CN106849798B - Permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method - Google Patents
Permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method Download PDFInfo
- Publication number
- CN106849798B CN106849798B CN201710231626.7A CN201710231626A CN106849798B CN 106849798 B CN106849798 B CN 106849798B CN 201710231626 A CN201710231626 A CN 201710231626A CN 106849798 B CN106849798 B CN 106849798B
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- permanent magnet
- magnet synchronous
- torque
- parameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of, and the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method, belongs to permanent magnet synchronous motor control field.The system that the control method uses is by controller, the first power drive unit, permanent magnet synchronous motor, torque sensor, stator voltage control unit, the second power drive unit, temperature measuring equipment and register instrument, and wherein controller is made of comparator, proportioner, integrator and adder；Control method of the invention is: first identifying equivalent torque inertia parameter Ai of the permanent magnet synchronous motor under different stator winding temperatures, then adjusts the ratio control parameter Kp and integration control parameter Ki of controller.The present invention is in debugging, since the parameter of PI controller is adjusted according to permanent magnet synchronous motor parameter, it is adjusted so PI controller parameter can shoot the arrow at the target, has contained the blindness of PI controller parameter adjustment, time and efforts is saved, and good direct torque effect can be obtained.
Description
Technical field
The invention belongs to permanent magnet synchronous motor control fields, are related to torsion control system of synchronization generator with everlasting magnetic, more specifically
It says, the present invention relates to a kind of, and the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method.
Background technique
Permanent magnet synchronous motor direct torque must could obtain excellent torque control performance using closed-loop control, and permanent magnetism is same
Step motor torque closed-loop control system includes controller and controlled device, meanwhile, torsion control system of synchronization generator with everlasting magnetic is how
According to different controlled devices, PI (proportional integration) controller parameter, which is shot the arrow at the target, to be adjusted, then it is to be solved to be that the prior art has
Problem.Currently, it is well known in the prior art, its ratio control parameter of PI controller and integration control parameter are all to directly adopt examination
It gathers method or empirical method is adjusted, rather than be adjusted according to object parameters, the adjustment of controller parameter is compared blindly,
The debugging of torsion control system of synchronization generator with everlasting magnetic is time-consuming and laborious, and torque control performance is difficult to meet the requirements.
Have and related done desk study research, first patent in previously applying for a patent are as follows: publication number is
CN103427747B, patent name are the adjusting method of the parameter adjustment system of direct current generator electric current PI control；Publication number is
CN103414418B, patent name are a kind of control method of direct current generator electric current PI control system；Publication number is
CN103427758B, patent name are the method for adjustment of single phase induction motor exciting current PI control parameter；It is open to be
CN103427748B, patent name are a kind of single phase induction motor exciting current PI control method；Open is CN101499755A,
Patent name is a kind of DC generator speed by PID control method.But in above-mentioned existing research, it is not involved with permanent magnet synchronous motor
And the closed-loop control to torque, on the other hand, with the raising of stator winding temperature, the parameter of electric machine can change, and cause
There is deviation in control precision, for this purpose, being badly in need of inventing a kind of torque regulation method for being directed to permanent magnet synchronous motor.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
A further object of the invention be in order to solve when permanent magnet synchronous motor torque closed-loop control is using PI controller,
PI controller parameter is difficult to the problem of being adjusted according to object parameters, and proposes a kind of permanent magnet synchronous motor torque PI control
Method processed.
In order to realize these purposes and other advantages according to the present invention, it is same to provide a kind of permanent magnetism based on parameter detecting
It walks motor torque PI and regulates and controls method, the system that torque PI regulation method uses includes:
Controller, the first power drive unit, permanent magnet synchronous motor, torque sensor, stator voltage control unit, second
Power drive unit, temperature measuring equipment and register instrument, wherein the controller is by comparator, proportioner, integrator and addition
Device composition, the first input end of the comparator receive torque instruction signal, the output end of the comparator respectively with the ratio
Example device is connected with the input terminal of the integrator, the input with the adder respectively of the output end of the proportioner and integrator
End connection, the output end of the adder are connect with the input terminal of first power drive unit, and controller is fixed for generating
The first control signal of sub- voltage, the first power drive unit input terminal are connect with the output end of the controller, and described first
Power drive unit receives the first control signal of the stator voltage, and exports the first driving voltage of corresponding size；Stator
Voltage control unit is used to generate the second control signal of stator voltage, the second power drive unit input terminal and stator electricity
The output end connection of control unit is pressed, second power drive unit receives the second control signal of the stator voltage, and
Export the second driving voltage of corresponding size；The power input of permanent magnet synchronous motor passes through the first switching switch and described first
The output end connection of power drive unit is connect by the second switching switch with the output end of second power drive unit,
The stator of the permanent magnet synchronous motor receives first driving voltage or the second driving voltage；Torque sensor is for measuring
Permanent magnet synchronous motor torque output signal is measured, and is delivered in the register instrument respectively and the second input of the comparator
End；Temperature measuring equipment is used to measure the temperature of the permanent-magnetic synchronous motor stator winding；The input terminal of register instrument respectively with it is described
The output end of controller, torque sensor and temperature measuring equipment connects, and the register instrument is for recording measured data at any time
Between change procedure；
Torque PI regulate and control method the following steps are included:
Step 1: equivalent torque inertia parameter of the identification permanent magnet synchronous motor under different stator winding temperatures, including with
Lower step:
Permanent-magnetic synchronous motor rotor is positioned at permanent magnet synchronous motor A phase winding axial location by step A.；Temperature measuring equipment is real
When acquire the temperature data of the stator winding, and the temperature data is sent in register instrument, by the temperature data from
It is small to being divided into several temperature ranges greatly；
Step B. disconnects the first switching switch, and closure the second switching switch exports three-phase using stator voltage control unit
Stator voltage amplitude is respectively the second control signal of a normal number L；
Output three-phase voltage amplitude is respectively after second power drive unit described in step C. receives the second control signal
The stator winding of the second driving voltage of the normal number L, the permanent magnet synchronous motor receives second driving voltage, by institute
State stator winding heating；
Step D. disconnects described the when the temperature of the stator winding is more than the median of j-th of temperature range
Two switching switches are closed the first switching switch, use controller output stator α shaft voltage amplitude for a normal number 0, stator
β shaft voltage amplitude is the first control signal of a normal number M, wherein j 1,2,3 ...；
Output stator α shaft voltage amplitude is after first power drive unit described in step E. receives the first control signal
One normal number 0, the first driving voltage that stator β shaft voltage amplitude is a normal number M, the stator winding of the permanent magnet synchronous motor
First driving voltage is received, torque output signal is generated；
Step F. uses the torque output signal of torque sensor real-time measurement permanent-magnetic synchronous motor rotor；
Step G. register instrument records the first control signal respectively and the torque output signal changes over time
Process, and the curve graph of the torque output signal, first control signal and time relationship is established respectively in coordinate system, wherein
Time is abscissa, and torque output signal and first control signal are ordinate；
Step H. reads the stable state amplitude C of torque output signal curve in a coordinate system, and it is flat to cross one, stable state amplitude C work
Row obtains the electricity of permanent magnet synchronous motor by stator β shaft voltage amplitude M divided by dtc signal stable state amplitude C in the straight line of time shaft
Magnetic torque parameter K；
Step I. crosses origin and makees straight line intersection described in tangent line and the step H in point of intersection S, mistake to dtc signal curve
Point of intersection S is made downwards vertical line and is intersected with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；
Step J. multiplies the electromagnetic torque parameter K and the coordinate value T-phase, obtains permanent magnet synchronous motor in stator winding
Temperature is in equivalent torque inertia parameter Ai, i=1,2 ... the j of j-th of temperature range；
Step K. returns to step B, carries out the measurement of equivalent torque inertia parameter Ai in jth+1 temperature range, directly
To by the corresponding equivalent torque inertia parameter Ai of each temperature range, all measurement is finished；
Step 2: adjusting the ratio control parameter Kp and integration control of controller according to the equivalent torque inertia parameter Ai
Parameter Ki, to adjust the output excitation voltage of the first power drive unit, the output torque of final adjustment permanent magnet synchronous motor.
Preferably, in the step 2, the method for adjustment of ratio control parameter Kp and integration control parameter Ki include following
Step:
Step 1. determines the voltage rating Ue of permanent magnet synchronous motor；
Step 2. determines the nominal torque Ie of permanent magnet synchronous motor；
Ratio the control parameter Kp, Kp=Ue/Ie of step 3. adjustment controller；
Integration control the parameter Ki, Ki=Kp/Ai of step 4. adjustment controller.
Preferably, in the step D, the voltage rating Ue phase of the stator β shaft voltage amplitude M and permanent magnet synchronous motor
Deng.
Preferably, the initial value of the integration control parameter Ki in the step 2 is 0.
Preferably, it is same to be greater than the permanent magnetism for the voltage rating of first power drive unit and the second power drive unit
Walk the voltage rating of motor.
Preferably, it is same to be greater than the permanent magnetism for the rated current of first power drive unit and the second power drive unit
Walk the rated current of motor.
Preferably, the threephase stator voltage magnitude L and the permanent magnetism of the output of stator voltage control unit described in step B are same
The rated voltage amplitude for walking motor is equal.
Preferably, the first switching switch and the second switching switch interlock setting, the first switching switch and second
Switching switch cannot be closed in synchronization.
Preferably, the temperature measuring equipment is arranged on the casing of the permanent magnet synchronous motor, and the temperature measuring equipment is infrared
Temperature transducer, the light-emitting window of the infrared temperature probe is towards the stator winding.
Preferably, the temperature range according to locating for the stator winding of permanent magnet synchronous motor selects corresponding at such a temperature
The equivalent torque inertia parameter Ai determines the control parameter of the controller according to the equivalent torque inertia parameter Ai.
The present invention is include at least the following beneficial effects:
1, by under different stator winding temperatures, quantitative judge is carried out to the parameter of permanent magnet synchronous motor, is obtained pair
Motor torque control when electromagnetic torque parameter K and equivalent torque inertia parameter Ai, be permanent magnet synchronous motor control design case and
Debugging saves energy and time, improves the control performance to permanent magnet synchronous motor under different stator winding temperatures, and
So that permanent magnet synchronous motor obtains good static properties and dynamic property, the accurate control to permanent magnet synchronous motor is realized
System；
2, the adjust automatically of torque is realized, and system is in debugging, since the parameter of PI controller is same according to permanent magnetism
The step parameter of electric machine is adjusted, and is adjusted so PI controller parameter can shoot the arrow at the target, is accomplished to know what's what, contains
The blindness of PI controller parameter adjustment, saves time and efforts, and can obtain good direct torque effect, improves forever
The control precision of magnetic-synchro motor torque.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the structural block diagram of permanent magnet synchronous motor torque PI regulator control system of the present invention；
Fig. 2 is regulation method block diagram of the present invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
The present invention provides a kind of, and the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method, as shown in Figure 1, should
It includes: controller 110, the first power drive unit 120, permanent magnet synchronous motor 130, torque that torque, which regulates and controls the system that method uses,
Sensor 140, stator voltage control unit 600, the second power drive unit 700, temperature measuring equipment 900 and register instrument 500.
Wherein the controller 110 is made of comparator 111, proportioner 112, integrator 113 and adder 114, described
The first input end of comparator 111 receives the torque instruction signal of extraneous input, the output end of the comparator 111 respectively with institute
Proportioner 112 is stated to connect with the input terminal of the integrator 113, the output end of the proportioner 112 and integrator 113 respectively with
The input terminal of the adder 114 connects, and the output end of the adder 114 is defeated with first power drive unit 120
Enter end connection, controller 110 is used to receive the first control signal of generation stator voltage after torque instruction signal, and the first power drives
120 input terminal of moving cell is connect with the output end of the controller 110, and it is described fixed that first power drive unit 120 receives
The first control signal of sub- voltage, and export the first driving voltage of corresponding size；Stator voltage control unit 600 is for generating
The second control signal of stator voltage, 700 input terminal of the second power drive unit are defeated with the stator voltage control unit 600
Outlet connection, second power drive unit 700 receives the second control signal of the stator voltage, and exports correspondingly sized
The second driving voltage；The power input of permanent magnet synchronous motor 130 is driven by the first switching switch 810 and first power
The output end connection of moving cell 120 is connected by the output end of the second switching switch 820 and second power drive unit 700
It connects, the stator of the permanent magnet synchronous motor 130 receives first driving voltage or the second driving voltage to encourage to stator winding
Magnetic, wherein the first switching switch 810 and the second switching switch 820 interlock setting, that is, the first switching switch
810 and second switching switch 820 cannot be closed in synchronization so that the first power drive unit 120 and the second power
It can be stator winding excitation that driving unit 700, which can only have one,.
Torque sensor 140 is delivered to described respectively for measuring measurement 130 torque output signal of permanent magnet synchronous motor
In register instrument 500 and the second input terminal of the comparator 111；Temperature measuring equipment 900 is for measuring the permanent magnet synchronous electric
The temperature of 130 stator winding of machine, in the present embodiment, the temperature measuring equipment 900 is infrared temperature probe, and other embodiments can be with
Select suitable temperature sensor according to actual conditions, the light-emitting window of the infrared temperature probe towards the stator winding,
To improve the accuracy of measurement stator winding temperature.
The input terminal of register instrument 500 respectively with the controller 110, torque sensor 140 and temperature measuring equipment 900
Output end connection, the register instrument 500 change with time process for recording measured data；In the present embodiment, record
Instrument 500 receives the second control of the torque output signal, the first control signal of stator winding voltage, stator winding voltage
The temperature of signal and stator winding, and record respectively the torque output signal, stator winding voltage first control signal,
The curve graph of the temperature and time relationship of the second control signal and stator winding of stator winding voltage.
In above-mentioned technical proposal, the voltage rating of first power drive unit 120 and the second power drive unit 700
Greater than the voltage rating of the permanent magnet synchronous motor 130；First power drive unit 120 and the second power drive unit
700 rated current is greater than the rated current of the permanent magnet synchronous motor 130.
As shown in Fig. 2, the torque PI regulation method the following steps are included:
Step 1: equivalent torque inertia parameter of the identification permanent magnet synchronous motor 130 under different stator winding temperatures, including
Following steps:
Permanent-magnetic synchronous motor rotor is positioned at permanent magnet synchronous motor A phase winding axial location, temperature measuring equipment 900 by step A.
The temperature data of the stator winding is acquired in real time, and the temperature data is sent in register instrument 500, by the temperature number
According to several temperature ranges are divided into from small to large, the temperature data is divided into several temperature ranges from small to large, drawn
Point temperature range it is smaller, the corresponding equivalent torque inertia parameter Ai of each temperature range is more accurate, can be as the case may be
It divides temperature range, in the present embodiment, stator winding temperature is divided into a humidity province from -30 DEG C~110 DEG C every 5 DEG C
Between, 22 temperature ranges altogether；
Step B. disconnects the first switching switch 810, closure the second switching switch 820, using stator voltage control unit 600
Output threephase stator voltage magnitude is respectively the second control signal of a normal number L；In the present embodiment, the stator voltage control unit
The threephase stator voltage magnitude L of 600 outputs is equal with the rated voltage amplitude of the permanent magnet synchronous motor 300；
Output three-phase voltage amplitude is each after second power drive unit 700 described in step C. receives the second control signal
For the second driving voltage of the normal number L, the stator winding of the permanent magnet synchronous motor 130 receives the second driving electricity
Pressure, the stator winding is heated up, temperature data is fed back to record by the temperature of 900 real-time measurement stator winding of temperature measuring equipment
In instrument 500；
Step D. is with the raising for positioning winding temperature, when the temperature of the stator winding is more than j-th of humidity province
Between median when, wherein j 1,2,3 ... 22, for example the temperature of stator winding has been more than in the 8th temperature range
Between when being worth, that is, when being more than 7.5 DEG C, disconnect the second switching switch 820, be closed described first and switch switch 810, adopt
With the first control signal that output stator α shaft voltage amplitude is 0, stator β shaft voltage amplitude is a normal number M of controller 110；
First power drive unit 120 described in step E. receives output stator α shaft voltage width after the first control signal
Value is the first driving voltage that 0, stator β shaft voltage amplitude is a normal number M, and stator β shaft voltage amplitude M is the permanent-magnet synchronous
The voltage rating Ue of motor 130 is equal；The stator winding of the permanent magnet synchronous motor 130 receives first driving voltage, produces
Raw torque output signal；
Step F. uses the torque output signal of 140 real-time measurement permanent magnet synchronous motor of torque sensor, 130 rotor；
Step G. register instrument 500 records the first control signal respectively and the torque output signal changes over time
Process, and establish the curve graph of the torque output signal, first control signal and time relationship respectively in coordinate system,
In, the time is abscissa, and torque output signal and first control signal are ordinate；
Step H. reads the stable state amplitude C of torque output signal curve in a coordinate system, and it is flat to cross one, stable state amplitude C work
Row obtains the electricity of permanent magnet synchronous motor by stator β shaft voltage amplitude M divided by dtc signal stable state amplitude C in the straight line of time shaft
Magnetic torque parameter K；
Step I. crosses origin and makees straight line intersection described in tangent line and the step H in point of intersection S, mistake to dtc signal curve
Point of intersection S is made downwards vertical line and is intersected with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；
Step J. multiplies the electromagnetic torque parameter K and the coordinate value T-phase, obtains permanent magnet synchronous motor 130 in stator
Winding temperature is in equivalent torque inertia parameter Ai, i=1,2 ... the j of j-th of temperature range, in the present embodiment, that is, measures
Equivalent torque the inertia parameter Ai, i=8 of 8th temperature range；
Step K. returns to step B, continues to heat up to stator winding, until the temperature of stator winding is more than described in jth+1
The median of temperature range carries out the measurement of equivalent torque inertia parameter Ai in jth+1 temperature range, that is, the
Equivalent torque inertia parameter Ai, i=9 are measured in nine temperature ranges, until each temperature range is equivalent turn corresponding
All measurement finishes square inertia parameter Ai, obtains the corresponding equivalent torque inertia parameter Ai of each temperature range.
Step 2: adjusting the ratio control parameter Kp and integral of controller 110 according to the equivalent torque inertia parameter Ai
Control parameter Ki, to adjust the output excitation voltage of the first power drive unit 120, final adjustment permanent magnet synchronous motor 130
Output torque.
In the step 2, the method for adjustment of ratio control parameter Kp and integration control parameter Ki the following steps are included:
Step 1. determines the voltage rating Ue of permanent magnet synchronous motor 130 (130)；
Step 2. determines the nominal torque Ie of permanent magnet synchronous motor 130 (130)；
Ratio the control parameter Kp, Kp=Ue/Ie of step 3. adjustment controller 110；
Integration control the parameter Ki, Ki=Kp/Ai of step 4. adjustment controller 110.
In above-mentioned technical proposal, the initial value of the integration control parameter Ki in the step 2 is 0.
The high-precision torque of permanent magnet synchronous motor of the invention regulates and controls method, based on closing to the PI of permanent magnet synchronous motor torque
Ring control, specifically to the regulation process of torque are as follows: comparator 111 by input torque command signal and from torque sensor 140 it is anti-
It is fed back to the torque output signal come to be compared, generates torque error signal；During torque adjustment, according to the above method pair
Ratio control parameter Kp and integration control parameter Ki are adjusted, and then, proportioner 112 is to torque error signal multiplied by ratio control
Parameter processed；Integrator 113 carries out integral to torque error signal and multiplied by integration control parameter；114 comparative example device 112 of adder
It is added with 113 output signal of integrator and is sent to power drive unit 120；First power drive unit 120 is defeated according to controller 110
Control signal out, generates excitation voltage of corresponding size, provides energy appropriate in due course for permanent magnet synchronous motor 130, makes forever
Magnetic-synchro motor 130 generates torque of corresponding size, is voluntarily corrected with the torque error to a upper period, to permanent magnetism
Synchronous electric machine torque is quickly adjusted, and the control precision to permanent magnet synchronous motor torque, permanent magnet synchronous motor dragging are improved
The object to be controlled, meanwhile, the torque output signal of 140 real-time measurement permanent magnet synchronous motor 130 of torque sensor, and feed back
To the second input terminal of comparator, to verify torque adjustment effect.
Specifically, the temperature range according to locating for the stator winding of permanent magnet synchronous motor 130, selection corresponds at such a temperature
The equivalent torque inertia parameter Ai, according to the equivalent torque inertia parameter Ai determine the controller 110 control join
Number, including ratio control parameter Kp and integration control parameter Ki.Permanent Magnet Synchronous Motor Controller can be according to the two parameters
It is designed and adjusts, preferably to control permanent magnet synchronous motor.
Then, the corresponding equivalent torque inertia ginseng of the temperature range according to locating for the stator winding of permanent magnet synchronous motor 130
Number Ai, sets several controllers, according to the equivalent torque inertia parameter Ai corresponding at each temperature, to determine for controlling
Make the control parameter of the torque controller of the permanent magnet synchronous motor operating status.
In permanent magnet synchronous motor carrying out practically, the temperature of 900 real-time measurement stator winding of temperature measuring equipment, according to stator around
The locating temperature range of group, to select to switch corresponding controller, with according to the parameter of electric machine under different temperatures come to motor into
Row direct torque improves control performance.
From the above mentioned, the permanent magnet synchronous motor torque PI of the invention based on parameter detecting regulates and controls method, by difference
Under stator winding temperature, quantitative judge is carried out to the parameter of permanent magnet synchronous motor, electromagnetism when obtaining to motor torque control
Torque parameter K and equivalent torque inertia parameter Ai saves energy and time for the control design case and debugging of permanent magnet synchronous motor,
The control performance to permanent magnet synchronous motor under different stator winding temperatures is improved, and permanent magnet synchronous motor is obtained
Good static properties and dynamic property realize the accurate control to permanent magnet synchronous motor；Meanwhile realizing the automatic of torque
Adjustment, and system debugging when, since the parameter of PI controller is adjusted according to permanent magnet synchronous motor parameter, so PI
Controller parameter can shoot the arrow at the target and be adjusted, and accomplish to know what's what, and contain the blindness of PI controller parameter adjustment, section
Time and efforts has been saved, and good direct torque effect can be obtained, has improved the control precision of permanent magnet synchronous motor torque.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method, torque PI regulates and controls the system that method uses
Include:
Controller (110), the first power drive unit (120), permanent magnet synchronous motor (130), torque sensor (140), stator
Voltage control unit (600), the second power drive unit (700), temperature measuring equipment (900) and register instrument (500), wherein institute
It states controller (110) to be made of comparator (111), proportioner (112), integrator (113) and adder (114), the comparison
The first input end of device (111) receives torque instruction signal, the output end of the comparator (111) respectively with the proportioner
(112) connected with the input terminal of the integrator (113), the output end of the proportioner (112) and integrator (113) respectively with
The input terminal of the adder (114) connects, the output end and first power drive unit of the adder (114)
(120) input terminal connection, controller (110) are used to generate the first control signal of stator voltage, the first power drive unit
(120) input terminal is connect with the output end of the controller (110), and first power drive unit receives the stator voltage
First control signal, and export the first driving voltage of corresponding size；Stator voltage control unit (600) is for generating stator
The second control signal of voltage, the output end of the second power drive unit (700) input terminal and the stator voltage control unit
Connection, second power drive unit receives the second control signal of the stator voltage, and exports of corresponding size second
Driving voltage；The output that the power input of permanent magnet synchronous motor passes through the first switching switch and first power drive unit
End connection is connect by the second switching switch with the output end of second power drive unit, the permanent magnet synchronous motor
Stator receives first driving voltage or the second driving voltage；Torque sensor (140) is for measuring measurement permanent magnet synchronous electric
Machine (130) torque output signal, and be delivered in the register instrument respectively and the second input of the comparator (111)
End；Temperature measuring equipment is used to measure the temperature of the permanent-magnetic synchronous motor stator winding；The input terminal of register instrument respectively with it is described
The output end of controller, torque sensor and temperature measuring equipment connects, and the register instrument is for recording measured data at any time
Between change procedure；It is characterized in that, the torque PI regulation method the following steps are included:
Step 1: equivalent torque inertia parameter of the identification permanent magnet synchronous motor under different stator winding temperatures, including following step
It is rapid:
Permanent-magnetic synchronous motor rotor is positioned at permanent magnet synchronous motor A phase winding axial location by step A.；Temperature measuring equipment is adopted in real time
Collect the temperature data of the stator winding, and the temperature data be sent in register instrument, by the temperature data from it is small to
It is divided into several temperature ranges greatly；
Step B. disconnects the first switching switch, and closure the second switching switch exports threephase stator using stator voltage control unit
Voltage magnitude is respectively the second control signal of a normal number L；
Output three-phase voltage amplitude is respectively described after second power drive unit described in step C. receives the second control signal
The stator winding of the second driving voltage of normal number L, the permanent magnet synchronous motor receives second driving voltage, will be described fixed
Sub- winding heating；
Step D. disconnects described second and cuts when the temperature of the stator winding is more than the median of j-th of temperature range
Switch is changed, the first switching switch is closed, uses controller output stator α shaft voltage amplitude for a normal number 0, stator β axis
Voltage magnitude is the first control signal of a normal number M, wherein j 1,2,3 ...；
It is one just that first power drive unit described in step E., which receives output stator α shaft voltage amplitude after the first control signal,
Constant 0, the first driving voltage that stator β shaft voltage amplitude is a normal number M, the stator winding of the permanent magnet synchronous motor receive
First driving voltage generates torque output signal；
Step F. uses the torque output signal of torque sensor (140) real-time measurement permanent-magnetic synchronous motor rotor；
The process that step G. register instrument records the first control signal respectively and the torque output signal changes over time,
And the curve graph of the torque output signal, first control signal and time relationship is established respectively in coordinate system, wherein the time is
Abscissa, torque output signal and first control signal are ordinate；
Step H. reads the stable state amplitude C of torque output signal curve in a coordinate system, crosses one, stable state amplitude C work and is parallel to
The straight line of time shaft, by stator β shaft voltage amplitude M divided by dtc signal stable state amplitude C, the electromagnetism for obtaining permanent magnet synchronous motor turns
Square parameter K；
Step I. crosses origin and makees straight line intersection described in tangent line and the step H in point of intersection S to dtc signal curve, crosses intersection point
S makees downwards vertical line and intersects with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；
Step J. multiplies the electromagnetic torque parameter K and the coordinate value T-phase, obtains permanent magnet synchronous motor in stator winding temperature
Equivalent torque inertia parameter Ai, i=1,2 ... j in j-th of temperature range；
Step K. returns to step B, the measurement of equivalent torque inertia parameter Ai is carried out in jth+1 temperature range, until will
All measurement finishes the corresponding equivalent torque inertia parameter Ai of each temperature range；
Step 2: adjusting the ratio control parameter Kp and integration control parameter of controller according to the equivalent torque inertia parameter Ai
Ki, to adjust the output excitation voltage of the first power drive unit (120), the output torque of final adjustment permanent magnet synchronous motor.
2. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as described in claim 1, which is characterized in that institute
State in step 2, the method for adjustment of ratio control parameter Kp and integration control parameter Ki the following steps are included:
Step 1. determines the voltage rating Ue of permanent magnet synchronous motor (130)；
Step 2. determines the nominal torque Ie of permanent magnet synchronous motor (130)；
Ratio the control parameter Kp, Kp=Ue/Ie of step 3. adjustment controller；
Integration control the parameter Ki, Ki=Kp/Ai of step 4. adjustment controller.
3. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 2, which is characterized in that institute
It states in step D, the stator β shaft voltage amplitude M is equal with the voltage rating Ue of permanent magnet synchronous motor (130).
4. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 3, which is characterized in that institute
The initial value for stating the integration control parameter Ki in step 2 is 0.
5. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 4, which is characterized in that institute
The voltage rating for stating the first power drive unit and the second power drive unit is greater than the voltage rating of the permanent magnet synchronous motor.
6. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 5, which is characterized in that institute
The rated current for stating the first power drive unit and the second power drive unit is greater than the rated current of the permanent magnet synchronous motor.
7. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 6, which is characterized in that step
The voltage rating of the threephase stator voltage magnitude L and the permanent magnet synchronous motor of stator voltage control unit output described in rapid B
Amplitude is equal.
8. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 7, which is characterized in that institute
The first switching switch and the second switching switch interlock setting are stated, the first switching switch and the second switching switch are in synchronization
It cannot be closed at.
9. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 8, which is characterized in that institute
It states temperature measuring equipment to be arranged on the casing of the permanent magnet synchronous motor, the temperature measuring equipment is infrared temperature probe, described red
The light-emitting window of outer temperature transducer is towards the stator winding.
10. the permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method as claimed in claim 9, which is characterized in that
According to temperature range locating for the stator winding of permanent magnet synchronous motor, the corresponding equivalent torque inertia at such a temperature is selected
Parameter Ai determines the control parameter of the controller according to the equivalent torque inertia parameter Ai.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231626.7A CN106849798B (en) | 2017-04-11 | 2017-04-11 | Permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231626.7A CN106849798B (en) | 2017-04-11 | 2017-04-11 | Permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106849798A CN106849798A (en) | 2017-06-13 |
| CN106849798B true CN106849798B (en) | 2019-07-02 |
Family
ID=59147173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710231626.7A Active CN106849798B (en) | 2017-04-11 | 2017-04-11 | Permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106849798B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
| CN103414418A (en) * | 2013-07-26 | 2013-11-27 | 江苏科技大学 | Current PI control system and method of direct current motor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5217579B2 (en) * | 2007-08-06 | 2013-06-19 | 株式会社豊田自動織機 | Electric motor control method and control apparatus |
| JP5420006B2 (en) * | 2012-03-22 | 2014-02-19 | 三菱電機株式会社 | Synchronous machine controller |
-
2017
- 2017-04-11 CN CN201710231626.7A patent/CN106849798B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394146A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter recognition system and method for DC electric motor speed control object |
| CN101499755A (en) * | 2008-10-31 | 2009-08-05 | 江苏科技大学 | PID control system for DC motor speed and control method thereof |
| CN103414418A (en) * | 2013-07-26 | 2013-11-27 | 江苏科技大学 | Current PI control system and method of direct current motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106849798A (en) | 2017-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107086836B (en) | A kind of improved permanent magnet synchronous motor weak magnetic speed regulating method | |
| Kohlrusz et al. | Comparison of scalar and vector control strategies of induction motors | |
| Tapia et al. | Methodology for smooth connection of doubly fed induction generators to the grid | |
| CN101694985B (en) | Method for identifying on-line parameters of linear induction motor | |
| CN102223134B (en) | Device and method for online distinguishing parameters of servo system of permanent-magnet synchronous motor | |
| CN104377911A (en) | Humidity removing method, device and system of wind driven generator | |
| CN109781322B (en) | Method for testing efficiency of driving system of new energy automobile | |
| CN109194219A (en) | Based on model-free non-singular terminal sliding formwork control permanent magnet synchronous motor method and system | |
| CN109839830A (en) | A kind of the power stage analog control method and device of three phase alternating current motor | |
| CN103326659A (en) | Control method for directionally correcting rotor field of asynchronous motor | |
| CN105071723B (en) | The brushed DC motor composite control method of three-step approach design | |
| US20200052627A1 (en) | Synchronous electric power distribution startup system | |
| CN104852652B (en) | Synchronous wind driven generator closed-loop vector control method and system | |
| CN103427751A (en) | Device and method for online identification of static parameters of permanent-magnet synchronous motor | |
| CN106772052B (en) | Permanent-magnetic synchronous motor rotor initial angle modification method and update the system | |
| CN202068373U (en) | Velocity sensor-less permanent-magnetic synchronous motor vector control device with online parameter identification function | |
| CN109768749A (en) | Threephase asynchronous machine rotor time constant real-time correction method | |
| CN109782173A (en) | Asynchronous machine excitation mutual inductance curve measurement system and its measurement method | |
| Senjyu et al. | Parameter measurement for PMSM using adaptive identification | |
| CN110784144B (en) | Improved control method of built-in permanent magnet synchronous motor | |
| CN106998163B (en) | The method of adjustment of permanent-magnet synchronous motor rotor position PI control parameter | |
| CN106817063B (en) | The high-precision torque of threephase asynchronous regulates and controls method | |
| CN202094838U (en) | Vector control apparatus with servo system of permanent magnet synchronous motor capable of on-line identification of parameter | |
| CN106849798B (en) | Permanent magnet synchronous motor torque PI based on parameter detecting regulates and controls method | |
| CN107482986B (en) | Parameter calibration and control method of motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191125 Address after: Room a405, building 1, Jiaxin West Electric Industrial Park, 1355 Yunhe Road, Gaozhao street, Xiuzhou District, Jiaxing City, Zhejiang Province Patentee after: Jiaxing Kelin communication equipment Co.,Ltd. Address before: 314001 Yuexiu South Road, Zhejiang, No. 56, No. Patentee before: JIAXING University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220701 Address after: 710065 room 605, building 10, productivity building, No. 3, dianzi West Street, Yanta District, Xi'an City, Shaanxi Province Patentee after: Xi'an Youkang Communication Technology Co.,Ltd. Address before: 314001 room a405, building 1, Jiaxin Xidian Industrial Park, No. 1355, Yunhe Road, Gaozhao street, Xiuzhou District, Jiaxing City, Zhejiang Province Patentee before: Jiaxing Kelin communication equipment Co.,Ltd. |
|
| TR01 | Transfer of patent right |