CN107294450A - Over Electric Motor with PMSM demagnetization online test method - Google Patents

Over Electric Motor with PMSM demagnetization online test method Download PDF

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Publication number
CN107294450A
CN107294450A CN201710620376.6A CN201710620376A CN107294450A CN 107294450 A CN107294450 A CN 107294450A CN 201710620376 A CN201710620376 A CN 201710620376A CN 107294450 A CN107294450 A CN 107294450A
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CN
China
Prior art keywords
permanent magnet
flux linkage
rotating speed
control unit
magnet flux
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Application number
CN201710620376.6A
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Chinese (zh)
Inventor
文彦东
刘志强
郭璐璐
张颖
暴杰
胡晶
赵慧超
王飞
李帅
胡波
黄智昊
刘晓录
刘金峰
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FAW Group Corp
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FAW Group Corp
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Priority to CN201710620376.6A priority Critical patent/CN107294450A/en
Publication of CN107294450A publication Critical patent/CN107294450A/en
Pending legal-status Critical Current

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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
    • 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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors

Abstract

The present invention relates to a kind of Over Electric Motor with PMSM demagnetization online test method, it is characterised in that：Described full-vehicle control unit is used to send the instruction of active fault control to active fault control unit according to vehicle mode of operation；The tach signal that the instruction of active fault control that described active fault control unit is sent according to full-vehicle control unit and position and rotating speed processing unit are exported judges whether to implement active fault control, when the active fault control instruction that full-vehicle control unit is exported is and electromechanics rotating speed exceedes flex point rotating speed g, in the case where two conditions are set up, actively short-circuit pwm signal, to inverse switch circuit, actively short-circuit pwm signal is not exported if being unsatisfactory for condition for output；A kind of Over Electric Motor with PMSM demagnetization online test method is provided, this method considers temperature（Especially under high temperature）The influence demagnetized to permagnetic synchronous motor, while can monitor permanent magnet health status on-line by active short circuit current measurement, improves accuracy of detection.

Description

Over Electric Motor with PMSM demagnetization online test method
Technical field
The present invention relates to a kind of Over Electric Motor with PMSM demagnetization online test method, belong to drive and control of electric machine Technical field.
Background technology
New-energy automobile is generally that, by multiple power source drive vehicles, power source includes motor and engine etc., Motor both can drive or be operated alone simultaneously the various vehicle mode of operations of completion with engine.Permanent magnet synchronous electric used for electric vehicle The operating ambient temperature range of machine will cause rotor temperature rise to exceed permission all between -40 DEG C to 150 DEG C due to working long hours Threshold value, cause permanent demagnetization.In addition, running at high speed needs weak magnetic control, the magnetic field cancellation part that weak magnetoelectricity stream is produced is forever The magnetic field of magnet in itself, reduces the permanent magnet flux linkage of synthesis, reaches the purpose of weak magnetism speed expansion, still, weak magnetoelectricity stream it is excessive or Under person's out-of-control condition, it is also possible to cause permanent magnet portion to demagnetize or permanent demagnetization.To avoid automobile permanent magnet synchronous motor rotor Permanent magnet demagnetizes, and following patent proposes demagnetization detection method：
Application number 201210482964.5 discloses one kind《Permanent magnet detection method》, this method utilization Host computer given rotating speed, controlled motor is run to stable state, is continuously increased current value, and the torque that observation dynamometer machine is measured is No corresponding increase, it is preliminary judge permanent-magnetic synchronous motor rotor whether loss of excitation, may be in the case of loss of excitation, controlled motor is unloaded to transport After row to stable state, constantly reduce current value, each phase voltage of motor and empty load of motor counter electromotive force that observation dynamometer machine is measured Between nominal data difference it is whether excessive, determine permagnetic synchronous motor whether rotor loss of excitation.This method does not consider permanent magnetism temperature Torque exported influenceed, and rely on lot of experimental data, the precision in practical application is not high.
Application number 201310378729.8 is disclosed《A kind of permagnetic synchronous motor loss of excitation fault diagnosis based on dead electricity residual voltage Method》, the voltage transient signal of any phase of motor dead electricity moment stator terminal is gathered first；Interception is lost certainly from voltage transient signal Dead electricity residual voltage waveform from the electric moment, the preliminary possibility for judging to occur demagnetization failure；Dead electricity residual voltage to interception carries out frequency spectrum Conversion, determines fundametal compoment amplitude；Determine the ratio as fault signature of fundametal compoment amplitude and motor speed；Set failure pre- Alert threshold values, the ratio of the fault signature and fault pre-alarming threshold values is fault compression；Judged whether according to fault compression Demagnetization failure.The Hall type voltage sensor that this method needs increase extra adds cost, while to that need to enter to dead electricity residual voltage Line frequency analysis of spectrum is, it is necessary to which a large amount of computings, are unsuitable for on-line checking demagnetization.
In summary, above demagnetization detection method does not consider the influence or computationally intensive and be unsuitable for online of permanent magnetism temperature Detection.
The content of the invention
The purpose of the present invention is that there is provided a kind of permanent magnet synchronous electric used for electric vehicle for above-mentioned the deficiencies in the prior art Machine demagnetization online test method, this method considers temperature（Especially under high temperature）The influence demagnetized to permagnetic synchronous motor, together When permanent magnet health status can be monitored on-line by active short circuit current measurement, improve accuracy of detection.
The present invention is achieved by the following technical solutions：
A kind of Over Electric Motor with PMSM demagnetization online test method, by full-vehicle control unit, active fault control list Member, inverse switch circuit, permagnetic synchronous motor, position sensor, three-phase current sensor, position and rotating speed processing unit, The online computing module of CLARK and PARK converter units, permanent magnet flux linkage, setting value and comparing unit composition；It is characterized in that：
Described full-vehicle control unit is used to send active fault control to active fault control unit according to vehicle mode of operation Instruction；
The instruction of active fault control and position and rotating speed that described active fault control unit is sent according to full-vehicle control unit The tach signal of processing unit output judges whether to implement active fault control, when the active short circuit that full-vehicle control unit is exported is controlled Instruction processed is and electromechanics rotating speed exceedes flex point rotating speed g, in the case where two conditions are set up, output active short circuit PWM Signal does not export actively short-circuit pwm signal to inverse switch circuit if being unsatisfactory for condition；
The inverse switch circuit includes six switch elements, and switch element is igbt (IGBT), for holding The short-circuit pwm signal of active that row active fault control unit is sent, controls corresponding three upper bridge arms or lower leg switching elements Perform closed action；
The permagnetic synchronous motor is three-phase permanent magnet synchronous motor, is controlled device, receives the control of inverse switch circuit；
The position sensor is rotary transformer or absolute position photoelectric encoder, and it is used to detect the absolute position of rotor Put；
The three-phase current sensor is sealed in phase line for the non-contact current sensor based on Hall effect or based on utilizing Resistance produces the contact current sensor of voltage principle, and it is used for the three-phase current for detecting permagnetic synchronous motor, and will collection Current signal be output to CLARK and PARK converter units；
The position and rotating speed processing unit calculate rotor position and electromechanics rotating speed according to position sensor output signal ω；
CLARK the and PARK converter units receive the three-phase current that current sensor is detected、 、With position and rotating speed The position signalling θ of processing unit output, according to formula（1）, formula（2）And formula（3）It is scaled d-axis electricity under rotating coordinate system StreamAnd quadrature axis current；
CLARK transformation for mula is as follows：
（1）
（2）
PARK transformation for mula is as follows：
（3）
Wherein,、For straight, the quadrature axis current under rest frame；、 、For the three-phase alternating current under rest frame； θ rotor-position electrical angles；、For straight, the quadrature axis current under rotating coordinate system.
The online computing module of permanent magnet flux linkage includes AC phase currents amplitude computing unit and permanent magnet flux linkage is tabled look-up Module；Wherein, the AC phase currents amplitude computing unit is according to formula（10）AC phase currents amplitude is calculated, is exported to permanent magnetism Body magnetic linkage table look-up module；The permanent magnet flux linkage table look-up module is used to be tabled look-up acquisition permanent magnet flux linkage according to AC phase currents amplitude Value；Permanent magnet flux linkage is influenceed very big by temperature of rotor, is reduced with the rising of temperature of rotor, conversely, increase.Due to can not be straight Measurement is connect, indirect measurement method can only be used, the principle of permanent magnet flux linkage on-line checking is as follows：
Ignore motor phase windings leakage inductance, saturation unshakable in one's determination, vortex and magnetic hystersis loss, electric current is symmetrical three phase sine electric current, then Its steady state voltage equation is as follows：
（4）
（5）
Wherein,WithFor orthogonal shaft voltage, R is stator resistance,L d、L qFor d-q axle inductances,RFor stator resistance,For forever Magnet magnetic linkage,For rotor mechanical separator speed,pFor rotor number of pole-pairs.
In the case of motor three-phase shortcircuit, ignore the tube voltage drop of power model, then orthogonal shaft voltageWithIt is zero,
（6）
（7）
It can further obtain：
（8）
（9）
Simultaneously as orthogonal shaft current meets following relation：
（10）
Wherein,For stator phase currents amplitude.
When electromechanics rotational speed omega levels off to infinity, then have,
（11）
（12）
（13）
（14）
Therefore, permanent magnet flux linkage and the one-to-one relationship of stator phase currents amplitude under different temperatures are gone out by Experimental Calibration, led to Cross with isFor index, acquisition permanent magnet flux linkage numerical value of tabling look-up.
A kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage On-line Measuring Method, specifically includes following steps：
A, system electrification is initialized；
B, by active fault control unit judges actively short circuit instruction whether be 1；In this way, step C is performed, otherwise return to step B；
C, then judge electromechanics rotating speed whether exceed flex point rotating speed g；Flex point rotating speed gIt is the feature that can a be demarcated rotating speed Point, can be seen that more than after flex point rotating speed, amplitude of short circuit tends towards stability from short circuit current flow curve, according to the flex point rotating speed Corresponding amplitude of short circuit can calculate permanent magnet flux linkage numerical value.In this way, then step D is performed, otherwise return to step B；
D, the instruction of active fault control is sent by active fault control unit, inverse switch circuit implements actively short circuit；
E, detect motor rotor position by position sensor, three-phase current sensor, detection three-phase current；By position and rotating speed Manage unit and calculate rotor-position and electromechanics rotating speed；Orthogonal shaft current is calculated by CLARK and PARK converter units；By exchange phase Current amplitude computing unit calculates phase current magnitude is；
F, the orthogonal shaft current calculated by step E, are input to AC phase currents amplitude computing unit and calculate phase current magnitude is； According to isPermanent magnet flux linkage is tabled look-up and obtains permanent magnet flux linkage numerical value；
G, judge that permanent magnet flux linkage is less than setting value, in this way, then perform step H；If not, then perform step I.
H, mark position 1 of being demagnetized to permanent magnet, and it is sent to full-vehicle control unit, return to step B；
I, mark position 0 of being demagnetized to permanent magnet, and it is sent to full-vehicle control unit, return to step B.
In step F, the permanent magnet flux linkage form obtains for test method(s), one permanent magnet flux linkage of each temperature of rotor correspondence Numerical value, at a temperature of different rotor, steady-state short-circuit under different rotating speeds is carried out to permagnetic synchronous motor and tests and obtains short circuit current flow The relation of amplitude and permanent magnet flux linkage, under motor three-phase active short-circuit conditions, amplitude of short circuit and permanent magnet flux linkage meet Formula（14）Relation, when rotating speed exceedes flex point rotating speed gAfterwards, amplitude of short circuit is bigger, then permanent magnet flux linkage is smaller, its correspondence Temperature of rotor it is higher, when amplitude of short circuit exceed setting maximum after, will appear from demagnetize phenomenon.
In step F, the permanent magnet flux linkage form is alternatively simulation method acquisition, is imitative according to permagnetic synchronous motor finite element True mode is obtained under different rotor temperature and rotating speed, the relation table of amplitude of short circuit and permanent magnet flux linkage.
Compared with prior art, the positive effect of the present invention is：
1st, present invention employs the detection permagnetic synchronous motor demagnetization of three-phase active short circuit manner, this method need to only detect phase current width Value, while considering influence of the temperature to permanent magnet flux linkage.In addition, in the case where permagnetic synchronous motor demagnetizes, actively The current amplitude of short-circuit detecting is larger, improves accuracy of detection.
2nd, full-vehicle control unit according to current mode of operation send actively short circuit instruct, be conducive to vehicle torque monitoring and Functional safety, otherwise, motor, which voluntarily carries out active fault control, can produce very big instruction torque, can cause the undesirable of vehicle Deceleration；More seriously, motor can not voluntarily change mode of operation as actuator or increase reduces control instruction, electricity The output of machine should comply with the desired value of entire car controller.
3rd, full-vehicle control unit can send actively short circuit according to the current mode of operation of motor and instruct, such as empty load of motor, Motor power-assisted or generating operation mode are not needed.In active short-circuit process, motor control unit Real-time Feedback short-circuit torque is avoided Produce undesirable acceleration and deceleration or other damage of components；Short-circuit torque curve can also be stored in full-vehicle control unit In, full-vehicle control unit with table look-at or can do feedforward control.
4th, in order to avoid the discontinuity of permanent magnet magnetic chain survey, full-vehicle control can take timing to be sent actively to motor The method of short circuit instruction is solved；Multiple measurement data can also be stored in motor control unit, is estimated by interpolation arithmetic Calculate permanent magnet flux linkage.
Brief description of the drawings
Fig. 1 is permagnetic synchronous motor output torque on-line checking theory diagram of the present invention；
Fig. 2 is permagnetic synchronous motor output torque on-line checking flow chart of the present invention；
Fig. 3 is the online computing module theory diagram of permanent magnet flux linkage of the present invention；
Fig. 4 is the relation curve of three short circuit current of the present invention, short-circuit torque and rotating speed.
In figure, the permanent magnet synchronous electric of 1 full-vehicle control unit, 2. 3. inverse switch circuit of active fault control unit 4. The position of 5. position sensor of machine, 6. three-phase current sensor 7. and the CLARK of rotating speed processing unit 8. and PARK conversion are single The permanent magnet flux linkage table look-up module 10. of 91. AC phase currents amplitude computing unit of first 9. torque calculation module 92. is set The comparing unit of value 11..
Embodiment
Embodiments of the invention are described below in conjunction with the accompanying drawings, but the invention is not limited in this.
By three-phase, actively short circuit carries out on-line measurement to the present invention to permanent-magnetism synchronous motor permanent magnetic body magnetic linkage.
As shown in figure 1, the full-vehicle control unit 1 is used to not need motor to work in actively according to vehicle mode of operation In the case of output torque, such as engine is operated alone, engine idling and engine braking operating mode, to active fault control Unit 2 sends the instruction of active fault control.
Active fault control instruction that the active fault control unit 2 is sent according to full-vehicle control unit 1 and position and The tach signal that rotating speed processing unit 7 is exported judges whether to implement active fault control, when the active of the output of full-vehicle control unit 1 Fault control instruction is 1 and electromechanics rotating speed exceedes flex point rotating speed g, in the case where two conditions are set up, output is actively Short-circuit pwm signal does not export actively short-circuit pwm signal to inverse switch circuit 3 if being unsatisfactory for condition；
The inverse switch circuit 3 includes six switch elements, and each switch element Q1 to Q6 is igbt (IGBT), in inverter circuit, first switching element Q1, the 3rd switch element Q3 and the 5th switch element Q5 are respectively with second Switch element Q2, the 4th switch element Q4 and the 6th switch element Q6 are connected in series, the node between switch element Q1 and Q2 with The U phase terminals of motor are connected；Node between switch element Q3 and Q4 is connected with the V phase terminals of motor；Switch element Q5 Node between Q6 is connected with the W phase terminals of motor；Inverse switch circuit 3 is believed according to the PWM of active fault control unit 2 Power electronic device inside number order-driven carries out bridge arm Q2, Q4 and Q6 closure or disconnection action, Huo Zhejin under three-phase Bridge arm Q1 on row three-phase, Q3 and Q5 closure or disconnection action, short circuit or opening operation to realize motor triple line；
The permagnetic synchronous motor 4 is three-phase permanent magnet synchronous motor, is controlled device, receives the control of inverse switch circuit 3；
The position sensor 5 is rotary transformer or absolute position photoelectric encoder, and it is used to detect that rotor is absolute Position；
The three-phase current sensor 6 is sealed in phase line for the non-contact current sensor based on Hall effect or based on utilizing Resistance produces the contact current sensor of voltage principle, and it is used for the three-phase current for detecting permagnetic synchronous motor 4, and will collection Current signal be output to CLARK and PARK converter units 8；
The position and rotating speed processing unit 7 calculate rotor position and electromechanics rotating speed according to the output signal of position sensor 5 ω；
CLARK the and PARK converter units 8 are used for any two-phase electricity in the three-phase current that detects three-phase current sensor 6 Stream is scaled orthogonal shaft currentWith；
In active short-circuit process, the Real-time Feedback short-circuit torque of active fault control unit 2 avoids producing undesirable acceleration and deceleration Or other damage of components, short-circuit torque curve can also be stored in full-vehicle control unit 1, full-vehicle control unit 1 can With table look-at or do feedforward control.
The mode that full-vehicle control unit 1 can take timing to send actively short circuit instruction to motor avoids permanent magnet flux linkage from surveying The discontinuity of amount, can also store multiple measurement data in active fault control unit 2, be estimated forever by interpolation arithmetic Magnet magnetic linkage.
As shown in Fig. 2 permanent-magnetism synchronous motor permanent magnetic body magnetic linkage on-line measurement process is as follows in the present embodiment：
A kind of permanent-magnetism synchronous motor permanent magnetic body magnetic linkage On-line Measuring Method, comprises the following steps：
A, system electrification is initialized；
B, by active fault control unit 2 judge actively short circuit instruction whether be 1；In this way, step C is performed, otherwise return to step B；
C, then judge electromechanics rotating speed whether exceed flex point rotating speed g；In this way, then step D is performed, otherwise return to step B；
D, the instruction of active fault control is sent by active fault control unit 2, inverse switch circuit 3 implements actively short circuit；
E, detect motor rotor position by position sensor 5, three-phase current sensor 6, detection three-phase current；By position and rotating speed Processing unit 7 calculates rotor-position and electromechanics rotating speed；Orthogonal shaft current is calculated by CLARK and PARK converter units 8；By handing over Flow phase current magnitude computing unit 91 and calculate phase current magnitude is；
F, the orthogonal shaft current calculated by step E, are input to AC phase currents amplitude computing unit 91 and calculate phase current magnitude is；According to isPermanent magnet flux linkage is tabled look-up and obtains permanent magnet flux linkage numerical value；
G, judge that permanent magnet flux linkage is less than setting value, in this way, then perform step H；If not, then perform step I.
H, mark position 1 of being demagnetized to permanent magnet, and it is sent to full-vehicle control unit 1, return to step B；
I, mark position 0 of being demagnetized to permanent magnet, and it is sent to full-vehicle control unit 1, return to step B.
In step F, the permanent magnet flux linkage form obtains for test method(s), one permanent magnet flux linkage of each temperature of rotor correspondence Numerical value, at a temperature of different rotor, steady-state short-circuit under different rotating speeds is carried out to permagnetic synchronous motor and tests and obtains short circuit current flow The relation of amplitude and permanent magnet flux linkage.The method that test method(s) measures permanent magnet flux linkage form is first to put permagnetic synchronous motor In environment storehouse, environment storehouse temperature is set to measure temperature, makes permagnetic synchronous motor hot dipping saturating；Secondly, actively short circuit is passed through Control unit control inverse switch circuit makes permagnetic synchronous motor be in three-phase shortcircuit state；Finally, with outside actuator band Dynamic motor, to maximum speed, measures the amplitude of short circuit in the full range of speeds by zero-turn speed, you can obtain at this temperature short Road current amplitude and permanent magnet magnetic chain relation.Environment storehouse temperature is reset to another design temperature, said process is repeated, i.e., Short circuit current flow in the range of total temperature and permanent magnet flux linkage numerical relation are can obtain, is formed using amplitude of short circuit to index forever Magnet magnetic linkage numerical value tables.In step F, the permanent magnet flux linkage form is alternatively simulation method acquisition, is according to permanent magnet synchronous electric Machine limit element artificial module is obtained under different rotor temperature and rotating speed, the relation table of amplitude of short circuit and permanent magnet flux linkage.It is imitative True method is emulated using simulation software such as ANSYS or JMAG finite element emulation softwares, and permanent magnet flux linkage number is set first Value, then software set motor is in three-phase shortcircuit state, and then, the range of speeds for setting emulation turns from zero-turn speed to highest Speed, records amplitude of short circuit；Permanent magnet flux linkage numerical value is reset, said process is repeated, you can obtain different permanent magnet magnetics Amplitude of short circuit under chain numerical value, is reversely formed using the permanent magnet flux linkage numerical value tables using amplitude of short circuit as index.
As shown in figure 3, the online computing module 9 of permanent magnet flux linkage is including AC phase currents amplitude computing unit 91 and forever Magnet magnetic linkage table look-up module 92；Wherein, the AC phase currents amplitude computing unit 91 is according to formula（10）Calculate exchange mutually electricity Amplitude is flowed, is exported to permanent magnet flux linkage table look-up module 92；The permanent magnet flux linkage table look-up module 92 is used for according to AC phase currents Amplitude, which is tabled look-up, obtains permanent magnet flux linkage value；
As shown in figure 4, being the relation curve of the present embodiment three short circuit current, short-circuit torque and rotating speed, transverse axis is electromechanics Rotating speed, the longitudinal axis is three short circuit current virtual value and short-circuit torque.The three short circuit current virtual value of permagnetic synchronous motor is low Speed stage rises rapidly as rotating speed increases, when rotating speed exceedes flex point rotating speed gAfterwards, its current effective value is basically unchanged.Influence The factor of amplitude of short circuit is mainly permanent magnet flux linkage size, is directly proportional to permanent magnet flux linkage numerical value, with permanent magnetism temperature into Inverse ratio.At a temperature of having marked -35 DEG C, 60 DEG C and 150 DEG C three kinds of rotor permanent magnets in figure, three short circuit current virtual value and motor The corresponding relation of mechanical separator speed, after more than flex point rotating speed, same electromechanics rotating speed with -35 DEG C, 60 DEG C and 150 DEG C curves Intersection point 3 phase current magnitudes of correspondence, one permanent magnet flux linkage data of each phase current correspondence, in -35 DEG C of minimum temperature and highest In the case of 150 DEG C of temperature, short circuit current flow virtual value difference reaches 65A, can be with effective detection permanent magnet flux linkage numerical value using the feature； Similar, a permanent magnet flux linkage form using phase current magnitude as index can be formed；It is not limited to make in actual use With 3 curves, curve quantity is set according to temperature range.The three-phase shortcircuit torque of permagnetic synchronous motor is and electromechanics The opposite moment of resistance of rotating speed, therefore, its short-circuit torque is negative value in the case that motor is rotated forward；As rotating speed is raised, its is short Road torque absolute value first increases to be reduced afterwards, more than flex point rotating speed gAfterwards, gradually go to zero.
More than, the preferred embodiment of the present invention is illustrated, but the present invention is not limited to above-mentioned embodiment.

Claims (2)

  1. The online test method 1. a kind of Over Electric Motor with PMSM demagnetizes, by full-vehicle control unit, active fault control Unit, inverse switch circuit, permagnetic synchronous motor, position sensor, three-phase current sensor, position and rotating speed processing unit, The online computing module of CLARK and PARK converter units, permanent magnet flux linkage, setting value and comparing unit composition；It is characterized in that：
    Described full-vehicle control unit is used to send active fault control to active fault control unit according to vehicle mode of operation Instruction；
    The instruction of active fault control and position and rotating speed that described active fault control unit is sent according to full-vehicle control unit The tach signal of processing unit output judges whether to implement active fault control, when the active short circuit that full-vehicle control unit is exported is controlled Instruction processed is and electromechanics rotating speed exceedes flex point rotating speed g, in the case where two conditions are set up, output actively short circuit Pwm signal does not export actively short-circuit pwm signal to inverse switch circuit if being unsatisfactory for condition；
    The inverse switch circuit includes six switch elements, and switch element is igbt (IGBT), for holding The short-circuit pwm signal of active that row active fault control unit is sent, controls corresponding three upper bridge arms or lower leg switching elements Perform closed action；
    The permagnetic synchronous motor is three-phase permanent magnet synchronous motor, is controlled device, receives the control of inverse switch circuit；
    The position sensor is rotary transformer or absolute position photoelectric encoder, and it is used to detect the absolute position of rotor Put；
    The three-phase current sensor is sealed in phase line for the non-contact current sensor based on Hall effect or based on utilizing Resistance produces the contact current sensor of voltage principle, and it is used for the three-phase current for detecting permagnetic synchronous motor, and will collection Current signal be output to CLARK and PARK converter units；
    The position and rotating speed processing unit calculate rotor position and electromechanics rotating speed according to position sensor output signal ω；
    CLARK the and PARK converter units receive the three-phase current that current sensor is detected、 、With position and rotating speed The position signalling θ of processing unit output, according to formula（1）, formula（2）And formula（3）It is scaled d-axis electricity under rotating coordinate system StreamAnd quadrature axis current；
    CLARK transformation for mula is as follows：
    （1）
    （2）
    PARK transformation for mula is as follows：
    （3）
    Wherein,、For straight, the quadrature axis current under rest frame；、 、For the three-phase alternating current under rest frame Stream；θ rotor-position electrical angles；、For straight, the quadrature axis current under rotating coordinate system;
    The online computing module of permanent magnet flux linkage includes AC phase currents amplitude computing unit and permanent magnet flux linkage table look-up module； Wherein, the AC phase currents amplitude computing unit is according to formula（10）AC phase currents amplitude is calculated, is exported to permanent magnet magnetic Chain table look-up module；The permanent magnet flux linkage table look-up module, which is used to be tabled look-up according to AC phase currents amplitude, obtains permanent magnet flux linkage value； Permanent magnet flux linkage is influenceed very big by temperature of rotor, is reduced with the rising of temperature of rotor, conversely, increase;Due to can not be direct Measurement, can only use indirect measurement method, and the principle of permanent magnet flux linkage on-line checking is as follows：
    Ignore motor phase windings leakage inductance, saturation unshakable in one's determination, vortex and magnetic hystersis loss, electric current is symmetrical three phase sine electric current, then Its steady state voltage equation is as follows：
    （4）
    （5）
    Wherein,WithFor orthogonal shaft voltage, R is stator resistance,L d、L qFor d-q axle inductances,RFor stator resistance,For forever Magnet magnetic linkage,For rotor mechanical separator speed,pFor rotor number of pole-pairs;
    In the case of motor three-phase shortcircuit, ignore the tube voltage drop of power model, then orthogonal shaft voltageWithIt is zero,
    （6）
    （7）
    It can further obtain：
    （8）
    （9）
    Simultaneously as orthogonal shaft current meets following relation：
    （10）
    Wherein,For stator phase currents amplitude;
    When electromechanics rotational speed omega levels off to infinity, then have,
    （11）
    （12）
    （13）
    （14）
    Therefore, permanent magnet flux linkage and the one-to-one relationship of stator phase currents amplitude under different temperatures are gone out by Experimental Calibration, led to Cross with isFor index, acquisition permanent magnet flux linkage numerical value of tabling look-up.
  2. 2. a kind of Over Electric Motor with PMSM demagnetization online test method according to claim 1, its feature exists In comprising the following steps that：
    A, system electrification is initialized；
    B, by active fault control unit judges actively short circuit instruction whether be 1；In this way, step C is performed, otherwise return to step B；
    C, then judge electromechanics rotating speed whether exceed flex point rotating speed g；Flex point rotating speed gIt is that a feature that can be demarcated turns It is fast, it can be seen that more than after flex point rotating speed, amplitude of short circuit tends towards stability, turned according to the flex point from short circuit current flow curve The corresponding amplitude of short circuit of speed can calculate permanent magnet flux linkage numerical value;In this way, then step D is performed, otherwise return to step B；
    D, the instruction of active fault control is sent by active fault control unit, inverse switch circuit implements actively short circuit；
    E, detect motor rotor position by position sensor, three-phase current sensor, detection three-phase current；By position and rotating speed Manage unit and calculate rotor-position and electromechanics rotating speed；Orthogonal shaft current is calculated by CLARK and PARK converter units；By exchange phase Current amplitude computing unit calculates phase current magnitude is；
    F, the orthogonal shaft current calculated by step E, are input to AC phase currents amplitude computing unit and calculate phase current magnitude is； According to isPermanent magnet flux linkage is tabled look-up and obtains permanent magnet flux linkage numerical value；
    G, judge that permanent magnet flux linkage is less than setting value, in this way, then perform step H；If not, then perform step I;
    H, mark position 1 of being demagnetized to permanent magnet, and it is sent to full-vehicle control unit, return to step B；
    I, mark position 0 of being demagnetized to permanent magnet, and it is sent to full-vehicle control unit, return to step B;
    In step F, the permanent magnet flux linkage form obtains for test method(s), one permanent magnet flux linkage number of each temperature of rotor correspondence Value, at a temperature of different rotor, steady-state short-circuit under different rotating speeds is carried out to permagnetic synchronous motor and tests and obtains short circuit current flow width Value and the relation of permanent magnet flux linkage, under motor three-phase active short-circuit conditions, amplitude of short circuit and permanent magnet flux linkage meet public affairs Formula（14）Relation, when rotating speed exceedes flex point rotating speed gAfterwards, amplitude of short circuit is bigger, then permanent magnet flux linkage is smaller, and its is corresponding Temperature of rotor is higher, after amplitude of short circuit exceedes the maximum of setting, will appear from phenomenon of demagnetizing;
    In step F, the permanent magnet flux linkage form is alternatively simulation method acquisition, is according to permagnetic synchronous motor finite element simulation mould Type is obtained under different rotor temperature and rotating speed, the relation table of amplitude of short circuit and permanent magnet flux linkage.
CN201710620376.6A 2017-07-26 2017-07-26 Over Electric Motor with PMSM demagnetization online test method Pending CN107294450A (en)

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CN109873585A (en) * 2019-04-02 2019-06-11 深圳市振邦智能科技股份有限公司 Compressor permanent magnet chain On-line Estimation method, system and storage medium
CN110445096A (en) * 2019-07-25 2019-11-12 江苏科技大学 Residual magnetic devices and demagnetization method are eliminated in permanent magnet synchronous motor metal-oxide-semiconductor afterflow
CN111190102A (en) * 2020-01-08 2020-05-22 北京车和家信息技术有限公司 Method and device for detecting motor flux linkage
CN111666651A (en) * 2020-04-24 2020-09-15 浙江大学 Demagnetization risk assessment method for permanent magnet motor
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CN111999644A (en) * 2020-08-14 2020-11-27 中车青岛四方车辆研究所有限公司 Permanent magnet synchronous motor flux linkage off-line identification system and method
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CN113296022A (en) * 2021-05-31 2021-08-24 一巨自动化装备（上海）有限公司 Real-time diagnosis method for active short circuit state of motor
CN113422348A (en) * 2021-06-08 2021-09-21 浙江大学 Temperature limit value determining method and device and permanent magnet synchronous motor control method and device
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CN114487830A (en) * 2022-03-21 2022-05-13 山东交通学院 Rapid detection method and system for demagnetization of permanent magnet synchronous motor of electric vehicle
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CN107422285A (en) * 2017-08-10 2017-12-01 惠州超声音响有限公司 A kind of computational methods of loudspeaker magnet steel limit demagnetization temperature
CN109873585B (en) * 2019-04-02 2020-12-01 深圳市振邦智能科技股份有限公司 Compressor permanent magnetic linkage on-line estimation method and system and storage medium
CN109873585A (en) * 2019-04-02 2019-06-11 深圳市振邦智能科技股份有限公司 Compressor permanent magnet chain On-line Estimation method, system and storage medium
CN110445096A (en) * 2019-07-25 2019-11-12 江苏科技大学 Residual magnetic devices and demagnetization method are eliminated in permanent magnet synchronous motor metal-oxide-semiconductor afterflow
US11699969B2 (en) 2019-07-30 2023-07-11 Danfoss (Tianjin) Ltd. Compressor and method for controlling the compressor
CN111190102A (en) * 2020-01-08 2020-05-22 北京车和家信息技术有限公司 Method and device for detecting motor flux linkage
CN111666651B (en) * 2020-04-24 2024-04-26 浙江大学 Demagnetizing risk assessment method for permanent magnet motor
CN111666651A (en) * 2020-04-24 2020-09-15 浙江大学 Demagnetization risk assessment method for permanent magnet motor
DE102020112940A1 (en) 2020-05-13 2021-11-18 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method and device for operating a synchronous machine
CN111999644A (en) * 2020-08-14 2020-11-27 中车青岛四方车辆研究所有限公司 Permanent magnet synchronous motor flux linkage off-line identification system and method
CN112003529A (en) * 2020-08-14 2020-11-27 中车青岛四方车辆研究所有限公司 General permanent magnet synchronous motor flux linkage off-line identification method and system
WO2022117253A1 (en) * 2020-12-01 2022-06-09 Robert Bosch Gmbh Method for operating an electric machine, device for operating an electric machine, and electric drive system
EP4016836A1 (en) * 2020-12-18 2022-06-22 Volvo Truck Corporation A method for categorizing performance of an electric traction machine being a permanent magnetic synchronous motor
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CN113125955A (en) * 2021-04-22 2021-07-16 山东凯信德电子科技有限公司 Electric automobile and method and system for monitoring performance of driving system of electric automobile
CN113296022B (en) * 2021-05-31 2023-06-20 一巨自动化装备（上海）有限公司 Real-time diagnosis method for active short-circuit state of motor
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Application publication date: 20171024