CN107482986B - Parameter calibration and control method of motor - Google Patents
Parameter calibration and control method of motor Download PDFInfo
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- CN107482986B CN107482986B CN201710973933.2A CN201710973933A CN107482986B CN 107482986 B CN107482986 B CN 107482986B CN 201710973933 A CN201710973933 A CN 201710973933A CN 107482986 B CN107482986 B CN 107482986B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
Abstract
A parameter calibration and control method of a motor comprises the steps of calibration and motor control. According to the method, through tests, complex control parameters required by motor control are linearly corresponding to a control parameter data table with torque and rotating speed as conditions, and performance deviation caused by influence of other conditions is corrected through a current sensor and the like, so that accurate and efficient control over the motor is realized, a mathematical model required by motor control is simplified, limitation of the mathematical model for controlling the motor is overcome, and efficient and accurate control over the motor is realized.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method of a motor.
Background
With the development of industrial and new energy vehicles, the application of three-phase motors is more and more extensive, and a vector control technology is generally adopted at present to convert a magnetic field coordinate system formed by three phases of electricity into a magnetic field coordinate system similar to a direct current motor, to independently extract the exciting current and the torque current of the motor, to realize the control of the rotating speed or the torque of the three-phase motor by adopting a calculation mode (the input current is in direct proportion to the torque) similar to the direct current motor, as shown in fig. 1, the control method needs to use a current sensor to measure the current of each phase, to perform Clarke conversion (the three-phase stationary coordinate system is converted into a two-phase stationary coordinate system) and Park conversion (the two-phase stationary coordinate system is converted into two-phase moving coordinate system) according to the current, to calculate control parameters by using a speed regulation and torque control method similar to the direct current motor, to further perform inverse Park conversion (the two-phase, and finally, calculating the energizing time of each phase of the three-phase coil by using a voltage space vector modulation (SVPWM) algorithm, and controlling the motor.
The calculation process is very complex, the setting and verification difficulty of parameters, constants (coefficients) and the like involved in the process is high, in addition, the algorithm mainly takes the control performance of the motor as a target, although better dynamic response performance of the rotating speed and the torque can be obtained, the algorithm cannot have high efficiency under all conditions of the rotating speed and the load, because the efficiency of the motor is influenced by not only three-phase rules, amplitudes and the like, but also various factors such as the voltage current angle caused by the PWM frequency of a modulation wave and the magnetic flux change caused by the induced electromotive force under different rotating speeds, the air gap of a stator and a rotor of the motor, and performance and efficiency differences under different rotating speeds and torques caused by other unknown factors, which can cause the conventional method not to have good efficiency under various working conditions to the maximum extent. As a power motor, the efficiency is a crucial parameter on the premise of meeting the requirements of torque, power, speed and the like, so that the conventional three-phase motor control method is not sufficient in the aspect of power motor efficiency and is not beneficial to energy conservation.
In addition, the existing calibration and control method for obtaining current through the index lookup of rotating speed and torque only solves the problem of accuracy of motor torque control, the current control still needs to adopt the vector control method, the problems of complex calculation process and limitation of mathematical models still exist, and the efficient control of the motor cannot be realized.
Disclosure of Invention
The invention aims to provide a parameter calibration and control method of a motor, which comprises the following steps:
1) a calibration step:
setting the rotating speed of the dynamometer at a target value;
setting a minimum target torque;
starting a target motor through a set of initial control parameters;
changing the control parameters of the target motor one by one or simultaneously, obtaining the control parameters of the motor corresponding to the minimum input power under the current set rotating speed and torque conditions by comparing the input power, and storing the parameters by taking the set rotating speed and torque conditions as indexes;
gradually increasing a difference value to be used as the next target torque, repeatedly adjusting the input parameters of the motor, and storing the obtained parameters with the highest efficiency; repeating the steps until the maximum torque of the motor under the current set rotating speed condition is reached or the set torque limit is reached;
gradually increasing the rotating speed of a difference value, repeatedly setting the torque from minimum to maximum, finding out the highest efficiency control parameter corresponding to each torque node, and storing the highest efficiency control parameter in a form of taking the rotating speed and the torque as indexes;
repeatedly increasing the speed difference, calibrating the repeated torque from the minimum to the maximum until the maximum speed of the motor is reached or the set speed limit is reached, and storing data;
2) the motor control method comprises the following steps:
torque control mode: converting the current rotating speed and the target torque of the motor into index numbers of a table, looking up the table to obtain target control parameters, calculating the target control parameters by using an interpolation method if the index numbers are positioned between two nodes of the table during looking up the table, using the look-up table and/or the calculated parameters as input parameters of the motor to control the motor, and basically achieving the target torque;
and a rotating speed control mode: firstly, calculating a torque condition required by reaching a target rotating speed through a rotating speed control algorithm, then converting the rotating speed of the current motor and the calculated torque condition into a table look-up index number to obtain input parameters of the motor required by realizing the target torque at the current rotating speed, and using the parameters to control the motor, thereby realizing accurate rotating speed control.
Further, in the calibration step, the measured current and/or voltage is also stored as a parameter, and in the control step, if the actual current and/or voltage deviates from the current value and/or voltage obtained by table lookup, the modulation degree parameter obtained by table lookup is changed to keep the actual measurement value as a table lookup value.
According to the method, the complex control parameters required by the control of the motor are linearly corresponding to the control parameter data table with the torque and the rotating speed as conditions through tests, and the performance deviation caused by the influence of other conditions is corrected through the current sensor and the like, so that the precise and efficient control of the motor is realized, a mathematical model required by the control of the motor is simplified, the limitation of the mathematical model for controlling the motor is overcome, and the efficient and precise control of the motor is realized.
Drawings
Fig. 1 is a schematic diagram of the control of the rotational speed or torque of a three-phase motor of the prior art.
Fig. 2 is a schematic diagram of a calibration flow of a parameter calibration and control method of a motor according to a preferred embodiment of the present invention.
Fig. 3 is a schematic flow chart of the rotation speed control mode of the control flow of the parameter calibration and control method of the motor according to the preferred embodiment of the present invention.
Fig. 4 is a schematic flow chart of a torque control mode of a control flow of a parameter calibration and control method of an electric machine according to a preferred embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
The method of passing the bench test is exemplified by:
consists of the following components: the target motor is connected with a dynamometer (the dynamometer at least has the function of controlling the rotating speed) through a torque sensor, the dynamometer is used for controlling the output shaft of the motor to stably operate at the set rotating speed, and the torque sensor is used for measuring the output torque of the target motor.
Calibration step (fig. 2):
firstly, setting the rotating speed of the dynamometer at a target value;
setting a minimum target torque;
then, starting a target motor through a group of initial control parameters;
changing the control parameters of the target motor one by one or simultaneously, obtaining the control parameters of the motor corresponding to the minimum input power under the current set rotating speed and torque conditions by comparing the input power, and storing the parameters by taking the set rotating speed and torque conditions as indexes;
gradually increasing a difference value to be used as the next target torque, repeatedly adjusting the input parameters of the motor, and storing the obtained parameters with the highest efficiency; repeating the steps until the maximum torque of the motor under the current set rotating speed condition is reached or the set torque limit is reached;
and gradually increasing the rotating speed of a difference value, repeatedly setting the torque from minimum to maximum, finding out the highest efficiency control parameter corresponding to each torque node, and storing the highest efficiency control parameter in a form of taking the rotating speed and the torque as indexes.
And repeatedly increasing the rotation speed difference, repeatedly calibrating the torque from the minimum to the maximum until the maximum rotation speed of the motor is reached or a set rotation speed limit is reached, and storing data. And ending parameter calibration.
The motor control method comprises the following steps:
torque control mode (as in fig. 4): and converting the current rotating speed and the target torque of the motor into index numbers of a table, looking up the table to obtain target control parameters, and calculating the target control parameters by using an interpolation method if the index numbers are positioned between two nodes of the table during looking up the table. The motor is controlled by using the parameters of table lookup and/or calculation as input parameters of the motor, so that the target torque can be basically achieved, and for the occasions needing precise control, the torque conditions needed by table lookup can be adjusted by combining PI or PID control, so that precise torque control can be realized.
Speed control mode (fig. 3): firstly, calculating the torque condition required by reaching the target rotating speed through a rotating speed control algorithm (such as PI or PID and the like), then converting the rotating speed of the current motor and the calculated torque condition into a table look-up index number to obtain the input parameters of the motor required by realizing the target torque at the current rotating speed, and using the parameters to control the motor, thus realizing accurate rotating speed control.
Additionally, because the current of the motor winding is affected by the power voltage, the winding temperature and the like, the output state of the motor can deviate from the set value under the same control parameters, therefore, a current detection sensor is arranged in the controller, the sensor can be one (arranged on an input power line) or a plurality of sensors (arranged on a two-phase line or a three-phase line), the current is also stored as the parameter when the calibration is carried out, and the current is kept as the table-lookup value by changing the modulation degree parameter obtained by the table lookup if the current deviates from the current value obtained by the table lookup during the control, so that the motor has good stability and adaptability.
The method overcomes the influence of uncertain factors which exist in the aspects of circuits, magnetic circuits, machinery and the like of motor and controller hardware and can not be calculated through the mathematical model on the motor efficiency when the motor is controlled by the mathematical model, so that the motor has higher efficiency compared with the motor controlled by a general control method while meeting the performance parameter requirements. For example: when the motor works at a small torque, a smaller current is needed, therefore, a conventional method of small modulation degree plus a lower PWM frequency can be adopted, and a method of larger modulation degree plus a higher PWM frequency can also be adopted. The method can ensure that the electric energy conversion efficiency of the motor is high by controlling which parameter is used in the test, and the control is carried out by using which parameter, so that the constraint of a mathematical model is completely eliminated, and the control strategy is flexible and efficient.
The motor control parameters include but are not limited to: PWM modulation wave frequency, modulation degree, included angle between stator magnetic field current and voltage and the like.
The PWM wave frequency refers to the frequency of a pulse width modulation wave used for controlling the current of the motor;
the modulation degree refers to a parameter corresponding to the peak height of the current sine wave when SVPWM or SPWM calculation is determined;
the included angle between the stator magnetic field current and the voltage is a lag effect between the voltage applied to the coil and the current passing through the coil due to the influence of the inductive reactance of the stator coil, and is reflected on a rotation angle of the rotor, and is referred to as a voltage advance angle for short;
the current parameters include, but are not limited to, current vector, scalar, etc., and may be any of them.
The voltage parameters, including but not limited to the value, phase, etc. of the voltage, may be any one of them.
According to the method, through tests, complex control parameters required by the control motor are linearly corresponding to a control parameter data table with torque and rotating speed as conditions, and then performance deviation caused by the influence of other conditions is corrected through the current sensor, so that accurate and efficient control over the motor is realized, a mathematical model required by motor control is simplified, and the influence of uncertain factors which cannot be calculated through the mathematical model and exist in the aspects of circuits, magnetic circuits, machinery and the like of motor and controller hardware on the motor efficiency when the motor is controlled by the mathematical model is overcome, so that the motor has higher efficiency compared with a motor controlled by a common control method while meeting the performance parameter requirements.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (2)
1. A parameter calibration and control method of a motor is characterized by comprising the following steps:
1) a calibration step:
setting the rotating speed of the dynamometer at a target value;
setting a minimum target torque;
starting a target motor through a set of initial control parameters;
changing the control parameters of the target motor one by one or simultaneously, obtaining the control parameters of the motor corresponding to the minimum input power under the current set rotating speed and torque conditions by comparing the input power, and storing the parameters by taking the set rotating speed and torque conditions as indexes;
gradually increasing a difference value to be used as the next target torque, repeatedly adjusting the input parameters of the motor, and storing the obtained parameters with the highest efficiency; repeating the steps until the maximum torque of the motor under the current set rotating speed condition is reached or the set torque limit is reached;
gradually increasing the rotating speed of a difference value, repeatedly setting the torque from minimum to maximum, finding out the highest efficiency control parameter corresponding to each torque node, and storing the highest efficiency control parameter in a form of taking the rotating speed and the torque as indexes;
repeatedly increasing the speed difference, calibrating the repeated torque from the minimum to the maximum until the maximum speed of the motor is reached or the set speed limit is reached, and storing data;
2) the motor control method comprises the following steps:
torque control mode: converting the current rotating speed and the target torque of the motor into index numbers of a table, looking up the table to obtain target control parameters, calculating the target control parameters by using an interpolation method if the index numbers are positioned between two nodes of the table during looking up the table, using the look-up table and/or the calculated parameters as input parameters of the motor to control the motor, thus achieving the target torque, and combining PI or PID control to adjust the torque conditions required by looking up the table and realizing accurate torque control on occasions needing accurate control;
and a rotating speed control mode: firstly, calculating a torque condition required by reaching a target rotating speed through a rotating speed control algorithm, then converting the rotating speed of the current motor and the calculated torque condition into a table look-up index number to obtain input parameters of the motor required by realizing the target torque at the current rotating speed, and using the parameters to control the motor, thereby realizing accurate rotating speed control.
2. A method for calibrating and controlling parameters of an electric motor according to claim 1, characterized in that in the calibration step the measured current and/or voltage is also stored as parameters, and in the control step the measured current and/or voltage is maintained as a look-up value by changing the modulation parameter and/or other parameters of the look-up table if the current deviates from the current value of the look-up table.
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| CN110289792B (en) * | 2018-03-16 | 2020-11-24 | 郑州宇通客车股份有限公司 | Calibration method, control method and bench test control system of permanent magnet synchronous motor |
| CN116620042B (en) * | 2023-06-05 | 2024-02-06 | 小米汽车科技有限公司 | Motor control parameter calibration method and device and vehicle |
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| CN103744420A (en) * | 2013-12-30 | 2014-04-23 | 普天新能源车辆技术有限公司 | Calibration device for auxiliary power unit of hybrid vehicle |
| CN103738192A (en) * | 2013-12-19 | 2014-04-23 | 北京汽车新能源汽车有限公司 | Dual-motor two-gear drive system and brake control method thereof |
| CN105824290A (en) * | 2016-04-28 | 2016-08-03 | 叶志刚 | Superhigh precision servo driving system based on PID online calibration machine tool |
| CN108226774A (en) * | 2016-12-09 | 2018-06-29 | 上海大郡动力控制技术有限公司 | The automatic calibration system and method for Over Electric Motor with PMSM |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08168285A (en) * | 1994-12-14 | 1996-06-25 | Toshiba Corp | Speed controller for wound-rotor induction motor |
| CN102969970A (en) * | 2012-12-11 | 2013-03-13 | 常州工学院 | Motor efficiency tracking driving system and driving method |
| CN103738192A (en) * | 2013-12-19 | 2014-04-23 | 北京汽车新能源汽车有限公司 | Dual-motor two-gear drive system and brake control method thereof |
| CN103744420A (en) * | 2013-12-30 | 2014-04-23 | 普天新能源车辆技术有限公司 | Calibration device for auxiliary power unit of hybrid vehicle |
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