CN108288935B - A kind of permanent magnet synchronous motor inductance parameters acquisition methods and system - Google Patents
A kind of permanent magnet synchronous motor inductance parameters acquisition methods and system Download PDFInfo
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- CN108288935B CN108288935B CN201810143014.7A CN201810143014A CN108288935B CN 108288935 B CN108288935 B CN 108288935B CN 201810143014 A CN201810143014 A CN 201810143014A CN 108288935 B CN108288935 B CN 108288935B
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Classifications
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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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
- H02P21/18—Estimation of position or speed
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of permanent magnet synchronous motor inductance parameters acquisition methods and systems, this method comprises: dragging permanent magnet synchronous motor by external force to specify revolving speed zero load to rotate, then the first voltage of the current regulation unit output of the frequency of permanent magnet synchronous motor and permanent magnet synchronous motor under specified revolving speed is obtained, magnetic linkage is obtained then according to the frequency and the first voltage, axis inductor when can obtain d-axis inductance when applying different direct-axis currents respectively according to the magnetic linkage and apply different quadrature axis currents.Inductance parameters are obtained without relying on the phase resistance of motor using the present invention, but according to Feedforward Decoupling principle in permanent magnet synchronous motor vector controlled, applies direct-axis current control to tested motor zero load control, only respectively and only totally three big steps can accurately obtain the inductance parameters of magneto to the control of application quadrature axis current.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method and a system for acquiring inductance parameters of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has low power consumption, high efficiency and wide speed regulation range, and is widely applied to the field of electric automobiles. In order to enable the permanent magnet synchronous motor to achieve excellent control performance, a vector control algorithm is mostly adopted for motor control, when the vector control is carried out on the permanent magnet synchronous motor, cross coupling components exist between a quadrature axis and a direct axis, and when the operation condition of the motor changes, quadrature axis current and direct axis current of the motor interact with each other due to the existence of the coupling components, so that the dynamic performance of the motor is influenced. Therefore, decoupling control is usually performed on the motor, most commonly, feedforward decoupling and feedback decoupling are performed, and both decoupling methods depend on parameters such as inductance of the motor, so that identification of the parameters such as the inductance of the motor is important.
The motor parameters required by decoupling control of the synchronous motor are motor flux linkage psi f and motor direct-axis inductance LdMotor quadrature axis inductance Lq. At present, pulse voltage impact method is generally adopted for identifying the alternating-current and direct-current shaft inductance of the synchronous motor. Applying fixed direct axis (d-axis) pulse voltage to the motor, sampling d-axis feedback current, and calculating the DC voltage according to the formulaAnd (5) performing reverse calculation to obtain d-axis inductance. Similarly, a fixed quadrature-axis (q-axis) pulse voltage is applied to the motor, a q-axis feedback current is sampled, and a formula is usedAnd performing reverse calculation to obtain the q-axis inductance.
However, the inductance parameter is obtained by depending on the phase resistance Rs of the motor, and the accuracy of the phase resistance Rs affects the accuracy of identifying the inductance parameter. In addition, the applied fixed voltage amplitude is not easy to select, overcurrent is easily caused when the voltage amplitude is too large, and the overcurrent is not easy to detect when the voltage amplitude is too small and the current is too small. Therefore, the prior art is difficult to obtain accurate inductance parameters.
Disclosure of Invention
The invention provides a method and a system for acquiring inductance parameters of a permanent magnet synchronous motor, which solve the problem that accurate inductance parameters are difficult to acquire in the prior art.
The invention provides a method for acquiring inductance parameters of a permanent magnet synchronous motor, which comprises the following steps:
dragging the permanent magnet synchronous motor to rotate at a specified rotating speed in a no-load way through external force;
acquiring the frequency of a permanent magnet synchronous motor at a specified rotating speed and a first voltage output by a current regulating unit of the permanent magnet synchronous motor;
acquiring a flux linkage according to the frequency and the first voltage;
and respectively acquiring direct-axis inductance when different direct-axis currents are applied and quadrature-axis inductance when different quadrature-axis currents are applied according to the magnetic flux linkage.
Preferably, the obtaining, according to the flux linkage, a direct-axis inductance when different direct-axis currents are applied and a quadrature-axis inductance when different quadrature-axis currents are applied includes:
for a direct axis inductance:
setting the quadrature axis current to 0;
gradually increasing negative direct-axis current applied to the permanent magnet synchronous motor from zero according to a first set step length, and respectively collecting voltages output by a current regulating unit of the permanent magnet synchronous motor when different direct-axis currents are applied;
acquiring direct-axis inductances corresponding to different direct-axis currents according to the voltage, the flux linkage and the frequency until a first end condition is reached;
storing direct-axis inductors corresponding to different direct-axis currents;
for quadrature inductance:
setting the direct axis current to 0;
gradually increasing quadrature axis current applied to the permanent magnet synchronous motor from zero according to a second set step length, and respectively collecting voltages output by a current regulating unit of the permanent magnet synchronous motor when different quadrature axis currents are applied;
obtaining quadrature axis inductances corresponding to different quadrature axis currents according to the voltage, the flux linkage and the frequency until a second end condition is reached;
and storing the quadrature axis inductances corresponding to different quadrature axis currents.
Preferably, the first end condition is: the ratio of the motor peak current with the first set step length increasing times larger than the designated multiple to the first set step length;
the second end condition is: the motor phase voltage is more than or equal to the inverter limit voltage.
Preferably, when the first voltage is a per unit value, the first voltage is converted into an actual value;
when the voltage is a per unit value, the voltage is converted into an actual value.
Preferably, the dragging the permanent magnet synchronous motor to rotate in a no-load mode at a specified rotation speed through an external force comprises:
coaxially connecting a prime motor with a rotating shaft of a permanent magnet synchronous motor;
the permanent magnet synchronous motor is enabled to rotate in an idling mode at a specified rotating speed by controlling the rotating speed of the prime motor.
Correspondingly, the invention also provides a system for acquiring the inductance parameter of the permanent magnet synchronous motor, which comprises the following components:
the system comprises a permanent magnet synchronous motor, an inverter bridge, a rotor angle calculation unit, an inductance calculation unit, a current regulation unit, a voltage conversion unit, a current detection unit of the motor to be measured and a wave modulation unit, wherein the permanent magnet synchronous motor is respectively connected with the inverter bridge, the rotor angle calculation unit and the inductance calculation unit;
the permanent magnet synchronous motor is dragged by external force to rotate at a specified rotating speed in a no-load way;
the current detection unit of the detected motor is used for detecting induced current generated when the permanent magnet synchronous motor is dragged and sending the induced current to the current conversion unit;
the rotor angle calculating unit is used for sending the position angle to the modulation wave-transmitting unit and the current converting unit;
the current conversion unit is used for converting the received induced current and the position angle into quadrature-axis current and direct-axis current and sending the quadrature-axis current and the direct-axis current to the current regulation unit;
the current regulating unit is used for converting the received quadrature-axis current and direct-axis current into quadrature-axis voltage and direct-axis voltage and sending the quadrature-axis voltage and the direct-axis voltage to the voltage conversion unit;
the modulation wave-transmitting unit is used for modulating the received voltage converted by the voltage conversion unit according to the position angle and outputting the modulated voltage to the permanent magnet motor through the inverter bridge;
the inductance calculation unit is used for respectively obtaining direct-axis inductance when different direct-axis currents are applied and quadrature-axis inductance when different quadrature-axis currents are applied according to the magnetic flux linkage.
Preferably, the current regulation unit is specifically configured to, for a direct-axis inductance: setting the quadrature axis current to 0; gradually increasing the negative direct-axis current applied to the permanent magnet synchronous motor from zero according to a first set step length until a first end condition is reached; and
for quadrature inductance: setting the direct axis current to 0; and gradually increasing the quadrature axis current applied to the permanent magnet synchronous motor from zero according to a second set step length until a second end condition is reached.
Preferably, the first end condition is: the ratio of the motor peak current with the first set step length increasing times larger than the designated multiple to the first set step length;
the second end condition is: the motor phase voltage is more than or equal to the inverter limit voltage.
Preferably, the inverter bridge is further connected to the inductance calculation unit, the inverter bridge sends the inverter full-regulated voltage to the inductance calculation unit, and the inductance calculation unit is specifically configured to convert the voltage into an actual value when the voltage is a per unit value.
Preferably, the system further comprises:
the prime motor and the prime motor rotating speed control unit are electrically connected, and the prime motor is coaxially connected with a rotating shaft of the permanent magnet synchronous motor;
the prime mover rotating speed control unit is used for enabling the permanent magnet synchronous motor to rotate in an idle load mode at a specified rotating speed by controlling the rotating speed of the prime mover.
According to the method and the system for acquiring the inductance parameters of the permanent magnet synchronous motor, the permanent magnet synchronous motor is dragged by external force to rotate in a no-load mode at a specified rotating speed, then the frequency of the permanent magnet synchronous motor at the specified rotating speed and the first voltage output by the current regulating unit of the permanent magnet synchronous motor are acquired, then the flux linkage is acquired according to the frequency and the first voltage, and the direct axis inductance when different direct axis currents are applied and the quadrature axis inductance when different quadrature axis currents are applied can be acquired according to the flux linkage. The method does not need to rely on the phase resistance Rs of the motor to obtain the inductance parameters, but respectively carries out three steps of no-load control, only direct-axis current control and only quadrature-axis current control on the tested motor according to the feedforward decoupling principle in the vector control of the permanent magnet synchronous motor, thereby accurately obtaining the inductance parameters of the permanent magnet motor.
Furthermore, the method and the system for acquiring the inductance parameters of the permanent magnet synchronous motor provided by the invention provide a method for acquiring direct axis inductance and quadrature axis inductance according to flux linkage, do not involve applying fixed voltage, set an end condition, and cannot cause overcurrent to damage the motor, so that the motor can be effectively protected.
Furthermore, according to the method and the system for acquiring the inductance parameters of the permanent magnet synchronous motor, different stop conditions are respectively set according to the characteristics of the quadrature axis inductance and the direct axis inductance, so that the permanent magnet synchronous motor can be better protected.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a first flowchart of a method for obtaining inductance parameters of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for obtaining inductance according to flux linkage according to an embodiment of the present invention;
fig. 3 is a flowchart for enabling a permanent magnet synchronous motor to rotate at a specified speed without load according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a system for acquiring inductance parameters of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a system for acquiring inductance parameters of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar parameters or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
In order to better understand the technical scheme and technical effect of the present invention, the following detailed description will be made on specific embodiments with reference to a flow diagram. As shown in fig. 1, a first flowchart of a method for obtaining inductance parameters of a permanent magnet synchronous motor according to an embodiment of the present invention is provided, where the method includes the following steps:
and step S01, dragging the permanent magnet synchronous motor to rotate in an idle load mode at a specified rotating speed through external force.
In the present embodiment, the permanent magnet synchronous motor may be driven by a power source such as an external motor or an engine to rotate at a specified rotation speed without load.
And step S02, acquiring the frequency of the permanent magnet synchronous motor at the specified rotating speed and the first voltage output by the current regulating unit of the permanent magnet synchronous motor.
Frequency w of permanent magnet synchronous motoreCan be calculated according to equation (1):
wherein p is the number of pole pairs of the motor, nrefTo specify the speed, take nrefIs 0.6 to 1 times of rated rotation speed of the motor to be detected and ensures that the no-load line counter electromotive force at the rotation speed is less than 0.45 to 0.5 times of full regulated voltage U of the inverterdc。
When the rotor of the permanent magnet synchronous motor rotates, the stator can generate induced electromotive force, and the electromotive force can be obtained through the output value of the current regulating unit of the permanent magnet synchronous motor, and the value of the electromotive force is equal to the first voltage UqSame, the first voltage UqIn relation to the flux linkage, the flux linkage can therefore be obtained by this first voltage.
And step S03, acquiring a flux linkage according to the frequency and the first voltage.
In the present embodiment, given the measured motor id ═ 0A and iq ═ 0A, the output U of the current regulating unit is adjusted according to the currentqCalculating permanent magnetic linkage psifSpecifically, the flux linkage ψ can be obtained by the formula (2)fAs follows:
preferably, when the first voltage is a per unit value, the first voltage is converted into an actual value, which can be converted by equation (3):
wherein,is a per unit value.
And step S04, respectively obtaining the direct-axis inductance when different direct-axis currents are applied and the quadrature-axis inductance when different quadrature-axis currents are applied according to the magnetic flux linkage.
Specifically, the direct-axis inductance when different direct-axis currents are applied and the quadrature-axis inductance when different quadrature-axis currents are applied may be calculated according to the relationship among the flux linkage, the applied current, and the inductance, wherein the direct-axis inductance L when different direct-axis currents are applieddCan be calculated by equation (4):
where id indicates the application of a reverse direct axis current.
Quadrature axis inductance L when applying different quadrature axis currentsqCan be calculated by equation (5):
wherein iq indicates the application of quadrature current.
When the voltage is a per unit value, the voltage may be converted into an actual value using equation (3).
The inductance of the permanent magnet motor can change along with the input current, and the change curve of inductance parameters and current can be obtained through the invention. It should be noted that the quadrature axis inductance and the direct axis inductance are obtained in no sequential order.
According to the method and the system for acquiring the inductance parameters of the permanent magnet synchronous motor, the permanent magnet synchronous motor is dragged by external force to rotate in a no-load mode at a specified rotating speed, then the frequency of the permanent magnet synchronous motor at the specified rotating speed and the first voltage output by the current regulating unit of the permanent magnet synchronous motor are acquired, then the flux linkage is acquired according to the frequency and the first voltage, and the direct axis inductance when different direct axis currents are applied and the quadrature axis inductance when different quadrature axis currents are applied can be acquired according to the flux linkage. The method does not need to rely on the phase resistance Rs of the motor to obtain the inductance parameters, but respectively carries out three steps of no-load control, only direct-axis current control and only quadrature-axis current control on the tested motor according to the feedforward decoupling principle in the vector control of the permanent magnet synchronous motor, thereby accurately obtaining the inductance parameters of the permanent magnet motor.
Fig. 2 is a flowchart of a method for obtaining inductance according to flux linkage according to an embodiment of the present invention.
In this embodiment, the obtaining the direct-axis inductance when different direct-axis currents are applied and the quadrature-axis inductance when different quadrature-axis currents are applied according to the flux linkage may include:
for a direct axis inductance:
in step S21, the quadrature axis current is set to 0. Given iq ═ 0A, id ═ ad_m。
And step S22, gradually increasing the negative direct-axis current applied to the permanent magnet synchronous motor from zero according to a first set step length, and respectively collecting the voltage output by a current regulation unit of the permanent magnet synchronous motor when different direct-axis currents are applied.
Specifically, this can be achieved by:id*＝-Ad_m，Ad_m＝m*idstep，m＝(1,2,3……int(0.7*ismax/idstep))，idstepincreasing step size for id current, idstepCan be 0.1 to 0.3 percent of ismax，ismaxThe peak motor current. Where int refers to rounding.
And step S23, acquiring direct-axis inductances corresponding to different direct-axis currents according to the voltage, the flux linkage and the frequency until a first end condition is reached.
In this embodiment, the id currents and the corresponding U values of the id currents are determinedq_mPermanent magnetic linkage psifCalculating direct-axis inductance L under different id currentsd_mThe calculation formula is shown in formula (6):
when the current regulating unit outputs UqIs a per unit value, then Ld_mThe calculation formula is shown in formula (7):
and step S24, storing the direct-axis inductances corresponding to different direct-axis currents.
For quadrature inductance:
in step S25, the direct-axis current is set to 0. Given id ═ 0A.
And step S26, gradually increasing the quadrature axis current applied to the permanent magnet synchronous motor from zero according to a second set step length, and respectively collecting the voltage output by the current regulating unit of the permanent magnet synchronous motor when different quadrature axis currents are applied.
In the present embodiment, iq ═ aq_n，Aq_n＝n*iqstep，n＝(1,2,3……int(ismax/iqstep))，iqstepIncreasing step size for iq current, iqstep0.1 to 0.3 percent of is can be takenmax，ismaxThe peak motor current.
And step S27, obtaining quadrature axis inductances corresponding to different quadrature axis currents according to the voltage, the flux linkage and the frequency until a second end condition is reached.
In this embodiment, the current is determined according to each iq current and U under each iq currentd_nCalculating L at different iq currentsq_nThe calculation formula is shown in formula (8):
upper type medium current regulation output UdIs the actual value, if the current regulates the output UdIs a per unit value, then Lq_nThe calculation formula is shown in formula (9):
and step S28, storing quadrature axis inductances corresponding to different quadrature axis currents.
It should be noted that, in the quadrature axis inductance calculation, attention needs to be paid to the motor phase voltage UdqThis is different from the point of interest in the calculation of the direct axis inductance, and therefore, it is preferable that the first end condition and the second end condition are different, wherein the first end condition is: the ratio of the motor peak current with the first set step length increasing times larger than the designated multiple to the first set step length; the second end condition is: phase voltage U of motordqNot less than inverter limit voltage UmaxWhen the current regulation output is an actual value, UmaxCan be 0.88-0.92, when the current regulation output is per unit value, UmaxCan be 0.88 to 0.92 times
UdqThe calculation formula is shown in formula (10):
if U isdqTo reach UmaxWhen iq stops increasing current, LqAnd finishing the parameter identification.
As shown in fig. 3, a flow chart for allowing a permanent magnet synchronous motor to rotate at a specified speed without load is provided according to an embodiment of the present invention.
In this embodiment, the dragging the pmsm to rotate at a specified rotation speed in a no-load manner by an external force includes the following steps:
and step S31, coaxially connecting the prime mover with the rotating shaft of the permanent magnet synchronous motor.
And step S32, the permanent magnet synchronous motor is enabled to rotate in an idling mode at a specified rotation speed by controlling the rotation speed of the prime mover.
The method provided by the invention can realize that the permanent magnet synchronous motor is dragged to rotate in a no-load way at a specified rotating speed through external force.
Correspondingly, the present invention further provides a permanent magnet synchronous motor inductance parameter obtaining system corresponding to the permanent magnet synchronous motor inductance parameter obtaining method, as shown in fig. 4, which is a first schematic structural diagram of a permanent magnet synchronous motor inductance parameter obtaining system provided according to an embodiment of the present invention.
In this embodiment, the system for obtaining inductance parameters of a permanent magnet synchronous motor includes:
the device comprises a permanent magnet synchronous motor, an inverter bridge, a rotor angle calculation unit, an inductance calculation unit, a current regulation unit, a voltage conversion unit, a current detection unit of the motor to be measured and a modulation wave-emitting unit, wherein the permanent magnet synchronous motor is respectively connected with the inverter bridge, the rotor angle calculation unit and the inductance calculation unit, the current detection unit, the current conversion unit, the current regulation unit, the voltage conversion unit, the modulation wave-emitting unit and the inverter bridge are sequentially connected, and the rotor angle calculation unit is also respectively connected with the current conversion unit and the modulation wave-emitting unit.
The permanent magnet synchronous motor is dragged by external force to rotate at a specified rotating speed in a no-load manner; the current detection unit of the detected motor is used for detecting induced current generated when the permanent magnet synchronous motor is dragged and sending the induced current to the current conversion unit; the rotor angle calculation unit is used for sending the position angle theta to the modulation wave-sending unit and the current conversion unit; the current conversion unit is used for converting the received induced current and the position angle into quadrature-axis current and direct-axis current and sending the quadrature-axis current and the direct-axis current to the current regulation unit; the current regulating unit is used for converting the received quadrature-axis current and direct-axis current into quadrature-axis voltage and direct-axis voltage and sending the quadrature-axis voltage and the direct-axis voltage to the voltage conversion unit; the modulation wave-transmitting unit is used for modulating the received voltage converted by the voltage conversion unit according to the position angle and outputting the modulated voltage to the permanent magnet motor through the inverter bridge; the inductance calculation unit is used for respectively obtaining direct-axis inductance when different direct-axis currents are applied and quadrature-axis inductance when different quadrature-axis currents are applied according to the magnetic flux linkage.
Preferably, the current regulation unit is specifically configured to, for a direct-axis inductance: setting the quadrature axis current to 0; gradually increasing the negative direct-axis current applied to the permanent magnet synchronous motor from zero according to a first set step length until a first end condition is reached; and for quadrature inductance: setting the direct axis current to 0; and gradually increasing the quadrature axis current applied to the permanent magnet synchronous motor from zero according to a second set step length until a second end condition is reached.
Wherein the first end condition is: the ratio of the motor peak current with the first set step length increasing times larger than the designated multiple to the first set step length; the second end condition is: the motor phase voltage is more than or equal to the inverter limit voltage.
The system for acquiring the inductance parameters of the permanent magnet synchronous motor can accurately acquire the inductance parameters without depending on the phase resistance Rs of the motor.
Fig. 5 is a schematic diagram of a second structure of a system for acquiring inductance parameters of a permanent magnet synchronous motor according to an embodiment of the present invention.
In this embodiment, the system further includes:
the motor comprises a prime motor and a prime motor rotating speed control unit, wherein the prime motor rotating speed control unit is electrically connected with the prime motor, and the prime motor is coaxially connected with a rotating shaft of the permanent magnet synchronous motor.
The prime mover rotating speed control unit is used for enabling the permanent magnet synchronous motor to rotate in an idle load mode at a specified rotating speed by controlling the rotating speed of the prime mover.
Preferably, the inverter bridge is further connected to the inductance calculation unit, the inverter bridge sends the inverter full-regulated voltage to the inductance calculation unit, and the inductance calculation unit is specifically configured to convert the voltage into an actual value when the voltage is a per unit value.
The embodiments in this specification are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other. In particular, for system embodiments, since they are substantially similar to method embodiments, they are described in a relatively simple manner, and reference may be made to some descriptions of method embodiments for relevant points. The above-described system embodiments are merely illustrative, in that the elements described as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above embodiments of the present invention have been described in detail, and the present invention is described herein using specific embodiments, but the above embodiments are only used to help understanding the method and system of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A permanent magnet synchronous motor inductance parameter obtaining method is characterized by comprising the following steps:
dragging the permanent magnet synchronous motor to rotate at a specified rotating speed in a no-load way through external force;
acquiring the frequency of a permanent magnet synchronous motor at a specified rotating speed and a first voltage output by a current regulating unit of the permanent magnet synchronous motor;
acquiring a flux linkage according to the frequency and the first voltage;
respectively acquiring direct-axis inductance when different direct-axis currents are applied and quadrature-axis inductance when different quadrature-axis currents are applied according to the magnetic flux linkage;
the obtaining of the direct-axis inductance when different direct-axis currents are applied and the quadrature-axis inductance when different quadrature-axis currents are applied according to the flux linkage includes:
for a direct axis inductance:
setting the quadrature axis current to 0;
gradually increasing negative direct-axis current applied to the permanent magnet synchronous motor from zero according to a first set step length, and respectively collecting voltages output by a current regulating unit of the permanent magnet synchronous motor when different direct-axis currents are applied;
acquiring direct-axis inductances corresponding to different direct-axis currents according to the voltage, the flux linkage and the frequency output by the current regulating unit until a first end condition is reached;
storing direct-axis inductors corresponding to different direct-axis currents;
for quadrature inductance:
setting the direct axis current to 0;
gradually increasing quadrature axis current applied to the permanent magnet synchronous motor from zero according to a second set step length, and respectively collecting voltages output by a current regulating unit of the permanent magnet synchronous motor when different quadrature axis currents are applied;
obtaining quadrature axis inductances corresponding to different quadrature axis currents according to the voltage, the flux linkage and the frequency output by the current regulating unit until a second end condition is reached;
and storing the quadrature axis inductances corresponding to different quadrature axis currents.
2. The method of claim 1,
the first end condition is as follows: the ratio of the motor peak current with the first set step length increasing times larger than the designated multiple to the first set step length;
the second end condition is: the motor phase voltage is more than or equal to the inverter limit voltage.
3. The method according to claim 1 or 2,
when the first voltage is a per unit value, converting the first voltage into an actual value;
and when the voltage output by the current regulating unit is a per unit value, converting the voltage output by the current regulating unit into an actual value.
4. The method of claim 1, wherein dragging the PMSM to idle at a specified speed by an external force comprises:
coaxially connecting a prime motor with a rotating shaft of a permanent magnet synchronous motor;
the permanent magnet synchronous motor is enabled to rotate in an idling mode at a specified rotating speed by controlling the rotating speed of the prime motor.
5. The utility model provides a permanent magnet synchronous machine inductance parameter obtains system which characterized in that includes:
the system comprises a permanent magnet synchronous motor, an inverter bridge, a rotor angle calculation unit, an inductance calculation unit, a current regulation unit, a voltage conversion unit, a current detection unit of the motor to be measured and a wave modulation unit, wherein the permanent magnet synchronous motor is respectively connected with the inverter bridge, the rotor angle calculation unit and the inductance calculation unit;
the permanent magnet synchronous motor is dragged by external force to rotate at a specified rotating speed in a no-load way;
the current detection unit of the detected motor is used for detecting induced current generated when the permanent magnet synchronous motor is dragged and sending the induced current to the current conversion unit;
the rotor angle calculating unit is used for sending the position angle to the modulation wave-transmitting unit and the current converting unit;
the current transformation unit is used for converting the received motor phase current and the position angle into quadrature axis current and direct axis current and sending the quadrature axis current and the direct axis current to the current regulation unit;
the current regulating unit is used for converting the received quadrature-axis current and direct-axis current into quadrature-axis voltage and direct-axis voltage and sending the quadrature-axis voltage and the direct-axis voltage to the voltage conversion unit;
the modulation wave-transmitting unit is used for modulating the received voltage converted by the voltage conversion unit according to the position angle and outputting the modulated voltage to the permanent magnet motor through the inverter bridge;
the inductance calculation unit is used for respectively obtaining direct-axis inductance when different direct-axis currents are applied and quadrature-axis inductance when different quadrature-axis currents are applied according to the flux linkage.
6. The system according to claim 5, wherein the current regulation unit is specifically configured to, for a direct-axis inductance: setting the quadrature axis current to 0; gradually increasing the negative direct-axis current applied to the permanent magnet synchronous motor from zero according to a first set step length until a first end condition is reached; and
for quadrature inductance: setting the direct axis current to 0; and gradually increasing the quadrature axis current applied to the permanent magnet synchronous motor from zero according to a second set step length until a second end condition is reached.
7. The system of claim 6, wherein the first end condition is: the ratio of the motor peak current with the first set step length increasing times larger than the designated multiple to the first set step length;
the second end condition is: the motor phase voltage is more than or equal to the inverter limit voltage.
8. The system of claim 5, further comprising:
the prime motor and the prime motor rotating speed control unit are electrically connected, and the prime motor is coaxially connected with a rotating shaft of the permanent magnet synchronous motor;
the prime mover rotating speed control unit is used for enabling the permanent magnet synchronous motor to rotate in an idle load mode at a specified rotating speed by controlling the rotating speed of the prime mover.
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| CN109120199A (en) * | 2018-08-14 | 2019-01-01 | 四川虹美智能科技有限公司 | A kind of method and device of the d axle inductance of determining variable-frequency motor |
| CN111435823B (en) * | 2018-12-25 | 2022-05-31 | 沈阳新松机器人自动化股份有限公司 | Control method and control system of motor |
| CN110460282A (en) * | 2019-08-22 | 2019-11-15 | 东风航盛（武汉）汽车控制系统有限公司 | A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters |
| TWI717001B (en) * | 2019-09-05 | 2021-01-21 | 登騰電子股份有限公司 | Motor controller and motor control method |
| CN112468047B (en) * | 2019-09-06 | 2022-07-05 | 中车株洲电力机车研究所有限公司 | Motor parameter testing method and linear motor control method |
| CN111190102A (en) * | 2020-01-08 | 2020-05-22 | 北京车和家信息技术有限公司 | Method and device for detecting motor flux linkage |
| CN112234897B (en) * | 2020-09-29 | 2022-08-23 | 深圳市英威腾电动汽车驱动技术有限公司 | Permanent magnet synchronous motor parameter identification method, identification device and identification system |
| CN114865888B (en) * | 2022-07-11 | 2022-10-04 | 广东电网有限责任公司肇庆供电局 | Power feedforward inductance parameter identification method and system for energy storage converter |
| CN117134672B (en) * | 2023-10-26 | 2024-02-06 | 深圳市法拉第电驱动有限公司 | Control method for feedforward compensation of current loop of permanent magnet synchronous motor |
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