CN105406777B - A kind of detection device and detection method of permanent-magnetic synchronous motor stator magnetic linkage - Google Patents
A kind of detection device and detection method of permanent-magnetic synchronous motor stator magnetic linkage Download PDFInfo
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- CN105406777B CN105406777B CN201510867969.3A CN201510867969A CN105406777B CN 105406777 B CN105406777 B CN 105406777B CN 201510867969 A CN201510867969 A CN 201510867969A CN 105406777 B CN105406777 B CN 105406777B
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- 238000005259 measurement Methods 0.000 claims abstract description 16
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Abstract
The invention discloses a kind of detection devices and detection method of permanent-magnetic synchronous motor stator magnetic linkage, described device is made of direct voltage source, three-phase full-bridge inverter, high resistance measurement and permanent magnet synchronous motor, wherein direct voltage source provides power supply to three-phase full-bridge inverter, three-phase full-bridge inverter connects permanent magnet synchronous motor, the neutral point of direct voltage source neutral earthing, permanent magnet synchronous motor is grounded by high resistance measurement.The method is：Detection obtains the voltage at high resistance measurement both ends as permanent magnet synchronous motor neutral point voltage；It determines permanent magnet synchronous electric set end voltage, subtracts neutral point voltage with terminal voltage, obtain phase voltage；Using phase voltage and three-phase phase current, three-phase opposite potential is calculated；Three-phase opposite potential is integrated to obtain three-phase permanent magnetic linkage；Threephase stator magnetic linkage is calculated using three-phase permanent magnetic linkage and phase current, the threephase stator flux linkage vector is synthesized, permanent-magnetic synchronous motor stator magnetic linkage is obtained.
Description
Technical field
The present invention relates to a kind of permanent magnet synchronous motor more particularly to a kind of detection devices of permanent-magnetic synchronous motor stator magnetic linkage
And detection method, belong to permanent magnet synchronous motor control field.
Background technology
Permanent magnet synchronous motor has many advantages, such as simple in structure, power density is high, control is simple.In recent years, permanent magnetism is same
Step motor has obtained 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 link of control system for permanent-magnet synchronous motor.Stator magnetic linkage affects space
The selection of voltage vector, it is possible to the sector where magnetic linkage can not be accurately judged due to observation error.So the standard of stator magnetic linkage
Really detection has great significance for improving permanent magnet synchronous motor control performance.Currently, the well known prior art, is to pass through
Various observer methods observe permanent-magnetic synchronous motor stator magnetic linkage, but this algorithm is often extremely complex, it is difficult to actually answer
With.
Therefore, the stator magnetic linkage detection result of the prior art is difficult to meet the requirement of permanent magnet synchronous motor high performance control.Such as
What accurately detects permanent-magnetic synchronous motor stator magnetic linkage in real time, and being the prior art has problem to be solved.
Invention content
Technical problem：The purpose of the present invention is to solve stator flux of motor in permanent magnet synchronous motor closed-loop control to be difficult to
In real time the problem of accurate detection, and propose a kind of detection device and detection method of permanent-magnetic synchronous motor stator magnetic linkage.
Technical solution：In order to achieve the above objectives, the technical solution adopted by the present invention is：
A kind of detection device of permanent-magnetic synchronous motor stator magnetic linkage, the stator magnetic linkage for detecting permanent magnet synchronous motor；Its
It is characterized in that：Including direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein the direct voltage source is three-phase
Full-bridge inverter provides power supply, and the neutral earthing of direct voltage source；The three-phase full-bridge inverter connects permanent magnet synchronous motor,
And the neutral point of permanent magnet synchronous motor is grounded via high resistance measurement.
Three-phase full-bridge inverter described above is formed by three branch circuit parallel connections, and each branch includes two be serially connected
Metal-oxide-semiconductor, and each metal-oxide-semiconductor is respectively connected with anti-paralleled diode, three branches of the three-phase full-bridge inverter are separately connected permanent magnetism
A, B, C three-phase of synchronous motor.
High resistance measurement described above refers to the resistance device that resistance value is more than 100M Ω.
In order to achieve the above objectives, another technical solution that the present invention uses is：
A kind of detection method of the detection device of permanent-magnetic synchronous motor stator magnetic linkage, it is characterised in that include the following steps：
(1) voltage at detection high resistance measurement both ends, as permanent magnet 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,
It determines permanent magnet synchronous motor three-phase terminal voltage, neutral point voltage is subtracted with the terminal voltage, obtain permanent magnet synchronous motor three-phase phase
Voltage；
(3) detection permanent magnet synchronous motor A, B, C three-phase phase current is balanced in conjunction with aforementioned three-phase phase voltage according to phase voltage
Equation calculation three-phase opposite potential；
(4) permanent magnet synchronous motor A, B, C three-phase permanent magnetic linkage is calculated；
(5) permanent-magnetic synchronous motor stator magnetic linkage is calculated.
The determination method of permanent magnet synchronous motor three-phase terminal voltage described in above-mentioned steps (2) is：First determine whether three phase full bridge
Inverter is operated in turn on process or afterflow process, when being operated in turn on process, the state that three-phase terminal voltage passes through power tube
It determines：If the upper bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity be just,
If the lower bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity is negative；Work as work
Make in afterflow process, three-phase terminal voltage is determined by the state of fly-wheel diode：If the upper bridge arm fly-wheel diode of certain phase is open-minded,
Then the phase terminal voltage numerical value be the 1/2 of direct voltage source amplitude, polarity be just, if the lower bridge arm fly-wheel diode of certain phase is open-minded,
Then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative.
Judgement three-phase full-bridge inverter described above, which is operated in turn on process or the method for afterflow process, is：Detect three-phase
Whether full-bridge inverter power tube is all off, when three-phase full-bridge inverter power tube is not all of shutdown, then shows three-phase
Full-bridge inverter is on process；When three-phase full-bridge inverter power tube is all off, then show at three-phase full-bridge inverter
In afterflow process.
Described in above-mentioned steps (3) calculate three-phase opposite potential method be：Permanent-magnet synchronous is detected using current sensor
Motor three-phase phase current ia、ib、ic, in conjunction with the three-phase phase voltage u in step (2)a、ub、uc, permanent magnet synchronous motor according to the following formula
Permanent magnet synchronous motor three-phase opposite potential e is calculated in phase voltage equilibrium equationa、eb、ec：
Wherein, Ra、Rb、RcRespectively permanent magnet synchronous motor three-phase phase resistance, La、Lb、LcRespectively permanent magnet synchronous motor three
Phase phase inductance.
Above-mentioned steps (4) method for calculating permanent magnet synchronous motor A, B, C three-phase permanent magnetic linkage is, same to the permanent magnetism
Step motor A, B, C three-phase opposite potential integrates to obtain three-phase permanent magnetic linkage：
Above-mentioned institute's step (5) method for calculating permanent-magnetic synchronous motor stator magnetic linkage is, using the three-phase permanent magnetic
Threephase stator magnetic linkage is calculated in chain and the permanent magnet synchronous motor phase current：
It is converted by CLARK, threephase stator flux linkage vector is synthesized, obtain permanent-magnetic synchronous motor stator magnetic linkage：
Advantageous effect：The advantages of the present invention are mainly：
1, of the invention for detecting permanent-magnetic synchronous motor stator magnetic linkage device, simple in structure, accuracy of detection is high, real-time
It is good.
2, the detection method of permanent-magnetic synchronous motor stator magnetic linkage of the invention, the required parameter of electric machine is few, and calculation amount is small, solution
Stator flux of motor in permanent magnet synchronous motor closed-loop control of having determined is difficult to the problem of accurate detection in real time.
Description of the drawings
Fig. 1 is the structure of the detecting device block diagram of permanent-magnetic synchronous motor stator magnetic linkage.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is described in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention,
It is not intended to limit the present invention.
As shown in Figure 1, a kind of detection device of permanent-magnetic synchronous motor stator magnetic linkage of the present invention, including direct voltage source,
Three-phase full-bridge inverter and high resistance measurement, the opposite potential for detecting permanent magnet synchronous motor, wherein direct voltage source connects
Three-phase full-bridge inverter provides power supply, and the neutral earthing of the direct voltage source for three-phase full-bridge inverter；The three-phase is complete
Bridge inverter is formed by three branch circuit parallel connections, and each branch includes two metal-oxide-semiconductors being serially connected, and each metal-oxide-semiconductor is all connected with
There are anti-paralleled diode, three branches of the three-phase full-bridge inverter to be separately connected A, B, C three-phase of permanent magnet synchronous motor, and
The neutral point of permanent magnet synchronous motor is grounded via high resistance measurement, wherein the high resistance measurement refers to that resistance value is more than 100M
The resistance device of Ω.
Based on above-described detection device, a kind of inspection of the detection device of permanent-magnetic synchronous motor stator magnetic linkage of the invention
Survey method, includes the following steps：
Step 1：Determine permanent magnet synchronous motor neutral point voltage
By direct voltage source neutral earthing, permanent magnet synchronous motor neutral point is grounded by high resistance measurement, detection obtains
The voltage at high resistance measurement both ends, using the voltage at the high resistance measurement both ends as permanent magnet synchronous motor neutral point voltage；
Step 2：Determine permanent magnet synchronous motor A, B, C three-phase terminal voltage and phase voltage
The determination of permanent magnet synchronous electric set end voltage can be divided to three-phase full-bridge inverter turn on process and afterflow process two kinds of situations
Consider respectively, whether all three-phase full-bridge inverter turn on process and afterflow process by detecting three-phase full-bridge inverter power tube
It turns off to judge：When three-phase full-bridge inverter power tube is not all of shutdown, then show that three-phase full-bridge inverter was on
Journey；When three-phase full-bridge inverter power tube is all off, then show that three-phase full-bridge inverter is in afterflow process；
Three-phase full-bridge inverter turn on process, permanent magnet synchronous motor A, B, C three-phase terminal voltage are true by the state of power tube
It is fixed：If the upper bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity be just, if
The lower bridge arm power tube of certain phase is open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative；
Three-phase full-bridge inverter afterflow process, the shape that permanent magnet synchronous motor A, B, C three-phase terminal voltage passes through fly-wheel diode
State determines：Since afterflow process three-phase full-bridge inverter power tube is all off, permanent magnet synchronous motor A, B, C are each mutually by respective
The fly-wheel diode afterflow uniquely opened on the three-phase full-bridge inverter bridge arm connected, if the upper bridge arm fly-wheel diode of certain phase
Open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is just, if the lower bridge arm fly-wheel diode of certain phase
Open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative；
Above-mentioned permanent magnet synchronous electric set end voltage is subtracted into above-mentioned permanent magnet synchronous motor neutral point voltage, obtains permanent magnet synchronous electric
Machine phase voltage.
Step 3：Calculate permanent magnet synchronous motor A, B, C three-phase opposite potential
Using above-mentioned permanent magnet synchronous motor A, B, C three-phase phase voltage ua、ub、ucAnd it detects to obtain by current sensor
A, B, C three-phase phase current ia、ib、ic, according to permanent magnet synchronous motor phase voltage equilibrium equation, it is opposite that A, B, C three-phase is calculated
Potential：
Ra、Rb、RcThe respectively phase resistance of permanent magnet synchronous motor A, B, C three-phases, La、Lb、LcRespectively permanent magnet synchronous motor
A, the phase inductance of B, C three-phase.
Step 4：Calculate permanent magnet synchronous motor A, B, C three-phase permanent magnetic linkage
Above-mentioned permanent magnet synchronous motor A, B, C three-phase opposite potential is integrated to obtain three-phase permanent magnetic linkage：
Step 5：Calculate permanent-magnetic synchronous motor stator magnetic linkage
Threephase stator magnetic linkage is calculated using above-mentioned three-phase permanent magnetic linkage and above-mentioned permanent magnet synchronous motor phase current：
It is converted by CLARK, threephase stator flux linkage vector is synthesized, obtain permanent-magnetic synchronous motor stator magnetic linkage.
It these are only embodiments of the present invention, the description thereof is more specific and detailed, but can not therefore be interpreted as pair
The limitation of the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art, not departing from the present invention
Under the premise of design, various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (1)
1. a kind of detection method of permanent-magnetic synchronous motor stator magnetic linkage, the detection of the stator magnetic linkage for detecting permanent magnet synchronous motor
Device includes direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein the direct voltage source is that three phase full bridge is inverse
Become device and power supply, and the neutral earthing of direct voltage source are provided；The three-phase full-bridge inverter connection permanent magnet synchronous motor, and permanent magnetism
High resistance measurement of the neutral point of synchronous motor via resistance value more than 100M Ω is grounded；
The three-phase full-bridge inverter is formed by three branch circuit parallel connections, and each branch includes two metal-oxide-semiconductors being serially connected, and
Each metal-oxide-semiconductor is respectively connected with anti-paralleled diode, and three branches of the three-phase full-bridge inverter are separately connected permanent magnet synchronous motor
A, B, C three-phase；
It is characterized in that, the detection method includes the following steps：
(1) voltage at detection high resistance measurement both ends, as permanent magnet synchronous motor neutral point voltage；
(2) it 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, determines
Permanent magnet synchronous motor three-phase terminal voltage subtracts neutral point voltage with the terminal voltage, obtains permanent magnet synchronous motor three-phase phase voltage；
(3) permanent magnet synchronous motor A, B, C three-phase phase current is detected, in conjunction with aforementioned three-phase phase voltage, according to phase voltage equilibrium equation
Calculate three-phase opposite potential；
(4) permanent magnet synchronous motor A, B, C three-phase permanent magnetic linkage is calculated；
(5) permanent-magnetic synchronous motor stator magnetic linkage is calculated；
Wherein, the determination method of permanent magnet synchronous motor three-phase terminal voltage described in step (2) is：First determine whether three phase full bridge inversion
Device is operated in turn on process or afterflow process, and when being operated in turn on process, three-phase terminal voltage is determined by the state of power tube：
If the upper bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity be just, if certain
The lower bridge arm power tube of phase is open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative；When being operated in
Afterflow process, three-phase terminal voltage are determined by the state of fly-wheel diode：It, should if the upper bridge arm fly-wheel diode of certain phase is open-minded
Phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is just, if the lower bridge arm fly-wheel diode of certain phase is open-minded, to be somebody's turn to do
Phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative；
The judgement three-phase full-bridge inverter, which is operated in turn on process or the method for afterflow process, is：Detect three phase full bridge inversion
Whether device power tube is all off, when three-phase full-bridge inverter power tube is not all of shutdown, then shows three phase full bridge inversion
Device is on process；When three-phase full-bridge inverter power tube is all off, then show that three-phase full-bridge inverter is in afterflow
Journey；
Described in step (3) calculate three-phase opposite potential method be：Permanent magnet synchronous motor three-phase is detected using current sensor
Phase current ia、ib、ic, in conjunction with the three-phase phase voltage u in step (2)a、ub、uc, permanent magnet synchronous motor phase voltage is flat according to the following formula
Weigh equation, and permanent magnet synchronous motor three-phase opposite potential e is calculateda、eb、ec：
Wherein, Ra、Rb、RcRespectively permanent magnet synchronous motor three-phase phase resistance, La、Lb、LcRespectively permanent magnet synchronous motor three-phase phase
Inductance；
Step (4) it is described calculate permanent magnet synchronous motor A, B, C three-phase permanent magnetic linkage method be, to the permanent magnet synchronous motor A,
B, C three-phases opposite potential integrates to obtain three-phase permanent magnetic linkage：
Institute's step (5) method for calculating permanent-magnetic synchronous motor stator magnetic linkage is, using the three-phase permanent magnetic linkage and described
Threephase stator magnetic linkage is calculated in permanent magnet synchronous motor phase current：
It is converted by CLARK, threephase stator flux linkage vector is synthesized, obtain permanent-magnetic synchronous motor stator magnetic linkage：
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| CN105717453B (en) * | 2016-03-25 | 2018-10-23 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of detection method of motor magnetic linkage and the detection method of electrical fault |
| CN106019148B (en) * | 2016-05-16 | 2019-11-12 | 安徽大学 | A kind of permanent magnet synchronous motor interturn short-circuit failure diagnosing method based on flux observation |
| CN107154764B (en) * | 2017-04-11 | 2019-07-30 | 卧龙电气集团股份有限公司 | A kind of motor flux observer based on the integral range of decrease and quadrature error compensating module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101702607A (en) * | 2009-11-20 | 2010-05-05 | 江苏科技大学 | Stator flux linkage set method of brushless DC motor direct torque control |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Starting method and system for air conditioner permanent magnetic synchronization fan motor |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
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| EP2075907B1 (en) * | 2006-10-19 | 2020-04-15 | Mitsubishi Electric Corporation | Power converter |
| JP5853096B2 (en) * | 2012-04-12 | 2016-02-09 | 株式会社日立製作所 | Electric motor drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101702607A (en) * | 2009-11-20 | 2010-05-05 | 江苏科技大学 | Stator flux linkage set method of brushless DC motor direct torque control |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Starting method and system for air conditioner permanent magnetic synchronization fan motor |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
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Effective date of registration: 20180803 Address after: 301700 -20, 802, Automotive Building, Automotive Building, 1, Tianjin Automotive Industrial Park, Wuqing. Applicant after: TIANJIN LINYUAN MACHINERY EQUIPMENT Co.,Ltd. Address before: 212003 Mengxi Road, Jingkou District, Zhenjiang, Jiangsu Province, No. 2 Applicant before: Jiangsu University of Science and Technology |
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