CN108736783A - The method and apparatus for measuring the stator winding resistance of permanent magnet synchronous motor - Google Patents
The method and apparatus for measuring the stator winding resistance of permanent magnet synchronous motor Download PDFInfo
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- CN108736783A CN108736783A CN201710245913.3A CN201710245913A CN108736783A CN 108736783 A CN108736783 A CN 108736783A CN 201710245913 A CN201710245913 A CN 201710245913A CN 108736783 A CN108736783 A CN 108736783A
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Abstract
The present invention relates to a kind of method and apparatus for the stator winding resistance measuring permanent magnet synchronous motor.It the described method comprises the following steps：Obtain the voltage U of the d axis of the stator of the permanent magnet synchronous motordAnd the voltage U of q axisq；Obtain the electric current I of the d axis of the stator of the permanent magnet synchronous motordAnd the electric current I of q axisq；Obtain the angular rate ω of the rotor of the permanent magnet synchronous motor；Obtain the rotor flux K of the permanent magnet synchronous motore；And according to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate the resistance R of the stator winding of the permanent magnet synchronous motor0.The invention further relates to a kind of devices for the stator winding resistance measuring permanent magnet synchronous motor.The accuracy of the calculating of stator winding resistance can be improved in the method and apparatus of the stator winding resistance of the measurement permanent magnet synchronous motor of the present invention.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of stator winding resistance measuring permanent magnet synchronous motor
Method and apparatus.
Background technology
Permanent magnet synchronous motor has many advantages, such as that small, efficient, torque density is big, is widely applied to numerous engineering necks
It in domain, for example is applied in unmanned plane, is a kind of extremely potential energy saving and environment friendly motor.For permanent magnet synchronous motor
Vector controlled for, the parameter of electric machine it is accurate acquisition have vital effect for efficiently controlling motor.
The method of the stator winding resistance of traditional measurement permanent magnet synchronous motor is to utilize an electricity in synchronously rotating reference frame
Pressure equation calculates resistance value, and the formula of this obtained stator winding resistance of method needs to rely on the parameter of inductance, because
And the computational methods are largely dependent upon the precision of inductance.Since magnetic field is saturated the influence of factor, when the electric current of motor is sent out
When changing, inductance can also change accordingly, if necessary to calculate stator winding resistance dependent on the precision of inductance, then
It can so that the calculated stator winding resistance of institute is not accurate enough in the case where the precision of inductance is not high enough.
Invention content
Based on this, it is necessary to for the technical problem that the measurement of stator winding resistance as described above is not accurate enough, provide
A kind of method and apparatus for the stator winding resistance measuring permanent magnet synchronous motor.
The present invention provides a kind of method for the stator winding resistance measuring permanent magnet synchronous motor, and this method includes following step
Suddenly：
Obtain the voltage U of the d axis of the stator of the permanent magnet synchronous motordAnd the voltage U of q axisq；
Obtain the electric current I of the d axis of the stator of the permanent magnet synchronous motordAnd the electric current I of q axisq；
Obtain the angular rate ω of the rotor of the permanent magnet synchronous motor；
Obtain the rotor flux K of the permanent magnet synchronous motore；And
According to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate the electricity of the stator winding of the permanent magnet synchronous motor
Hinder R0。
Further,
Further, in the resistance R for calculating the stator winding of the permanent magnet synchronous motor0Later, further include：
According to the resistance R of the stator winding0It obtains corresponding resistance and corrects data；
Resistance R of the data to the stator winding is corrected according to the resistance0Be modified, obtain revised stator around
The resistance R of group1；And
By the resistance R of the revised stator winding1The resistance value of stator winding as the permanent magnet synchronous motor.
Further, it is resistance compensation values that the resistance, which corrects data,；
It is described that resistance R of the data to the stator winding is corrected according to the resistance0It is modified, it is revised fixed to obtain
The resistance R of sub- winding1, including：
By the resistance R of the stator winding0It is added with the resistance compensation values, obtains numerical value after being added；
The resistance R by the revised stator winding1The electricity of stator winding as the permanent magnet synchronous motor
Resistance value, including：
Using the numerical value after being added as the resistance value of the stator winding of the permanent magnet synchronous motor.
Further, the permanent magnet synchronous motor is durface mounted permanent magnet synchronous motor.
The present invention also provides a kind of device for the stator winding resistance measuring permanent magnet synchronous motor, described device includes：
Voltage acquisition module, the voltage U of the d axis of the stator for obtaining the permanent magnet synchronous motordAnd the voltage of q axis
Uq；
Electric current acquisition module, the electric current I of the d axis of the stator for obtaining the permanent magnet synchronous motordAnd the electric current of q axis
Iq；
Angular rate acquisition module, the angular rate ω of the rotor for obtaining the permanent magnet synchronous motor；
Rotor flux acquisition module, the rotor flux K for obtaining the permanent magnet synchronous motore；And
Stator winding resistance computing module, for according to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate it is described forever
The resistance R of the stator winding of magnetic-synchro motor0。
Further,
Further, described device further includes stator winding resistance correcting module, for according to the stator winding resistance
The resistance R of the calculated stator winding of computing module0It obtains corresponding resistance and corrects data；Number is corrected according to the resistance
According to the resistance R to the stator winding0It is modified, obtains the resistance R of revised stator winding1；And it will be after the amendment
Stator winding resistance R1The resistance value of stator winding as the permanent magnet synchronous motor.
Further, it is resistance compensation values that the resistance, which corrects data,；
The stator winding resistance correcting module is additionally operable to the resistance R of the stator winding0With the resistance compensation values
It is added, obtains numerical value after being added；And using the numerical value after being added as the stator winding of the permanent magnet synchronous motor
Resistance value.
Further, the permanent magnet synchronous motor is durface mounted permanent magnet synchronous motor.
Formula R set by the method and apparatus of the stator winding resistance of the measurement permanent magnet synchronous motor of the present invention0=f1
(Ud,Id,Uq,Iq,ω,Ke) unrelated with inductance, avoid the meter caused by the coupling between inductance and stator winding resistance
The not high problem of the accuracy of the stator winding resistance of calculating.Since present invention only requires the electric current I of d axisd, q axis electric current Iq、d
The voltage U of axisd, q axis voltage Uq, angular rate ω and rotor flux KeParameter values, you can found out forever according to the formula
The numerical value of the stator winding resistance of magnetic-synchro motor, therefore improve the accuracy of the calculating of stator winding resistance.
Description of the drawings
Fig. 1 is the flow diagram of the method for the stator winding resistance that permanent magnet synchronous motor is measured in one embodiment；
Fig. 2 is the electric current I of the d axis for the stator that permanent magnet synchronous motor is obtained in one embodimentdAnd the electric current I of q axisqStep
Rapid flow diagram；
Fig. 3 is that flow the step of being detected to the state of the steady operation of permanent magnet synchronous motor in one embodiment is shown
It is intended to；
To calculated fixed in the method for stator winding resistances of the Fig. 4 to measure permanent magnet synchronous motor in one embodiment
The flow diagram for the step of sub- winding resistance is modified；
Fig. 5 is the structure diagram of the device for the stator winding resistance that permanent magnet synchronous motor is measured in one embodiment；
Fig. 6 is the structure diagram of the device for the stator winding resistance that permanent magnet synchronous motor is measured in another embodiment.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
In one embodiment, as shown in Figs. 1-3, a kind of stator winding resistance measuring permanent magnet synchronous motor is provided
Method.Preferably, this method can be applied in durface mounted permanent magnet synchronous motor or relative control device.Specifically, should
Method can be applied to the durface mounted permanent magnet synchronous motor in unmanned plane so that this method is applicable to the control of unmanned plane during flying
In.
As shown in Figure 1, this method specifically includes following steps S202~S210：
Step S202 obtains the voltage U of the d axis of the stator of permanent magnet synchronous motordAnd the voltage U of q axisq。
Step S204 obtains the electric current I of the d axis of the stator of permanent magnet synchronous motordAnd the electric current I of q axisq。
Step S206 obtains the angular rate ω of the rotor of permanent magnet synchronous motor.
Step S208 obtains the rotor flux K of permanent magnet synchronous motore。
Step S210, according to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate the stator winding of permanent magnet synchronous motor
Resistance R0。
It should be noted that in embodiments of the present invention, although with serial number to each step into line label, and not based on
Serial number limits the sequencing between step, such as in the present embodiment, above-mentioned step S202 can be happened at step S204
Before, can also occur after step s 204.
In embodiments of the present invention, d axis (also referred to as d-axis) is to be able to obtain similar direct current with q axis (also referred to as quadrature axis)
The control characteristic of machine and two reference axis on a coordinate system being established on rotor.The coordinate system is synchronous with rotor to be turned
It is dynamic, wherein it is d axis to take the direction on the center line of rotor magnetic pole, and the direction perpendicular to rotor field is q axis.It thus will be electric
The mathematical model of machine is transformed under this coordinate system, it can be achieved that the decoupling of d axis and q axis, to which the control to motor be better achieved.
For step S202, the voltage U of d axis is calculated by the d shaft current rings of the stator of permanent magnet synchronous motord, it is logical
The voltage U of q axis is calculated in the q shaft current rings for crossing the stator of permanent magnet synchronous motorq.Electric current loop therein refers to current feedback
System, the d shaft currents ring and q shaft current rings are pre-set in a device.
For step S204, threephase stator electric current I of permanent magnet synchronous motor in the state of steady operation is obtained firsts。
Specifically, by threephase stator electric current IsIt is sampled and is calculated and obtain the electric current I of d axisdAnd the electric current I of q axisq.Its
In, threephase stator electric current IsIt can be sampled according to preset sample frequency.
In one embodiment, referring to Fig. 2, the electric current I of the d axis of the stator of permanent magnet synchronous motor is obtaineddAnd the electricity of q axis
Flow IqStep S204, further include following steps S2041~S2043.
The threephase stator electric current I of motorsIt can be expressed as threephase stator electric current Is_a、Is_bAnd Is_c.Sampling is obtained
The stator three-phase current I of permanent magnet synchronous motors_a、Is_bAnd Is_cAfter the rotating coordinate transformation of abc/dq, it is calculated and is turning
The electric current I of the d axis of stator under the synchronous rotating frame of sub- field orientationdWith the electric current I of q axisq.It is as follows：
S2041 obtains the threephase stator electric current I of permanent magnet synchronous motors。
S2042, by threephase stator electric current IsThe directions d of synchronous rotary dq coordinate systems are oriented in, the locking phase of motor is calculated
Angle θ.
Wherein, lock phase angle theta is to carry out sampling acquisition rotation displacement confidence by becoming position signal to the rotation of permanent magnet synchronous motor
Number, specifically, it can realize the calculating to locking phase angle theta by phaselocked loop.
S2043, according to lock phase angle theta and threephase stator electric current Is, i.e. Is_a、Is_bAnd Is_c, calculate separately out the electric current I of d axisd
With the electric current I of q axisq。
Specifically, the electric current I of d axisd, q axis electric current IqWith lock phase angle theta, threephase stator electric current Is_a、Is_bAnd Is_cBetween deposit
In following relational expression：
According to above-mentioned relational expression, threephase stator electric current I can be passed throughsThe electric current I of d axis is calculated with lock phase angle thetadWith q axis
Electric current Iq。
For step S206, the angular rate ω of the rotor of permanent magnet synchronous motor is obtained, it should be noted that in the present invention
In embodiment, fixed part is stator (stator) in motor, is installed with the static of pairs of DC excitation in the above
Main pole；And the part rotated in motor is rotor (rotor), rotor is made of armature core, is installed with armature in the above
Winding generates induced electromotive force after energization, serves as rotating excitation field, realizes that mechanical energy turns to electric energy by generating electromagnetic torque
It changes.
Angular rate ω refers to the electric angle that rotor is turned in the unit interval.Angular rate ω is to be set for this
Standby, in experiment detection, the calculated data of simulation or checking stage institute, angular rate ω can be fixed numerical value, can also
For with the relevant numerical value of the rotary position information of rotor.In one implementation, it can be obtained by measuring or calculating in real time
The location information for going out the rotation of rotor goes out the angular rate ω of rotor further according to the positional information calculation of the rotor at each moment.
In one of the implementation manners, the angular rate ω of the rotor of permanent magnet synchronous motor can be obtained by noninductive algorithm.Another
A little realization methods, the method that belt sensor can also be used obtains lock phase angle theta, and then calculates the electricity of the rotor of permanent magnet synchronous motor
Angular velocity omega.
For step S208, the rotor flux K of permanent magnet synchronous motor is obtainede, rotor flux KeRefer to rotor worked
Generated magnetic flux in journey.Rotor flux KeIt, can be in experiment detection, simulation or checking stage, using corresponding for fixed value
Rotor flux detecting instrument measures and calculates and obtain.It in one implementation, can be by rotor flux KeParameter number
Value is stored in the non-volatile memory medium or built-in storage of equipment, is read when for executing step S208.
In embodiments of the present invention, the execution sequence between above-mentioned step S202~S208 does not limit, both may be used
To execute side by side, can also be executed according to arbitrary feasible execution sequence.It, will after executing the step S202~S208
Execute step S210：
According to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate the resistance R of the stator winding of permanent magnet synchronous motor0。
Wherein, f1(Ud,Id,Uq,Iq,ω,Ke) it is the motor mathematical modulo advanced under permanent magnet synchronous motor dq coordinate systems
The voltage U of the d axis of the calculated formula of type institute, the formula and motordAnd the voltage U of q axisq, d axis electric current IdAnd q axis
Electric current Iq, rotor angular rate ω and rotor flux KeThis six parameter correlations.
In one embodiment,
As shown in figure 3, the step of to be detected to the state of the steady operation of permanent magnet synchronous motor in the present embodiment
The flow diagram of S102~S106, step step S202~S210 shown in Fig. 1 are executed before.As shown in figure 3, described
Step includes：
Step S102 obtains the rotor speed of motor according to preset time interval.
It in embodiments of the present invention, can be by reflection method, magnetoelectricity method, raster method or Hall switch detection method etc. wherein
One or more measurement methods, measure rotor speed.And the rotor measured in real time is extracted according to preset time interval
Rotating speed.The time interval can be arranged to any appropriate interval, for example be 0.5 second or 1 second etc..For example, a phase can be arranged
The timer answered, for the timer after detecting that accumulative duration reaches preset interval duration, triggering obtains rotor speed
Signal, according to the current rotor speed of the signal acquisition.And the duration added up to the timer is zeroed out, it is next to wait for
Secondary triggering obtains the signal of rotor speed.
Step S104 calculates the difference of the rotor speed acquired in adjacent time inter.
After getting current rotating speed according to time interval, acquired in acquired rotating speed and a upper time interval
Rotating speed compared, calculate difference between the two, take absolute value to the difference.
Step S106 sets the first preset quantity and the second preset quantity, when the first preset quantity that Continuous plus goes out
When being more than the second preset quantity less than the number of the difference of predetermined threshold value in difference, judgement motor is in the state of steady operation.
Otherwise, it is determined that motor is in the state of unstable state work.
In embodiments of the present invention, corresponding threshold value is pre-set, the threshold value is for reflecting whether motor is in stable state
The state of work.The calculated difference of institute can be compared with corresponding threshold value.Ideally, it is in the shape of steady operation
Rotor speed under state is constant, and in real work, there are certain fluctuations for rotor speed.Therefore, which can be set
It is set to a suitable smaller numerical value, when difference is less than the numerical value, shows that rotor speed is in normal acceptable fluctuation
In range, judgement at this time is in the state of steady operation；Otherwise, then show that rotor speed fluctuates too big, fluctuation of service, at this time
State of the judgement in unstable state work.
First preset quantity and the second preset quantity can be arbitrary quantity, and the second preset quantity is default no more than first
Quantity.Equipment is repeatable to execute above-mentioned step S102~S104, and calculates the difference of continuous first preset quantity.It will be every
Secondary acquired difference is compared with the threshold value, judges the size of the two, and will be small in the difference of first preset quantity
Added up in the number of the difference of the threshold value.When added up number is more than the second quantity, then judge that motor is in stable state
The state of work；Otherwise, it is determined that motor is in the state of unstable state work.
For example, can 10 be set as the first preset quantity, the second preset quantity is set as 8.10 continuously acquired
In the difference of a adjacent rotating speed, if there is 9 to be less than predetermined threshold value, 1 is more than the predetermined threshold value, then shows that the motor is in stable state
The state of work.If there is 6 to be less than predetermined threshold value, 4 are more than the predetermined threshold value, then show that the rotating speed of the motor is not sufficiently stable,
Judge that the motor is in the state of unstable state work at this time.
After judgement motor is in the state of steady operation, above-mentioned step S202~S210 can perform.
By calculating the difference of the first quantity, and when being less than in the difference for the first preset quantity that Continuous plus goes out is pre-
If the number of the difference of threshold value is more than the second preset quantity, judgement motor is in the state of steady operation, to accurately right
Whether the state in steady operation is judged motor.
Preferably, above-mentioned permanent magnet synchronous motor is durface mounted permanent magnet synchronous motor.Specifically, this method can be applied to nothing
Durface mounted permanent magnet synchronous motor in man-machine so that this method is applicable in the control of unmanned plane during flying.
In the method for the stator winding resistance of the measurement permanent magnet synchronous motor of the present embodiment, default formula R0=f1
(Ud,Id,Uq,Iq,ω,Ke) unrelated with inductance, avoid the meter caused by the coupling between inductance and stator winding resistance
The not high problem of the accuracy of the stator winding resistance obtained.Due to the electricity of the d axis for the stator for only needing permanent magnet synchronous motor
Flow Id, q axis electric current Iq, d axis voltage Ud, q axis voltage Uq, angular rate ω and rotor flux KeParameter value can root
The numerical value of the stator winding resistance of permanent magnet synchronous motor is found out according to the formula, therefore improves the standard of the calculating of stator winding resistance
Exactness.
In one embodiment, the method for the stator winding resistance of above-mentioned measurement permanent magnet synchronous motor, further includes to institute
The step of the step of amendment of calculated stator winding resistance, the amendment, can execute after above-mentioned step S108.Such as Fig. 4
Shown, the step of amendment, specifically includes following step S302~S306：
Step S302, according to the resistance R of stator winding0It obtains corresponding resistance and corrects data.
In the present embodiment, resistance is preset and has corrected data, which corrects the resistance R of data and stator winding0Between set
Correspondence is set.The resistance is corrected data and can be counted in experiment detection, simulation or checking stage by the equipment for the type
The data of calculating.It can be to measure the resistance of the stator winding detected by the instrument of resistance and pass through this that the resistance, which corrects data,
The formula of inventive embodiments correlation function between calculated stator winding resistance be calculated.
Preferably, it is that resistance compensation values R* is being implemented through the invention in some implementations which, which corrects data,
The calculating formula of example finds out stator winding resistance R0It afterwards, can be according to the resistance and resistance of the stator winding of pre-stored different numerical value
Mapping table between offset determines the stator winding resistance R found out0Corresponding resistance compensation values R*。
Step S304 corrects resistance R of the data to stator winding according to resistance0It is modified, obtains revised stator
The resistance R of winding1。
The correction function R of the resistance for stator winding has been preset in the embodiment of the present invention, in equipment1=f (R0,R*), it will
Pass through the resistance R for the stator winding that calculating formula is found out0With corresponding resistance compensation values R*As correction function f (R0,R*) it is defeated
Enter parameter, according to correction function f (R0,R*) calculate the resistance R of revised stator winding1.Correction function f (R0,R*)
Can be the resistance R with stator winding0And/or resistance compensation values R*The function of being proportionate property, the calculated revised stator of institute
The resistance R of winding1With the resistance R of stator winding0Increase and increase.
In one implementation, correction function f (R0,R*)=kR0+R*.Wherein, k is preset coefficient, can be one
Changeless numerical value can calculate the resistance R of revised stator winding according to the correction function1。
Step S306, by the resistance R of revised stator winding1The resistance of stator winding as permanent magnet synchronous motor
Value.
In one implementation, above-mentioned coefficient k=1, i.e. correction function are f (R0,R*)=R0+R*, in this situation
Under, by the resistance R of stator winding0With resistance compensation values R*It is added, obtains numerical value after being added, the numerical value after will add up is as forever
The resistance value of the stator winding of magnetic-synchro motor.
In the present embodiment, it can be tested out under varying environment factor for permanent magnet synchronous motor in the experimental stage in advance
The resistance R of stator winding1, and according to above-mentioned formula R0=f1(Ud,Id,Uq,Iq,ω,Ke) calculate the resistance of stator winding
R0.According to R*=R1-R0Relational expression, calculate the resistance R of different stator winding0Corresponding resistance compensation values R*.It is described not
Include the environmental factors such as rotating speed, the temperature of rotor with environmental factor.To establish under varying environment factor, resistance is mended
Repay value R*With the formula R according to the embodiment of the present invention0=f1(Ud,Id,Uq,Iq,ω,Ke) calculated stator winding resistance
R0Between correspondence.
Calculating resistance R0Between after, resistance compensation values R can be obtained according to above-mentioned correspondence*, by resistance R0With
Resistance compensation values R*It is added, to calculate the resistance R of revised stator winding1。
In the present embodiment, data are corrected by the way that resistance is arranged, further according to the resistance R of the stator winding found out by formula0It obtains
It takes corresponding resistance to correct data, to be modified to the resistance of stator winding, calculates the electricity of revised stator winding
Hinder R1, the resistance value of the stator winding as permanent magnet synchronous motor.Determining for permanent magnet synchronous motor is measured to can further improve
The accuracy of the method for sub- winding resistance.
In one embodiment, as shown in figure 5, for the stator winding resistance provided by the invention for measuring permanent magnet synchronous motor
Device structure diagram.
It should be noted that since the device embodiment in the embodiment of the present invention is based on identical invention with embodiment of the method
Design, the technology contents in embodiment of the method are equally applicable to device embodiment, therefore, in device embodiment with embodiment of the method
Details are not described herein for identical technology contents.
The device of the present embodiment includes voltage acquisition module 502, electric current acquisition module 504, angular rate acquisition module
506, rotor flux acquisition module 508 and stator winding resistance computing module 510.Voltage acquisition module 502, electric current obtain mould
Block 504, angular rate acquisition module 506, rotor flux acquisition module 508 output end respectively with stator winding resistance calculate mould
The input terminal of block 510 is connected.Wherein：
Voltage acquisition module 502 is used to obtain the voltage U of the d axis of the stator of permanent magnet synchronous motordAnd the voltage U of q axisq。
Electric current acquisition module 504 is used to obtain the electric current I of the d axis of the stator of permanent magnet synchronous motordAnd the electric current I of q axisq。
Angular rate acquisition module 506 is used to obtain the angular rate ω of the rotor of permanent magnet synchronous motor.
Rotor flux acquisition module 508 is used to obtain the rotor flux K of permanent magnet synchronous motore。
Stator winding resistance computing module 510 is used for according to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate permanent magnetism
The resistance R of the stator winding of synchronous motor0。
Preferably,
In the present embodiment, the voltage of d axis is calculated by d shaft current rings built-in in equipment for voltage acquisition module 502
Ud, the voltage U of q axis is calculated by built-in q shaft current ringsq.In different realization methods, voltage acquisition module 502 can be with
For any one in electric mode transfer block, micro controller unit, microprocessor unit.
In the present embodiment, electric current acquisition module 504 obtains determining for permanent magnet synchronous motor first, in accordance with certain frequency sampling
Sub- three-phase current Is_a、Is_bAnd Is_c, according still further to the rotating coordinate transformation relationship of pre-set abc/dq, permanent magnetism is calculated
The electric current I of d axis direction of the stator of synchronous motor under synchronous rotary dq coordinate systemsdWith the electric current I of q axis directionsq.In different realities
In existing mode, electric current acquisition module 504 can be any one in electric mode transfer block, micro controller unit, microprocessor unit.
In the present embodiment, the angular rate of the rotor of permanent magnet synchronous motor is obtained by angular rate acquisition module 506
ω.In one of the implementation manners, angular rate acquisition module 506 obtains the rotor of permanent magnet synchronous motor by noninductive algorithm
Angular rate ω.In other realization methods, angular rate acquisition module 506 obtains locking phase using the method for belt sensor
Angle θ, and then calculate the angular rate ω of the rotor of permanent magnet synchronous motor.In different realization methods, angular rate obtains mould
Block 506 can be any one in electric mode transfer block, micro controller unit, microprocessor unit.
In the present embodiment, the rotor flux K of permanent magnet synchronous motor is obtained by rotor flux acquisition module 508e.For
For any permanent magnet synchronous motors equipment, in its rotor flux KeIt, can be in experiment detection, simulation or verification rank for fixed value
Section, measures and calculates and obtain using corresponding rotor flux detecting instrument.It in one implementation, can be by the rotor magnetic
Chain KeParameter values be stored in the non-volatile memory medium or built-in storage of equipment, for rotor flux acquisition module 508
It reads.In different realization methods, rotor flux acquisition module 508 can be electric mode transfer block, micro controller unit, microprocessor
Any one in unit.
In the present embodiment, stator winding resistance computing module 510 reads voltage acquisition module 502, electric current acquisition module
504, the data of angular rate acquisition module 506, rotor flux acquisition module 508, according to formula R0=f1(Ud,Id,Uq,Iq,
ω,Ke), calculate the resistance R of the stator winding of permanent magnet synchronous motor0.In without realization method, stator winding resistance calculates
Module 510 can be any one in electric mode transfer block, micro controller unit, microprocessor unit.
In one embodiment, which further includes working condition detection module, in the working condition detection module in advance
Set the first preset quantity and the second preset quantity.Working condition detection module is used to obtain electricity according to preset time interval
The rotor speed of machine calculates the difference of the rotor speed acquired in adjacent time inter, and it is pre- to work as Continuous plus goes out first
If be more than the second preset quantity less than the number of the difference of predetermined threshold value in the difference of quantity, judgement motor is in steady operation
State.Otherwise, it is determined that motor is in the state of unstable state work.In different realization methods, working condition detection module can
Think any one in electric mode transfer block, micro controller unit, microprocessor unit.
By the way that working condition detection module is arranged, accurately to motor, whether the state in steady operation judges.
The equipment can detect the rotating speed of rotor, work in real time by the built-in sensor for detecting rotor speed measurement
State detection module may include comparator, and the difference for comparing the rotor speed acquired in adjacent time inter, output is compared
As a result.
After working condition detection module judgement motor is in the state of steady operation, then by voltage acquisition module 502, electricity
Flow acquisition module 504, angular rate acquisition module 506, rotor flux acquisition module 508 and stator winding resistance computing module
510 execute respective module design task respectively.
Preferably, above-mentioned permanent magnet synchronous motor is durface mounted permanent magnet synchronous motor, and specifically, this method can be applied to nothing
Durface mounted permanent magnet synchronous motor in man-machine so that this method is applicable in the control of unmanned plane during flying.
In the device of the stator winding resistance of the measurement permanent magnet synchronous motor of the present embodiment, default formula R0=f1
(Ud,Id,Uq,Iq,ω,Ke) unrelated with inductance, avoid the meter caused by the coupling between inductance and stator winding resistance
The not high problem of the accuracy of the stator winding resistance obtained.Due to the electricity of the d axis for the stator for only needing permanent magnet synchronous motor
Flow Id, q axis electric current Iq, d axis voltage Ud, q axis voltage Uq, angular rate ω and rotor flux KeParameter value, stator
Winding resistance computing module 510 can find out the numerical value of the stator winding resistance of permanent magnet synchronous motor according to the calculating formula, therefore
Improve the accuracy of the calculating of stator winding resistance.
In one embodiment, as shown in fig. 6, the dress of the stator winding resistance for the measurement permanent magnet synchronous motor of the present invention
The structure diagram set.In the present embodiment, in addition to including above-mentioned voltage acquisition module 502, electric current acquisition module 504, electric angle
Outside speed acquiring module 506, rotor flux acquisition module 508 and stator winding resistance computing module 510, further include stator around
Group resistance correcting module 600.The output end of stator winding resistance computing module 510 and stator winding resistance correcting module 600
Input terminal is connected.
Stator winding resistance correcting module 600 be used for the calculated stators of the institute of stator winding resistance computing module 510 around
Group resistance is modified.Mould is obtained by voltage acquisition module 502, electric current acquisition module 504, angular rate in this present embodiment
Block 506, rotor flux acquisition module 508 and stator winding resistance computing module 510 are identical as the above embodiments, therefore not
It repeats, only stator winding resistance correcting module 600 in the present embodiment is described at this again.
In the present embodiment, stator winding resistance correcting module 600 is exported according to stator winding resistance computing module 510
The resistance R of stator winding0It obtains corresponding resistance and corrects data；Resistance R of the data to stator winding is corrected according to resistance0It carries out
It corrects, calculates the resistance R of revised stator winding1, and by the resistance R of the revised stator winding1As permanent-magnet synchronous
The resistance value of the stator winding of motor.
Preferably, it is resistance compensation values R that shown resistance, which corrects data,*；Stator winding resistance correcting module 600 will be for that will determine
The resistance R of sub- winding0With resistance compensation values R*It is added, obtains numerical value after being added；And the numerical value after will add up is same as permanent magnetism
Walk the resistance value of the stator winding of motor.
In different realization methods, stator winding resistance correcting module 600 can be electric mode transfer block, micro controller unit,
Any one in microprocessor unit.
In the present embodiment, by the way that resistance R of the stator winding resistance correcting module 600 to stator winding is arranged0It is modified,
Calculate the resistance R of revised stator winding1, the resistance value of the stator winding as permanent magnet synchronous motor can carry further
The accuracy of the device of the stator winding resistance of high measurement permanent magnet synchronous motor.
In one embodiment, voltage acquisition module 502 of the invention, electric current acquisition module 504, angular rate obtain mould
Block 506, rotor flux acquisition module 508, working condition detection module, stator winding resistance computing module 510 and resistance are repaiied
Positive module 600 can be any one or a few in electric mode transfer block, micro controller unit, microprocessor unit.
The embodiment of the present invention also provides a kind of unmanned plane, which includes processor and the storage with the processor communication
Device, the method during which executes picture 1-4 in embodiment shown in either figure.The processor can be microcontroller list
Member or microprocessor unit.
It will be recognized by one of ordinary skill in the art that the realization of all or part of flow in above-described embodiment method can lead to
The relevant hardware of computer program instructions is crossed to complete, the program can be stored in a non-volatile computer and storage can be read
In medium, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can
For magnetic disc, CD, read-only memory (Read-Only Memory, ROM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of method for the stator winding resistance measuring permanent magnet synchronous motor, which is characterized in that the method includes following steps
Suddenly：
Obtain the voltage U of the d axis of the stator of the permanent magnet synchronous motordAnd the voltage U of q axisq；
Obtain the electric current I of the d axis of the stator of the permanent magnet synchronous motordAnd the electric current I of q axisq；
Obtain the angular rate ω of the rotor of the permanent magnet synchronous motor；
Obtain the rotor flux K of the permanent magnet synchronous motore；And
According to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), calculate the resistance R of the stator winding of the permanent magnet synchronous motor0。
2. according to the method described in claim 1, it is characterized in that,
3. method according to claim 1 or 2, which is characterized in that the stator for calculating the permanent magnet synchronous motor around
The resistance R of group0Later, further include：
According to the resistance R of the stator winding0It obtains corresponding resistance and corrects data；
Resistance R of the data to the stator winding is corrected according to the resistance0It is modified, obtains revised stator winding
Resistance R1；And
By the resistance R of the revised stator winding1The resistance value of stator winding as the permanent magnet synchronous motor.
4. according to the method described in claim 3, it is characterized in that, it is resistance compensation values that the resistance, which corrects data,；
It is described that resistance R of the data to the stator winding is corrected according to the resistance0Be modified, obtain revised stator around
The resistance R of group1, including：
By the resistance R of the stator winding0It is added with the resistance compensation values, obtains numerical value after being added；
The resistance R by the revised stator winding1The resistance value of stator winding as the permanent magnet synchronous motor,
Including：
Using the numerical value after being added as the resistance value of the stator winding of the permanent magnet synchronous motor.
5. method according to any one of claims 1-4, which is characterized in that the permanent magnet synchronous motor is durface mounted permanent magnet
Synchronous motor.
6. a kind of device for the stator winding resistance measuring permanent magnet synchronous motor, which is characterized in that described device includes：
Voltage acquisition module, the voltage U of the d axis of the stator for obtaining the permanent magnet synchronous motordAnd the voltage U of q axisq；
Electric current acquisition module, the electric current I of the d axis of the stator for obtaining the permanent magnet synchronous motordAnd the electric current I of q axisq；
Angular rate acquisition module, the angular rate ω of the rotor for obtaining the permanent magnet synchronous motor；
Rotor flux acquisition module, the rotor flux K for obtaining the permanent magnet synchronous motore；And
Stator winding resistance computing module, for according to formula R0=f1(Ud,Id,Uq,Iq,ω,Ke), it is same to calculate the permanent magnetism
Walk the resistance R of the stator winding of motor0。
7. device according to claim 6, which is characterized in that
8. the device described according to claim 6 or 7, which is characterized in that described device further includes that stator winding resistance corrects mould
Block, for the resistance R according to the calculated stator winding of the stator winding resistance computing module0Obtain corresponding resistance
Correct data；Resistance R of the data to the stator winding is corrected according to the resistance0It is modified, obtains revised stator
The resistance R of winding1；And by the resistance R of the revised stator winding1Stator winding as the permanent magnet synchronous motor
Resistance value.
9. device according to claim 8, which is characterized in that it is resistance compensation values that the resistance, which corrects data,；
The stator winding resistance correcting module is additionally operable to the resistance R of the stator winding0It is added with the resistance compensation values,
Obtain numerical value after being added；And using the numerical value after being added as the resistance of the stator winding of the permanent magnet synchronous motor
Value.
10. according to any device in claim 6-9, which is characterized in that the permanent magnet synchronous motor be surface-mount type forever
Magnetic-synchro motor.
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