CN105207559A - Method and device for identifying motor magnetic pole pair number of mechanical periodic load - Google Patents
Method and device for identifying motor magnetic pole pair number of mechanical periodic load Download PDFInfo
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Abstract
The invention discloses a method for identifying a motor magnetic pole pair number of a mechanical periodic load. The method comprises the following steps that: a control motor runs at a preset given speed, and a coordinate converter converts a d shaft reference current and a q shaft reference current into a three-phase reference current transmitted to an inverter, wherein the d shaft reference current is zero, and the q shaft reference current is a preset current; then a three-phase working current of a motor is collected with a preset sampling frequency, and the collected three-phase working current is converted into a d shaft working current and a q shaft working current; conversion from a time domain to a frequency domain is carried out on the q shaft working current having preset sampling points, and frequency domain signals are generated; the frequency of a harmonic coefficient having the largest amplitude in the frequency domain signals is obtained; and according to the frequency and the preset given speed, the magnetic pole pair number of the motor is calculated. The invention further discloses a device for identifying the motor magnetic pole pair number of the mechanical periodic load. According to the invention, the motor magnetic pole pair number of the mechanical periodic load is automatically identified, and the universality of a motor control circuit is improved.
Description
Technical field
The present invention relates to magnetic pole logarithm identification field, particularly relate to a kind of method and the device that identify the motor pole logarithm of mechanical periodic load.
Background technology
Along with the development controlling industry, permagnetic synchronous motor is little, lightweight with its volume, efficiency high, has become the main flow in variable frequency control field.In variable frequency control field, Machine cycle load occupies very large proportion, such as compressor, oil pumper etc., and constantly increase due to the model of this kind equipment, need the Control card that the equipment configuration of corresponding different model is different, thus cause the quick growth of equipment Control card model, bring huge pressure with stock after sale to product.Further, in the identical situation of hardware, sometimes only have to be equipped with because of the difference of controling parameters and overlap Control card more, obviously, cause huge waste.
Based on above reason, the automatic Identification that is electric and mechanical parameter of control appliance has become a kind of new demand, and in Automatic parameter Study of recognition in the past, normally for stator resistance, the inductance and back emf coefficient etc. of motor, not to the device of motor pole logarithm identification, and motor pole logarithm is also one of important parameter needing automatically to identify.Because in some engineer applied, the magnetic pole logarithm of control motor used is not unique, the magnetic pole logarithm of current motor mainly contains two to pole and three to pole, if Control card can not identify the magnetic pole logarithm controlling motor automatically, cannot control.
Foregoing, only for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing is prior art.
Summary of the invention
Main purpose of the present invention is to provide a kind of method identifying the motor pole logarithm of mechanical periodic load, is intended to the magnetic pole logarithm realizing automatically identifying motor in mechanicalness periodic load, and improve the versatility of circuit for controlling motor, reduction is controlled cost.
For achieving the above object, the invention provides a kind of method identifying the motor pole logarithm of mechanical periodic load, described Machine cycle load comprises motor, coordinate converter, the inverter be connected with described motor and coordinate converter respectively and current sampling unit; Said method comprising the steps of:
Control described motor to operate with default given speed, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, for described coordinate converter, described d axle reference current and q axle reference current are carried out Coordinate Conversion to generate the three-phase reference current transporting to described inverter;
Control described current sampling unit gathers described motor three-phase operating current with default sample frequency, and control described coordinate converter and the three-phase operating current of collection is carried out Coordinate Conversion to generate d axle operating current and q axle operating current;
The described q axle operating current of default sampling number is carried out time domain change to frequency domain, to generate frequency-region signal;
Obtain the frequency of the harmonic constant of amplitude maximum in described frequency-region signal;
According to described frequency and described default given speed, calculate the magnetic pole logarithm of described motor.
Preferably, in the described frequency-region signal of described acquisition, the step of the frequency of the harmonic constant of amplitude maximum comprises:
Choose the harmonic constant of predetermined number in described frequency-region signal;
The amplitude of the described harmonic constant chosen is compared, to obtain the harmonic constant of amplitude maximum in described harmonic constant;
The frequency of the harmonic constant of amplitude maximum in described frequency-region signal is calculated according to described default sample frequency, default sampling number and harmonic constant.
Preferably, described according to described default sample frequency, preset the frequency that sampling number and harmonic constant calculate the harmonic constant of amplitude maximum in described frequency-region signal and comprise:
According to the first preset formula H
max=(F/D) * L calculates the frequency of the harmonic constant of amplitude maximum in described harmonic constant; Wherein, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, F represents the default sample frequency of described q axle operating current, and D represents described default sampling number, and L represents harmonic constant.
Preferably, described according to described frequency and described default given speed, the magnetic pole logarithm calculating described motor comprises:
According to preset formula N
p=2* ω
e/ H
maxcalculate, and result of calculation is rounded to a high position; Wherein, N
prepresent secondary logarithm, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, ω
erepresent described given speed.
For achieving the above object, present invention also offers a kind of device identifying the motor pole logarithm of mechanical periodic load, described Machine cycle load comprises motor, coordinate converter, the inverter be connected with described motor and coordinate converter respectively and current sampling unit, described device comprises:
Control module, operate with default given speed for controlling described motor, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, for described coordinate converter, described d axle reference current and q axle reference current are carried out Coordinate Conversion to generate the three-phase reference current transporting to described inverter; Also to gather the three-phase operating current of described motor for controlling described current sampling unit with default sample frequency, and control described coordinate converter and the three-phase operating current of collection is carried out Coordinate Conversion to generate d axle operating current and q axle operating current;
Frequency domain modular converter, changes to frequency domain for the described q axle operating current of default sampling number is carried out time domain, to generate frequency-region signal;
Frequency acquisition module, for obtaining the frequency of the harmonic constant of amplitude maximum in described frequency-region signal;
Magnetic pole logarithm acquisition module, for according to described frequency and described default given speed, calculates the magnetic pole logarithm of described motor.
Preferably, described frequency acquisition module comprises:
Choose unit, for choosing the harmonic constant of predetermined number in described frequency-region signal;
Comparing unit, for comparing the amplitude of the described harmonic constant chosen, to obtain the harmonic constant of amplitude maximum in described harmonic constant.
Computing unit, for calculating the frequency of the harmonic constant of amplitude maximum in described frequency-region signal according to described default sample frequency, default sampling number and harmonic constant.
Preferably, described frequency acquisition module is used for according to the first preset formula H
max=(F/D) * L calculates the frequency of the harmonic constant of amplitude maximum in described harmonic constant; Wherein, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, F represents the default sample frequency of described q axle operating current, and D represents described default sampling number, and L represents harmonic constant.
Preferably, described magnetic pole logarithm acquisition module comprises:
According to preset formula N
p=2* ω
e/ H
maxcalculate, and result of calculation is rounded to a high position; Wherein, N
prepresent secondary logarithm, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, ω
erepresent described given speed.
The present invention is operated with default given speed by the motor controlled in the load of machinery property in sexual cycle, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, make the q axle reference current that collects with default sample frequency relevant to the magnetic pole logarithm of motor, then select and the described q axle operating current of default sampling number is carried out time domain change to frequency domain, to generate frequency-region signal, and obtain the frequency of the harmonic constant of amplitude maximum in described frequency-region signal, last according to described frequency and described default given speed, calculate the magnetic pole logarithm of described motor, thus realize the magnetic pole logarithm of the motor identified in mechanicalness periodic load, improve the versatility of circuit for controlling motor, reduce and control cost.
Accompanying drawing explanation
The structural representation that Fig. 1 is the Machine cycle load that adopts in the embodiment of the present invention and control circuit thereof;
Fig. 2 is the schematic flow sheet of method one embodiment of the motor pole logarithm of identification of the present invention machinery periodic load;
Fig. 3 is an embodiment schematic flow sheet of step 4 in Fig. 2:
Fig. 4 is the structured flowchart of device one embodiment of the motor pole logarithm of identification of the present invention machinery periodic load;
Fig. 5 is the structured flowchart of Fig. 4 medium frequency acquisition module;
Fig. 6 is three sample rate current curve synoptic diagrams to pole motor q axle in one embodiment of the invention;
Fig. 7 is three Fourier's curve charts to the sample rate current of pole motor q axle in one embodiment of the invention;
Fig. 8 is two sample rate current curve synoptic diagrams to pole motor q axle in one embodiment of the invention;
Fig. 9 is two Fourier's curve charts to the sample rate current of pole motor q axle in one embodiment of the invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Technical scheme of the present invention is the operating current by gathering during air conditioner motor open loop operation, then by carrying out Fourier transform process to this current sampling data, thus identify the magnetic pole logarithm of the motor of Machine cycle load.
Fig. 1 is the structural representation of Machine cycle load and the control circuit thereof adopted in the embodiment of the present invention.As shown in Figure 1, described Machine cycle load mainly comprises motor, coordinate converter, the inverter be connected with described motor and coordinate converter respectively and current sampling unit, wherein coordinate converter comprises for the d axle reference current of input and q axle reference current being converted to the dq/abc of three phase static coordinate by two cordic phase rotators and being used for the operating current of motor to be become by three phase static Coordinate Conversion the abc/dq of two cordic phase rotators.For the ease of understanding, provide the general principle realizing the embodiment of the present invention and realize below:
According to torque equilibrium equation:
T
e-T
L＝Ja(1)
Known:
T
e＝1.5N
p(Φi
q+(L
d-L
q)i
di
q)(2)
T in formula (1)
efor electromagnetic torque, T
lfor load torque, J is moment of inertia, and a is acceleration.
N in formula (2)
pfor magnetic pole logarithm, Φ is permanent magnet magnetic flux, L
dfor d axle inductance, L
qfor q axle inductance, T
efor electromagnetic torque, i
dfor d shaft current during machine operation, i
qfor q shaft current during machine operation.
Find through great many of experiments, when motor adopts i
d=0 control strategy, and when permanent rotating speed runs, i.e. acceleration a=0, then load torque becomes to be similar to proportional relation with q shaft current, see formula (3):
T
L＝1.5N
pΦi
q(3)
Because motor application is in Machine cycle load, namely when permanent rotating speed rotates, load torque T
lfluctuate in Machine cycle, according to the composition (harmonic wave) that also can fluctuate containing this Machine cycle in q shaft current during formula (3) known machine operation, as long as isolate this composition from sample rate current, the magnetic pole logarithm of this motor can be identified.
According to above principle, can obtain the method for the motor pole logarithm of one embodiment of the invention identification machinery periodic load, as shown in Figure 2, the method comprises the following steps:
Step S1, control described motor and operate with default given speed, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, for described coordinate converter, described d axle reference current and q axle reference current are carried out Coordinate Conversion to generate the three-phase reference current transporting to described inverter; Control described motor described in this step and send to described coordinate converter the d axle reference current that current value is zero with described with default given speed running, and the action of the q axle reference current of pre-set current value in no particular order.Wherein, given speed is set in advance in the controller of motor, and its unit is hertz, and such as, pre-setting given speed is 42Hz, when just running with this pre-set 42Hz angular rate after electric motor starting.When the given speed that this is preset is always constant, then motor rotates with permanent rotating speed, and acceleration when namely can ensure motor rotation is 0.On this basis, by sending to described coordinate converter the d axle reference current that current value is zero, and the q axle reference current of pre-set current value, thus with the signal composition relevant to the magnetic pole logarithm of motor in q axle reference current when making machine operation.Further, above-mentioned d axle reference current and q axle reference current are also set in advance in the controller of air conditioner motor, and wherein, the reference current pre-set in the present embodiment is 4A.In addition, the coordinate converter in this step is for the d axle reference current of input and q axle reference current are converted to three phase static coordinate by two cordic phase rotators.
Step S2, control described current sampling unit gathers described motor three-phase operating current with default sample frequency, and control described coordinate converter and the three-phase operating current of collection is carried out Coordinate Conversion to generate d axle operating current and q axle operating current; Wherein, sample frequency is set in advance in the controller of air conditioner motor, and such as, default sample frequency is 6kHz.Coordinate converter in this step is for the motor working current sampled is become two cordic phase rotators by three phase static Coordinate Conversion.
Because mechanicalness cyclic loading operates with default given speed, and send to motor the d axle reference current that current value is zero to by described coordinate converter, and the q axle reference current of pre-set current value, therefore, its load current there will be harmonic wave.
Step S3, the described q axle operating current of default sampling number is carried out time domain change to frequency domain, to generate frequency-region signal;
Wherein, can be the whole q axle operating currents sampled are carried out time domain change to frequency domain, or the part q axle operating current signal sampled is carried out time domain change to frequency domain.When default sampling number is more, the resolution of the harmonic frequency obtained after carrying out time domain to frequency domain conversion is higher, if it is fewer to preset sampling number, then the resolution of the harmonic frequency obtained after carrying out time domain to frequency domain conversion is then limited.
Further, find through great many of experiments, when the q axis current signal that will sample is after Fourier transform (time domain turns frequency domain), can extract frequency content corresponding with magnetic pole logarithm in q shaft current, wherein, the principle of Fourier transform is as follows:
Wherein:
Wherein, T is the cycle, and ω is fundamental frequency.
As from the foregoing, the magnetic pole logarithm of motor is relevant to the harmonic wave in q axle operating current, and the harmonic wave of amplitude maximum and first-harmonic closest, therefore, only need the amplitude asking for each harmonic, and need not know that q axle measures flip-flop and the phase place of electric current, therefore, formula is as follows:
A
n＝a
n 2+b
n 2(5)
A
max＝max(A
n)，n＝1,2,…N(6)
A
nbe the n-th subharmonic amplitude square, A
maxfor the maximum of amplitude in N subharmonic current, namely the frequency corresponding to this value is the frequency values that we need to extract.
If assuming that controlling motor is 2 to pole motor, given angular rate is ω
e, and supposition N
pbe H to harmonic frequency during pole permanent-magnet synchronous machine maximum amplitude
maxhz, so have:
H
max＝ω
e×2/N
p(7)
It can thus be appreciated that, only need know the frequency of the harmonic constant of amplitude maximum in described frequency-region signal.
Step S4, obtain the frequency of the harmonic constant of amplitude maximum in described frequency-region signal;
Wherein, as shown in Figure 3, wherein step S4 comprises the following steps:
Step S401, choose the harmonic constant of predetermined number in described frequency-region signal; In the present embodiment, from the frequency-region signal generated, the harmonic constant of any amount and optional position section can be selected.
Step S402, the amplitude of the described harmonic constant chosen to be compared, to obtain the harmonic constant of amplitude maximum in described harmonic constant;
Step S403, according to described default sample frequency, preset the frequency that sampling number and harmonic constant calculate the harmonic constant of amplitude maximum in described frequency-region signal.Wherein, according to the first preset formula H
max=(F/D) * L calculates the frequency of the harmonic constant of amplitude maximum in described harmonic constant; Wherein, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, F represents the default sample frequency of described q axle operating current, and D represents described default sampling number, and L represents harmonic constant.
Step S5, according to described frequency and described default given speed, calculate the magnetic pole logarithm of described motor.In the present embodiment, according to the second preset formula N
p=2* ω
e/ H
maxcalculate, and result of calculation rounded to a high position, particularly, suppose that result of calculation is 2.3 or 2.6, then after result of calculation being rounded to a high position, both are 3; Wherein, N
prepresent secondary logarithm, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, ω
erepresent given speed.
Particularly, represent frequency with reference to abscissa in Fig. 6 to Fig. 9, Fig. 6 and Fig. 8, ordinate represents electric current; In Fig. 7 and Fig. 9, abscissa represents harmonic constant, and ordinate represents harmonic amplitude.
Suppose that the actual magnetic number of pole-pairs of motor is three to pole, the d axle reference current of input is 0, the q axle reference current of input is 4A, motor rotates with given speed 42Hz open loop, through test, if now current sampling unit gathers with the three-phase operating current of 6kHz sample frequency to motor, and by the three-phase operating current that collects after coordinate converter conversion, the operating current oscillogram of q axle can be obtained, as Fig. 6.
Suppose that the current signal choosing 1000 sampling numbers from the operating current of described q axle carries out time domain to frequency domain conversion (Fourier analysis), and choose front 20 harmonic constants and carry out amplitude com parison, as shown in Figure 7.As shown in Figure 7, when harmonic constant is 6, the amplitude of harmonic wave is maximum, according to the first preset formula H
max=(F/D) * L is known, H
max=(6000/1000) * 6=36HZ; And according to the second preset formula N
p=2* ω
e/ H
maxknown, N
p=2*42/36=2.33333, by rounding known N by result of calculation to a high position
p=3, namely the magnetic pole logarithm of this motor is three to pole.
At identical conditions, if now the actual magnetic number of pole-pairs of motor is two to pole, the current signal equally choosing 1000 sampling numbers from the operating current of described q axle carries out time domain to frequency domain conversion (Fourier analysis), and choose front 20 harmonic waves (first time harmonic wave to the 20 subharmonic totally 20 harmonic waves) and carry out amplitude com parison, as shown in Figure 9.As shown in Figure 9, when harmonic constant is 8, the amplitude of harmonic wave is maximum, according to the first preset formula H
max=(F/D) * L is known, H
max=(6000/1000) * 8=48HZ; And according to the second preset formula N
p=2* ω
e/ H
maxknown, N
p=2*42/48=1.75, this is because the limited resolution of harmonic frequency determines, by result of calculation is rounded known N to a high position
p=2, namely the magnetic pole logarithm of this motor is two to pole.
It should be noted that, when default sampling number is more, after sampling, the resolution of harmonic frequency is higher, and value and the actual magnetic number of pole-pairs of the magnetic pole logarithm obtained by this harmonic frequency are more close.
To sum up, the inventive method is operated with default given speed by the motor controlled in the load of machinery property in sexual cycle, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, make the q axle reference current that collects with default sample frequency relevant to the magnetic pole logarithm of motor, then select and the described q axle operating current of default sampling number is carried out time domain change to frequency domain, to generate frequency-region signal, and obtain the frequency of the harmonic constant of amplitude maximum in described frequency-region signal, last according to described frequency and described default given speed, calculate the magnetic pole logarithm of described motor, thus realize the magnetic pole logarithm of the motor identified in mechanicalness periodic load, improve the versatility of circuit for controlling motor, reduce and control cost.
One embodiment of the invention also proposes a kind of device identifying the motor pole logarithm of mechanical periodic load, and as shown in Figure 4, this device comprises control module 100, frequency domain modular converter 200, frequency acquisition module 300 and magnetic pole logarithm acquisition module 400, wherein,
Described control module 100, operate with default given speed for controlling described motor, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, for described coordinate converter, described d axle reference current and q axle reference current are carried out Coordinate Conversion to generate the three-phase reference current transporting to described inverter; Control described motor described in this step and send to described coordinate converter the d axle reference current that current value is zero with described with default given speed running, and the action of the q axle reference current of pre-set current value in no particular order.Wherein, given speed is set in advance in the controller of motor, and its unit is hertz, and such as, pre-setting given speed is 42Hz, when just running with this pre-set 42Hz angular rate after electric motor starting.When the given speed that this is preset is always constant, then motor rotates with permanent rotating speed, and acceleration when namely can ensure motor rotation is 0.On this basis, by sending to described coordinate converter the d axle reference current that current value is zero, and the q axle reference current of pre-set current value, thus with the signal composition relevant to the magnetic pole logarithm of motor in q axle reference current when making machine operation.Further, above-mentioned d axle reference current and q axle reference current are also set in advance in the controller of air conditioner motor, and wherein, the reference current pre-set in the present embodiment is 4A.In addition, the coordinate converter in this step is for the d axle reference current of input and q axle reference current are converted to three phase static coordinate by two cordic phase rotators.
Described control module 100, also to gather the three-phase operating current of described motor for controlling described current sampling unit with default sample frequency, and control described coordinate converter and the three-phase operating current of collection is carried out Coordinate Conversion to generate d axle operating current and q axle operating current; Wherein, sample frequency is set in advance in the controller of air conditioner motor, and such as, default sample frequency is 6kHz.Coordinate converter in this step is for the motor working current sampled is become two cordic phase rotators by three phase static Coordinate Conversion.
Because mechanicalness cyclic loading operates with default given speed, and send to motor the d axle reference current that current value is zero to by described coordinate converter, and the q axle reference current of pre-set current value, therefore, its load current there will be harmonic wave.
Described frequency domain modular converter 200, changes to frequency domain for the described q axle operating current of default sampling number is carried out time domain, to generate frequency-region signal;
Wherein, can be the whole q axle operating currents sampled are carried out time domain change to frequency domain, or the part q axle operating current signal sampled is carried out time domain change to frequency domain.When default sampling number is more, the resolution of the harmonic frequency obtained after carrying out time domain to frequency domain conversion is higher, if it is fewer to preset sampling number, then the resolution of the harmonic frequency obtained after carrying out time domain to frequency domain conversion is then limited.
Further, find through great many of experiments, when the q axis current signal that will sample is after Fourier transform (time domain turns frequency domain), can extract frequency content corresponding with magnetic pole logarithm in q shaft current, wherein, the principle of Fourier transform is as follows:
Wherein:
Wherein, T is the cycle, and ω is fundamental frequency.
As from the foregoing, the magnetic pole logarithm of motor is relevant to the harmonic wave in q axle operating current, and the harmonic wave of amplitude maximum and first-harmonic closest, therefore, only need the amplitude asking for each harmonic, and need not know that q axle measures flip-flop and the phase place of electric current, therefore, formula is as follows:
A
n＝a
n 2+b
n 2(5)
A
max＝max(A
n)，n＝1,2,…N(6)
A
nbe the n-th subharmonic amplitude square, A
maxfor the maximum of amplitude in N subharmonic current, namely the frequency corresponding to this value is the frequency values that we need to extract.
If assuming that controlling motor is 2 to pole motor, given angular rate is ω
e, and supposition N
pbe H to harmonic frequency during pole permanent-magnet synchronous machine maximum amplitude
maxhz, so have:
H
max＝ω
e×2/N
p(7)
It can thus be appreciated that, only need know the frequency of the harmonic constant of amplitude maximum in described frequency-region signal.
Described frequency acquisition module 300, for obtaining the frequency of the harmonic constant of amplitude maximum in described frequency-region signal;
Wherein, as shown in Figure 5, described frequency acquisition module 300 comprises:
Choose unit 310, for choosing the harmonic constant of predetermined number in described frequency-region signal; In the present embodiment, from the frequency-region signal generated, the harmonic constant of any amount and optional position section can be selected.
Comparing unit 320, for comparing the amplitude of the described harmonic constant chosen, to obtain the harmonic constant of amplitude maximum in described harmonic constant;
Computing unit 330, for calculating the frequency of the harmonic constant of amplitude maximum in described frequency-region signal according to described default sample frequency, default sampling number and harmonic constant.Wherein, according to the first preset formula H
max=(F/D) * L calculates the frequency of the harmonic constant of amplitude maximum in described harmonic constant; Wherein, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, F represents the default sample frequency of described q axle operating current, and D represents described default sampling number, and L represents harmonic constant.
Described magnetic pole logarithm acquisition module 400, for according to described frequency and described default given speed, calculates the magnetic pole logarithm of described motor.In the present embodiment, according to the second preset formula N
p=2* ω
e/ H
maxcalculate, and result of calculation rounded to a high position, particularly, suppose that result of calculation is 2.3 or 2.6, then after result of calculation being rounded to a high position, both are 3; Wherein, N
prepresent secondary logarithm, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, ω
erepresent given speed.
Particularly, represent frequency with reference to abscissa in Fig. 6 to Fig. 9, Fig. 6 and Fig. 8, ordinate represents electric current; In Fig. 7 and Fig. 9, abscissa represents harmonic constant, and ordinate represents harmonic amplitude.
Suppose that the actual magnetic number of pole-pairs of motor is three to pole, the d axle reference current of input is 0, the q axle reference current of input is 4A, motor rotates with given speed 42Hz open loop, through test, if now current sampling unit gathers with the three-phase operating current of 6kHz sample frequency to motor, and by the three-phase operating current that collects after coordinate converter conversion, the operating current oscillogram of q axle can be obtained, as Fig. 6.
Suppose that the current signal choosing 1000 sampling numbers from the operating current of described q axle carries out time domain to frequency domain conversion (Fourier analysis), and choose front 20 harmonic constants and carry out amplitude com parison, as shown in Figure 7.As shown in Figure 7, when harmonic constant is 6, the amplitude of harmonic wave is maximum, according to the first preset formula H
max=(F/D) * L is known, H
max=(6000/1000) * 6=36HZ; And according to the second preset formula N
p=2* ω
e/ H
maxknown, N
p=2*42/36=2.33333, this is because the limited resolution of harmonic frequency determines, by result of calculation is rounded known N to a high position
p=3, namely the magnetic pole logarithm of this motor is three to pole.
At identical conditions, if now the actual magnetic number of pole-pairs of motor is two to pole, the current signal equally choosing 1000 sampling numbers from the operating current of described q axle carries out time domain to frequency domain conversion (Fourier analysis), and choose front 20 harmonic waves (first time harmonic wave to the 20 subharmonic totally 20 harmonic waves) and carry out amplitude com parison, as shown in Figure 9.As shown in Figure 9, when harmonic constant is 8, the amplitude of harmonic wave is maximum, according to the first preset formula H
max=(F/D) * L is known, H
max=(6000/1000) * 8=48HZ; And according to the second preset formula N
p=2* ω
e/ H
maxknown, N
p=2*42/48=1.75, by rounding known N by result of calculation to a high position
p=2, namely the magnetic pole logarithm of this motor is two to pole.
It should be noted that, when default sampling number is more, after sampling, the resolution of harmonic frequency is higher, and value and the actual magnetic number of pole-pairs of the magnetic pole logarithm obtained by this harmonic frequency are more close.
To sum up, the motor that apparatus of the present invention are controlled in the load of machinery property in sexual cycle by control module 100 operates with default given speed, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, make the q axle reference current that collects with default sample frequency relevant to the magnetic pole logarithm of motor, then selected by frequency domain modular converter 200 and the described q axle operating current of default sampling number is carried out time domain change to frequency domain, to generate frequency-region signal, and the frequency of the harmonic constant of amplitude maximum in described frequency-region signal is obtained by frequency acquisition module 300, finally by magnetic pole logarithm acquisition module 400 according to described frequency and described default given speed, calculate the magnetic pole logarithm of described motor, thus realize the magnetic pole logarithm of the motor identified in mechanicalness periodic load, improve the versatility of circuit for controlling motor, reduce and control cost.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.Through the above description of the embodiments, those skilled in the art can be well understood to the mode that above-described embodiment device can add required general hardware platform by software and realize, hardware can certainly be passed through, but in a lot of situation, the former is better execution mode.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium (as ROM/RAM, magnetic disc, CD), comprising some instructions in order to make a station terminal equipment (can be mobile phone, computer, server, or the network equipment etc.) perform device described in each embodiment of the present invention.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (8)
1. one kind identifies the method for the motor pole logarithm of mechanical periodic load, described Machine cycle load comprises motor, coordinate converter, the inverter be connected with described motor and coordinate converter respectively and current sampling unit, is characterized in that, described method comprises:
Control described motor to operate with default given speed, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, for described coordinate converter, described d axle reference current and q axle reference current are carried out Coordinate Conversion to generate the three-phase reference current transporting to described inverter;
Control described current sampling unit gathers described motor three-phase operating current with default sample frequency, and control described coordinate converter and the three-phase operating current of collection is carried out Coordinate Conversion to generate d axle operating current and q axle operating current;
The described q axle operating current of default sampling number is carried out time domain change to frequency domain, to generate frequency-region signal;
Obtain the frequency of the harmonic constant of amplitude maximum in described frequency-region signal;
According to described frequency and described default given speed, calculate the magnetic pole logarithm of described motor.
2. the method identifying the motor pole logarithm of mechanical periodic load as claimed in claim 1, it is characterized in that, in the described frequency-region signal of described acquisition, the step of the frequency of the harmonic constant of amplitude maximum comprises:
Choose the harmonic constant of predetermined number in described frequency-region signal;
The amplitude of the described harmonic constant chosen is compared, to obtain the harmonic constant of amplitude maximum in described harmonic constant;
The frequency of the harmonic constant of amplitude maximum in described frequency-region signal is calculated according to described default sample frequency, default sampling number and harmonic constant.
3. the method identifying the motor pole logarithm of mechanical periodic load as claimed in claim 2, it is characterized in that, described according to described default sample frequency, preset the frequency that sampling number and harmonic constant calculate the harmonic constant of amplitude maximum in described frequency-region signal and comprise:
According to the first preset formula H
max=(F/D) * L calculates the frequency of the harmonic constant of amplitude maximum in described harmonic constant; Wherein, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, F represents the default sample frequency of described q axle operating current, and D represents described default sampling number, and L represents harmonic constant.
4. the method identifying the motor pole logarithm of mechanical periodic load as claimed in claim 3, it is characterized in that, described according to described frequency and described default given speed, the magnetic pole logarithm calculating described motor comprises:
According to preset formula N
p=2* ω
e/ H
maxcalculate, and result of calculation is rounded to a high position; Wherein, N
prepresent secondary logarithm, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, ω
erepresent given speed.
5. one kind identifies the device of the motor pole logarithm of mechanical periodic load, described Machine cycle load comprises motor, coordinate converter, the inverter be connected with described motor and coordinate converter respectively and current sampling unit, it is characterized in that, described device comprises:
Control module, operate with default given speed for controlling described motor, the d axle reference current that current value is zero is sent to described coordinate converter, and the q axle reference current of pre-set current value, for described coordinate converter, described d axle reference current and q axle reference current are carried out Coordinate Conversion to generate the three-phase reference current transporting to described inverter; Also to gather the three-phase operating current of described motor for controlling described current sampling unit with default sample frequency, and control described coordinate converter and the three-phase operating current of collection is carried out Coordinate Conversion to generate d axle operating current and q axle operating current;
Frequency domain modular converter, changes to frequency domain for the described q axle operating current of default sampling number is carried out time domain, to generate frequency-region signal;
Frequency acquisition module, for obtaining the frequency of the harmonic constant of amplitude maximum in described frequency-region signal;
Magnetic pole logarithm acquisition module, for according to described frequency and described default given speed, calculates the magnetic pole logarithm of described motor.
6. the device identifying the motor pole logarithm of mechanical periodic load as claimed in claim 5, it is characterized in that, described frequency acquisition module comprises:
Choose unit, for choosing the harmonic constant of predetermined number in described frequency-region signal;
Comparing unit, for comparing the amplitude of the described harmonic constant chosen, to obtain the harmonic constant of amplitude maximum in described harmonic constant.
Computing unit, for calculating the frequency of the harmonic constant of amplitude maximum in described frequency-region signal according to described default sample frequency, default sampling number and harmonic constant.
7. the device identifying the motor pole logarithm of mechanical periodic load as claimed in claim 6, is characterized in that, described computing unit is used for according to the first preset formula H
max=(F/D) * L calculates the frequency of the harmonic constant of amplitude maximum in described harmonic constant; Wherein, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, F represents the default sample frequency of described q axle operating current, and D represents described default sampling number, and L represents harmonic constant.
8. the device identifying the motor pole logarithm of mechanical periodic load as claimed in claim 7, it is characterized in that, described magnetic pole logarithm acquisition module comprises:
According to preset formula N
p=2* ω
e/ H
maxcalculate, and result of calculation is rounded to a high position; Wherein, N
prepresent secondary logarithm, H
maxrepresent the frequency of the harmonic constant of amplitude maximum in the described harmonic constant chosen, ω
erepresent described given speed.
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| CN115208257A (en) * | 2022-09-16 | 2022-10-18 | 成都爱旗科技有限公司 | Permanent magnet synchronous motor pole pair number detection system and method and electronic equipment |
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