CN108258962A - A kind of permanent-magnetic electric machine inductance parameter identification method and system - Google Patents
A kind of permanent-magnetic electric machine inductance parameter identification method and system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The embodiment of the present invention provides a kind of permanent-magnetic electric machine inductance parameter identification method and system, is related to motor control technology field, which includes：Magneto to be tested is rotated with setting speed zero load, calculates the permanent magnet flux linkage Ψ of the magneto in the unloaded statef0；According to the permanent magnet flux linkage Ψf0, calculate the magneto and only applying direct-axis current id′When d-axis inductance Ld1；It calculates the magneto and is only applying quadrature axis current iq′When quadrature axis inductance Lq2.Parameter identification method provided in an embodiment of the present invention and system, unloaded control is carried out to magneto respectively, only apply direct-axis current control and only applies quadrature axis current control, and the definition based on inductance parameters carries out the identification of d-axis inductance and quadrature axis inductance, the stator resistance of magneto this physical quantity is not related to, therefore can accurately obtain the inductance parameters of magneto.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a permanent magnet motor inductance parameter identification method and system.
Background
The permanent magnet motor has the advantages of low power consumption, high efficiency and wide speed regulation range, is widely applied to the field of electric automobiles, and generally adopts a vector control mode to control the permanent magnet motor. However, when the vector control is performed on the permanent magnet motor, the quadrature-direct axis has a cross coupling component, and when the operation condition of the permanent magnet motor changes, the quadrature-direct axis current and the quadrature-direct axis current of the permanent magnet motor often interact due to the presence of the cross coupling component, so that the dynamic performance of the motor is affected. In order to avoid the influence, decoupling control is generally performed on the permanent magnet motor, and a common decoupling method generally depends on inductance parameters of the permanent magnet motor, so that identification of the inductance parameters of the permanent magnet motor is particularly important.
To a permanent magnet motorIn the case of the line decoupling control, the required inductance parameter comprises the direct-axis inductance LdAnd quadrature axis inductance LqIn the prior art, a scheme for identifying inductance parameters of a permanent magnet motor based on a pulse voltage impact method is provided. Specifically, a direct-axis pulse voltage and a quadrature-axis pulse voltage are sequentially applied to the permanent magnet motor, the direct-axis pulse voltage and the quadrature-axis pulse voltage are preset fixed values, and a direct-axis feedback current i is respectively applied to the permanent magnet motordAnd quadrature axis feedback current iqSampling and calculating according to the direct axis inductanceFormula for calculating sum-quadrature axis inductanceInverse calculation of direct axis inductance LdAnd quadrature axis inductance Lq。
As can be seen from the above calculation formula of the quadrature-direct axis inductance, the acquisition of inductance parameters depends on the stator resistance R of the permanent magnet motorsVisible stator resistance RsThe accuracy of the inductance parameter can directly influence the identification accuracy of the inductance parameter; in addition, the amplitude of the applied fixed pulse voltage is not easy to select, overcurrent is easily caused by overlarge voltage amplitude, the current is too small due to undersize voltage amplitude, and the voltage amplitude is difficult to detect.
Disclosure of Invention
The embodiment of the invention aims to provide a permanent magnet motor inductance parameter identification method and system to improve the identification precision of inductance parameters.
In order to achieve the above object, an embodiment of the present invention discloses a method for identifying inductance parameters of a permanent magnet motor, the method comprising:
the method comprises the steps that a permanent magnet motor to be tested rotates at a set rotating speed in an idle load mode, and a permanent magnet flux linkage psi of the permanent magnet motor in the idle load state is calculatedf0；
According to the permanent magnetic linkage psif0Calculating the direct-axis current i only applied to the permanent magnet motord′Time direct axis inductance Ld1；
Calculating the cross-axis current i only applied to the permanent magnet motorq′Time quadrature axis inductance Lq2。
Preferably, the set rotating speed is 0.6 to 1 time of the rated rotating speed of the permanent magnet motor, and the back electromotive force of the permanent magnet motor in the no-load state generated when the permanent magnet motor rotates at the set rotating speed is less than 0.45 to 0.5 times of UdcWherein, UdcThe value of the direct current bus voltage is obtained.
Preferably, the inductance parameter identification method further includes:
collecting the current direct axis current i of the permanent magnet motord1Or quadrature axis current iq2；
Generating the direct axis current i according to a preset current transformation ruled1Corresponding direct axis feedback current id1-fbOr with said quadrature current iq2Corresponding quadrature axis feedback current iq2-fb；
Respectively utilizing the direct axis feedback current id1-fbOr the quadrature axis feedback current iq2-fbFor the applied direct axis current id′Or quadrature axis current iq′And carrying out closed-loop feedback regulation.
Preferably, the inductance parameter identification method further includes:
calculating when only quadrature axis current i is appliedq′Direct-axis output voltage U under stated2And quadrature axis output voltage Uq2；
Outputting a voltage U by using the quadrature axisd2And the direct-axis output voltage Uq2Generating a phase voltage U of the permanent magnet motordq；
Judge Udq*Whether the value is in the range of 0.88-0.92 or not, or judging the phase voltage UdqWhether the amount is 0.88 to 0.92 timesIf yes, judging that the quadrature axis inductance parameter identification of the permanent magnet motor is completed, wherein Udq*Is a phase voltage UdqExpressed in per unit value.
Preferably, the magnetic flux linkage Ψ is a function of the permanent magnet flux linkage Ψf0Calculating the direct-axis current i only applied to the permanent magnet motord′Time direct axis inductance Ld1The method comprises the following steps:
calculating the direct-axis inductance L according to the following expressiond1：
Or,
wherein, Uq1To apply only a direct axis current id′Quadrature axis output voltage; u shapeq1*Output voltage U for quadrature axisq1Expressed by a per unit value of; u shapedcIs a direct current bus voltage value; i.e. id1-LPFFor feeding a current i to the alignment axisd1-fbFiltering current obtained after low-pass filtering processing is carried out; Ψf0The permanent magnet flux linkage is under the no-load state; omegae1To apply only a direct axis current id′Current frequency of the permanent magnet motor; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
Preferably, the calculation is carried out by the permanent magnet motor only applying the direct-axis current id′Time direct axis inductance Ld1The method comprises the following steps:
calculating quadrature axis inductance L according to the following expressionq2：
Or,
wherein, Ud2To apply only quadrature axis current iq′A time-direct axis output voltage; u shaped2*For the straight axis output voltage Ud2Expressed by a per unit value of; u shapedcIs a direct current bus voltage value; i.e. iq2-LPFFor feeding back current i to quadrature axisq2-fbFiltering current obtained after low-pass filtering processing is carried out; omegae2To apply only quadrature axis current iq′Current frequency of the permanent magnet motor; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
Preferably, the applied direct axis current id' is M times the maximum current allowed to pass through the permanent magnet machine, wherein M is less than or equal to 0.7.
In order to achieve the above object, an embodiment of the present invention discloses an inductance parameter identification system for a permanent magnet motor, where the inductance parameter identification system includes: the device comprises a permanent magnet motor, a current regulation module, a current feedback module and a processor; wherein,
the current regulating module is used for applying direct-axis current or quadrature-axis current to the permanent magnet motor so as to enable the permanent magnet motor to operate in a no-load state, a state of only applying the direct-axis current or a quadrature-axis current, and outputting direct-axis output voltage or quadrature-axis output voltage in the operating state;
the current feedback module is used for acquiring direct-axis current or quadrature-axis current of the permanent magnet motor in real time and generating direct-axis feedback current corresponding to the direct-axis current or quadrature-axis feedback current corresponding to the quadrature-axis current so as to realize closed-loop feedback regulation of the applied direct-axis current or quadrature-axis current;
the processor is used for identifying the inductance parameter of the permanent magnet motor according to the direct-axis output voltage or the quadrature-axis output voltage output by the current regulating module and the direct-axis feedback current or the quadrature-axis feedback current generated by the current feedback module.
Preferably, the inductance parameter identification system further comprises a filtering module; wherein,
the filtering module is used for filtering the direct axis feedback current or the quadrature axis feedback current to obtain a filtering current;
the current feedback module is further configured to inject the generated direct-axis feedback current or quadrature-axis feedback current into the filtering module.
Preferably, the inductance parameter identification system further comprises a modulation module, which is used for performing voltage transformation, modulation wave generation and inversion processing on the applied direct axis current or quadrature axis current.
According to the method and the system for identifying the inductance parameters of the permanent magnet motor, no-load control, only direct-axis current control and only quadrature-axis current control can be respectively carried out on the permanent magnet motor according to the feedback decoupling principle in the vector control of the permanent magnet motor in a specific rotating speed range, the direct-axis inductance and the quadrature-axis inductance can be identified based on the definition of the inductance parameters, and the physical quantity of the stator resistance of the permanent magnet motor is not involved, so that the inductance parameters of the permanent magnet motor can be accurately obtained; and the current of the permanent magnet motor is subjected to closed-loop control in the process of identifying inductance parameters, so that the phenomenon that the current is too large or too small can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for identifying inductance parameters of a permanent magnet motor according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating another method for identifying inductance parameters of a permanent magnet motor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a permanent magnet motor inductance parameter identification system according to an embodiment of the present invention.
The reference numbers in the drawings:
10. permanent magnet motor
20. Current regulation module
30. Current feedback module
40. Processor with a memory having a plurality of memory cells
50. Filtering module
60. Modulation module
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the identification precision of the inductance parameter of the permanent magnet motor, the embodiment of the invention provides a permanent magnet motor inductance parameter identification method and system.
First, a detailed description is given to a method for identifying inductance parameters of a permanent magnet motor according to an embodiment of the present invention.
As shown in fig. 1, an inductance parameter identification method for a permanent magnet motor according to an embodiment of the present invention includes:
s101: the method comprises the steps that a permanent magnet motor to be tested rotates at a set rotating speed in an idle load mode, and a permanent magnet flux linkage psi of the permanent magnet motor in the idle load state is calculatedf0。
It should be noted that the "no-load state" of the permanent magnet motor mentioned here refers to the applied direct-axis current id′And quadrature axis current iq′Both 0 states, i.e. no direct axis current and i are appliedd′And quadrature axis current iq′The state of (1).
In practical application, the permanent magnet motor can be coaxially connected with a prime motor, the rotation speed of the prime motor is controlled by a prime motor controller which has an electrical control relation with the prime motor, and then the permanent magnet motor can obtain the same rotation speed as the prime motor, namely, a set rotation speed.
Preferably, the set rotating speed is 0.6 to 1 time of the rated rotating speed of the permanent magnet motor, and the back electromotive force of the permanent magnet motor in the no-load state generated when the permanent magnet motor rotates at the set rotating speed is less than 0.45 to 0.5 times of UdcWherein, UdcThe value of the direct current bus voltage is obtained.
It should be noted that "0.6-1 times of the rated rotation speed of the permanent magnet motor" mentioned above is only a preferable range of the set rotation speed, and should not constitute a limitation to the embodiments of the present invention, and those skilled in the art need to make reasonable settings according to the specific situation in the practical application.
Specifically, the permanent magnetic flux linkage Ψ may be calculated according to the following expressionf0：
Wherein, Uq0For quadrature axis in no-load conditionOutputting the voltage; u shapedcIs a direct current bus voltage value; omegae0Is the current frequency of the permanent magnet motor in the no-load state; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
It can be seen that the above calculation of the permanent magnetic flux linkage Ψf0In the expression (2), the stator resistance R of the permanent magnet motor is not involvedsTherefore, the accuracy of subsequent identification of the inductance parameters of the permanent magnet motor is improved.
S102: according to the permanent magnetic linkage psif0Calculating the direct-axis current i only applied to the permanent magnet motord′Time direct axis inductance Ld1。
It should be noted that "only the direct axis current i is applied" of the permanent magnet motor mentioned hered′", means that a direct axis current i is appliedd′Not 0 but quadrature axis current iq′A state of 0.
Preferably, the magnetic flux linkage Ψ is a function of the permanent magnet flux linkage Ψf0Calculating the direct-axis current i only applied to the permanent magnet motord′Time direct axis inductance Ld1The method comprises the following steps:
it should be noted that, in consideration of the difference between the actual unit system and the per unit value unit system in the electrical control process, the embodiment of the present invention provides the direct axis inductance L in the two unit systemsd1Specifically, the direct axis inductance L can be calculated according to the following expression (1) or (2)d1：
Or,
wherein, Uq1To apply only a direct axis current id′Quadrature axis output voltage; u shapeq1*Output voltage U for quadrature axisq1Expressed by a per unit value of; u shapedcIs straightA current bus voltage value; i.e. id1-LPFFor feeding a current i to the alignment axisd1-fbFiltering current obtained after low-pass filtering processing is carried out; Ψf0The permanent magnet flux linkage is under the no-load state; omegae1To apply only a direct axis current id′Current frequency of the permanent magnet motor; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
Obviously, the direct axis inductance L is calculated as described aboved1In the expression (2), the stator resistance R of the permanent magnet motor is not involvedsTherefore, the accuracy of identifying the direct current inductance of the permanent magnet motor is improved.
S103: calculating the cross-axis current i only applied to the permanent magnet motorq′Time quadrature axis inductance Lq2。
It should be noted that "only quadrature axis current i is applied" of the permanent magnet motor mentioned hereq′", means that a direct axis current i is appliedd′0 and quadrature axis current iq′A state other than 0.
Preferably, the calculation is carried out by the permanent magnet motor only applying the direct-axis current id′Time direct axis inductance Ld1The method comprises the following steps:
it should be noted that, in consideration of the difference between the actual unit system and the per-unit-value unit system in the electrical control process, the embodiment of the present invention provides the quadrature axis inductance L in the two unit systemsq2Specifically, the quadrature inductance L may be calculated according to the following expression (3) or (4) according to the following expressionq2：
Or,
wherein, Ud2To apply only quadrature axis current iq′A time-direct axis output voltage; u shaped2*For the straight axis output voltage Ud2Expressed by a per unit value of; u shapedcIs a direct current bus voltage value; i.e. iq2-LPFFor feeding back current i to quadrature axisq2-fbFiltering current obtained after low-pass filtering processing is carried out; omegae2To apply only quadrature axis current iq′Current frequency of the permanent magnet motor; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
Obviously, the direct axis inductance L is calculated as described aboveq2In the expression (2), the stator resistance R of the permanent magnet motor is not involvedsTherefore, the accuracy of identifying the alternating current inductance of the permanent magnet motor is improved.
Preferably, the applied direct axis current id' is M times the maximum current allowed to pass through the permanent magnet machine, wherein M is less than or equal to 0.7.
Note that the quadrature axis inductance Lq2And a direct axis inductor Ld1The method of identification is different, and the quadrature axis inductance L is carried outq2In the identification process, the phase voltage U of the permanent magnet motor also needs to be considereddqTherefore, in an implementation manner of the present invention, the inductance parameter identification method may further include:
(i) calculating when only quadrature axis current i is appliedq′Direct-axis output voltage U under stated2And quadrature axis output voltage Uq2。
(ii) Outputting a voltage U by using the quadrature axisd2And the direct-axis output voltage Uq2Generating a phase voltage U of the permanent magnet motordq。
(iii) Judge Udq*Whether the value is in the range of 0.88-0.92 or not, or judging the phase voltage UdqWhether the amount is 0.88 to 0.92 timesIf yes, judging that the quadrature axis inductance parameter identification of the permanent magnet motor is completed, wherein Udq*Is a phase voltage UdqExpressed in per unit value.
In addition, U is set heredq*Or UdqThe value range of the present invention is only a preferable value range, and should not be limited to the embodiment of the present invention, so that a person skilled in the art needs to perform reasonable setting according to the specific situation in the practical application.
It should be emphasized that, in the process of identifying inductance parameters of the permanent magnet motor by applying the scheme provided by the embodiment of the invention, the direct-axis inductance L can be identified firstd1Alternatively, the quadrature axis inductance L can be identified firstq2In the embodiment of the invention, the direct axis inductance L does not need to be identified in a limited wayd1And quadrature axis inductance Lq2That is, the embodiment of the present invention does not need to limit the execution sequence of step S102 and step S103, but the direct-axis inductance L is identifiedd1When the permanent magnetic linkage psi is neededf0Therefore, step S102 needs to be performed after step S101, and step S103 may be performed before or after step S101.
According to the method for identifying the inductance parameters of the permanent magnet motor, provided by the embodiment of the invention, no-load control, only direct-axis current control and only quadrature-axis current control can be respectively carried out on the permanent magnet motor according to the feedback decoupling principle in the vector control of the permanent magnet motor in a specific rotating speed range, and the direct-axis inductance and the quadrature-axis inductance are identified based on the definition of the inductance parameters without involving the physical quantity of the stator resistance of the permanent magnet motor, so that the inductance parameters of the permanent magnet motor can be more accurately obtained.
Further, as shown in fig. 2, which is a schematic flow chart of another permanent magnet motor inductance parameter identification method provided in the embodiment of the present invention, on the basis of the inductance parameter identification method shown in fig. 1, the inductance parameter identification method may further include:
s104: collecting the current direct axis current i of the permanent magnet motord1Or quadrature axis current iq2。
S105: according to preset current transformation rulesThen, the direct axis current i is generatedd1Corresponding direct axis feedback current id1-fbOr with said quadrature current iq2Corresponding quadrature axis feedback current iq2-fb。
S106: respectively utilizing the direct axis feedback current id1-fbOr the quadrature axis feedback current iq2-fbFor the applied direct axis current id′Or quadrature axis current iq′And carrying out closed-loop feedback regulation.
It should be noted that the applied direct axis current i is avoidedd′Or quadrature axis current iq′Influence on the accuracy of identification of inductance parameters of the permanent magnet motor when the inductance parameters are too large or too small, wherein the direct current id′Or quadrature axis current iq′The regulation is carried out in a closed-loop control mode. Specifically, for step S102, when only the direct-axis current i is appliedd′Then, the direct-axis current i may be generated through step S104 and step S105d1Corresponding direct axis feedback current id1-fbAnd using the direct axis to feed back current id1-fbFor direct axis current id′Feedback regulation is performed so that the applied direct axis current id′Can be stabilized within a desired range of values; similarly, for step S103, when only the quadrature axis current i is appliedq′In this case, the quadrature axis current i may be generated in step S104 and step S105q2Corresponding quadrature axis feedback current iq2-fbAnd using the quadrature axis feedback current iq2-fbTo quadrature axis current iq′Feedback regulation is performed so that the applied quadrature axis current iq′Can be stabilized within a desired range of values.
It should be noted that only the direct axis current i is applied in step S102d′And only applying quadrature axis current i in step S103q′Are two mutually independent processes, and therefore, when step S102 is executed, it is necessary to use the direct-axis feedback current id1-fbFor direct axis current id′Carrying out feedback regulation; when step S103 is executed, quadrature axis feedback current i is usedq2-fbTo quadrature axis current iq′To carry out the inverseAnd (4) feed regulation.
It can be seen that the inductance parameter identification method shown in fig. 2 performs closed-loop control on the current of the permanent magnet motor in the process of identifying the inductance parameter on the basis of having all the beneficial effects of the embodiment of the method shown in fig. 1, so that the phenomenon that the current is too large or too small can be avoided, and the accuracy of identifying the inductance parameter of the permanent magnet motor can be improved.
Next, a system for identifying inductance parameters of a permanent magnet motor according to an embodiment of the present invention is described.
As shown in fig. 3, the inductance parameter identification system may include: permanent magnet machine 10, current regulation module 20, current feedback module 30 and processor 40.
The current adjusting module 20 is configured to apply a direct-axis current or a quadrature-axis current to the permanent magnet motor, so that the permanent magnet motor operates in an idle state, only applies the direct-axis current state or the quadrature-axis current state, and outputs a direct-axis output voltage or a quadrature-axis output voltage in the operating state.
The current feedback module 30 is configured to acquire a direct-axis current or a quadrature-axis current of the permanent magnet motor in real time, and generate a direct-axis feedback current corresponding to the direct-axis current or a quadrature-axis feedback current corresponding to the quadrature-axis current, so as to implement closed-loop feedback adjustment on the applied direct-axis current or quadrature-axis current.
The processor is used for identifying the inductance parameter of the permanent magnet motor according to the direct-axis output voltage or the quadrature-axis output voltage output by the current regulating module and the direct-axis feedback current or the quadrature-axis feedback current generated by the current feedback module.
Further, the inductance parameter identification system may further include a filtering module 50; the filtering module 50 is configured to perform filtering processing on the direct-axis feedback current or the quadrature-axis feedback current, and obtain a filtering current; the current feedback module 30 is further configured to inject the generated direct-axis feedback current or quadrature-axis feedback current into the filtering module.
Furthermore, the inductance parameter identification system may further include a modulation module 60 for performing voltage transformation, modulation wave generation and inversion processing on the applied direct-axis current or quadrature-axis current.
According to the permanent magnet motor inductance parameter identification system provided by the embodiment of the invention, under a specific rotating speed range, according to a feedback decoupling principle in permanent magnet motor vector control, no-load control, only direct axis current control and only quadrature axis current control are respectively carried out on a permanent magnet motor, and the direct axis inductance and the quadrature axis inductance are identified based on the definition of inductance parameters, and the physical quantity of the stator resistance of the permanent magnet motor is not involved, so that the inductance parameters of the permanent magnet motor can be more accurately obtained; and the current of the permanent magnet motor is subjected to closed-loop control in the process of identifying inductance parameters, so that the phenomenon that the current is too large or too small can be avoided.
For the system embodiment, since it is basically similar to the method embodiment, it is relatively simple to describe, and for related points, refer to the partial description of the method embodiment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A permanent magnet motor inductance parameter identification method is characterized by comprising the following steps:
the method comprises the steps that a permanent magnet motor to be tested rotates at a set rotating speed in an idle load mode, and a permanent magnet flux linkage psi of the permanent magnet motor in the idle load state is calculatedf0；
According to the permanent magnetic linkage psif0Calculating the direct-axis current i only applied to the permanent magnet motord′Time direct axis inductance Ld1；
Calculating the cross-axis current i only applied to the permanent magnet motorq′Time quadrature axis electricityFeeling Lq2。
2. The inductance parameter identification method according to claim 1, wherein the set rotation speed is 0.6-1 times of the rated rotation speed of the permanent magnet motor, and the back electromotive force generated by the permanent magnet motor rotating at the set rotation speed in an idle state is less than 0.45-0.5 times of UdcWherein, UdcThe value of the direct current bus voltage is obtained.
3. The inductance parameter identification method according to claim 1, further comprising:
collecting the current direct axis current i of the permanent magnet motord1Or quadrature axis current iq2；
Generating the direct axis current i according to a preset current transformation ruled1Corresponding direct axis feedback current id1-fbOr with said quadrature current iq2Corresponding quadrature axis feedback current iq2-fb；
Respectively utilizing the direct axis feedback current id1-fbOr the quadrature axis feedback current iq2-fbFor the applied direct axis current id′Or quadrature axis current iq′And carrying out closed-loop feedback regulation.
4. The inductance parameter identification method according to claim 3, further comprising:
calculating when only quadrature axis current i is appliedq′Direct-axis output voltage U under stated2And quadrature axis output voltage Uq2；
Outputting a voltage U by using the quadrature axisd2And the direct-axis output voltage Uq2Generating a phase voltage U of the permanent magnet motordq；
Judge UdqWhether the value is in the range of 0.88-0.92 or not, or judging the phase voltage UdqWhether the amount is 0.88 to 0.92 timesIf yes, judging that the quadrature axis inductance parameter identification of the permanent magnet motor is completed, wherein UdqIs phase voltage UdqExpressed in per unit value.
5. The method according to claim 3, wherein the method according to the permanent magnet flux linkage Ψf0Calculating the direct-axis current i only applied to the permanent magnet motord′Time direct axis inductance Ld1The method comprises the following steps:
calculating the direct-axis inductance L according to the following expressiond1：
Wherein, Uq1To apply only a direct axis current id′Quadrature axis output voltage; u shapeq1*Output voltage U for quadrature axisq1Expressed by a per unit value of; u shapedcIs a direct current bus voltage value; i.e. id1-LPFFor feeding a current i to the alignment axisd1-fbFiltering current obtained after low-pass filtering processing is carried out; Ψf0The permanent magnet flux linkage is under the no-load state; omegae1To apply only a direct axis current id′Current frequency of the permanent magnet motor; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
6. The inductance parameter identification method according to claim 3, wherein said calculating only the direct-axis current i applied to said permanent magnet motord′Time direct axis inductance Ld1The method comprises the following steps:
calculating quadrature axis inductance L according to the following expressionq2：
Wherein, Ud2To apply only quadrature axis current iq′Time of day direct shaft output electricityPressing; u shaped2*For the straight axis output voltage Ud2Expressed by a per unit value of; u shapedcIs a direct current bus voltage value; i.e. iq2-LPFFor feeding back current i to quadrature axisq2-fbFiltering current obtained after low-pass filtering processing is carried out; omegae2To apply only quadrature axis current iq′Current frequency of the permanent magnet motor; n isrefFor a set rotational speed, p is the number of pole pairs of the permanent magnet motor.
7. The inductance parameter identification method according to claim 4, wherein the applied direct-axis current i isd′Is M times of the maximum current allowed to pass through the permanent magnet motor, wherein M is less than or equal to 0.7.
8. The permanent magnet motor inductance parameter identification system is characterized by comprising: the device comprises a permanent magnet motor, a current regulation module, a current feedback module and a processor; wherein,
the current regulating module is used for applying direct-axis current or quadrature-axis current to the permanent magnet motor so as to enable the permanent magnet motor to operate in a no-load state, a state of only applying the direct-axis current or a quadrature-axis current, and outputting direct-axis output voltage or quadrature-axis output voltage in the operating state;
the current feedback module is used for acquiring direct-axis current or quadrature-axis current of the permanent magnet motor in real time and generating direct-axis feedback current corresponding to the direct-axis current or quadrature-axis feedback current corresponding to the quadrature-axis current so as to realize closed-loop feedback regulation of the applied direct-axis current or quadrature-axis current;
the processor is used for identifying the inductance parameter of the permanent magnet motor according to the direct-axis output voltage or the quadrature-axis output voltage output by the current regulating module and the direct-axis feedback current or the quadrature-axis feedback current generated by the current feedback module.
9. The inductance parameter identification system according to claim 8, further comprising a filter module; wherein,
the filtering module is used for filtering the direct axis feedback current or the quadrature axis feedback current to obtain a filtering current;
the current feedback module is further configured to inject the generated direct-axis feedback current or quadrature-axis feedback current into the filtering module.
10. The inductance parameter identification system according to claim 8, further comprising a modulation module for performing voltage transformation, modulation wave generation and inversion processing on the applied direct-axis current or quadrature-axis current.
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