CN107404269A - 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 PDF

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Publication number
CN107404269A
CN107404269A CN201710645783.2A CN201710645783A CN107404269A CN 107404269 A CN107404269 A CN 107404269A CN 201710645783 A CN201710645783 A CN 201710645783A CN 107404269 A CN107404269 A CN 107404269A
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current
mapping curve
delay time
value
synchronous motor
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CN107404269B (en
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徐磊
黄亮
付俊永
秦向南
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Guangdong Welling Motor Manufacturing Co Ltd
Midea Welling Motor Technology Shanghai Co Ltd
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Guangdong Welling Motor Manufacturing Co Ltd
Midea Welling Motor Technology Shanghai Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage

Abstract

The invention discloses a kind of permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium.The present invention concentrates the linear zone of each mapping curve by searching mapping curve, resistance identification is carried out based on the linear zone, obtain the stator resistance of permagnetic synchronous motor, obtain the current temperature value of motor inverter upper switch device, the current delay time difference according to corresponding to the current temperature value using the determination of mapping curve collection, 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

Permanent-magnetic synchronous motor stator Flux Observation Method, flux observer and storage medium
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, cause the reliability of motor speed regulation system to reduce.Base In above-mentioned reason, in recent years, Speed Sensorless Control Method turns into the focus of academia's research, 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 calculate 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 final precision for influenceing motor control.
Conventional permanent-magnetic synchronous motor stator Flux Observation Method has two classes:One kind is according to measured current and rotor-position Angle, 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, and in engineering, 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 detect 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.Influenceed because prior art does not account for switch non-linearity factor, deviation be present 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 Flux Observation Method, flux observer and Storage medium, it is intended to solve the inaccurate technical problem of stator magnetic linkage in the prior art.
To achieve the above object, the present invention provides a kind of permanent-magnetic synchronous motor stator Flux Observation Method, methods described bag Include following steps:
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes reflecting under different temperatures value Curve is penetrated, the mapping curve is reflection delay time difference and the curve of current value corresponding relation;
Resistance identification is carried out based on the linear zone, obtains the stator resistance of permagnetic synchronous motor;
The current temperature value of motor inverter upper switch device is obtained, mapping curve collection is used according to the current temperature value It is determined that the corresponding current delay time difference;
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, obtains the voltage compensation value under alpha-beta coordinate system;
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 current temperature value for obtaining motor inverter upper switch device, is adopted according to the current temperature value The current delay time difference corresponding to the determination of mapping curve collection, specifically include:
The current temperature value of motor inverter upper switch device is obtained, it is true using mapping relations according to the current temperature value Current delay time difference corresponding to fixed, the mapping relations are delay time difference and the corresponding relation of temperature value, and the mapping is closed System is generated based on the mapping curve collection.
Preferably, the current temperature value for obtaining motor inverter upper switch device, is adopted according to the current temperature value Before the current delay time difference corresponding to mapping relations determine, methods described also includes:
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, it is bent from the mapping It is poor that line collection searches the delay time that each mapping curve corresponds to pre-set current value;
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, to be formed The mapping relations.
Preferably, current delay time difference, the tool according to corresponding to the current temperature value using mapping relations determination Body includes:
Two reference points are chosen from the mapping relations, obtain the reference temperature value of each reference point and with reference to delay time Difference, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference Between it is poor.
Preferably, the linear zone searched mapping curve and concentrate each mapping curve, is specifically included:
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 concentrated to the mapping curve travels through, by tangent slope in the current mapping curve traversed Equal to default slope point as cut-point;
The current mapping curve is split according to the cut-point, obtains at least two cut sections;
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default Linear zone of the cut section of the point of slope as the current mapping curve.
In addition, to achieve the above object, the present invention also provides a kind of flux observer, and the flux observer includes:Deposit The permanent-magnetic synchronous motor stator magnetic linkage that reservoir, processor and being stored in can be run on the memory and on the processor is seen Ranging sequence, the permanent-magnetic synchronous motor stator flux observation program are arranged for carrying out described permanent-magnetic synchronous motor stator magnetic linkage and seen The step of survey method.
In addition, to achieve the above object, the present invention also provides a kind of computer-readable recording medium, described computer-readable Permanent-magnetic synchronous motor stator flux observation program, the permanent-magnetic synchronous motor stator flux observation program are stored with storage medium The step of described permanent-magnetic synchronous motor stator Flux Observation Method is realized when being executed by processor.
The present invention concentrates the linear zone of each mapping curve by searching mapping curve, and carrying out resistance based on the linear zone distinguishes Know, obtain the stator resistance of permagnetic synchronous motor, obtain the current temperature value of motor inverter upper switch device, worked as according to described Preceding temperature value is using the current delay time difference corresponding to the determination of mapping curve collection, according to the current delay time difference to instruction electricity Pressure is corrected, and 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.
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 the oscillogram of the electric current and voltage when resistance recognizes in the embodiment of the present invention;
Fig. 4 is the schematic flow sheet of permanent-magnetic synchronous motor stator Flux Observation Method second embodiment of the present invention;
Fig. 5 is the schematic flow sheet of permanent-magnetic synchronous motor stator Flux Observation Method 3rd embodiment of the present invention;
Fig. 6 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 are the flux observer 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 flux observer 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 flux observer structure shown in Fig. 1 is not formed to flux observer Restriction, can include than illustrating more or less parts, either combine some parts or different parts arrangement.
As shown in figure 1, as in a kind of memory 1004 of computer-readable storage medium can include operating system, Yong Hujie Mouth mold block and permanent-magnetic synchronous motor stator flux observation program.
In the flux observer shown in Fig. 1, the flux observer is called in memory 1004 by processor 1001 The permanent-magnetic synchronous motor stator flux observation program of storage, and perform following operate:
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes reflecting under different temperatures value Curve is penetrated, the mapping curve is reflection delay time difference and the curve of current value corresponding relation;
Resistance identification is carried out based on the linear zone, obtains the stator resistance of permagnetic synchronous motor;
The current temperature value of motor inverter upper switch device is obtained, mapping curve collection is used according to the current temperature value It is determined that the corresponding current delay time difference;
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 Program, also perform following operate:
Terminal voltage error is calculated according to the current delay time difference;
The terminal voltage error is subjected to coordinate transform, obtains the voltage compensation value under alpha-beta coordinate system;
Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004 Program, also perform 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 Program, also perform following operate:
The current temperature value of motor inverter upper switch device is obtained, it is true using mapping relations according to the current temperature value Current delay time difference corresponding to fixed, the mapping relations are delay time difference and the corresponding relation of temperature value, and the mapping is closed System is generated based on the mapping curve collection.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004 Program, also perform following operate:
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, it is bent from the mapping It is poor that line collection searches the delay time that each mapping curve corresponds to pre-set current value;
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, to be formed The mapping relations.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004 Program, also perform following operate:
Two reference points are chosen from the mapping relations, obtain the reference temperature value of each reference point and with reference to delay time Difference, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference Between it is poor.
Further, processor 1001 can call the permanent-magnetic synchronous motor stator flux observation stored in memory 1004 Program, also perform 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 Program, also perform following operate:
The mapping curve concentrated to the mapping curve travels through, by tangent slope in the current mapping curve traversed Equal to default slope point as cut-point;
The current mapping curve is split according to the cut-point, obtains at least two cut sections;
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default Linear zone of the cut section of the point of slope as the current mapping curve.
The present embodiment is by such scheme, by searching the linear zone of each mapping curve of mapping curve concentration, based on described Linear zone carries out resistance identification, obtains the stator resistance of permagnetic synchronous motor, obtains the current of motor inverter upper switch device Temperature value, the current delay time difference according to corresponding to the current temperature value using the determination of mapping curve collection, according to described current Delay time difference is corrected to command voltage, and it is same to calculate the permanent magnetism according to the command voltage after the stator resistance and correction Walk the stator magnetic linkage of motor so that the stator resistance and command voltage of use 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 are that the flow of permanent-magnetic synchronous motor stator Flux Observation Method first embodiment of the present invention is illustrated Figure.
In the first embodiment, the permanent-magnetic synchronous motor stator Flux Observation Method comprises the following steps:
S10:The linear zone that mapping curve concentrates each mapping curve is searched, 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;
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 are 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 delay time difference gap 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 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 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 the linear zone that mapping curve concentrates each mapping curve, in the present embodiment, the mapping curve can be obtained respectively The tangent slope of every on each mapping curve is concentrated, the linear zone of each mapping curve is determined according to the tangent slope.
Quickly searched to be realized to the linear zone, can be to the mapping curve of mapping curve concentration in the present embodiment Traveled through, tangent slope in the current mapping curve traversed is equal to the point of default slope 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, tangent slope will be present and is more than the cut section for the point for presetting 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 S10, arrived if chosen Big current value may damage permagnetic synchronous motor, and or damage and the part of permagnetic synchronous motor motor connection, be anti- Only there is the problem, in the present embodiment, a predetermined current threshold can be set, delete and exceed predetermined current threshold in the linear zone The region of 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 arranged 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.
S20:Resistance identification is carried out based on the linear zone, obtains the stator resistance of permagnetic synchronous motor;
For ease of realizing that resistance recognizes, in the present embodiment, current value can be chosen in the linear zone;By the electric current of selection It is worth the direct-axis current value as injection permagnetic synchronous motor, detects direct-axis voltage value corresponding with the direct-axis current value;According to The direct-axis current value and corresponding direct-axis voltage value calculate the stator resistance of the permagnetic synchronous motor.
It should be noted that because the usual amplitude of variation of linear zone is smaller, therefore, current value is chosen in the linear zone It can prevent that the resistance error of identification is excessive.
It will be appreciated that can be by the way of randomly selecting when current value is chosen in the linear zone, the present embodiment pair This is not any limitation as.
It should be noted that for permagnetic synchronous motor, quadrature axis is also q axles, and 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 is established on rotor, this coordinate system and rotor synchronous axial system, 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 as to the characteristic that is well controlled.
It will be appreciated that in order to offset the influence of delay time difference, so, it is necessary to carry out the injection of current value twice, because This, chooses two different current values in the linear zone in the present embodiment, for ease of being made a distinction to the current value of selection, The current value of selection can be divided into the first current value and the second current value.
Correspondingly, the current value using selection as injection permagnetic synchronous motor direct-axis current value, detection with it is described Direct-axis voltage value, may particularly include corresponding to direct-axis current value:
By predetermined angle be arranged to given electrical angle (for ease of subsequently being calculated, in the present embodiment, the predetermined angle Can be 0 degree, certainly, may be alternatively provided as other angles, the present embodiment is not any limitation as to this), the first current value of selection is made For the first direct-axis current value, closed-loop control is carried out to the first direct-axis current value, when the feedback direct-axis current value of closed-loop control When consistent with the first direct-axis current value, obtain DC voltage value, and using the DC voltage value of acquisition as with first d-axis First direct-axis voltage value corresponding to current value;
Predetermined angle is arranged to given electrical angle, using the second current value of selection as the second direct-axis current value, to institute State the second direct-axis current value and carry out closed-loop control, when the feedback direct-axis current value of closed-loop control is consistent with the second direct-axis current value When, DC voltage value is obtained, and using the DC voltage value of acquisition as the second d-axis corresponding with the second direct-axis current value Magnitude of voltage.
It will be appreciated that because closed-loop control is typically to be realized 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. 3, wherein, i1Corresponding point is It can be regarded as above-mentioned cut-point, imaxTo be above-mentioned predetermined current threshold.
S30:The current temperature value of motor inverter upper switch device is obtained, it is bent using mapping according to the current temperature value The current delay time difference corresponding to the determination of line collection;
It should be noted that the current temperature value is motor inverter bridge arm upper switch pipe described in current time Temperature value.
It will be appreciated that the current temperature value can be obtained using various ways, such as:Can using temperature sensor come The current value is obtained, the current temperature value can be also obtained using infrared radiation thermometer, the present embodiment is not any limitation as to this.
S40:Command voltage is corrected according to the current delay time difference;
S50: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 concentrates the linear zone of each mapping curve by searching mapping curve, and resistance is carried out based on the linear zone Identification, the stator resistance of permagnetic synchronous motor is obtained, the current temperature value of motor inverter upper switch device is obtained, according to described Current temperature value is using the current delay time difference corresponding to the determination of mapping curve collection, according to the current delay time difference to instruction Voltage is corrected, and the stator magnet of the permagnetic synchronous motor is calculated according to the command voltage after the stator resistance and correction Chain so that the stator resistance and command voltage of use are more accurate, so that stator magnetic linkage is more accurate.
Further, as shown in figure 4, 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 S40 is specifically included:
S41: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 switch pipe and lower switch pipe respectively, so, for the bridge arm in each phase Speech, respectively with present current value, and between the present current value of each phase independently of each other, do not interfere with each other, therefore, each phase it is current The current delay time difference corresponding to above-mentioned formula calculating can be respectively adopted in current value according to the present current value of each phase, 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.
S42:The terminal voltage error is subjected to coordinate transform, obtains the voltage compensation value under alpha-beta coordinate system;
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.
S43:Command voltage is corrected according to the voltage compensation value under the alpha-beta coordinate system.
It will be appreciated that after obtaining 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 in step S50 for ease of calculating the stator magnetic linkage 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 figure 5, 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. 5 is exemplified by based on the embodiment shown in Fig. 2.
In the present embodiment, step S30 is specifically included:
S30’:The current temperature value of motor inverter upper switch device is obtained, according to the current temperature value using mapping The current delay time difference corresponding to relation determination, the mapping relations are the corresponding relation of delay time difference and temperature value, described Mapping relations are generated based on the mapping curve collection.
It should be noted that for ease of the current delay time difference corresponding to determination, in the present embodiment, mapping can be pre-established Relation, the mapping relations are delay time difference and the corresponding relation of temperature value, and therefore, the present embodiment can be according to the current temperature Angle value is using the current delay time difference corresponding to mapping relations determination.
To obtain the mapping relations, in the present embodiment, test of many times test can be carried out, so as to obtain mapping relations collection, The mapping curve collection includes the mapping curve under different temperatures value, and the mapping curve is reflection delay time difference and current value The curve of corresponding relation, due to having the faster inelastic region of amplitude of variation in mapping curve, determined according to inelastic region The mapping relations, the current delay time difference that can cause to obtain can not ensure precision, so, can be described in the present embodiment Mapping curve, which is concentrated, determines a pre-set current value (it will be appreciated that the pre-set current value in the linear zone of each mapping curve Can be configured as needed, certainly, also can be by the way of randomly selecting, the present embodiment be any limitation as to this), from described It is poor that mapping curve collection searches the delay time that each mapping curve corresponds to pre-set current value;It is other according to the delay time difference found Temperature value corresponding with its affiliated mapping curve is associated, to form the mapping relations.
Certainly, in the specific implementation, current delay corresponding with current temperature value can be searched in the mapping relations Time difference, but limited in view of the temperature value in the mapping relations, it is understood that there may be searched in mapping relations less than with current temperature The situation of current delay time difference corresponding to angle value, therefore, in the present embodiment, two references can be chosen from the mapping relations Point, obtain each reference point reference temperature value and with reference to delay time it is poor, according to the reference of the current temperature value, each reference point Temperature value and reference delay time difference determine the current delay time difference.
According to experimental results can the computation delay time difference, it can be seen from result of calculation, delay time difference is with electric current, temperature Shown in solid in the rule such as Fig. 6 of degree change, the abscissa in figure is current value, and ordinate is that delay time is poor.According in Fig. 6 Rule, calculated to simplify, the influence of curent change can be ignored, only consider the influence of temperature change.Blocked portion in Fig. 6 The linear zone of as described mapping curve, therefore, a pre-set current value i can be chosen in the linear zone0, so as to establish State mapping relations.
Correspondingly, can be according to the current temperature value, the reference temperature value of each reference point and with reference to delay in the present embodiment Time difference determines the current delay time difference by following formula,
Wherein, T is current temperature value, Δ tdelay(T) it is the current delay time difference, (i0,T1) it is reference temperature value T1It is corresponding Reference delay time it is poor, t (i0,T2) it is reference temperature value T2It is corresponding poor with reference to delay time, i0For pre-set current value.
It should be noted that the dotted line in Fig. 6 is to calculate acquisition respectively to each temperature value in square frame according to above-mentioned formula Delay time it is poor, it will be understood that, the current temperature value need to be also required to be in the linear zone can just use it is above-mentioned Formula accurately calculates the current delay time difference, if current temperature value is not in linear zone, needs using other modes come really Settled preceding delay time is poor, such as:Determined by directly carrying out the modes such as corresponding lookup from the mapping curve, 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:
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping curve collection includes reflecting under different temperatures value Curve is penetrated, the mapping curve is reflection delay time difference and the curve of current value corresponding relation;
Resistance identification is carried out based on the linear zone, obtains the stator resistance of permagnetic synchronous motor;
The current temperature value of motor inverter upper switch device is obtained, mapping curve collection is used according to the current temperature value It is determined that the corresponding current delay time difference;
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, obtains the voltage compensation value under alpha-beta coordinate system;
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 current temperature value of motor inverter upper switch device is obtained, it is true using mapping relations according to the current temperature value Current delay time difference corresponding to fixed, the mapping relations are delay time difference and the corresponding relation of temperature value, and the mapping is closed System is generated based on the mapping curve collection.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor Make:
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, it is bent from the mapping It is poor that line collection searches the delay time that each mapping curve corresponds to pre-set current value;
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, to be formed The mapping relations.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor Make:
Two reference points are chosen from the mapping relations, obtain the reference temperature value of each reference point and with reference to delay time Difference, when according to the current temperature value, the reference temperature value of each reference point and determining the current delay with reference to delay time difference Between it is poor.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor Make:
The tangent slope that the mapping curve concentrates every on each mapping curve is obtained respectively, it is true according to the tangent slope The linear zone of fixed each mapping curve.
Further, following behaviour is also realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor Make:
The mapping curve concentrated to the mapping curve travels through, by tangent slope in the current mapping curve traversed Equal to default slope point as cut-point;
The current mapping curve is split according to the cut-point, obtains at least two cut sections;
Judge that each cut section is more than the point of default slope with the presence or absence of tangent slope, will not have tangent slope more than default Linear zone of the cut section of the point of slope as the current mapping curve.
The present embodiment is by such scheme, by searching the linear zone of each mapping curve of mapping curve concentration, based on described Linear zone carries out resistance identification, obtains the stator resistance of permagnetic synchronous motor, obtains the current of motor inverter upper switch device Temperature value, the current delay time difference according to corresponding to the current temperature value using the determination of mapping curve collection, according to described current Delay time difference is corrected to command voltage, and it is same to calculate the permanent magnetism according to the command voltage after the stator resistance and correction Walk the stator magnetic linkage of motor so that the stator resistance and command voltage of use 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 includes, so that process, method, article or system including a series of elements not only include those key elements, and And also include the other element 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 Other identical element also be present in the process of key element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
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.Based on such understanding, 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 embodiment of the present invention.
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 The 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:
The linear zone that mapping curve concentrates each mapping curve is searched, the mapping that the mapping curve collection is included under different temperatures value is bent Line, the mapping curve are reflection delay time difference and the curve of current value corresponding relation;
Resistance identification is carried out based on the linear zone, obtains the stator resistance of permagnetic synchronous motor;
The current temperature value of motor inverter upper switch device is obtained, is determined according to the current temperature value using mapping curve collection The corresponding current delay time difference;
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, obtains the voltage compensation value under alpha-beta coordinate system;
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,
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>&amp;psi;</mi> <mrow> <mi>&amp;alpha;</mi> <mo>_</mo> <mi>e</mi> <mi>s</mi> <mi>t</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>&amp;psi;</mi> <mrow> <mi>&amp;beta;</mi> <mo>_</mo> <mi>e</mi> <mi>s</mi> <mi>t</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>&amp;Integral;</mo> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>&amp;alpha;</mi> </msub> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <msub> <mi>i</mi> <mi>&amp;alpha;</mi> </msub> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&amp;Integral;</mo> <mrow> <mo>(</mo> <msub> <mi>V</mi> <mi>&amp;beta;</mi> </msub> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <msub> <mi>i</mi> <mi>&amp;beta;</mi> </msub> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>
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 the acquisition motor inverter upper switch device The current temperature value of part, the current delay time difference according to corresponding to the current temperature value using the determination of mapping curve collection, specifically Including:
The current temperature value of motor inverter upper switch device is obtained, according to the current temperature value using mapping relations determination pair The current delay time difference answered, the mapping relations are delay time difference and the corresponding relation of temperature value, the mapping relations base Generated in the mapping curve collection.
5. method as claimed in claim 4, it is characterised in that the Current Temperatures for obtaining motor inverter upper switch device Value, before the current delay time difference according to corresponding to the current temperature value using mapping relations determination, methods described also includes:
Concentrated in the mapping curve and a pre-set current value is determined in the linear zone of each mapping curve, from the mapping curve collection Search each mapping curve correspond to pre-set current value delay time it is poor;
It is associated according to the delay time difference found temperature value not corresponding with its affiliated mapping curve, with described in formation Mapping relations.
6. method as claimed in claim 4, it is characterised in that described to be determined according to the current temperature value using mapping relations The corresponding current delay time difference, specifically include:
From the mapping relations choose two reference points, obtain each reference point reference temperature value and with reference to delay time it is poor, The current delay time is determined according to the current temperature value, the reference temperature value of each reference point and with reference to delay time difference Difference.
7. such as method according to any one of claims 1 to 3, it is characterised in that the lookup mapping curve concentrates each mapping The linear zone of curve, 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.
8. method as claimed in claim 7, 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 concentrated to the mapping curve is traveled through, and tangent slope in the current mapping curve traversed is equal to The point of default slope is as cut-point;
The current mapping curve is split according to the cut-point, obtains at least two cut sections;
Judge that each cut section is 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 linear zone of the cut section as the current mapping curve.
9. a kind of flux observer, it is characterised in that the flux observer includes:Memory, processor and it is stored in described On memory and the permanent-magnetic synchronous motor stator flux observation program that can run on the processor, the permagnetic synchronous motor The permanent-magnetic synchronous motor stator magnetic linkage that stator flux observer program is arranged for carrying out as any one of claim 1 to 8 is seen The step of survey method.
10. a kind of computer-readable recording medium, it is characterised in that it is same to be stored with permanent magnetism on the computer-readable recording medium Stator flux of motor observation program is walked, is realized when the permanent-magnetic synchronous motor stator flux observation program is executed by processor as weighed Profit requires the step of permanent-magnetic synchronous motor stator Flux Observation Method any one of 1 to 8.
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