CN106411213B - For providing the method and device of motor stator current value - Google Patents
For providing the method and device of motor stator current value Download PDFInfo
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- CN106411213B CN106411213B CN201510446397.1A CN201510446397A CN106411213B CN 106411213 B CN106411213 B CN 106411213B CN 201510446397 A CN201510446397 A CN 201510446397A CN 106411213 B CN106411213 B CN 106411213B
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Abstract
The invention discloses a kind of for providing the method and device of motor stator current value.Wherein, the described method includes: the equation constituted based on stator current value, motor electromagnetic torque and the parameter of electric machine in the case where meeting motor performance requirement, calculate motor Heng Niujuqu and motor invariable power area every speed the point corresponding stator current value under different torques, calculated stator current value is supplied to motor control module, so that motor control module controls motor using the stator current value therefrom inquired.Since motor control module can obtain every speed point corresponding accurate stator current value under different torques in the full speed stage of motor, it can more accurately control motor.
Description
Technical field
The present invention relates to motor fields, and in particular, to a kind of for providing the method and device of motor electronic constant current value.
Background technique
During the permanent magnet synchronous motor vector controlled oriented based on rotor flux, control motor stator electricity can be passed through
The numerical value of excitation component and torque component after decoupling is flowed to control motor output torque and power.Given pair of stator current value
Motor torque plays and operational efficiency has highly important influence.
In the related technology, motor stator current value is manually generally demarcated by motor control performance test.But manually
The stator current value of calibration is served only for meeting the motor control performance in the case where testing, and will receive commissioning staff individual
The influence of ability and rack ontology accuracy.Therefore, the motor stator current value manually demarcated is provided to motor control module simultaneously
It is not able to satisfy the needs for accurately controlling motor, the operating point of motor off-target may be made, reduces motor operation efficiency.
Summary of the invention
In view of this, the object of the invention is that provide it is a kind of for providing the method and device of motor stator current value, with
Meet the needs for accurately controlling motor, improves the purpose of motor operation efficiency.
In the one aspect of the embodiment of the present invention, provide a kind of for providing the method for motor stator current value.It is described
Method includes: to be constituted based on stator current value, motor electromagnetic torque and the parameter of electric machine in the case where meeting motor performance requirement
Equation calculates motor Heng Niujuqu and motor invariable power area every speed the point corresponding stator electricity under different torques
Calculated stator current value is supplied to motor control module by flow valuve, is therefrom inquired so as to motor control module utilization
Stator current value controls motor.
Optionally, the parameter of electric machine is fixed or time-varying the parameter of electric machine.
Optionally, described that motor performance requirement is being met based on stator current value, motor electromagnetic torque and the parameter of electric machine
Lower constituted equation calculates motor perseverance torque area every speed point corresponding stator current value packet under different torques
It includes: peak torque electric current ratio is met in motor Heng Niujuqu based on stator current value, motor electromagnetic torque and the parameter of electric machine
In the case of the equation that is constituted, calculate motor perseverance torque area every speed point corresponding stator current under different torques
Value.
Optionally, described to be met based on stator current value, motor electromagnetic torque and the parameter of electric machine in motor Heng Niujuqu
The equation constituted in the case where peak torque electric current ratio calculates motor perseverance torque area every speed point under different torques minute
Not corresponding stator current value includes: based on stator current value, motor electromagnetic torque and the parameter of electric machine in motor Heng Niujuqu
The equation constituted in the case where meeting peak torque electric current ratio is carried out using Lagrangian auxiliary function and Newton iteration method
The operation for seeking the minimum value of stator current value obtains respectively corresponding under different torques in motor perseverance torque area every speed point
Stator current value minimum value.
Optionally, described to be met based on stator current value, motor electromagnetic torque and the parameter of electric machine in motor Heng Niujuqu
The equation constituted in the case where peak torque electric current ratio, is sought using Lagrangian auxiliary function and Newton iteration method
The operation of the minimum value of stator current value, it is corresponding fixed under different torques in motor perseverance torque area every speed point to obtain
The minimum value of electron current value includes: to utilize Newton iteration method solve system of equationIt obtains
In the case where motor Heng Niujuqu realizes peak torque electric current ratio, every speed point corresponding i under different torquesd、iq
Minimum value；Wherein, the equation groupAccording to equation groupAnd equation groupIt is derived from, the side
Journey groupBy to Lagrangian auxiliary functionRespectively to id、iqSeeking partial derivative with λ and enabling it is zero to obtain,
In, the Lagrange auxiliary functionFor based on electronics constant current value with
Conversion relation between motor d shaft current vector and q shaft current vector and, the Lagrangian auxiliary function that electromagnetic torque equation obtains；Wherein, isIndicate motor stator electric current, idIt indicates
Motor stator d shaft current, iqIndicate motor stator q shaft current, pnIndicate motor number of pole-pairs, ψfIndicate rotor magnetic linkage, idTable
Show motor stator d shaft current, iqIndicate motor stator q shaft current, LdIndicate motor d axle inductance, LqIndicate motor q axle inductance, λ
Indicate Lagrangian, TeIndicate motor electromagnetic torque.
Optionally, described that motor performance requirement is being met based on stator current value, motor electromagnetic torque and the parameter of electric machine
Lower constituted equation calculates motor invariable power area every speed point corresponding stator current value packet under different torques
Include: the voltage limit equation of a circle met based on stator current value, motor electromagnetic torque and the parameter of electric machine in invariable power area with
And electromagnetic torque equation, calculate motor invariable power area every speed point corresponding stator current value under different torques.
It is optionally, described that calculated stator current value is supplied to motor control module includes: by calculated stator
Current value is stored into the chip for realizing the motor control module.
In the other side of the embodiment of the present invention, provide a kind of for providing the device of motor stator current value.Institute
Stating device includes: computing module, is configured as meeting electricity based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation constituted under machine performance requirement calculates motor Heng Niujuqu and motor invariable power area every speed point in different torsions
Corresponding stator current value under square.Module is provided, is configured as calculated stator current value being supplied to motor control
Module, so that motor control module controls motor using the stator current value therefrom inquired.
Optionally, the parameter of electric machine is fixed or time-varying the parameter of electric machine.
Optionally, the computing module is configured as existing based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation that motor Heng Niujuqu is constituted in the case where meeting peak torque electric current ratio calculates motor perseverance torque area every speed
Point corresponding stator current value under different torques.
Optionally, the computing module is configured as existing based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation that motor Heng Niujuqu is constituted in the case where meeting peak torque electric current ratio, utilizes Lagrangian auxiliary function and ox
Iterative method of pausing seek the operation of the minimum value of stator current value, obtains in motor perseverance torque area every speed point in different torsions
The minimum value of corresponding stator current value under square.
Optionally, the computing module is configured as utilizing Newton iteration method solve system of equationIt obtains in the case where motor Heng Niujuqu realizes peak torque electric current ratio, it is each
Revolving speed point corresponding i under different torquesd、iqMinimum value；
Wherein, the equation groupAccording to equation group
And equation groupIt is derived from, the equation groupBy to Lagrangian auxiliary functionRespectively to id、iqSeeking partial derivative with λ and enabling it is zero to obtain,
In, the Lagrange auxiliary functionFor based on electronics constant current value with
Conversion relation between motor d shaft current vector and q shaft current vector and, the Lagrangian auxiliary function that electromagnetic torque equation obtains；Wherein, isIndicate motor stator electric current, idIt indicates
Motor stator d shaft current, iqIndicate motor stator q shaft current, pnIndicate motor number of pole-pairs, ψfIndicate rotor magnetic linkage, idTable
Show motor stator d shaft current, iqIndicate motor stator q shaft current, LdIndicate motor d axle inductance, LqIndicate motor q axle inductance, λ
Indicate Lagrangian, TeIndicate motor electromagnetic torque.
Optionally, the computing module is configured as existing based on stator current value, motor electromagnetic torque and the parameter of electric machine
The voltage limit equation of a circle and electromagnetic torque equation that invariable power area is met calculate motor invariable power area every speed point and exist
Corresponding stator current value under different torques.
Optionally, the offer module is configured as the storage of the computing module calculated stator current value to being used for
In the chip for realizing the motor control module.
Through the above technical solutions, due to meeting electricity based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation constituted under machine performance requirement calculates motor Heng Niujuqu and motor invariable power area every speed point in different torsions
Calculated stator current value is supplied to motor control module, thus motor control by corresponding stator current value under square
Module can obtain every speed point corresponding accurate stator current value under different torques in the full speed stage of motor, can
More accurately to control motor, the degree of dependence in motor debugging process to experimental stand is reduced, reduces synchronous motor mark
The accuracy of fixed blindness and increase moment of torsion control, shortens the time of motor calibration, improves working efficiency.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of for providing the method flow diagram of motor stator current value of one embodiment of the invention offer；
Fig. 2 be another embodiment of the present invention provides it is a kind of for providing the method flow diagram of motor stator current value；
Fig. 3 is provided in an embodiment of the present invention for providing the device block diagram of motor stator current value.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
For example, with reference to Fig. 1, for a kind of method flow diagram for controlling motor based on stator current value provided by the invention.Such as
Shown in Fig. 1, this method may include:
S110, based on stator current value, motor electromagnetic torque and the parameter of electric machine in the case where meeting motor performance requirement institute's structure
At equation, calculate motor Heng Niujuqu and motor invariable power area every speed point be corresponding fixed under different torques
Electron current value.
It should be noted that the parameter of electric machine described in the embodiment of the present invention can be fixed or time-varying the parameter of electric machine, it can
To provide to obtain by motor manufacturing manufacturer.It is understood that the case where the parameter of electric machine is the parameter of electric machine of time-varying
Under, due to one or more parameter value times to time change in the parameter of electric machine, it is more in line with motor practical operation situation, so that
The calculated stator current value of institute is more accurate.
Wherein, the parameter of electric machine may include: motor number of pole-pairs, rotor magnetic linkage, motor d axle inductance, motor q axis
Inductance, etc..
S120, calculated stator current value is supplied to motor control module, so that motor control module is using therefrom
The stator current value that inquires controls motor.
For example, calculated stator current value can be stored into the chip for realizing the motor control module.
Motor control module can from inquiring the stator current value that should be supplied to motor under the corresponding torque of corresponding revolving speed point in chip, from
And motor is controlled using the stator current value inquired.
Since the present invention is based on stator current value, motor electromagnetic torque and the parameters of electric machine to meet motor performance requirement
Lower constituted equation, calculates motor Heng Niujuqu and motor invariable power area every speed point is right respectively under different torques
Calculated stator current value is supplied to motor control module by the stator current value answered, so that motor control module can obtain
Every speed point corresponding accurate stator current value under different torques in the full speed stage of motor is obtained, it can be more accurate
Control motor, reduce the degree of dependence in motor debugging process to experimental stand, reduce the blindness of synchronous motor calibration
With the accuracy for increasing moment of torsion control, shorten the time of motor calibration, improves working efficiency.
For example, with reference to Fig. 2, for a kind of method flow diagram for controlling motor based on stator current value provided by the invention.Such as
Shown in Fig. 2, this method may include:
S210, maximum turn round is met in motor Heng Niujuqu based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation constituted in the case where square electric current ratio calculates motor perseverance torque area every speed point and respectively corresponds under different torques
Stator current value.
It should be noted that internal permanent magnet synchronous motor belongs to salient pole type synchronous motor, and for salient-pole synchronous electricity
Machine often makes motor stator d shaft current component negative value for reluctance torque existing for making full use of due to saliency.Therefore,
Maximum torque per ampere control method can be used, keeps motor minimum with motor stator electric current under electromagnetic torque in output phase.Base
In this, the present embodiment is converted into the problem of seeking extreme value under the limitation of motor maximum current, torque capacity electric current ratio is sought,
It carries out asking extreme value operation by Lagrangian auxiliary function and Newton iteration method, so that it may obtain motor operation and turn round in motor perseverance
The stator current value in square area.
For example, can be met most based on stator current value, motor electromagnetic torque and the parameter of electric machine in motor Heng Niujuqu
The equation constituted in the case where large torque electric current ratio, it is fixed seek using Lagrangian auxiliary function and Newton iteration method
The operation of the minimum value of electron current value is obtained in motor perseverance torque area every speed point corresponding stator under different torques
The minimum value of current value.
In the following, associative operation formula carries out seeking stator current to using Lagrangian auxiliary function and Newton iteration method
A kind of possible operation mode of the operation of the minimum value of value is described in detail.It is understood that since formula can have
There is certain deformation, therefore, operation mode introduced below is only that the present invention utilizes Lagrangian auxiliary function and Newton iteration
Method seek a kind of possible embodiment of the operation of the minimum value of stator current value, is not used in and limits the present invention
System.
It is possible, firstly, to based between electronics constant current value and motor d shaft current vector and q shaft current vector conversion relation and, electromagnetic torque equation obtains Lagrangian auxiliary functionWherein, isIndicate motor stator electric current, idIndicate motor stator d
Shaft current, iqIndicate motor stator q shaft current, pnIndicate motor number of pole-pairs, ψfIndicate rotor magnetic linkage, idIndicate that motor is fixed
Sub- d shaft current, iqIndicate motor stator q shaft current, LdIndicate motor d axle inductance, LqIndicate that motor q axle inductance, λ indicate glug
Bright day operator, TeIndicate motor electromagnetic torque.
Next, can be by the Lagrangian auxiliary function respectively to id、iqSeeking partial derivative with λ and enabling it is zero, is obtained
It enables,Obtain equation group
Utilize Newton iteration method solve system of equationIt obtains in motor perseverance torque
In the case that area realizes peak torque electric current ratio, every speed point corresponding i under different torquesd、iqMinimum value.
S220, the voltage pole met based on stator current value, motor electromagnetic torque and the parameter of electric machine in invariable power area
Equation of a circle and electromagnetic torque equation are limited, it is corresponding fixed under different torques to calculate motor invariable power area every speed point
Electron current value.
It should be noted that in inverter power supply, voltage that motor input voltage can generally be can be output by inverter
The limit is limited.When inverter output voltage reaches capacity, to continue to improve revolving speed, stator current arrow is only redistributed
Amount reduces q shaft torque current component, here it is the weak magnetic processes namely motor of motor that is, increasing d axis demagnetizing current component
The control process in invariable power area.Since there are current limitations for electric machine control system, so, it is carrying out redistributing stator current arrow
During amount, no more than the phase current limit of motor, that is to say, that the d axis and q shaft voltage vector sum of motor are no more than electricity
Press horicycle.That is, stator current value, motor electromagnetic torque and the parameter of electric machine meet voltage limit circle side in invariable power area
Journey.And the d axis of motor and every a pair of the current phasor i of q axis can calculate to obtain a torque value by electromagnetic torque equation, voltage
There is also a maximum current points of output power of motor, i.e. motor maximum output power point on limit elliptical orbit, most
Current phasor within high-power is valid data, therefore, based on stator current value, motor electromagnetic torque and motor ginseng
The voltage limit equation of a circle and electromagnetic torque equation that number is met in invariable power area, it is each can to calculate motor invariable power area
Revolving speed point corresponding stator current value under different torques.
Wherein, the voltage limit circle that stator current value, motor electromagnetic torque and the parameter of electric machine are met in invariable power area
Equation isWherein, electromagnetic torque equation is
Wherein, ulimFor the inverter output voltage limit, ω is motor electric angle revolving speed.
Wherein it is possible to realize the solution to above-mentioned equation group by M language or other programming languages.
It should be noted that due between power of motor, motor electromagnetic torque and motor speed there is corresponding conversion to close
System, therefore, during carrying out the calculating of motor stator current value using equation above-mentioned, with motor electromagnetic torque
Motor Heng Niujuqu can be calculated for independent variable and motor invariable power area every speed point respectively corresponds under different torques
Stator current value.
S230, calculated motor Heng Niujuqu and motor invariable power area every speed point are distinguished under different torques
Corresponding stator current value storage is into the chip for realizing the motor control module.
In the present embodiment, it is contemplated that the voltage and current limit of permanent magnet synchronous motor limits, in motor whole service
In the range of speeds, in order to make full use of the performance of synchronous motor high power density, make motor can be with Maximum Power Output, stator electricity
Flow valuve control is below turnover revolving speed, that is, according to peak torque electric current than controlling, calculates maximum in motor Heng Niujuqu realization
In the case where torque current ratio, every speed point corresponding stator current value under different torques.Moreover, because transferring
It more than revolving speed is controlled according to weak magnetic, and in weak magnetic control process, that is, in invariable power area, permanent magnet synchronous electric for electric vehicle
Therefore machine, which runs while being limited to voltage limit circle, current limitation circle and maximum power point, can be based on stator current value, electricity
The voltage limit equation of a circle and electromagnetic torque equation that machine electromagnetic torque and the parameter of electric machine are met in invariable power area calculate
Motor invariable power area every speed point corresponding stator current value under different torques out, to obtain the full revolving speed of motor
The stator current value under different torques in section.
Moreover, under different torques respectively by calculated motor Heng Niujuqu and motor invariable power area every speed point
Corresponding stator current value storage obtains motor control module into the chip for realizing the motor control module
Every speed point corresponding accurate stator current value under different torques in the full speed stage of motor is obtained, it can be more accurate
Control motor, reduce the degree of dependence in motor debugging process to experimental stand, reduce the blindness of synchronous motor calibration
With the accuracy for increasing moment of torsion control, shorten the time of motor calibration, improves working efficiency.
It is demarcated furthermore it is also possible to which the stator current value of torques different under different rotating speeds is plotted on same figure just to be formed
Set of curves, to carry out data verification in electromechanical testing rack, by the stator current value storage after verifying to for realizing described
In the chip of motor control module, with power supply machine control module inquiry use when motor operation.
For example, with reference to Fig. 3, for a kind of device block diagram for controlling motor based on stator current value provided by the invention.Such as Fig. 3
It is shown, the apparatus may include computing module 310, can be configured as based on stator current value, motor electromagnetic torque and
The equation that the parameter of electric machine is constituted in the case where meeting motor performance requirement, calculates motor Heng Niujuqu and motor invariable power area is each
A revolving speed point corresponding stator current value under different torques.Module 320 is provided, can be configured as will be calculated fixed
Electron current value is supplied to motor control module, so that motor control module controls electricity using the stator current value therefrom inquired
Machine.
Since the present embodiment is configured as meeting electricity based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation constituted under machine performance requirement calculates motor Heng Niujuqu and motor invariable power area every speed point in different torsions
Calculated stator current value is supplied to motor control module, thus motor control by corresponding stator current value under square
Module can obtain every speed point corresponding accurate stator current value under different torques in the full speed stage of motor, can
More accurately to control motor, the degree of dependence in motor debugging process to experimental stand is reduced, reduces synchronous motor mark
The accuracy of fixed blindness and increase moment of torsion control, shortens the time of motor calibration, improves working efficiency.
In some possible embodiments, the parameter of electric machine is fixed or time-varying the parameter of electric machine.
In some possible embodiments, the computing module 310 is configured as turning round based on stator current value, motor electromagnetic
The equation that square and the parameter of electric machine are constituted in the case where motor Heng Niujuqu meets peak torque electric current ratio, calculates electricity
Ji Heng torque area every speed point corresponding stator current value under different torques.
In some possible embodiments, the computing module 310 is configured as turning round based on stator current value, motor electromagnetic
The equation that square and the parameter of electric machine are constituted in the case where motor Heng Niujuqu meets peak torque electric current ratio, utilizes glug
Bright day auxiliary function and Newton iteration method seek the operation of the minimum value of stator current value, obtain in motor Heng Niujuqu
The minimum value of every speed point corresponding stator current value under different torques.
In some possible embodiments, the computing module 310 is configured as utilizing Newton iteration method solve system of equationIt obtains in the case where motor Heng Niujuqu realizes peak torque electric current ratio, it is each
Revolving speed point corresponding i under different torquesd、iqMinimum value.
Wherein, the equation groupAccording to equation group
And equation groupIt is derived from, the equation groupBy to Lagrangian auxiliary functionRespectively to id、iqSeeking partial derivative with λ and enabling it is zero to obtain,
In, the Lagrange auxiliary functionFor based on electronics constant current value with
Conversion relation between motor d shaft current vector and q shaft current vector and, the Lagrangian auxiliary function that electromagnetic torque equation obtains.
Wherein, isIndicate motor stator electric current, idIndicate motor stator d shaft current, iqIndicate motor stator q shaft current, pn
Indicate motor number of pole-pairs, ψfIndicate rotor magnetic linkage, idIndicate motor stator d shaft current, iqExpression motor stator q shaft current,
LdIndicate motor d axle inductance, LqIndicate that motor q axle inductance, λ indicate Lagrangian, TeIndicate motor electromagnetic torque.
In some possible embodiments, the computing module 310 is configured as turning round based on stator current value, motor electromagnetic
The voltage limit equation of a circle and electromagnetic torque equation that square and the parameter of electric machine are met in invariable power area calculate motor perseverance
Power area every speed point corresponding stator current value under different torques.
In some possible embodiments, the offer module 320 is configured as, and the computing module is calculated fixed
Electron current value is stored into the chip for realizing the motor control module.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
The present invention can be used in numerous general or special purpose computing system environments or configuration.Such as: personal computer, service
Device computer, handheld device or portable device, laptop device, multicomputer system, microprocessor-based system, top set
Box, programmable consumer-elcetronics devices, network PC, minicomputer, mainframe computer, including any of the above system or equipment
Distributed computing environment etc..
The present invention can describe in the general context of computer-executable instructions executed by a computer, such as program
Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group
Part, data structure etc..The present invention can also be practiced in a distributed computing environment, in these distributed computing environments, by
Task is executed by the connected remote processing devices of communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage equipment.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (8)
1. a kind of for providing the method for motor stator current value characterized by comprising
Based on the equation that stator current value, motor electromagnetic torque and the parameter of electric machine are constituted in the case where meeting motor performance requirement,
Calculate motor Heng Niujuqu and motor invariable power area every speed the point corresponding stator current value under different torques；
Calculated stator current value is supplied to motor control module, so that motor control module is determined using what is therefrom inquired
Electron current value controls motor；
It is described to be constituted in the case where meeting motor performance requirement based on stator current value, motor electromagnetic torque and the parameter of electric machine
Equation calculates motor Heng Niujuqu and motor invariable power area every speed the point corresponding stator electricity under different torques
Flow valuve, comprising:
Meet peak torque electric current ratio in motor Heng Niujuqu based on stator current value, motor electromagnetic torque and the parameter of electric machine
In the case where the equation that is constituted, seek stator current value most using Lagrangian auxiliary function and Newton iteration method
The operation of small value obtains the minimum in motor perseverance torque area every speed point corresponding stator current value under different torques
Value；
It is described that peak torque electricity is met in motor Heng Niujuqu based on stator current value, motor electromagnetic torque and the parameter of electric machine
The equation constituted in the case where stream ratio, carries out seeking stator current value using Lagrangian auxiliary function and Newton iteration method
Minimum value operation, obtain in motor perseverance torque area every speed point corresponding stator current value under different torques
Minimum value, comprising:
Utilize Newton iteration method solve system of equationIt obtains realizing in motor Heng Niujuqu
In the case where peak torque electric current ratio, every speed point corresponding i under different torquesd、iqMinimum value；
Wherein, the equation groupAccording to equation groupWith
And equation groupIt is derived from, the equation groupBy to Lagrangian auxiliary functionRespectively to id、iqSeeking partial derivative with λ and enabling it is zero to obtain,
In, the Lagrange auxiliary functionFor based on electronics constant current value
With the conversion relation between motor d shaft current vector and q shaft current vectorAnd electromagnetic torque equationObtained Lagrangian auxiliary function；
Wherein, isIndicate motor stator electric current, idIndicate motor stator d shaft current, iqIndicate motor stator q shaft current, pnIt indicates
Motor number of pole-pairs, ψfIndicate rotor magnetic linkage, LdIndicate motor d axle inductance, LqIndicate that motor q axle inductance, λ indicate that glug is bright
Day operator, TeIndicate motor electromagnetic torque.
2. the method according to claim 1, wherein the parameter of electric machine is fixed or time-varying the parameter of electric machine.
3. the method according to claim 1, wherein it is described based on stator current value, motor electromagnetic torque and
The equation that the parameter of electric machine is constituted in the case where meeting motor performance requirement calculates motor invariable power area every speed point in different torsions
Corresponding stator current value includes: under square
The voltage limit equation of a circle met based on stator current value, motor electromagnetic torque and the parameter of electric machine in invariable power area
And electromagnetic torque equation, calculate motor invariable power area every speed point corresponding stator current under different torques
Value.
4. the method according to claim 1, wherein described be supplied to motor control for calculated stator current value
Molding block includes:
By the storage of calculated stator current value into the chip for realizing the motor control module.
5. a kind of for providing the device of motor stator current value characterized by comprising
Computing module is configured as wanting based on stator current value, motor electromagnetic torque and the parameter of electric machine meeting motor performance
Lower constituted equation is sought, motor Heng Niujuqu and motor invariable power area every speed point is calculated and distinguishes under different torques
Corresponding stator current value；
Module is provided, is configured as calculated stator current value being supplied to motor control module, so as to motor control module
Motor is controlled using the stator current value therefrom inquired；
The computing module is configured as based on stator current value, motor electromagnetic torque and the parameter of electric machine in motor perseverance torque
The equation that area is constituted in the case where meeting peak torque electric current ratio, using Lagrangian auxiliary function and Newton iteration method into
Row seeks the operation of the minimum value of stator current value, and it is right respectively under different torques in motor perseverance torque area every speed point to obtain
The minimum value for the stator current value answered；
The computing module is configured as utilizing Newton iteration method solve system of equation?
To in the case where motor Heng Niujuqu realizes peak torque electric current ratio, every speed point is corresponding under different torques
id、iqMinimum value；
Wherein, the equation groupAccording to equation groupWith
And equation groupIt is derived from, the equation groupBy to Lagrangian auxiliary functionRespectively to id、iqSeeking partial derivative with λ and enabling it is zero to obtain,
In, the Lagrange auxiliary functionFor based on electronics constant current value
With the conversion relation between motor d shaft current vector and q shaft current vectorAnd electromagnetic torque equationObtained Lagrangian auxiliary function；
Wherein, isIndicate motor stator electric current, idIndicate motor stator d shaft current, iqIndicate motor stator q shaft current, pnIt indicates
Motor number of pole-pairs, ψfIndicate rotor magnetic linkage, LdIndicate motor d axle inductance, LqIndicate that motor q axle inductance, λ indicate that glug is bright
Day operator, TeIndicate motor electromagnetic torque.
6. device according to claim 5, which is characterized in that the parameter of electric machine is fixed or time-varying the parameter of electric machine.
7. device according to claim 5, which is characterized in that the computing module be configured as based on stator current value,
The voltage limit equation of a circle and electromagnetic torque equation that motor electromagnetic torque and the parameter of electric machine are met in invariable power area, meter
Calculate motor invariable power area every speed point corresponding stator current value under different torques.
8. device according to claim 5, which is characterized in that the offer module is configured as the computing module meter
The stator current value of calculating is stored into the chip for realizing the motor control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510446397.1A CN106411213B (en) | 2015-07-27 | 2015-07-27 | For providing the method and device of motor stator current value |
Applications Claiming Priority (1)
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| CN107959452B (en) * | 2017-12-05 | 2019-08-20 | 湖南大学 | A kind of operating current of permanent magnet synchronous motor determines method and device |
| CN108696219B (en) * | 2018-06-21 | 2024-03-26 | 精进电动科技股份有限公司 | Method and device for calibrating current of permanent magnet synchronous motor |
| CN109713974B (en) * | 2018-08-09 | 2020-06-12 | 珠海格力电器股份有限公司 | Method for controlling motor to work |
| CN109613330A (en) * | 2018-11-19 | 2019-04-12 | 创驱（上海）新能源科技有限公司 | A kind of supercapacitor maximum available power predictor method |
| CN111404429B (en) * | 2018-12-28 | 2021-11-12 | 比亚迪股份有限公司 | Vehicle, motor control method and device thereof and computer readable storage medium |
| CN110417317A (en) * | 2019-08-05 | 2019-11-05 | 东风电子科技股份有限公司 | Realize the process that the vector controlled current parameters of driving motor for electric automobile are generated and demarcated |
| CN111431455A (en) * | 2020-03-31 | 2020-07-17 | 江苏理工学院 | Permanent magnet synchronous electric main shaft vector control method based on maximum torque current ratio control |
| CN112152533B (en) * | 2020-08-06 | 2022-04-29 | 东风汽车集团有限公司 | Permanent magnet synchronous motor calibration method |
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