CN105406789A - Detection apparatus and detection method for permanent magnet synchronous motor electromagnetic torque - Google Patents

Detection apparatus and detection method for permanent magnet synchronous motor electromagnetic torque Download PDF

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Publication number
CN105406789A
CN105406789A CN201510869862.2A CN201510869862A CN105406789A CN 105406789 A CN105406789 A CN 105406789A CN 201510869862 A CN201510869862 A CN 201510869862A CN 105406789 A CN105406789 A CN 105406789A
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phase
synchronous motor
permagnetic synchronous
voltage
electromagnetic torque
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CN105406789B (en
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魏海峰
韦汉培
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Nantong joint source electrical Polytron Technologies Inc
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Jiangsu University of Science and Technology
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Abstract

A detection apparatus and a detection method for a permanent magnet synchronous motor electromagnetic torque are disclosed. The detection apparatus comprises a direct current power supply source, a three-phase full-bridge inverter and a high-resistance resistor; the middle point of the direct current power supply source is grounded; the three-phase full-bridge inverter is connected with the permanent magnet synchronous motor; and the neutral point of the permanent magnet synchronous motor is grounded through the high-resistance resistor. The detection method comprises the steps of detecting the voltage at the two ends of the high-resistance resistor, and taking the voltage as the neutral point voltage of the permanent magnet synchronous motor; determining the three-phase terminal voltage of the permanent magnet synchronous motor, and obtaining the three-phase phase voltage of the permanent magnet synchronous motor by subtracting the neutral point voltage from the terminal voltage; detecting the three-phase phase current of the permanent magnet synchronous motor, combining the three-phase phase voltage, and calculating a three-phase opposite potential according to a phase voltage equilibrium equation; and obtaining the permanent magnet synchronous motor electromagnetic torque through calculation by adopting the opposite potential, the phase current and an angular velocity of the permanent magnet synchronous motor detected by an angular velocity sensor. The problem that the electromagnetic torque of the permanent magnet synchronous motor under a closed loop control is difficult to be detected accurately in real time is solved.

Description

A kind of checkout gear of permagnetic synchronous motor electromagnetic torque 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 permagnetic synchronous motor electromagnetic torque, 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.
In permagnetic synchronous motor closed-loop control, the detection of electromagnetic torque has important impact for the stable operation of motor.If electromagnetic torque detects inaccurate, the distortion of permanent-magnetic synchronous motor stator current waveform, torque output abnormality will be caused, permagnetic synchronous motor time serious, can be made normally not run.At present, known prior art, one is adopt current of electric to replace the size of electromagnetic torque, but this method is difficult to when winding back emf differs larger with ideal sine wave be suitable for; Another kind method utilizes torque sensor direct-detection electromagnetic torque, but this method hardware and software cost is higher, and can occupy larger space, is difficult to apply in practice.
Therefore, the electromagnetic torque Detection results of prior art and actual value difference are comparatively large, are difficult to meet permagnetic synchronous motor closed-loop control requirement.How accurately to detect permagnetic synchronous motor electromagnetic torque 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 motor electromagnetic torque in permagnetic synchronous motor closed-loop control, and a kind of checkout gear and detection method of permagnetic synchronous motor electromagnetic torque are provided.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A checkout gear for permagnetic synchronous motor electromagnetic torque, for detecting the electromagnetic torque of permagnetic synchronous motor; 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 permagnetic synchronous motor electromagnetic torque, comprises 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 electromagnetic torque is calculated.
In step described above (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 in step described above (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:
e a = u a - i a R a - L a di a d t e b = u b - i b R b - L b di b d t e c = u c - i c R c - L c di c d t
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.
In step described above (4), the method calculating permagnetic synchronous motor electromagnetic torque adopts above-mentioned permagnetic synchronous motor A, B, C three-phase opposite potential e a, e b, e c, three-phase phase current i a, i b, i cand the permagnetic synchronous motor angular velocity omega obtained is detected by angular-rate sensor, utilize following formula to calculate permagnetic synchronous motor electromagnetic torque T em:
T e m = e a i a + e b i b + e c i c ω .
Beneficial effect: advantage of the present invention and beneficial effect mainly:
1, the electromagnetic torque device for detecting permagnetic synchronous motor of the present invention, structure is simple, and accuracy of detection is high, and real-time is good.
2, the detection method of permagnetic synchronous motor electromagnetic torque of the present invention, the required parameter of electric machine is few, and amount of calculation is little, solves the problem that motor electromagnetic torque 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 permagnetic synchronous motor electromagnetic torque.
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 permagnetic synchronous motor electromagnetic torque 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 present invention also provides a kind of detection method of permagnetic synchronous motor electromagnetic torque, comprises the steps:
(1) permagnetic synchronous motor neutral point voltage is determined
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;
(2) permagnetic synchronous motor A, B, C three phase terminals voltage and phase voltage is determined
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 is in turn on process or afterflow process and all turns off judge by detecting three-phase full-bridge inverter power tube: 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.
At 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.
In 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.
(3) permagnetic synchronous motor A, B, C three-phase opposite potential is calculated
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 e a, e b, e c:
e a = u a - i a R a - L a di a d t e b = u b - i b R b - L b di b d t e c = u c - i c R c - L c di c d t
Wherein, 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.
(4) permagnetic synchronous motor electromagnetic torque is calculated
Adopt above-mentioned permagnetic synchronous motor A, B, C three-phase opposite potential e a, e b, e c, three-phase phase current i a, i b, i cand the permagnetic synchronous motor angular velocity omega obtained is detected by angular-rate sensor, calculate permagnetic synchronous motor electromagnetic torque:
T e m = e a i a + e b i b + e c i c ω
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 (8)

1. a checkout gear for permagnetic synchronous motor electromagnetic torque, for detecting the electromagnetic torque 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 permagnetic synchronous motor electromagnetic torque 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 permagnetic synchronous motor electromagnetic torque 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 permagnetic synchronous motor electromagnetic torque 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 electromagnetic torque is calculated.
5. the detection method of a kind of permagnetic synchronous motor electromagnetic torque as claimed in claim 4, it is characterized in that: in described 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 permagnetic synchronous motor electromagnetic torque 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 permagnetic synchronous motor electromagnetic torque as claimed in claim 4, is characterized in that: the method calculating three-phase opposite potential in described 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:
e a = u a - i a R a - L a di a d t e b = u b - i b R b - L b di b d t e c = u c - i c R c - L c di c d t
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 permagnetic synchronous motor electromagnetic torque as claimed in claim 4, it is characterized in that: in described step (4), the method calculating permagnetic synchronous motor electromagnetic torque adopts above-mentioned permagnetic synchronous motor A, B, C three-phase opposite potential e a, e b, e c, three-phase phase current i a, i b, i cand the permagnetic synchronous motor angular velocity omega obtained is detected by angular-rate sensor, utilize following formula to calculate permagnetic synchronous motor electromagnetic torque T em:
T e m = e a i a + e b i b + e c i c ω .
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108199638A (en) * 2017-12-30 2018-06-22 乌木马科技（天津）有限公司 Electromagnetic torque measuring method for waveform

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10174484A (en) * 1996-12-10 1998-06-26 Zexel Corp Dc brushless motor driver
CN103414425A (en) * 2013-07-12 2013-11-27 西北工业大学 Method for detecting direction and amplitude of torque of brushless direct current motor
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10174484A (en) * 1996-12-10 1998-06-26 Zexel Corp Dc brushless motor driver
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
CN103414425A (en) * 2013-07-12 2013-11-27 西北工业大学 Method for detecting direction and amplitude of torque of brushless direct current motor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108199638A (en) * 2017-12-30 2018-06-22 乌木马科技（天津）有限公司 Electromagnetic torque measuring method for waveform

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