CN107453667B - Permanent magnet synchronous motor stator resistance identification method, motor driver and storage medium - Google Patents
Permanent magnet synchronous motor stator resistance identification method, motor driver and storage medium Download PDFInfo
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Abstract
The invention discloses a permanent magnet synchronous motor stator resistance identification method, a motor driver and a storage medium. According to the invention, the linear region of the mapping curve is searched, the current value is selected in the linear region, and the selected current value is taken as the direct-axis current value injected into the permanent magnet synchronous motor, so that the influence of different delay time differences can be effectively reduced, the accuracy of identifying the stator resistance of the permanent magnet synchronous motor is improved, the delay time difference of a switching tube is not required to be compensated, complicated mathematical operation is not required, and the method has universality and is not limited by the switching tube.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor stator resistance identification method, a motor driver and a storage medium.
Background
In a permanent magnet synchronous motor control system, the identification precision of stator resistance directly influences the motor control performance. Voltammetry is a commonly used method for resistance identification. Aiming at the problem that the voltage drop of a switching tube and a diode can reduce the identification precision of the resistor, direct current with two different values is generally injected in engineering, and the obtained current and voltage values are subtracted, so that the voltage drop of a switching device and the diode is offset, and the dependence on the device is reduced.
However, due to the influence of the nonlinear factor of the switching device, when different direct currents are injected, the delay time difference of the switching tube (i.e., the difference between the turn-on delay and the turn-off delay of the switching tube) is different, so that the above method cannot counteract the influence of the turn-on delay and the turn-off delay of the switching tube, and the identified resistance error is large.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a permanent magnet synchronous motor stator resistance identification method, a motor driver and a storage medium, and aims to solve the technical problem that resistance identification errors are large in the prior art.
In order to achieve the above object, the present invention provides a method for identifying a stator resistance of a permanent magnet synchronous motor, the method comprising the steps of:
searching a linear region of a mapping curve, wherein the mapping curve is a curve reflecting the corresponding relation between the delay time difference and the current value;
selecting a current value in the linear region;
taking the selected current value as a direct-axis current value injected into the permanent magnet synchronous motor, and detecting a direct-axis voltage value corresponding to the direct-axis current value;
and calculating the stator resistance of the permanent magnet synchronous motor according to the direct-axis current value and the corresponding direct-axis voltage value.
Preferably, the searching for the linear region of the mapping curve specifically includes:
and acquiring the tangent slope of each point on the mapping curve, and determining the linear region according to the tangent slope.
Preferably, the determining the linear region according to the tangent slope specifically includes:
taking a point where the slope of the tangent line is equal to a preset slope as a segmentation point;
dividing the mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope or not, and taking the partition area without the point with the tangent slope larger than the preset slope as the linear area.
Preferably, before the selecting the current value in the linear region, the method further comprises:
deleting the area exceeding the preset current threshold in the linear area.
Preferably, the preset current threshold is the smaller of the maximum allowed current of the permanent magnet synchronous motor and the maximum allowed current of a frequency converter connected to the permanent magnet synchronous motor.
Preferably, the selecting a current value in the linear region specifically includes:
two different current values are selected in the linear region.
Preferably, the detecting a direct-axis voltage value corresponding to the direct-axis current value by using the selected current value as the direct-axis current value injected into the permanent magnet synchronous motor specifically includes:
setting a preset angle as a given electrical angle, taking a selected first current value as a first straight-axis current value, performing closed-loop control on the first straight-axis current value, obtaining a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the first straight-axis current value, and taking the obtained direct-current voltage value as a first straight-axis voltage value corresponding to the first straight-axis current value;
setting a preset angle as a given electrical angle, taking a selected second current value as a second straight-axis current value, performing closed-loop control on the second straight-axis current value, acquiring a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the second straight-axis current value, and taking the acquired direct-current voltage value as a second straight-axis voltage value corresponding to the second straight-axis current value.
Preferably, the stator resistance of the permanent magnet synchronous motor is calculated according to the direct-axis current value and the corresponding direct-axis voltage value by the following formula,
wherein R is
sFor said permanent magnet synchronous electricityStator resistance of machine, V
d1Is a first direct-axis voltage value, V
d2Is the second direct axis voltage value, i
d1Is a first direct current value, i
d2The second direct current value.
Further, to achieve the above object, the present invention also provides a motor driver including: the permanent magnet synchronous motor stator resistance identification method comprises a memory, a processor and a permanent magnet synchronous motor stator resistance identification program which is stored on the memory and can run on the processor, wherein the permanent magnet synchronous motor stator resistance identification program is configured to realize the steps of the permanent magnet synchronous motor stator resistance identification method.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, wherein a permanent magnet synchronous motor stator resistance identification program is stored on the computer readable storage medium, and when being executed by a processor, the permanent magnet synchronous motor stator resistance identification program realizes the steps of the permanent magnet synchronous motor stator resistance identification method.
According to the invention, the linear region of the mapping curve is searched, the current value is selected in the linear region, and the selected current value is taken as the direct-axis current value injected into the permanent magnet synchronous motor, so that the influence of different delay time differences can be effectively reduced, the accuracy of identifying the stator resistance of the permanent magnet synchronous motor is improved, the delay time difference of a switching tube is not required to be compensated, complicated mathematical operation is not required, and the method has universality and is not limited by the switching tube.
Drawings
FIG. 1 is a schematic diagram of a motor drive architecture for a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for identifying stator resistance of a PMSM according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the variation of the delay time difference with the current according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for identifying stator resistance of a PMSM according to a second embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for identifying stator resistance of a PMSM according to a third embodiment of the present invention;
FIG. 6 is a waveform diagram of current and voltage during resistor identification according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a motor driver in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the motor driver may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, and a memory 1004. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The memory 1004 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1004 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the motor drive configuration shown in fig. 1 does not constitute a limitation of a motor drive and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1004, which is a kind of computer storage medium, may include therein an operating system, a user interface module, and a permanent magnet synchronous motor stator resistance recognition program.
In the motor driver shown in fig. 1, the motor driver calls a permanent magnet synchronous motor stator resistance recognition program stored in the memory 1004 by the processor 1001, and performs the following operations:
searching a linear region of a mapping curve, wherein the mapping curve is a curve reflecting the corresponding relation between the delay time difference and the current value;
selecting a current value in the linear region;
taking the selected current value as a direct-axis current value injected into the permanent magnet synchronous motor, and detecting a direct-axis voltage value corresponding to the direct-axis current value;
and calculating the stator resistance of the permanent magnet synchronous motor according to the direct-axis current value and the corresponding direct-axis voltage value.
Further, the processor 1001 may call the permanent magnet synchronous motor stator resistance identification program stored in the memory 1004, and further perform the following operations:
and acquiring the tangent slope of each point on the mapping curve, and determining the linear region according to the tangent slope.
Further, the processor 1001 may call the permanent magnet synchronous motor stator resistance identification program stored in the memory 1004, and further perform the following operations:
taking a point where the slope of the tangent line is equal to a preset slope as a segmentation point;
dividing the mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope or not, and taking the partition area without the point with the tangent slope larger than the preset slope as the linear area.
Further, the processor 1001 may call the permanent magnet synchronous motor stator resistance identification program stored in the memory 1004, and further perform the following operations:
deleting the area exceeding the preset current threshold in the linear area.
Further, the processor 1001 may call the permanent magnet synchronous motor stator resistance identification program stored in the memory 1004, and further perform the following operations:
two different current values are selected in the linear region.
Further, the processor 1001 may call the permanent magnet synchronous motor stator resistance identification program stored in the memory 1004, and further perform the following operations:
setting a preset angle as a given electrical angle, taking a selected first current value as a first straight-axis current value, performing closed-loop control on the first straight-axis current value, obtaining a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the first straight-axis current value, and taking the obtained direct-current voltage value as a first straight-axis voltage value corresponding to the first straight-axis current value;
setting a preset angle as a given electrical angle, taking a selected second current value as a second straight-axis current value, performing closed-loop control on the second straight-axis current value, acquiring a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the second straight-axis current value, and taking the acquired direct-current voltage value as a second straight-axis voltage value corresponding to the second straight-axis current value.
Further, the processor 1001 may call the permanent magnet synchronous motor stator resistance identification program stored in the memory 1004, and further perform the following operations:
calculating the stator resistance of the permanent magnet synchronous motor according to the straight-axis current value and the corresponding straight-axis voltage value by the following formula,
wherein R is
sIs the stator resistance, V, of the PMSM
d1Is a first direct-axis voltage value, V
d2Is the second direct axis voltage value, i
d1Is a first direct current value, i
d2The second direct current value.
According to the scheme, the linear region of the mapping curve is searched, the current value is selected in the linear region, the selected current value is used as the direct-axis current value injected into the permanent magnet synchronous motor, the influence of different delay time differences can be effectively reduced, the accuracy of identifying the stator resistor of the permanent magnet synchronous motor is improved, the delay time difference of the switching tube is not required to be compensated, complex mathematical operation is not required, universality is achieved, and the limitation of the switching tube is avoided.
Based on the hardware structure, the embodiment of the permanent magnet synchronous motor stator resistance identification method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a permanent magnet synchronous motor stator resistance identification method according to a first embodiment of the present invention.
In a first embodiment, the method for identifying the stator resistance of the permanent magnet synchronous motor comprises the following steps:
s10: searching a linear region of a mapping curve, wherein the mapping curve is a curve reflecting the corresponding relation between the delay time difference and the current value;
in a specific implementation, a plurality of test tests may be performed to obtain a mapping curve, where the mapping curve is a curve reflecting a corresponding relationship between a delay time difference and a current value, but since a non-linear region with a relatively fast change range may exist in the mapping curve, if a selected current value is in the non-linear region, an identified resistance error is too large due to a too large delay time difference, and thus, a linear region with a relatively small change range in the mapping curve may be searched in this embodiment.
It should be noted that the delay time difference is a difference between the turn-off delay time and the turn-on delay time, and the calculation formula may adopt Δ t
delay＝t
turn_off_delay-t
turn_on_delayWherein, Δ t
delayFor a delay time difference, t
turn_off_delayFor turn-off delay time, t
turn_on_delayThe delay time is turned on.
It can be understood that, since the linear region generally has a slow variation amplitude, the slope of the tangent line thereof is generally small, and in order to facilitate searching for the linear region in the mapping curve, in the present embodiment, the slope of the tangent line of each point on the mapping curve can be obtained, and the linear region is determined according to the slope of the tangent line.
In order to realize fast search of the linear region, in this embodiment, a point where a slope of a tangent line is equal to a preset slope may be used as a dividing point; dividing the mapping curve according to the dividing points to obtain at least two dividing areas; and judging whether each partition area has a point with a tangent slope larger than a preset slope or not, and taking the partition area without the point with the tangent slope larger than the preset slope as the linear area.
Referring to FIG. 3, the time delay can be calculated according to experimental test resultsThe interval difference is shown in fig. 3 by a solid line according to the calculation result, the law of the delay time difference changing with the current is shown in fig. 3, the abscissa in the figure is the current value, the ordinate is the delay time difference, wherein i
1The corresponding point can be understood as the above-mentioned division point, and the dotted line is the delay time difference obtained by respectively calculating each current value.
S20: selecting a current value in the linear region;
it should be noted that since the linear region is usually small in variation, selecting the current value in the linear region can prevent the identified resistance error from being too large.
It is understood that the current value can be selected in the linear region by a random selection method, which is not limited in this embodiment.
S30: taking the selected current value as a direct-axis current value injected into the permanent magnet synchronous motor, and detecting a direct-axis voltage value corresponding to the direct-axis current value;
it should be noted that, for a permanent magnet synchronous motor, a quadrature axis is also called a q axis, a direct axis is also called a d axis, the quadrature axis and the direct axis are coordinate axes in nature, and are not actual rotating shafts, in the control of the permanent magnet synchronous motor, in order to obtain control characteristics similar to a direct current motor, a coordinate system is established on a motor rotor, the coordinate system rotates synchronously with the rotor, the direction of a rotor magnetic field is taken as the d axis, and the direction perpendicular to the rotor magnetic field is taken as the q axis, and a mathematical model of the motor is converted into the coordinate system, so that decoupling of the d axis and the q axis can be realized, and good control characteristics can be obtained.
S40: and calculating the stator resistance of the permanent magnet synchronous motor according to the direct-axis current value and the corresponding direct-axis voltage value.
In the embodiment, the linear region of the mapping curve is searched, the current value is selected in the linear region, and the selected current value is used as the direct-axis current value injected into the permanent magnet synchronous motor, so that the influence of different delay time differences can be effectively reduced, the accuracy of identifying the stator resistor of the permanent magnet synchronous motor is improved, the delay time difference of the switching tube is not required to be compensated, complicated mathematical operation is not required, universality is realized, and the limitation of the switching tube is avoided.
Further, as shown in fig. 4, a second embodiment of the method for identifying the stator resistance of the permanent magnet synchronous motor according to the present invention is provided based on the first embodiment.
In this embodiment, before step S20, the method further includes:
s50: deleting the area exceeding the preset current threshold in the linear area.
It should be noted that, a large current value may exist in the linear region determined in step S10, and if an excessively large current value is selected, the permanent magnet synchronous motor may be damaged, or a component connected to the permanent magnet synchronous motor may be damaged, and in order to prevent this problem, in this embodiment, a preset current threshold may be set, and the region exceeding the preset current threshold in the linear region may be deleted.
It can be understood that, the preset current threshold may be set empirically or according to a plurality of tests, but considering that different permanent magnet synchronous motors may have different current-withstanding characteristics, in this embodiment, the preset current threshold may be set as the smaller of the maximum allowable current of the permanent magnet synchronous motor and the maximum allowable current of the frequency converter connected to the permanent magnet synchronous motor.
Further, as shown in fig. 5, a third embodiment of the method for identifying the stator resistance of the permanent magnet synchronous motor according to the present invention is proposed based on the first embodiment or the second embodiment, and fig. 5 is based on the first embodiment as an example.
In this embodiment, step S20 specifically includes:
s20': two different current values are selected in the linear region.
It can be understood that, in order to offset the effect of the delay time difference, two times of injecting current values are required, and therefore, in the present embodiment, two different current values are selected in the linear region, and in order to distinguish the selected current values, the selected current values can be divided into a first current value and a second current value.
Accordingly, step S30 may specifically include:
setting a preset angle as a given electrical angle (for convenience of subsequent calculation, in this embodiment, the preset angle may be 0 degree, and certainly, other angles may also be set, which is not limited in this embodiment), performing closed-loop control on a first direct current value by using a selected first current value as the first direct current value, obtaining a direct current voltage value when a feedback direct current value of the closed-loop control is consistent with the first direct current value, and using the obtained direct current voltage value as a first direct current voltage value corresponding to the first direct current value;
setting a preset angle as a given electrical angle, taking a selected second current value as a second straight-axis current value, performing closed-loop control on the second straight-axis current value, acquiring a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the second straight-axis current value, and taking the acquired direct-current voltage value as a second straight-axis voltage value corresponding to the second straight-axis current value.
It can be understood that, because the closed-loop control is usually implemented by a feedback comparison method, it usually requires a certain time to make the set value (i.e. the first direct current value or the second direct current value) and the feedback value (i.e. the feedback direct current value) consistent, but if the set value and the feedback value are not consistent yet, i.e. the dc voltage value is collected, the identified resistance error is too large, and therefore, in this embodiment, the dc voltage value is obtained only when the set value and the feedback value are consistent.
In a specific implementation, in order to improve the calculation efficiency, in this embodiment, the stator resistance of the permanent magnet synchronous motor may be calculated according to the direct-axis current value and the corresponding direct-axis voltage value by the following formula,
wherein R is
sIs the stator resistance, V, of the PMSM
d1Is a first direct-axis voltage value, V
d2Is the second direct axis voltage value, i
d1Is a first direct current value, i
d2The second direct current value.
Specifically, in the resistance identification, the waveform diagrams of the current and the voltage can be referred to fig. 6, where i
maxIs the above-mentioned predetermined current threshold.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a permanent magnet synchronous motor stator resistance identification program is stored on the computer-readable storage medium, and when executed by a processor, the permanent magnet synchronous motor stator resistance identification program implements the following operations:
searching a linear region of a mapping curve, wherein the mapping curve is a curve reflecting the corresponding relation between the delay time difference and the current value;
selecting a current value in the linear region;
taking the selected current value as a direct-axis current value injected into the permanent magnet synchronous motor, and detecting a direct-axis voltage value corresponding to the direct-axis current value;
and calculating the stator resistance of the permanent magnet synchronous motor according to the direct-axis current value and the corresponding direct-axis voltage value.
Further, when executed by the processor, the permanent magnet synchronous motor stator resistance identification program further implements the following operations:
and acquiring the tangent slope of each point on the mapping curve, and determining the linear region according to the tangent slope.
Further, when executed by the processor, the permanent magnet synchronous motor stator resistance identification program further implements the following operations:
taking a point where the slope of the tangent line is equal to a preset slope as a segmentation point;
dividing the mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope or not, and taking the partition area without the point with the tangent slope larger than the preset slope as the linear area.
Further, when executed by the processor, the permanent magnet synchronous motor stator resistance identification program further implements the following operations:
deleting the area exceeding the preset current threshold in the linear area.
Further, when executed by the processor, the permanent magnet synchronous motor stator resistance identification program further implements the following operations:
two different current values are selected in the linear region.
Further, when executed by the processor, the permanent magnet synchronous motor stator resistance identification program further implements the following operations:
setting a preset angle as a given electrical angle, taking a selected first current value as a first straight-axis current value, performing closed-loop control on the first straight-axis current value, obtaining a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the first straight-axis current value, and taking the obtained direct-current voltage value as a first straight-axis voltage value corresponding to the first straight-axis current value;
setting a preset angle as a given electrical angle, taking a selected second current value as a second straight-axis current value, performing closed-loop control on the second straight-axis current value, acquiring a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the second straight-axis current value, and taking the acquired direct-current voltage value as a second straight-axis voltage value corresponding to the second straight-axis current value.
Further, when executed by the processor, the permanent magnet synchronous motor stator resistance identification program further implements the following operations:
calculating the stator resistance of the permanent magnet synchronous motor according to the straight-axis current value and the corresponding straight-axis voltage value by the following formula,
wherein R is
sIs the stator resistance, V, of the PMSM
d1Is a first direct-axis voltage value, V
d2Is the second direct axis voltage value, i
d1Is a first direct current value, i
d2The second direct current value.
According to the scheme, the linear region of the mapping curve is searched, the current value is selected in the linear region, the selected current value is used as the direct-axis current value injected into the permanent magnet synchronous motor, the influence of different delay time differences can be effectively reduced, the accuracy of identifying the stator resistor of the permanent magnet synchronous motor is improved, the delay time difference of the switching tube is not required to be compensated, complex mathematical operation is not required, universality is achieved, and the limitation of the switching tube is avoided.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A permanent magnet synchronous motor stator resistance identification method is characterized by comprising the following steps:
searching a linear region of a mapping curve, wherein the mapping curve is a curve reflecting the corresponding relation between the delay time difference and the current value;
selecting a current value in the linear region;
taking the selected current value as a direct-axis current value injected into the permanent magnet synchronous motor, and detecting a direct-axis voltage value corresponding to the direct-axis current value;
calculating the stator resistance of the permanent magnet synchronous motor according to the direct-axis current value and the corresponding direct-axis voltage value;
and the delay time difference is the difference value between the turn-off delay time and the turn-on delay time of the switching device.
2. The method of claim 1, wherein the finding a linear region of the mapping curve specifically comprises:
and acquiring the tangent slope of each point on the mapping curve, and determining the linear region according to the tangent slope.
3. The method according to claim 2, wherein determining the linear region from the tangent slope comprises:
taking a point where the slope of the tangent line is equal to a preset slope as a segmentation point;
dividing the mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope or not, and taking the partition area without the point with the tangent slope larger than the preset slope as the linear area.
4. The method of claim 3, wherein prior to selecting a current value in the linear region, the method further comprises:
deleting the area exceeding the preset current threshold in the linear area.
5. The method according to claim 4, wherein the preset current threshold is the smaller of the maximum allowed current of the permanent magnet synchronous motor and the maximum allowed current of a frequency converter connected with the permanent magnet synchronous motor.
6. The method according to any one of claims 1 to 5, wherein selecting a current value in the linear region specifically comprises:
two different current values are selected in the linear region.
7. The method according to claim 6, wherein the detecting a direct-axis voltage value corresponding to the direct-axis current value by using the selected current value as the direct-axis current value injected into the permanent magnet synchronous motor specifically comprises:
setting a preset angle as a given electrical angle, taking a selected first current value as a first straight-axis current value, performing closed-loop control on the first straight-axis current value, obtaining a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the first straight-axis current value, and taking the obtained direct-current voltage value as a first straight-axis voltage value corresponding to the first straight-axis current value;
setting a preset angle as a given electrical angle, taking a selected second current value as a second straight-axis current value, performing closed-loop control on the second straight-axis current value, acquiring a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the second straight-axis current value, and taking the acquired direct-current voltage value as a second straight-axis voltage value corresponding to the second straight-axis current value.
8. The method of claim 7, wherein the stator resistance of the PMSM is calculated based on the direct-axis current value and the corresponding direct-axis voltage value by the following formula,
wherein R is
sIs the stator resistance, V, of the PMSM
d1Is a first direct-axis voltage value, V
d2Is the second direct axis voltage value, i
d1Is a first direct current value, i
d2The second direct current value.
9. A motor driver, characterized in that the motor driver comprises: a memory, a processor and a permanent magnet synchronous motor stator resistance identification program stored on the memory and executable on the processor, the permanent magnet synchronous motor stator resistance identification program being configured to implement the steps of the permanent magnet synchronous motor stator resistance identification method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a permanent magnet synchronous motor stator resistance identification program, which when executed by a processor implements the steps of the permanent magnet synchronous motor stator resistance identification method according to any one of claims 1 to 8.
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| CN105119549A (en) * | 2015-09-11 | 2015-12-02 | 南京埃斯顿自动控制技术有限公司 | Motor stator resistor recognition method |
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