CN110165960B - Method, system, computer device and medium for estimating deviation angle - Google Patents
Method, system, computer device and medium for estimating deviation angle Download PDFInfo
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- CN110165960B CN110165960B CN201910481681.0A CN201910481681A CN110165960B CN 110165960 B CN110165960 B CN 110165960B CN 201910481681 A CN201910481681 A CN 201910481681A CN 110165960 B CN110165960 B CN 110165960B
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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
- H02P21/18—Estimation of position or speed
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The application provides a deviation angle estimation method, a system, a computer device and a medium, comprising: determining actual direct current and alternating current axes according to the actual position of the rotor, obtaining steady-state current and a first expression expressed by the actual direct current and alternating current axes, motor parameters and rotating speed under active short circuit according to a synchronous motor voltage equation, substituting the motor parameters to obtain actual direct current axis and alternating current axes under fixed rotating speed, determining measured direct current axes and measured alternating current axes according to the measured position of the rotor, and obtaining measured direct current axis and measured alternating current axes according to an active short circuit experiment; and obtaining a direct axis deviation angle and a quadrature axis deviation angle according to the actual direct axis and quadrature axis currents and the measured direct axis and quadrature axis currents, and comprehensively obtaining the deviation angles. The method solves the problems that the measurement method in the prior art is limited by the estimated precision, the algorithm is complex, the requirement on a hardware circuit is high, or the precision is greatly influenced by the rotational inertia, and the requirement on starting the rotation range of the rotor and the occasion are difficult to realize, so that the position deviation detection is simpler, more reliable and more practical.
Description
Technical Field
The present disclosure relates to the field of motor position error detection, and more particularly, to a method, a system, a computer device, and a medium for estimating a deviation angle.
Background
PMSM (Permanent Magnet Synchronous Motor) widely applies to many high performance drive control occasions, and accurate detection of Motor rotor position is the prerequisite of its high accuracy control. Normally, the position of the rotor is detected by a coaxially mounted position sensor, but the mounting error of the position sensor can cause zero offset, further cause the error of position detection, and seriously affect the starting and normal operation of the PMSM. Therefore, an effective method must be adopted to calibrate the zero error of the position sensor, so as to improve the precision of position detection and realize the high-performance control of the PMSM.
At present, scholars at home and abroad make a lot of meaningful researches on estimation of the initial position of the motor rotor. The method for detecting the zero offset of the rotor usually adopts a prepositioning method and a high-frequency injection method. The pre-positioning method is that firstly, direct current or voltage vector in a fixed direction is applied to a stator winding of the PMSM to enable the stator winding to generate a magnetic field in the direction, a rotor is dragged to a preset position, and zero deviation can be determined according to the output of a sensor. Although the positioning method is simple and easy to implement, the estimation accuracy is influenced by factors such as load moment of inertia, initial position of a rotor and the like, and the detection error is large. The high-frequency injection method adopts a sensorless control method to estimate the initial position of the rotor and simultaneously obtains the initial position value of the sensor, thereby obtaining the detection deviation of the position sensor. However, the algorithm based on the injection of the high-frequency signal has large calculation amount, is complex, has high requirement on a hardware circuit, and is not suitable for engineering application.
The method for estimating the zero offset of the position sensor based on the electromagnetic torque model is combined with a pre-positioning method, so that the problem of estimating the zero offset under the load condition is solved. However, the method is only suitable for the motor to operate in a constant speed and uniform acceleration mode, and has certain limitation. The method can overcome the influence of system friction torque, but the method not only needs the sampling average of multiple groups of data, but also requires the sampling of the back electromotive force and the synchronization of position reading, and the testing process is complex.
The measurement of the zero offset of the PMSM position sensor at present mainly has the following problems: the zero offset measurement method based on the position-free sensor is limited by the estimation precision of the position-free sensor algorithm, the algorithm is complex, the requirement on a hardware circuit is high, and the estimation precision of the prepositioning method is greatly influenced by the rotational inertia of a load. The method cannot be applied to occasions requiring a small rotation range of the starting rotor and even static.
Disclosure of Invention
The method, the system, the computer device and the medium are used for solving the problems that in the prior art, a measurement method of the zero offset of the position sensor is limited by the estimation accuracy of a position-sensor-free algorithm, the algorithm is complex, the requirement on a hardware circuit is high, the accuracy is greatly influenced by the rotational inertia of a load, and the method and the system are difficult to realize in occasions requiring a small rotation range or even a static starting rotor.
To achieve the above and other related objects, the present application provides a deviation angle estimation method applied to a three-phase permanent magnet synchronous motor, the motor including a rotor having a direct axis and a quadrature axis, the method comprising: determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current represented by the actual direct axis current, the actual quadrature axis current, a motor parameter and a rotating speed under an active short circuit according to a synchronous motor voltage equation, bringing a fixed motor parameter into the steady-state current to obtain a first relational expression, and obtaining an actual direct axis current corresponding to the actual direct axis and an actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed according to the first relational expression; determining a measurement direct axis and a measurement quadrature axis according to the measurement position of the rotor, and obtaining a measurement direct axis current corresponding to the measurement direct axis and a measurement quadrature axis current corresponding to the measurement quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment; and obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
In an embodiment of the present application, the synchronous motor voltage equation is:
wherein idAnd iqRespectively an actual direct axis current and an actual quadrature axis current, RsIs stator resistance, LdAnd LqRespectively an actual direct axis inductance and an actual quadrature axis inductance, udAnd uqRespectively an actual direct-axis voltage and an actual quadrature-axis voltage, omegaeIs the rotational speed, #fIs a permanent magnet flux linkage.
In an embodiment of the present application, the first relation is:
wherein A, B is a constant; i.e. idAnd iqRespectively, the actual direct axis current and the actual quadrature axis current, omegaeIs a fixed rotation speed.
In an embodiment of the present application, obtaining the measured direct-axis current and the measured quadrature-axis current at the fixed rotation speed according to an active short-circuit experiment includes: and obtaining a steady-state current response curve according to an active short-circuit experiment, and obtaining a measured direct-axis current and a measured quadrature-axis current at the fixed rotating speed according to the steady-state current response curve.
In an embodiment of the present application, obtaining a direct axis deviation angle obtained by the actual direct axis and the measurement direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measurement quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measurement direct axis current, and the measurement quadrature axis current includes: and obtaining a direct axis deviation angle obtained by the actual direct axis and the measurement direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measurement quadrature axis according to the mathematical relationship among the actual direct axis, the actual quadrature axis, the measurement direct axis and a measurement quadrature axis.
In an embodiment of the present application, the mathematical relationship is:
wherein, the idm、iqm、idAnd iqRespectively measuring direct axis current, measuring quadrature axis current, actual direct axis current and actual quadrature axis current; thetadAnd thetaqRespectively a direct axis deviation angle and a quadrature axis deviation angle.
In an embodiment of the present application, the method for obtaining the deviation angle by integrating the angles includes: and adding the direct axis deviation angle and the quadrature axis deviation angle, and then carrying out average calculation to obtain the deviation angle.
To achieve the above and other related objects, the present application provides a deviation angle estimation system for a three-phase permanent magnet synchronous motor, including a rotor having a direct axis and a quadrature axis, the system comprising: the actual current module is used for determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current expressed by the actual direct axis current, the actual quadrature axis current, the motor parameter and the rotating speed under the active short circuit according to a synchronous motor voltage equation, bringing the fixed motor parameter into the steady-state current, and obtaining the actual direct axis current corresponding to the actual direct axis and the actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed; the measuring current module is used for determining a measuring direct axis and a measuring quadrature axis according to the measuring position of the rotor, and obtaining a measuring direct axis current corresponding to the measuring direct axis and a measuring quadrature axis current corresponding to the measuring quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment; and the deviation angle calculation module is used for obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
To achieve the above and other related objects, the present application provides a computer apparatus comprising: one or more memories for storing computer programs; one or more processors configured to execute the computer program to perform the method for estimating a deviation angle.
To achieve the above and other related objects, the present application provides a computer storage medium storing a computer program, which when executed, implements the method for estimating an angle of deviation.
As described above, the method, system, computer device, and medium for estimating a deviation angle according to the present application have the following advantageous effects: the method solves the problems that the measurement method of the zero offset of the position sensor in the prior art is limited by the estimation precision of a position-sensorless algorithm, the algorithm is complex, the requirement on a hardware circuit is high, or the precision is greatly influenced by the moment of inertia of a load, and the measurement method and the result are simpler, more reliable and more practical for occasions requiring a small rotation range or even a static starting rotor.
Drawings
Fig. 1 is a flowchart illustrating a method for estimating a deviation angle according to an embodiment of the present disclosure.
Fig. 2 is a diagram illustrating a structure of a coordinate system according to an embodiment of the present application.
FIG. 3 is a graph of measured current response according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a deviation angle estimation system according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Description of the element reference numerals
41 actual current module
42 measuring current module
43 deviation angle calculation module
50 computer device
51 memory
52 processor
S11-S13
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the present application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "over," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
The measurement of the current angle deviation of the motor mainly has the following problems: the zero offset measurement method based on the position-free sensor is limited by the estimation precision of the position-free sensor algorithm, the algorithm is complex, the requirement on a hardware circuit is high, and the estimation precision of the prepositioning method is greatly influenced by the rotational inertia of a load. The method cannot be applied to occasions requiring a small rotation range of the starting rotor and even static.
Therefore, the application provides a deviation angle estimation method, which is applied to a three-phase permanent magnet synchronous motor, wherein the motor comprises a rotor, a direct shaft and a quadrature shaft, and is used for solving the problems that the measurement method of the zero deviation of the position sensor in the prior art is limited by the estimation precision of a position-sensor-free algorithm, the algorithm is complex, the requirement on a hardware circuit is high, or the precision is greatly influenced by the rotational inertia of a load, and the measurement method and the result are simpler, more reliable and more practical in occasions requiring the small rotation range or even the static state of the starting rotor.
The three-phase permanent magnet synchronous motor is started and operated by the interaction of magnetic fields generated by a stator winding, a rotor squirrel cage winding and a permanent magnet. When the motor is static, three-phase symmetrical current is introduced into the stator winding to generate a stator rotating magnetic field, the stator rotating magnetic field generates current in the cage winding relative to the rotation of the rotor to form a rotor rotating magnetic field, and the asynchronous torque generated by the interaction of the stator rotating magnetic field and the rotor rotating magnetic field enables the rotor to rotate from the static state to the accelerated state. In the process, the rotating speeds of the rotor permanent magnetic field and the stator rotating magnetic field are different, and alternating torque is generated. When the rotor is accelerated to a speed close to the synchronous speed, the rotating speeds of the rotor permanent magnetic field and the stator rotating magnetic field are close to the same, the speed of the stator rotating magnetic field is slightly larger than that of the rotor permanent magnetic field, and the rotor and the stator rotating magnetic field interact to generate torque to pull the rotor into a synchronous running state. In the synchronous operating state, no current is generated in the rotor winding. At this time, only the permanent magnet on the rotor generates a magnetic field, which interacts with the stator rotating magnetic field to generate a driving torque. Wherein the rotor has two phases of a straight axis and a quadrature axis.
The method comprises the following steps: determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current represented by the actual direct axis current, the actual quadrature axis current, a motor parameter and a rotating speed under an active short circuit according to a synchronous motor voltage equation, bringing a fixed motor parameter into the steady-state current to obtain a first relational expression, and obtaining an actual direct axis current corresponding to the actual direct axis and an actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed according to the first relational expression; determining a measurement direct axis and a measurement quadrature axis according to the measurement position of the rotor, and obtaining a measurement direct axis current corresponding to the measurement direct axis and a measurement quadrature axis current corresponding to the measurement quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment; and obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
The following detailed description of the embodiments of the present application will be made with reference to fig. 1 so that those skilled in the art described in the present application can easily implement the embodiments. The present application may be embodied in many different forms and is not limited to the embodiments described herein.
Fig. 1 is a schematic flow chart of a method for estimating a deviation angle in the embodiment of the present application.
The method comprises the following steps:
step S11: determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current represented by the actual direct axis current, the actual quadrature axis current, the motor parameter and the rotating speed under the active short circuit according to a synchronous motor voltage equation, bringing the fixed motor parameter into the steady-state current to obtain a first relational expression, and obtaining the actual direct axis current corresponding to the actual direct axis and the actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed according to the first relational expression.
Optionally, a two-phase rotating coordinate system including an actual direct axis and an actual quadrature axis is established through actual position information of the motor rotor, the actual direct axis and the actual quadrature axis are determined, and a synchronous motor voltage equation is used, preferably, a salient pole type permanent magnet synchronous motor voltage equation is used; under the condition of active short circuit, deducing the permanent magnet synchronous motor equation to obtain a steady-state current represented by actual direct-axis current and actual quadrature-axis current, motor parameters and rotating speed; since the motor parameters are known, the fixed motor parameters are brought into the steady-state current, a constant relation between the actual direct-axis current and the actual quadrature-axis current and the rotating speed is a first relational expression, and the constant relation is brought into a fixed rotating speed to obtain the actual direct-axis current corresponding to the actual direct axis and the actual quadrature-axis current corresponding to the actual quadrature axis at the fixed rotating speed. It should be noted that the fixed rotation speed may be selected to be any number of rotation speeds in at least one condition, and the more the fixed rotation speed is selected, the more accurate the error estimation value is, the number of the fixed rotation speeds is not limited in the present application, for example, the fixed rotation speed is two.
Step S12: and determining a measurement direct axis and a measurement quadrature axis according to the measurement position of the rotor, and obtaining a measurement direct axis current corresponding to the measurement direct axis and a measurement quadrature axis current corresponding to the measurement quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment.
Optionally, a two-phase rotating coordinate system including a measuring direct axis and a measuring quadrature axis is established according to the measured position information obtained by measurement, the measuring direct axis and the measuring quadrature axis are determined, an active short circuit experiment is performed on the motor to obtain experimental data, and a measuring direct axis current response relation corresponding to the measuring direct axis and a measuring quadrature axis current response relation corresponding to the measuring quadrature axis are obtained according to the experimental data; according to the response relation of the measured direct-axis current and the response relation of the measured quadrature-axis current, the measured direct-axis current corresponding to the measured direct axis and the measured quadrature-axis current corresponding to the measured quadrature axis can be obtained at a fixed rotating speed, and the motor short-circuit experimental structure is set according to the requirements, for example, the experimental structure is an inverter topological structure.
Step S13: and obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
Optionally, a direct axis deviation angle between the actual direct axis corresponding to the actual direct axis current and the measured direct axis corresponding to the measured direct axis current, a quadrature axis deviation angle between the actual quadrature axis corresponding to the actual quadrature axis current and the measured quadrature axis corresponding to the measured quadrature axis current are obtained according to the actual direct axis current corresponding to the actual direct axis, the actual quadrature axis current corresponding to the actual quadrature axis, and the measured quadrature axis corresponding to the measured quadrature axis current at a fixed rotation speed, and the direct axis deviation angle and the quadrature axis deviation angle are integrated to obtain a deviation angle between the actual direct axis and the measured direct axis or between the actual quadrature axis and the measured quadrature axis. It should be noted that the actual direct axis, the actual quadrature axis, the measurement direct axis and the measurement quadrature axis are respectively different coordinate systems established on a plane, the original points of the two-phase coordinate systems are identical, and there is a certain angle difference between the coordinate systems, so that the actual quadrature axis, the actual direct axis and the measurement quadrature axis are in a mathematical relationship on one position.
Optionally, the actual direct axis and the actual quadrature axis are determined according to the actual position of the rotor, and the steady-state current expressed by the actual direct axis current, the actual quadrature axis current, the motor parameter, and the rotation speed under the active short circuit is obtained according to a synchronous motor voltage equation, where the synchronous motor voltage equation is as follows:
wherein idAnd iqRespectively an actual direct axis current and an actual quadrature axis current, RsIs stator resistance, LdAnd LqRespectively an actual direct axis inductance and an actual quadrature axis inductance, udAnd uqRespectively an actual direct-axis voltage and an actual quadrature-axis voltage, omegaeIs the rotational speed, #fIs a permanent magnet flux linkage.
In particular, RsIs stator resistance, LdAnd LqRespectively an actual direct-axis inductor and an actual quadrature-axis inductor, psifFor permanent magnet flux linkage belonging to the motor parameters, u in the case of a short circuitdAnd uqAnd the steady-state current represented by the actual direct-axis current, the actual quadrature-axis current, the motor parameter and the rotating speed can be obtained by derivation according to the synchronous motor voltage equation, wherein the steady-state current is 0:
because, LdLqωe 2＞＞Rs 2So the steady state current can be expressed as:
optionally, the first relation is:
wherein A, B is a constant; i.e. idAnd iqRespectively, the actual direct axis current and the actual quadrature axis current, omegaeIs a fixed rotation speed.
Optionally, obtaining the measured direct-axis current and the measured quadrature-axis current at the fixed rotation speed according to an active short-circuit experiment includes: and obtaining a steady-state current response curve according to an active short-circuit experiment, and obtaining a measured direct-axis current and a measured quadrature-axis current at the fixed rotating speed according to the steady-state current response curve.
Optionally, obtaining a direct axis deviation angle obtained from the actual direct axis and the measurement direct axis and a quadrature axis deviation angle obtained from the actual quadrature axis and the measurement quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measurement direct axis current, and the measurement quadrature axis current includes:
and obtaining a direct axis deviation angle obtained by the actual direct axis and the measurement direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measurement quadrature axis according to the mathematical relationship among the actual direct axis, the actual quadrature axis, the measurement direct axis and a measurement quadrature axis.
Optionally, the mathematical relationship is as follows:
wherein, the idm、iqm、idAnd iqRespectively measuring direct axis current, measuring quadrature axis current, actual direct axis current and actual quadrature axis current; thetadAnd thetaqRespectively a direct axis deviation angle and a quadrature axis deviation angle.
Optionally, the method may further include the step of synthesizing the deviation angle, including: and adding the direct axis deviation angle and the quadrature axis deviation angle, and then carrying out average calculation to obtain the deviation angle, specifically, adding the quadrature axis deviation angle to the obtained direct axis deviation angle and then calculating an average value, wherein the average value is the deviation angle.
Specifically, the embodiment in practical application is exemplified according to the deviation angle estimation method.
Example 1: selecting two fixed rotating speed points for deviation angle estimation; please refer to fig. 2
Applied to a three-phase permanent magnet synchronous motor, as shown in fig. 2, a d-q two-phase rotating coordinate system is established at the actual position of a motor rotor, and the initial position of the motor is theta at the moment1The voltage equation of the salient pole type permanent magnet synchronous motor is as follows:
wherein idAnd iqRespectively an actual direct axis current and an actual quadrature axis current, RsIs stator resistance, LdAnd LqRespectively an actual direct axis inductance and an actual quadrature axis inductance, udAnd uqRespectively an actual direct-axis voltage and an actual quadrature-axis voltage, omegaeIs the rotational speed, #fIs a permanent magnet flux linkage;
when the motor is in an active short-circuit state, udAnd uqAll 0, the steady state current can be expressed as:
the first relational expression and the second relational expression are respectively as follows:
wherein A, B is a known constant since the motor parameters are known; i.e. idAnd iqRespectively, the actual direct axis current and the actual quadrature axis current, omegaeIs a fixed rotation speed.
As shown in FIG. 2, a dm-qm two-phase rotation coordinate system is established by using position information obtained by the position sensor, and an initial position θ of the motor is assumedmUnder the assumption, a short-circuit experiment is performed on the motor, d-axis and q-axis current response curves in the coordinate system are obtained, and the motor is actively short-circuited, such as but not limited to: and the upper bridge arm of the IGBT is completely opened, and the lower bridge arm of the IGBT is completely closed. Topology of the inverter. The current response curve is shown in fig. 3. The idm, iqm values of the measured current at two fixed rotational speeds are thus obtained.
According to d in FIG. 2m-qmThe relation between the coordinate system and the current under the d-q coordinate axis system,
the values of A and B are known, and theta is determineddAnd thetaqFurther, θ is obtained.
In principle similarity with the above embodiments, the present application provides a deviation angle estimation system for a three-phase permanent magnet synchronous motor, the motor including a rotor having a direct axis and a quadrature axis, the system comprising:
the actual current module is used for determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current expressed by the actual direct axis current, the actual quadrature axis current, the motor parameter and the rotating speed under the active short circuit according to a synchronous motor voltage equation, bringing the fixed motor parameter into the steady-state current, and obtaining the actual direct axis current corresponding to the actual direct axis and the actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed;
the measuring current module is used for determining a measuring direct axis and a measuring quadrature axis according to the measuring position of the rotor, and obtaining a measuring direct axis current corresponding to the measuring direct axis and a measuring quadrature axis current corresponding to the measuring quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment;
and the deviation angle calculation module is used for obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
Specific embodiments are provided below in conjunction with the attached figures:
fig. 4 is a schematic structural diagram of a deviation angle estimation system in the embodiment of the present application.
The actual current module 41 establishes a two-phase rotating coordinate system containing an actual direct axis and an actual quadrature axis through the actual position information of the motor rotor, determines the actual direct axis and the actual quadrature axis, and utilizes a synchronous motor voltage equation, preferably a salient pole type permanent magnet synchronous motor voltage equation; under the condition of active short circuit, deducing the permanent magnet synchronous motor equation to obtain a steady-state current represented by actual direct-axis current and actual quadrature-axis current, motor parameters and rotating speed; since the motor parameters are known, the fixed motor parameters are brought into the steady-state current, and the actual direct-axis current, the actual quadrature-axis current and the rotation speed form a first relational expression of a constant relation, and the first relational expression is brought into a fixed rotation speed to obtain the actual direct-axis current corresponding to the actual direct axis and the actual quadrature-axis current corresponding to the actual quadrature axis at the fixed rotation speed.
The measurement current module 42 establishes a two-phase rotating coordinate system including a measurement direct axis and a measurement quadrature axis according to measurement position information obtained by measurement, determines the measurement direct axis and the measurement quadrature axis, performs an active short circuit experiment on the motor to obtain experimental data, and obtains a measurement direct axis current response relation corresponding to the measurement direct axis and a measurement quadrature axis current response relation corresponding to the measurement quadrature axis according to the experimental data; according to the response relation of the measured direct-axis current and the response relation of the measured quadrature-axis current, the measured direct-axis current corresponding to the measured direct axis and the measured quadrature-axis current corresponding to the measured quadrature axis can be obtained at a fixed rotating speed, and the motor short-circuit experimental structure is set according to the requirements, for example, the experimental structure is an inverter topological structure.
The deviation angle calculation module 43 obtains a direct axis deviation angle between the actual direct axis corresponding to the actual direct axis current and the measured direct axis corresponding to the measured direct axis current, a quadrature axis deviation angle between the actual quadrature axis corresponding to the actual quadrature axis current and the measured quadrature axis corresponding to the measured quadrature axis current according to the actual direct axis current corresponding to the actual direct axis, the actual quadrature axis current corresponding to the actual quadrature axis, and the measured quadrature axis current at a fixed rotation speed, and integrates the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle between the actual direct axis and the measured direct axis or between the actual quadrature axis and the measured quadrature axis. It should be noted that the actual direct axis, the actual quadrature axis, the measurement direct axis and the measurement quadrature axis are respectively different coordinate systems established on a plane, the original points of the two-phase coordinate systems are identical, and there is a certain angle difference between the coordinate systems, so that the actual quadrature axis, the actual direct axis and the measurement quadrature axis are in a mathematical relationship on one position.
Fig. 5 is a schematic structural diagram of a computer device 50 in the embodiment of the present application.
The computer device 50 includes: a memory 51 and a processor 52, the memory 51 for storing computer programs; the processor 52 runs a computer program to implement the method of estimating the deviation angle as described in fig. 1.
Optionally, the number of the memories 51 may be one or more, the number of the processors 52 may be one or more, and fig. 5 is an example.
Optionally, the processor 52 in the computer device 50 may load one or more instructions corresponding to the processes of the application program into the memory 51 according to the steps shown in fig. 1, and the processor 52 runs the application program stored in the memory 51, so as to implement various functions in the deviation angle estimation method shown in fig. 1.
Optionally, the memory 51 may include, but is not limited to, a high speed random access memory, a non-volatile memory. Such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices; the Processor 52 may include, but is not limited to, a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Optionally, the Processor 52 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The present application also provides a computer-readable storage medium storing a computer program which, when executed, implements the method of estimating a deviation angle as shown in fig. 1. The computer-readable storage medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disc-read only memories), magneto-optical disks, ROMs (read-only memories), RAMs (random access memories), EPROMs (erasable programmable read only memories), EEPROMs (electrically erasable programmable read only memories), magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing machine-executable instructions. The computer readable storage medium may be a product that is not accessed by the computer device or may be a component that is used by an accessed computer device.
In summary, the method, the system, the computer device and the medium for estimating the offset angle solve the problems that in the prior art, the method for measuring the zero offset of the position sensor is limited by the accuracy estimated by a position-sensor-free algorithm, the algorithm is complex, the requirement on a hardware circuit is high, or the accuracy is greatly influenced by the rotational inertia of a load, and the implementation is difficult for occasions requiring a small rotation range or even a static starting rotor, so that the measuring method and the result are simpler, more reliable and more practical. Therefore, the application effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (10)
1. A method of deviation angle estimation for use in a three-phase permanent magnet synchronous motor, said motor including a rotor having a direct axis and a quadrature axis, said method comprising:
determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current represented by the actual direct axis current, the actual quadrature axis current, a motor parameter and a rotating speed under an active short circuit according to a synchronous motor voltage equation, bringing a fixed motor parameter into the steady-state current to obtain a first relational expression, and obtaining an actual direct axis current corresponding to the actual direct axis and an actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed according to the first relational expression;
determining a measurement direct axis and a measurement quadrature axis according to the measurement position of the rotor, and obtaining a measurement direct axis current corresponding to the measurement direct axis and a measurement quadrature axis current corresponding to the measurement quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment;
and obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
2. The deviation angle estimation method according to claim 1, wherein the synchronous machine voltage equation is:
wherein idAnd iqRespectively an actual direct axis current and an actual quadrature axis current, RsIs stator resistance, LdAnd LqRespectively an actual direct axis inductance and an actual quadrature axis inductance, udAnd uqRespectively an actual direct-axis voltage and an actual quadrature-axis voltage, omegaeIs the rotational speed, #fIs a permanent magnet flux linkage.
3. The method of estimating a deviation angle according to claim 1, wherein the first relation is:
wherein A, B is a constant; i.e. idAnd iqRespectively, the actual direct axis current and the actual quadrature axis current, omegaeIs a fixed rotation speed.
4. The method of estimating a deviation angle of claim 1, wherein obtaining the measured direct-axis current and the measured quadrature-axis current at the fixed rotational speed from an active short-circuit experiment comprises: and obtaining a steady-state current response curve according to an active short-circuit experiment, and obtaining a measured direct-axis current and a measured quadrature-axis current at the fixed rotating speed according to the steady-state current response curve.
5. The method according to claim 1, wherein obtaining a direct axis deviation angle from the actual direct axis and the measured direct axis and a quadrature axis deviation angle from the actual quadrature axis and the measured quadrature axis based on the actual direct axis current, the actual quadrature axis current, the measured direct axis current, and the measured quadrature axis current comprises:
and obtaining a direct axis deviation angle obtained by the actual direct axis and the measurement direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measurement quadrature axis according to the mathematical relationship among the actual direct axis, the actual quadrature axis, the measurement direct axis and a measurement quadrature axis.
6. The method of estimating an angle of deviation according to claim 5, wherein the mathematical relationship is:
wherein, the idm、iqm、idAnd iqRespectively measuring direct axis current, measuring quadrature axis current, actual direct axis current and actual quadrature axis current; thetadAnd thetaqRespectively a direct axis deviation angle and a quadrature axis deviation angle.
7. The method of estimating a deviation angle according to claim 1, wherein the step of synthesizing the deviation angles to obtain the deviation angle comprises: and adding the direct axis deviation angle and the quadrature axis deviation angle, and then carrying out average calculation to obtain the deviation angle.
8. A deviation angle estimation system for a three-phase permanent magnet synchronous motor including a rotor having a direct axis and a quadrature axis, the system comprising:
the actual current module is used for determining an actual direct axis and an actual quadrature axis according to the actual position of the rotor, obtaining a steady-state current expressed by the actual direct axis current, the actual quadrature axis current, the motor parameter and the rotating speed under the active short circuit according to a synchronous motor voltage equation, bringing the fixed motor parameter into the steady-state current, and obtaining the actual direct axis current corresponding to the actual direct axis and the actual quadrature axis current corresponding to the actual quadrature axis at a fixed rotating speed;
the measuring current module is used for determining a measuring direct axis and a measuring quadrature axis according to the measuring position of the rotor, and obtaining a measuring direct axis current corresponding to the measuring direct axis and a measuring quadrature axis current corresponding to the measuring quadrature axis under the condition of the fixed rotating speed according to an active short circuit experiment;
and the deviation angle calculation module is used for obtaining a direct axis deviation angle obtained by the actual direct axis and the measured direct axis and a quadrature axis deviation angle obtained by the actual quadrature axis and the measured quadrature axis according to the actual direct axis current, the actual quadrature axis current, the measured direct axis current and the measured quadrature axis current, and synthesizing the direct axis deviation angle and the quadrature axis deviation angle to obtain a deviation angle.
9. A computer device, comprising:
one or more memories for storing computer programs;
one or more processors for running the computer program to perform the method of deviation angle estimation according to any one of claims 1 to 7.
10. A computer storage medium, in which a computer program is stored which, when running, implements the deviation angle estimation method according to any one of claims 1 to 7.
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| CN113315441B (en) * | 2021-05-31 | 2023-03-03 | 北京国家新能源汽车技术创新中心有限公司 | Motor rotor magnetic pole detection method based on high-frequency injection method optimization |
| CN114465541B (en) * | 2022-02-14 | 2024-07-02 | 苏州蓝石新动力有限公司 | Zero setting method and device of motor and electronic equipment |
| CN115441806B (en) * | 2022-09-20 | 2024-08-23 | 浙江吉利控股集团有限公司 | Motor calibration method and device for vehicle, vehicle controller and storage medium |
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