CN107241045B - Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium - Google Patents
Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium Download PDFInfo
- Publication number
- CN107241045B CN107241045B CN201710645507.6A CN201710645507A CN107241045B CN 107241045 B CN107241045 B CN 107241045B CN 201710645507 A CN201710645507 A CN 201710645507A CN 107241045 B CN107241045 B CN 107241045B
- Authority
- CN
- China
- Prior art keywords
- current
- value
- synchronous motor
- mapping curve
- delay time
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
Abstract
The invention discloses a kind of permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage mediums.The present invention is by obtaining current d-axis angle locating for the rotor of permanent magnet synchronous motor, the determining and immediate normal voltage vector of current d-axis angle, using the corresponding voltage vector direction of determining normal voltage vector as coordinate transform angle, search the linear zone that mapping curve concentrates each mapping curve, resistance identification is carried out based on linear zone and coordinate transform angle, obtain the stator resistance of permanent magnet synchronous motor, obtain the present current value and current temperature value of motor inverter upper switch device, the corresponding current delay time difference is determined using mapping curve according to present current value and current temperature value, command voltage is corrected according to the current delay time difference, the stator magnetic linkage of the permanent magnet synchronous motor is calculated according to the command voltage after stator resistance and correction, so that the stator resistance and command voltage that use are more acurrate, to make stator magnet Chain is more acurrate.
Description
Technical field
The present invention relates to flux observation technical field more particularly to a kind of permanent-magnetic synchronous motor stator Flux Observation Method,
Flux observer and storage medium.
Background technique
Permanent magnet synchronous motor has many advantages, such as that high-efficient, power density is big, torque pulsation is small, speed-regulating range width, exists at present
The fields such as household electrical appliances, electric car, high-speed rail, aerospace are widely used.
Common frequence System of Permanent does speed generally according to speed preset signal and feedback speed signal
Spend closed-loop control, it is therefore desirable to velocity sensor acquisition speed information.However, installation speed sensor not only increases cost,
Velocity sensor easily breaks down and fails in certain severe operating conditions, and the reliability of motor speed regulation system is caused to reduce.Base
In above-mentioned reason, in recent years, Speed Sensorless Control Method becomes the hot spot of academia's research, and this method does not need installation speed
Sensor is spent, velocity information can be estimated according only to motor mathematical model.Specifically, it is calculated first according to stator magnetic linkage
Then the angle of rotor flux further calculates out the location information and velocity information of rotor.Therefore, the standard of stator flux observer
Exactness directly determines the accuracy of motor rotor position and velocity information, the final precision for influencing motor control.
Conventional permanent-magnetic synchronous motor stator Flux Observation Method has two classes: one kind is according to measured current and rotor-position
Angle calculates stator magnetic linkage based on the mathematical model under two-phase synchronous rotating frame (abbreviation d-q coordinate system), claims current-mode
Type；Another kind of is voltage, the electric current according to actual measurement, based on the mathematical model under two-phase stationary coordinate system (abbreviation alpha-beta coordinate system)
Stator magnetic linkage is calculated, voltage model is claimed.Since the rotor position angle information that current model needs is not known usually, so electric current
Model can not be used alone, and in engineering, usual sampled voltage model estimates stator magnetic linkage.
There are three input quantities for voltage model, are phase voltage, phase current, stator resistance respectively, only there are three input quantity is all quasi-
Really, the stator magnetic linkage of output is just accurate.In practical applications, the phase current of motor usually can be detected easily, and phase
Voltage is generally difficult to detect with stator resistance.Since increase phase voltage detection circuit will increase cost and reduce reliability, engineering
It is upper not detect phase voltage usually, and use the instruction value Approximate Equivalent of phase voltage.Stator resistance is in motor operation course with temperature
Degree changes and changes, it usually needs real-time on-line identification or periodic off-line identification, since on-line identification method usually compares
It is more complex, offline identification method is generallyd use in engineering.
However, in practical applications, the output voltage of inverter, which will receive switch non-linearity factor, to be influenced and exists certain
Deviation.Due to the prior art does not consider that switch non-linearity factor influences, the instruction value and actual value of phase voltage there are deviation,
There is also deviations for resistance identification result.Therefore, the prior art is calculated stator magnetic linkage is simultaneously inaccurate.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and
Storage medium, it is intended to solve the inaccurate technical problem of stator magnetic linkage in the prior art.
To achieve the above object, the present invention provides a kind of permanent-magnetic synchronous motor stator Flux Observation Method, the method packet
Include following steps:
Obtain current d-axis angle locating for the rotor of permanent magnet synchronous motor；
The determining and current immediate normal voltage vector of d-axis angle, determining normal voltage vector is corresponding
Voltage vector direction is as coordinate transform angle；
The linear zone that the mapping curve concentrates each mapping curve is searched, the mapping curve collection includes under different temperatures value
Mapping curve, the mapping curve be reflect delay time difference and current value corresponding relationship curve；
Resistance identification is carried out based on the linear zone and coordinate transform angle, obtains the stator resistance of permanent magnet synchronous motor；
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and
Current temperature value determines the corresponding current delay time difference using mapping curve collection；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permanent magnet synchronous motor is calculated according to the command voltage after the stator resistance and correction.
Preferably, described that command voltage is corrected according to the current delay time difference, it specifically includes:
End voltage error is calculated according to the current delay time difference；
The end voltage error is coordinately transformed, the voltage compensation value under alpha-beta coordinate system is obtained；
Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
Preferably, the permanent magnet synchronous motor is calculate by the following formula according to the command voltage after the stator resistance and correction
Stator magnetic linkage,
Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permanent magnet synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axis, iβFor the current value of β axis.
Preferably, the present current value and current temperature value for obtaining motor inverter upper switch device, according to described
Present current value and current temperature value use mapping curve collection to determine the corresponding current delay time difference, specifically include:
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and
Current temperature value determines the corresponding current delay time difference using the linear zone.
Preferably, it is described determined according to the present current value and current temperature value using the linear zone it is corresponding current
Delay time is poor, specifically includes:
It is concentrated from the mapping curve and chooses two mapping curves, chosen respectively from the linear zone of the mapping curve of selection
Two reference points, reference current value, reference temperature value and the reference delay time for obtaining each reference point are poor, according to the current electricity
Flow valuve, current temperature value, the reference current value of each reference point, reference temperature value and determining with reference to delay time difference described are currently prolonged
When the time difference.
Preferably, the linear zone and coordinate transform angle based on the mapping curve carries out resistance identification, obtains forever
The stator resistance of magnetic-synchro motor, specifically includes:
Current value is chosen in the linear zone；
Using the coordinate transform angle as given electrical angle, using the current value of selection as injection permanent magnet synchronous motor
Direct-axis current value detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permanent magnet synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
Preferably, the linear zone searched the mapping curve and concentrate each mapping curve, specifically includes:
The tangent slope that the mapping curve concentrates every on each mapping curve is obtained respectively, it is true according to the tangent slope
The linear zone of fixed each mapping curve.
Preferably, the linear zone that each mapping curve is determined according to the tangent slope, specifically includes:
The mapping curve concentrated to the mapping curve traverses, by tangent slope in the current mapping curve traversed
Equal to default slope point as cut-point；
The current mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is greater than the point of default slope with the presence or absence of tangent slope, there will not be not tangent slope greater than default
Linear zone of the cut section of the point of slope as the current mapping curve.
In addition, to achieve the above object, the present invention also provides a kind of flux observer, the flux observer includes: to deposit
The permanent-magnetic synchronous motor stator magnetic linkage that reservoir, processor and being stored in can be run on the memory and on the processor is seen
Ranging sequence, the permanent-magnetic synchronous motor stator flux observation program are arranged for carrying out the permanent-magnetic synchronous motor stator magnetic linkage and see
The step of survey method.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
Permanent-magnetic synchronous motor stator flux observation program, the permanent-magnetic synchronous motor stator flux observation program are stored on storage medium
The step of permanent-magnetic synchronous motor stator Flux Observation Method is realized when being executed by processor.
The present invention is by obtaining current d-axis angle locating for the rotor of permanent magnet synchronous motor, the determining and current d-axis
The immediate normal voltage vector of angle, using the corresponding voltage vector direction of determining normal voltage vector as coordinate transform angle
Degree, searches the linear zone that the mapping curve concentrates each mapping curve, carries out electricity based on the linear zone and coordinate transform angle
Resistance identification, obtains the stator resistance of permanent magnet synchronous motor, obtains the present current value of motor inverter upper switch device and current
Temperature value determines corresponding current delay time difference, root using mapping curve according to the present current value and current temperature value
Command voltage is corrected according to the current delay time difference, is calculated according to the command voltage after the stator resistance and correction
The stator magnetic linkage of the permanent magnet synchronous motor, so that the stator resistance and command voltage that use are more acurrate, to make stator magnetic linkage
It is more acurrate.
Detailed description of the invention
Fig. 1 is the flux observer structural schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of permanent-magnetic synchronous motor stator Flux Observation Method first embodiment of the present invention；
Fig. 3 is voltage vector schematic diagram in the embodiment of the present invention；
The waveform diagram of electric current and voltage when Fig. 4 is resistance identification in the embodiment of the present invention；
Fig. 5 is the flow diagram of permanent-magnetic synchronous motor stator Flux Observation Method second embodiment of the present invention；
Fig. 6 is the flow diagram of permanent-magnetic synchronous motor stator Flux Observation Method 3rd embodiment of the present invention；
Fig. 7 is delay time difference in the embodiment of the present invention with electric current, the regular schematic diagram of temperature change.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, Fig. 1 is the flux observer structural representation for the hardware running environment that the embodiment of the present invention is related to
Figure.
As shown in Figure 1, the flux observer may include: processor 1001, such as CPU, communication bus 1002, Yong Hujie
Mouth 1003, memory 1004.Wherein, communication bus 1002 is for realizing the connection communication between these components.User interface
1003 may include display screen (Display), input unit such as keyboard (Keyboard), and optional user interface 1003 can be with
Including standard wireline interface and wireless interface.Memory 1004 can be high speed RAM memory, be also possible to stable storage
Device (non-volatile memory), such as magnetic disk storage.Memory 1004 optionally can also be independently of aforementioned processing
The storage device of device 1001.
It will be understood by those skilled in the art that flux observer structure shown in Fig. 1 is not constituted to flux observer
Restriction, may include perhaps combining certain components or different component layouts than illustrating more or fewer components.
As shown in Figure 1, as may include operating system, Yong Hujie in a kind of memory 1004 of computer storage medium
Mouth mold block and permanent-magnetic synchronous motor stator flux observation program.
In flux observer shown in Fig. 1, the flux observer is called in memory 1004 by processor 1001
The permanent-magnetic synchronous motor stator flux observation program of storage, and execute following operation:
Obtain current d-axis angle locating for the rotor of permanent magnet synchronous motor；
The determining and current immediate normal voltage vector of d-axis angle, determining normal voltage vector is corresponding
Voltage vector direction is as coordinate transform angle；
The linear zone that the mapping curve concentrates each mapping curve is searched, the mapping curve collection includes under different temperatures value
Mapping curve, the mapping curve be reflect delay time difference and current value corresponding relationship curve；
Resistance identification is carried out based on the linear zone and coordinate transform angle, obtains the stator resistance of permanent magnet synchronous motor；
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and
Current temperature value determines the corresponding current delay time difference using mapping curve collection；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permanent magnet synchronous motor is calculated according to the command voltage after the stator resistance and correction.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
End voltage error is calculated according to the current delay time difference；
The end voltage error is coordinately transformed, the voltage compensation value under alpha-beta coordinate system is obtained；
Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
The stator of the permanent magnet synchronous motor is calculate by the following formula according to the command voltage after the stator resistance and correction
Magnetic linkage,
Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permanent magnet synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axis, iβFor the current value of β axis.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and
Current temperature value determines the corresponding current delay time difference using the linear zone.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
It is concentrated from the mapping curve and chooses two mapping curves, chosen respectively from the linear zone of the mapping curve of selection
Two reference points, reference current value, reference temperature value and the reference delay time for obtaining each reference point are poor, according to the current electricity
Flow valuve, current temperature value, the reference current value of each reference point, reference temperature value and determining with reference to delay time difference described are currently prolonged
When the time difference.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
Current value is chosen in the linear zone；
Using the coordinate transform angle as given electrical angle, using the current value of selection as injection permanent magnet synchronous motor
Direct-axis current value detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permanent magnet synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
The tangent slope that the mapping curve concentrates every on each mapping curve is obtained respectively, it is true according to the tangent slope
The linear zone of fixed each mapping curve.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Program also executes following operation:
The mapping curve concentrated to the mapping curve traverses, by tangent slope in the current mapping curve traversed
Equal to default slope point as cut-point；
The current mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is greater than the point of default slope with the presence or absence of tangent slope, there will not be not tangent slope greater than default
Linear zone of the cut section of the point of slope as the current mapping curve.
The present embodiment through the above scheme, by obtain permanent magnet synchronous motor rotor locating for current d-axis angle, really
The fixed and current immediate normal voltage vector of d-axis angle, by the determining corresponding voltage vector side of normal voltage vector
To as coordinate transform angle, the linear zone that the mapping curve concentrates each mapping curve is searched, is based on the linear zone and seat
Mark transformation angle carries out resistance identification, obtains the stator resistance of permanent magnet synchronous motor, obtains motor inverter upper switch device
Present current value and current temperature value determine corresponding work as using mapping curve according to the present current value and current temperature value
Preceding delay time is poor, is corrected according to the current delay time difference to command voltage, according to the stator resistance and correction
Command voltage afterwards calculates the stator magnetic linkage of the permanent magnet synchronous motor, so that the stator resistance and command voltage that use are more quasi-
Really, to keep stator magnetic linkage more acurrate.
Based on above-mentioned hardware configuration, permanent-magnetic synchronous motor stator Flux Observation Method embodiment of the present invention is proposed.
Illustrate referring to the process that Fig. 2, Fig. 2 are permanent-magnetic synchronous motor stator Flux Observation Method first embodiment of the present invention
Figure.
In the first embodiment, the permanent-magnetic synchronous motor stator Flux Observation Method the following steps are included:
S10: current d-axis angle locating for the rotor of permanent magnet synchronous motor is obtained；
It should be noted that quadrature axis is also q axis for permanent magnet synchronous motor, d-axis is also d axis, quadrature axis and d-axis
It is reference axis in essence, and not actual shaft, it is similar straight in order to obtain in permanent magnet synchronous motor control
The control characteristic of galvanic electricity machine, therefore a coordinate system is established on rotor, this coordinate system and rotor rotate synchronously, and take and turn
Sub- magnetic direction is d axis, is q axis perpendicular to rotor field direction, the mathematical model of motor is transformed under this coordinate system, can be real
The decoupling of existing d axis and q axis, thus the characteristic that is well controlled.
It will be appreciated that the current d-axis angle can be regarded as at current time, the rotor of permanent magnet synchronous motor is straight
Angle locating for axis.
S20: the determining and current immediate normal voltage vector of d-axis angle, by determining normal voltage vector pair
The voltage vector direction answered is as coordinate transform angle；
It should be noted that normal voltage vector usually has 8 referring to Fig. 3, it is respectively as follows: U0(0 0 0)、U1(1 0
0)、U2(1 1 0)、U3(0 1 0)、U4(0 1 1)、U5(0 0 1)、U6(1 0 1) and U7(1 1 1)。
In the concrete realization, " d " in Fig. 3 is current d-axis angle.
It will be appreciated that usually angle is able to reflect the degree of approximation between two vectors, to work as convenient for determination with described
The preceding immediate normal voltage vector of d-axis angle, can calculate the folder between the current d-axis angle and each normal voltage vector
Angle, determined further according to the angle of calculating with the current immediate normal voltage vector of d-axis angle, by determining standard
The corresponding voltage vector direction of voltage vector is as coordinate transform angle.
For further convenient for determining with the current immediate normal voltage vector of d-axis angle, in the present embodiment,
When determining normal voltage vector immediate with the current d-axis angle according to the angle of calculating, can to the angle of calculating into
Row compares, and the smallest normal voltage vector of angle is determined as and the current immediate normal voltage vector of d-axis angle.
Referring to Fig. 3, θ1、θ2The respectively angle of motor rotor position and adjacent modular voltage vector, with θ1Less than θ2For
Example, at this point, can be by voltage vector U1(1 0 0) as with the current immediate normal voltage vector of d-axis angle, therefore,
It can be by determining normal voltage vector U10 ° of (1 0 0) corresponding voltage vector direction is used as coordinate transform angle.
It should be noted that for convenient for the corresponding voltage vector direction of normal voltage vector that will determine as coordinate transform
Angle in the present embodiment, can first search the corresponding voltage vector direction of determining normal voltage vector, and the voltage that will be found
Direction vector is as the coordinate transform angle.
For that can pre-establish a mapping relations, include in the mapping relations convenient for searching the voltage vector direction
Therefore corresponding relationship between normal voltage vector sum voltage vector direction can search determining standard electric in mapping relations
Press the corresponding voltage vector direction of vector.
S30: the linear zone that the mapping curve concentrates each mapping curve is searched, the mapping curve collection includes different temperatures
Mapping curve under value, the mapping curve are the curve for reflecting delay time difference and current value corresponding relationship；
In the concrete realization, test of many times test can be carried out, to obtain mapping curve, the mapping curve is that reflection is prolonged
When time difference and current value corresponding relationship curve, but it is non-thread faster since there may be amplitudes of variation in the mapping curve
Property area, if choose current value be in inelastic region, since delay time difference gap is excessive, can make recognize resistance error mistake
Greatly, so, the lesser linear zone of amplitude of variation in mapping curve can be searched in the present embodiment.
It should be noted that delay time difference is the difference for turning off delay time with opening delay time, calculation formula
Δ t can be useddelay=tturn_off_delay-tturn_on_delay, wherein Δ tdelayIt is poor for delay time, tturn_off_delayFor shutdown
Delay time, tturn_on_delayTo open delay time.
It will be appreciated that the amplitude of variation due to the linear zone is usually relatively slow, so, tangent slope is usually smaller,
For convenient for searching the linear zone in the mapping curve, in the present embodiment, the tangent line that can obtain each point on the mapping curve is oblique
Rate determines the linear zone according to the tangent slope.
It is quickly searched to be realized to the linear zone, in the present embodiment, the point that tangent slope can be equal to default slope is made
For cut-point；The mapping curve is split according to the cut-point, obtains at least two cut sections；Judge each cut section
Be greater than the point of default slope with the presence or absence of tangent slope, using do not exist tangent slope be greater than default slope point cut section as
The linear zone.
It should be noted that there may be biggish current values in the linear zone determined in step S30, arrived if chosen
Big current value may be damaged permanent magnet synchronous motor, and or the component that is connect with permanent magnet synchronous motor motor of damage, be anti-
Only there is the problem, in the present embodiment, a settable predetermined current threshold, deleting is more than predetermined current threshold in the linear zone
The region of value.
It will be appreciated that can be configured by experience for the predetermined current threshold, it can also be according to multiple examination
It tests and is configured, but in view of different permanent magnet synchronous motors may have different resistance to current characteristics, therefore, in the present embodiment,
It can set the predetermined current threshold to the current maxima and the permanent magnet synchronous motor that the permanent magnet synchronous motor allows
The smaller value in current maxima that connected frequency converter allows.
S40: carrying out resistance identification based on the linear zone and coordinate transform angle, obtains the stator electricity of permanent magnet synchronous motor
Resistance；
It is recognized to be easy to implement resistance, in the present embodiment, current value can be chosen in the linear zone；By the electric current of selection
It is worth the direct-axis current value as injection permanent magnet synchronous motor, detects direct-axis voltage value corresponding with direct-axis current value；According to
The direct-axis current value and corresponding direct-axis voltage value calculate the stator resistance of the permanent magnet synchronous motor.
It should be noted that since the usual amplitude of variation of linear zone is smaller, current value is chosen in the linear zone
The resistance error of identification can be prevented excessive.
The mode randomly selected, the present embodiment pair can be used when it will be appreciated that choosing current value in the linear zone
This is without restriction.
It should be noted that quadrature axis is also q axis for permanent magnet synchronous motor, d-axis is also d axis, quadrature axis and d-axis
It is reference axis in essence, and not actual shaft, it is similar straight in order to obtain in permanent magnet synchronous motor control
The control characteristic of galvanic electricity machine, therefore a coordinate system is established on rotor, this coordinate system and rotor rotate synchronously, and take and turn
Sub- magnetic direction is d axis, is q axis perpendicular to rotor field direction, the mathematical model of motor is transformed under this coordinate system, can be real
The decoupling of existing d axis and q axis, thus the characteristic that is well controlled.
It will be appreciated that in order to offset the influence of delay time difference, so, need to carry out the injection of current value twice, because
This, chooses two different current values in the linear zone in the present embodiment, for convenient for being distinguished to the current value of selection,
The current value of selection can be divided into the first current value and the second current value.
Correspondingly, it is described using the current value of selection as injection permanent magnet synchronous motor direct-axis current value, detection with it is described
Direct-axis current is worth corresponding direct-axis voltage value, may particularly include:
Given electrical angle is set by the coordinate transform angle, using the first current value of selection as the first direct-axis current
Value carries out closed-loop control to the first direct-axis current value, when the feedback direct-axis current value and the first direct-axis current of closed-loop control
When being worth consistent, DC voltage value is obtained, and the DC voltage value that will acquire is as corresponding with the first direct-axis current value the
One direct-axis voltage value；
Given electrical angle is set by the coordinate transform angle, using the second current value of selection as the second direct-axis current
Value carries out closed-loop control to the second direct-axis current value, when the feedback direct-axis current value and the second direct-axis current of closed-loop control
When being worth consistent, DC voltage value is obtained, and the DC voltage value that will acquire is as corresponding with the second direct-axis current value the
Two direct-axis voltage values.
It will be appreciated that since closed-loop control is usually realized in such a way that feedback compares, so, it usually needs it is certain
Time can just make setting value (i.e. the first direct-axis current value or the second direct-axis current value) and value of feedback (i.e. feedback direct-axis current
Value) unanimously, but assume when setting value and value of feedback be not also consistent, i.e., acquisition DC voltage value, the resistance that will lead to identification miss
Difference is excessive, therefore, in the present embodiment, when setting value is consistent with value of feedback, just obtains DC voltage value.
In the concrete realization, for can be according to the direct-axis current value and correspondence convenient for improving computational efficiency, in the present embodiment
Direct-axis voltage value be calculate by the following formula the stator resistance of the permanent magnet synchronous motor,
Wherein, RsFor the stator resistance of the permanent magnet synchronous motor, Vd1For the first direct-axis voltage value, Vd2For the second d-axis electricity
Pressure value, id1For the first direct-axis current value, id2For the second direct-axis current value.
Specifically, when carrying out resistance identification, the waveform diagram of electric current and voltage can refer to Fig. 4, wherein i1Corresponding point is
It can be regarded as above-mentioned cut-point, imaxTo be above-mentioned predetermined current threshold.
S50: the present current value and current temperature value of motor inverter upper switch device are obtained, according to the current flow
Value and current temperature value use mapping curve collection to determine the corresponding current delay time difference；
It should be noted that the present current value is the electricity for flowing through motor bridge arm frequency converter upper switch pipe current time
Flow valuve, the current temperature value are the temperature value of motor inverter bridge arm upper switch pipe described in current time.
It will be appreciated that the present current value can be obtained in several ways, and such as: current sensor can be used
The present current value is obtained, current detecting chip can also be used to obtain the present current value, this is not added in the present embodiment
With limitation.
Equally, various ways can also be used to obtain the current temperature value, such as: temperature sensor can be used to obtain
Infrared radiation thermometer can also be used to obtain the current temperature value in the current value, and the present embodiment is without restriction to this.
S60: command voltage is corrected according to the current delay time difference；
S70: the stator magnetic linkage of the permanent magnet synchronous motor is calculated according to the command voltage after the stator resistance and correction.
The present embodiment is determining and described current straight by obtaining current d-axis angle locating for the rotor of permanent magnet synchronous motor
The immediate normal voltage vector of shaft angle degree, using the corresponding voltage vector direction of determining normal voltage vector as coordinate transform
Angle searches the linear zone that the mapping curve concentrates each mapping curve, is carried out based on the linear zone and coordinate transform angle
Resistance identification, obtains the stator resistance of permanent magnet synchronous motor, obtains the present current value of motor inverter upper switch device and works as
Preceding temperature value determines the corresponding current delay time difference using mapping curve according to the present current value and current temperature value,
Command voltage is corrected according to the current delay time difference, according to the command voltage meter after the stator resistance and correction
The stator magnetic linkage of the permanent magnet synchronous motor is calculated, so that the stator resistance and command voltage that use are more acurrate, to make stator magnet
Chain is more acurrate.
Further, as shown in figure 5, proposing permanent-magnetic synchronous motor stator flux observation side of the present invention based on first embodiment
Method second embodiment.
In the present embodiment, step S60 is specifically included:
S61: end voltage error is calculated according to the current delay time difference；
It will be appreciated that be three-phase variable frequency motor by motor in this present embodiment, and the frequency converter of three-phase variable frequency motor
Each phase can have bridge arm, and each bridge arm is respectively provided with upper switch pipe and lower switch pipe, so, for the bridge arm in each phase
Speech, is respectively provided with present current value, and mutually indepedent between the present current value of each phase, does not interfere with each other, therefore, each phase it is current
Above-mentioned formula can be respectively adopted according to the present current value of each phase and calculate the corresponding current delay time difference for current value, so, root
It, can be by delay time error converting at end voltage error, referring in particular to as follows according to voltagesecond product equal principle in a switch periods
Formula:
Wherein,ia
For the present current value of a phase, ibFor the present current value of b phase, icFor the present current value of c phase, Δ tdelay(ia) it is iaIt is corresponding
Current delay time difference, Δ tdelay(ib) it is ibCorresponding current delay time difference, Δ tdelay(ic) it is icCorresponding current delay
Time difference, tsFor the switch periods of the three-phase variable frequency motor, VdcFor DC bus-bar voltage, Δ vAN_delay(ia) be a phase end
Voltage error, Δ vBN_delay(ib) be b phase end voltage error, Δ vCN_delay(ic) be c phase end voltage error.
S62: the end voltage error is coordinately transformed, and obtains the voltage compensation value under alpha-beta coordinate system；
In the concrete realization, it can be coordinately transformed by following formula,
Wherein, Vα_compFor the voltage compensation value of α axis, Vβ_compFor the voltage compensation value of β axis.
S63: command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
It will be appreciated that command voltage can be corrected according to the voltage compensation value after obtaining voltage compensation value,
Details are not described herein.
It, can be according to the command voltage after the stator resistance and correction in step S70 for convenient for calculating the stator magnetic linkage
It is calculate by the following formula the stator magnetic linkage of the permanent magnet synchronous motor,
Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permanent magnet synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axis, iβFor the current value of β axis.
Further, as shown in fig. 6, proposing that permanent magnet synchronous motor of the present invention is fixed based on the first embodiment or the second embodiment
Sub- Flux Observation Method 3rd embodiment, Fig. 6 is for based on embodiment shown in Fig. 2.
In the present embodiment, step S50 is specifically included:
S50 ': the present current value and current temperature value of motor inverter upper switch device are obtained, according to the current electricity
Flow valuve and current temperature value use the linear zone to determine the corresponding current delay time difference.
It will be appreciated that due to the mapping curve concentrate each mapping curve all there may be amplitudes of variation it is non-thread faster
Property area, determines the current delay time difference according to inelastic region, the current delay time difference that will lead to acquisition not can guarantee
Therefore precision determines corresponding work as using the linear zone according to the present current value and current temperature value in the present embodiment
Preceding delay time is poor, to improve the acquisition precision of current delay time difference.
In the concrete realization, it can be searched directly in the linear zone and the present current value and current temperature value pair
The current delay time difference answered, but consider to obtain the efficiency of current delay time difference, it, can be from the mapping in the present embodiment
Two mapping curves are chosen in curve set, choose two reference points respectively from the linear zone of the mapping curve of selection, are obtained each
The reference current value of reference point, reference temperature value and poor with reference to delay time, according to the present current value, current temperature value,
Reference current value, reference temperature value and the reference delay time difference of each reference point determine the current delay time difference.
Referring to Fig. 7, according to experimental results can the computation delay time difference, according to calculated result it is found that delay time is poor
Rule with electric current, temperature change is shown in solid such as in Fig. 7, and the abscissa in figure is current value, and ordinate is that delay time is poor.
Blocked portion in Fig. 7 is the linear zone of the mapping curve, correspondingly, can be according to described in the present embodiment
Present current value, current temperature value, the reference current value of each reference point, reference temperature value and reference delay time difference pass through following formula
Determine the current delay time difference,
Wherein, t1(T)=t (i1,T2)-k1(T-T2)2, t2(T)=t (i2,T2)-k2(T-T2)2, k1=-[t (i1,T1)-t
(i1,T2)]/(T1-T2)2, k2=-[t (i2,T1)-t(i2,T2)]/(T1-T2)2, i is present current value, and T is current temperature value,
Δtdelay(i, T) is current delay time difference, t (i1,T1) it is reference current value i1, reference temperature value T1Corresponding reference delay
Time difference, t (i1,T2) it is reference current value i1, reference temperature value T2It is corresponding poor with reference to delay time, t (i2,T1) it is with reference to electricity
Flow valuve i2, reference temperature value T1It is corresponding poor with reference to delay time, t (i2,T2) it is reference current value i2, reference temperature value T2It is corresponding
Reference delay time it is poor.
It should be noted that the dotted line in Fig. 7 is according to above-mentioned formula to current value each in box and each temperature value point
The delay time for not calculating acquisition is poor, it will be understood that, the present current value and current temperature value needs are also required in institute
Stating just can be used above-mentioned formula and accurately calculates the current delay time difference in linear zone, if present current value and current temperature value are not located
In linear zone, then need to determine the current delay time difference using other modes, such as: by directly from the mapping curve
In carry out the modes such as corresponding lookup to determine, certainly, other modes also can be used, the present embodiment is without restriction to this.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with permanent-magnetic synchronous motor stator flux observation program, the permanent-magnetic synchronous motor stator flux observation program is by processor
Following operation is realized when execution:
Obtain current d-axis angle locating for the rotor of permanent magnet synchronous motor；
The determining and current immediate normal voltage vector of d-axis angle, determining normal voltage vector is corresponding
Voltage vector direction is as coordinate transform angle；
The linear zone that the mapping curve concentrates each mapping curve is searched, the mapping curve collection includes under different temperatures value
Mapping curve, the mapping curve be reflect delay time difference and current value corresponding relationship curve；
Resistance identification is carried out based on the linear zone and coordinate transform angle, obtains the stator resistance of permanent magnet synchronous motor；
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and
Current temperature value determines the corresponding current delay time difference using mapping curve collection；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permanent magnet synchronous motor is calculated according to the command voltage after the stator resistance and correction.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
End voltage error is calculated according to the current delay time difference；
The end voltage error is coordinately transformed, the voltage compensation value under alpha-beta coordinate system is obtained；
Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
The stator of the permanent magnet synchronous motor is calculate by the following formula according to the command voltage after the stator resistance and correction
Magnetic linkage,
Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permanent magnet synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axis, iβFor the current value of β axis.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and
Current temperature value determines the corresponding current delay time difference using the linear zone.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
It is concentrated from the mapping curve and chooses two mapping curves, chosen respectively from the linear zone of the mapping curve of selection
Two reference points, reference current value, reference temperature value and the reference delay time for obtaining each reference point are poor, according to the current electricity
Flow valuve, current temperature value, the reference current value of each reference point, reference temperature value and determining with reference to delay time difference described are currently prolonged
When the time difference.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
Current value is chosen in the linear zone；
Using the coordinate transform angle as given electrical angle, using the current value of selection as injection permanent magnet synchronous motor
Direct-axis current value detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permanent magnet synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
The tangent slope that the mapping curve concentrates every on each mapping curve is obtained respectively, it is true according to the tangent slope
The linear zone of fixed each mapping curve.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make:
The mapping curve concentrated to the mapping curve traverses, by tangent slope in the current mapping curve traversed
Equal to default slope point as cut-point；
The current mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is greater than the point of default slope with the presence or absence of tangent slope, there will not be not tangent slope greater than default
Linear zone of the cut section of the point of slope as the current mapping curve.
The present embodiment through the above scheme, by obtain permanent magnet synchronous motor rotor locating for current d-axis angle, really
The fixed and current immediate normal voltage vector of d-axis angle, by the determining corresponding voltage vector side of normal voltage vector
To as coordinate transform angle, the linear zone that the mapping curve concentrates each mapping curve is searched, is based on the linear zone and seat
Mark transformation angle carries out resistance identification, obtains the stator resistance of permanent magnet synchronous motor, obtains motor inverter upper switch device
Present current value and current temperature value determine corresponding work as using mapping curve according to the present current value and current temperature value
Preceding delay time is poor, is corrected according to the current delay time difference to command voltage, according to the stator resistance and correction
Command voltage afterwards calculates the stator magnetic linkage of the permanent magnet synchronous motor, so that the stator resistance and command voltage that use are more quasi-
Really, to keep stator magnetic linkage more acurrate.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of permanent-magnetic synchronous motor stator Flux Observation Method, which is characterized in that the described method comprises the following steps:
Obtain current d-axis angle locating for the rotor of permanent magnet synchronous motor；
The determining and current immediate normal voltage vector of d-axis angle, by the determining corresponding voltage of normal voltage vector
Direction vector is as coordinate transform angle；
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes that the mapping under different temperatures value is bent
Line, the mapping curve are the curve for reflecting delay time difference and current value corresponding relationship；
Resistance identification is carried out based on the linear zone and coordinate transform angle, obtains the stator resistance of permanent magnet synchronous motor；
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and currently
Temperature value determines the corresponding current delay time difference using mapping curve collection；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permanent magnet synchronous motor is calculated according to the command voltage after the stator resistance and correction；
Wherein, the delay time difference is the shutdown delay time of the switching device and the difference for opening delay time.
2. the method as described in claim 1, which is characterized in that it is described according to the current delay time difference to command voltage into
Row correction, specifically includes:
End voltage error is calculated according to the current delay time difference；
The end voltage error is coordinately transformed, the voltage compensation value under alpha-beta coordinate system is obtained；
Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
3. method according to claim 2, which is characterized in that passed through according to the command voltage after the stator resistance and correction
Following formula calculates the stator magnetic linkage of the permanent magnet synchronous motor,
Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permanent magnet synchronous motor, VαAnd VβFor the command voltage value after correction, Rs
For stator resistance, iαFor the current value of α axis, iβFor the current value of β axis.
4. method according to any one of claims 1 to 3, which is characterized in that the acquisition motor inverter upper switch device
The present current value and current temperature value of part, according to the present current value and current temperature value using determining pair of mapping curve collection
It the current delay time difference answered, specifically includes:
The present current value and current temperature value for obtaining motor inverter upper switch device, according to the present current value and currently
Temperature value determines the corresponding current delay time difference using the linear zone.
5. method as claimed in claim 4, which is characterized in that described to be used according to the present current value and current temperature value
The linear zone determines the corresponding current delay time difference, specifically includes:
It is concentrated from the mapping curve and chooses two mapping curves, choose two respectively from the linear zone of the mapping curve of selection
Reference point, reference current value, reference temperature value and the reference delay time for obtaining each reference point are poor, according to the current flow
Value, current temperature value, the reference current value of each reference point, reference temperature value and reference delay time difference determine the current delay
Time difference.
6. method according to any one of claims 1 to 3, which is characterized in that described based on the linear of the mapping curve
Area and coordinate transform angle carry out resistance identification, obtain the stator resistance of permanent magnet synchronous motor, specifically include:
Current value is chosen in the linear zone；
Using the coordinate transform angle as given electrical angle, using the current value of selection as the d-axis of injection permanent magnet synchronous motor
Current value detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permanent magnet synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
7. method according to any one of claims 1 to 3, which is characterized in that described to search the mapping curve concentration respectively
The linear zone of mapping curve, specifically includes:
The tangent slope that the mapping curve concentrates every on each mapping curve is obtained respectively, is determined according to the tangent slope each
The linear zone of mapping curve.
8. the method for claim 7, which is characterized in that the line for determining each mapping curve according to the tangent slope
Property area, specifically includes:
The mapping curve concentrated to the mapping curve traverses, and tangent slope in the current mapping curve traversed is equal to
The point of default slope is as cut-point；
The current mapping curve is split according to the cut-point, obtains at least two cut sections；
Judge that each cut section is greater than the point of default slope with the presence or absence of tangent slope, there will not be not tangent slope and be greater than default slope
Point linear zone of the cut section as the current mapping curve.
9. a kind of flux observer, which is characterized in that the flux observer includes: memory, processor and is stored in described
On memory and the permanent-magnetic synchronous motor stator flux observation program that can run on the processor, the permanent magnet synchronous motor
Stator flux observer program is arranged for carrying out permanent-magnetic synchronous motor stator magnetic linkage described in any item of the claim 1 to 8 such as and sees
The step of survey method.
10. a kind of computer readable storage medium, which is characterized in that it is same to be stored with permanent magnetism on the computer readable storage medium
It walks stator flux of motor and observes program, realize when the permanent-magnetic synchronous motor stator flux observation program is executed by processor as weighed
Benefit require any one of 1 to 8 described in permanent-magnetic synchronous motor stator Flux Observation Method the step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645507.6A CN107241045B (en) | 2017-07-31 | 2017-07-31 | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710645507.6A CN107241045B (en) | 2017-07-31 | 2017-07-31 | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107241045A CN107241045A (en) | 2017-10-10 |
| CN107241045B true CN107241045B (en) | 2019-09-13 |
Family
ID=59988463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710645507.6A Active CN107241045B (en) | 2017-07-31 | 2017-07-31 | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107241045B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109167545B (en) * | 2018-09-14 | 2022-02-18 | 新疆大学 | Permanent magnet synchronous generator flux linkage online identification method and system |
| CN113839605B (en) * | 2020-06-23 | 2024-03-15 | 苏州宝时得电动工具有限公司 | Motor rotation speed control method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101783646A (en) * | 2009-01-20 | 2010-07-21 | 上海电力学院 | Induction motor stator resistance and temperature parameter identifying method |
| CN102928672A (en) * | 2012-10-26 | 2013-02-13 | 南车株洲电力机车研究所有限公司 | Method for realizing resistance measurement of asynchronous motor fixed rotor |
| WO2013105187A1 (en) * | 2012-01-12 | 2013-07-18 | パナソニック株式会社 | Inverter control device |
| CN103731082A (en) * | 2014-01-03 | 2014-04-16 | 东南大学 | Stator flux linkage estimation method of permanent magnet synchronous motor based on direct torque control |
| CN106533295A (en) * | 2016-12-21 | 2017-03-22 | 阳光电源股份有限公司 | Method and device for position sensorless control of permanent magnet synchronous motor |
-
2017
- 2017-07-31 CN CN201710645507.6A patent/CN107241045B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101783646A (en) * | 2009-01-20 | 2010-07-21 | 上海电力学院 | Induction motor stator resistance and temperature parameter identifying method |
| WO2013105187A1 (en) * | 2012-01-12 | 2013-07-18 | パナソニック株式会社 | Inverter control device |
| CN102928672A (en) * | 2012-10-26 | 2013-02-13 | 南车株洲电力机车研究所有限公司 | Method for realizing resistance measurement of asynchronous motor fixed rotor |
| CN103731082A (en) * | 2014-01-03 | 2014-04-16 | 东南大学 | Stator flux linkage estimation method of permanent magnet synchronous motor based on direct torque control |
| CN106533295A (en) * | 2016-12-21 | 2017-03-22 | 阳光电源股份有限公司 | Method and device for position sensorless control of permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107241045A (en) | 2017-10-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Yang | Online turn fault detection of interior permanent-magnet machines using the pulsating-type voltage injection | |
| CN107248831B (en) | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium | |
| EP3014760B1 (en) | System and method of rotor time constant online identification in an ac induction machine | |
| EP3557755A1 (en) | Method for testing initial position angle of electric motor rotor | |
| CN106549620B (en) | A kind of Speed Sensorless Induction Motor vector control system low frequency processing method | |
| US9952259B2 (en) | Initial angle detection in stand still | |
| JP6011324B2 (en) | Rotating electrical machine control device | |
| CN107241045B (en) | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium | |
| CN107294457B (en) | Permanent-magnetic synchronous motor stator resistance discrimination method, motor driver and storage medium | |
| CN109526244A (en) | Motor module, controller for motor, temperature estimation rneans and temperature estimation method | |
| CN110729703A (en) | Locked rotor protection method based on FOC motor control and motor control device | |
| CN106602953B (en) | The verification method of induction electromotor rotor time constant based on field orientation accuracy | |
| JP2013172613A (en) | Motor control device and motor control method | |
| CN110165960B (en) | Method, system, computer device and medium for estimating deviation angle | |
| Chatterjee | A simple leakage inductance identification technique for three-phase induction machines under variable flux condition | |
| Khov et al. | On-line parameter estimation of PMSM in open loop and closed loop | |
| CN107294455B (en) | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium | |
| CN108521246A (en) | The method and device of permanent magnet synchronous motor single current sensor predictive current control | |
| CN107404269A (en) | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium | |
| CN107294454A (en) | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium | |
| CN107294456B (en) | Permanent magnet synchronous motor stator flux linkage observation method, flux linkage observer and storage medium | |
| CN105510825B (en) | A kind of asynchronous machine leakage inductance measuring method for eliminating non-linear factor | |
| Zhang et al. | Optimization of maximum torque output in the wide speed range of a PMSM traction control system | |
| CN105846749B (en) | The discrimination method and system of non-synchronous motor parameter | |
| CN107294458A (en) | Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium |
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 |