CN104980078B - The measurement method and measuring device and electric machine control system of the rotary inertia of motor - Google Patents
The measurement method and measuring device and electric machine control system of the rotary inertia of motor Download PDFInfo
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Abstract
The invention discloses a kind of measurement method of rotary inertia of motor and its control devices and electric machine control system, and when the motor is in unloaded or light running, the measurement method of the rotary inertia includes the following steps：It is obtained in preset time period and presets d-axis reference current and default quadrature axis reference current, and controlled the rotating speed of the motor and accelerated with default angular acceleration；The electric current of the motor is sampled in the default sampled point of the preset time period to obtain sample rate current, and calculates the electromagnetic torque of the motor according to the sample rate current；According to the rotary inertia of motor described in the electromagnetic torque and the preset angle acceleration calculation.The method for measuring rotary inertia of the present invention can obtain accurate rotary inertia, and easy to operate, realize and be easy, measurement cost is low, can operate with engineering practice.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of measurement method of the rotary inertia of motor, a kind of motor
Rotary inertia measuring device and a kind of electric machine control system.
Background technology
Development with vector frequency conversion control technology and maturation, more and more equipment are equipped with variable frequency drives to drive
The operation of motor.For example, being equipped with variable frequency drives in equipment such as domestic air conditioning, kitchen appliance, washing machine, refrigerator, elevators.
However, having stronger dependence to the parameter of motor when variable frequency drives drive motor using vector control technology, such as
The parameter of fruit motor is inaccurate, then can be affected greatly to the driveability, energy-saving effect, starting characteristic etc. of motor.Usually
The producer of motor can all provide motor Common Parameters, for example, resistance, inductance with the curve of curent change, back EMF coefficient,
Number of magnetic pole pairs etc., still, motor producer do not provide generally this parameter of rotary inertia or institute to rotary inertia parameter, there are larger
Error.Therefore, rotary inertia parameter is accurately and effectively measured very necessary.
The relevant technologies propose a kind of method calculating rotary inertia, and this method is based on the equation of motion, consider motor in sky
In the case of load, rotor acceleration when measurement motor starts and stops, then the rotary inertia of motor is obtained by operation.But
This method is needed using photoelectric encoder, the accurately complicated testing tool such as time measuring instrument, and measurement cost is high, and to motor into
Row start stop operation, it is not easy to operate for engineering practice.
To sum up, there are improved needs for method for measuring rotary inertia in the related technology.
Invention content
The purpose of the present invention is intended to solve above-mentioned technological deficiency at least to a certain extent.
For this purpose, first purpose of the present invention is to propose a kind of measurement method of the rotary inertia of motor, can obtain
Accurate rotary inertia, and it is easy to operate, measurement cost is low.
Second object of the present invention is to propose a kind of measuring device of the rotary inertia of motor.The third of the present invention
Purpose is to propose a kind of electric machine control system.
In order to achieve the above objectives, the measurement method of the rotary inertia for the motor that first aspect present invention embodiment proposes, packet
Include following steps：When the motor is in unloaded or light running, preset time period obtain preset d-axis reference current and
Default quadrature axis reference current, and control the rotating speed of the motor and accelerated with default angular acceleration；In the preset time period
Default sampled point the electric current of the motor is sampled to obtain sample rate current, and described in being calculated according to the sample rate current
The electromagnetic torque of motor；According to the rotary inertia of motor described in the electromagnetic torque and the preset angle acceleration calculation.
The measurement method of the rotary inertia of the motor proposed according to embodiments of the present invention, when motor is in unloaded or underloading fortune
When row, controls the rotating speed of motor in preset time period and accelerated with default angular acceleration, in the default sampling of preset time period
Point samples the electric current of motor to obtain sample rate current, and the first electromagnetic torque of motor is calculated according to sample rate current, into
And according to electromagnetic torque and the rotary inertia of preset angle acceleration calculation motor.Thus, it is possible to which it is used to obtain accurate rotation
Amount, and it is easy to operate, it realizes and is easy, measurement cost is low, can operate with engineering practice.
Specifically, in one embodiment of the invention, the rotary inertia of the motor can be calculated according to following formula：
Wherein, J is the rotary inertia of the motor, X1For the default angular acceleration, Y1For the pre-given electromagnetic torque.
Further, in one embodiment of the invention, the electromagnetic torque is calculated according to following formula：
Y1=1.5PIsq1[Ke+(Lsd1-Lsq1)Isd1]
Wherein, Y1For the pre-given electromagnetic torque, Isq1For the quadrature axis current under two-phase rotating coordinate system, Lsd1It is revolved for two-phase
Turn the d-axis inductance under coordinate system, Lsq1For the quadrature axis inductance under two-phase rotating coordinate system, Isd1For under two-phase rotating coordinate system
Direct-axis current, Ke are the rotor flux of the motor, and P is the number of magnetic pole pairs of the motor.
In addition, in one embodiment of the invention, Clark coordinate transforms and Park coordinates are carried out to the sample rate current
Transformation is to obtain the quadrature axis current Isq1With the direct-axis current.
In order to achieve the above objectives, second aspect of the present invention embodiment also proposed a kind of measurement dress of the rotary inertia of motor
It sets, including：Acquisition module, the acquisition module, which is used to obtain in preset time period, presets d-axis reference current and default quadrature axis ginseng
Examine electric current；Sampling module, the sampling module is for the default sampled point in the preset time period to the electric current of the motor
It is sampled to obtain sample rate current；Control module, when the motor is in unloaded or light running, the control module is used
Accelerated with default angular acceleration in controlling the rotating speed of the motor in the preset time period, according to the sample rate current meter
The electromagnetic torque of the motor is calculated, and according to the rotation of motor described in the electromagnetic torque and the preset angle acceleration calculation
Inertia.
The measuring device of the rotary inertia of the motor proposed according to embodiments of the present invention, when motor is in unloaded or underloading fortune
When row, the rotating speed for controlling motor in preset time period by control module is accelerated with presetting angular acceleration, according to sampling electricity
The electromagnetic torque of stream calculation motor, and according to electromagnetic torque and the rotary inertia of preset angle acceleration calculation motor.To energy
Accurate rotary inertia is enough obtained, and easy to operate, realizes and be easy, measurement cost is low, can operate with engineering practice.
Specifically, in one embodiment of the invention, the control module calculates the motor according to following formula
Rotary inertia：
Wherein, J is the rotary inertia of the motor, X1For the default angular acceleration, Y1For the pre-given electromagnetic torque.
Further, in one embodiment of the invention, the control module calculates the electromagnetism according to following formula
Torque：
Y1=1.5PIsq1[Ke+(Lsd1-Lsq1)Isd1]
Wherein, Y1For the pre-given electromagnetic torque, Isq1For the quadrature axis current under two-phase rotating coordinate system, Lsd1It is revolved for two-phase
Turn the d-axis inductance under coordinate system, Lsq1For the quadrature axis inductance under two-phase rotating coordinate system, Isd1For under two-phase rotating coordinate system
Direct-axis current, Ke are the rotor flux of the motor, and P is the number of magnetic pole pairs of the motor.
In addition, in one embodiment of the invention, the control module carries out Clark coordinate changes to the sample rate current
It changes with Park coordinate transforms to obtain the quadrature axis current Isq1With the direct-axis current.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of electric machine control system, including described
The measuring device of the rotary inertia of motor.
The electric machine control system proposed according to embodiments of the present invention can obtain accurate rotary inertia, and operate letter
It is single, it realizes and is easy, measurement cost is low, can operate with engineering practice.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart according to the measurement method of the rotary inertia of the motor of the embodiment of the present invention；
Fig. 2 is d-axis reference current in the measurement method according to the rotary inertia of the motor of one embodiment of the invention, hands over
The change curve schematic diagram of axis reference current and angular speed；
Fig. 3 is phase current i in the measurement method according to the rotary inertia of the motor of one embodiment of the inventionsaSignal
Figure；
Fig. 4 is Clark coordinate transforms schematic diagram in the prior art；
Fig. 5 is Park coordinate transforms schematic diagram in the prior art；
Fig. 6 is the block diagram according to the measuring device of the rotary inertia of the motor of the embodiment of the present invention；
Fig. 7 is the block diagram according to the electric machine control system of the embodiment of the present invention；And
Fig. 8 is the schematic diagram according to the electric machine control system of a specific embodiment of the invention.
Reference numeral：
Acquisition module 1, sampling module 2, control module 3, motor rotary inertia measuring device 702, motor control system
System 701, motor 10, current sampling module 20, the first coordinate transferring 30, current correction module 40, direct-axis voltage module 50,
Quadrature-axis voltage module 60, the second coordinate transferring 70, SVPWM drive modules 80, inverter 90 and DC power supply 100.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is for purposes of simplicity and clarity, itself not indicate the relationship between discussed various embodiments and/or setting again.This
Outside, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may realize that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
The structure of "upper" may include the embodiment that the first and second features are formed as being in direct contact, and can also include other feature shape
At the embodiment between the first and second features, such first and second feature may not be to be in direct contact.
In the description of the present invention, it should be noted that unless otherwise specified and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, can also be the connection inside two elements, it can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to following description and drawings, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to indicate to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen within the scope of the spirit and intension of attached claims.
The measurement method of rotary inertia, the motor of the motor proposed according to embodiments of the present invention described with reference to the accompanying drawings
Rotary inertia measuring device and electric machine control system.
Fig. 1 is the flow chart according to the measurement method of the rotary inertia of the motor of the embodiment of the present invention.As shown in Figure 1, should
The measurement method of the rotary inertia of motor includes the following steps：
S1：When motor is in unloaded or light running, is obtained in preset time period and preset d-axis reference current and preset
Quadrature axis reference current, and control the rotating speed of motor and accelerated with default angular acceleration.
Wherein, in the case that motor is in unloaded or is lightly loaded, friction coefficient and load torque very little can be neglected.
Specifically, as shown in Fig. 2, in preset time period, that is, t1~t2In period, make d-axis reference currentEqual to pre-
If d-axis reference currentQuadrature axis reference currentEqual to default quadrature axis reference currentAnd according to default d-axis reference currentWith default quadrature axis reference currentVector controlled is carried out to motor, the rotational speed omega for also controlling rotor adds according to preset angle
Speed X1Accelerated.
S2：The electric current of motor is sampled in the default sampled point of preset time period to obtain sample rate current, and according to
Sample rate current calculates the electromagnetic torque of motor.
That is, in t1~t2Three-phase current is of the default sampled point A of period to motorsa、isb、iscIt is sampled.
As shown in figure 3, with phase current isaFor, it can be in A points to phase current isaIt is sampled, wherein phase current isaIn t1~t2Time
The amplitude of section is isa1。
In a specific embodiment of the invention, electromagnetic torque is calculated according to following formula：
Y1=1.5PIsq1[Ke+(Lsd1-Lsq1)Isd1]
Wherein, Y1For pre-given electromagnetic torque, Lsd1For the d-axis inductance under two-phase rotating coordinate system, Lsq1It rotates and sits for two-phase
Quadrature axis inductance under mark system, Lsd1And Lsq1It can be provided by producer, Isq1For the quadrature axis current under two-phase rotating coordinate system, Isd1It is two
Direct-axis current under cordic phase rotator system, Ke are the rotor flux of motor, and P is the number of magnetic pole pairs of motor.
Specifically, carrying out Clark coordinate transforms and Park coordinate transforms to the first sample rate current to obtain quadrature axis current
Isq1With direct-axis current Isd1；
For the vector controlled of motor, it is most important that coordinate transform, coordinate transform include mainly two
Part：
First, Clark coordinate transforms, i.e., transform to alpha-beta two-phase stationary coordinate system from a-b-c three-phase static coordinate systems,
It can be described as Clark direct transforms.In addition, can also transform to a-b-c three-phase static coordinate systems from alpha-beta two-phase stationary coordinate system, i.e.,
Clark inverse transformations.Specifically, Clark direct transforms C3s/2sWith Clark inverse transformations C2s/3sTransformation matrix be respectively：
Above-mentioned transformation matrix is suitable for Clark direct transforms and the Clark inverse transformations of voltage, electric current and magnetic linkage isovector.
It is illustrated in figure 4 Clark coordinate transform schematic diagrames, wherein isa、isb、iscRespectively three-phase current is in three phase static
The a axis of coordinate system, the current component of b axis, c-axis, usa、usb、uscRespectively three-phase voltage in a axis, the component of voltage of b axis, c-axis,
Lsa、Lsb、LscRespectively a axis, b axis, the inductive component on c-axis, the α axis of alpha-beta two-phase stationary coordinate system and β axis is mutually perpendicular to and α
90 ° of the advanced β axis of axis, isα、isβRespectively three-phase current is in the current component of α axis and β axis, usα、usβRespectively three-phase voltage is in α
The component of voltage of axis and β axis, Lsα、LsβInductive component respectively on α axis and β axis, F are air gap rotating synthesizing magnetic potential, it is in gas
Gap space is rotated by Sine distribution and with synchronous rotational speed angular rate ω along the direction of a axial direction b axial direction c-axis, and in stator armature
Three-phase current i is induced in windingsa、isb、iscWith three-phase voltage usa、usb、usc。
Second is that Park coordinate transforms, i.e., transform to d-q two-phase rotating coordinate systems from alpha-beta two-phase stationary coordinate system, can also claim
For Park direct transforms.In addition, can also transform to alpha-beta two-phase stationary coordinate system, i.e. Park contravariant from d-q two-phase rotating coordinate systems
It changes.Specifically, Park direct transforms C2s/2rWith Park inverse transformations C2r/2sTransformation matrix be respectively：
Wherein, θ is the angle of d axis and α axis.
Above-mentioned transformation matrix is suitable for Park direct transforms and the Park inverse transformations of voltage, electric current and magnetic linkage isovector.
Park coordinate transform schematic diagrames are illustrated in figure 5, wherein：The α axis and β axis of alpha-beta two-phase stationary coordinate system mutually hang down
Straight and 90 ° of the advanced β axis of α axis, isα、isβRespectively three-phase current is in the current component of α axis and β axis, usα、usβRespectively three-phase electricity
It is pressed in the component of voltage of α axis and β axis, Lsα、LsβInductive component respectively on α axis and β axis, the d of d-q two-phase rotating coordinate systems
Axis and q axis are mutually perpendicular to and 90 ° of the advanced d axis of q axis, and d-q two-phase rotating coordinate systems are counterclockwise to the directions q along d with angular rate ω
Rotation, isd、isqRespectively three-phase current is in the current component of d axis and q axis, usd、usqRespectively three-phase voltage is in d axis and q axis
Component of voltage, Lsd、LsqInductive component respectively on d axis and q axis.θ is the angle of d axis and α axis.
In addition, with vector coordinate transform to motor carry out vector controlled when, need to do it is assumed hereinafter that：(1) in air gap
Magnetic linkage presses Sine distribution, and air gap is evenly distributed, air-gap reluctance is constant；(2) do not consider magnetic saturation phenomenon, i.e., armature winding is big
It is small equal and unrelated with the electric current that is passed through in winding；(3) do not consider vortex and hysteresis effect；(4) generator is in armature winding
What is generated is symmetrical three phase sine alternating current, and each equivalent resistance is identical；(5) there is no Damper Winding, permanent magnet on rotor
Also without damping action；(6) ignore influence of the external conditions such as temperature to the parameter of electric machine.
In this way, can be obtained by under two-phase rotating coordinate system based on above-mentioned hypothesis, the following of motor relevant parameter can be obtained
Expression formula：
Electric moter voltage equation is：
Wherein, RsFor the stator resistance of motor, p is differential operator, ωrFor the angular rate of rotor, ψdFor d-axis magnetic
Chain, ψqFor quadrature axis magnetic linkage.
It should be noted that in embodiments of the present invention, the angular rate ω of control rotor can be passed throughrWith preset angle
Acceleration X1Accelerated, so that the mechanical angular velocity omega of rotational speed omega, that is, rotor of motor is to preset angular acceleration X1
Accelerated.
Motor flux linkage equations are：
Wherein, ψfRotor flux for the rotor flux of motor, motor can also Ke expressions.
Motor electromagnetic torque equation is：
Te=1.5PIsq*[ψf+(Lsd-Lsq)Isd] （5）
Wherein, TeFor electromagnetic torque.
In this way, in default sampled point A, sample rate current i is obtainedsa1、isb1、isc1Afterwards, first according to formula（1）With（2）To sampling
Electric current carries out Clark coordinate transforms and Park coordinate transforms, obtains quadrature axis current Isq1With direct-axis current Isd1, and according to formula
（5）Calculate electromagnetic torque Y1, i.e. electromagnetic torque Y1=1.5PIsq1[Ke+(Lsd-Lsq)Isd1], wherein Ke=ψf。
S3：According to electromagnetic torque and the rotary inertia of preset angle acceleration calculation motor.
In a specific embodiment of the invention, the rotary inertia of motor can be calculated according to following formula：
Wherein, J is the rotary inertia of motor, X1To preset angular acceleration, Y1For pre-given electromagnetic torque.
Specifically, the popular motion equation of motor：
Wherein, TeFor electromagnetic torque, TLFor load torque, J be rotary inertia, ω is motor rotating speed, i.e. rotor
Mechanical angular speed, b are friction coefficient, P number of magnetic pole pairs.
In this way, in the case where motor is in unloaded or underloading, it is assumed that friction coefficient and load torque very little can be ignored not
Meter, this pattern (6) can abbreviation be：
It is assumed that electromagnetic torque Y, rotary inertia J, angular acceleration X are replaced with following variables：
And, it is assumed that the rotor machinery angular acceleration X of motor can faster tracking fixed valure, i.e., default angular acceleration.
In this way, formula (8) is brought into known to formula (7)：
Y=AX (9)
Above formula（10）For linear equation with one unknown, only it is to be understood that the value of one group (X, Y) can seek the big of rotary inertia A
It is small.
In this way, in the case where motor is in unloaded or underloading, it is assumed that friction coefficient and load torque very little can be ignored not
Meter, the popular motion equation of motor can abbreviation be formula (6), as long as being carried out on the inverter that motor itself is equipped with as a result,
Primary simple experiment, i.e., given default angular acceleration X1, and measure electromagnetic torque Y1, bring into later (9) formula can calculate turn
Dynamic inertia：
As a result, according to given default angular acceleration X1, and electromagnetic torque Y is calculated by step S1 and step S21, later, will
X1、Y1Rotary inertia J can be calculated by bringing formula (10) into.
In addition, as shown in Fig. 2, in the rotating speed for controlling motor to preset angular acceleration X1Initial preset before being accelerated
Period i.e. 0~t1In period, first the rotor of motor is positioned, in other words, obtains initial d-axis reference current and initial
Quadrature axis reference current, wherein initial d-axis reference currentInitial quadrature axis reference currentIt is linearly increasing, turn at this time
The rotational speed omega of son is zero, and rotor is fixed on specified initial position θ*=θ0, you can rotor is positioned.It should be noted thatCannot be too small, it at least wants that the moment of resistance caused by motor load and friction can be overcome.
Also, after obtaining rotary inertia J, such as more than t2When, motor carries out position-sensor-free by phaselocked loop
Estimation, control motor cut the speed closed loop stage, and the rotary inertia calculating of motor terminates.
To sum up, the measurement method of the rotary inertia of the motor proposed according to embodiments of the present invention, when motor be in it is unloaded or
When light running, controls the rotating speed of motor in preset time period and accelerated with default angular acceleration, in the pre- of preset time period
If sampled point samples the electric current of motor to obtain sample rate current, and calculates the first electromagnetism turn of motor according to sample rate current
Square, and then according to electromagnetic torque and the rotary inertia of preset angle acceleration calculation motor.Thus, it is possible to obtain accurate turn
Dynamic inertia, and it is easy to operate, it realizes and is easy, measurement cost is low, can operate with engineering practice.
Fig. 6 is the block diagram according to the measuring device of the rotary inertia of the motor of the embodiment of the present invention.Such as Fig. 6 institutes
Show, the measuring device of the rotary inertia of the motor includes：Acquisition module 1, sampling module 2 and control module 3.
Acquisition module 1, which is used to obtain in preset time period, presets d-axis reference current and default quadrature axis reference current.
That is, in preset time period, i.e. t1~t2In period, d-axis reference current can be setIt is referred to quadrature axis
Electric currentTo preset d-axis reference currentWith default quadrature axis reference current
Sampling module 2 is used to sample the electric current of motor to obtain sampling electricity in the default sampled point of preset time period
Stream.
That is, in t1~t2Three-phase current is of the default sampled point A of period to motorsa、isb、iscIt is sampled.
When motor is in unloaded or light running, control module 3 be used for preset time period control the rotating speed of motor with
Default angular acceleration is accelerated, and the electromagnetic torque of motor is calculated according to sample rate current, and according to electromagnetic torque and preset angle
The rotary inertia of acceleration calculation motor.
In one particular embodiment of the present invention, control module 3 can calculate the rotary inertia of motor according to following formula：
Wherein, J is the rotary inertia of motor, X1To preset angular acceleration,Y1 is pre-given electromagnetic torque.
Further, in one particular embodiment of the present invention, control module 3 calculates electromagnetism according to following formula and turns
Square：
Y1=1.5PIsq1[Ke+(Lsd1-Lsq1)Isd1]
Wherein, Y1For pre-given electromagnetic torque, Isq1For the quadrature axis current under two-phase rotating coordinate system, Lsd1It rotates and sits for two-phase
D-axis inductance under mark system, Lsq1For the quadrature axis inductance under two-phase rotating coordinate system, Isd1For the d-axis under two-phase rotating coordinate system
Electric current, Ke are the rotor flux of motor, and P is the number of magnetic pole pairs of motor.
Further, in one particular embodiment of the present invention, control module 3 carries out Clark coordinates to sample rate current
Transformation and Park coordinate transforms are to obtain quadrature axis current Isq1With direct-axis current Isd1。
Generally speaking, sampling module 2 obtains sample rate current i in default sampled point Asa1、isb1、isc1Afterwards, control module 3 is first
Clark coordinate transforms and Park coordinate transforms are carried out to sample rate current, obtain quadrature axis current Isq1With direct-axis current Isd1, and calculate
Electromagnetic torque Y1, i.e. Y1=1.5PIsq1[Ke+(Lsd-Lsq)Isd1], wherein Ke=ψf。
Control module 3 is according to given default angular acceleration X as a result,1The electromagnetic torque Y being calculated with basis1Turn to calculate
Dynamic inertia J.
In addition, as shown in Fig. 2, control module 3 control motor rotating speed with preset angular acceleration X1Before being accelerated
Initial preset period i.e. 0~t1In period, first the rotor of motor is positioned, in other words, obtains initial d-axis reference
Electric current and initial quadrature axis reference current, wherein initial d-axis reference currentInitial quadrature axis reference currentIt is linear to increase
Add, the rotational speed omega of rotor is zero at this time, and rotor is fixed on specified initial position θ*=θ0, you can rotor is positioned.It needs
It is bright,Cannot be too small, it at least wants that the moment of resistance caused by motor load and friction can be overcome.
Also, control module 3 is after calculating rotary inertia J, such as more than t2When, motor carries out nothing by phaselocked loop
Position sensor estimates that control motor cuts the speed closed loop stage, and the rotary inertia calculating of motor terminates.
The measuring device of the rotary inertia of the motor proposed according to embodiments of the present invention, when motor is in unloaded or underloading fortune
When row, the rotating speed for controlling motor in preset time period by control module is accelerated with presetting angular acceleration, according to sampling electricity
The electromagnetic torque of stream calculation motor, and according to electromagnetic torque and the rotary inertia of preset angle acceleration calculation motor.To energy
Accurate rotary inertia is enough obtained, and easy to operate, realizes and be easy, measurement cost is low, can operate with engineering practice.
Fig. 7 is the block diagram of the electric machine control system proposed according to the embodiment of the present invention.As shown in fig. 7, motor control
System 701 processed includes the measuring device 702 of the rotary inertia of above-mentioned motor.
In a specific embodiment of the invention, as shown in figure 8, electric machine control system 701 can specifically include motor 10,
Current sampling module 20, the first coordinate transferring 30, current correction module 40, direct-axis voltage module 50, quadrature-axis voltage module
60, the second coordinate transferring 70, SVPWM（Space vector pulse width modulation, Space Vector Pulse Width
Modulation）Drive module 80, inverter 90 and DC power supply 100.
Wherein, current sampling module 20 is used for the three-phase current i of sample motor 10sa、isb、isc.First coordinate transferring
30 for according to initial position θ0To three-phase current isa、isb、iscClark coordinate transforms and Park coordinate transforms are carried out to obtain
Direct-axis current IsdWith quadrature axis current Isq.Current correction module 40 is used for according to d-axis reference currentWith quadrature axis reference current
Respectively to direct-axis current IsdWith quadrature axis current IsqCurrent correction is carried out to obtain direct-axis voltage changing value △ VdBecome with quadrature-axis voltage
Change value △ Vq.Direct-axis voltage module 50 is used to adjust direct-axis voltage u according to rotor angular ratesd, i.e. usd=RsIsd-ωrLsqIsq；Quadrature-axis voltage module 60 is used to adjust quadrature-axis voltage u according to rotor angular ratesq, i.e. usq=RsIsq+ωrLsdIsd+
ωrψf.Second coordinate transferring 70 is according to initial position θ0To direct-axis voltage usdWith direct-axis voltage changing value △ VdThe sum of and hand over
Shaft voltage usqWith quadrature-axis voltage changing value △ VqThe sum of carry out Clark coordinates inverse transformation and Park coordinates inverse transformation to obtain three-phase
Voltage usa、usb、usc.SVPWM drive modules 80 are used for according to three-phase voltage usa、usb、uscOutput drive signal.Inverter 90 is used
In the electric current for controlling motor 10 according to drive signal.DC power supply 100 is used to power for inverter 90.
In this way, based on above-mentioned electric machine control system 701, when motor 10 is in unloaded or light running, when default
Between section according to given default d-axis reference currentWith default quadrature axis reference currentVector controlled is carried out to motor, and is controlled
The rotational speed omega of motor is to preset angular acceleration X1Accelerated, that is, is controlled in direct-axis voltage module 50 and quadrature-axis voltage module 60
Rotor angular rate ωrTo preset angular acceleration X1Accelerated.Next, 702 basis of measuring device of the rotary inertia of motor
Electromagnetic torque Y1, default angular acceleration X1Calculate the rotary inertia J of motor.
To sum up, the electric machine control system proposed according to embodiments of the present invention can obtain accurate rotary inertia, and grasp
Make simply, to realize and be easy, measurement cost is low, can operate with engineering practice.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment（As the system of computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction）It uses, or combines these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example of computer-readable medium（Non-exhaustive list）Including following：Electricity with one or more wiring
Interconnecting piece（Electronic device）, portable computer diskette box（Magnetic device）, random access memory（RAM）, read-only memory
（ROM）, erasable edit read-only storage（EPROM or flash memory）, fiber device and portable optic disk is read-only deposits
Reservoir（CDROM）.In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array（PGA）, scene
Programmable gate array（FPGA）Deng.
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (7)
1. a kind of measurement method of the rotary inertia of motor, which is characterized in that include the following steps：
When the motor is in unloaded or light running, is obtained in preset time period and preset d-axis reference current and default quadrature axis
Reference current, and vector control is carried out to the motor according to the default d-axis reference current and the default quadrature axis reference current
System, and control the rotating speed of the motor and accelerated with default angular acceleration；
The electric current of the motor is sampled in the default sampled point of the preset time period to obtain sample rate current, and according to
The sample rate current calculates the electromagnetic torque of the motor；
According to the rotary inertia of motor described in the electromagnetic torque and the preset angle acceleration calculation；
Wherein, the rotor of the motor is determined before the rotating speed for controlling the motor is accelerated with default angular acceleration
Position；
Wherein, the rotary inertia of the motor is calculated according to following formula：
Wherein, J is the rotary inertia of the motor, X1For the default angular acceleration, Y1For the electromagnetic torque.
2. the measurement method of the rotary inertia of motor as described in claim 1, which is characterized in that the electromagnetic torque according to
Lower formula is calculated：
Y1=1.5PIsq1[Ke+(Lsd-Lsq)Isd1]
Wherein, Y1For the electromagnetic torque, Isq1For the quadrature axis current under two-phase rotating coordinate system, LsdFor two-phase rotating coordinate system
Under d-axis inductance, LsqFor the quadrature axis inductance under two-phase rotating coordinate system, Isd1For the direct-axis current under two-phase rotating coordinate system,
Ke is the rotor flux of the motor, and P is the number of magnetic pole pairs of the motor.
3. the measurement method of the rotary inertia of motor as claimed in claim 2, which is characterized in that wherein,
Clark coordinate transforms and Park coordinate transforms are carried out to obtain the quadrature axis current I to the sample rate currentsq1With it is described
Direct-axis current.
4. a kind of measuring device of the rotary inertia of motor, which is characterized in that including：
Acquisition module, the acquisition module, which is used to obtain in preset time period, presets d-axis reference current and default quadrature axis with reference to electricity
Stream；
Sampling module, the sampling module are used to carry out the electric current of the motor in the default sampled point of the preset time period
Sampling is to obtain sample rate current；
Control module, when the motor is in unloaded or light running, the control module is used in the preset time period
Vector controlled is carried out to the motor according to the default d-axis reference current and the default quadrature axis reference current, and controls institute
It states the rotating speed of motor with default angular acceleration to be accelerated, the electromagnetic torque of the motor is calculated according to the sample rate current, and
According to the rotary inertia of motor described in the electromagnetic torque and the preset angle acceleration calculation；
Wherein, the control module before the rotating speed for controlling the motor is accelerated with default angular acceleration to the motor
Rotor positioned；
Wherein, the control module calculates the rotary inertia of the motor according to following formula：
Wherein, J is the rotary inertia of the motor, X1For the default angular acceleration, Y1For the electromagnetic torque.
5. the measuring device of the rotary inertia of motor as claimed in claim 4, which is characterized in that the control module according to
Lower formula calculates the electromagnetic torque：
Y1=1.5PIsq1[Ke+(Lsd1-Lsq1)Isd1]
Wherein, Y1For the electromagnetic torque, Isq1For the quadrature axis current under two-phase rotating coordinate system, Lsd1For two-phase rotating coordinate system
Under d-axis inductance, Lsq1For the quadrature axis inductance under two-phase rotating coordinate system, Isd1For the direct-axis current under two-phase rotating coordinate system,
Ke is the rotor flux of the motor, and P is the number of magnetic pole pairs of the motor.
6. the measuring device of the rotary inertia of motor as claimed in claim 5, which is characterized in that the control module is to described
Sample rate current carries out Clark coordinate transforms and Park coordinate transforms to obtain the quadrature axis current Isq1With the direct-axis current.
7. a kind of electric machine control system, which is characterized in that include the motor as described in any one of claim 4-6 rotation it is used
The measuring device of amount.
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| CN110411659A (en) * | 2019-08-21 | 2019-11-05 | 苏州轻工电机厂有限公司 | A kind of motor method for measuring rotary inertia |
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| CN105790665B (en) * | 2016-04-28 | 2019-02-22 | 广东威灵电机制造有限公司 | Measurement method, device and the electric machine control system of motor rotary inertia |
| CN106017759B (en) * | 2016-06-17 | 2018-09-07 | 广西师范大学 | With the method for rotary inertia parameters revision motor torque measurement error |
| CN106052917B (en) * | 2016-06-17 | 2018-09-07 | 广西师范大学 | With the method for angular acceleration parameter optimization motor torque measurement error |
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| CN109067287A (en) * | 2018-08-02 | 2018-12-21 | 顺丰科技有限公司 | Unmanned plane current of electric closed loop dragging method, device, equipment and storage medium |
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| WO2020114626A1 (en) * | 2018-12-06 | 2020-06-11 | Sew-Eurodrive Gmbh & Co. Kg | Method for operating a drive train and drive train |
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