CN105915141B - Permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system and measurement method - Google Patents

Permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system and measurement method Download PDF

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CN105915141B
CN105915141B CN201610300419.8A CN201610300419A CN105915141B CN 105915141 B CN105915141 B CN 105915141B CN 201610300419 A CN201610300419 A CN 201610300419A CN 105915141 B CN105915141 B CN 105915141B
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permanent magnet
motor
permanent
magnetic
phase
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CN105915141A (en
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文彦东
赵慧超
胡晶
黄智昊
刘志强
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China First Automobile Co Ltd
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China First Automobile Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141Flux estimation

Abstract

The present invention relates to a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement systems, are made of full-vehicle control unit, motor control unit, inverter and permanent magnet synchronous motor;Its On-line Measuring Method, includes the following steps:System electrification is initialized;Read motor stator temperature;It is tabled look-up with the motor stator temperature of reading, obtains the initial magnetic linkage of permanent magnet;Judge actively short circuit instruction;Judge whether motor speed is more than inflection point rotational speed omegag;Implement actively short circuit;Arbitrary biphase current, rotor-position are detected, phase current magnitude and motor speed are calculated;It is tabled look-up again to permanent magnet flux linkage by it, obtains under different permanent magnet flux linkage numerical value phase current magnitude, rotating speed to permanent magnet flux linkage relation curve.Present invention measurement does not depend on such as stator resistance, d-axis and q-axis inductance and rectangular axis voltage motor body parameter, does not need additional hardware circuit and software algorithm, only need to implement active fault control, compatible with permanent magnet synchronous motor control, and method is simple, reliable.

Description

Permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system and measurement method
Technical field
The invention belongs to drive and control of electric machine technical fields, and in particular to a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage is online Measuring system and measurement method.
Background technology
New-energy automobile is by multiple power source drive vehicles, wherein power source includes motor and engine etc..General feelings Under condition, motor, which can drive or be operated alone simultaneously with engine, completes various vehicle operating modes.Permanent magnet synchronous motor because Have high efficiency, high power density and a high torque density and as the mainstream of automobile motor.Most automobile permanent magnet synchronous motors Operating ambient temperature is between -40 DEG C to 150 DEG C, and within this temperature range, the characteristic variations of permanent magnet are up to 20% or more. With the raising of temperature, magnetic property gradually reduces, and permanent magnet material loss of excitation will be caused more than Curie temperature.Therefore, for maximum The fan-out capability using permanent magnet synchronous motor of limit ensures that work carries out in safety zone simultaneously, it is necessary to permanent magnet magnetic Chain is directly or indirectly measured.
CN 104052365A disclose one kind《Permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line identification method》, propose base It is directly measured in the dynamical equation of permanent magnet synchronous motor and solves permanent magnet flux linkage.This on-line identification method will rely on accurate electricity Machine body parameter, such as d-axis and q-axis inductance Ld、Lq, stator resistance Rs, however these parameters itself are nonlinear, and and motor Rectangular axis electric current idAnd iqAnd stator temperature is closely related, parameter itself is difficult to measure.In addition, the patent directly uses dqAxis Decoupling control module output voltage UdAnd UqIt is brought into dynamical equation, does not consider that the conduction voltage drop of inverter and dead zone influence, it is real On border, even if the U of very littledAnd UqDeviation will all cause magnetic linkage measurement very big error, therefore this method is it is difficult to ensure that measure essence Degree.
CN 102243111A disclose one kind《Permanent magnet motor rotor temperature measurement device and measurement method》, pass through rotor Temperature can measure permanent magnet flux linkage indirectly, which includes thermistor, slip ring, two groups of brushes and data processor, temperature-sensitive Resistance is fixed and is tightly attached on the permanent magnet of rotor core, and two groups of brushes are individually fixed on magneto inner wall, and slip ring sleeve is solid Due on machine shaft.Slip ring includes two half ring segments of mutually insulated, two half ring segments difference circuit connection temperature-sensitive electricity The both ends of resistance, and respectively with one group of close contact in two groups of brushes, two groups of brushes respectively connect data processor.The patent Temperature of rotor is acquired using brush form, it is therefore desirable to is customized to motor, vehicle is not suitable for suitable for measurement in lab With real-time, the on-line measurement of product motor.
CN101936785A is disclosed《A kind of wireless temperature-measuring system of motor rotor》, including multiple platinum resistance temperatures sensing Device, signal processing submodule and wireless receiving send out module.Platinum resistance temperature sensor is embedded in the component that rotor is intended to thermometric, Emit submodule by digital temperature voltage signal modulation at emission of radio frequency signals to aerial, receiving submodule wireless receiving is in the air Radiofrequency signal is carried out counter modulation, obtains analog- and digital- temperature signal by radiofrequency signal.The patent passes through distant in rotor embedded set Survey sensor can measure permanent magnet surfaces temperature and be measured indirectly permanent magnet flux linkage, still, the general volume of automobile motor It is smaller, it to temperature of rotor telemetering pickup difficult arrangement and also brings along cost and increases, therefore, be chiefly used in laboratory and seldom It is used on automobile motor.
CN 102983552B are disclosed《A kind of rotary motor rotor temperature measures and guard method, device》, motor turn With infrared non-contact mode measuring, then sub- temperature in electric rotating machine tail cover by installing an infrared temperature sensor Measurement result is output to electric machine controller by the infrared temperature sensor.The patent is also required to restructure to pacify motor Infrared sensor is filled, and needs to open peep hole on shell convenient for measuring, therefore is more suitable for laboratory and not applicable real vehicle It measures.
CN 104158463A are disclosed《A kind of temperature monitoring method and system of permanent magnet synchronous motor》, this method And system obtains the line current of the line current and b phases of a phases of permanent-magnetic synchronous motor stator first, respectively as the first line current and Second line current, at the same also obtain stator a phases and b phases between line voltage, then by the first line current, the second line current, Line voltage, the inductance parameters of permanent magnet synchronous motor, rotor the temperature characterisitic equation of permanent magnet substitute into preset rotor permanent magnet Temperature expression formula, is calculated temperature of rotor.This method is limited to the accuracy of ac phase voltage measurement, and general voltage passes Sensor is difficult to meet the requirements, and needs high-precision voltage sensor, in addition, this sensor will also have good environmental suitability (such as operating temperature from -40 DEG C to 125 DEG C), therefore hardware cost will be increased.
In conclusion the on-line identification method due to permanent magnet flux linkage depends on the L of permanent magnet synchronous motor ontologyd、LqAnd Rs And the conduction voltage drop and dead time etc. of inverter are not easy the parameter measured, and the use of wireless telemetry technique also necessarily introduces A large amount of sensor causes cost increase, space layout complicated, therefore, develops a kind of simple and reliable permanent magnet synchronous electric Machine permanent magnet flux linkage on-line identification System and method for is imperative.
Invention content
The purpose of the present invention is that in view of the above shortcomings of the prior art, provides a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic Chain on-line measurement system and measurement method.
The purpose of the present invention is what is be achieved through the following technical solutions, it is described with reference to the drawings as follows:
A kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system, by full-vehicle control unit 1, motor control unit 2, Inverter 3 and permanent magnet synchronous motor 4 form;
The full-vehicle control unit 1 is used to send out active fault control to motor control unit 2 according to vehicle operating mode Instruction;
The motor control unit 2 by permanent magnet flux linkage initial value table look-up module 21, CLARK and PARK converter units 22, AC phase currents amplitude computing unit 23, permanent magnet flux linkage table look-up module 24, rotation speed detection unit 25, active short circuit condition judge Module 26 and three-phase disconnect control module 27 and form;For detecting permanent magnet synchronous motor phase current, rotor-position and stator temperature, And active fault control is implemented according to the instruction of full-vehicle control unit 1, after inverter 3 implements actively short circuit, starts and calculate mutually electricity Flow amplitude and motor speed, Real-time Feedback short circuit torque;
Wherein, permanent magnet flux linkage initial value table look-up module 21 according to stator temperature for permanent magnet flux linkage table look-up To permanent magnet flux linkage initial value;Appoint in the three-phase current that CLARK and PARK converter units 22 are used to detect current sensor 3 Meaning biphase current is scaled rectangular axis electric current idAnd iq;AC phase currents amplitude computing unit 23 is for calculating AC phase currents width Value;The permanent magnet flux linkage table look-up module 24, which is used to be tabled look-up according to rotating speed and AC phase currents amplitude, obtains permanent magnet flux linkage value; The rotation speed detection unit 25 is used to calculate motor speed according to angle of rotor position;Active short circuit condition judgment module 26 is used for Judge that the active fault control that full-vehicle control unit 1 exports is instructed with whether motor speed is more than inflection point rotating speed, and in two items Part disconnects control module 27 to three-phase in the case of setting up and sends out instruction;It is actively short for executing that three-phase disconnects control module 27 Road controls, and sends out pulse width modulation (PWM) signal instruction;
The inverter 3 includes six switch elements 31 and a current sensor 32;It is used to execute actively short circuit behaviour Make;Wherein, current sensor 32 is used to detect the arbitrary two-phase in three-phase current;
The permanent magnet synchronous motor 4, including motor position sensor 41 and stator temperature sensor 42;Wherein, motor position It is absolute-type position sensor to set sensor 41, is used to detect rotor absolute position;Stator temperature sensor 42 is used for Detect motor stator temperature.
The switch element 31 is igbt (IGBT).
The current sensor 32 is non-contact current sensor based on Hall effect or based on using sealing in phase line Middle resistance generates the contact current sensor of voltage principle.
The motor position sensor 41 is rotary transformer or absolute position photoelectric encoder.
When analyzing the permanent magnet synchronous motor under sine-wave current control, most common method is exactly d-q axis mathematical models, it The steady-state operation performance that sine-wave permanent magnet synchronous motor can not only be analyzed can be used for the mapping of analysis motor.Such as Fruit ignores the leakage inductance of phase winding, the saturation of electric machine iron core, the vortex of motor and magnetic hystersis loss, and the electric current of motor is symmetrical three Phase sinusoidal current, then its steady state voltage equation is as follows:
ud=Rid-pωLqiq (1)
uq=Riq+pω(Ldidm) (2)
Wherein, udAnd uqFor rectangular axis voltage, idAnd iqFor rectangular axis electric current, LdAnd LqFor d-axis and q-axis inductance, R is stator electricity Resistance, p are motor number of pole-pairs, and ω is electromechanics rotating speed, ψmFor permanent magnet flux linkage.
In the case of carrying out three-phase shortcircuit to motor by inverter, ignore the tube voltage drop rectangular axis voltage u of power moduledWith uqIt is zero, then has,
Rid-pωLqiq=0 (3)
Riq+pω(Ldidm)=0 (4)
It can further obtain:
Simultaneously as rectangular axis electric current meets following relationship:
Wherein, isFor stator phase currents amplitude.
When rotational speed omega levels off to infinity, can obtain,
ψm≈-Ldid (8)
iq≈0 (9)
is≈id (10)
ψm≈-Ldis (11)
Therefore, permanent magnet flux linkage and d shaft currents or phase current magnitude are gone out under different temperatures one by one by Experimental Calibration Correspondence tables look-up in real vehicle application and can be obtained permanent magnet flux linkage numerical value, and is calculated without formula, because in formula D-axis and q-axis inductance and stator resistance be all can not accurately measuring for time-varying.D shaft currents (rectangular axis electric current idAnd iq) can pass through Measure three-phase alternating current ia、ib、icWith rotor-position electrical angle θ, then pass through CLARK and PARK transformation obtain, wherein CLARK Transformation for mula is as follows:
iα=ia (12)
PARK transformation for mula is as follows:
Phase current magnitude can be obtained by formula (7) as a result,.
A kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage On-line Measuring Method, specifically includes following steps:
A, system electrification is initialized;
B, the motor stator temperature of permanent magnet synchronous motor 4 is read;
C, motor control unit 2 is tabled look-up with the motor stator temperature of reading, obtains the initial magnetic linkage of permanent magnet;
D, judge actively whether short circuit instruction is 1 by motor control unit 2 again;If so, executing step E, otherwise rest on This step continues to judge;
E, then judge whether motor speed is more than inflection point rotational speed omegag;If so, then follow the steps F, otherwise return to step D;
F, full-vehicle control unit 1 sends out the instruction of active fault control to motor control unit 2, and inverter 3 is implemented actively short Road;
G, motor control unit 2 detects arbitrary biphase current, rotor-position, calculates phase current magnitude isAnd motor speed;
H, by the calculated phase current magnitude i of step GsAnd rotating speed tables look-up to permanent magnet flux linkage, obtains different permanent magnet magnetics Phase current magnitude, rotating speed are to permanent magnet flux linkage relation curve, return to step D under chain numerical value.
In step C, the motor stator temperature, which is tabled look-up, obtains the initial magnetic linkage of permanent magnet, temperature and the initial magnetic linkage of permanent magnet Correspondence is obtained by permanent magnet material characteristic.
In step G, the phase current magnitude isIt is calculated by formula (7),
Wherein, idAnd iqIt, can be by measuring three-phase alternating current i for rectangular axis electric currenta、ib、icWith rotor-position electric angle θ is spent, then is obtained by CLARK and PARK transformation, wherein CLARK transformation for mula is as follows:
iα=ia (12)
PARK transformation for mula is as follows:
In step H, the permanent magnet flux linkage table obtains for test method(s), and each temperature of rotor corresponds to a permanent magnet flux linkage Numerical value carries out steady-state short-circuit experiment under different rotating speeds to permanent magnet synchronous motor and obtains short circuit current at a temperature of different rotor The relationship of amplitude, rotating speed and permanent magnet flux linkage.
In step H, the permanent magnet flux linkage table obtains for test method(s), by measuring the anti-electricity of the zero load under different temperatures Then gesture carries out steady-state short-circuit steady-state short-circuit under different rotating speeds and tests and obtain amplitude of short circuit, rotating speed and permanent magnet magnetic again The relationship of chain.
In step H, the permanent magnet flux linkage table obtains for simulation method, is according to permanent magnet synchronous motor finite element simulation mould Type obtain different rotor at a temperature of, amplitude of short circuit, rotating speed and permanent magnet flux linkage relation table.
Compared with prior art, beneficial effects of the present invention are:
1, the measurement of permanent magnet flux linkage does not depend on such as stator resistance, d-axis and q-axis inductance and rectangular axis voltage motor body ginseng Number.
2, full-vehicle control unit sends out actively short circuit to motor control unit according to current operating mode and instructs, and is conducive to Vehicle torque monitoring and functional safety, otherwise, motor voluntarily carry out active fault control and will produce prodigious instruction torque, can make At the undesirable deceleration of vehicle;More seriously, motor cannot voluntarily change operating mode or increase as actuator Reduce control instruction, the output of motor should comply with the desired value of entire car controller.
3, full-vehicle control unit can send actively short circuit according to the current operating mode of motor and instruct, as empty load of motor, Motor power-assisted or generating operation mode are not needed.In active short-circuit process, motor control unit Real-time Feedback short circuit torque avoids Generate undesirable acceleration and deceleration or other damage of components;Short-circuit M curve can also be stored in full-vehicle control unit In, full-vehicle control unit with table look-at or can do feedforward control.
4, in order to avoid the discontinuity of permanent magnet magnetic chain survey, full-vehicle control can take timing to be sent actively to motor The method of short circuit instruction solves;Multiple measurement data can also be stored in motor control unit, estimated by interpolation arithmetic Calculate permanent magnet flux linkage.
5, this method belongs to permanent magnet flux linkage direct Detection Method, can be directly used for using the torque formula of permanent magnet synchronous motor Torque estimating is not concerned with temperature of rotor concrete numerical value without measuring or estimating temperature of rotor, is substantially to survey permanent magnetism Body magnetic linkage, but can be by tabling look-up or other modes reversely calculate temperature of rotor by magnetic linkage.
6, this method can do demagnetization detection and protection work(after detecting permanent magnet flux linkage according to the parameter of specific product Energy.
7, this method does not need additional hardware circuit (such as phase voltage detection circuit, pwm signal reconstruct) and software algorithm, only It need to implement active fault control, it is compatible with permanent magnet synchronous motor control.
Description of the drawings
Fig. 1 is permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement functional block diagram of the present invention;
Fig. 2 is permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement flow chart of the present invention;
Fig. 3 is permanent magnet synchronous motor short circuit current and rotation speed relation figure under different temperatures of the present invention.
In figure, 1 full-vehicle control unit, 2. motor control unit, 3. inverter, 4. permanent magnet synchronous motor, 21. permanent magnet magnetic 23. AC phase currents amplitude computing unit of chain initial value table look-up module 22.CLARK and PARK converter unit, 24. permanent magnet magnetic 25. rotation speed detection unit of chain table look-up module, 26. active short circuit condition judgment module, 27. three-phase disconnects control module 31. and opens Close 32. current sensor of element, 41. motor position sensor, 42. stator temperature sensor.
Specific implementation mode
The embodiment of the present invention is described below in conjunction with the accompanying drawings, but the present invention is not limited thereto:
By three-phase, actively short circuit carries out on-line measurement to the present invention to permanent-magnetism synchronous motor permanent magnetic body magnetic linkage.
As shown in Figure 1, full-vehicle control unit 1 be used for according to vehicle operating mode do not need motor work in actively export In the case of torque, such as engine is operated alone, engine idling and engine braking operating mode, is sent out to motor control unit 2 Go out the instruction of active fault control;
Motor control unit 2 by permanent magnet flux linkage initial value table look-up module 21, CLARK with PARK converter units 22, exchange Phase current magnitude computing unit 23, permanent magnet flux linkage table look-up module 24, rotation speed detection unit 25, active short circuit condition judgment module 26 and three-phase disconnect control module 27 form;For detecting permanent magnet synchronous motor phase current, rotor-position and stator temperature, and root Implement active fault control after inverter 3 implements actively short circuit according to the instruction of full-vehicle control unit 1 to start and calculate phase current width Value and motor speed, Real-time Feedback short circuit torque;
The permanent magnet flux linkage initial value table look-up module 21 is after the completion of system electrification initializes according to stator temperature to forever Magnet magnetic linkage, which table look-up, obtains permanent magnet flux linkage initial value;CLARK the and PARK converter units 22 are used for current sense Arbitrary biphase current is scaled rectangular axis electric current i in the three-phase current that device 3 detectsdAnd iq;The AC phase currents amplitude calculates Unit 23 calculates AC phase currents amplitude using formula 1;The permanent magnet flux linkage tables look-up 24 according to rotating speed and AC phase currents width Value, which is tabled look-up, obtains permanent magnet flux linkage value;The rotation speed detection unit 25 is responsible for calculating motor speed according to angle of rotor position;Institute It states active short circuit condition judgment module 26 and judges that the active fault control of the output of full-vehicle control unit 1 instructs and whether is motor speed More than inflection point rotating speed, instruction is sent out to three-phase disconnection control module 27 in the case where two conditions are set up;The three-phase is disconnected It opens control module 27 to be responsible for executing active fault control, sends out pulse width modulation (PWM) signal instruction;
The inverter 3 includes six switch elements 31 and current sensor 32;Each switch element Q1 to Q6 is exhausted Edge grid bipolar transistor (IGBT), in inverter circuit, first switching element Q1, third switch element Q3 and the 5th switch member Part Q5 is connected in series with second switch element Q2, the 4th switch element Q4 and the 6th switch element Q6 respectively, switch element Q1 with Node between Q2 is connected with the U phase terminals of motor;The V phase terminal phases of node and motor between switch element Q3 and Q4 Even;Node between switch element Q5 and Q6 is connected with the W phase terminals of motor;Inverter 3 is according to motor control unit 2 Power electronic device inside pwm signal order-driven carries out closure or the disconnection action of three-phase lower bridge arm Q2, Q4 and Q6, or Either disconnection acts to realize the short circuit or disconnection of motor triple line the closure of bridge arm Q1, Q3 and Q5 on person's progress three-phase Operation;The current sensor 32 is used to detect arbitrary two-phase in three-phase current, it can be that non-based on Hall effect connects Touch current sensor can also be to seal in the contact current sensor that resistance in phase line generates voltage principle based on utilization;
The permanent magnet synchronous motor 4 includes motor position sensor 41 and stator temperature sensor 42;Motor position sensing Device 41 is absolute-type position sensor, such as rotary transformer or absolute position for detecting rotor absolute position Photoelectric encoder;Stator temperature sensor 42 is for detecting motor stator temperature.
In active short-circuit process, 2 Real-time Feedback short circuit torque of motor control unit avoids generating undesirable acceleration and deceleration Or other damage of components, short-circuit M curve can also be stored in full-vehicle control unit 1, full-vehicle control unit 1 can With table look-at or do feedforward control.
The mode that full-vehicle control unit 1 can take timing to send actively short circuit instruction to motor avoids permanent magnet flux linkage from surveying The discontinuity of amount can also store multiple measurement data in motor control unit 2, permanent magnet is estimated by interpolation arithmetic Magnetic linkage.
As shown in Fig. 2, permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement process is as follows in the present embodiment:
A kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage On-line Measuring Method, includes the following steps:
A, system electrification is initialized;
B, the motor stator temperature of permanent magnet synchronous motor 4 is read;
C, motor control unit 2 is tabled look-up with the motor stator temperature of reading, obtains the initial magnetic linkage of permanent magnet;
D, judge actively whether short circuit instruction is 1 by motor control unit 2 again;If so, executing step E, otherwise rest on This step continues to judge;
E, then judge whether motor speed is more than inflection point rotational speed omegag;If so, then follow the steps F, otherwise return to step D;
F, full-vehicle control unit 1 sends out the instruction of active fault control to motor control unit 2, and inverter 3 is implemented actively short Road;
G, motor control unit 2 detects arbitrary biphase current, rotor-position, calculates phase current magnitude and motor speed;
H, it is tabled look-up to permanent magnet flux linkage by the calculated phase current magnitudes of step G and rotating speed, obtains different permanent magnet flux linkages Phase current magnitude, rotating speed are to permanent magnet flux linkage relation curve, return to step D under numerical value.
In step C, the motor stator temperature, which is tabled look-up, obtains the initial magnetic linkage of permanent magnet, temperature and the initial magnetic linkage of permanent magnet Correspondence is obtained by permanent magnet material characteristic.
In step G, the phase current magnitude isIt is calculated by formula (7),
Wherein, idAnd iqIt, can be by measuring three-phase alternating current i for rectangular axis electric currenta、ib、icWith rotor-position electric angle θ is spent, then is obtained by CLARK and PARK transformation, wherein CLARK transformation for mula is as follows:
iα=ia (12)
PARK transformation for mula is as follows:
In step H, the permanent magnet flux linkage table obtains for test method(s), and each temperature of rotor corresponds to a permanent magnet flux linkage Numerical value carries out steady-state short-circuit experiment under different rotating speeds to permanent magnet synchronous motor and obtains short circuit current at a temperature of different rotor The relationship of amplitude, rotating speed and permanent magnet flux linkage.
In step H, the permanent magnet flux linkage table obtains for test method(s), by measuring the anti-electricity of the zero load under different temperatures Then gesture carries out steady-state short-circuit steady-state short-circuit under different rotating speeds and tests and obtain amplitude of short circuit, rotating speed and permanent magnet magnetic again The relationship of chain.
In step H, the permanent magnet flux linkage table obtains for simulation method, is according to permanent magnet synchronous motor finite element simulation mould Type obtain different rotor at a temperature of, amplitude of short circuit, rotating speed and permanent magnet flux linkage relation table.
This method can do demagnetization detection and protection work(after detecting permanent magnet flux linkage according to the parameter of specific product Energy.
As shown in figure 3, for permanent magnet synchronous motor short circuit current under the different temperatures of the present embodiment and rotation speed relation figure, horizontal seat Mark is speed, and ordinate is phase current magnitude;As motor speed increases, phase current magnitude constantly increases, and turns when more than inflection point After speed, phase current magnitude is gradually stablized;Curve 1, curve 2 and curve 3 are different permanent magnet flux linkage sizes (or different rotors Temperature, or different unloaded back-emf amplitude) under motor speed and phase current magnitude relationship;Same motor speed and curve 1,3 phase current magnitudes corresponding with the intersection point of curve 3 of curve 2, each phase current corresponds to a permanent magnet flux linkage data, similar , a permanent magnet flux linkage table to index with rotating speed and phase current magnitude can be formed;It is not limited in actual use Using 3 curves, curve quantity is set according to temperature range.
More than, the preferred embodiment of the present invention is illustrated, but the present invention is not limited to the above embodiments.

Claims (10)

1. a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system, it is characterised in that:By full-vehicle control unit (1), electricity Machine control unit (2), inverter (3) and permanent magnet synchronous motor (4) composition;
The full-vehicle control unit (1) is used to send out active fault control to motor control unit (2) according to vehicle operating mode Instruction;
The motor control unit (2) is by permanent magnet flux linkage initial value table look-up module (21), CLARK and PARK converter units (22), AC phase currents amplitude computing unit (23), permanent magnet flux linkage table look-up module (24), rotation speed detection unit (25), active Short circuit condition judgment module (26) and three-phase disconnect control module (27) and form;For detecting permanent magnet synchronous motor phase current, turning Sub- position and stator temperature, and active fault control is implemented according to the instruction of full-vehicle control unit (1), inverter (3) implements master After dynamic short circuit, starts and calculate phase current magnitude and motor speed, Real-time Feedback short circuit torque;
Wherein, permanent magnet flux linkage initial value table look-up module (21) to permanent magnet flux linkage according to stator temperature for being tabled look-up to obtain Permanent magnet flux linkage initial value;In the three-phase current that CLARK and PARK converter units (22) are used to detect current sensor (3) Arbitrary biphase current is scaled rectangular axis electric current idAnd iq;AC phase currents amplitude computing unit (23) is for calculating exchange mutually electricity Flow amplitude;The permanent magnet flux linkage table look-up module (24), which is used to be tabled look-up according to rotating speed and AC phase currents amplitude, obtains permanent magnet magnetic Chain value;The rotation speed detection unit (25) is used to calculate motor speed according to angle of rotor position;Active short circuit condition judges mould Block (26) is used to judge whether the active fault control instruction of full-vehicle control unit (1) output and motor speed to turn more than inflection point Speed, and disconnect control module (27) to three-phase in the case where two conditions are set up and send out instruction;Three-phase disconnects control module (27) it is used to execute active fault control, sends out pulse width modulating signal instruction;
The inverter (3) includes switch element (31) and current sensor (32);It is used to execute active short circuit operation;Its In, current sensor (32) is used to detect the arbitrary two-phase in three-phase current;
The permanent magnet synchronous motor (4), including motor position sensor (41) and stator temperature sensor (42);Wherein, motor Position sensor (41) is absolute-type position sensor, is used to detect rotor absolute position;Stator temperature sensor (42) it is used to detect motor stator temperature.
2. a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 1, it is characterised in that:Institute It is igbt to state switch element (31).
3. a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 1, it is characterised in that:Institute It is non-contact current sensor based on Hall effect or based on being produced using sealing in resistance in phase line to state current sensor (32) The contact current sensor of raw voltage principle.
4. a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 1, it is characterised in that:Institute It is rotary transformer or absolute position photoelectric encoder to state motor position sensor (41).
5. a kind of measurement method of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line system as described in claim 1, specifically includes Following steps:
A, system electrification is initialized;
B, the motor stator temperature of permanent magnet synchronous motor (4) is read;
C, motor control unit (2) is tabled look-up with the motor stator temperature of reading, corresponding to obtain the initial magnetic linkage of permanent magnet;
D, judge actively whether short circuit instruction is 1 by motor control unit (2) again;If so, executing step E, otherwise stop herein Step continues to judge;
E, then judge whether motor speed is more than inflection point rotational speed omegag;If so, then follow the steps F, otherwise return to step D;
F, full-vehicle control unit (1) sends out the instruction of active fault control to motor control unit (2), and inverter (3) is implemented actively Short circuit;
G, motor control unit (2) detects arbitrary biphase current, rotor-position, calculates phase current magnitude isAnd motor speed;
H, it is tabled look-up to permanent magnet flux linkage by the calculated phase current magnitudes of step G and rotating speed, obtains different permanent magnet flux linkage numerical value Lower phase current magnitude, rotating speed are to permanent magnet flux linkage relation curve, return to step D.
6. a kind of measurement method of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 5, It is characterized in that:Motor stator temperature and the initial magnetic linkage ψ of permanent magnet in step CmCorrespondence table be to be obtained by permanent magnet material characteristic, ψmWith d shaft currents LdAnd phase current magnitude isWith correspondence shown in formula (11), specially:
By d-q axis mathematical models, ignore the leakage inductance of phase winding, the saturation of electric machine iron core, the vortex of motor and magnetic hystersis loss, electricity The electric current of machine is that symmetrical three phase sine electric current ignores power module in the case of carrying out three-phase shortcircuit to motor by inverter Tube voltage drop rectangular axis voltage, then have,
Rid-pωLqiq=0 (3)
Riq+pω(Ldidm)=0 (4)
Wherein, idAnd iqFor rectangular axis electric current, LdAnd LqFor d-axis and q-axis inductance, R is stator resistance, and p is motor number of pole-pairs, and ω is electricity Machine mechanical separator speed, ψmFor permanent magnet flux linkage;
It can further obtain:
Simultaneously as rectangular axis electric current meets following relationship:
Wherein, isFor stator phase currents amplitude;
When rotational speed omega levels off to infinity, can obtain,
ψm≈-Ldid (8)
iq≈0 (9)
is≈id (10)
ψm≈-Ldis (11)。
7. a kind of measurement method of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 5, It is characterized in that:In step G, the phase current magnitude isIt is calculated by formula (7),
Wherein, idAnd iqIt, can be by measuring three-phase alternating current i for rectangular axis electric currenta、ib、icWith rotor-position electrical angle θ, It is obtained again by CLARK and PARK transformation, wherein CLARK transformation for mula is as follows:
iα=ia (12)
PARK transformation for mula is as follows:
8. a kind of measurement method of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 5, It is characterized in that:In step H, the permanent magnet flux linkage table obtains for test method(s), and each temperature of rotor corresponds to a permanent magnet magnetic Chain numerical value carries out steady-state short-circuit experiment under different rotating speeds to permanent magnet synchronous motor and obtains short circuit electricity at a temperature of different rotor Flow amplitude, the relationship of rotating speed and permanent magnet flux linkage.
9. a kind of measurement method of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 5, It is characterized in that:In step H, the permanent magnet flux linkage table obtains for test method(s), by measuring the anti-electricity of the zero load under different temperatures Then gesture carries out the relationship that amplitude of short circuit, rotating speed and permanent magnet flux linkage were tested and obtained to steady-state short-circuit under different rotating speeds again.
10. a kind of measurement method of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement system according to claim 5, It is characterized in that:In step H, the permanent magnet flux linkage table obtains for simulation method, is according to permanent magnet synchronous motor finite element simulation Model obtain different rotor at a temperature of, amplitude of short circuit, rotating speed and permanent magnet flux linkage relation table.
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