CN105406777A - Detection device and detection method of stator flux linkage of permanent-magnet synchronous motor - Google Patents

Abstract

The invention discloses a detection device and detection method for a stator flux linkage of a permanent-magnet synchronous motor. The device comprises a DC voltage source, a three-phase full-bridge inverter, a high-resistance resistor and a permanent-magnet synchronous motor, wherein the DC voltage source is used for supplying power to the three-phase full-bridge inverter, the three-phase full-bridge inverter is connected with the permanent-magnet synchronous motor, a middle point of the DC voltage source is grounded, and a neutral point of the permanent-magnet synchronous motor is grounded via the high-resistance resistor. The method comprises the following steps of detecting to obtain voltages at the two ends of the high-resistance resistor as the voltage of a neutral point of the permanent-magnet synchronous motor; determining an end voltage of the permanent-magnet synchronous motor, and subtracting the voltage of the neutral point from the end voltage to obtain a phase voltage; calculating to obtain a three-phase reverse potential according to the phase voltage and a three-phase current; carrying out integration on the three-phase reverse potential to obtain a three-phase permanent-magnet flux linkage; calculating to obtain a three-phase stator flux linkage according to the three-phase permanent-magnet flux linkage and the phase current; and synthesizing a three-phase stator flux linkage vector to obtain the stator flux linkage of the permanent-magnet synchronous motor.

Description

A kind of checkout gear of permanent-magnetic synchronous motor stator magnetic linkage and detection method

Technical field

The present invention relates to a kind of permagnetic synchronous motor, particularly relate to a kind of checkout gear and detection method of permanent-magnetic synchronous motor stator magnetic linkage, belong to permagnetic synchronous motor control field.

Background technology

Permagnetic synchronous motor has that structure is simple, power density is high, control the plurality of advantages such as simple.In recent years, permagnetic synchronous motor obtains increasingly extensive application in the industrial circles such as high-performance governing system and servo-control system.

The accurate detection of stator magnetic linkage is the important step of control system for permanent-magnet synchronous motor.Stator magnetic linkage affects the selection of space voltage vector, namely may accurately cannot judge the sector at magnetic linkage place due to observation error.So the accurate detection of stator magnetic linkage, has great significance for raising permanent magnet synchronous motor control performance.At present, known prior art be by various observer method observation permanent-magnetic synchronous motor stator magnetic linkage, but this algorithm is often very complicated, is difficult to practical application.

Therefore, the stator magnetic linkage Detection results of prior art is difficult to meet the requirement of permagnetic synchronous motor high performance control.How accurately to detect permanent-magnetic synchronous motor stator magnetic linkage in real time, be that prior art has problem to be solved.

Summary of the invention

Technical problem: the object of the invention is the problem being difficult to accurately detect in real time to solve stator flux of motor in permagnetic synchronous motor closed-loop control, and propose a kind of checkout gear and detection method of permanent-magnetic synchronous motor stator magnetic linkage.

Technical scheme: for achieving the above object, the technical solution used in the present invention is:

A checkout gear for permanent-magnetic synchronous motor stator magnetic linkage, for detecting the stator magnetic linkage of permagnetic synchronous motor; It is characterized in that: comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein, described direct voltage source provides power supply for three-phase full-bridge inverter, and the neutral earthing of direct voltage source; Described three-phase full-bridge inverter connects permagnetic synchronous motor, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection.

Three-phase full-bridge inverter described above is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively.

High resistance measurement described above refers to that resistance value is greater than the resistance device of 100M Ω.

For achieving the above object, another technical scheme that the present invention adopts is:

A detection method for the checkout gear of permanent-magnetic synchronous motor stator magnetic linkage, is characterized in that comprising the steps:

(1) voltage at high resistance measurement two ends is detected, as permagnetic synchronous motor neutral point voltage;

(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determine permagnetic synchronous motor three phase terminals voltage, deduct neutral point voltage by described terminal voltage, obtain permagnetic synchronous motor three-phase phase voltage;

(3) detect permagnetic synchronous motor A, B, C three-phase phase current, in conjunction with aforementioned three-phase phase voltage, calculate three-phase opposite potential according to phase voltage equilibrium equation;

(4) permagnetic synchronous motor A, B, C three-phase permanent magnetic linkage is calculated;

(5) permanent-magnetic synchronous motor stator magnetic linkage is calculated.

Described in above-mentioned steps (2), the defining method of permagnetic synchronous motor three phase terminals voltage is: first judge that three-phase full-bridge inverter is operated in turn on process or afterflow process, when being operated in turn on process, three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative; When being operated in afterflow process, three phase terminals voltage is determined by the state of fly-wheel diode: if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.

Whether the method judging that three-phase full-bridge inverter is operated in turn on process or afterflow process described above is: detect three-phase full-bridge inverter power tube and all turn off, when three-phase full-bridge inverter power tube be not all turn off time, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.

The method calculating three-phase opposite potential described in above-mentioned steps (3) is: utilize current sensor to detect permagnetic synchronous motor three-phase phase current i _a, i _b, i _c, then the three-phase phase voltage u in integrating step (2) _a, u _b, u _c, according to following formula permagnetic synchronous motor phase voltage equilibrium equation, calculate permagnetic synchronous motor three-phase opposite potential e _a, e _b, e _c:

$\left\{\begin{array}{c}{e}_a=u_a-i_a{R}_a-L_a\frac{{\mathrm{di}}_a}{dt}\\ e_b=u_b-i_b{R}_b-L_b\frac{{\mathrm{di}}_b}{dt}\\ e_c=u_c-i_c{R}_c-L_c\frac{{\mathrm{di}}_c}{dt}\end{array}\right.$

Wherein, R _a, R _b, R _cbe respectively permagnetic synchronous motor three-phase phase resistance, L _a, L _b, L _cbe respectively permagnetic synchronous motor three-phase phase inductance.

The method of above-mentioned steps (4) described calculating permagnetic synchronous motor A, B, C three-phase permanent magnetic linkage is, obtains three-phase permanent magnetic linkage to described permagnetic synchronous motor A, B, C three-phase opposite potential integration:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{ra}=\∫e_{a}dt\\ {\mathrm{\ψ}}_{rb}=\∫e_{b}dt\\ {\mathrm{\ψ}}_{rc}=\∫e_{c}dt\end{array}\right..$

The method of above-mentioned institute step (5) described calculating permanent-magnetic synchronous motor stator magnetic linkage adopts described three-phase permanent magnetic linkage and described permagnetic synchronous motor phase current to calculate threephase stator magnetic linkage:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{sa}={\mathrm{\ψ}}_{ra}+L_a{i}_a\\ {\mathrm{\ψ}}_{sb}={\mathrm{\ψ}}_{rb}+L_b{i}_b\\ {\mathrm{\ψ}}_{sc}={\mathrm{\ψ}}_{rc}+L_c{i}_c\end{array}\right.$

Converted by CLARK, threephase stator flux linkage vector synthesized, obtains permanent-magnetic synchronous motor stator magnetic linkage:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{s\mathrm{\α}}=\frac{2}{3}{\mathrm{\ψ}}_{sa}-\frac{1}{3}{\mathrm{\ψ}}_{sb}-\frac{1}{3}{\mathrm{\ψ}}_{sc}\\ {\mathrm{\ψ}}_{s\mathrm{\β}}=\frac{\sqrt{3}}{3}{\mathrm{\ψ}}_{sb}-\frac{\sqrt{3}}{3}{\mathrm{\ψ}}_{sc}\end{array}\right..$

Beneficial effect: advantage of the present invention and beneficial effect mainly:

1, of the present invention for detecting permanent-magnetic synchronous motor stator magnetic linkage device, structure is simple, and accuracy of detection is high, and real-time is good.

2, the detection method of permanent-magnetic synchronous motor stator magnetic linkage of the present invention, the required parameter of electric machine is few, and amount of calculation is little, solves the problem that stator flux of motor in permagnetic synchronous motor closed-loop control is difficult to accurately detect in real time.

Accompanying drawing explanation

Fig. 1 is the structure of the detecting device block diagram of permanent-magnetic synchronous motor stator magnetic linkage.

Embodiment

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.Should be appreciated that specific embodiment described herein only for explaining the present invention, being not intended to limit the present invention.

As shown in Figure 1, the checkout gear of a kind of permanent-magnetic synchronous motor stator magnetic linkage of the present invention, comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, for detecting the opposite potential of permagnetic synchronous motor, wherein, direct voltage source connects three-phase full-bridge inverter, for three-phase full-bridge inverter provides power supply, and the neutral earthing of described direct voltage source; Described three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection, wherein, described high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.

Based on above-described checkout gear, the detection method of the checkout gear of a kind of permanent-magnetic synchronous motor stator magnetic linkage of the present invention, comprises the following steps:

Step 1: determine permagnetic synchronous motor neutral point voltage

By direct voltage source neutral earthing, by permagnetic synchronous motor neutral point by high resistance measurement ground connection, detect the voltage obtaining high resistance measurement two ends, using the voltage at described high resistance measurement two ends as permagnetic synchronous motor neutral point voltage;

Step 2: determine permagnetic synchronous motor A, B, C three phase terminals voltage and phase voltage

The determination of permanent magnet synchronous electric set end voltage, three-phase full-bridge inverter turn on process and afterflow process two kinds of situations can be divided to consider respectively, whether three-phase full-bridge inverter turn on process and afterflow process are all turned off by detection three-phase full-bridge inverter power tube judges: when three-phase full-bridge inverter power tube is not whole shutoff, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process;

Three-phase full-bridge inverter turn on process, permagnetic synchronous motor A, B, C three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative;

Three-phase full-bridge inverter afterflow process, permagnetic synchronous motor A, B, C three phase terminals voltage is determined by the state of fly-wheel diode: because afterflow process three-phase full-bridge inverter power tube all turns off, permagnetic synchronous motor A, B, the fly-wheel diode afterflow of C respectively by respective connected three-phase full-bridge inverter brachium pontis is uniquely opened, if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is negative,

Above-mentioned permanent magnet synchronous electric set end voltage is deducted above-mentioned permagnetic synchronous motor neutral point voltage, obtains permagnetic synchronous motor phase voltage.

Step 3: calculate permagnetic synchronous motor A, B, C three-phase opposite potential

Adopt above-mentioned permagnetic synchronous motor A, B, C three-phase phase voltage u _a, u _b, u _cand A, B, C three-phase phase current i obtained is detected by current sensor _a, i _b, i _c, according to permagnetic synchronous motor phase voltage equilibrium equation, calculate A, B, C three-phase opposite potential:

$\left\{\begin{array}{c}{e}_a=u_a-i_a{R}_a-L_a\frac{{\mathrm{di}}_a}{dt}\\ e_b=u_b-i_b{R}_b-L_b\frac{{\mathrm{di}}_b}{dt}\\ e_c=u_c-i_c{R}_c-L_c\frac{{\mathrm{di}}_c}{dt}\end{array}\right.$

R _a, R _b, R _cbe respectively the phase resistance of permagnetic synchronous motor A, B, C three-phase, L _a, L _b, L _cbe respectively the phase inductance of permagnetic synchronous motor A, B, C three-phase.

Step 4: calculate permagnetic synchronous motor A, B, C three-phase permanent magnetic linkage

Three-phase permanent magnetic linkage is obtained to above-mentioned permagnetic synchronous motor A, B, C three-phase opposite potential integration:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{ra}=\∫e_{a}dt\\ {\mathrm{\ψ}}_{rb}=\∫e_{b}dt\\ {\mathrm{\ψ}}_{rc}=\∫e_{c}dt\end{array}\right.$

Step 5: calculate permanent-magnetic synchronous motor stator magnetic linkage

Above-mentioned three-phase permanent magnetic linkage and above-mentioned permagnetic synchronous motor phase current is adopted to calculate threephase stator magnetic linkage:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{sa}={\mathrm{\ψ}}_{ra}+L_a{i}_a\\ {\mathrm{\ψ}}_{sb}={\mathrm{\ψ}}_{rb}+L_b{i}_b\\ {\mathrm{\ψ}}_{sc}={\mathrm{\ψ}}_{rc}+L_c{i}_c\end{array}\right.$

Converted by CLARK, threephase stator flux linkage vector is synthesized, obtains permanent-magnetic synchronous motor stator magnetic linkage.

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{s\mathrm{\α}}=\frac{2}{3}{\mathrm{\ψ}}_{sa}-\frac{1}{3}{\mathrm{\ψ}}_{sb}-\frac{1}{3}{\mathrm{\ψ}}_{sc}\\ {\mathrm{\ψ}}_{s\mathrm{\β}}=\frac{\sqrt{3}}{3}{\mathrm{\ψ}}_{sb}-\frac{\sqrt{3}}{3}{\mathrm{\ψ}}_{sc}\end{array}\right..$

These are only embodiments of the present invention, it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.

Claims (9)

1. a checkout gear for permanent-magnetic synchronous motor stator magnetic linkage, for detecting the stator magnetic linkage of permagnetic synchronous motor; It is characterized in that: comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein, described direct voltage source provides power supply for three-phase full-bridge inverter, and the neutral earthing of direct voltage source; Described three-phase full-bridge inverter connects permagnetic synchronous motor, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection.

2. the checkout gear of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 1, it is characterized in that: described three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively.

3. the checkout gear of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 1, is characterized in that: described high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.

4., based on the detection method of the checkout gear of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 1, it is characterized in that comprising the steps:

(1) voltage at high resistance measurement two ends is detected, as permagnetic synchronous motor neutral point voltage;

(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determine permagnetic synchronous motor three phase terminals voltage, deduct neutral point voltage by described terminal voltage, obtain permagnetic synchronous motor three-phase phase voltage;

(3) detect permagnetic synchronous motor A, B, C three-phase phase current, in conjunction with aforementioned three-phase phase voltage, calculate three-phase opposite potential according to phase voltage equilibrium equation;

(4) permagnetic synchronous motor A, B, C three-phase permanent magnetic linkage is calculated;

(5) permanent-magnetic synchronous motor stator magnetic linkage is calculated.

5. the detection method of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 4, it is characterized in that: described in step (2), the defining method of permagnetic synchronous motor three phase terminals voltage is: first judge that three-phase full-bridge inverter is operated in turn on process or afterflow process, when being operated in turn on process, three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is negative, when being operated in afterflow process, three phase terminals voltage is determined by the state of fly-wheel diode: if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.

6. the detection method of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 5, it is characterized in that: the described method judging that three-phase full-bridge inverter is operated in turn on process or afterflow process is: detect three-phase full-bridge inverter power tube and whether all turn off, when three-phase full-bridge inverter power tube be not all turn off time, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.

7. the detection method of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 4, is characterized in that: the method calculating three-phase opposite potential described in step (3) is: utilize current sensor to detect permagnetic synchronous motor three-phase phase current i _a, i _b, i _c, then the three-phase phase voltage u in integrating step (2) _a, u _b, u _c, according to following formula permagnetic synchronous motor phase voltage equilibrium equation, calculate permagnetic synchronous motor three-phase opposite potential e _a, e _b, e _c:

$\left\{\begin{array}{c}{e}_a=u_a-i_a{R}_a-L_a\frac{{\mathrm{di}}_a}{dt}\\ e_b=u_b-i_b{R}_b-L_b\frac{{\mathrm{di}}_b}{dt}\\ e_c=u_c-i_c{R}_c-L_c\frac{{\mathrm{di}}_c}{dt}\end{array}\right.$

Wherein, R _a, R _b, R _cbe respectively permagnetic synchronous motor three-phase phase resistance, L _a, L _b, L _cbe respectively permagnetic synchronous motor three-phase phase inductance.

8. the detection method of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 4, it is characterized in that: the method for step (4) described calculating permagnetic synchronous motor A, B, C three-phase permanent magnetic linkage is, obtains three-phase permanent magnetic linkage to described permagnetic synchronous motor A, B, C three-phase opposite potential integration:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{ra}=\∫e_{a}dt\\ {\mathrm{\ψ}}_{rb}=\∫e_{b}dt\\ {\mathrm{\ψ}}_{rc}=\∫e_{c}dt\end{array}\right..$

9. the detection method of a kind of permanent-magnetic synchronous motor stator magnetic linkage as claimed in claim 4, it is characterized in that: the method for institute's step (5) described calculating permanent-magnetic synchronous motor stator magnetic linkage is, adopts described three-phase permanent magnetic linkage and described permagnetic synchronous motor phase current to calculate threephase stator magnetic linkage:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{sa}={\mathrm{\ψ}}_{ra}+L_a{i}_a\\ {\mathrm{\ψ}}_{sb}={\mathrm{\ψ}}_{rb}+L_b{i}_b\\ {\mathrm{\ψ}}_{sc}={\mathrm{\ψ}}_{rc}+L_c{i}_c\end{array}\right.$

Converted by CLARK, threephase stator flux linkage vector synthesized, obtains permanent-magnetic synchronous motor stator magnetic linkage:

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{s\mathrm{\α}}=\frac{2}{3}{\mathrm{\ψ}}_{sa}-\frac{1}{3}{\mathrm{\ψ}}_{sb}-\frac{1}{3}{\mathrm{\ψ}}_{sc}\\ {\mathrm{\ψ}}_{s\mathrm{\β}}=\frac{\sqrt{3}}{3}{\mathrm{\ψ}}_{sb}-\frac{\sqrt{3}}{3}{\mathrm{\ψ}}_{sc}\end{array}\right..$