CN108696219A - A kind of method and apparatus of calibration permanent magnet synchronous motor electric current - Google Patents
A kind of method and apparatus of calibration permanent magnet synchronous motor electric current Download PDFInfo
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- CN108696219A CN108696219A CN201810645315.XA CN201810645315A CN108696219A CN 108696219 A CN108696219 A CN 108696219A CN 201810645315 A CN201810645315 A CN 201810645315A CN 108696219 A CN108696219 A CN 108696219A
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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 invention discloses a kind of method and apparatus of calibration permanent magnet synchronous motor electric current.The method includes:According to the voltage utilization of the voltage equation of permanent magnet synchronous motor and setting, obtains permanent magnet synchronous motor and zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area is entered by non-weak magnetic area;According to the magnitude relationship between permanent magnet synchronous motor current rotating speed and inflection point rotating speed, the workspace that permanent magnet synchronous motor is presently in is determined;When permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electric current than curve the automatic Calibration permanent magnet synchronous motor electric current in non-weak magnetic area;When permanent magnet synchronous motor is in weak magnetic area, according to the voltage utilization of setting and zero torque point demagnetizing current of weak magnetic area in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.The present invention can significantly shorten the nominal time, improve calibration efficiency, and ensure the consistency and reliability of nominal data.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of the method and dress of calibration permanent magnet synchronous motor electric current
It sets.
Background technology
Permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM) is close due to its high power
It the features such as degree, high reliability and high efficiency, has obtained widely answering in the more demanding speed-adjusting driving system such as electric vehicle
With.When controlling PMSM, torque capacity electric current ratio (Maximum Torque Per Ampere, MTPA) is generally utilized
Algorithm optimizes matching to the driving current of PMSM and torque.In actual operation, the quadrature axis of PMSM and d-axis inductance, quadrature axis
And temperature is at non-linear correlation with direct-axis current, and the measurable difficulty of this non-linear relation is very big, therefore generally passes through mark
Determine the Optimum Matching that the corresponding reality output torque of driving current carries out driving current and torque.
Currently, generally being demarcated to PMSM using manual type, operating personnel demarcate motor data manually using rack,
Whole process is needed by a large amount of staking-out works, obtain one by driving current, torque capacity corresponding with driving current and with
Three dimension tables of the corresponding current angle characterization of the torque capacity, three dimension tables after the completion of demarcating need to set by external arithmetic
Standby to be post-processed, the data unit torque that three dimension tables are converted to suitable motor software program is integrated into electric machine controller and works as
In, and need to carry out three dimension table manual calculation of large amount of complex, could three dimension tables be converted to electric machine controller can
The data of application, whole work process are cumbersome, less efficient.
Invention content
The present invention provides a kind of method and apparatus of calibration permanent magnet synchronous motor electric current, and hand is utilized to solve existing scheme
Work mode carries out calibration to permanent magnet synchronous motor electric current leads to the problem that the course of work is cumbersome, efficiency is low.
An aspect of of the present present invention provides a kind of method of calibration permanent magnet synchronous motor electric current, including:
According to the voltage utilization of the voltage equation of permanent magnet synchronous motor and setting, permanent magnet synchronous motor is obtained by non-weak magnetic
Area enters zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area;
According to the magnitude relationship between permanent magnet synchronous motor current rotating speed and inflection point rotating speed, determine that permanent magnet synchronous motor is current
Residing workspace;
When permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electric current than curve in non-weak magnetic area
Automatic Calibration permanent magnet synchronous motor electric current;
When the permanent magnet synchronous motor is in weak magnetic area, gone according to the voltage utilization of setting and zero torque point of weak magnetic area
Magnetoelectricity stream is in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.
Another aspect provides a kind of devices of calibration permanent magnet synchronous motor electric current, including:
Computing unit, for according to the voltage equation of permanent magnet synchronous motor and the voltage utilization of setting, it is same to obtain permanent magnetism
Step motor enters zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area by non-weak magnetic area;
Judging unit is used for according to the magnitude relationship between permanent magnet synchronous motor current rotating speed and the inflection point rotating speed, really
Determine the workspace that permanent magnet synchronous motor is presently in;
First calibration unit, is used for when permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electric current
Than curve in non-weak magnetic area automatic Calibration permanent magnet synchronous motor electric current;
Second calibration unit, for when permanent magnet synchronous motor is in weak magnetic area, according to the voltage utilization of setting and weak
Zero torque point demagnetizing current of magnetic region is in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.
The beneficial effects of the invention are as follows:The present invention is to the method for permanent magnet synchronous motor electric current automatic Calibration compared to existing skill
The manual scaling method of art, the embodiment of the present invention can significantly shorten the nominal time, and in voltage profit of the weak magnetic area based on setting
Smaller motor risk out of control can be ensured by carrying out calibration with current signal to permanent magnet synchronous motor with rate, and the safety of automatic Calibration can
It is guaranteed.Since the nominal data that the present invention uses can be all calculated by controller, nominal data can be improved
Consistency and reliability, and it is relatively simple to the operating process of permanent magnet synchronous motor electric current progress automatic Calibration using controller,
It is highly susceptible to execute-in-place, there is preferable convenience.
Description of the drawings
Fig. 1 is the method flow diagram of the calibration permanent magnet synchronous motor electric current shown in the embodiment of the present invention;
Fig. 2 is the non-weak magnetic area MTPA curve synoptic diagrams shown in the embodiment of the present invention;
Fig. 3 is schematic diagram of the weak magnetic area torque shown in the embodiment of the present invention with curent change;
Fig. 4 is the relation schematic diagram of the non-weak magnetic area voltage limit ellipse and current limitation circle shown in the embodiment of the present invention;
Fig. 5 is the relation schematic diagram of the weak magnetic area voltage limit ellipse and current limitation circle shown in the embodiment of the present invention;
Fig. 6 is the automatic Calibration control system schematic diagram of the permanent magnet synchronous motor shown in the embodiment of the present invention;
Fig. 7 is the automatic Calibration flow diagram shown in the embodiment of the present invention;
Fig. 8 is a kind of manual Calibrated current table shown in the embodiment of the present invention;
Fig. 9 is a kind of automatic Calibration ammeter shown in the embodiment of the present invention;
Figure 10 is the manual Calibrated current table of another kind shown in the embodiment of the present invention;
Figure 11 is another automatic Calibration ammeter shown in the embodiment of the present invention;
Figure 12 is the apparatus structure block diagram of the calibration permanent magnet synchronous motor electric current shown in the embodiment of the present invention;
Figure 13 is the hardware architecture diagram of the calibration permanent magnet synchronous motor electric current shown in the embodiment of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Hereinafter, will be described with reference to the accompanying drawings the embodiment of the present invention.However, it should be understood that these descriptions are only exemplary
, and it is not intended to limit the scope of the present invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with
Avoid unnecessarily obscuring idea of the invention.
Term as used herein is not intended to limit the present invention just for the sake of description specific embodiment.Used here as
Word " one ", " one (kind) " and "the" etc. also should include " multiple ", " a variety of " the meaning, unless in addition context clearly refers to
Go out.In addition, the terms "include", "comprise" as used herein etc. show the presence of the feature, step, operation and/or component,
But it is not excluded that other one or more features of presence or addition, step, operation or component.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without should by idealization or it is excessively mechanical in a manner of explain.
Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart
Frame or combinations thereof can be realized by computer program instructions.These computer program instructions can be supplied to all-purpose computer,
The processor of special purpose computer or other programmable data processing units, to which these instructions can be with when being executed by the processor
Create the device for realizing function/operation illustrated in these block diagrams and/or flow chart.
Therefore, technology of the invention can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately
Outside, technology of the invention can take the form of the computer program product on the computer-readable medium for being stored with instruction, should
Computer program product uses for instruction execution system or instruction execution system is combined to use.In the context of the present invention
In, computer-readable medium can be the arbitrary medium can include, store, transmitting, propagating or transmitting instruction.For example, calculating
Machine readable medium can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium.
The specific example of computer-readable medium includes:Magnetic memory apparatus, such as tape or hard disk (HDD);Light storage device, such as CD
(CD-ROM);Memory, such as random access memory (RAM) or flash memory;And/or wire/wireless communication link.
Fig. 1 be the embodiment of the present invention shown in calibration permanent magnet synchronous motor electric current method flow diagram, the present embodiment from
Dynamic scaling method is suitable for the electronic operating mode and generating operation mode of permanent magnet synchronous motor.As shown in Figure 1, the method packet of the present embodiment
It includes:
S110, according to the voltage utilization of the voltage equation of permanent magnet synchronous motor and setting, obtain permanent magnet synchronous motor by
Non- weak magnetic area enters zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area.
It refers to that non-weak magnetic area and weak magnetic area are critical to enter the corresponding inflection point rotating speed in weak magnetic area by non-weak magnetic area in the present embodiment
The rotating speed of the corresponding permanent magnet synchronous motor of point, when permanent magnet synchronous motor is in non-weak magnetic area with weak magnetic area critical point, permanent magnetism is same
The d shaft currents for walking motor are zero, and thus entering the corresponding inflection point rotating speed in weak magnetic area by non-weak magnetic area in the present embodiment is appreciated that
For the d shaft currents of permanent magnet synchronous motor are zero, and the critical speed that permanent magnet synchronous motor is not out of control.It so can be by making forever
The d shaft currents and q shaft currents of magnetic-synchro motor are zero to utilize the voltage equation of permanent magnet synchronous motor and the voltage profit of setting
Inflection point rotating speed is solved with rate.
Zero torque point of weak magnetic area refers to giving d shaft currents in permanent magnet synchronous motor, and q shaft currents are zero in the present embodiment
Point, at this point, permanent magnet synchronous motor output torque is zero N of rice, permanent magnet synchronous motor can be with stable operation.In permanent magnet synchronous motor
Rotating speed when being more than inflection point rotating speed, permanent magnet synchronous motor enters weak magnetic area, then can be by making the q axis electricity of permanent magnet synchronous motor
Stream is zero to utilize the voltage equation of permanent magnet synchronous motor and the voltage utilization of setting to solve zero torque point degaussing of weak magnetic area
Electric current.
The voltage utilization of the present embodiment setting refers to the fundamental wave point for the maximum three-phase alternating current line voltage that inverter can export
Measure the ratio of virtual value and base value.Wherein, there are two types of the selections of base value, one is using DC bus-bar voltage as base value;It is another
Kind be using inverter in different modulating in a manner of the maximum fundamental wave value that can export as base value.
S120 determines permanent magnet synchronous electric according to the magnitude relationship between permanent magnet synchronous motor current rotating speed and inflection point rotating speed
The workspace that machine is presently in.
The rotating speed of permanent magnet synchronous motor is associated with the workspace residing for permanent magnet synchronous motor, in turning for permanent magnet synchronous motor
When speed is more than inflection point rotating speed, permanent magnet synchronous motor is operated in weak magnetic region, is less than inflection point rotating speed in the rotating speed of permanent magnet synchronous motor
When, permanent magnet synchronous motor is operated in non-weak magnetic region.
S130, when permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electric current than curve non-weak
Automatic Calibration permanent magnet synchronous motor electric current in magnetic region.
Refering to what is shown in Fig. 2, due to driving current, driving current angle and output torque three under non-weak magnetic area, different rotating speeds
The correspondence of person is consistent, i.e., in non-weak magnetic area, the case where giving the d shaft currents and q shaft currents of permanent magnet synchronous motor
Under, the torque of permanent magnet synchronous motor output is not with rotation speed change.Therefore, the present embodiment is in non-weak magnetic area in permanent magnet synchronous motor
When, it can be demarcated according to MTPA curves, obtain the three-dimensional data table under different rotating speeds, which is by driving electricity
The number table of stream and the corresponding torque capacity of driving current and driving current angle corresponding with the torque capacity characterization.
S140, when permanent magnet synchronous motor is in weak magnetic area, according to zero torque point of the voltage utilization of setting and weak magnetic area
Demagnetizing current is in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.
In demarcating high Rotation Process, it is desirable to obtain appropriate voltage utilization, manual calibration side in the prior art
Method often relies on the calibration experience of calibration engineer, is unfavorable for very much the consistency of nominal data, while driving current and drive in this way
Streaming current angle it is given slightly improper, then be likely to occur out of control, lead to failure.Refering to what is shown in Fig. 3, the present embodiment is same in permanent magnetism
When step motor enters weak magnetic area, first according to zero torque point demagnetizing current demarcating to zero torque point of weak magnetic area of weak magnetic area, then
Driving current angle is adjusted according to the voltage utilization of setting, the current angle using driving current and after adjusting is complete
At weak magnetic area calibration with current signal.
The present embodiment to the method for permanent magnet synchronous motor electric current automatic Calibration manual scaling method compared with the prior art, this
Inventive embodiments can significantly shorten the nominal time, for example, 2 engineers demarcate manually 48Kw permanent magnet synchronous motor need 3 days
The time of left and right, and the automatic calibration method of the embodiment of the present invention can will foreshorten to 1 day or so the nominal time;And in weak magnetic
Area carries out calibration with current signal based on the voltage utilization of setting to permanent magnet synchronous motor can ensure smaller motor risk out of control, from
The security performance of dynamic calibration accesses guarantee.
Since the nominal data that the present embodiment uses can be all calculated by controller, nominal data can be improved
Consistency and reliability, and it is relatively simple to the operating process of permanent magnet synchronous motor electric current progress automatic Calibration using controller,
It is highly susceptible to execute-in-place, there is preferable convenience.
Fig. 6 is the automatic Calibration control system schematic diagram of the permanent magnet synchronous motor shown in the embodiment of the present invention, permanent-magnet synchronous
The control of motor is, the runnability of permanent magnet synchronous motor closely related with the electric machine controller in automatic Calibration control system
It to be restricted by electric machine controller.Most obvious one is the limiting value and mutually electricity of the phase voltage virtual value of permanent magnet synchronous motor
Stream virtual value will be limited by electric machine controller DC voltage and maximum output current, and Fig. 4 is shown in the embodiment of the present invention
The relation schematic diagram of non-weak magnetic area voltage limit ellipse and current limitation circle, Fig. 5 are the weak magnetic area electricity shown in the embodiment of the present invention
Press the relation schematic diagram of limit ellipse and current limitation circle.
With reference to figure 4~5, with the raising of permanent magnet synchronous motor rotating speed, voltage limit ellipse is smaller and smaller, permanent magnet synchronous electric
Machine will be along the perseverance between MTPA curves and torque capacity voltage ratio (Maximum Torque Per Voltage, MTPV) curve
Torque curve is run.With reference to figure 4, when permanent magnet synchronous motor is operated in non-weak magnetic area, as rotating speed increases, permanent magnet synchronous motor
Keep steady-state operation.When rotating speed persistently increases, until when more than inflection point rotating speed, permanent magnet synchronous motor enters weak magnetic by non-weak magnetic area
Area.With reference to figure 5, electric current IOH,IOJAnd IOKZero torque point demagnetizing current under different rotating speeds is indicated respectively, with minimum voltage in Fig. 5
For limit ellipse, zero torque point demagnetizing current is I at this timeOK, the peak value of Calibrated current gradient is IOG, that is, work as permanent magnet synchronous electric
When the rotating speed of machine is the corresponding rotating speed of minimum voltage limit ellipse in Fig. 5, current locus IOKTo IOG, in this course, drive
Streaming current angle beta is not to be monotonically changed, therefore when weak magnetic area carries out automatic Calibration to permanent magnet synchronous motor electric current, need
Driving current angle is adjusted.
In an implementation of the present embodiment, according to following methods in non-weak magnetic area automatic Calibration permanent magnet synchronous electric
Electromechanics stream:
According to preset MTPA curves, the driving current and driving current for making permanent magnet synchronous motor output torque capacity are obtained
Angle, with reference to figure 2, it is assumed that when driving current is X, optimum control angle is Y, and motor exports torque capacity at this time, then basis
MTPA curves, which can obtain, makes the driving current of permanent magnet synchronous motor output torque capacity be X, and driving current angle is optimal control
Angle Y processed;Permanent magnet synchronous motor is driven using the driving current and driving current angle of acquisition, obtains the output of permanent magnet synchronous motor
Torque, driving current, driving current angle and the corresponding output torque that permanent magnet synchronous motor will be made to export torque capacity at this time
It is denoted as one group of nominal data, it is hereby achieved that different driving electric current and the corresponding output torque of different driving current angle, obtain
To multigroup nominal data of non-weak magnetic area.
In an implementation of the present embodiment, according to following methods in weak magnetic area automatic Calibration permanent magnet synchronous motor
Electric current:
When permanent magnet synchronous motor enters weak magnetic area, initially driven using zero torque point demagnetizing current of weak magnetic area as weak magnetic area
Electric current, and drive permanent magnet synchronous motor, weak magnetic area using weak magnetic area initial driving current and weak magnetic area initial driving current angle
Initial driving current angle and permanent magnet synchronous motor d axle clamps angle are zero, at this time at the beginning of zero torque point demagnetizing current of weak magnetic area, weak magnetic area
Beginning driving current angle and first group of nominal data that corresponding output torque (output torque at this time is zero) is weak magnetic area;
When receiving driving current and driving current angle, utilized according to the voltage utilization of feedback and the voltage of setting
Difference between rate adjusts driving current angle, forever using the driving current angle driving after the driving current and adjusting received
Magnetic-synchro motor obtains the output torque of permanent magnet synchronous motor, at this time the driving current angle after driving current, adjusting and corresponding
Output torque be weak magnetic area other nominal datas.
The driving current and driving current angle herein being related to for the present embodiment are it is to be understood that according on weak magnetic area one
Group nominal data obtains.It can be using the driving current angle after being adjusted in upper one group as the driving in next group of nominal data
Current angle, for example, driving permanent magnet synchronous electric using weak magnetic area initial driving current and weak magnetic area initial driving current angle
When machine, driving current angle can be adjusted according to the difference between the voltage utilization of feedback and the voltage utilization of setting, it can be with
Using the initial driving current angle after adjusting as the driving current angle in next group of nominal data.And in nominal data
Driving current, can be worth to according to Calibrated current gradient, if the driving current in next group of nominal data can be upper one
Driving current and Calibrated current Grad in group nominal data and, i.e., by the driving current and mark in upper one group of nominal data
Constant current Grad and as the driving current in next group of nominal data.
It is guarantee permanent magnet synchronous electric in practical application since permanent magnet synchronous motor q axis is 0 to constant current in zero torque point
Machine the entire full torque point in weak magnetic region can stable operation, need the voltage of the voltage utilization and actual feedback according to setting
Difference between utilization rate carrys out zero torque point demagnetizing current of dynamic regulation weak magnetic area, i.e. dynamic adjustment d axis demagnetizing currents.This implementation
Example adjusts zero torque point demagnetizing current of weak magnetic area according to the difference between the voltage utilization of feedback and the voltage utilization of setting,
Utilize the zero torque point demagnetizing current of weak magnetic area and weak magnetic area initial driving current angle driving permanent magnet synchronous motor after adjusting.This
Embodiment realizes the adjusting to zero torque point demagnetizing current of weak magnetic area using the pi regulator, ensures permanent magnet synchronous motor entire
The full torque point in weak magnetic region can stable operation.After being adjusted into Mobile state to zero torque point demagnetizing current of weak magnetic area, weak
During other calibration points of magnetic region carry out automatic Calibration, the present embodiment is also according to the voltage utilization of feedback and the electricity of setting
Difference between pressure utilization rate carries out dynamic regulation to the driving current angle received, such as to the driving current from host computer
Angle is adjusted.
According to this embodiment, it can which designing has the pi regulator with anti-windup saturation function, the input of the pi regulator
It is the voltage utilization of the voltage utilization and feedback of setting respectively, the output of pi regulator can be electricity according to the difference of operating mode
Stream or current angle, such as when adjusting zero torque point demagnetizing current of weak magnetic area, pi regulator output is electric current, and in weak magnetic area
Other tables are pinpointed during carrying out automatic Calibration, pi regulator output is current angle.
In the present embodiment, weak magnetic inflection point rotating speed and zero torque point demagnetizing current of weak magnetic area can utilize following formula to calculate
It obtains:
According to the q shaft voltage equations U of permanent magnet synchronous motorq=RsIq+ωeLdId+ωeψf, between rotor velocity and rotating speed
Relationship and setting voltage utilization η, the I in q shaft voltage equationsq=0 and IdWhen=0, weak magnetic inflection point rotating speed is obtainedI in q shaft voltage equationsqWhen=0, obtains zero torque point of weak magnetic area and remove magnetoelectricity
Stream
Wherein, motor permanent magnet magnetic linkageEφFor permanent magnet synchronous motor no-load back electromotive force amplitude, ωcFor permanent magnetism
The electric angle frequency of synchronous motor, ωeFor rotor velocity, LdFor permanent magnet synchronous motor d axle inductances, existing test side can be passed through
Method, which measures, obtains Ld, IdAnd IqRespectively permanent magnet synchronous motor d axis and q shaft currents, Id=IsCos β, Iq=IsSin β, β are driving
Current angle, IsFor driving current, RsFor permanent magnet synchronous motor phase resistance, can test to obtain permanent magnetism using digital electric bridge table same
Motor phase resistance is walked, P is permanent magnet synchronous motor number of pole-pairs, SpddemagFor the rotating speed of permanent magnet synchronous motor, UdcFor DC bus electricity
Pressure, SpddemagMore than weak magnetic inflection point rotating speed Spdthd, the Spd in the present embodimentdemagMore than weak magnetic inflection point rotating speed SpdthdOne or
Multiple rated engine speed values, it is assumed that rated engine speed value is 50rpm, then SpddemagCan be Spdthd+ 50 or SpddemagFor
Spdthd+ 50*n, n are the positive integer more than 1, and the relationship between rotor velocity and rotating speed is between rotor velocity and rotating speed
At the multiple proportion of 2P (60* π).
The present embodiment can be calculated using the voltage equation of motor enters the corresponding inflection point in weak magnetic area by non-weak magnetic area
Zero torque point demagnetizing current of rotating speed and weak magnetic area provides accurate reference for correct calibration permanent magnet synchronous motor electric current, further according to
The voltage utilization of setting automatically adjusts driving current angle, ensures the accuracy of data and the safety of motor in calibration process
Property so that the mapping table of the output torque of acquisition, rotating speed and driving current can be used for the torque ring control of motor.
The present embodiment is the safety for ensureing permanent magnet synchronous motor electric current automatic Calibration, and the present embodiment detects permanent magnet synchronous electric
The temperature of machine, when the temperature of permanent magnet synchronous motor meets or exceeds electric motor protecting temperature, record calibration permanent magnet synchronous electric is electromechanical
The data of stream, and reduce the rotating speed of permanent magnet synchronous motor and/or reduce the driving current of driving permanent magnet synchronous motor, it is same in permanent magnetism
When the temperature of step motor reaches safety value, according to the data of the calibration permanent magnet synchronous motor electric current of record, it is same to continue permanent magnetism
Walk the automatic Calibration of current of electric.
The present embodiment is to meet the requirement of automatic Calibration, while ensureing that permanent magnet synchronous motor does not occur out of control in calibration process
Risk, entire calibration process completed jointly by slave computer (slave computer namely electric machine controller) and host computer.
As shown in fig. 6, test machine host computer connects electric machine controller, electric machine controller connects permanent magnet synchronous motor, this reality
The electric machine controller for applying example is inverter, and the DC side connecting test machine host computer of inverter, the exchange side connection of inverter is forever
Magnetic-synchro motor.Test machine host computer is also connected with power test machine, and power test machine also with permanent magnet synchronous motor, is used for permanent magnetism
The output torque of synchronous motor is sent to test machine host computer, and embodiment is supplied using adjustable low-tension supply for permanent magnet synchronous motor
Electricity is powered using power battery for electric machine controller, and the permanent magnet synchronous motor and electric machine controller of the present embodiment are also connected with water cooling
But system.
As shown in fig. 7, the data of needs are imported in host computer in advance, such as Electromagnetic Simulation data and motor basic parameter,
Electromagnetic Simulation data include but not limited to MTPA curves, setting the data such as voltage utilization, motor basic parameter includes but not
It is limited to Relation Parameters between rotor velocity and rotating speed, empty load of motor counter electromotive force amplitude, the electric angle of permanent magnet synchronous motor frequency
The parameters such as rate, rotor velocity, d axle inductances.
Host computer calculates inflection point rotating speed according to the present embodiment method as described above and zero torque point of weak magnetic area removes magnetoelectricity
Stream, judges workspace residing for permanent magnet synchronous motor further according to current rated engine speed.If permanent magnet synchronous motor is in non-weak magnetic
Region, driving current and driving current angle that slave computer is sent out according to host computer carry out the control of permanent magnet synchronous motor, will drive
The output torque that streaming current, driving current angle and electric dynamometer measure is denoted as one group of nominal data.If permanent magnet synchronous electric
Machine is in weak magnetic region, and after host computer sends out current-order, slave computer adjusts driving by detecting the voltage utilization of setting
Current angle β can adjust the size of driving current angle beta in real time according to the variation tendency of voltage utilization.
Constant voltage utilization rate automatic Calibration strategy shown in Fig. 7 refers to, permanent magnet synchronous motor enter weak magnetic area with
Afterwards, according to the difference of the voltage utilization of setting and the voltage utilization of actual feedback come dynamic regulation driving current angle beta, with
Reach automatic and corrects permanent magnet synchronous motor d shaft currents IdWith q shaft currents IqPurpose.It should be pointed out that in zero torque of weak magnetic area
Point, due to q axis to constant current be 0, need the difference of the voltage utilization of the voltage utilization and actual feedback according to setting come
The size of dynamic regulation d axis demagnetizing currents ensures that permanent magnet synchronous motor can stable operation in the entire full torque point in weak magnetic region.
And when other calibration points are demarcated in weak magnetic area, according to the difference of the voltage utilization of setting and the voltage utilization of actual feedback
Carry out dynamic regulation driving current angle.In order to reach the two purposes, the present embodiment setting has is saturated function with anti-windup
Pi regulator, the input of pi regulator are the voltage utilization of the voltage utilization and feedback of setting respectively, pi regulator it is defeated
It can be electric current or current angle to go out according to the difference of operating mode.
The interactive interface of the host computer of the present embodiment can show on computer screen, can be between host computer and slave computer
It is realized by CAN communication.The voltage utilization set and electric motor protecting temperature can be inputted by the interactive interface in host computer,
Ensure during automatic Calibration, motor will not it is out of control will not excess temperature.The interval and peak of calibration can also be set in host computer
Value, the interval and peak value that host computer can be according to calibration, automatic driving current and the driving current angle command of sending to slave computer, by
This realizes the automatic Calibration of permanent magnet synchronous motor electric current by means of host computer and slave computer.
Fig. 8 and Fig. 9 is respectively one group of manual Calibrated current table and automatic Calibration ammeter, and in figs. 8 and 9, x-axis indicates
The output current of electric machine controller, y-axis indicate that the rotating speed of permanent magnet synchronous motor, z-axis indicate Calibrated current angle.Figure 10 and Figure 11
Respectively another group of manual Calibrated current table and automatic Calibration ammeter, in Figure 10 and Figure 11, x-axis indicates permanent magnet synchronous motor
Output torque, y-axis indicate permanent magnet synchronous motor rotating speed, z-axis indicate Calibrated current angle.
As can be seen that no matter the automatic calibration method of the present embodiment is non-weak magnetic area or weak magnetic area, all from Fig. 8~11
It can ensure that nominal data is consistent with what is demarcated manually, but the nominal time can greatly shorten more than half.In addition, the present embodiment
Due to having done closed loop detection to temperature in calibration process, when calibration temperature is higher, electric current can drop automatically, waiting temperature restores
Demarcation flow is entered back into after room temperature, security performance accesses guarantee.Also, the present embodiment is turned round in permanent magnet synchronous motor in high speed zero
Square point has done corresponding closed loop safeguard measure, when permanent magnet synchronous motor raising speed, is carried out to demagnetizing current according to voltage utilization real
When adjust, ensure system stability.And change, Neng Gouman can be arranged in the voltage utilization in the present embodiment calibration process in real time
The calibration demand of sufficient different voltages utilization rate.
The automatic calibration method of the present embodiment is without increasing any hardware investment, and system control operations are simple and practicable, engineering
Field condition test is easily achieved, and calibrating parameters process is quick, the used time is short, accuracy is high.
Corresponding with the present invention calibration method of permanent magnet synchronous motor electric current, the embodiment of the present invention additionally provides a kind of mark
Determine the device of permanent magnet synchronous motor electric current.
Figure 12 is the apparatus structure block diagram of the calibration permanent magnet synchronous motor electric current shown in the embodiment of the present invention, such as Figure 12 institutes
Show, the device of the calibration permanent magnet synchronous motor electric current of the present embodiment includes:
Computing unit 121, for according to the voltage equation of permanent magnet synchronous motor and the voltage utilization of setting, obtaining permanent magnetism
Synchronous motor enters zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area by non-weak magnetic area;
Judging unit 122 is used for according to the magnitude relationship between permanent magnet synchronous motor current rotating speed and the inflection point rotating speed,
Determine the workspace that permanent magnet synchronous motor is presently in;
First calibration unit 123, is used for when permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electricity
Stream automatic Calibration permanent magnet synchronous motor electric current in non-weak magnetic area than curve;
Second calibration unit 124, for when permanent magnet synchronous motor be in weak magnetic area, according to the voltage utilization of setting with
Zero torque point demagnetizing current of weak magnetic area is in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.
In the present embodiment, the first calibration unit 123 is used for according to preset torque capacity electric current than curve, and acquisition makes permanent magnetism
Synchronous motor exports the driving current and driving current angle of torque capacity;Utilize the driving current and driving current angle of acquisition
Permanent magnet synchronous motor is driven, the output torque of permanent magnet synchronous motor is obtained.
Second calibration unit 124 is used for when permanent magnet synchronous motor enters weak magnetic area, and zero torque point of weak magnetic area is removed magnetoelectricity
Stream is used as weak magnetic area initial driving current, and is driven using weak magnetic area initial driving current and weak magnetic area initial driving current angle
Permanent magnet synchronous motor, weak magnetic area initial driving current angle and the permanent magnet synchronous motor d axle clamps angle are zero;Receiving driving
When electric current and driving current angle, according to the difference adjusting between the voltage utilization of feedback and the voltage utilization of setting
Driving current angle;Permanent magnet synchronous motor is driven using the driving current angle after the driving current and adjusting received, is obtained
The output torque of permanent magnet synchronous motor;Wherein, the second calibration unit 124 is additionally operable to according to the voltage utilization of feedback and described sets
Difference between fixed voltage utilization adjusts the zero torque point demagnetizing current of weak magnetic area, is turned round using the weak magnetic area zero after adjusting
Square point demagnetizing current and weak magnetic area initial driving current angle drive permanent magnet synchronous motor.
Computing unit 121 in the present embodiment, for the q shaft voltage equations U according to permanent magnet synchronous motorq=RsIq+ωeLdId+ωeψf, relationship and setting between rotor velocity and rotating speed voltage utilization η, in the q shaft voltages equation
Iq=0 and IdWhen=0, weak magnetic inflection point rotating speed is obtainedIn q shaft voltage equations
IqWhen=0, zero torque point demagnetizing current of weak magnetic area is obtained
Device shown in Figure 12 further includes detection unit, recording unit, control unit;
Monitoring unit, the temperature for detecting permanent magnet synchronous motor;
Recording unit, for when the temperature of permanent magnet synchronous motor meets or exceeds electric motor protecting temperature, record calibration to be forever
The data of magnetic-synchro current of electric;
Control unit, for when the temperature of permanent magnet synchronous motor meets or exceeds electric motor protecting temperature, reduce described in forever
The rotating speed of magnetic-synchro motor and/or the driving current for reducing driving permanent magnet synchronous motor, reach in the temperature of permanent magnet synchronous motor
When safety value, according to the data of the calibration permanent magnet synchronous motor electric current of record, continue the permanent magnet synchronous motor electric current
Automatic Calibration.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case of making the creative labor, you can to understand and implement.
The device of calibration permanent magnet synchronous motor electric current provided by the present application can also pass through hardware by software realization
Or the mode of software and hardware combining is realized.For implemented in software, referring to Fig.1 shown in 3, calibration permanent-magnet synchronous provided by the present application
The machine readable storage medium 1302 that the device of current of electric may include processor 1301, be stored with machine-executable instruction.Place
Reason device 1301 can be communicated with machine readable storage medium 1302 via system bus 1303.Also, by reading and executing machine
Machine-executable instruction corresponding with calibration permanent magnet synchronous motor electric current, processor 1301 are executable in readable storage medium storing program for executing 1302
The method of above-described calibration permanent magnet synchronous motor electric current.
The machine readable storage medium 1302 mentioned in the application can be any electronics, magnetism, optics or other physics
Storage device can include or store information, such as executable instruction, data, etc..For example, machine readable storage medium can be with
It is:RAM (Radom Access Memory, random access memory), it volatile memory, nonvolatile memory, flash memory, deposits
Store up driver (such as hard disk drive), solid state disk, any kind of storage dish (such as CD, DVD) or similar storage
Medium or combination thereof.
According to example disclosed in the present application, deposited including the machine readable of machine-executable instruction present invention also provides a kind of
Machine readable storage medium 1302 in storage media, such as Figure 13, the machine-executable instruction can be by calibration permanent magnet synchronous electrics
Processor 1301 in the device of electromechanics stream executes the method to realize above-described calibration permanent magnet synchronous motor electric current.
For the ease of clearly describing the technical solution of the embodiment of the present invention, in the embodiment of invention, use " first ",
Printed words such as " second " distinguish function and the essentially identical identical entry of effect or similar item, and those skilled in the art can manage
The printed words such as solution " first ", " second " are not defined quantity and execution order.
The above description is merely a specific embodiment, under the above-mentioned introduction of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of method of calibration permanent magnet synchronous motor electric current, which is characterized in that the method includes:
According to the voltage utilization of the voltage equation of permanent magnet synchronous motor and setting, obtain permanent magnet synchronous motor by non-weak magnetic area into
Enter zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area;
According to the magnitude relationship between permanent magnet synchronous motor current rotating speed and the inflection point rotating speed, determine that permanent magnet synchronous motor is current
Residing workspace;
When the permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electric current than curve in non-weak magnetic area
Automatic Calibration permanent magnet synchronous motor electric current;
When the permanent magnet synchronous motor is in weak magnetic area, according to zero torque of the voltage utilization of the setting and the weak magnetic area
Point demagnetizing current is in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.
2. according to the method described in claim 1, it is characterized in that, it is described according to preset torque capacity electric current than curve non-
Automatic Calibration permanent magnet synchronous motor electric current in weak magnetic area, including:
According to preset torque capacity electric current than curve, the driving current for making the permanent magnet synchronous motor output torque capacity is obtained
With driving current angle;
The permanent magnet synchronous motor is driven using the driving current and driving current angle of acquisition, obtains the permanent-magnet synchronous
The output torque of motor.
3. according to the method described in claim 1, it is characterized in that, described when the permanent magnet synchronous motor is in weak magnetic area,
According to the voltage utilization of the setting and zero torque point demagnetizing current of the weak magnetic area in weak magnetic area automatic Calibration permanent-magnet synchronous
Current of electric, including:
It is when the permanent magnet synchronous motor enters weak magnetic area, zero torque point demagnetizing current of the weak magnetic area is initial as weak magnetic area
Driving current, and drive the permanent-magnet synchronous using the weak magnetic area initial driving current and weak magnetic area initial driving current angle
Motor, the weak magnetic area initial driving current angle and the permanent magnet synchronous motor d axle clamps angle are zero;
When receiving driving current and driving current angle, utilized according to the voltage utilization of feedback and the voltage of the setting
Difference between rate adjusts the driving current angle;
Drive the permanent magnet synchronous motor using the driving current angle after the driving current and adjusting received, obtain described in forever
The output torque of magnetic-synchro motor.
4. according to the method described in claim 3, it is characterized in that, described utilize the weak magnetic area initial driving current and weak magnetic
Area's initial driving current angle drives the permanent magnet synchronous motor, including:
Zero torque of weak magnetic area is adjusted according to the difference between the voltage utilization of feedback and the voltage utilization of the setting
Point demagnetizing current, using after adjusting zero torque point demagnetizing current of weak magnetic area and the weak magnetic area initial driving current angle drive
The permanent magnet synchronous motor.
5. according to the method described in claim 1, it is characterized in that, the voltage equation and setting according to permanent magnet synchronous motor
Voltage utilization, obtain permanent magnet synchronous motor the corresponding weak magnetic inflection point rotating speed in weak magnetic area and weak magnetic area zero are entered by non-weak magnetic area
Torque point demagnetizing current, including:
According to the q shaft voltage equations U of the permanent magnet synchronous motorq=RsIq+ωeLdId+ωeψf, between rotor velocity and rotating speed
Relationship and setting voltage utilization η, the I in the q shaft voltages equationq=0 and IdWhen=0, weak magnetic inflection point rotating speed is obtainedI in the q shaft voltages equationqWhen=0, obtains zero torque point of weak magnetic area and go
Magnetoelectricity stream
Wherein, motor permanent magnet magnetic linkageEφFor the permanent magnet synchronous motor no-load back electromotive force amplitude, ωcIt is described
The electric angle frequency of permanent magnet synchronous motor, ωeFor rotor velocity, LdFor the permanent magnet synchronous motor d axle inductances, IdAnd IqRespectively
For the permanent magnet synchronous motor d axis and q shaft currents, RsFor the permanent magnet synchronous motor phase resistance, P is the permanent magnet synchronous motor
Number of pole-pairs, SpddemagFor the rotating speed of the permanent magnet synchronous motor, SpddemagMore than the weak magnetic inflection point rotating speed Spdthd, UdcIt is straight
Flow busbar voltage.
6. according to the method described in claim 1, it is characterized in that, the method further includes:
The temperature for detecting the permanent magnet synchronous motor meets or exceeds electric motor protecting temperature in the temperature of the permanent magnet synchronous motor
When, the data of record calibration permanent magnet synchronous motor electric current, and reduce the rotating speed of the permanent magnet synchronous motor and/or reduce driving forever
The driving current of magnetic-synchro motor, when the temperature of the permanent magnet synchronous motor reaches safety value, according to the calibration permanent magnetism of record
The data of synchronous motor electric current continue the automatic Calibration of the permanent magnet synchronous motor electric current.
7. a kind of device of calibration permanent magnet synchronous motor electric current, which is characterized in that described device includes:
Computing unit, for according to the voltage equation of permanent magnet synchronous motor and the voltage utilization of setting, obtaining permanent magnet synchronous electric
Machine enters zero torque point demagnetizing current of the corresponding inflection point rotating speed in weak magnetic area and weak magnetic area by non-weak magnetic area;
Judging unit, for according to the magnitude relationship between permanent magnet synchronous motor current rotating speed and the inflection point rotating speed, determining forever
The workspace that magnetic-synchro motor is presently in;
First calibration unit, is used for when the permanent magnet synchronous motor is in non-weak magnetic area, according to preset torque capacity electric current
Than curve in non-weak magnetic area automatic Calibration permanent magnet synchronous motor electric current;
Second calibration unit, is used for when the permanent magnet synchronous motor is in weak magnetic area, according to the voltage utilization of the setting
With zero torque point demagnetizing current of the weak magnetic area in weak magnetic area automatic Calibration permanent magnet synchronous motor electric current.
8. device according to claim 7, which is characterized in that
The first calibration unit, for, than curve, acquisition to make the permanent magnet synchronous motor according to preset torque capacity electric current
Export the driving current and driving current angle of torque capacity;It is driven using the driving current and driving current angle of acquisition
The permanent magnet synchronous motor obtains the output torque of the permanent magnet synchronous motor.
9. device according to claim 7, which is characterized in that
The second calibration unit, for when the permanent magnet synchronous motor enters weak magnetic area, by zero torque point of the weak magnetic area
Demagnetizing current initially drives electricity as weak magnetic area initial driving current, and using the weak magnetic area initial driving current and weak magnetic area
Flow angle drives the permanent magnet synchronous motor, the weak magnetic area initial driving current angle and the permanent magnet synchronous motor d axle clamps
Angle is zero;When receiving driving current and driving current angle, according to the voltage of the voltage utilization of feedback and the setting
Difference between utilization rate adjusts the driving current angle;Utilize the driving current angle after the driving current and adjusting received
Degree drives the permanent magnet synchronous motor, obtains the output torque of the permanent magnet synchronous motor;
Wherein, the second calibration unit, be additionally operable to according to the voltage utilization of feedback and the voltage utilization of the setting it
Between difference adjust the zero torque point demagnetizing current of weak magnetic area, using after adjusting zero torque point demagnetizing current of weak magnetic area and institute
It states weak magnetic area initial driving current angle and drives the permanent magnet synchronous motor.
10. device according to claim 7, which is characterized in that described device further includes detection unit, recording unit, control
Unit processed;
The monitoring unit, the temperature for detecting the permanent magnet synchronous motor;
The recording unit, for when the temperature of the permanent magnet synchronous motor meets or exceeds electric motor protecting temperature, record to be marked
Determine the data of permanent magnet synchronous motor electric current;
Described control unit, for when the temperature of the permanent magnet synchronous motor meets or exceeds electric motor protecting temperature, reducing institute
It states the rotating speed of permanent magnet synchronous motor and/or reduces the driving current of driving permanent magnet synchronous motor, in the permanent magnet synchronous motor
When temperature reaches safety value, according to the data of the calibration permanent magnet synchronous motor electric current of record, continue the permanent magnet synchronous electric
The automatic Calibration of electromechanics stream.
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| CN201810645315.XA CN108696219B (en) | 2018-06-21 | 2018-06-21 | Method and device for calibrating current of permanent magnet synchronous motor |
| PCT/CN2019/092286 WO2019242733A1 (en) | 2018-06-21 | 2019-06-21 | Method and device for calibrating current of permanent magnet synchronous motor |
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| CN201810645315.XA CN108696219B (en) | 2018-06-21 | 2018-06-21 | Method and device for calibrating current of permanent magnet synchronous motor |
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| CN108696219B CN108696219B (en) | 2024-03-26 |
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| CN108696219B (en) | 2024-03-26 |
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