CN109617486A - A kind of permanent magnet synchronous motor automatic calibration method - Google Patents
A kind of permanent magnet synchronous motor automatic calibration method Download PDFInfo
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- CN109617486A CN109617486A CN201811642187.XA CN201811642187A CN109617486A CN 109617486 A CN109617486 A CN 109617486A CN 201811642187 A CN201811642187 A CN 201811642187A CN 109617486 A CN109617486 A CN 109617486A
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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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- 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
- H02P21/20—Estimation of torque
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Abstract
The present invention relates to pure electric automobiles to demarcate testing field, and in particular to a kind of permanent magnet synchronous motor automatic calibration method, comprising the following steps: the permanent magnet synchronous motor that step 1, dynamometer machine dragging are calibrated is run under the revolving speed of setting；Torque capacity current point under step 2, record setting electric current vector magnitude, i.e. optimal working point: step 3, current phasor amplitude increase step by step according to predetermined current gradient；The present invention is made rational planning for by the change procedure to current vector angle, be gradually reduced it from 90 °, avoid existing method allow current vector angle from 0 degree be gradually increased to 90 degree caused by it is more than base speed when current vector angle be directly given as 0 degree caused by undertension to adjust size of current the problem of and motor problem out of control.
Description
Technical field
The present invention relates to pure electric automobiles to demarcate testing field, and in particular to a kind of permanent magnet synchronous motor automatic Calibration side
Method.
Background technique
New-energy automobile has outstanding advantages of energy-saving and environmental protection, pollution-free for conventional fuel oil car, and by
In the support energetically of national policy, new-energy automobile industry shows swift and violent growth momentum.Motor and its drive system are new
The core component of energy automobile power assembly, permanent magnet synchronous motor is by its power factor (PF) is high, high-efficient, control performance is good, turns
Dynamic inertia is small to wait outstanding advantages, it has also become the first choice of domestic New energy automobile motor.
In order to give full play to the performance of permanent magnet synchronous motor, need in advance to carry out the corresponding relationship of motor torque and electric current
Calibration, often referred to simply as motor are demarcated.In the following torque capacity electric current that obtains of base speed than corresponding point；It is obtained more than base speed
Torque capacity voltage is than corresponding point.Motor calibration at present is largely by manually completing, this process needs to consume
Take biggish human and material resources and time cost, and since data volume is huge, manual record process inevitably malfunctions, to influence
The accuracy of motor nominal data.
To avoid the above problem, having minority motor calibration process is automatically performed by program, in the prior art, public
The number of opening is that the patent of invention of CN106301100A discloses automatic calibration method, system and the control of a kind of permanent magnet synchronous motor
Device, this method, system and controller application are in the control device of permanent magnet synchronous motor, in control permanent magnet synchronous motor with default
After the initial operation that parameter starts running, through the operation of overwriting motor torque, torque capacity operation, current value step-by-step operation are calculated
Afterwards generate comprising for control permanent magnet synchronous motor normal operation comprising current value corresponding with each present drive current, turn
Three dimension tables of square array and angle array complete the Optimum Matching carried out to the electric current of permanent magnet synchronous motor and torque.But
The patent still has following deficiency:
1, torque measurement process is a steps necessary of current scaling method, and torque value need to be from power analyzer, torque
It is obtained outside sensor etc., higher requirement is proposed to equipment needed for calibration, increases calibration cost；
2, the torque value obtained in calibration process from external equipment need to also be transmitted to motor by associated data traffic means
Controller, process is many and diverse, and the torque value that electric machine controller obtains inevitably has latency issue；
3, it is difficult to combine base speed torque capacity electric current below than torque capacity voltage ratio more than calibration and base speed
The problem of calibration；
4, the problem that do not made rational planning for the change procedure of current vector angle in calibration process and cause system out of control,
Existing method mostly allows current vector angle to be gradually increased to 90 degree from 0 degree, and when more than base speed, current vector angle is directly given as
0 degree will lead to the problem of undertension is to adjust size of current, cause motor out of control.
According to the above problem, a kind of permanent magnet synchronous motor automatic calibration method of no torque measurement process is needed now.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of permanent magnet synchronous motor automatic calibration method, the method packet
Include following steps:
The permanent magnet synchronous motor that step 1, dynamometer machine dragging are calibrated is run under the revolving speed of setting；
Torque capacity current point under step 2, record setting electric current vector magnitude, i.e. optimal working point:
Step 2.1, the current phasor amplitude for setting permanent magnet synchronous motor,
Step 2.2, the current vector angle for setting permanent magnet synchronous motor, and the current vector angle is pressed into predetermined angle gradient
Successively decrease step by step,
Step 2.3, according to the current phasor amplitude and the current vector angle, calculate the quadrature axis electricity of permanent magnet synchronous motor
Instruction value, direct axis current demand value are flowed,
Step 2.4, according to the quadrature axis current axis demand value, the direct axis current demand value, modulated using existing SVPWM
Algorithm carries out closed-loop current control to permanent magnet synchronous motor, estimates the motor torque under current flow azimuth,
Step 2.5 judges whether the torque of the permanent magnet synchronous motor under the current flow azimuth estimated is less than or equal to
The torque of the permanent magnet synchronous motor of estimation under one current vector angle, if so, record data, count according to including a upper electric current
The revolving speed of permanent magnet synchronous motor under azimuth, current phasor amplitude, current vector angle, quadrature axis current axis demand value, direct-axis current
Instruction value and motor torque；If it is not, then calculating the amplitude U of given voltage vector by formula (1):
In formula, udIt * is d axis given voltage, uq* be q axis given voltage, judge the given voltage vector amplitude whether
Less than the DC bus-bar voltage of permanent magnet synchronous motor, if so, current vector angle successively decreases according to predetermined current azimuth gradient, and
Return step 2.3；If it is not, then recording data, the recorded permanent magnet synchronous motor including under a upper current vector angle turns
Speed, current phasor amplitude, current vector angle, quadrature axis current axis demand value, direct axis current demand value and motor torque；
Step 3, current phasor amplitude increase step by step according to predetermined current gradient:
After step 3.1, record data, the current phasor amplitude in step 2.1 is increased step by step according to predetermined current gradient,
And step 2.2-2.5 is repeated,
Step 3.2 judges whether current flow vector magnitude is greater than the specified maximum current of designing permanent-magnet synchronous motor,
If so, the dynamometer machine revolving speed in step 1 is incremented by according to preset rotation speed gradient, if it is not, then returning to step 3.1；
Step 3.3 judges whether current dynamometer machine revolving speed is greater than motor maximum (top) speed, if so, terminate calibration, if it is not,
Return step 2.
Further, the motor torque under estimation current flow azimuth described in step 2.4, comprising the following steps:
Step 2.4.1, d-c bus voltage value is read by voltage sensor；
Step 2.4.2, DC bus-bar voltage is reverse by permanent magnet synchronous motor winding by existing SVPWM control algolithm
Three-phase voltage, the product for the control amount that DC bus-bar voltage and SVPWM modulation algorithm are generated is as the three-phase voltage of winding
Value；
Step 2.4.3, the three-phase electricity flow valuve of winding, the three-phase electricity flow valuve difference of the winding are obtained by current sensor
Mutually it is worth with the three-phase voltage of the winding and is multiplied, then sums, the input side power as motor；
Step 2.4.4, the square value of the three-phase electricity flow valuve of the winding is multiplied with the resistance of corresponding winding respectively, then asked
With loss power as motor；
Step 2.4.5, the loss power that the input side power of motor is subtracted to motor, the electromagnetic power as motor；
Step 2.4.6, the mechanical angular speed for obtaining the electromagnetic power of motor divided by the position sensor of motor is as electricity
Machine torque.
Further, the initial value of current phasor amplitude described in the step 2.1 is zero ampere.
Further, the initial value of current vector angle described in the step 2.2 is 90 degree.
Further, predetermined angle gradient described in the step 2.2 is any value in 0.1~1 degree.
Further, predetermined current gradient described in the step 3.2 is any value in 5~20 amperes.
Further, preset rotation speed gradient described in the step 3.3 is any value in 500r/min-1000r/min.
The beneficial effects of the present invention are:
1, the automatic calibration method of a kind of permanent magnet synchronous motor of the present invention avoids work brought by calibration manually
The problem of amount is big, calibration cost of human and material resources are high, manual record data are easy error；
2, the automatic calibration method of a kind of permanent magnet synchronous motor of the present invention is equipped with power analysis without calibration system
The hardware devices such as instrument, torque sensor reduce dependence and calibration cost of the calibration process to equipment；
3, the automatic calibration method of a kind of permanent magnet synchronous motor of the present invention, the motor torque in calibration process are estimations
It obtains, avoids and obtain torque value from external equipment, then be transmitted to electric machine controller by associated data traffic means, simplify
Torque acquisition process, and avoid electric machine controller motor torque is obtained from external hardware device by means of communication and brought
Latency issue；
4, the automatic calibration method of a kind of permanent magnet synchronous motor of the present invention, during finding maximum torque point also
The amplitude and bus voltage amplitude of voltage vector are compared, once it finds maximum torque point or voltage vector occurs
Amplitude is greater than the case where bus voltage amplitude, then maintains current vector angle constant, that is, has taken into account base speed torque capacity electricity below
It flows than demarcating with torque capacity voltage more than base speed than calibration；
5, the automatic calibration method of a kind of permanent magnet synchronous motor of the present invention, passes through the change procedure to current vector angle
It makes rational planning for, is gradually reduced it from 90 °, avoid existing method and current vector angle is allowed to be gradually increased to 90 degree from 0 degree
When caused base speed is above current vector angle be directly given as 0 degree caused by undertension to adjust size of current the problem of and
Motor problem out of control.
Detailed description of the invention
Fig. 1 is the flow chart of permanent magnet synchronous motor automatic calibration method of the present invention；
Fig. 2 is the system diagram of the PMSM space voltage vector control based on current control.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
As shown in Figs. 1-2, it the described method comprises the following steps:
The permanent magnet synchronous motor that step 1, dynamometer machine dragging are calibrated is run under the revolving speed of setting, demarcates permanent magnet synchronous electric
Torque capacity current point of the machine under different rotating speeds, is calibrated optimal working point of the permanent magnet synchronous motor under different rotating speeds not
It is identical, multiple revolving speed points need to be chosen from permanent magnet synchronous motor zero speed to maximum (top) speed, record the revolving speed of permanent-magnet synchronous most respectively
Excellent operating point sets dynamometer machine initial value, that is, sets the revolving speed point of first calibration, starts permanent magnet synchronous motor calibration process；
Torque capacity current point under step 2, record setting electric current vector magnitude, i.e. optimal working point:
Step 2.1, the current phasor amplitude for setting permanent magnet synchronous motor,
Step 2.2, the current vector angle for setting permanent magnet synchronous motor, and the current vector angle is pressed into predetermined angle gradient
Successively decrease step by step,
Step 2.3, according to the current phasor amplitude and the current vector angle, calculate the quadrature axis electricity of permanent magnet synchronous motor
Instruction value, direct axis current demand value are flowed,
Step 2.4, according to the quadrature axis current axis demand value, the direct axis current demand value, modulated using existing SVPWM
Algorithm carries out closed-loop current control to permanent magnet synchronous motor, estimates the motor torque under current flow azimuth,
Step 2.5 judges whether the torque of the permanent magnet synchronous motor under the current flow azimuth estimated is less than or equal to
The torque of the permanent magnet synchronous motor of estimation under one current vector angle, if so, record data, count according to including a upper electric current
The revolving speed of permanent magnet synchronous motor under azimuth, current phasor amplitude, current vector angle, quadrature axis current axis demand value, direct-axis current
Instruction value and motor torque；If it is not, then calculating the amplitude U of given voltage vector by formula (1):
In formula, udIt * is d axis given voltage, uq* be q axis given voltage, judge the given voltage vector amplitude whether
Less than the DC bus-bar voltage of permanent magnet synchronous motor, if so, current vector angle successively decreases according to predetermined current azimuth gradient, and
Return step 2.3；If it is not, then record data, count according to include permanent magnet synchronous motor under a upper current vector angle revolving speed,
Current phasor amplitude, current vector angle, quadrature axis current axis demand value, direct axis current demand value and motor torque；
Step 3, current phasor amplitude increase step by step according to predetermined current gradient:
After step 3.1, record data, the current phasor amplitude in step 2.1 is increased step by step according to predetermined current gradient,
And step 2.2-2.5 is repeated,
Step 3.2 judges whether current flow vector magnitude is greater than the specified maximum current of designing permanent-magnet synchronous motor,
If so, the dynamometer machine revolving speed in step 1 is incremented by according to preset rotation speed gradient, if it is not, then returning to step 3.1；
Step 3.3 judges whether current dynamometer machine revolving speed is greater than motor maximum (top) speed, if so, terminate calibration, if it is not,
Return step 2.
Further, the motor torque under estimation current flow azimuth described in step 2.4, comprising the following steps:
Step 2.4.1, d-c bus voltage value is read by voltage sensor；
Step 2.4.2, DC bus-bar voltage is reverse by permanent magnet synchronous motor winding by existing SVPWM control algolithm
Three-phase voltage, the product for the control amount that DC bus-bar voltage and existing SVPWM modulation algorithm are generated is as the three of winding
Phase voltage value；
Step 2.4.3, the three-phase electricity flow valuve of winding, the three-phase electricity flow valuve difference of the winding are obtained by current sensor
Mutually it is worth with the three-phase voltage of the winding and is multiplied, then sums, the input side power as motor；
Step 2.4.4, the square value of the three-phase electricity flow valuve of the winding is multiplied with the resistance of corresponding winding respectively, then asked
With loss power as motor；
Step 2.4.5, the loss power that the input side power of motor is subtracted to motor, the electromagnetic power as motor；
Step 2.4.6, the mechanical angular speed for obtaining the electromagnetic power of motor divided by the position sensor of motor is as electricity
Machine torque.
Further, the initial value of current phasor amplitude described in the step 2.1 is zero ampere.
Further, the initial value of current vector angle described in the step 2.2 is 90 degree.
Further, predetermined angle gradient described in the step 2.2 is any value in 0.1~1 degree.
Further, predetermined current gradient described in the step 3.2 is any value in 5~20 amperes.
Further, preset rotation speed gradient described in the step 3.3 is any value in 500r/min-1000r/min.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of permanent magnet synchronous motor automatic calibration method, which comprises the following steps:
The permanent magnet synchronous motor that step 1, dynamometer machine dragging are calibrated is run under the revolving speed of setting；
Torque capacity current point under step 2, record setting electric current vector magnitude, i.e. optimal working point:
Step 2.1, the current phasor amplitude for setting permanent magnet synchronous motor,
Step 2.2, the current vector angle for setting permanent magnet synchronous motor, and the current vector angle is pressed into predetermined angle gradient step by step
Successively decrease,
Step 2.3, according to the current phasor amplitude and the current vector angle, the quadrature axis current for calculating permanent magnet synchronous motor refers to
Value, direct axis current demand value are enabled,
Step 2.4, according to the quadrature axis current axis demand value, the direct axis current demand value, using SVPWM modulation algorithm to permanent magnetism
Synchronous motor carries out closed-loop current control, estimates the motor torque under current flow azimuth,
Step 2.5 judges whether the torque of the permanent magnet synchronous motor under the current flow azimuth estimated is less than or equal to an electricity
The torque of the permanent magnet synchronous motor of estimation under stray arrow angulation, if so, record data, count according to including a upper current phasor
The revolving speed of permanent magnet synchronous motor under angle, current phasor amplitude, current vector angle, quadrature axis current axis demand value, direct axis current demand
Value and motor torque；If it is not, then calculating the amplitude U of given voltage vector by formula (1):
In formula, udIt * is d axis given voltage, uq* it is q axis given voltage, judges whether the amplitude of the given voltage vector is less than
The DC bus-bar voltage of permanent magnet synchronous motor if so, current vector angle successively decreases according to predetermined current azimuth gradient, and returns
Step 2.3；If it is not, then recording data, count according to revolving speed, electric current including the permanent magnet synchronous motor under a upper current vector angle
Vector magnitude, current vector angle, quadrature axis current axis demand value, direct axis current demand value and motor torque；
Step 3, current phasor amplitude increase step by step according to predetermined current gradient:
After step 3.1, record data, the current phasor amplitude in step 2.1 is increased step by step according to predetermined current gradient, is laid equal stress on
Multiple step 2.2-2.5,
Step 3.2 judges whether current flow vector magnitude is greater than the specified maximum current of designing permanent-magnet synchronous motor, if
It is that then the dynamometer machine revolving speed in step 1 is incremented by according to preset rotation speed gradient, if it is not, then returning to step 3.1；
Step 3.3 judges whether current dynamometer machine revolving speed is greater than motor maximum (top) speed, if so, terminating calibration, if it is not, returning
Step 2.
2. the method according to claim 1, wherein under estimation current flow azimuth described in step 2.4
Motor torque, comprising the following steps:
Step 2.4.1, d-c bus voltage value is read by voltage sensor；
Step 2.4.2, DC bus-bar voltage is reverse into the three-phase electricity of permanent magnet synchronous motor winding by SVPWM control algolithm
Pressure, the product for the control amount that DC bus-bar voltage and SVPWM modulation algorithm are generated is as the three-phase voltage value of winding；
Step 2.4.3, by current sensor obtain winding three-phase electricity flow valuve, the three-phase electricity flow valuve of the winding respectively with institute
The three-phase voltage for stating winding is mutually worth multiplication, then sums, the input side power as motor；
Step 2.4.4, the square value of the three-phase electricity flow valuve of the winding is multiplied with the resistance of corresponding winding respectively, then summed,
Loss power as motor；
Step 2.4.5, the loss power that the input side power of motor is subtracted to motor, the electromagnetic power as motor；
Step 2.4.6, the electromagnetic power of motor is turned divided by the mechanical angular speed that the position sensor of motor obtains as motor
Square.
3. the method according to claim 1, wherein current phasor amplitude described in the step 2.1 is initial
Value is zero ampere.
4. the method according to claim 1, wherein the initial value of current vector angle described in the step 2.2
It is 90 degree.
5. the method according to claim 1, wherein predetermined angle gradient described in the step 2.2 be 0.1~
Any value in 1 degree.
6. the method according to claim 1, wherein predetermined current gradient described in the step 3.1 is 5~20
Any value in ampere.
7. the method according to claim 1, wherein preset rotation speed gradient described in the step 3.2 is 500r/
Any value in min-1000r/min.
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Cited By (8)
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| CN110417317A (en) * | 2019-08-05 | 2019-11-05 | 东风电子科技股份有限公司 | Realize the process that the vector controlled current parameters of driving motor for electric automobile are generated and demarcated |
| CN111342721A (en) * | 2020-03-31 | 2020-06-26 | 浙江众邦机电科技有限公司 | Control method and device of permanent magnet synchronous motor and related components |
| CN111948537A (en) * | 2020-08-11 | 2020-11-17 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
| CN112422018A (en) * | 2020-11-03 | 2021-02-26 | 睿驰电装(大连)电动系统有限公司 | Electric drive system efficiency calibration method and device and electric automobile |
| CN112468037A (en) * | 2020-12-21 | 2021-03-09 | 哈尔滨工业大学 | Permanent magnet synchronous motor MTPV control current track searching method and online control method |
| CN114050742A (en) * | 2021-11-17 | 2022-02-15 | 山东省科学院自动化研究所 | Current calibration method for maximum torque current ratio control of permanent magnet synchronous motor |
| CN114726282A (en) * | 2022-06-07 | 2022-07-08 | 坎德拉(深圳)新能源科技有限公司 | Permanent magnet synchronous motor calibration system and method for flywheel energy storage |
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| CN110417317A (en) * | 2019-08-05 | 2019-11-05 | 东风电子科技股份有限公司 | Realize the process that the vector controlled current parameters of driving motor for electric automobile are generated and demarcated |
| CN111342721A (en) * | 2020-03-31 | 2020-06-26 | 浙江众邦机电科技有限公司 | Control method and device of permanent magnet synchronous motor and related components |
| CN111948537A (en) * | 2020-08-11 | 2020-11-17 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
| CN111948537B (en) * | 2020-08-11 | 2022-12-02 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
| CN112422018A (en) * | 2020-11-03 | 2021-02-26 | 睿驰电装(大连)电动系统有限公司 | Electric drive system efficiency calibration method and device and electric automobile |
| CN112468037A (en) * | 2020-12-21 | 2021-03-09 | 哈尔滨工业大学 | Permanent magnet synchronous motor MTPV control current track searching method and online control method |
| CN112468037B (en) * | 2020-12-21 | 2022-07-12 | 哈尔滨工业大学 | Permanent magnet synchronous motor MTPV control current track searching method and online control method |
| CN114050742A (en) * | 2021-11-17 | 2022-02-15 | 山东省科学院自动化研究所 | Current calibration method for maximum torque current ratio control of permanent magnet synchronous motor |
| CN114050742B (en) * | 2021-11-17 | 2023-09-08 | 山东省科学院自动化研究所 | Current calibration method for controlling maximum torque current ratio of permanent magnet synchronous motor |
| CN114928287A (en) * | 2022-05-24 | 2022-08-19 | 中克骆瑞新能源科技有限公司 | Method for calibrating full-working-condition area of permanent magnet synchronous motor |
| CN114726282A (en) * | 2022-06-07 | 2022-07-08 | 坎德拉(深圳)新能源科技有限公司 | Permanent magnet synchronous motor calibration system and method for flywheel energy storage |
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