CN109143064A - Counter electromotive force test device and method in permanent magnet synchronous motor commutation process - Google Patents
Counter electromotive force test device and method in permanent magnet synchronous motor commutation process Download PDFInfo
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- CN109143064A CN109143064A CN201810865296.1A CN201810865296A CN109143064A CN 109143064 A CN109143064 A CN 109143064A CN 201810865296 A CN201810865296 A CN 201810865296A CN 109143064 A CN109143064 A CN 109143064A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses counter electromotive force test device and methods in a kind of permanent magnet synchronous motor commutation process, it include: inverter circuit, it is made of three pairs of upper and lower bridge arms, a reversal connection diode is provided on each bridge arm, the output end of the inverter circuit is connected to the threephase stator winding of permanent magnet synchronous motor；Absorbing circuit, first end connect corresponding phase stator winding, and the second end of the absorbing circuit is connected between each pair of bridge arm, and the absorbing circuit both ends are provided with reversal connection switch, and the absorbing circuit includes first switch Td.Dragging motor, the armature spindle selective connection with permanent magnet synchronous motor；Voltage collector acquires the voltage in threephase stator winding respectively.The technical issues of present invention is efficiently solved to permanent magnet synchronous motor in stator winding commutation process, and inverse electromotive force is not directly observed.
Description
Technical field
The present invention relates to the control technology fields of permanent magnet synchronous motor, it is more particularly related to which a kind of permanent magnetism is same
Counter electromotive force test device and method during step motor commutation.
Background technique
In recent years, fast with power electronic technique, microelectric technique, New-type electric machine control theory and rare earth permanent-magnetic material
Speed development, permasyn morot are rapidly promoted and applied.Compared with traditional electric excitation synchronous motor, permanent magnet synchronous electric
Machine, especially rare earth permanent-magnet synchronization motor have loss less, high-efficient, power savings clear advantage.Permasyn morot
Excitation is provided with permanent magnet, keeps electric motor structure relatively simple, reduces processing and assembly costs, and eliminate and easily go wrong
Collector ring and brush, improve the reliability of motor running；Again because being improved without exciting current without excitation loss
The efficiency and power density of motor, thus it is to study more in recent years and applied more and more extensive one in every field
Kind motor.
And when being controlled by stator winding of the inverter to permanent magnet synchronous motor, in stator winding commutation process,
Power generation action potential can be generated, the control of permanent magnet synchronous motor is impacted, in order to eliminate this influence, it is anti-to need to measure this
Electromotive force, and further adjustment is done to the control of stator winding according to counter electromotive force size, to guarantee to permanent magnet synchronous motor
Control precision.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide counter electromotive force test device in a kind of permanent magnet synchronous motor commutation process and
Method, the present invention are efficiently solved to permanent magnet synchronous motor in stator winding commutation process, and inverse electromotive force is not directly seen
The technical issues of survey.
In order to realize these purposes and other advantages according to the present invention, a kind of permanent magnet synchronous motor commutation process is provided
Middle counter electromotive force test device and method, comprising:
Inverter circuit is made of three pairs of upper and lower bridge arms, and a reversal connection diode is provided on each bridge arm, described inverse
The output end on power transformation road is connected to the threephase stator winding of permanent magnet synchronous motor；
Absorbing circuit, first end connect corresponding phase stator winding, and the second end of the absorbing circuit is connected to each right
Between bridge arm, the absorbing circuit both ends are provided with reversal connection switch, and the absorbing circuit includes first switch Td, second switch
Tk, first capacitor C1, third switch Tc, first resistor R1, second resistance R2,3rd resistor R3 and the second capacitor C2；Described
Two switch Tk and first capacitor C1 constitute the first series arm, and the 3rd resistor R3 and the second capacitor C2 parallel connection constitute first simultaneously
Joining branch, the third switch Tc, the first parallel branch and second resistance R2 are followed in series to form the second series arm, and described the
One series arm and the second series arm parallel connection constitute the second parallel branch, the first switch Td, first resistor R1 and second
Parallel branch is sequentially connected in series；
Dragging motor, the armature spindle selective connection with permanent magnet synchronous motor；
Voltage collector acquires the voltage in threephase stator winding respectively.
It preferably, further include a voltage comparator, non-inverting input terminal connects the 3rd resistor R3 both end voltage, described
The inverting input terminal of voltage comparator connects the second capacitor C2 both end voltage, the output end of the voltage comparator with it is described
The control terminal of second switch Tk connects.
Preferably, the absorbing circuit further includes first diode D1, and anode is connected to second parallel branch
Output end.
Preferably, the input terminal of the first switch Td connects corresponding phase stator winding by one the 5th switch, and described the
The output end of one switch Td connects the input terminal of second parallel branch, the first diode by the first resistor R1
The cathode of D1 is connected between each pair of bridge arm by the 6th switch, the 5th switch and the 6th switch synchronization action.
Preferably, the absorbing circuit further includes the second diode D2, is connected with the second capacitor C2, the third
The input terminal of switch Tc is connect with the first resistor R1, and the output end of the third switch Tc is separately connected the 3rd resistor
The anode tap of R3 first end and the second diode D2, the 3rd resistor R3 second end and the second resistance R2 first end
The cathode terminal of connection, the second diode D2 is connect by the second capacitor C2 with the second resistance R2 first end.
Preferably, the both ends a first capacitor C1 third series arm in parallel, the third series arm include mutual
Concatenated 4th resistance R4 and the 4th switch Tp, the input terminal of the second switch Tk is connect with the first resistor R1, described
The output end of second switch Tk is connect with by the first capacitor C1 with the anode tap of the first diode D1；Described 4th
The first end of resistance R4 is connect with the output end of the second switch Tk, and the second end of the 4th resistance R4 is opened with the described 4th
The input terminal connection of Tp is closed, the output end of the 4th switch Tp is connect with the anode tap of the first diode D1.
Preferably, the absorbing circuit further includes third diode D3, is connected on the second diode D2 and the 4th
Between resistance R4, the anode of the third diode D3 is connect with the cathode of the second diode D2, the third diode
The cathode of D3 is connect with the first end of the 4th resistance R4.
Counter electromotive force test method in a kind of permanent magnet synchronous motor commutation process, comprising the following steps:
Step 1: disconnecting the power supply on permanent-magnetic synchronous motor stator winding, permanent magnet synchronous motor is dragged by dragging motor
It moves to stabilized (steady-state) speed, the voltage in a complete rotation period on each phase stator winding is at least acquired by voltage collector
V1；
Step 2: the 5th switch of closure and the 6th switch, are closed reverser, apply to permanent-magnetic synchronous motor stator winding
Permanent magnet synchronous motor is run to the stabilized (steady-state) speed in step 1 by power drives, at least acquired by voltage collector one it is complete
Voltage V2 in whole swing circle on each phase stator winding；
Step 3: the 5th switch and the 6th switch are disconnected in the corresponding upper bridge arm conducting of control and lower bridge arm turn off process,
It is closed reverser, lower bridge arm is calculated from triggering and disconnects the moment to the interval time corresponding stator winding current zero-acrross ing moment
T1, while the corresponding absorbing circuit of the lower bridge arm is performed the following operation: it is respectively closed first switch Td, second switch Tk and
Three switch Tc, real-time monitoring 3rd resistor R3 and the second capacitor C2 both end voltage, when the second capacitor C2 both end voltage is greater than third
When resistance R3 both end voltage, then second switch Tk disconnection is controlled；After the T1 time, it is each turned off first switch Td and third is opened
Tc is closed, the 5th switch and the 6th switch is closed at, reverser is closed, by the absorbing circuit from lower bridge arm connection line
Excision, is closed at the 4th switch Tp, by the electric energy release in first capacitor C1 and the second capacitor C2, in lower bridge arm from touching
During hair disconnects the moment to corresponding stator winding current zero-acrross ing moment, acquired on corresponding phase stator winding by voltage collector
Voltage V3；Permanent magnet synchronous motor upper bridge arm conducting and lower bridge arm shutdown commutation process in it is each it is single-phase on counter electromotive force are as follows:
Va=V3-V2+V1；
Step 4: in the corresponding upper bridge arm shutdown of control and lower bridge arm turn on process, the 5th switch of closure and the 6th switch,
Reverser is disconnected, bridge arm disconnects the moment to the interval time corresponding stator winding current zero-acrross ing moment from triggering in calculating
T2, while the corresponding absorbing circuit of bridge arm on this is performed the following operation: it is respectively closed first switch Td, second switch Tk and
Three switch Tc, real-time monitoring 3rd resistor R3 and the second capacitor C2 both end voltage, when the second capacitor C2 both end voltage is greater than third
When resistance R3 both end voltage, then second switch Tk disconnection is controlled；After the T2 time, it is each turned off first switch Td and third is opened
Tc is closed, the 5th switch and the 6th switch is closed at, reverser is closed, by the absorbing circuit from upper bridge arm connection line
Excision, is closed at the 4th switch Tp, and the electric energy in first capacitor C1 and the second capacitor C2 is discharged；In upper bridge arm from touching
During hair disconnects the moment to corresponding stator winding current zero-acrross ing moment, acquired on corresponding phase stator winding by voltage collector
Voltage V4；Permanent magnet synchronous motor upper bridge arm shutdown and lower bridge arm conducting commutation process in it is each it is single-phase on counter electromotive force are as follows:
Vb=V4-V2+V1.
The present invention is include at least the following beneficial effects:
1, in the present invention, the measurement to stator winding counter electromotive force, optimizing feedback control coefficient are realized；
2, stator winding flow direction switching moment is effectively consumed by absorbing circuit simultaneously to correspond to and generate on stator winding
Counter electromotive force avoids the opposing electromotance feedback on winding into inverter, interferes to the control of inverter, thus further
Improve the control precision to permanent magnet synchronous motor.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the overall structure diagram of present system；
Fig. 2 is the structural schematic diagram of absorbing circuit.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figs. 1-2, the present invention provides counter electromotive force test device in a kind of permanent magnet synchronous motor commutation process, packets
It includes: inverter circuit, absorbing circuit, dragging motor and controller.
Inverter circuit is made of three pairs of upper and lower bridge arms, and inverter circuit is three-phase full-bridge inverter, is set on each bridge arm
It is equipped with a reversal connection diode D, the output end of the inverter circuit is connected to the threephase stator winding of permanent magnet synchronous motor；
Absorbing circuit first end connects corresponding phase stator winding, and the second end of the absorbing circuit is connected to corresponding bridge up and down
Between arm, an IGBT is provided on each bridge arm, each absorbing circuit both ends are provided with reversal connection switch.
In the present embodiment, as shown in Figure 1, the input terminal of absorbing circuit 1 by the 5th switch T14 and the A phase stator around
Group connects, and is connect by the 6th switch T13 with the output end of absorbing circuit 1 between first pair of bridge arm, the connection of 1 both ends of absorbing circuit
The output end of the first via connection A phase stator winding and absorbing circuit 1 of one reversal connection switch T15, reversal connection switch T15, reversal connection switch
The second tunnel of T15 connects between first pair of bridge arm and the input terminal of absorbing circuit 1.
Same mode, absorbing circuit 2 are connected to B phase stator winding and by the 5th switch T24, the 6th switch T23
Between two pairs of bridge arms, 2 both ends of absorbing circuit connect a reverser T25；Absorbing circuit 3 passes through the 5th switch T34, the 6th switch
T33 is connected to C phase stator winding and third between bridge arm, and 3 both ends of absorbing circuit connect a reverser T35.
The structure of each absorbing circuit is identical, as shown in Fig. 2, the absorbing circuit includes first switch Td, second switch
Tk, first capacitor C1, third switch Tc, first resistor R1, second resistance R2,3rd resistor R3 and the second capacitor C2；Described
Two switch Tk and first capacitor C1 constitute the first series arm, and the 3rd resistor R3 and the second capacitor C2 parallel connection constitute first simultaneously
Joining branch, the third switch Tc, the first parallel branch and second resistance R2 are followed in series to form the second series arm, and described the
One series arm and the second series arm parallel connection constitute the second parallel branch, the first switch Td, first resistor R1 and second
Parallel branch is sequentially connected in series.
The absorbing circuit further includes first diode D1, and anode is connected to the output end of second parallel branch,
First diode D1 is for avoiding electric current from flowing into from the output end of absorbing circuit.
In above-mentioned technical proposal, it is illustrated by taking first pair of bridge arm and A phase stator as an example, the input of the first switch Td
The first resistor is passed through by one the 5th switch T14 connection corresponding A phase stator winding, the output end of the first switch Td in end
R1 connects the input terminal of second parallel branch, and the cathode of the first diode D1 is connected to pair by the 6th switch T13
It answers between first pair of upper and lower bridge arm, the 5th switch T14 and the 6th switch T13 synchronization action.
The absorbing circuit further includes the second diode D2, is connected with the second capacitor C2, the third switch Tc
Input terminal connect with the first resistor R1, the output end of the third switch Tc is separately connected the 3rd resistor R3 first
The anode tap at end and the second diode D2, the 3rd resistor R3 second end are connect with the second resistance R2 first end,
The cathode terminal of the second diode D2 is connect by the second capacitor C2 with the second resistance R2 first end.Two or two pole
The electricity adverse current that pipe D2 is used to prevent in the second capacitor C2 arrives 3rd resistor R3, so that the second capacitor C2 both end voltage is able to maintain
Highest order can be detected out when partial pressure of the counter electromotive force on 3rd resistor R3 is less than the second capacitor C2 both ends builtin voltage
Difference between second capacitor C2 both end voltage and 3rd resistor R3 both end voltage.
In above-mentioned technical proposal, one third series arm of the both ends first capacitor C1 parallel connection, the third series arm
Including the 4th resistance R4 being serially connected and the 4th switch Tp, the input terminal of the second switch Tk and the first resistor R1 connect
It connects, the output end of the second switch Tk is connect with by the first capacitor C1 with the anode tap of the first diode D1；
The first end of the 4th resistance R4 is connect with the output end of the second switch Tk, the second end of the 4th resistance R4 and institute
The input terminal connection of the 4th switch Tp is stated, the output end of the 4th switch Tp and the anode tap of the first diode D1 connect
It connects.
In above-mentioned technical proposal, the absorbing circuit further includes third diode D3, is connected on second diode
Between D2 and the 4th resistance R4, the anode of the third diode D3 is connect with the cathode of the second diode D2, and described
The cathode of three diode D3 is connect with the first end of the 4th resistance R4, third diode D3 for prevent first capacitor C1 and
Electricity flowing occurs between second capacitor C2.
Each switch is controllable switch, and the control terminal of each controllable switch and IGBT are connect with controller, wherein described
Second switch Tk is a normally closed controllable switch.5 times of Rated motor voltage are not less than to the breakdown voltage of the capacity of each capacitor,
The resistance value of each resistance is selected according to capacity motor, capacity motor is bigger, then the resistance value of resistance is chosen bigger, to guarantee electricity
Resistance in inverter circuit in the upper and lower bridge arm switching action period, can absorb fully absorb generated on stator winding it is anti-electronic
Potential energy.Wherein, the resistance value of the second resistance R2 is 7 times of 3rd resistor R3 resistance value.
The armature spindle selective connection of dragging motor and permanent magnet synchronous motor, for dragging permanent magnet synchronous motor operating, electricity
Pressure collector acquires the voltage in threephase stator winding respectively；Voltage comparator selects common voltage comparator in the market,
Voltage comparator non-inverting input terminal connects the 3rd resistor R3 both end voltage, the inverting input terminal connection of the voltage comparator
The second capacitor C2 both end voltage, the output end of the voltage comparator are connect with the control terminal of the second switch Tk.Electricity
Pressure comparator is used to compare the voltage value on 3rd resistor R3 and the second both ends capacitor C2, and output comparison result is sent to controller
In, controller controls the on-off of second switch Tk according to the comparison result.
The handoff procedure of each pair of upper and lower bridge arm is divided into two kinds in inverter circuit, the first is that upper bridge arm conducting and lower bridge arm are closed
Disconnected process, second is upper bridge arm shutdown and lower bridge arm turn on process.Specific control method is as follows:
Counter electromotive force test method in a kind of permanent magnet synchronous motor commutation process, comprising the following steps:
Step 1: disconnecting the power supply on permanent-magnetic synchronous motor stator winding, permanent magnet synchronous motor is dragged by dragging motor
It moves to stabilized (steady-state) speed, such as the half of Rated motor revolving speed, a complete rotation period is at least acquired by voltage collector
Voltage V1 on interior each phase stator winding；
Step 2: closure the 5th switch T14 and the 6th switch T13, is closed reverser, by absorbing circuit short circuit, to forever
Magnetic-synchro motor stator winding applies power drives, starts motor, and control permanent magnet synchronous motor runs to the stabilization in step 1
Revolving speed at least acquires the voltage V2 in a complete rotation period on each phase stator winding by voltage collector；
Step 3: in the corresponding upper bridge arm conducting of control and lower bridge arm turn off process, with A phase stator winding and corresponding the
A pair of of bridge arm is illustrated, and disconnects the 5th switch T14 and the 6th switch T13, reverser is closed, so that between first pair of bridge arm
The input terminal of absorbing circuit 1 is connected, the output end of absorbing circuit 1 connects A phase stator winding, calculates lower bridge arm from when triggering disconnection
The interval time T1 being carved between corresponding stator winding current zero-acrross ing moment, while triggering lower bridge arm disconnects the moment, under this
The corresponding absorbing circuit 1 of bridge arm performs the following operation: it is respectively closed first switch Td, second switch Tk and third switch Tc, it is real
When monitoring 3rd resistor R3 and the second capacitor C2 both end voltage, since lower bridge arm triggers and disconnects the moment, on corresponding stator winding
Start to generate counter electromotive force, counter electromotive force enters in absorbing circuit 1 from first switch Td input terminal, by first capacitor C1,
3rd resistor R3, second resistance R2, the second capacitor C2 and first resistor R1 absorb simultaneously, improve transient absorption ability, avoid anti-
Electromotive force is fed back in inverter, is interfered to the control of inverter, is influenced the control to motor and is accurately controlled.
It is generated until maximum value in counter electromotive force, the second capacitor C2 both end voltage is with 3rd resistor R3 both end voltage
It is consistent, and all in ascent stage, it is begun to decline after counter electromotive force reaches maximum value, 3rd resistor R3 and the second capacitor C2
Both end voltage is also begun to decline, but the second capacitor C2 is still in charging process, with the continuation of charging, in the second capacitor C2
Portion's both end voltage persistently rises, until 3rd resistor R3 both end voltage is less than both end voltage inside the second capacitor C2, second
Capacitor C2 charging process terminates, and due to the effect of the second diode D2, prevents the electricity adverse current in the second capacitor C2 from arriving third electricity
R3 is hindered, so that the second capacitor C2 both end voltage is able to maintain highest order.Second diode D2 prevents the second capacitor C2 by simultaneously
The voltage of three resistance R3 first ends is lifted, and is influenced counter electromotive force and is flowed to 3rd resistor R3, so that counter electromotive force can not absorb electricity
It is completely depleted in road.
When voltage comparator collects the second capacitor C2 both end voltage greater than 3rd resistor R3 both end voltage, then explanation is anti-
The main peak of electromotive force is pass by, and no longer needs to increase absorptive capacity using first capacitor C1, at this point, control second switch Tk is disconnected
It opens；Remaining counter electromotive force energy is individually absorbed by resistance R1-R3.On the other hand, if second switch Tk not disconnected, make
It obtains first capacitor C1 to cut off from absorbing circuit, then with the decline of counter electromotive force, first capacitor C1 both end voltage is greater than anti-electricity
Kinetic potential, first capacitor C1 can not also continue to absorb counter electromotive force energy, can damage second switch Tk or even first capacitor C1 instead
Middle voltage can reversely be lifted the voltage of first resistor R1 second end, so that counter electromotive force flow direction is influenced, so that counter electromotive force can not
It is completely depleted in absorbing circuit.
Second switch Tk is disconnected after the T1 time, stator winding zero passage, counter electromotive force is also completely absorbed, and is distinguished at this time
First switch Td and third switch Tc is disconnected, the 5th switch T14 and the 6th switch T13 is closed at, reverser is closed, by institute
It states absorbing circuit 1 to cut off from lower bridge arm connection line, is closed at the 4th switch Tp, to form two interior power consumptions
Road, first article of in-fighting circuit are composed in series by first capacitor C1, the 4th switch Tp and the 4th resistance R4, storage in first capacitor C1
The electric energy deposited is completely depleted on the 4th resistance R4.Article 2 in-fighting circuit is by the second capacitor C2, third diode D3, the 4th
Switch Tp, the 4th resistance R4 and second resistance R2 are composed in series, and the electric energy stored in the second capacitor C2 is completely depleted in the 4th electricity
It hinders on R4 and second resistance R2.To discharge the electric energy in first capacitor C1 and the second capacitor C2, absorbing circuit waits next
The secondary course of work.
The moment is disconnected to during corresponding to stator winding current zero-acrross ing moment from triggering in lower bridge arm, passes through voltage collector
Acquire the voltage V3 on corresponding phase stator winding；Permanent magnet synchronous motor is single in the conducting of upper bridge arm and lower bridge arm shutdown commutation process
Phase back-emf are as follows: Va=V3-V2+V1；
Step 4: control process is consistent with step 3 in the corresponding upper bridge arm shutdown of control and lower bridge arm turn on process,
Distinctive points are that control object is upper bridge arm.Specifically, closure the 5th switch T14 and the 6th switch T13, disconnects reverser,
So that connecting the output end of absorbing circuit 1 between first pair of bridge arm, the input terminal of absorbing circuit 1 connects A phase stator winding, calculates
Upper bridge arm disconnects the moment to the interval time T2 corresponding stator winding current zero-acrross ing moment from triggering, while to bridge arm on this
Corresponding absorbing circuit performs the following operation: being respectively closed first switch Td, second switch Tk and third switch Tc, real-time monitoring
3rd resistor R3 and the second capacitor C2 both end voltage, when the second capacitor C2 both end voltage is greater than 3rd resistor R3 both end voltage,
Then control second switch Tk disconnection；After the T2 time, it is each turned off first switch Td and third switch Tc, is closed at the 5th
Switch T14 and the 6th switch T13 is closed reverser, the absorbing circuit is cut off from upper bridge arm connection line, is closed simultaneously
The 4th switch Tp is closed, the electric energy in first capacitor C1 and the second capacitor C2 is discharged.
The moment is disconnected to during corresponding to stator winding current zero-acrross ing moment from triggering in upper bridge arm, passes through voltage collector
Acquire the voltage V4 on corresponding phase stator winding；Permanent magnet synchronous motor is single in the shutdown of upper bridge arm and lower bridge arm conducting commutation process
Phase back-emf are as follows: Vb=V4-V2+V1.
To which survey calculation obtains counter electromotive force Va of the A phase winding in corresponding lower bridge arm shutdown；A phase is calculated simultaneously
Counter electromotive force Vb of the winding in corresponding upper bridge arm shutdown.
Counter electromotive force size and direction of each phase stator winding under different conditions are calculated in such processes.
From the above mentioned, in the present invention, the measurement to stator winding counter electromotive force, optimizing feedback control coefficient are realized；Together
When, at the same by absorbing circuit effectively consume stator winding flow direction switching moment correspond to generated on stator winding it is anti-electronic
Gesture avoids the opposing electromotance feedback on winding into inverter, interferes to the control of inverter, to further improve
To the control precision of permanent magnet synchronous motor.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (8)
1. counter electromotive force test device in a kind of permanent magnet synchronous motor commutation process characterized by comprising
Inverter circuit is made of three pairs of upper and lower bridge arms, and a reversal connection diode, the inversion electricity are provided on each bridge arm
The output end on road is connected to the threephase stator winding of permanent magnet synchronous motor；
Absorbing circuit, first end connect corresponding phase stator winding, and the second end of the absorbing circuit is connected to each pair of bridge arm
Between, the absorbing circuit both ends be provided with a reversal connection switch, the absorbing circuit include first switch Td, second switch Tk,
First capacitor C1, third switch Tc, first resistor R1, second resistance R2,3rd resistor R3 and the second capacitor C2；Described second opens
It closes Tk and first capacitor C1 and constitutes the first series arm, the 3rd resistor R3 and the second capacitor C2 parallel connection constitute the first branch in parallel
Road, the third switch Tc, the first parallel branch and second resistance R2 are followed in series to form the second series arm, first string
Join branch and the second series arm parallel connection constitutes the second parallel branch, the first switch Td, first resistor R1 and the second parallel connection
Branch is sequentially connected in series；
Dragging motor, the armature spindle selective connection with permanent magnet synchronous motor；And
Voltage collector acquires the voltage in threephase stator winding respectively.
2. counter electromotive force test device in permanent magnet synchronous motor commutation process as described in claim 1, which is characterized in that also wrap
A voltage comparator is included, non-inverting input terminal connects the 3rd resistor R3 both end voltage, and the reverse phase of the voltage comparator is defeated
Enter end and connects the second capacitor C2 both end voltage, the control terminal of the output end of the voltage comparator and the second switch Tk
Connection.
3. counter electromotive force test device in permanent magnet synchronous motor commutation process as claimed in claim 2, which is characterized in that described
Absorbing circuit further includes first diode D1, and anode is connected to the output end of second parallel branch.
4. counter electromotive force test device in permanent magnet synchronous motor commutation process as claimed in claim 3, which is characterized in that described
The input terminal of first switch Td connects corresponding phase stator winding by one the 5th switch, and the output end of the first switch Td passes through
The first resistor R1 connects the input terminal of second parallel branch, and the cathode of the first diode D1 passes through the 6th switch
It is connected between each pair of bridge arm, the 5th switch and the 6th switch synchronization action.
5. counter electromotive force test device in permanent magnet synchronous motor commutation process as claimed in claim 4, which is characterized in that described
Absorbing circuit further includes the second diode D2, is connected with the second capacitor C2, the input terminal of the third switch Tc and institute
First resistor R1 connection is stated, the output end of the third switch Tc is separately connected the 3rd resistor R3 first end and described second
The anode tap of diode D2, the 3rd resistor R3 second end are connect with the second resistance R2 first end, the two or two pole
The cathode terminal of pipe D2 is connect by the second capacitor C2 with the second resistance R2 first end.
6. counter electromotive force test device in permanent magnet synchronous motor commutation process as claimed in claim 5, which is characterized in that described
One third series arm of the both ends first capacitor C1 parallel connection, the third series arm include the 4th resistance R4 being serially connected and the
Four switch Tp, the input terminal of the second switch Tk are connect with the first resistor R1, the output end of the second switch Tk with
It is connect by the first capacitor C1 with the anode tap of the first diode D1；The first end of the 4th resistance R4 with it is described
The output end of second switch Tk connects, and the second end of the 4th resistance R4 is connect with the input terminal of the 4th switch Tp, institute
The output end for stating the 4th switch Tp is connect with the anode tap of the first diode D1.
7. counter electromotive force test device in permanent magnet synchronous motor commutation process as claimed in claim 6, which is characterized in that described
Absorbing circuit further includes third diode D3, is connected between the second diode D2 and the 4th resistance R4, the third
The anode of diode D3 is connect with the cathode of the second diode D2, the cathode of the third diode D3 and the 4th electricity
Hinder the first end connection of R4.
8. counter electromotive force test method in permanent magnet synchronous motor commutation process as claimed in claim 7, which is characterized in that including with
Lower step:
Step 1: disconnecting the power supply on permanent-magnetic synchronous motor stator winding, permanent magnet synchronous motor is dragged to by dragging motor
After stabilized (steady-state) speed, the voltage V1 in a complete rotation period on each phase stator winding is at least acquired by voltage collector；
Step 2: the 5th switch of closure and the 6th switch, are closed reverser, power supply is applied to permanent-magnetic synchronous motor stator winding
Driving, runs to the stabilized (steady-state) speed in step 1 for permanent magnet synchronous motor, and a complete rotation is at least acquired by voltage collector
Voltage V2 in the turn-week phase on each phase stator winding；
Step 3: disconnecting the 5th switch and the 6th switch, closure in the corresponding upper bridge arm conducting of control and lower bridge arm turn off process
Reverser calculates lower bridge arm from triggering and disconnects the moment to the interval time T1 corresponding stator winding current zero-acrross ing moment,
The corresponding absorbing circuit of the lower bridge arm is performed the following operation simultaneously: being respectively closed first switch Td, second switch Tk and third
Switch Tc, real-time monitoring 3rd resistor R3 and the second capacitor C2 both end voltage, when the second capacitor C2 both end voltage is greater than third electricity
When hindering R3 both end voltage, then second switch Tk disconnection is controlled；After the T1 time, it is each turned off first switch Td and third switch
Tc is closed at the 5th switch and the 6th switch, is closed reverser, the absorbing circuit is cut from lower bridge arm connection line
It removes, is closed at the 4th switch Tp, the electric energy in first capacitor C1 and the second capacitor C2 is discharged, in lower bridge arm from triggering
During disconnecting the moment to corresponding stator winding current zero-acrross ing moment, acquired on corresponding phase stator winding by voltage collector
Voltage V3；Permanent magnet synchronous motor upper bridge arm conducting and lower bridge arm shutdown commutation process in it is each it is single-phase on counter electromotive force are as follows: Va
=V3-V2+V1；
Step 4: the 5th switch of closure and the 6th switch disconnect in the corresponding upper bridge arm shutdown of control and lower bridge arm turn on process
Reverser, bridge arm disconnects the moment to the interval time T2 corresponding stator winding current zero-acrross ing moment from triggering in calculating,
The corresponding absorbing circuit of bridge arm on this is performed the following operation simultaneously: being respectively closed first switch Td, second switch Tk and third
Switch Tc, real-time monitoring 3rd resistor R3 and the second capacitor C2 both end voltage, when the second capacitor C2 both end voltage is greater than third electricity
When hindering R3 both end voltage, then second switch Tk disconnection is controlled；After the T2 time, it is each turned off first switch Td and third switch
Tc is closed at the 5th switch and the 6th switch, is closed reverser, the absorbing circuit is cut from upper bridge arm connection line
It removes, is closed at the 4th switch Tp, the electric energy in first capacitor C1 and the second capacitor C2 is discharged；In upper bridge arm from triggering
During disconnecting the moment to corresponding stator winding current zero-acrross ing moment, acquired on corresponding phase stator winding by voltage collector
Voltage V4；Permanent magnet synchronous motor upper bridge arm shutdown and lower bridge arm conducting commutation process in it is each it is single-phase on counter electromotive force are as follows: Vb
=V4-V2+V1.
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| CN111835239A (en) * | 2020-07-23 | 2020-10-27 | 江苏芯亿达电子科技有限公司 | Counter electromotive force balance adjusting device and method for permanent magnet synchronous motor |
| CN113442781A (en) * | 2021-06-25 | 2021-09-28 | 杭州海康机器人技术有限公司 | Battery replacement method, battery replacement station, readable storage medium and electronic device |
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Denomination of invention: Test device and method for back electromotive force of permanent magnet synchronous motor during commutation process Effective date of registration: 20230924 Granted publication date: 20201124 Pledgee: Industrial and Commercial Bank of China Limited Yueqing sub branch Pledgor: ZHEJIANG DONGFANG ELECTROMECHANICAL Co.,Ltd. Registration number: Y2023330002090 |