CN107276472A - Parameter of electric machine self-adapting regulation method, device, kinetic control system and unmanned plane - Google Patents
Parameter of electric machine self-adapting regulation method, device, kinetic control system and unmanned plane Download PDFInfo
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- CN107276472A CN107276472A CN201710502075.3A CN201710502075A CN107276472A CN 107276472 A CN107276472 A CN 107276472A CN 201710502075 A CN201710502075 A CN 201710502075A CN 107276472 A CN107276472 A CN 107276472A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
Abstract
The invention discloses a kind of parameter of electric machine self-adapting regulation method, device, kinetic control system and unmanned plane, this method includes：The electric motor starting control of setting is performed according to electric motor starting order；Obtain current rotating speed of the motor under electric motor starting control；Obtain the current duration for performing the electric motor starting control；When the current duration reaches the time threshold of setting but the current rotating speed is not up to setting speed, there is startup separator in diagnosis；According to there is the diagnostic result of startup separator, the stator inductance of measurement motor obtains the actual value of the stator inductance；The currency of the stator inductance is modified to the obtained actual value.
Description
Technical field
The present invention relates to Motor Control Field, more particularly it relates to a kind of parameter of electric machine self-adapting regulation method,
A kind of parameter of electric machine self-adapting adjusting apparatus, a kind of kinetic control system and a kind of unmanned plane.
Background technology
At present, for by battery powered electronic product, such as unmanned plane, cruising time is always insoluble ask
Topic, motor driving seriously governs cruising time as the main power consuming portions of this kind of electronic product, so improving motor driving
Operating efficiency there is very important realistic meaning.
With the further development of electric machines control technology, the appearance of Novel control algorithm is imitated to improving motor-driven work
Rate is made that important contribution, for example, magnetic field steering control (field-oriented control, FOC) control algolithm compared with
The operating efficiency of the square wave control algolithm used always in motor driving can improve more than 10%.However, FOC control algolithms are several
Learn the intensive algorithm of algorithm, motor control it is fine or not closely related with correct motor control model, here, due to stator resistance
Rs, stator inductance (including quadrature axis (q axles) inductance Lq and d-axis (d axles) inductance Ld), counter electromotive force Ke are to set up motor control mould
The important parameter of type, so the accuracy of these parameters using the Novel control such as FOC control algolithms algorithm for carrying out motor control
System is very important.
For motor, typically small about tens milliohms of above stator resistance Rs, stator inductance is also uH ranks.In reality
In the assembling product on border, due to the otherness of each product, such as difference in length of the phase terminal of motor three, the oxidation of contact,
The change of motor stator resistance and inductance parameters would generally be caused, so as to cause the currency and actual conditions of these parameters not
Symbol, wherein, the change of stator inductance easily causes the inaccurate of motor control model, and then motor bringing onto load difficulty in starting occurs
The problems such as.Therefore, be highly desirable to provide a kind of can carry out self-alignment scheme to the stator inductance of motor.
The content of the invention
One purpose of the embodiment of the present invention is to provide a kind of new technical scheme of motor control, to realize to motor
Stator inductance is adaptively adjusted.
According to the first aspect of the invention there is provided a kind of parameter of electric machine self-adapting regulation method, it includes：
The electric motor starting control of setting is performed according to electric motor starting order；
Obtain current rotating speed of the motor under electric motor starting control；
Obtain the current duration for performing the electric motor starting control；
When the current duration reaches the time threshold of setting but the current rotating speed is not up to setting speed, diagnosis
There is startup separator；
According to there is the diagnostic result of startup separator, the operation of the stator inductance of motor is measured, the stator is obtained
The actual value of inductance；
The currency of the stator inductance is modified to the obtained actual value.
Optionally, the electric motor starting control for performing setting according to electric motor starting order includes：
According to the electric motor starting order, opened loop control is first carried out；
When the execution opened loop control reaches setting time, current loop control is switched to by the opened loop control；
When the current rotating speed reaches the setting speed, speed ring control is switched to by the current loop control.
Optionally, the setting time is a power cycles, wherein, one power cycles are fixed for controlled motor
The direction of the space vector of voltage of son completes the time of a cycle change.
Optionally, the time threshold is less than or equal to 2 seconds.
Optionally, the operation of the stator inductance for measuring motor, obtains the actual value bag of the stator inductance
Include：
Constant space voltage vector is exported to motor according to the diagnostic result for startup separator occur, rotor is positioned
In d-axis position；
It is identical with the space voltage vector to motor output vector angle after rotor is positioned at into d-axis position
Pulse voltage vector, set up d-axis stator current；
According to the transformation period of the d-axis stator current, the reality for the d-axis inductance for obtaining the stator inductance is calculated
Value；
According to the phase relation or numerical relation of the d-axis inductance and the quadrature axis inductance, measurement obtains the stator
The actual value of the quadrature axis inductance of inductance.
According to the second aspect of the invention, a kind of parameter of electric machine self-adapting adjusting apparatus is additionally provided, it includes：
Start control module, the electric motor starting for performing setting according to electric motor starting order is controlled；
Rotating speed acquisition module, for obtaining current rotating speed of the motor under electric motor starting control；
Timing module, the current duration of the electric motor starting control is performed for obtaining；
Fault diagnosis module, for reaching that the time threshold but the current rotating speed of setting do not reach in the current duration
During to setting speed, there is startup separator in diagnosis；
Measurement module, for according to there is the diagnostic result of startup separator, measuring the operation of the stator inductance of motor,
Obtain the actual value of the stator inductance；And,
Adaptive adjusting module, for the currency of the stator inductance to be modified to the obtained actual value.
Optionally, the startup control module includes：
Opened loop control unit, for according to the electric motor starting order, first carrying out opened loop control；
Current loop control unit, for when the execution opened loop control reaches setting time, being cut by the opened loop control
Shift to current loop control；And,
Speed ring control unit, for when the current rotating speed reaches the setting speed, by the current loop control
Switch to speed ring control.
Optionally, the measurement module includes：
Rotor fixed position unit, is sweared for exporting constant space voltage to motor according to the diagnostic result for startup separator occur
Amount, d-axis position is positioned at by rotor；
Direct-axis current sets up unit, for after rotor is positioned at into d-axis position, to motor output vector angle
With the space voltage vector identical pulse voltage vector, d-axis stator current is set up；
D-axis inductance computing unit, for the transformation period according to the d-axis stator current, calculating obtains stator inductance
Actual value；And,
Quadrature axis inductance measurement unit, for the phase relation or numerical value according to the d-axis inductance and the quadrature axis inductance
Relation, measurement obtains the actual value of the quadrature axis inductance of the stator inductance.
According to the third aspect of the invention we, a kind of kinetic control system is additionally provided, it includes：
Signal output apparatus, for output motor control instruction；
Motor control assembly, including parameter of electric machine self-adapting adjusting apparatus according to a second aspect of the present invention；
Motor, the control signal exported according to the motor control assembly performs corresponding action.
According to the fourth aspect of the invention, a kind of unmanned plane is additionally provided, it includes fortune according to a third aspect of the present invention
Autocontrol system.
The beneficial effect of the present invention is that the present invention adds electric motor starting event in controlled motor start-up course
The detecting step of barrier, if detecting startup separator, will carry out the adaptive of stator inductance according to the measuring method of stator inductance
Should adjust, with after the adjustment can controlled motor normally start again.Therefore, the adaptive side of adjustment of the parameter of electric machine of the present invention is passed through
Method, device ensure that the accuracy of motor control model, and then raising is calculated using the mathematical algorithms such as FOC control algolithms intensity
Method carries out the reliability of motor control.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is the hardware architecture diagram of the motor control assembly according to the embodiment of the present invention；
Fig. 2 is the theory diagram of the kinetic control system according to the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the parameter of electric machine self-adapting regulation method according to the embodiment of the present invention；
Fig. 4 is a kind of schematic flow sheet of example of diagnosis startup separator in Fig. 3；
Fig. 5 is according to a kind of structural representation of example of motor inverter of the present invention；
The schematic diagram that Fig. 6 changes over time for electric current in electric motor starting control process；
Fig. 7 is the theory diagram of the parameter of electric machine self-adapting adjusting apparatus according to the embodiment of the present invention；
Fig. 8 is a kind of theory diagram of example of adaptive adjusting module in Fig. 7.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments does not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
<The hardware configuration of motor control assembly>
Fig. 1 shows a kind of motor control for being able to carry out parameter of electric machine self-adapting regulation method according to embodiments of the present invention
The hardware configuration of device processed.
As shown in figure 1, the motor control assembly of the embodiment includes memory 110 and processor 120.Memory 110 is used
In store instruction, the instruction is operated for control processor 120 is adaptively adjusted with performing according to the electrode parameter of the present invention
Adjusting method.Technical staff can instruct according to presently disclosed conceptual design.How control processor 120 is grasped for instruction
Make, this is it is known in the art that therefore being not described in detail herein.
Processor 120 can be central processor CPU, Micro-processor MCV etc..Memory 110 is for example (read-only including ROM
Memory), RAM (random access memory), the nonvolatile memory of hard disk etc..
As shown in figure 1, the motor control assembly of the embodiment can also include communicator 130, to pass through communicator
The signal that 130 reception signal output apparatus are sent, the signal is ceased and desisted order including electric motor starting order, speed governing order, motor.
The communicator 130 can be wire communication device, for example, universal asynchronous receiving-transmitting transmitter (Universal
Asynchronous Receiver/Transmitter, UART), I2C communication interfaces etc..
The communicator 130 can also be radio communication device, for example WIFI communicators, Bluetooth communication device, GSM moulds
Block, GPRS module, 3G module, 4G modules, WLAN module etc..
As shown in figure 1, the motor control assembly of the embodiment can also include attachment means 140, the attachment means 140 are used
In wiring carried out and between motor inverter, detection means (voltage check device and/or current sensing means) etc..
<Kinetic control system>
Fig. 2 shows the theory diagram of kinetic control system according to embodiments of the present invention.
As shown in Fig. 2 the kinetic control system of the embodiment include motor control assembly 210, signal output apparatus 220,
Motor 230 and detection means 240.
Signal output apparatus 220 is used to stop to the output motor of motor control assembly 210 startup order, speed governing order, motor
Only order etc. signal.The signal output apparatus 220 can include key circuit, so that operator passes through key circuit trigger signal
Output device 220 exports various signals to motor control assembly 210.
The signal output apparatus 220 can be by way of wired connection or the mode of wireless connection is filled to motor control
Put the various signals of 210 outputs.
The motor control assembly 210 be used to performing parameter of electric machine self-adapting regulation method according to embodiments of the present invention and
According to order actuating motor control operation received etc..Therefore, the motor control assembly 210 includes according to embodiments of the present invention
Parameter of electric machine self-adapting adjusting apparatus.
The motor control assembly 210 for example controls to grasp by the FOC control algolithms actuating motor based on motor control model
Make.
Motor 240 is, for example, brshless DC motor (Brushless Direct Current Motor, BLDCM), permanent magnetism
The three phase electric machines such as synchronous motor (permanent magnet synchronous motor, PMSM).
For DC brushless motor, permagnetic synchronous motor, the kinetic control system (does not show also including motor inverter in figure
Go out).
Fig. 5 shows the structural representation of an example of motor inverter.
According to Fig. 5, motor inverter has six switching tube Q1~Q6, wherein, switching tube Q1, Q3, Q5 are upper arm
Switching tube, switching tube Q2, Q4, Q6 are underarm switching tube.Motor control assembly 210 passes through according to certain six switches of sequential control
The conducting and cut-off of pipe carry out the running status (including startup, stopping, rotating speed, steering etc.) of controlled motor.
Detection means 240 includes current sensing means, speed detector etc..
Current sensing means is used for the stator current (or claiming bus current) for detecting motor, to realize the closed loop of electric current loop
Control.
The current sensing means such as electric current inductive reactance including being connected on bus.
Speed detector is used for the rotating speed for detecting rotor, to realize the closed-loop control of speed ring.
The speed detector is for example including the encoder on rotor.
Kinetic control system according to embodiments of the present invention can be used on arbitrary electronic product, to realize electronic product
Motion control, the electronic product is, for example, unmanned plane, robot etc..
For unmanned plane, above signal output apparatus 220 can be arranged in the remote control of unmanned plane or unmanned plane
In the control platform of ground.
The opposite control platform can be PC, notebook, tablet personal computer, mobile phone etc..
<Parameter of electric machine self-adapting regulation method>
Parameter of electric machine self-adapting regulation method of the present invention mainly includes two parts, and a part is diagnosis startup separator, separately
A part is that the adjustment of the parameter of electric machine (being specially stator inductance) is carried out after startup separator is diagnosed to be, so that motor control model
In the currency of stator inductance and the actual value of stator inductance match, and then ensure motor can normally start.
Fig. 3 shows the schematic flow sheet of parameter of electric machine self-adapting regulation method according to embodiments of the present invention.
According to Fig. 3, the parameter of electric machine self-adapting regulation method of the embodiment of the present invention comprises the following steps：
Step S310, is controlled according to the electric motor starting that electric motor starting order performs setting.
The electric motor starting control of the setting includes：Can according to the motor control algorithms of use, such as FOC control algolithms,
Electric motor starting control mode, electric motor starting control parameter etc. are set.
The setting that the setting can according to actual needs be carried out using default setting or user.
Electric motor starting control mode includes opened loop control, current loop control, one kind in speed ring control or combination, example
Such as first opened loop control current loop control again.
Current loop control is constant current controlling, is reached the purpose is to the stator current of controlled motor and stably in setting
Target current.
Speed ring control is constant speed control, reaches and stably turns in the target of setting the purpose is to controlled motor rotating speed
Speed.
Electric motor starting control parameter includes the target current of current loop control, the rotating speed of target of speed ring control, open loop control
Time of system etc..
Fig. 6 shown in the presence of the electric motor starting control according to one example of the present invention, stator current anaplasia at any time
The response curve of change.
The corresponding electric motor starting controls of Fig. 6 comprise the following steps：
Step S311, according to electric motor starting order, first carries out opened loop control.
Time period t 1 in step S311 corresponding diagrams 6, in this process, stator current will rapidly increase to larger electricity
Flow valuve i1.
Step S312, when execution opened loop control reaches setting time, current loop control is switched to by opened loop control.
The setting time is the t1 in Fig. 6.
The target current of current loop control is the current value i2 in Fig. 6.
Step S313, when current rotating speed reaches the initial speed of setting, speed ring control is switched to by current loop control.
The time span of current loop control is t2 in Fig. 6.
After speed ring control is switched to, stator current begins to decline and finally stablized to current value i3.
The initial speed is the rotating speed of target in electric motor starting stage.If being not received by outside after the completion of electric motor starting
The order of setting speed, then motor will be rotated with this initial speed, if receiving the order of external setting-up rotating speed, and motor will
It is issued to and stably in the external setting-up rotating speed in speed ring control.
Above setting time can be a power cycles.One power cycles is referred specifically to：The voltage of controlled motor stator
The direction of space vector completes the time of a cycle change.
By taking DC brushless motor, permagnetic synchronous motor as an example, a power cycles are represented to motor inversion as shown in Figure 5
Six switching tube Q1 of device~Q6 carries out the break-make control of a cycle, break-make control and corresponding blended space voltage vector
Relation is as shown in table 1 below.
Table 1：
In Figure 5, three-phase windings A, B, C of motor stator each correspond to a different upper arm switching tube and a difference
Underarm switching tube；DC+, DC- are the supply voltage of motor.
Step S320, obtains current rotating speed of the motor under electric motor starting control.
Obtained in the data that rotating speed can be provided from the speed detector of kinetic control system before deserving.
The speed detector is, for example, the encoder being arranged on rotor.
Step S330, obtains the current duration that actuating motor starts control.
The current duration represents that up to the present actuating motor starts the time span controlled.
Step S340, reaches the time threshold of setting in current duration but current rotating speed is not up to the initial speed of setting
When, there is startup separator in diagnosis.
The time threshold can be tested by substantial amounts of electric motor starting and obtained.
For example, being tested by electric motor starting, each normal startup motor is recorded required when rotating speed reaches initial speed
Time, and the selection time upper limit is used as the time threshold in the time of record.
The time threshold is, for example, less than or equal to 2 seconds.
Fig. 4 shows a specific example for implementing step S340.According to Fig. 4, step S340 can enter one
Step includes：
Step S341, after above-mentioned steps S320 and step S330 is performed, judges whether current rotating speed reaches setting
Initial speed, in this way, is then diagnosed as motor and normally starts, and now, motor can normally be transported under the control of motor control assembly
Turn；If not, performing step S342.
Step S342, judges whether current duration reaches the time threshold of setting, in this way, then performs step S343；It is such as no,
Step S320 and step S330 are then returned to, to continue to obtain current rotating speed and actuating motor of the motor under electric motor starting control
Start the current duration of control.
If being diagnosed to be startup separator according to step S342, illustrate working as the stator inductance set in motor control model
Preceding value is not inconsistent with actual value, it is necessary to be modified according to actual value, to realize the normal startup of motor.
There is startup separator in step S343, diagnosis.
Parameter of electric machine self-adapting regulation method according to embodiments of the present invention, is performed following after startup separator occurs in diagnosis
Step S360 to step S370.
Step S350, according to there is the diagnostic result of startup separator, measures the operation of the stator inductance of motor, obtains
The actual value of the stator inductance.
Step S350 may further include：
Step S351, according to there is the diagnostic result of startup separator, constant space voltage vector is exported to motor, by electricity
Machine rotor is positioned at d-axis (d axles) position, and step S352 is performed afterwards.
In this step, constant space (stator) voltage vector is exported, it means that the "on" position of stator winding is permanent
It is fixed constant.So, invariable magnetic field and rotor phase separation can be formed by motor stator, rotor fixed position is realized.
By the step, after motor status are stable, rotor will rotate into the position with the coincidence of current space voltage vector,
Namely d shaft positions now.
Still by taking DC brushless motor as an example, the constant space voltage vector is, for example, U1 in table 1.
After diagnosing motor startup separator, it can first stop being powered to motor stator, then perform step S361 to motor
The operation of the constant space voltage vector of output.
Step S352, to motor output vector angle and space voltage vector identical pulse voltage vector, sets up d-axis
(d axles) stator current.
In this step, the vector angle of pulse voltage vector is identical with space voltage vector, and explanation is opened to same group
Pipe (U1 is Q1, Q6 in corresponding table 1) output pwm control signal is closed, now, electronics rotor will not rotate, and produce the straight of change
Axle stator current.
It can be seen from DC brushless motor equivalent circuit, direct-axis voltage udEquation can be reduced to：
Wherein, R is stator resistance, idFor stator current, LdFor d-axis inductance, ω is the angular speed of rotor.
Due to now ω=0, above formula (1) can be reduced to：
Therefore, the current-responsive i (t) when being inputted for d shaft voltages is：
It can be calculated using the current-responsive curve of formula (2) and the stator resistance R measured in advance resistance and sampling
Obtain the actual value of d-axis inductance.
In formula (3)Current response during for stable state, i (t) is the stator current i of td, therefore, pass through formula
(3) the d-axis inductance L representeddRelation with stator resistance R is：
Ld=t0.632× R formula (4)；
Wherein, t0.632Time needed for when rising to 0.632 times of steady-state value for electric current.
The stator current that the steady-state value can be sampled by analyzing current sensing means is obtained, i.e. the sampled value of stator current
The stable numerical value in setting range of change.
Step S353, according to the transformation period of d-axis stator current, calculates the d-axis inductance L for obtaining stator inductancedReality
Actual value, performs step S364 afterwards.
In step S353, it can be calculated according to formula (4) and obtain d-axis inductance LdActual value.
Step S354, according to d-axis (d axles) inductance LdWith quadrature axis (q axles) inductance LqRelation, measurement obtain stator inductance
Quadrature axis inductance LqActual value.
The relation can be phase relation.Accordingly, 90 degree of phase relation is differed with quadrature axis according to d-axis, can surveyed
Go out d-axis inductance LdActual value after, continue quadrature axis direction (d axles add 90 °) apply pulse voltage vector with set up quadrature axis determine
Electron current, and according to the transformation period of quadrature axis stator current, the L for obtaining quadrature axis inductance is calculated with reference to formula (4)qActual value.
The mechanical time constant less than motor that the action time of the pulse voltage vector can be chosen, to ensure that motor turns
Son will not be rotated during the pulse voltage vector is acted on.
The relation can also be numerical relation.For example, BLDC/PMSM motors have d-axis inductance LdWith quadrature axis inductance LqPhase
Deng characteristic, so, d-axis inductance L can also determined according to formula (4)dAfterwards, it is directly equal according to numerical value therebetween
Numerical relation determine quadrature axis inductance LqActual value.
Step S360, the currency of stator inductance is modified to the actual value for calculating and obtaining.
Afterwards, motor just can be restarted, so that motor can normally start operating.
<Parameter of electric machine self-adapting adjusting apparatus>
Fig. 7 is the theory diagram of parameter of electric machine self-adapting adjusting apparatus according to embodiments of the present invention.
According to Fig. 7, the parameter of electric machine self-adapting adjusting apparatus of the embodiment includes starting control module 710, rotating speed
Acquisition module 720, timing module 730, fault diagnosis module 740, measurement module 750 and adaptive adjusting module 760.
The startup control module 710 is used to be controlled according to the electric motor starting that electric motor starting order performs setting.
The rotating speed acquisition module 720 is used to obtain current rotating speed of the motor under electric motor starting control.
The timing module 730 is used to obtain the current duration that actuating motor starts control.
The fault diagnosis module 740 is used to reach the time threshold of setting in current duration but current rotating speed is not up to and set
When determining rotating speed, there is startup separator in diagnosis.
The measurement module 750 is used for according to there is the diagnostic result of startup separator, measures the stator inductance of motor
Operation, obtains the actual value of the stator inductance.
The adaptive adjusting module 760 is used to the currency of stator inductance being modified to obtained actual value.
Start control module 710 above and may further include opened loop control unit, current loop control unit and speed ring
Control unit (not shown).The opened loop control unit is used to first carry out opened loop control according to electric motor starting order；The electric current
Ring control unit is used to, when execution opened loop control reaches setting time, current loop control is switched to by opened loop control.The speed
Ring control unit is used for when current rotating speed reaches setting speed, and speed ring control is switched to by current loop control.
As shown in figure 8, adaptive adjusting module 750 may further include rotor fixed position unit 751, direct-axis current above
Set up unit 752, d-axis inductance computing unit 753 and quadrature axis inductance measurement unit 754.
The rotor fixed position unit 751 is used to export constant space electricity to motor according to the diagnostic result for startup separator occur
Vector is pressed, rotor is positioned at d-axis position.
The direct-axis current, which sets up unit 752, to be used for after rotor is positioned at into d-axis position, to motor output vector
Angle and the space voltage vector identical pulse voltage vector, set up d-axis stator current.
The d-axis inductance computing unit 753 is used for the transformation period according to d-axis stator current, and calculating obtains stator inductance
Actual value.
The phase relation or numerical value that the quadrature axis inductance measurement unit 754 is used for according to d-axis inductance and quadrature axis inductance are closed
System, measurement obtains the actual value of the quadrature axis inductance of stator inductance.
It is well known by those skilled in the art that the development of the electronic information technology with such as large scale integrated circuit technology
With the trend of hardware and software, clearly to divide computer system soft and hardware boundary and seem relatively difficult.Because appointing
What operation can be realized with software, can also be realized by hardware.The execution of any instruction can be completed by hardware, equally also may be used
To be completed by software.Hardware implementations or software implement scheme are used for a certain machine function, depending on price, speed
The Non-technical factors such as degree, reliability, memory capacity, change cycle.Therefore, for the ordinary skill of electronic information technical field
For personnel, more it is direct and be explicitly described the mode of a technical scheme be describe the program in each operation.Knowing
In the case of road institute operation to be performed, those skilled in the art can directly be set based on the consideration to the Non-technical factor
Count out desired product.
The present invention can be system, method and/or computer program product.Computer program product can include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer-readable recording medium can keep and store to perform the tangible of the instruction that equipment is used by instruction
Equipment.Computer-readable recording medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer-readable recording medium
More specifically example (non exhaustive list) includes：Portable computer diskette, hard disk, random access memory (RAM), read-only deposit
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only storage (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
Be stored with instruction punch card or groove internal projection structure and above-mentioned any appropriate combination.It is used herein above to calculate
Machine readable storage medium storing program for executing is not construed as instantaneous signal in itself, the electromagnetic wave of such as radio wave or other Free propagations, logical
Cross the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer-readable recording medium each calculate/
Processing equipment, or outer computer is downloaded to or outer by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network can be transmitted, be wirelessly transferred including copper transmission cable, optical fiber, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For perform the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
Source code or object code that any combination is write, programming language of the programming language including object-oriented-such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions can perform fully on the user computer, partly perform on the user computer, as one solely
Vertical software kit is performed, part is performed or completely in remote computer on the remote computer on the user computer for part
Or performed on server.In the situation of remote computer is related to, remote computer can be by network-bag of any kind
LAN (LAN) or wide area network (WAN)-be connected to subscriber computer are included, or, it may be connected to outer computer is (such as sharp
With ISP come by Internet connection).In certain embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as PLD, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can perform computer-readable program instructions, so as to realize each side of the present invention
Face.
Referring herein to method according to embodiments of the present invention, device (system) and computer program product flow chart and/
Or block diagram describes various aspects of the invention.It should be appreciated that each square frame and flow chart of flow chart and/or block diagram and/
Or in block diagram each square frame combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special-purpose computer or other programmable datas
The processor of processing unit, so as to produce a kind of machine so that these instructions are passing through computer or other programmable datas
During the computing device of processing unit, work(specified in one or more of implementation process figure and/or block diagram square frame is generated
The device of energy/action.Can also be the storage of these computer-readable program instructions in a computer-readable storage medium, these refer to
Order causes computer, programmable data processing unit and/or other equipment to work in a specific way, so that, be stored with instruction
Computer-readable medium then includes a manufacture, and it is included in one or more of implementation process figure and/or block diagram square frame
The instruction of the various aspects of defined function/action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that perform series of operation steps on computer, other programmable data processing units or miscellaneous equipment, to produce
Raw computer implemented process, so that performed on computer, other programmable data processing units or miscellaneous equipment
Instruct function/action specified in one or more of implementation process figure and/or block diagram square frame.
Flow chart and block diagram in accompanying drawing show system, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction are used comprising one or more
In the executable instruction for realizing defined logic function.In some realizations as replacement, the function of being marked in square frame
Can be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially be held substantially in parallel
OK, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that block diagram and/or
The combination of each square frame in flow chart and the square frame in block diagram and/or flow chart, can use function as defined in execution or dynamic
The special hardware based system made is realized, or can be realized with the combination of specialized hardware and computer instruction.It is right
For those skilled in the art it is well known that, realized by hardware mode, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
Best explaining the principle of each embodiment, practical application or to the technological improvement in market, or making its of the art
Its those of ordinary skill is understood that each embodiment disclosed herein.The scope of the present invention is defined by the appended claims.
Claims (10)
1. a kind of parameter of electric machine self-adapting regulation method, it is characterised in that including：
The electric motor starting control of setting is performed according to electric motor starting order；
Obtain current rotating speed of the motor under electric motor starting control；
Obtain the current duration for performing the electric motor starting control；
When the current duration reaches the time threshold of setting but the current rotating speed is not up to setting speed, diagnosis occurs
Startup separator；
According to there is the diagnostic result of startup separator, the operation of the stator inductance of motor is measured, the stator inductance is obtained
Actual value；
The currency of the stator inductance is modified to the obtained actual value.
2. according to the method described in claim 1, it is characterised in that the motor for performing setting according to electric motor starting order is opened
Dynamic control includes：
According to the electric motor starting order, opened loop control is first carried out；
When the execution opened loop control reaches setting time, current loop control is switched to by the opened loop control；
When the current rotating speed reaches the setting speed, speed ring control is switched to by the current loop control.
3. method according to claim 2, it is characterised in that the setting time is a power cycles, wherein, it is described
One power cycles completes the time of a cycle change for the direction of the space vector of voltage of controlled motor stator.
4. according to the method described in claim 1, it is characterised in that the time threshold is less than or equal to 2 seconds.
5. method according to any one of claim 1 to 4, it is characterised in that the stator electricity for measuring motor
The operation of sense, obtaining the actual value of the stator inductance includes：
Constant space voltage vector is exported to motor according to the diagnostic result for startup separator occur, rotor is positioned at directly
Shaft position；
After rotor is positioned at into d-axis position, to motor output vector angle and the space voltage vector identical arteries and veins
Voltage vector is rushed, d-axis stator current is set up；
According to the transformation period of the d-axis stator current, the actual value for the d-axis inductance for obtaining the stator inductance is calculated；
According to the phase relation or numerical relation of the d-axis inductance and the quadrature axis inductance, measurement obtains the stator inductance
Quadrature axis inductance actual value.
6. a kind of parameter of electric machine self-adapting adjusting apparatus, it is characterised in that including：
Start control module, the electric motor starting for performing setting according to electric motor starting order is controlled；
Rotating speed acquisition module, for obtaining current rotating speed of the motor under electric motor starting control；
Timing module, the current duration of the electric motor starting control is performed for obtaining；
Fault diagnosis module, for reaching that the time threshold but the current rotating speed of setting are not up to and set in the current duration
When determining rotating speed, there is startup separator in diagnosis；
Measurement module, for according to there is the diagnostic result of startup separator, measuring the operation of the stator inductance of motor, obtaining
The actual value of the stator inductance；And,
Adaptive adjusting module, for the currency of the stator inductance to be modified to the obtained actual value.
7. device according to claim 6, it is characterised in that the startup control module includes：
Opened loop control unit, for according to the electric motor starting order, first carrying out opened loop control；
Current loop control unit, for when the execution opened loop control reaches setting time, being switched to by the opened loop control
Current loop control；And,
Speed ring control unit, for when the current rotating speed reaches the setting speed, being switched by the current loop control
To speed ring control.
8. device according to claim 7, it is characterised in that the measurement module includes：
Rotor fixed position unit, for constant space voltage vector to be exported to motor according to the diagnostic result for startup separator occur,
Rotor is positioned at d-axis position；
Direct-axis current sets up unit, for after rotor is positioned at into d-axis position, to motor output vector angle and institute
Space voltage vector identical pulse voltage vector is stated, d-axis stator current is set up；
D-axis inductance computing unit, for the transformation period according to the d-axis stator current, calculates the reality for obtaining stator inductance
Actual value；And,
Quadrature axis inductance measurement unit, is closed for the phase relation or numerical value according to the d-axis inductance and the quadrature axis inductance
System, measurement obtains the actual value of the quadrature axis inductance of the stator inductance.
9. a kind of kinetic control system, it is characterised in that including：
Signal output apparatus, for output motor control instruction；
Motor control assembly, including the parameter of electric machine self-adapting adjusting apparatus according to any one of claim 6 to 8；
Motor, the control signal exported according to the motor control assembly performs corresponding action.
10. a kind of unmanned plane, including the kinetic control system described in claim 9.
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| CN201710502075.3A CN107276472A (en) | 2017-06-27 | 2017-06-27 | Parameter of electric machine self-adapting regulation method, device, kinetic control system and unmanned plane |
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| CN110729925A (en) * | 2019-10-29 | 2020-01-24 | 大力电工襄阳股份有限公司 | Control method for high-voltage synchronous variable-frequency soft start device of blower in steel plant |
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