CN109450324A - Bearing calibration, system, device and readable storage medium storing program for executing based on direct-axis voltage - Google Patents
Bearing calibration, system, device and readable storage medium storing program for executing based on direct-axis voltage Download PDFInfo
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- CN109450324A CN109450324A CN201811536287.4A CN201811536287A CN109450324A CN 109450324 A CN109450324 A CN 109450324A CN 201811536287 A CN201811536287 A CN 201811536287A CN 109450324 A CN109450324 A CN 109450324A
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- position signal
- magnetic linkage
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- voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- Power Engineering (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
This application discloses a kind of bearing calibration based on direct-axis voltage, system, device and readable storage medium storing program for executing, are applied to stator magnetic linkage and compensate oriented control strategy, comprising: obtain the current voltage of d-axis and the current position signal of stator magnetic linkage in motor；Calculate the error amount of current voltage and pre-set value；According to error amount, the compensation position signal of stator magnetic linkage is obtained；According to compensation position signal and current position signal, the correction position signal of stator magnetic linkage is determined；Output calibration position signal, using by the voltage correction of d-axis as pre-set value.The direct-axis voltage and stator magnetic linkage position signal of motor when the present invention is by obtaining real-world operation, utilize the error amount of current voltage and pre-set value, the compensation position signal for determining stator magnetic linkage corrects the position signal of stator magnetic linkage, and the voltage of further d-axis is corrected as pre-set value.Due to the feedback regulation in the present invention, can solve the problems, such as that stator magnetic linkage accurately orients with precise calibration direct-axis voltage.
Description
Technical field
The present invention relates to motor control technology field, in particular to a kind of bearing calibration based on direct-axis voltage, system, dress
It sets and readable storage medium storing program for executing.
Background technique
In conventional permanent magnet motor, to the not sensitive enough of the parameter of electric machine when stator-flux-oriented vector control, therefore permanent magnetism
Motor can achieve fairly good dynamic and static state performance, can be applied in the scene of a wide range of high speed weak magnetic field operation.Stator magnetic linkage is fixed
It is by coordinate transform, in pressing stator magnetic linkage oriented synchronous rotating frame, by stator to the basic ideas of vector controlled
Current transformation reaches at the exciting current (direct-axis component) and torque current (quadrature axis component) in rotating coordinate system to two
The purpose that component controls respectively, because exciting current coincides with stator magnetic linkage always in control process, it is known that in quadrature axis component
No magnetic linkage exists.So ideally, there is no voltage presence in stator direct-axis component.But stator-flux-oriented vector control
The phenomenon that technology adjusts variable element in simulation process anyway, and stator direct-axis voltage is not zero often occurs, and it is fixed to cause
Sub- magnetic linkage cannot be oriented accurately.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that current those skilled in the art need to solve
Problem.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of bearing calibration based on direct-axis voltage, system, devices and can
Storage medium is read, so that stator magnetic linkage can be oriented accurately.Its concrete scheme is as follows:
A kind of bearing calibration based on direct-axis voltage is applied to stator magnetic linkage and compensates oriented control strategy, comprising:
Obtain the current voltage of d-axis and the current position signal of stator magnetic linkage in motor；
Calculate the error amount of current voltage and pre-set value；
According to the error amount, the compensation position signal of the stator magnetic linkage is obtained；
According to the compensation position signal and current position signal, the correction position signal of the stator magnetic linkage is determined；
The correction position signal is exported, is the pre-set value by the voltage correction of the d-axis.
Preferably, the pre-set value is zero.
Preferably, described that the process of the compensation position signal of the stator magnetic linkage is obtained according to the error amount, it is specific to wrap
It includes:
Proportional integration adjusting is carried out according to the error amount, obtains the compensation position signal of the stator magnetic linkage.
Preferably, described that proportional integration adjusting is carried out according to the error amount, obtain the compensation position of the stator magnetic linkage
The process of signal, specifically includes:
Using Neural Network Control Algorithm, proportional integration adjusting is carried out according to the error amount, obtains the stator magnetic linkage
Compensation position signal.
Preferably, described according to the compensation position signal and current position signal, determine the correction of the stator magnetic linkage
The process of position signal, specifically includes:
It sums to the compensation position signal and current position signal, determines the correction position signal of the stator magnetic linkage.
Correspondingly, the invention also discloses a kind of correction system based on direct-axis voltage, it is fixed to be applied to stator magnetic linkage compensation
To control strategy, comprising:
Data obtaining module, for obtaining the current position signal of the current voltage of d-axis and stator magnetic linkage in motor；
Error calculating module, for calculating the error amount of current voltage and pre-set value；
Position signal compensating module, for obtaining the compensation position signal of the stator magnetic linkage according to the error amount；
Position signal correction module, for determining the stator according to the compensation position signal and current position signal
The correction position signal of magnetic linkage；
The voltage correction of the d-axis is described pre- for exporting the correction position signal by voltage correction module
Setting value.
Preferably, the pre-set value is zero.
Preferably, the position signal correction module is specifically used for seeking the compensation position signal with current position signal
With determine the correction position signal of the stator magnetic linkage.
Correspondingly, it is fixed to be applied to stator magnetic linkage compensation the invention also discloses a kind of means for correcting based on direct-axis voltage
To control strategy, comprising:
Memory, for storing computer program；
Processor is realized as described in any one above when for executing the computer program based on the correction of direct-axis voltage
The step of method.
Correspondingly, being stored with computer on the readable storage medium storing program for executing the invention also discloses a kind of readable storage medium storing program for executing
Program, realization is as described in any one above when the computer program is executed by processor based on the bearing calibration of direct-axis voltage
Step.
The invention discloses a kind of bearing calibrations based on direct-axis voltage, are applied to stator magnetic linkage and compensate oriented control plan
Slightly, comprising: obtain the current voltage of d-axis and the current position signal of stator magnetic linkage in motor；Calculate current voltage with it is presetting
The error amount of value；According to the error amount, the compensation position signal of the stator magnetic linkage is obtained；According to the compensation position signal
With current position signal, the correction position signal of the stator magnetic linkage is determined；The correction position signal is exported, it will be described straight
The voltage correction of axis is the pre-set value.Direct-axis voltage and stator magnetic linkage when the present invention is by obtaining real-world operation in motor
Position signal determines the compensation position signal of stator magnetic linkage, according to stator magnet using the error amount of current voltage and pre-set value
The compensation position signal of chain, the voltage of d-axis are corrected as pre-set value, so that the physical location of stator magnetic linkage is also corrected.By
Feedback regulation in the present invention can solve the problems, such as that stator magnetic linkage accurately orients with precise calibration direct-axis voltage.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of step flow chart of the bearing calibration based on direct-axis voltage in the embodiment of the present invention；
Fig. 2 is a kind of system flow chart of the bearing calibration based on direct-axis voltage in the embodiment of the present invention；
Fig. 3 is a kind of direct-axis voltage component operation figure of the bearing calibration based on direct-axis voltage in the embodiment of the present invention；
Fig. 4 is that the direct-axis voltage component of the prior art runs figure；
Fig. 5 is a kind of structure distribution figure of the correction system based on direct-axis voltage in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of bearing calibrations based on direct-axis voltage, are applied to stator magnetic linkage compensation orientation control
System strategy, it is shown in Figure 1, comprising:
S1: the current voltage Vm of the d-axis and current position signal theta_s of stator magnetic linkage in motor is obtained；
S2: the error amount △ V of current voltage Vm and pre-set value Vref are calculated；
Specifically, pre-set value Vref is traditionally arranged to be zero, thus ensure that direct-axis voltage is clamped at zero, stator magnetic linkage
It can accurately orient.
S3: according to the error amount △ V, the compensation position signal △ theta of the stator magnetic linkage is obtained；
Specifically, can use pi regulator, proportional integration adjusting is carried out according to the error amount, obtains the stator magnet
The compensation position signal of chain.
Further, which can be realized using Neural Network Control Algorithm scheduling algorithm namely step S3 is specific
May include:
Using Neural Network Control Algorithm, proportional integration adjusting is carried out according to the error amount △ V, obtains the stator magnet
The compensation position signal △ theta of chain.
S4: according to the compensation position signal △ theta and current position signal theta_s, the stator magnetic linkage is determined
Correction position signal theta_out；
In fact, the determination process of correction position signal theta_out is specific can include:
It sums to the compensation position signal △ theta and current position signal theta_s, determines the stator magnetic linkage
Correct position signal theta_out.
The voltage correction of the d-axis is the pre-set value by S5: the output correction position signal theta_out
Vref。
It is understood that the current voltage Vm and current position signal theta_s in the present embodiment are obtained from motor
The operating parameter taken cannot directly go plus-minus to adjust；And pre-set value Vref, error amount △ V, compensation position signal △ theta,
It is the amount of transition in signal processing, is not had an impact in the actual motion of motor, the correction bit only finally exported
Confidence theta_out can generate actual influence to the voltage of d-axis, and the voltage of d-axis changes, and leads to stator magnet
The physical location of chain changes.
Further, system flow chart shown in Figure 2 can clearly be found out converted between variable and variable
Journey.
Specifically, the present embodiment is applied in stator magnetic linkage oriented Control System of Permanent Magnet Synchronous Motor, wherein institute
It is automobile permasyn morot with motor, the parameter of electric machine is rated power 75KW, rated speed 6000r/min.Build this
The simulink simulation model of motor simultaneously carries out it to emulate available direct-axis voltage component operation figure, and wherein Fig. 3 is to answer
Bearing calibration with the present embodiment based on direct-axis voltage, Fig. 4 are the direct-axis voltage component map that original method emulates, and are compared bright
It is aobvious as can be seen that it is zero that direct-axis voltage component is clamped in the present embodiment, significant effect.
The invention discloses a kind of bearing calibrations based on direct-axis voltage, are applied to stator magnetic linkage and compensate oriented control plan
Slightly, comprising: obtain the current voltage of d-axis and the current position signal of stator magnetic linkage in motor；Calculate current voltage with it is presetting
The error amount of value；According to the error amount, the compensation position signal of the stator magnetic linkage is obtained；According to the compensation position signal
With current position signal, the correction position signal of the stator magnetic linkage is determined；The correction position signal is exported, it will be described straight
The voltage correction of axis is the pre-set value.Direct-axis voltage and stator magnetic linkage when the present invention is by obtaining real-world operation in motor
Position signal determines the compensation position signal of stator magnetic linkage, according to stator magnet using the error amount of current voltage and pre-set value
The compensation position signal of chain, the voltage of d-axis are corrected as pre-set value, so that the physical location of stator magnetic linkage is also corrected.By
Feedback regulation in the present invention can solve the problems, such as that stator magnetic linkage accurately orients with precise calibration direct-axis voltage.
Correspondingly, the embodiment of the invention also discloses a kind of correction system based on direct-axis voltage, is applied to stator magnetic linkage
Oriented control strategy is compensated, it is shown in Figure 5, comprising:
Data obtaining module 1, for obtaining the current position signal of the current voltage of d-axis and stator magnetic linkage in motor；
Error calculating module 2, for calculating the error amount of current voltage and pre-set value；
Position signal compensating module 3, for obtaining the compensation position signal of the stator magnetic linkage according to the error amount；
Position signal correction module 4, for determining the stator according to the compensation position signal and current position signal
The correction position signal of magnetic linkage；
The voltage correction of the d-axis is described pre- for exporting the correction position signal by voltage correction module 5
Setting value.
Specifically, the pre-set value is zero.
Specifically, the position signal correction module is specifically used for seeking the compensation position signal with current position signal
With determine the correction position signal of the stator magnetic linkage.
Direct-axis voltage and stator magnetic linkage position signal when the present invention is by obtaining real-world operation in motor, utilize current electricity
The error amount of pressure and pre-set value, determines the compensation position signal of stator magnetic linkage, according to the compensation position signal of stator magnetic linkage, directly
The voltage of axis is corrected as pre-set value, so that the physical location of stator magnetic linkage is also corrected.Due to the feedback tune in the present invention
Section, can solve the problems, such as that stator magnetic linkage accurately orients with precise calibration direct-axis voltage.
Correspondingly, it is fixed to be applied to stator magnetic linkage compensation the invention also discloses a kind of means for correcting based on direct-axis voltage
To control strategy, comprising:
Memory, for storing computer program；
Processor is realized as described in any one above when for executing the computer program based on the correction of direct-axis voltage
The step of method.
Wherein, the datail description of the specific bearing calibration based on direct-axis voltage is referred to related in foregoing embodiments
The content of bearing calibration based on direct-axis voltage, details are not described herein again.
Wherein, the present embodiment has beneficial effect identical with the bearing calibration in foregoing embodiments based on direct-axis voltage,
Details are not described herein again.
Correspondingly, being stored with computer on the readable storage medium storing program for executing the invention also discloses a kind of readable storage medium storing program for executing
Program, realization is as described in any one above when the computer program is executed by processor based on the bearing calibration of direct-axis voltage
Step.
Wherein, the datail description of the specific bearing calibration based on direct-axis voltage is referred to related in foregoing embodiments
The content of bearing calibration based on direct-axis voltage, details are not described herein again.
Wherein, the present embodiment has beneficial effect identical with the bearing calibration in foregoing embodiments based on direct-axis voltage,
Details are not described herein again.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Above to a kind of bearing calibration based on direct-axis voltage provided by the present invention, system, device and readable storage medium
Matter is described in detail, and used herein a specific example illustrates the principle and implementation of the invention, above
The explanation of embodiment is merely used to help understand method and its core concept of the invention；Meanwhile for the general skill of this field
Art personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this
Description should not be construed as limiting the invention.
Claims (10)
1. a kind of bearing calibration based on direct-axis voltage, which is characterized in that be applied to stator magnetic linkage and compensate oriented control strategy, packet
It includes:
Obtain the current voltage of d-axis and the current position signal of stator magnetic linkage in motor；
Calculate the error amount of current voltage and pre-set value；
According to the error amount, the compensation position signal of the stator magnetic linkage is obtained；
According to the compensation position signal and current position signal, the correction position signal of the stator magnetic linkage is determined；
The correction position signal is exported, is the pre-set value by the voltage correction of the d-axis.
2. bearing calibration according to claim 1, which is characterized in that the pre-set value is zero.
3. bearing calibration according to claim 2, which is characterized in that it is described according to the error amount, obtain the stator magnet
The process of the compensation position signal of chain, specifically includes:
Proportional integration adjusting is carried out according to the error amount, obtains the compensation position signal of the stator magnetic linkage.
4. bearing calibration according to claim 3, which is characterized in that described to carry out proportional integration tune according to the error amount
Section obtains the process of the compensation position signal of the stator magnetic linkage, specifically includes:
Using Neural Network Control Algorithm, proportional integration adjusting is carried out according to the error amount, obtains the benefit of the stator magnetic linkage
Repay position signal.
5. according to claim 1 to any one of 4 bearing calibrations, which is characterized in that described according to the compensation position signal
With current position signal, determines the process of the correction position signal of the stator magnetic linkage, specifically includes:
It sums to the compensation position signal and current position signal, determines the correction position signal of the stator magnetic linkage.
6. a kind of correction system based on direct-axis voltage, which is characterized in that be applied to stator magnetic linkage and compensate oriented control strategy, packet
It includes:
Data obtaining module, for obtaining the current position signal of the current voltage of d-axis and stator magnetic linkage in motor；
Error calculating module, for calculating the error amount of current voltage and pre-set value；
Position signal compensating module, for obtaining the compensation position signal of the stator magnetic linkage according to the error amount；
Position signal correction module, for determining the stator magnetic linkage according to the compensation position signal and current position signal
Correction position signal；
The voltage correction of the d-axis is described presetting for exporting the correction position signal by voltage correction module
Value.
7. correcting system according to claim 6, which is characterized in that the pre-set value is zero.
8. correcting system described according to claim 6 or 7, which is characterized in that the position signal correction module be specifically used for pair
The compensation position signal and current position signal are summed, and determine the correction position signal of the stator magnetic linkage.
9. a kind of means for correcting based on direct-axis voltage, which is characterized in that be applied to stator magnetic linkage and compensate oriented control strategy, packet
It includes:
Memory, for storing computer program；
Processor, realization is as described in any one of claim 1 to 5 when for executing the computer program based on direct-axis voltage
The step of bearing calibration.
10. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter on the readable storage medium storing program for executing
The step of the bearing calibration as described in any one of claim 1 to 5 based on direct-axis voltage is realized when calculation machine program is executed by processor
Suddenly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811536287.4A CN109450324A (en) | 2018-12-14 | 2018-12-14 | Bearing calibration, system, device and readable storage medium storing program for executing based on direct-axis voltage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811536287.4A CN109450324A (en) | 2018-12-14 | 2018-12-14 | Bearing calibration, system, device and readable storage medium storing program for executing based on direct-axis voltage |
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| CN109450324A true CN109450324A (en) | 2019-03-08 |
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Citations (4)
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|---|---|---|---|---|
| CN1604457A (en) * | 2004-10-29 | 2005-04-06 | 清华大学 | Control method for implementing magnetic field accurate orientation of asynchronous motor rotor using voltage closed-loop |
| CN102906989A (en) * | 2010-05-21 | 2013-01-30 | 米其林集团总公司 | Equipment and method for measuring the offset angle of a resolver in a synchronous electric machine |
| CN103731082A (en) * | 2014-01-03 | 2014-04-16 | 东南大学 | Stator flux linkage estimation method of permanent magnet synchronous motor based on direct torque control |
| CN105450106A (en) * | 2015-12-25 | 2016-03-30 | 国电南瑞科技股份有限公司 | Permanent magnet synchronous generator rotor position estimation method |
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2018
- 2018-12-14 CN CN201811536287.4A patent/CN109450324A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1604457A (en) * | 2004-10-29 | 2005-04-06 | 清华大学 | Control method for implementing magnetic field accurate orientation of asynchronous motor rotor using voltage closed-loop |
| CN102906989A (en) * | 2010-05-21 | 2013-01-30 | 米其林集团总公司 | Equipment and method for measuring the offset angle of a resolver in a synchronous electric machine |
| CN103731082A (en) * | 2014-01-03 | 2014-04-16 | 东南大学 | Stator flux linkage estimation method of permanent magnet synchronous motor based on direct torque control |
| CN105450106A (en) * | 2015-12-25 | 2016-03-30 | 国电南瑞科技股份有限公司 | Permanent magnet synchronous generator rotor position estimation method |
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