CN107248831A - 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
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- CN107248831A CN107248831A CN201710649321.8A CN201710649321A CN107248831A CN 107248831 A CN107248831 A CN 107248831A CN 201710649321 A CN201710649321 A CN 201710649321A CN 107248831 A CN107248831 A CN 107248831A
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- 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
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- 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
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- 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 medium.The present invention is by obtaining the current d-axis angle residing for the rotor of permagnetic synchronous motor, it is determined that with the current immediate normal voltage vector of d-axis angle, it regard the corresponding voltage vector direction of the normal voltage vector of determination as coordinate transform angle, resistance identification is carried out based on the coordinate transform angle, obtain the stator resistance of permagnetic synchronous motor, obtain the present current value and current temperature value of switching device in motor inverter, the corresponding current delay time difference is determined using mapping curve collection according to the present current value and current temperature value, command voltage is corrected according to the current delay time difference, the stator magnetic linkage of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction, so that the stator resistance and command voltage that use are more accurate, so that stator magnetic linkage is more accurate.
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 technology
Permagnetic synchronous motor has the advantages that efficiency high, power density are big, torque pulsation is small, speed-regulating range width, exists at present
The fields such as household electrical appliances, electric automobile, high ferro, Aero-Space 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 rate sensor not only increases cost,
Easily break down and fail in some severe operating mode medium velocity sensors, causing the reliability of motor speed regulation system reduces.Base
In above-mentioned reason, in recent years, Speed Sensorless Control Method turns into the focus that academia is studied, and this method need not install speed
Sensor is spent, velocity information can be estimated according only to motor mathematical model.Specifically, calculated first according to stator magnetic linkage
The angle of rotor flux, then further calculates the positional information and velocity information of rotor.Therefore, the standard of stator flux observer
Exactness directly determines the degree of accuracy of motor rotor position and velocity information, the precision of final influence motor control.
Conventional permanent-magnetic synchronous motor stator Flux Observation Method has two classes：One class is according to measured current and rotor-position
Angle, stator magnetic linkage is calculated based on the mathematical modeling under two-phase synchronous rotating frame (abbreviation d-q coordinate systems), claims current-mode
Type；Another kind of is voltage, the electric current according to actual measurement, based on the mathematical modeling under two-phase rest frame (abbreviation alpha-beta coordinate system)
Stator magnetic linkage is calculated, claims voltage model.Because the rotor position angle information that current model needs is not known generally, so electric current
Model can not be used alone, in engineering, and usual sampled voltage model estimates stator magnetic linkage.
Voltage model has three input quantities, is phase voltage, phase current, stator resistance respectively, and only three input quantities are all accurate
Really, the stator magnetic linkage of output is just accurate.In actual applications, the phase current of motor generally can be detected easily, and phase
Voltage is generally difficult to detection with stator resistance.Because increase phase voltage detection circuit can increase cost and reduce reliability, engineering
It is upper not detect phase voltage generally, and use the command value Approximate Equivalent of phase voltage.Stator resistance is in motor operation course with temperature
Degree changes and changed, it usually needs real-time on-line identification or periodic off-line identification, because on-line identification method generally compares
It is more complicated, generally use offline identification method in engineering.
However, in actual applications, the output voltage of inverter can be influenceed by switch non-linearity factor and be existed certain
Deviation.Because prior art does not account for the influence of switch non-linearity factor, there is deviation in the command value and actual value of phase voltage,
There is also deviation for resistance identification result.Therefore, prior art is calculated stator magnetic linkage is simultaneously inaccurate.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of permanent-magnetic synchronous motor stator resistance discrimination method, motor driver and
Storage medium, it is intended to solve the big technical problem of the resistance error that recognizes in the prior art.
To achieve the above object, the present invention provides a kind of permanent-magnetic synchronous motor stator Flux Observation Method, methods described bag
Include following steps：
Obtain the current d-axis angle residing for the rotor of permagnetic synchronous motor；
It is determined that with the current immediate normal voltage vector of d-axis angle, the normal voltage vector of determination is corresponding
Voltage vector direction is used as coordinate transform angle；
Resistance identification is carried out based on the coordinate transform angle, the stator resistance of permagnetic synchronous motor is obtained；
Obtain the present current value and current temperature value of switching device in motor inverter, according to the present current value and
Current temperature value determines the corresponding current delay time difference using mapping curve collection, and the mapping curve collection includes different temperatures value
Under mapping curve, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction.
Preferably, it is described that command voltage is corrected according to the current delay time difference, specifically include：
Terminal voltage error is calculated according to the current delay time difference；
The terminal voltage error is subjected to coordinate transform, 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 permagnetic synchronous motor is calculated by 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 permagnetic synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axles, iβFor the current value of β axles.
Preferably, the present current value and current temperature value for obtaining switching device in motor inverter, according to described
Present current value and current temperature value determine the corresponding current delay time difference using mapping curve collection, specifically include：
The present current value and current temperature value of switching device in motor inverter are obtained, mapping curve is searched and concentrates and respectively reflect
The linear zone of curve is penetrated, corresponding current delay is determined using the linear zone according to the present current value and current temperature value
Time difference.
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：
Concentrated from the mapping curve and choose two mapping curves, search the line that the mapping curve concentrates each mapping curve
Property area, choose two reference points respectively from the linear zone of the mapping curve of selection, obtain reference current value, the ginseng of each reference point
Examine temperature value and with reference to delay time it is poor, according to the present current 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.
Preferably, it is described to search the linear zone that the mapping curve concentrates each mapping curve, specifically include：
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, is specifically included：
The mapping curve that the mapping curve is concentrated is traveled through, by tangent slope in the current mapping curve traversed
Point equal to default slope is used as cut-point；
The current mapping curve is split according to the cut-point, at least two cut sections are obtained；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default
The cut section of the point of slope as the current mapping curve linear zone.
Preferably, it is described that resistance identification is carried out based on the coordinate transform angle, obtain the stator electricity of permagnetic synchronous motor
Resistance, is specifically included：
Using the coordinate transform angle as given electrical angle, pre-set current value is regard as the straight of injection permagnetic synchronous motor
Shaft current value, detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permagnetic synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
In addition, to achieve the above object, the present invention also provides a kind of motor driver, and the motor driver includes：Deposit
Reservoir, processor and it is stored in the dead area compensation program that can be run on the memory and on the processor, the dead band
The step of compensation program is arranged for carrying out described dead-zone compensation method.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable
Be stored with dead area compensation program on storage medium, and described dead area compensation is realized when the dead area compensation program is executed by processor
The step of method.
The present invention by obtaining the current d-axis angle residing for the rotor of permagnetic synchronous motor, it is determined that with the current d-axis
The immediate normal voltage vector of angle, regard the corresponding voltage vector direction of the normal voltage vector of determination as coordinate transform angle
Degree, resistance identification is carried out based on the coordinate transform angle, obtains the stator resistance of permagnetic synchronous motor, obtains motor inverter
The present current value and current temperature value of upper switching device, mapping curve is used according to the present current value and current temperature value
Collection determines the corresponding current delay time difference, command voltage is corrected according to the current delay time difference, according to described
Command voltage after stator resistance and correction calculates the stator magnetic linkage of the permagnetic synchronous motor so that the stator resistance of use and
Command voltage is more accurate, so that stator magnetic linkage is more accurate.
Brief description of the drawings
Fig. 1 is the flux observer structural representation for the hardware running environment that scheme of the embodiment of the present invention is related to；
Fig. 2 is the schematic flow sheet 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 oscillogram of electric current and voltage when Fig. 4 recognizes for resistance in the embodiment of the present invention；
Fig. 5 is the schematic flow sheet of permanent-magnetic synchronous motor stator Flux Observation Method second embodiment of the present invention；
Fig. 6 is the schematic flow sheet 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 rule schematic diagram of temperature change.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
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.
Reference picture 1, Fig. 1 is the motor driver structural representation for the hardware running environment that scheme of the embodiment of the present invention is related to
Figure.
As shown in figure 1, the motor driver can include：Processor 1001, such as CPU, communication bus 1002, Yong Hujie
Mouth 1003, memory 1004.Wherein, communication bus 1002 is used to realize the connection communication between these components.User interface
1003 can include display screen (Display), input block such as keyboard (Keyboard), and optional user interface 1003 can be with
Wireline interface, wave point including standard.Memory 1004 can be high-speed RAM memory or 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 the motor driver structure shown in Fig. 1 is not constituted to motor driver
Restriction, can include than illustrating more or less parts, either combine some parts or different parts arrangement.
As shown in figure 1, as operating system, Yong Hujie can be included in a kind of memory 1004 of computer-readable storage medium
Mouth mold block and permanent-magnetic synchronous motor stator Flux Observation Method.
In the motor driver shown in Fig. 1, the motor driver is called in memory 1004 by processor 1001
The permanent-magnetic synchronous motor stator Flux Observation Method of storage, and perform following operate：
Obtain the current d-axis angle residing for the rotor of permagnetic synchronous motor；
It is determined that with the current immediate normal voltage vector of d-axis angle, the normal voltage vector of determination is corresponding
Voltage vector direction is used as coordinate transform angle；
Resistance identification is carried out based on the coordinate transform angle, the stator resistance of permagnetic synchronous motor is obtained；
Obtain the present current value and current temperature value of switching device in motor inverter, according to the present current value and
Current temperature value determines the corresponding current delay time difference using mapping curve collection, and the mapping curve collection includes different temperatures value
Under mapping curve, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permagnetic 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
Method, also performs following operate：
Terminal voltage error is calculated according to the current delay time difference；
The terminal voltage error is subjected to coordinate transform, 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
Method, also performs following operate：
The stator of the permagnetic synchronous motor is calculated by 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 permagnetic synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axles, iβFor the current value of β axles.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Method, also performs following operate：
The present current value and current temperature value of switching device in motor inverter are obtained, mapping curve is searched and concentrates and respectively reflect
The linear zone of curve is penetrated, corresponding current delay is determined using the linear zone according to the present current value and current temperature value
Time difference.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Method, also performs following operate：
Concentrated from the mapping curve and choose two mapping curves, search the line that the mapping curve concentrates each mapping curve
Property area, choose two reference points respectively from the linear zone of the mapping curve of selection, obtain reference current value, the ginseng of each reference point
Examine temperature value and with reference to delay time it is poor, according to the present current 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.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Method, also performs following operate：
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
Method, also performs following operate：
The mapping curve that the mapping curve is concentrated is traveled through, by tangent slope in the current mapping curve traversed
Point equal to default slope is used as cut-point；
The current mapping curve is split according to the cut-point, at least two cut sections are obtained；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default
The cut section of the point of slope as the current mapping curve linear zone.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004
Method, also performs following operate：
Using the coordinate transform angle as given electrical angle, pre-set current value is regard as the straight of injection permagnetic synchronous motor
Shaft current value, detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permagnetic synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
The present embodiment is by such scheme, by obtaining the current d-axis angle residing for the rotor of permagnetic synchronous motor, really
The fixed and current immediate normal voltage vector of d-axis angle, by the corresponding voltage vector side of normal voltage vector of determination
To as coordinate transform angle, resistance identification is carried out based on the coordinate transform angle, the stator electricity of permagnetic synchronous motor is obtained
Resistance, obtains the present current value and current temperature value of switching device in motor inverter, according to the present current value and currently
Temperature value determines the corresponding current delay time difference using mapping curve collection, according to the current delay time difference to command voltage
It is corrected, the stator magnetic linkage of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction, is made
The stator resistance and command voltage that must be used are more accurate, so that stator magnetic linkage is more accurate.
Based on above-mentioned hardware configuration, permanent-magnetic synchronous motor stator Flux Observation Method embodiment of the present invention is proposed.
Reference picture 2, Fig. 2 illustrates for the flow of 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 comprises the following steps：
S10：Obtain the current d-axis angle residing for the rotor of permagnetic synchronous motor；
It should be noted that for permagnetic synchronous motor, quadrature axis is also q axles, d-axis is also d axles, quadrature axis and d-axis
It is reference axis in essence, and not actual rotating shaft, it is similar straight in order to obtain in permagnetic synchronous motor control
The control characteristic of motor is flowed, therefore a coordinate system, this coordinate system and rotor synchronous axial system are established on rotor, takes and turns
Sub- magnetic direction is d axles, is q axles perpendicular to rotor field direction, the mathematical modeling of motor is transformed under this coordinate system, can be real
The decoupling of existing d axles and q axles, so that 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 permagnetic synchronous motor is straight
Angle residing for axle.
S20：It is determined that with the current immediate normal voltage vector of d-axis angle, by the normal voltage vector pair of determination
The voltage vector direction answered is as coordinate transform angle；
It should be noted that reference picture 3, normal voltage vector generally has 8, it is respectively：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 specific implementation, " d " in Fig. 3 is current d-axis angle.
It will be appreciated that the degree of approximation that generally angle can reflect between two vectors, for ease of determining to work as 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 the standard of determination
The corresponding voltage vector direction of voltage vector is used as coordinate transform angle.
To be further easy to determine and the current immediate normal voltage vector of d-axis angle, in the present embodiment,
When being determined according to the angle of calculating with the immediate normal voltage vector of the current d-axis angle, the angle of calculating can be entered
Row compares, and the minimum normal voltage vector of angle is defined as and the current immediate normal voltage vector of d-axis angle.
Reference picture 3, θ1、θ2The respectively angle of motor rotor position and adjacent modular voltage vector, with θ1Less than θ2For
Example, now, can be by voltage vector U1(1 0 0) as with the current immediate normal voltage vector of d-axis angle, therefore,
Can be by the normal voltage vector U of determination10 ° of (1 0 0) corresponding voltage vector direction is used as coordinate transform angle.
It should be noted that for ease of regarding the corresponding voltage vector direction of the normal voltage vector of determination as coordinate transform
In angle, the present embodiment, the corresponding voltage vector direction of normal voltage vector of determination can be first searched, and by the voltage found
Direction vector is used as the coordinate transform angle.
For ease of searching the voltage vector direction, a mapping relations can be pre-established, the mapping relations include
Corresponding relation between normal voltage vector voltage vector direction, therefore, can search the standard electric of determination in mapping relations
Press the corresponding voltage vector direction of vector.
S30：Resistance identification is carried out based on the coordinate transform angle, the stator resistance of permagnetic synchronous motor is obtained；
, can be using the coordinate transform angle as given electrical angle in the present embodiment for ease of realizing that resistance is recognized, will be pre-
If current value is used as the direct-axis current value of injection permagnetic synchronous motor, detection and the corresponding direct-axis voltage of direct-axis current value
Value；The stator resistance of the permagnetic synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
It should be noted that for permagnetic synchronous motor, quadrature axis is also q axles, d-axis is also d axles, quadrature axis and d-axis
It is reference axis in essence, and not actual rotating shaft, it is similar straight in order to obtain in permagnetic synchronous motor control
The control characteristic of motor is flowed, therefore a coordinate system, this coordinate system and rotor synchronous axial system are established on rotor, takes and turns
Sub- magnetic direction is d axles, is q axles perpendicular to rotor field direction, the mathematical modeling of motor is transformed under this coordinate system, can be real
The decoupling of existing d axles and q axles, so that the characteristic that is well controlled.
It will be appreciated that the influence in order to offset delay time difference, so, it is necessary to carry out the injection of current value twice, because
This, can obtain two pre-set current values in the present embodiment, be made a distinction for ease of the pre-set current value to acquisition, can be by acquisition
Pre-set current value is divided into the first pre-set current value and the second pre-set current value.
Correspondingly, it is described using the coordinate transform angle as given electrical angle, pre-set current value is used as to injection permanent magnetism
The direct-axis current value of synchronous motor, detects direct-axis voltage value corresponding with direct-axis current value, may particularly include：
Using the coordinate transform angle as given electrical angle, using the first pre-set current value as the first direct-axis current value,
Closed-loop control is carried out to the first direct-axis current value, when feedback direct-axis current value and the first direct-axis current value one of closed-loop control
During cause, DC voltage value is obtained, and using the DC voltage value of acquisition as straight with the first direct-axis current value corresponding first
Shaft voltage value；
Using the coordinate transform angle as given electrical angle, using the second pre-set current value as the second direct-axis current value,
Closed-loop control is carried out to the second direct-axis current value, when feedback direct-axis current value and the second direct-axis current value one of closed-loop control
During cause, DC voltage value is obtained, and using the DC voltage value of acquisition as straight with the second direct-axis current value corresponding second
Shaft voltage value.
It will be appreciated that realized due to closed-loop control typically using feedback ratio compared with by the way of, so, it usually needs it is certain
Time setting value (i.e. the first direct-axis current value or the second direct-axis current value) and value of feedback (is fed back direct-axis current
Value) unanimously, but assume when setting value and value of feedback be not also consistent, that is, to gather DC voltage value, the resistance of identification can be caused to miss
Difference is excessive, therefore, in the present embodiment, when setting value is consistent with value of feedback, just obtains DC voltage value.
, can according to the direct-axis current value and correspondingly in the present embodiment in the specific implementation, for ease of improving computational efficiency
Direct-axis voltage value the stator resistance of the permagnetic synchronous motor is calculated by following formula,
Wherein, RsFor the stator resistance of the permagnetic 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 oscillogram of electric current and voltage can refer to Fig. 4.
S40：The present current value and current temperature value of switching device in motor inverter are obtained, according to the current flow
Value and current temperature value determine the corresponding current delay time difference using mapping curve collection, and the mapping curve collection includes not equality of temperature
Mapping curve under angle value, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
It should be noted that delay time difference is shut-off delay time and the difference for 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 shut-off
Delay time, tturn_on_delayTo open delay time.
It should be noted that the present current value is the electricity for flowing through switching tube on motor inverter bridge arm current time
Flow valuve, the current temperature value is the temperature value of switching tube on motor inverter bridge arm described in current time.
It will be appreciated that the present current value can be obtained, such as in several ways：Can using current sensor come
The present current value is obtained, the present current value can be also obtained using current detecting chip, the present embodiment is not added with to this
To limit.
Equally, the current temperature value can be also obtained using various ways, for example：It can be obtained using temperature sensor
The current value, can also obtain the current temperature value using infrared radiation thermometer, and the present embodiment is not any limitation as to this.
S50：Command voltage is corrected according to the current delay time difference；
S60：The stator magnetic linkage of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction.
The present embodiment by obtaining the current d-axis angle residing for the rotor of permagnetic synchronous motor, it is determined that with it is described current straight
The immediate normal voltage vector of shaft angle degree, regard the corresponding voltage vector direction of the normal voltage vector of determination as coordinate transform
Angle, resistance identification is carried out based on the coordinate transform angle, obtains the stator resistance of permagnetic synchronous motor, obtains motor frequency conversion
The present current value and current temperature value of switching device on device, it is bent using mapping according to the present current value and current temperature value
Line collection determines the corresponding current delay time difference, command voltage is corrected according to the current delay time difference, according to institute
State the stator magnetic linkage that the command voltage after stator resistance and correction calculates the permagnetic synchronous motor so that the stator resistance of use
And command voltage is more accurate, so that stator magnetic linkage is more accurate.
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 S50 is specifically included：
S51：Terminal voltage error is calculated according to the current delay time difference；
It will be appreciated that because the motor in the present embodiment is three-phase variable frequency motor, and the frequency converter of three-phase variable frequency motor
Each phase can have bridge arm, and each bridge arm has upper switching tube and lower switching tube respectively, so, for the bridge arm in each phase
Speech, respectively with present current value, and separate 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
, can be by delay time error converting into terminal 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 phases, ibFor the present current value of b phases, icFor the present current value of c phases, 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 phases end
Voltage error, Δ vBN_delay(ib) be b phases terminal voltage error, Δ vCN_delay(ic) be c phases terminal voltage error.
S52：The terminal voltage error is subjected to coordinate transform, the voltage compensation value under alpha-beta coordinate system is obtained；
In the specific implementation, can by following formula carry out coordinate transform,
Wherein, Vα_compFor the voltage compensation value of α axles, Vβ_compFor the voltage compensation value of β axles.
S53：Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
It will be appreciated that obtaining after voltage compensation value, you can command voltage is corrected according to the voltage compensation value,
It will not be repeated here.
, can be according to the command voltage after the stator resistance and correction for ease of calculating in the stator magnetic linkage, step S70
The stator magnetic linkage of the permagnetic synchronous motor is calculated by following formula,
Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permagnetic synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axles, iβFor the current value of β axles.
Further, as shown in fig. 6, proposing that permagnetic synchronous motor of the present invention is determined based on first embodiment or second embodiment
Sub- Flux Observation Method 3rd embodiment, Fig. 6 is exemplified by based on the embodiment shown in Fig. 2.
In the present embodiment, step S40 is specifically included：
S40’：The present current value and current temperature value of switching device in motor inverter are obtained, mapping curve collection is searched
In each mapping curve linear zone, corresponding work as, is determined using the linear zone according to the present current value and current temperature value
Preceding delay time is poor.
In the specific implementation, test of many times test can be carried out, so as to obtain mapping curve collection, the mapping curve collection includes
Mapping curve under different temperatures value, the mapping curve is the poor curve with current value corresponding relation of reflection delay time, but
Due to there may be the faster inelastic region of amplitude of variation in each mapping curve, if the current value chosen is in inelastic region,
Because the poor gap of delay time is excessive, the resistance error of identification can be made excessive, so, each mapping curve can be searched in the present embodiment
The middle less linear zone of amplitude of variation.
It should be noted that because the amplitude of variation of the linear zone is generally relatively slow, so, its tangent slope generally compared with
It is small, for ease of searching in the linear zone that the mapping curve concentrates each mapping curve, the present embodiment, the mapping can be obtained respectively
The tangent slope of every on each mapping curve, the linear zone of each mapping curve is determined according to the tangent slope in curve set.
To be realized to the linear zone in quick lookup, the present embodiment, the mapping curve that the mapping curve can be concentrated
Traveled through, the point that tangent slope in the current mapping curve traversed is equal to default slope is used as cut-point；Described it will work as
Preceding mapping curve is split according to the cut-point, obtains at least two cut sections；Judge that each cut section whether there is tangent line
Slope is more than the point of default slope, regard the cut section that not there is no the point that tangent slope is more than default slope as the current mapping
The linear zone of curve.
It should be noted that there may be larger current value in the linear zone determined in step S40 ', arrived if chosen
Excessive current value may damage permagnetic synchronous motor, and or damage part with permagnetic synchronous motor motor connection, be
Prevent in the problem, the present embodiment, a predetermined current threshold can be set, delete and exceed predetermined current in the linear zone
The region of threshold value.
It will be appreciated that for the predetermined current threshold, can be configured by experience, also can be according to multiple examination
Test and be configured, but there may be different resistance to current characteristics in view of different permagnetic synchronous motors, therefore, in the present embodiment,
The predetermined current threshold can be set to current maxima and the permagnetic synchronous motor that the permagnetic synchronous motor allows
Smaller value in the current maxima that institute's connection frequency converter allows.
It will be appreciated that because the mapping curve concentrates each mapping curve all to there may be the faster non-thread of amplitude of variation
Property area, determine the current delay time difference according to inelastic region, can cause obtain the current delay time difference can not ensure
Precision, therefore, corresponding work as is determined in the present embodiment according to the present current value and current temperature value using the linear zone
Preceding delay time is poor, so as to improve the acquisition precision of current delay time difference.
In the specific implementation, 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 in the efficiency of current delay time difference, the present embodiment, can be from the mapping
Two mapping curves are chosen in curve set, two reference points are chosen respectively from the linear zone of the mapping curve of selection, obtain 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.
Reference picture 7, according to experimental results can the computation delay time difference, it can be seen from result of calculation, delay time is poor
With shown in solid in electric current, the rule of temperature change such as Fig. 7, 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, in the present embodiment, can be according to described
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
The current delay time difference is determined,
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 T2Corresponding reference delay time is poor, t (i2,T1) it is with reference to electricity
Flow valuve i2, reference temperature value T1Corresponding reference delay time is poor, t (i2,T2) it is reference current value i2, reference temperature value T2Correspondence
Reference delay time it is poor.
It should be noted that the dotted line in Fig. 7 is to each current value in square frame and each temperature value point according to above-mentioned formula
The delay time for not calculating acquisition is poor, it will be understood that, the present current value and current temperature value need to be also required to be in institute
State in linear zone just can accurately calculate the current delay time difference using above-mentioned formula, 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, for example：By directly from the mapping curve
It is middle to carry out the modes such as correspondence lookup to determine, certainly, other modes can be also used, the present embodiment is not any limitation as to this.
In addition, the embodiment of the present invention also proposes a kind of computer-readable recording medium, the computer-readable recording 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 during execution：
Obtain the current d-axis angle residing for the rotor of permagnetic synchronous motor；
It is determined that with the current immediate normal voltage vector of d-axis angle, the normal voltage vector of determination is corresponding
Voltage vector direction is used as coordinate transform angle；
Resistance identification is carried out based on the coordinate transform angle, the stator resistance of permagnetic synchronous motor is obtained；
Obtain the present current value and current temperature value of switching device in motor inverter, according to the present current value and
Current temperature value determines the corresponding current delay time difference using mapping curve collection, and the mapping curve collection includes different temperatures value
Under mapping curve, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permagnetic 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：
Terminal voltage error is calculated according to the current delay time difference；
The terminal voltage error is subjected to coordinate transform, 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 permagnetic synchronous motor is calculated by 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 permagnetic synchronous motor, VαAnd VβFor the command voltage after correction
Value, RsFor stator resistance, iαFor the current value of α axles, iβFor the current value of β axles.
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 of switching device in motor inverter are obtained, mapping curve is searched and concentrates and respectively reflect
The linear zone of curve is penetrated, corresponding current delay is determined using the linear zone according to the present current value and current temperature value
Time difference.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make：
Concentrated from the mapping curve and choose two mapping curves, search the line that the mapping curve concentrates each mapping curve
Property area, choose two reference points respectively from the linear zone of the mapping curve of selection, obtain reference current value, the ginseng of each reference point
Examine temperature value and with reference to delay time it is poor, according to the present current 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.
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 that the mapping curve is concentrated is traveled through, by tangent slope in the current mapping curve traversed
Point equal to default slope is used as cut-point；
The current mapping curve is split according to the cut-point, at least two cut sections are obtained；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default
The cut section of the point of slope as the current mapping curve linear zone.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor
Make：
Using the coordinate transform angle as given electrical angle, pre-set current value is regard as the straight of injection permagnetic synchronous motor
Shaft current value, detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permagnetic synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
The present embodiment is by such scheme, by obtaining the current d-axis angle residing for the rotor of permagnetic synchronous motor, really
The fixed and current immediate normal voltage vector of d-axis angle, by the corresponding voltage vector side of normal voltage vector of determination
To as coordinate transform angle, resistance identification is carried out based on the coordinate transform angle, the stator electricity of permagnetic synchronous motor is obtained
Resistance, obtains the present current value and current temperature value of switching device in motor inverter, according to the present current value and currently
Temperature value determines the corresponding current delay time difference using mapping curve collection, according to the current delay time difference to command voltage
It is corrected, the stator magnetic linkage of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction, is made
The stator resistance and command voltage that must be used are more accurate, so that stator magnetic linkage is more accurate.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property is included, so that process, method, article or system including a series of key elements not only include those key elements, and
And also including other key elements being not expressly set out, or also include for this process, method, article or system institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there is other identical element in process, method, article or the system of key element.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Understood based on such, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal equipment (can be mobile phone,
Computer, server, air conditioner, or network equipment etc.) perform method described in each of the invention embodiment.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related 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, it is characterised in that the described method comprises the following steps：
Obtain the current d-axis angle residing for the rotor of permagnetic synchronous motor；
It is determined that with the current immediate normal voltage vector of d-axis angle, by the corresponding voltage of normal voltage vector of determination
Direction vector is used as coordinate transform angle；
Resistance identification is carried out based on the coordinate transform angle, the stator resistance of permagnetic synchronous motor is obtained；
The present current value and current temperature value of switching device in motor inverter are obtained, according to the present current value and currently
Temperature value determines the corresponding current delay time difference using mapping curve collection, and the mapping curve collection is included under different temperatures value
Mapping curve, the mapping curve is reflection delay time difference and the curve of current value corresponding relation；
Command voltage is corrected according to the current delay time difference；
The stator magnetic linkage of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction.
2. the method as described in claim 1, it is characterised in that described to be entered according to the current delay time difference to command voltage
Row correction, is specifically included：
Terminal voltage error is calculated according to the current delay time difference；
The terminal voltage error is subjected to coordinate transform, 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 as claimed in claim 2, it is characterised in that passed through according to the command voltage after the stator resistance and correction
Following formula calculates the stator magnetic linkage of the permagnetic synchronous motor,
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Wherein, ψα_estAnd ψβ_estFor the stator magnetic linkage of the permagnetic synchronous motor, VαAnd VβFor the command voltage value after correction, Rs
For stator resistance, iαFor the current value of α axles, iβFor the current value of β axles.
4. such as method according to any one of claims 1 to 3, it is characterised in that derailing switch in the acquisition motor inverter
The present current value and current temperature value of part, according to the present current value and current temperature value using the determination pair of mapping curve collection
The current delay time difference answered, specifically include：
The present current value and current temperature value of switching device in motor inverter are obtained, mapping curve is searched and concentrates each mapping bent
The linear zone of line, the corresponding current delay time is determined according to the present current value and current temperature value using the linear zone
Difference.
5. method as claimed in claim 4, it is characterised 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：
Concentrated from the mapping curve and choose two mapping curves, searched the mapping curve and concentrate the linear of each mapping curve
Area, chooses two reference points respectively from the linear zone of the mapping curve of selection, obtains reference current value, the reference of each reference point
Temperature value and reference delay time are poor, according to the present current value, current temperature value, the reference current value of each reference point, ginseng
Examine temperature value and determine the current delay time difference with reference to delay time difference.
6. method as claimed in claim 5, it is characterised in that the lookup mapping curve concentrates the line of each mapping curve
Property area, is specifically included：
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.
7. method as claimed in claim 6, it is characterised in that the line that each mapping curve is determined according to the tangent slope
Property area, is specifically included：
The mapping curve that the mapping curve is concentrated is traveled through, tangent slope in the current mapping curve traversed is equal to
The point of default slope is used as cut-point；
The current mapping curve is split according to the cut-point, at least two cut sections are obtained；
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope and be more than default slope
Point cut section as the current mapping curve linear zone.
8. such as method according to any one of claims 1 to 3, it is characterised in that described to be entered based on the coordinate transform angle
Row resistance is recognized, and is obtained the stator resistance of permagnetic synchronous motor, is specifically included：
It is using the coordinate transform angle as given electrical angle, the d-axis of pre-set current value as injection permagnetic synchronous motor is electric
Flow valuve, detects direct-axis voltage value corresponding with direct-axis current value；
The stator resistance of the permagnetic synchronous motor is calculated according to the direct-axis current value and corresponding direct-axis voltage value.
9. a kind of motor driver, it is characterised in that the motor driver includes：Memory, processor and it is stored in described
On memory and the dead area compensation program that can run on the processor, the dead area compensation program is arranged for carrying out such as right
It is required that the step of dead-zone compensation method any one of 1 to 8.
10. a kind of computer-readable recording medium, it is characterised in that be stored with dead band benefit on the computer-readable recording medium
Program is repaid, the dead area compensation as any one of claim 1 to 8 is realized when the dead area compensation program is executed by processor
The step of method.
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| WO2020192102A1 (en) * | 2019-03-27 | 2020-10-01 | 南京埃斯顿自动化股份有限公司 | Stator flux linkage matrix extraction method for permanent magnet synchronous electric motor and application thereof |
| CN113014168A (en) * | 2021-02-09 | 2021-06-22 | 珠海格力电器股份有限公司 | Permanent magnet synchronous motor stator resistance correction method and device, storage medium and motor |
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