CN105406789B - A kind of detection device and detection method of permanent magnet synchronous motor electromagnetic torque - Google Patents

A kind of detection device and detection method of permanent magnet synchronous motor electromagnetic torque Download PDF

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CN105406789B
CN105406789B CN201510869862.2A CN201510869862A CN105406789B CN 105406789 B CN105406789 B CN 105406789B CN 201510869862 A CN201510869862 A CN 201510869862A CN 105406789 B CN105406789 B CN 105406789B
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phase
permanent magnet
magnet synchronous
synchronous motor
voltage
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CN105406789A (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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Abstract

A kind of detection device and detection method of permanent magnet synchronous motor electromagnetic torque, described device include direct voltage source, three-phase full-bridge inverter and high resistance measurement, 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.The method is:The voltage for detecting high resistance measurement both ends, as permanent magnet synchronous motor neutral point voltage;It determines permanent magnet synchronous motor three-phase terminal voltage, neutral point voltage is subtracted with terminal voltage, obtain permanent magnet synchronous motor three-phase phase voltage;Permanent magnet synchronous motor three-phase phase current is detected, in conjunction with three-phase phase voltage, three-phase opposite potential is calculated according to phase voltage equilibrium equation;Using opposite potential, phase current and the permanent magnet synchronous motor angular speed detected by angular-rate sensor, permanent magnet synchronous motor electromagnetic torque is calculated.The present invention solves the problems, such as that motor electromagnetic torque is difficult to accurate detection in real time in permanent magnet synchronous motor closed-loop control.

Description

A kind of detection device and detection method of permanent magnet synchronous motor electromagnetic torque
Technical field
The present invention relates to a kind of permanent magnet synchronous motor more particularly to a kind of detection devices of permanent magnet synchronous motor electromagnetic torque 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.
In permanent magnet synchronous motor closed-loop control, the detection of electromagnetic torque has important shadow for the stable operation of motor It rings.If electromagnetic torque detection is inaccurate, the distortion of permanent-magnetic synchronous motor stator current waveform, torque output will be caused abnormal, when serious Permanent magnet synchronous motor can be made to be not normally functioning.Currently, the well known prior art, first, replacing electromagnetism to turn using current of electric The size of square, but this method is difficult to be applicable in the case where winding back emf differs larger with ideal sine wave;Another kind side Method is directly to detect electromagnetic torque using torque sensor, but this method hardware and software cost is higher, and can occupy larger sky Between, it is difficult to it promotes and applies in practice.
Therefore, the electromagnetic torque detection result of the prior art and actual value difference are larger, it is difficult to meet permanent magnet synchronous motor Closed-loop control requirement.How in real time accurate detection permanent magnet synchronous motor electromagnetic torque, being the prior art has problem to be solved.
Invention content
Technical problem:The purpose of the present invention is to solve motor electromagnetic torques in permanent magnet synchronous motor closed-loop control to be difficult to In real time the problem of accurate detection, and provide a kind of detection device and detection method of permanent magnet synchronous motor electromagnetic torque.
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 magnet synchronous motor electromagnetic torque, the electromagnetic torque for detecting permanent magnet synchronous motor;Packet Include direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein the direct voltage source carries for three-phase full-bridge inverter Power supply source, and the neutral earthing of direct voltage source;The three-phase full-bridge inverter connection permanent magnet synchronous motor, and permanent magnet synchronous electric The neutral point of machine 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 magnet synchronous motor electromagnetic torque, includes 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 electromagnetic torque is calculated.
In step (2) described above, the determination method of permanent magnet synchronous motor three-phase terminal voltage 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.
The method of calculating three-phase opposite potential is in step (3) described above: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.
In step (4) described above, the method for calculating permanent magnet synchronous motor electromagnetic torque is, using above-mentioned permanent magnet synchronous electric Machine A, B, C three-phase opposite potential ea、eb、ec, three-phase phase current ia、ib、icAnd it is detected forever by angular-rate sensor Permanent magnet synchronous motor electromagnetic torque T is calculated using following formula in magnetic-synchro motor angular velocity ωem
Advantageous effect:The advantages of the present invention are mainly:
1, the electromagnetic torque device for detecting permanent magnet synchronous motor of the invention, simple in structure, accuracy of detection is high, in real time Property is good.
2, the detection method of permanent magnet synchronous motor electromagnetic torque of the invention, the required parameter of electric machine is few, and calculation amount is small, solution Motor electromagnetic torque 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 magnet synchronous motor electromagnetic torque.
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 magnet synchronous motor electromagnetic torque 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, the present invention also provides a kind of detection sides of permanent magnet synchronous motor electromagnetic torque Method includes the following steps:
(1) permanent magnet synchronous motor neutral point voltage is determined
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;
(2) permanent magnet synchronous motor A, B, C three-phase terminal voltage and phase voltage are determined
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, three-phase full-bridge inverter is on process or afterflow process by whether detecting three-phase full-bridge inverter power tube It is all off to judge:When three-phase full-bridge inverter power tube is not all of shutdown, then shows that three-phase full-bridge inverter is in and lead Pass through journey;When three-phase full-bridge inverter power tube is all off, then show that three-phase full-bridge inverter is in afterflow process.
In the state that three-phase full-bridge inverter turn on process, permanent magnet synchronous motor A, B, C three-phase terminal voltage pass 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.
In three-phase full-bridge inverter afterflow process, 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 each The fly-wheel diode afterflow uniquely opened from the three-phase full-bridge inverter bridge arm connected, if upper two pole of bridge arm afterflow of certain phase Manage open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is just, if two pole of lower bridge arm afterflow of certain phase Manage 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.
(3) permanent magnet synchronous motor A, B, C three-phase opposite potential is calculated
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 ea、eb、ec
Wherein, Ra、Rb、RcThe respectively phase resistance of permanent magnet synchronous motor A, B, C three-phases, La、Lb、LcRespectively permanent-magnet synchronous The phase inductance of motor A, B, C three-phase.
(4) permanent magnet synchronous motor electromagnetic torque is calculated
Using above-mentioned permanent magnet synchronous motor A, B, C three-phase opposite potential ea、eb、ec, three-phase phase current ia、ib、icAnd it is logical The permanent magnet synchronous motor angular velocity omega that angular-rate sensor detects is crossed, permanent magnet synchronous motor electromagnetic torque is calculated:
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 magnet synchronous motor electromagnetic torque, the detection of the electromagnetic torque for detecting permanent magnet synchronous motor Device includes the high resistance measurement that direct voltage source, three-phase full-bridge inverter and resistance value are more than 100M Ω, wherein the direct current Voltage source provides power supply, and the neutral earthing of direct voltage source for three-phase full-bridge inverter;The three-phase full-bridge inverter connection Permanent magnet synchronous motor, and the neutral point of permanent magnet synchronous motor is grounded via high resistance measurement;
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 electromagnetic torque is calculated;
Wherein, in the step (2), the determination method of permanent magnet synchronous motor three-phase terminal voltage is:First determine whether that three phase full bridge is inverse Become device and be operated in turn on process or afterflow process, when being operated in turn on process, three-phase terminal voltage is 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;Work as work 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, The phase terminal voltage numerical value is 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, The 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;
The method of calculating three-phase opposite potential is in the step (3):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;
In the step (4), the method for calculating permanent magnet synchronous motor electromagnetic torque is, using above-mentioned permanent magnet synchronous motor A, B, C Three-phase opposite potential ea、eb、ec, three-phase phase current ia、ib、icAnd the permanent magnet synchronous electric detected by angular-rate sensor Permanent magnet synchronous motor electromagnetic torque T is calculated using following formula in machine angular velocity omegaem
CN201510869862.2A 2015-12-02 2015-12-02 A kind of detection device and detection method of permanent magnet synchronous motor electromagnetic torque Active CN105406789B (en)

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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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* Cited by examiner, † Cited by third party
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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

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JPH10174484A (en) * 1996-12-10 1998-06-26 Zexel Corp Dc brushless motor driver

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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