor2Second electricity
Press vector
S300, bridge arm under bridge arm, U phases and V phases in W phases in conduction inverter, disconnect in inverter bridge arm under W phases, U phases and
Bridge arm in V phases, in αwβwUnder coordinate system, a length of 3rd preset time t when being loaded to the winding of permagnetic synchronous motor3The 3rd electricity
Press vector
S400, sampling permagnetic synchronous motor is respectively in first voltage vectorSecond voltage vectorWith
Three voltage vectorsElectric current under effect, and the first current variable I is calculated1With the second current variable I2;
S500, according to DC bus-bar voltage udc, the first current variable I1With the second current variable I2, it is same that permanent magnetism is calculated
Walk the quadrature axis inductance parameters L of motorq, and the d-axis inductance parameters L of permagnetic synchronous motord;
Wherein, the first preset time t1, the second preset time t2With the 3rd preset time t3Respectively less than d axles time constantAnd it is less than q axle time constantsRsFor the phase resistance parameter of permagnetic synchronous motor.
One specific embodiment of the cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor provided by the invention, it is first
First in αuβuUnder coordinate system, a length of first preset time t when being loaded to permagnetic synchronous motor1First voltage vectorInspection
Measure DC bus-bar voltage udc;And it is zero to control permagnetic synchronous motor to continue static and permagnetic synchronous motor winding current,
In αvβvA length of second preset time t when being loaded under coordinate system to permagnetic synchronous motor2Second voltage vectorIn αw
βwA length of 3rd preset time t when being loaded under coordinate system to permagnetic synchronous motor3Tertiary voltage vectorSample permanent magnetism
Synchronous motor is respectively in first voltage vectorSecond voltage vectorWith tertiary voltage vectorUnder effect
Electric current, and the first current variable I is calculated1With the second current variable I2;According to DC bus-bar voltage udc, the first electric current become
Measure I1With the second current variable I2, the quadrature axis inductance parameters L of permagnetic synchronous motor is calculatedq, and permagnetic synchronous motor is straight
Axle inductance parameter Ld;It is that the quadrature axis of permagnetic synchronous motor can be achieved that it, which does not need the rotating shaft of external equipment fixation permagnetic synchronous motor,
Inductance parameters Lq, and d-axis inductance parameters LdIdentification, method is easy, it is easy to accomplish, and amount of calculation is small, effective to solve
It is computationally intensive in existing permagnetic synchronous motor parameter off-line identification, the problem of being not easy to realize.
Here, the it should be noted that cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor provided by the invention
In, respectively to permagnetic synchronous motor winding load first voltage vectorSecond voltage vectorWith the 3rd
Voltage vectorSequencing can mutually exchange, as long as to permagnetic synchronous motor load voltage vector and coordinate system phase
It is corresponding, while during phase loading voltage vector each to permagnetic synchronous motor, be both needed to control in inverter to correspond to permanent-magnet synchronous
The upper bridge arm of each phase of motor and lower bridge arm carry out identical switch process.
In addition, the first preset time t1, the second preset time t2With the 3rd preset time t3Value can also may be used with identical
With difference, as long as it is respectively less than d axle time constantsAnd it is less than q axle time constants, it is preferred that carried in the present invention
First preset time t in the specific embodiment of the cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor of confession1, second
Preset time t2With the 3rd preset time t3It is equal, and value is t.
Wherein, second voltage vectorThe advanced first voltage vector in direction120 ° of direction, tertiary voltage arrow
AmountThe advanced second voltage vector in direction120 ° of direction;
αuAxle is permagnetic synchronous motor U phases direction, βuAxle is 90 ° of directions of the advanced U phases of permagnetic synchronous motor;αvAxle is permanent magnetism
Synchronous motor V phases direction, βvAxle is 90 ° of directions of the advanced V phases of permagnetic synchronous motor;αwAxle is permagnetic synchronous motor W phases direction, βw
Axle is 90 ° of directions of the advanced W phases of permagnetic synchronous motor.
Swash in the cross, straight axle inductance parameter testing of permagnetic synchronous motor, it is necessary to apply pulse voltage to permagnetic synchronous motor
Encourage, by detect permagnetic synchronous motor under pulsed voltage excitation caused current-responsive come calculate the friendship of permagnetic synchronous motor,
D-axis inductance parameters.During pulsed voltage excitation is applied to permagnetic synchronous motor, control permagnetic synchronous motor is in quiet
Only state, therefore, the now angular rate ω of permagnetic synchronous motorr=pθr=0, as a kind of embodiment, control inverter
Bridge arm is both turned under bridge arm and W phases under bridge arm, V phases in middle U phases, while controls in inverter bridge arm under U phases, bridge arm in V phases
And bridge arm disconnects in W phases, so as to realize in αuβuUnder coordinate system, apply first voltage vector to permagnetic synchronous motor, now detect and obtain permagnetic synchronous motor in first voltage vectorVoltage drive under effect, which responds, isWherein, udcFor DC bus-bar voltage;Due to applying first voltage arrow to permagnetic synchronous motor
When a length of first preset time t1, also, the first preset time t1Less than d axle time constantsAnd it is less than q axle time constantsTherefore in the cross, straight axle inductance parameter of identification permagnetic synchronous motor, the phase resistance parameter of permagnetic synchronous motor can be ignored
RsInfluence, thus, permagnetic synchronous motor is in αuβuMathematical modeling under coordinate system(That is voltage equation)It can be changed to:
Therefore, can obtain:
And due toTherefore,
Wherein,It can thus be seen that I1、I2With permanent magnet synchronous electric
The rotor-position and rotating speed of machine are irrelevant, only the quadrature axis inductance parameters L with permagnetic synchronous motorq, d-axis inductance parameters Ld, apply
Add first voltage vectorThe first preset time t1Value t and DC bus-bar voltage udcIt is relevant;Pass throughQuadrature axis inductance parameters L can be drawnq, and d-axis inductance parameters Ld。
It is preferred that sampling permagnetic synchronous motor is respectively in first voltage vectorSecond voltage vectorWith
Tertiary voltage vectorElectric current under effect, and the first current variable I is calculated1With the second current variable I2, including such as
Lower step:
S420, sampling permagnetic synchronous motor is respectively in second voltage vectorWith tertiary voltage vectorEffect
Under, caused first electric current ivAnd the second electric current i (t)w(t);
S430, to the first electric current ivAnd the second electric current i (t)w(t) Clarke conversion is carried out respectively, obtains the first electric current iv
(t) in αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, and the second electric current iw(t) in αwβwTable under coordinate system
Show iw(t)=[iαw(t),iβw(t)]T;
S440, respectively to the first electric current iv(t) in αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, and
Second electric current iw(t) in αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]TCurrent transformation is carried out, is obtained
When application second voltage vectorWhen, it is α to define permagnetic synchronous motor V phases directionvAxle, advanced V phases direction
90 ° of directions are βvAxle, permagnetic synchronous motor is in second voltage vectorEffect the first electric current of lower generation is iv(t), by right
iv(t) sample, and carry out Clarke conversion, obtain iv(t)=[iαv(t),iβv(t)]T;
When application tertiary voltage vectorWhen, it is α to define permagnetic synchronous motor W phases directionwAxle, advanced V phases direction
90 ° of directions are βwAxle, permagnetic synchronous motor is in tertiary voltage vectorEffect the second electric current of lower generation is iw(t), by right
iw(t) sample, and carry out Clarke conversion, obtain iw(t)=[iαw(t),iβw(t)]T;
By to iv(t)=[iαv(t),iβv(t)]TAnd iw(t)=[iαw(t),iβw(t)]TCurrent transformation is carried out, is obtained:
By above-mentioned two formula andIt is calculated:
First current variable I1 and the second current variable I are obtained according to above-mentioned formula2, while to permagnetic synchronous motor around
A length of first preset time t during group loading1First voltage vectorWhen the DC bus-bar voltage u that detectsdcForTherefore, as a kind of embodiment, according to DC bus-bar voltage udc, the first current variable I1With second
Current variable I2, the quadrature axis inductance parameters L of permagnetic synchronous motor is calculatedq, and the d-axis inductance parameters of permagnetic synchronous motor
Ld, comprise the following steps:
According to formula:
The quadrature axis inductance parameters L of permagnetic synchronous motor can be calculatedq, and the d-axis inductance ginseng of permagnetic synchronous motor
Number Ld。
Accordingly, based on same inventive concept, present invention also offers the cross, straight axle inductance parameter of permagnetic synchronous motor is offline
Identification system, due to the cross, straight axle inductance parameter off-line identification system principle of permagnetic synchronous motor and the cross, straight axle of permagnetic synchronous motor
Inductance parameters offline identification method principle is essentially identical, therefore, repeats part and repeats no more.
Referring to Fig. 2 and Fig. 3, a kind of cross, straight axle inductance parameter off-line identification system 200 of permagnetic synchronous motor, including pulse
Signal generator 210, inverter 220, control unit 230, Clarke converter units 240, current transformation unit 250 and inductometer
Unit 260 is calculated, wherein:
The output end of pulse signal generator 210 is connected with the input of inverter 220, the output end of inverter 220 with
The input connection of permagnetic synchronous motor 270;
Control unit 230 includes the first control subelement 231, second and controls subelement the 232, the 3rd to control subelement 233
With the first detection sub-unit 234, wherein:
First control subelement 231, for controlling permagnetic synchronous motor 270 static and the winding of permagnetic synchronous motor 270
Electric current is zero, bridge arm under bridge arm, V phases and W phases in U phases in conduction inverter 220, disconnects in inverter 220 bridge arm, V phases under U phases
With bridge arm in W phases, in αuβuUnder coordinate system, winding from control wave generator 210 to permagnetic synchronous motor 270 load when
A length of first preset time t1First voltage vector
Second control subelement 232, the bridge arm under bridge arm, U phases and W phases in V phases in conduction inverter 220, disconnects inverse
Become in device 220 under V phases bridge arm in bridge arm, U phases and W phases, in αvβvUnder coordinate system, control wave generator 210 is same to permanent magnetism
A length of second preset time t when walking the winding loading of motor 2702Second voltage vector
3rd control subelement 233, the bridge arm under bridge arm, U phases and V phases in W phases in conduction inverter 220, disconnects inverse
Become in device 220 under W phases bridge arm in bridge arm, U phases and V phases, in αwβwUnder coordinate system, control wave generator 210 is same to permanent magnetism
A length of 3rd preset time t when walking the winding loading of motor 2703Tertiary voltage vector
First detection sub-unit 234, for detecting DC bus-bar voltage udc;
Clarke converter units 240, for sampling permagnetic synchronous motor 270 respectively in first voltage vectorThe
Two voltage vectorsWith tertiary voltage vectorElectric current under effect, and carry out Clarke conversion;
Current transformation unit 250, for being sweared according to the permagnetic synchronous motor 270 after progress Clarke conversion in first voltage
AmountSecond voltage vectorWith tertiary voltage vectorElectric current under effect, calculate the first current variable
I1With the second current variable I2;
Inductance computing unit 260, for according to DC bus-bar voltage udc, the first current variable I1With the second current variable
I2, the quadrature axis inductance parameters L of permagnetic synchronous motor 270 is calculatedq, and the d-axis inductance parameters of permagnetic synchronous motor 270
Ld;
Wherein, the first preset time t1, the second preset time t2With the 3rd preset time t3Respectively less than d axles time constantAnd it is less than q axle time constantsRsFor the phase resistance parameter of permagnetic synchronous motor.
What deserves to be explained is second voltage vectorThe advanced first voltage vector in direction120 ° of direction, the
Three voltage vectorsThe advanced second voltage vector in direction120 ° of direction;
αuAxle is permagnetic synchronous motor U phases direction, βuAxle is 90 ° of directions of the advanced U phases of permagnetic synchronous motor;αvAxle is permanent magnetism
Synchronous motor V phases direction, βvAxle is 90 ° of directions of the advanced V phases of permagnetic synchronous motor;αwAxle is permagnetic synchronous motor W phases direction, βw
Axle is 90 ° of directions of the advanced W phases of permagnetic synchronous motor.
Preferably, the first preset time t1, the second preset time t2With the 3rd preset time t3It is equal, and value is t.
It is preferred that Clarke converter units 240 include the first sampling subelement and the first conversion subelement, current transformation list
Member includes the second conversion subelement and the 3rd conversion subelement, wherein:
First sampling subelement, for sampling permagnetic synchronous motor respectively in second voltage vectorAnd tertiary voltage
VectorUnder effect, caused first electric current ivAnd the second electric current i (t)w(t);
First conversion subelement, for the first electric current ivAnd the second electric current i (t)w(t) Clarke conversion is carried out respectively, is obtained
To the first electric current iv(t) in αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, and the second electric current iw(t) institute
State αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]T;
Second conversion subelement, for the first electric current iv(t) in αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv
(t)]TCurrent transformation is carried out, is obtained:
3rd conversion subelement, for the second electric current iw(t) in αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw
(t)]TCurrent transformation is carried out, is obtained:
As a kind of embodiment, inductance computing unit 260, for according to formula:
The quadrature axis inductance parameters L of permagnetic synchronous motor is calculatedq, and the d-axis inductance parameters L of permagnetic synchronous motord。
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (6)
1. a kind of cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor, it is characterised in that comprise the following steps:
Control permagnetic synchronous motor static and the winding current of the permagnetic synchronous motor is zero, bridge in U phases in conduction inverter
Bridge arm under arm, V phases and W phases, bridge arm in bridge arm, V phases and W phases is disconnected in the inverter under U phases, in αuβuUnder coordinate system, to institute
A length of first preset time t when stating the winding loading of permagnetic synchronous motor1First voltage vector
Bridge arm under bridge arm, U phases and W phases is turned in the inverter in V phases, disconnects in the inverter bridge arm, U phases and W under V phases
Bridge arm in phase, in αvβvUnder coordinate system, a length of second preset time t when being loaded to the winding of the permagnetic synchronous motor2Second
Voltage vector
Bridge arm under bridge arm, U phases and V phases is turned in the inverter in W phases, disconnects in the inverter bridge arm, U phases and V under W phases
Bridge arm in phase, in αwβwUnder coordinate system, a length of 3rd preset time t when being loaded to the winding of the permagnetic synchronous motor3The 3rd
Voltage vector
Detect DC bus-bar voltage udc, and the permagnetic synchronous motor is sampled respectively in the first voltage vectorIt is described
Second voltage vectorWith the tertiary voltage vectorElectric current under effect, according to the permagnetic synchronous motor point
Not in the first voltage vectorThe second voltage vectorWith the tertiary voltage vectorEffect
Under electric current carry out Clarke conversion and current transformation the first current variable I is calculated1With the second current variable I2;Wherein, institute
State the first preset time t1, second preset time t2With the 3rd preset time t3It is equal, and value is t;Described
One current variable I1With the quadrature axis inductance parameters L of permagnetic synchronous motorq, and the d-axis inductance parameters L of permagnetic synchronous motord's
Relation is:The second current variable I2With the quadrature axis inductance parameters L of the permagnetic synchronous motorq, with
And the d-axis inductance parameters L of the permagnetic synchronous motordRelation be:
According to the DC bus-bar voltage udc, the first current variable I1With the second current variable I2, it is calculated described
The quadrature axis inductance parameters L of permagnetic synchronous motorq, and the d-axis inductance parameters L of the permagnetic synchronous motord;
Wherein, first preset time t1, second preset time t2With the 3rd preset time t3Respectively less than d axles when
Between constantAnd it is less than q axle time constantsRsFor the phase resistance parameter of the permagnetic synchronous motor;
According to the permagnetic synchronous motor respectively in the first voltage vectorThe second voltage vectorWith
The tertiary voltage vectorElectric current under effect carries out Clarke conversion and the change of the first electric current is calculated in current transformation
Measure I1With the second current variable I2, also comprise the following steps:
The permagnetic synchronous motor is sampled respectively in the second voltage vectorWith the tertiary voltage vectorMake
Under, caused first electric current ivAnd the second electric current i (t)w(t);
To the first electric current ivAnd the second electric current i (t)w(t) Clarke conversion is carried out respectively, obtains first electric current
iv(t) in the αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, and the second electric current iW(t) described
αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]T;
Respectively to the first electric current iv(t) in the αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T, and
The second electric current iw(t) in the αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]TCurrent transformation is carried out, is obtained
Arrive
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2. the cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor according to claim 1, it is characterised in that
The second voltage vectorThe direction first voltage vector in advance120 ° of direction, the tertiary voltage vectorThe direction second voltage vector in advance120 ° of direction;
αuAxle is the permagnetic synchronous motor U phases direction, βuAxle is 90 ° of directions of the advanced U phases of the permagnetic synchronous motor;αvAxle is
The permagnetic synchronous motor V phases direction, βvAxle is 90 ° of directions of the advanced V phases of the permagnetic synchronous motor;αwAxle is that the permanent magnetism is same
Walk motor W phases direction, βw90 ° of directions of the advanced W phases of permagnetic synchronous motor described in axle.
3. the cross, straight axle inductance parameter offline identification method of permagnetic synchronous motor according to claim 2, it is characterised in that
It is described according to the DC bus-bar voltage udc, the first current variable I1With the second current variable I2, institute is calculated
State the quadrature axis inductance parameters L of permagnetic synchronous motorq, and the d-axis inductance parameters L of the permagnetic synchronous motord, including following step
Suddenly:
According to formula:
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The quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the d-axis inductance ginseng of the permagnetic synchronous motor
Number Ld。
4. a kind of cross, straight axle inductance parameter off-line identification system of permagnetic synchronous motor, it is characterised in that occur including pulse signal
Device, inverter, Clarke converter units, current transformation unit, control unit and inductance computing unit, wherein:
The output end of the pulse signal generator is connected with the input of the inverter, the output end of the inverter with forever
The input connection of magnetic-synchro motor;
Described control unit includes the first control subelement, the second control subelement, the 3rd control subelement and the first detection
Unit, wherein:
It is described first control subelement, for control the permagnetic synchronous motor static and the winding of the permagnetic synchronous motor electricity
Stream is zero, bridge arm under bridge arm, V phases and W phases in U phases in conduction inverter, disconnects in the inverter bridge arm, V phases and W under U phases
Bridge arm in phase, in αuβuUnder coordinate system, the pulse signal generator is controlled to load duration to the winding of the permagnetic synchronous motor
For the first preset time t1First voltage vector
The second control subelement, for turning in the inverter in V phases bridge arm under bridge arm, U phases and W phases, described in disconnection
Bridge arm in bridge arm, U phases and W phases under V phases in inverter, in αvβvUnder coordinate system, control the pulse signal generator to it is described forever
A length of second preset time t during the winding loading of magnetic-synchro motor2Second voltage vector
The 3rd control subelement, for turning in the inverter in W phases bridge arm under bridge arm, U phases and V phases, described in disconnection
Bridge arm in bridge arm, U phases and V phases under W phases in inverter, in αwβwUnder coordinate system, control the pulse signal generator to it is described forever
A length of 3rd preset time t during the winding loading of magnetic-synchro motor3Tertiary voltage vector
First detection sub-unit, for detecting DC bus-bar voltage udc;
The Clarke converter units, for sampling the permagnetic synchronous motor respectively in the first voltage vectorInstitute
State second voltage vectorWith the tertiary voltage vectorElectric current under effect, and carry out Clarke conversion;
The current transformation unit, for according to carrying out the permagnetic synchronous motor after the Clarke conversion described first
Voltage vectorThe second voltage vectorWith the tertiary voltage vectorElectric current under effect, root
According to the permagnetic synchronous motor respectively in the first voltage vectorThe second voltage vectorWith described
Three voltage vectorsElectric current under effect carries out Clarke conversion and current transformation calculates the first current variable I1With second
Current variable I2;Wherein, first preset time t1, second preset time t2With the 3rd preset time t3It is equal,
And value is t;The first current variable I1With the quadrature axis inductance parameters L of permagnetic synchronous motorq, and permagnetic synchronous motor
D-axis inductance parameters LdRelation be:The second current variable I2With the permagnetic synchronous motor
Quadrature axis inductance parameters Lq, and the d-axis inductance parameters L of the permagnetic synchronous motordRelation be:
The inductance computing unit, for according to the DC bus-bar voltage udc, the first current variable I1With described second
Current variable I2, the quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the d-axis of the permagnetic synchronous motor
Inductance parameters Ld;
Wherein, first preset time t1, second preset time t2With the 3rd preset time t3Respectively less than d axles when
Between constantAnd it is less than q axle time constantsRsFor the phase resistance parameter of the permagnetic synchronous motor;
Wherein, the Clarke converter units include the first sampling subelement and the first conversion subelement, the current transformation list
Member includes the second conversion subelement and the 3rd conversion subelement, wherein:
The first sampling subelement, for sampling the permagnetic synchronous motor respectively in the second voltage vectorWith
The tertiary voltage vectorUnder effect, caused first electric current ivAnd the second electric current i (t)w(t);
The first conversion subelement, for the first electric current ivAnd the second electric current i (t)w(t) carry out respectively
Clarke is converted, and obtains the first electric current iv(t) in the αvβvExpression i under coordinate systemv(t)=[iαv(t),iβv(t)]T,
And the second electric current iw(t) in the αwβwExpression i under coordinate systemw(t)=[iαw(t),iβw(t)]T;
The second conversion subelement, for the first electric current iv(t) in the αvβvExpression i under coordinate systemv(t)=
[iαv(t),iβv(t)]TCurrent transformation is carried out, is obtained:
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The 3rd conversion subelement, for the second electric current iw(t) in the αwβwExpression i under coordinate systemw(t)=
[iαw(t),iβw(t)]TCurrent transformation is carried out, is obtained:
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5. the cross, straight axle inductance parameter off-line identification system of permagnetic synchronous motor according to claim 4, it is characterised in that
The second voltage vectorThe direction first voltage vector in advance120 ° of direction, the tertiary voltage vectorThe direction second voltage vector in advance120 ° of direction;
αuAxle is the permagnetic synchronous motor U phases direction, βuAxle is 90 ° of directions of the advanced U phases of the permagnetic synchronous motor;αvAxle is
The permagnetic synchronous motor V phases direction, βvAxle is 90 ° of directions of the advanced V phases of the permagnetic synchronous motor;αwAxle is that the permanent magnetism is same
Walk motor W phases direction, βwAxle is 90 ° of directions of the advanced W phases of the permagnetic synchronous motor.
6. the cross, straight axle inductance parameter off-line identification system of permagnetic synchronous motor according to claim 5, it is characterised in that
The inductance computing unit, for according to formula:
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</mtr>
</mtable>
</mfenced>
The quadrature axis inductance parameters L of the permagnetic synchronous motor is calculatedq, and the d-axis inductance ginseng of the permagnetic synchronous motor
Number Ld。
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CN109932648B (en) * | 2019-01-29 | 2020-05-19 | 华中科技大学 | Synchronous motor q-axis inductance saturation characteristic test measurement method |
CN110149081B (en) * | 2019-05-08 | 2021-05-07 | 固高科技(深圳)有限公司 | Control method and parameter online identification system of permanent magnet synchronous motor |
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