CN109217762B - Matching method of driver and built-in permanent magnet synchronous motor - Google Patents

Matching method of driver and built-in permanent magnet synchronous motor Download PDF

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CN109217762B
CN109217762B CN201811320352.XA CN201811320352A CN109217762B CN 109217762 B CN109217762 B CN 109217762B CN 201811320352 A CN201811320352 A CN 201811320352A CN 109217762 B CN109217762 B CN 109217762B
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motor
permanent magnet
magnet synchronous
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driver
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CN109217762A (en
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张建畅
张桐瑞
刘璇
张建华
周传安
陈浩
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Hebei University of Technology
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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
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/03—Synchronous motors with brushless excitation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a matching method of a driver and a built-in permanent magnet synchronous motor, which comprises the following steps: calibrating a plurality of groups of d-q axis inductance parameters of the built-in permanent magnet synchronous motor under different simulation working conditions on a rack in an off-line mode to generate an inductance parameter table; acquiring high-efficiency working points of the built-in permanent magnet synchronous motor under different simulation working conditions through an efficiency optimization strategy according to an inductance parameter table; calibrating the built-in permanent magnet synchronous motor according to the high-efficiency working point to generate a current instruction list; and the driver control board generates a driving circuit driving signal according to the current instruction list to realize the matching of the driver and the built-in permanent magnet synchronous motor. The method aims at reducing the power loss of the motor from the perspective of driving current, can dynamically adjust the exciting current of the motor, reduce the power loss of the motor, improve the efficiency of the motor, and enable the driver and the motor to be in a better matching state, thereby improving the control performance of the driver and better playing the control function of the driver.

Description

Matching method of driver and built-in permanent magnet synchronous motor
Technical Field
The invention relates to the field of motor control, in particular to a matching method of a driver and a built-in permanent magnet synchronous motor.
Background
The rotor magnetic field of a Permanent Magnet Synchronous Motor (PMSM) is generated by permanent magnets, so the permanent magnet synchronous motor is named. According to the structural classification of the permanent magnet, the permanent magnet synchronous motor can be classified into a surface-mounted permanent magnet synchronous motor (SPMSM for short) and a built-in permanent magnet synchronous motor (IPMSM for short). Compared with a surface-mounted permanent magnet synchronous motor, the rotor structure of the built-in permanent magnet synchronous motor can fully utilize reluctance torque generated by asymmetry of a rotor magnetic circuit, the power density of the motor is improved, the dynamic performance of the motor is improved compared with the surface-mounted rotor structure, the unit current torque is large, and the overload capacity is strong, so that the built-in permanent magnet synchronous motor is suitable for being applied to electric automobiles and the like as a driving motor.
In practical applications, the driving efficiency of the driving system becomes an important concern for researchers. The motor driver is used as an execution component, and the control accuracy and the driving efficiency of the motor driver directly influence the quality of the whole driving system. It is therefore important to achieve an optimal matching of the drive to the motor.
In practical engineering application, inductance parameters of the permanent magnet synchronous motor obviously change along with current, and the calculation accuracy of the electromagnetic torque of the motor is also influenced by the accuracy of the inductance parameters of the motor. In the existing motor control principles, no matter the principles such as vector control, direct torque control, maximum torque-current ratio control and the like are applied, the influence of the inductance parameter of the permanent magnet synchronous motor changing along with the current on a control system is not emphasized, and the optimal efficiency of the motor is not realized, so that improvement is needed. The document of application No. 201810204955.7 discloses a flux weakening control method for a permanent magnet synchronous motor based on a table look-up method, wherein a current data table is obtained by formulas such as a stator voltage equation, an electromagnetic torque equation and a maximum stator current, and the motor torque can be accurately controlled in a constant torque area and a flux weakening area. However, the inductance parameter used in the process of generating the current data table is a fixed value, so that the control accuracy of the motor is influenced. Meanwhile, the generated current data table meeting the control of the maximum torque current ratio (MTPA) can only reduce the copper consumption of the stator winding of the permanent magnet synchronous motor, but can not realize the optimal efficiency of the motor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing a matching method of a driver and a built-in permanent magnet synchronous motor.
The technical scheme for solving the technical problem is to provide a matching method of a driver and a built-in permanent magnet synchronous motor, which is characterized by comprising the following steps:
step 1, calibrating a plurality of groups of d-q axis inductance parameters of the built-in permanent magnet synchronous motor under different simulation working conditions on a rack in an off-line mode to generate an inductance parameter table;
step 2, obtaining the high-efficiency working point of the built-in permanent magnet synchronous motor under different simulation working conditions through an efficiency optimization strategy according to the inductance parameter table generated in the step 1
Figure BDA0001857357480000021
Step 3, obtaining the high-efficiency working point according to the step 2
Figure BDA0001857357480000022
Calibrating the built-in permanent magnet synchronous motor to generate a current instruction list; and the driver control board generates a driving circuit driving signal according to the current instruction list to realize the matching of the driver and the built-in permanent magnet synchronous motor.
Compared with the prior art, the invention has the beneficial effects that:
1. in the aspect of calculating a loss mathematical model, different from the conventional processing method of regarding d-q axis inductance as a fixed value, the method calibrates a plurality of groups of d-q axis inductance parameters in an off-line mode according to the actual condition that the d-q axis inductance changes along with the change of the operation condition of the built-in permanent magnet synchronous motor, and compares (L) with the L-q axis inductance parameters by a table look-up methodd，Lq) The method is applied to efficiency optimization calculation, so that the loss mathematical model is closer to the actual condition, and the influence of the change of the motor inductance parameters along with the current on the control precision is reduced.
2. In the aspect of controlling the motor by using a table look-up method, the maximum torque-to-current ratio (MTPA) control is not used any more, the minimum loss strategy is used instead to achieve the aim of optimizing the motor efficiency, a current instruction expression suitable for most of built-in permanent magnet synchronous motors is obtained, the complicated motor loss problem is simplified, and the complicated motor loss problem is replaced by a fine high-efficiency working point
Figure BDA0001857357480000023
The instruction table obtains a series of high-efficiency working points of the built-in permanent magnet synchronous motor through off-line calculation
Figure BDA0001857357480000024
And generating a current instruction list meeting the minimum loss control, and applying the current instruction list to the control through a table look-up method.
3. The method is researched from the angle of driving current, aims to reduce the power loss of the motor, can dynamically adjust the exciting current of the motor, reduce the power loss of the motor, improve the efficiency of the motor, and enable the driver and the motor to be in a better matching state, thereby improving the control performance of the driver and better playing the control function of the driver.
Drawings
FIG. 1 is an equivalent circuit diagram of d-q axis of an interior permanent magnet synchronous motor;
FIG. 2 is a schematic diagram of the matching of the present invention drive with an interior permanent magnet synchronous motor;
FIG. 3 is a detailed diagram of the matching principle of the driver and the interior permanent magnet synchronous motor of the present invention; (in the figure, 1, an inductance parameter table module, 2, an efficiency optimization strategy module, 3, a current instruction table module, 4, a PI controller module, 5, a coordinate transformation module, 6, an SVPWM module, 7, a voltage source inverter module, 8, a position and rotating speed detection module, 9, a built-in permanent magnet synchronous motor)
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a matching method (short method) of a driver and a built-in permanent magnet synchronous motor, which is characterized by comprising the following steps:
step 1, calibrating a plurality of groups of d-q axis inductance parameters of the built-in permanent magnet synchronous motor under different simulation working conditions on a rack in an off-line mode to generate an inductance parameter table;
specifically, phase differences between a plurality of groups of counter electromotive force and loaded phase voltages are measured on a set up rack, a plurality of groups of quadrature-direct axis (d-q axis) inductance parameters are calibrated in an off-line mode according to a quadrature-direct axis voltage formula, and an inductance parameter table is formed;
the calibrated inductance parameter data needs to contain measurement data under different simulation working conditions as much as possible.
Step 2, obtaining the high-efficiency working point of the built-in permanent magnet synchronous motor under different simulation working conditions through an efficiency optimization strategy according to the inductance parameter table generated in the step 1
Figure BDA0001857357480000031
The efficiency optimization strategy is specifically as follows:
when the rotating speed of the motor is lower than the flux weakening basic speed, according to the principle of minimum loss of the motor, calculating according to the inductance parameter table generated in the step 1, the required torque of the motor and the rotating speed of the motor to generate a high-efficiency working point of the motor
Figure BDA0001857357480000041
In step 2, the specific steps of generating the efficient working point of the motor by the minimum loss principle are as follows:
A. obtaining a power loss expression of the built-in permanent magnet synchronous motor by an equivalent circuit method:
Figure BDA0001857357480000042
in the formula (1), PlossFor motor power losses, RsFor motor stator winding equivalent resistance, RcIs an equivalent iron loss resistance of the motor, idIs the d-axis component of the motor stator current iqFor the stator of an electric machineComponent of current q-axis, icdIs the d-axis equivalent iron loss current component of the motor icqIs equivalent iron loss current component of q axis of the motor, n is motor speed, PmRated power for the motor;
B. substitution of power loss expression into air gap current component i about unknown d-axis in combination with equivalent circuitodExpression (c):
an equivalent circuit expression:
Figure BDA0001857357480000043
Figure BDA0001857357480000044
in formulae (2) and (3), iodIs the d-axis air gap current component of the motor, ioqIs the q-axis air gap current component of the motor, omega is the motor rotation angular velocity, LdIs the d-axis inductance component of the motor, LqIs the q-axis inductance component of the motor,
Figure BDA0001857357480000045
is a motor permanent magnet flux linkage;
bringing equations (2) and (3) into equation (1) yields the air gap current component i about the unknown d-axisodExpression (4) of (a):
Figure BDA0001857357480000051
wherein: i.e. iodIs the d-axis air gap current component of the motor, and T is the required torque of the motor;
C. d-axis air gap current component i when motor power loss is minimum is obtained through a mathematical method of partial derivation calculation, order reduction and the likeodAnd generating a motor operating point (i)od,ioq) The method comprises the following steps:
p in step BlossTo iodPerforming a partial derivation process to obtain a result of the relation iodWhen the magnitude of inductance parameter is less than or equal to 10-3(H) Can be used for cleaningAbandoning higher-order terms, facilitating the solution of the equation to obtain a quadratic equation of a single element, and obtaining i through solutionodExpression of the solution, and then generating the motor operating point (i)od,ioq)；
D. Obtaining the high-efficiency working point of the motor by combining with the equivalent circuit again
Figure BDA0001857357480000052
As an output control instruction;
Figure BDA0001857357480000053
Figure BDA0001857357480000054
in formulae (5) and (6), ioqIs the q-axis air gap current component of the motor.
The minimum loss principle is suitable for fixing the magnitude order of inductance parameter less than or equal to 10-3(H) The built-in permanent magnet synchronous motor.
When the rotating speed of the motor is higher than the flux weakening basic speed, according to the rule that the operating speed of the motor is limited by the voltage limit of the inverter, the inverter capacity limiting condition and the motor required torque limiting condition are added for operation, and the high-efficiency working point of the motor is generated
Figure BDA0001857357480000055
In the step 2, the specific steps of generating the high-efficiency operating point of the motor through the inverter capacity limiting condition and the motor required torque constraint condition are as follows:
A. the formula (7) and the formula (8) are simultaneously calculated to obtain a motor working point (i)od,ioq)：
Figure BDA0001857357480000061
Figure BDA0001857357480000062
In formulae (7) and (8), VmaxIs a limiting voltage, npThe number of pole pairs of the motor is;
B. obtaining the high-efficiency working point of the motor by combining with the equivalent circuit
Figure BDA0001857357480000063
As an output control command. This step is the same as step D in the least loss principle.
Step 3, obtaining the high-efficiency working point according to the step 2
Figure BDA0001857357480000064
Calibrating the built-in permanent magnet synchronous motor to generate a current instruction list; and the driver control board generates a driving circuit driving signal according to the current instruction list to realize the matching of the driver and the built-in permanent magnet synchronous motor.
The method comprises the following steps: in the interval from zero to maximum rotation speed of the motor, calibrating one group at intervals of Xrpm
Figure BDA0001857357480000065
Calibrating a group every YN.m in a required output torque interval
Figure BDA0001857357480000066
A current command table is generated in which the values of X and Y are as the case may be. Obtaining the high-efficiency working point according to the step 2
Figure BDA0001857357480000067
And calibrating the built-in permanent magnet synchronous motor, wherein the current is calibrated to be in a Q format between-1 and 1.
The invention also provides an application of the matching method of the driver and the built-in permanent magnet synchronous motor, which is characterized in that the method is applied to the matching of the driver and the built-in permanent magnet synchronous motor (see the figures 2-3) by changing the rotating speed and the torque of the motor by controlling the current of the built-in permanent magnet synchronous motor: the inductance parameter table module 1 is an efficiency optimization strategy module 2Providing inductance parameters for efficiency optimization calculation; the efficiency optimization strategy module 2 acquires the efficient working point of the motor by means of a minimum loss principle or inverter capacity limiting condition and motor required torque constraint condition according to the motor required torque and inductance parameters
Figure BDA0001857357480000068
Generating a current instruction list module 3 according to the information and the efficient working point; the current instruction and the feedback current of the current instruction meter module 3 are subjected to PI (proportional integral) regulation through a PI controller module 4, and a voltage signal is output; the voltage signal is subjected to coordinate transformation processing through a coordinate transformation module 5, and then is subjected to stator driving current generation through an SVPWM module 6, and the current waveform is close to a sine waveform; the stator driving current changes the direct current at the input end into alternating current at the output end through the voltage source inverter module 7 and is used for driving the permanent magnet synchronous motor 9; the position and rotation speed detection module 8 detects the rotation speed n and the rotation angle theta of the built-in permanent magnet synchronous motor 9 in real time, and provides the rotation speed n and the rotation angle theta required by calculation for the efficiency optimization strategy module 2 and the coordinate transformation module 5 respectively.
The coordinate transformation module 5 is used for mutual transformation among a natural coordinate system, a static coordinate system and a synchronous rotation coordinate system according to the input rotation angle theta.
The PI controller module 4, the coordinate transformation module 5, the SVPWM module 6, the voltage source inverter module 7 and the position and rotation speed detection module 8 are all in the prior art;
the algorithm flow of the efficiency optimization strategy module 2 is as follows:
A. inputs T, n, LdAnd LqA signal;
B. d-q axis air gap current component i when motor power loss is minimum is calculated through efficiency optimization strategyodAnd ioq：
Figure BDA0001857357480000071
C. By making a judgment
Figure BDA0001857357480000072
And
Figure BDA0001857357480000073
making a decision on the size of the cell; when in use
Figure BDA0001857357480000074
When obtaining iodAnd ioqOutput of
Figure BDA0001857357480000075
And
Figure BDA0001857357480000076
when in use
Figure BDA0001857357480000077
To obtain i'odAnd i'oqOutput of
Figure BDA0001857357480000078
And
Figure BDA0001857357480000079
wherein
Figure BDA00018573574800000710
D. Obtaining d-q axis current expression:
Figure BDA0001857357480000081
E. generating efficient operating points of electric machines
Figure BDA0001857357480000082
Wherein:
Figure BDA0001857357480000083
Figure BDA0001857357480000084
Figure BDA0001857357480000085
Figure BDA0001857357480000086
Figure BDA0001857357480000087
nothing in this specification is said to apply to the prior art.

Claims (4)

1. A matching method of a driver and an interior permanent magnet synchronous motor is characterized by comprising the following steps:
step 1, calibrating a plurality of groups of d-q axis inductance parameters of the built-in permanent magnet synchronous motor under different simulation working conditions on a rack in an off-line mode to generate an inductance parameter table;
step 2, obtaining the high-efficiency working point of the built-in permanent magnet synchronous motor under different simulation working conditions through an efficiency optimization strategy according to the inductance parameter table generated in the step 1
Figure FDA0003169850520000011
The efficiency optimization strategy is:
when the rotating speed of the motor is lower than the flux weakening basic speed, according to the principle of minimum loss of the motor, calculating according to the inductance parameter table generated in the step 1, the required torque of the motor and the rotating speed of the motor to generate a high-efficiency working point of the motor
Figure FDA0003169850520000012
When the rotating speed of the motor is higher than the flux weakening basic speed, according to the rule that the operating speed of the motor is limited by the voltage limit of the inverter, the inverter capacity limiting condition and the motor required torque limiting condition are added for operationGenerating a high-efficiency working point of the motor
Figure FDA0003169850520000013
The specific steps of generating the efficient working point of the motor by the minimum loss principle are as follows:
A. obtaining a power loss expression of the built-in permanent magnet synchronous motor by an equivalent circuit method:
Figure FDA0003169850520000014
in the formula (1), PlossFor motor power losses, RsFor motor stator winding equivalent resistance, RcIs an equivalent iron loss resistance of the motor, idIs the d-axis component of the motor stator current iqFor the motor stator current q-axis component, icdIs the d-axis equivalent iron loss current component of the motor icqIs equivalent iron loss current component of q axis of the motor, n is motor speed, PmRated power for the motor;
B. substitution of power loss expression into d-axis air gap current component i in combination with equivalent circuitodExpression (c):
an equivalent circuit expression:
Figure FDA0003169850520000015
Figure FDA0003169850520000016
in formulae (2) and (3), iodIs the d-axis air gap current component of the motor, ioqIs the q-axis air gap current component of the motor, omega is the motor rotation angular velocity, LdIs the d-axis inductance component of the motor, LqIs the q-axis inductance component of the motor,
Figure FDA0003169850520000025
is a motor permanent magnet flux linkage;
the formula (2) and the formula (3) are brought into the formula (1), and an air gap current component i about a d axis is obtainedodExpression (4) of (a):
Figure FDA0003169850520000021
wherein: i.e. iodIs the d-axis air gap current component of the motor, and T is the required torque of the motor; n ispThe number of pole pairs of the motor is;
C. mathematically solving d-axis air gap current component i when motor power loss is minimumodAnd generating a motor operating point (i)od,ioq) The method comprises the following steps:
p in step BlossTo iodPerforming a partial derivation process to obtain a result of the relation iodThe first order equation is a quadratic equation, when the magnitude of inductance parameter of the built-in permanent magnet synchronous motor is less than or equal to 10-3And (4) discarding high-order terms in the H time to obtain a quadratic equation of one element, and solving to obtain iodExpression of the solution, and then generating the motor operating point (i)od,ioq)；
D. Obtaining the high-efficiency working point of the motor by combining with the equivalent circuit again
Figure FDA0003169850520000022
Figure FDA0003169850520000023
Figure FDA0003169850520000024
In formulae (5) and (6), ioqIs the q-axis air gap current component of the motor;
the specific steps of generating the high-efficiency working point of the motor through the inverter capacity limiting condition and the motor required torque constraint condition are as follows:
A. the formula (7) and the formula (8) are combined simultaneouslyCalculating to obtain the working point (i) of the motorod,ioq)：
Figure FDA0003169850520000031
Figure FDA0003169850520000032
In formulae (7) and (8), VmaxIs a voltage limit value, and is,
B. obtaining the high-efficiency working point of the motor by combining with the equivalent circuit
Figure FDA0003169850520000033
Step 3, obtaining the high-efficiency working point according to the step 2
Figure FDA0003169850520000034
Calibrating the built-in permanent magnet synchronous motor to generate a current instruction list; and the driver control board generates a driving circuit driving signal according to the current instruction list to realize the matching of the driver and the built-in permanent magnet synchronous motor.
2. The method for matching a driver with an interior permanent magnet synchronous motor according to claim 1, wherein the step 1 is specifically to measure phase differences between a plurality of groups of back electromotive forces and loaded phase voltages on a built rack, and calibrate a plurality of groups of d-q axis inductance parameters in an off-line manner according to a quadrature-direct axis voltage formula to form an inductance parameter table.
3. The method for matching a driver with an interior permanent magnet synchronous motor according to claim 1, wherein step 3 is specifically: in the interval from zero to maximum rotation speed of the motor, every interval X rpm calibrates a group
Figure FDA0003169850520000035
Calibrating a group every Y N.m in a required output torque interval
Figure FDA0003169850520000036
A current command table is generated.
4. Method for matching a drive with an interior permanent magnet synchronous machine according to claim 1, characterized in that in step 3, the high efficiency operating point is obtained according to step 2
Figure FDA0003169850520000037
And calibrating the built-in permanent magnet synchronous motor, wherein the current is calibrated to be in a Q format between-1 and 1.
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