CN110426559A - A kind of method, apparatus and equipment measuring electric motor resistance - Google Patents
A kind of method, apparatus and equipment measuring electric motor resistance Download PDFInfo
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- CN110426559A CN110426559A CN201910654658.7A CN201910654658A CN110426559A CN 110426559 A CN110426559 A CN 110426559A CN 201910654658 A CN201910654658 A CN 201910654658A CN 110426559 A CN110426559 A CN 110426559A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/08—Measuring resistance by measuring both voltage and current
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Abstract
The embodiment of the present application discloses a kind of method for measuring electric motor resistance, the input current of inverter is reference current, the described method includes: the inverter receives multiple mutually different pulse voltages, wherein the multiple mutually different pulse voltage includes the first pulse voltage and the second pulse voltage；When the inverter receives first pulse voltage, the motor is in effective impulse state；Calculate the first voltage when motor is in effective impulse state；When the inverter receives second pulse voltage, the motor is in freewheeling state；Calculate the second voltage that the motor is under freewheeling state；The average voltage that the motor is calculated according to the first voltage and the second voltage determines the resistance value of the motor according to the average voltage of the motor and the reference current.Implement the application, realize the measurement of electric motor resistance, improves the accuracy of electric motor resistance measurement.
Description
Technical field
This application involves Motor Control Field, especially a kind of method, apparatus and equipment for measuring electric motor resistance.
Background technique
Motor currently on the market has motor nameplate, is the parameter of electric machine that production firm provides above motor nameplate.
But since motor device works operation for a long time, the operating temperature of motor changes and the influence of motor external connecting wire, real
The electric motor resistance numerical value on border is usually different with the numerical value above motor nameplate, and the resistance value influences of motor motor speed etc.
The configuration of some parameters.In order to modulate good Motor control parameters, needs first to measure electric motor resistance parameter, protect
Card motor actual parameter and production firm provide data be not inconsistent or the biggish situation of error under, motor still can be with good electricity
The operation of machine control parameter.
In the prior art, the method used to the measurement of electric motor resistance is that multiple and different voltage and electricity are inputted to motor
Stream, wherein input motor voltage be it is fixed, then converted to obtain electric motor resistance according to the relationship between voltage and current
Resistance value, the obtained electric motor resistance of measurement in this way is inaccurate.
Summary of the invention
In order to solve the problem above-mentioned, this application provides a kind of method, apparatus and equipment for measuring electric motor resistance, institutes
It is variable for stating the voltage of electric motor resistance, and the conduction voltage drop of device is considered during conversion, realizes the survey of electric motor resistance
Amount, improves the accuracy of measurement.
In a first aspect, the embodiment of the present application provide it is a kind of measure electric motor resistance method, one end of the motor with it is inverse
The first end connection for becoming device, wherein the inverter includes first part and second part, the first part and described second
Part respectively includes three insulated gate bipolar transistor IGBTs in parallel, and each IGBT includes a parasitic diode, described
The input current of motor is reference current, which comprises
The inverter receives multiple mutually different pulse voltages, wherein the multiple mutually different pulse voltage packet
The first pulse voltage and the second pulse voltage are included, first pulse voltage is used to control an IGBT in the first part
Two IGBT conducting in conducting and the second part, so that the motor is in effective impulse state, second pulse
Three IGBT that voltage is used to control in the first part or the second part are all turned on, so that the motor is in continuous
Stream mode；
It calculates the motor and is in the input voltage of the inverter when effective impulse state by described first
First voltage after the conduction voltage drop of an IGBT being divided to and two IGBT in the second part；It calculates at the motor
The conduction voltage drop of the parasitic diode of the IGBT of one on state and another on state under the freewheeling state
IGBT conduction voltage drop and be second voltage；
The average voltage of the motor is calculated according to the first voltage and the second voltage；
The resistance value of the motor is determined according to the average voltage of the motor and the reference current.
In one possible implementation, the multiple mutually different pulse voltage act on the inverter when
Between be T, first pulse voltage act on the inverter time be T1, T1Less than T；
The average voltage for calculating the motor according to the first voltage and the second voltage includes:
Calculate the first voltage and the first duty ratio D1Product, to obtain the first product, wherein the first duty ratio D1
=T1/T；
Calculate the second voltage and the second duty ratio D2Product, to obtain the second product, wherein D2=1-D1；
Second sum of products described in first sum of products is determined as to the average voltage of the motor.
In alternatively possible implementation, the first voltage is described in the input voltage of the inverter and twice
The difference of the conduction voltage drop of IGBT；
The second voltage is the conducting of the conduction voltage drop and an IGBT of the parasitic diode of an IGBT
The sum of pressure drop, the direction of the second voltage are contrary with the first voltage.
In one possible implementation, the second end of the inverter is connect with external power supply, the external power supply
Voltage be the inverter input voltage.
Optionally, the inverter receives multiple mutually different pulse voltages and includes:
The space vector pulse width modulation device is modulated to obtain multiple mutually different pulse electricity according to preset DC voltage
It presses, and the multiple mutually different pulse voltage is successively transported to the third end of the inverter by preset order, it is described inverse
Become the third end of device as the gate pole of the IGBT.
Optionally, current regulator is connect with the other end of the space vector pulse width modulation device；
The current regulator is used to export DC voltage, the direct current of the current regulator output by clipping unit
Pressure is the preset DC voltage.
Optionally, one end of the other end of the motor and speed regulator connects；
The speed regulator is used to be arranged the velocity of rotation of the motor, exports institute according to the velocity of rotation of the motor
The target current of motor is stated, the output electric current of the speed regulator is the reference current.
In one possible implementation, one end of current regulator is connect with the other end of the speed regulator；
The current regulator obtains the difference of the reference current Yu the motor actual current, is changed according to the difference
Become the amplitude of the DC voltage of current regulator output so that space vector pulse width modulation device modulate it is multiple mutually not
Identical pulse voltage changes, to change the voltage of the motor, the actual current for controlling the motor is the ginseng
Examine electric current.
Second aspect, the embodiment of the present application provide it is a kind of measure electric motor resistance device, described device include motor and
Inverter, the inverter include first part and second part, and the first part and the second part respectively include three
The insulated gate bipolar transistor IGBT of a parallel connection, each IGBT include a parasitic diode, the input current of the motor
For reference current, in which:
The inverter, for receiving multiple mutually different pulse voltages, wherein the multiple mutually different pulse
Voltage includes the first pulse voltage and the second pulse voltage, and first pulse voltage is used to control one in the first part
Two IGBT conducting in a IGBT conducting and the second part, so that the motor is in effective impulse state, described the
Three IGBT that two pulse voltages are used to control in the first part or the second part are all turned on, so that the motor
In freewheeling state；
Computing module, the input voltage for calculating the inverter when motor is in the effective impulse state pass through
First voltage after crossing the conduction voltage drop of two IGBT in the first part an IGBT and the second part；
The computing module is also used to calculate the motor and is in one on state under the freewheeling state
The conduction voltage drop of the IGBT of the parasitic diode and another on state of IGBT and be second voltage；
The computing module is also used to calculate the average electricity of the motor according to the first voltage and the second voltage
Pressure；
The computing module is also used to determine the motor according to the average voltage and the reference current of the motor
Resistance value.
The third aspect, the embodiment of the present application provide a kind of equipment for measuring electric motor resistance, and the equipment includes motor, inverse
Become device and processor, the inverter includes first part and second part, and the first part and the second part are distinguished
Including three insulated gate bipolar transistor IGBTs in parallel, each IGBT includes a parasitic diode, the motor it is defeated
Entering electric current is reference current, in which:
The inverter, for receiving multiple mutually different pulse voltages, wherein the multiple mutually different pulse
Voltage includes the first pulse voltage and the second pulse voltage, and first pulse voltage is used to control one in the first part
Two IGBT conducting in a IGBT conducting and the second part, so that the motor is in effective impulse state, described the
Three IGBT that two pulse voltages are used to control in the first part or the second part are all turned on, so that the motor
In freewheeling state；The processor, for calculating the defeated of the inverter when motor is in the effective impulse state
Enter of voltage after the conduction voltage drop of an IGBT in the first part and two IGBT in the second part
One voltage；
The processor is also used to calculate the IGBT that the motor is in one on state under the freewheeling state
Parasitic diode and another on state IGBT conduction voltage drop and be second voltage；
The processor is also used to calculate the average electricity of the motor according to the first voltage and the second voltage
Pressure；
The processor is also used to determine the electricity of the motor according to the average voltage and the reference current of the motor
Resistance value.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, in the readable storage medium storing program for executing
It is stored with instruction, when run on a computer, so that computer executes above-mentioned various aspects and its any possible realization
Method described in mode.
In the application, the voltage for being applied to electric motor resistance is set to be variable by space vector pulse width modulation, and converting
The conduction voltage drop for considering device in the process realizes the measurement of electric motor resistance, improves the accuracy of measurement.
Detailed description of the invention
Fig. 1 is a kind of method flow schematic diagram for measuring electric motor resistance provided by the embodiments of the present application；
Fig. 2 is a kind of modulation waveform figure of method for measuring electric motor resistance provided by the embodiments of the present application；
Fig. 3 is a kind of three-phase motor inverter control circuit schematic diagram provided by the embodiments of the present application；
Fig. 4 is a kind of electric motor resistance equivalent schematic of method for measuring electric motor resistance provided by the embodiments of the present application；
Fig. 5 is a kind of coordinate system schematic diagram for measuring electric motor resistance provided by the embodiments of the present application；
Fig. 6 is a kind of schematic device for measuring electric motor resistance provided by the embodiments of the present application；
Fig. 7 is a kind of schematic diagram of equipment for measuring electric motor resistance provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on this Shen
Please in embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall in the protection scope of this application.
In order to better understand the application, technical term involved in the embodiment of the present application is explained below.
Space vector pulse width (Space Vector Pulse Width Modulatio, SVPWM) modulation is present motor
A kind of control mode of modulating motor voltage used in control field.The target of space vector pulse width modulation is to obtain motor
Circular ideal magnetic linkage track, concrete methods of realizing are turning on and off to the insulated gate bipolar transistor IGBT in inverter
State is controlled, and obtains flux linkage vector thus to be tracked to ideal loop circle flux track.Space pulsewidth Vector Modulation
From the overall effect of the three-phase output voltage of the motor, how be conceived to makes motor obtain circular ideal magnetic linkage track,
The harmonic components of winding current waveform are small, so that motor torque ripple reduces, rotating excitation field more approaches circle, and keep direct current female
The utilization rate of line voltage has large increase, and is more easily implemented digitlization.
In this application, one end of the motor is connected with the first end of the inverter, the second end of the inverter
It is connect with external power supply, the third end of the inverter is connected with one end of space vector pulse width modulation device, the space pulsewidth
The other end of vector adjuster is connected with one end of current regulator, the other end of the current regulator and speed regulator
One end connection, the other end of the speed regulator are connect with the other end of the motor.The application is the survey to electric motor resistance
Amount needs to know the voltage of motor and flows through the electric current of motor, so that it is determined that the resistance of motor according to Ohm's law.
Wherein it is determined that the principle of the voltage of the motor are as follows: the inverter is as the external power supply and the motor
Connection bridge, the pulse voltage of space vector pulse width modulation device modulation controls the conducting of IGBT in the inverter or cuts
Only, thus conducting situation of the external power supply based on the IGBT can be provided by different paths to the motor it is different
Voltage.Situation is connected according to IGBT difference and calculates motor in a cycle in the duty ratio entirely switched and corresponding electric moter voltage
Average voltage, the average voltage being calculated is determined as to the voltage of the motor.
Determine the principle for flowing through the electric current of motor are as follows: the electric current of motor determines that the torque of motor, the torque of motor determine electricity
The revolving speed of machine, it is possible to which the electric current for being interpreted as motor determines the revolving speed of motor.In practical applications, the rotation speed of the motor
Degree needs to be configured, after the velocity of rotation of motor has configured, the speed regulator according to the velocity of rotation of the motor to
Current regulator exports the target current of the motor, and the target current can be understood as the motor and match in advance to reach
The electric current that the velocity of rotation set needs, i.e. reference current.In order to allow the electric current for flowing through motor to be the reference current to realize
The configuration revolving speed of motor, the current regulator obtains the difference of the reference current Yu the motor actual current, according to institute
Difference is stated to control multiple mutually different pulse voltages of the space vector pulse width modulation device modulation, to change motor
Voltage, so that the electric current of the motor can be close or equal to reference current.
The technical solution of the application can be applied in the electric machine control system of resistance for determining motor based on foregoing manner,
Specific pulse voltage, which is set as, by the pulse voltage for modulating space vector pulse width modulation device (continues embodiment as detailed below
Introduce), convenient for the conduction voltage drop of the IGBT in detection inverter, so that the average voltage of motor is determined based on conduction voltage drop, and
The resistance value of motor is determined according to the average voltage that the conduction voltage drop based on IGBT determines, it is contemplated that the conduction voltage drop of IGBT is to inspection
The accuracy of measurement can be improved in the influence of the electric moter voltage measured.
It is described in further detail with reference to the accompanying drawing come the implementation of the technical solution to the application.Referring to Fig. 1 to figure
5。
It should be noted that one end of motor and the first end of inverter connect, wherein the inverter includes first
Divide and second part, the first part and the second part respectively include three insulated gate bipolar transistors in parallel
IGBT, each IGBT include a parasitic diode, and the input current of the motor is reference current.Referring first to Fig. 1, Fig. 1
For a kind of method flow schematic diagram for measuring electric motor resistance provided by the embodiments of the present application.As shown in Figure 1, the measurement motor electricity
The method of resistance comprising steps of
100, inverter receives multiple mutually different pulse voltages, wherein the multiple mutually different pulse voltage packet
Include the first pulse voltage and the second pulse voltage, wherein the multiple mutually different pulse voltage include the first pulse voltage and
Second pulse voltage, first pulse voltage are used to control IGBT conducting and described second in the first part
Two IGBT conducting in being divided to, so that the motor is in effective impulse state, second pulse voltage is described for controlling
Three IGBT in first part or the second part are all turned on, so that the motor is in freewheeling state.Specifically, empty
Between Vector Pulse Width Modulation device according to target DC voltage modulate to obtain multiple mutually different pulse voltages, and will it is the multiple mutually
Different pulse voltage is successively transmitted to the inverter by preset order, and the multiple mutually different pulse voltage is used for
Change the average voltage of the motor, so that the actual current of the motor is the reference current.The target DC voltage
It can provide, in one possible implementation, one end of current regulator and space vector pulse width tune by current regulator
The other end of device processed connects, and the other end of the motor is connect with one end of the speed regulator, the current regulator
The other end is connect with the other end of the speed regulator；The speed regulator is according to preset motor rotation speed to described
Current regulator exports the reference current；The current regulator passes through clipping unit to the sky according to the reference current
Between Vector Pulse Width Modulation device export target DC voltage.The target DC voltage can be understood as carry by voltage magnitude
Signal affects the modulated signal of space vector pulse width modulation device.Specifically, speed regulator is defeated according to the configuration of motor speed
Reference current out obtains the reference current using current regulator and exports target DC voltage, and the DC voltage is made
For the given voltage of the space vector pulse width modulation device, the space pulsewidth vector modulator is carried out according to given voltage
It modulates multiple mutually different pulse voltages, such as changes the first pulse voltage described in the frequency shift of pulse voltage and described the
The duty ratio of two pulse voltages, controls the turn-on time of the inverter, to change the average voltage of the motor, so that electric
The actual current value of machine is equal with reference current value.Space vector pulse width modulation device is modulated below multiple different
The waveform of pulse voltage be introduced.
Referring to fig. 2, Fig. 2 is a kind of modulation waveform of method for measuring electric motor resistance provided by the embodiments of the present application.Such as Fig. 2
Shown, horizontal axis represents the time, and the longitudinal axis represents the IGBTS in inverter first parta +、Sb +And Sc +The pulse that receives of gate pole
Voltage waveform.The waveform of the space vector pulse width modulation device modulation includes the first pulse voltage and the second pulse in this application
Voltage, wherein first pulse voltage can be 100, second pulse voltage can be 111 or 000.The space arrow
Measuring pulsewidth modulation includes four parts of zero vectors, puts portion in a cycle beginning and end, i.e. 000 in Fig. 2；Centre puts two parts,
That is 111 in Fig. 2.Each period is started with zero vector, is terminated with zero vector, when from a vectors switching to another vector, one
The state of phase changes, and can reduce motor power consumption in this way.Such as 000 be switched to 100, IGBTSa +State become from " 0 "
"1".Illustratively, 000 and 111 the second pulse voltage is represent, second pulse voltage is for controlling the first part
Or three IGBT in the second part are all turned on, so that the motor is in freewheeling state；100 represent the first pulse
Voltage, first pulse voltage are used to control in the IGBT conducting and the second part of the first part
Two IGBT conductings, so that the motor is in effective impulse state.Space vector pulse width modulation can change voltage vector work
Time modulates required electric moter voltage with this.
Since what the multiple mutually different pulse voltage was used to control IGBT in the inverter turns on and off shape
State, working condition when receiving the multiple mutually different pulse voltage to inverter below are introduced.
Referring to Fig. 3, Fig. 3 is a kind of three-phase motor inverter control circuit schematic diagram provided by the embodiments of the present application.Such as Fig. 3 institute
Show, the inverter includes first part and second part, and in a kind of possible embodiment, the first part includes
IGBTSa +、Sb +And Sc +, the IGBTSa +Parasitic diode D including being connected in parallel on collector and emittera +, the IGBTSb +Packet
Include the parasitic diode D for being connected in parallel on collector and emitterb +, the IGBTSc +Including being connected in parallel on posting for collector and emitter
Raw diode Dc +；The second part includes IGBTSa -、Sb -And Sc -, the IGBTSa -Including being connected in parallel on collector and emitter
Parasitic diode Da -, the IGBTSb -Parasitic diode D including being connected in parallel on collector and emitterb -, the IGBTSc -Packet
Include the parasitic diode D for being connected in parallel on collector and emitterc -, it is to be understood that six IGBT tool that the inverter includes
There are identical conduction voltage drop and parasitic diode pressure drop, in one possible implementation, six IGBT can be same
A kind of IGBT of model is even the same as a batch of IGBT.As shown in figure 3, the IGBTS of first parta +With second part
IGBTSa -It is connected on the same branch road, forms the first bridge arm of inverter, at any time, IGBTSa +And IGBTSa -It cannot
It simultaneously turns on, in control process, IGBTSa +And IGBTSa -On state each other on the contrary, i.e. IGBTSa +Conducting, and IGBTSa -
Cut-off；Or IGBTSa +Cut-off, and IGBTSa -Conducting, IGBTSb +And Sb -Form the second bridge arm of inverter and IGBTSc +And Sc -Group
At inverter third bridge arm.Similarly, IGBTSb +And Sb -On state is opposite each other and IGBTSc +And Sc -On state
It is opposite each other.The multiple pulse voltage controls three IGBT, and the IGBT has on and off two states, the multiple
Pulse voltage can have 23=8 combinations.If the IGBT conducting is indicated with " 1 ", the IGBT cut-off is indicated with " 0 ", then institute
State three IGBTS in first parta +、Sb +And Sc +Working condition have: 000,001,010,011,100,101,110 or
111, wherein 000 and 111 be zero vector, the IGBTS of the first parta +、Sb +And Sc +All end or all turn on, is i.e. institute
The second pulse voltage is stated, the motor is in freewheeling state；And 100 be the first pulse voltage, the motor is in effective impulse
State.
101, it calculates the motor and be in the input voltage of the inverter when effective impulse state and pass through described the
First voltage after the conduction voltage drop of an IGBT in a part and two IGBT in the second part.Specifically, institute
When stating motor and being in effective impulse state, first pulse voltage is used to control the IGBT conducting in the first part, with
And the IGBT conducting in the second part, illustratively, the S in the first parta +In conducting and the second part
Sb -And Sc -The input voltage of conducting, the inverter passes through IGBTSa +Reach motor A phase stator winding, can choose by
The B phase stator winding and IGBTS of motorb -The voltage circuit for forming a closure, also can choose C phase stator by motor around
Group and IGBTSc -Form another sealing voltage circuit.It is described inverse when the input voltage of the inverter forms closed circuit
The input voltage for becoming device is applied on the motor, it is contemplated that conduction voltage drop when IGBT is connected, due to the IGBTSb -And institute
State IGBTSc -For parallel relationship, therefore, the input voltage of the inverter subtracts IGBTSb -And Sc -After parallel connection and IGBTSa +Series connection
IGBT conduction voltage drop be the first voltage.Illustratively, the IGBTSb -、Sc -And Sa +Conduction voltage drop be
UIGBT, the input voltage of the inverter is Udc, the first voltage is Udc-2UIGBT, i.e., the described first voltage is the inversion
The difference of the conduction voltage drop of the input voltage of device and twice of IGBT.In one possible implementation, the inverter
Second end is connect with external power supply, and the voltage of the external power supply is the input voltage of the inverter.
102, the parasitic diode that the motor is in the IGBT of one on state under the freewheeling state is calculated
Conduction voltage drop and another on state IGBT conduction voltage drop and be second voltage.Specifically, the motor is in
When the freewheeling state, three IGBT in the first part or the second part are all turned on.For example, the inverter
Second part in IGBTSa -、Sb -And Sc -It all turns on, the electric current of the motor passes through IGBTSa -Parasitic diode Da -Stream
Enter A phase stator winding, then passes through motor B phase stator winding and IGBTSb -The current loop for forming a closure, can also select
It selects by motor C phase stator winding and IGBTSc -Form another closed current loop；In another example first of the inverter
IGBTS in pointa +、Sb +And Sc +It all turns on, the electric current of the motor can also pass through IGBTSa +Parasitic diode Da +Flow into A
Then phase stator winding passes through motor B phase stator winding and IGBTSb +Formed one closure current loop, also can choose through
Cross motor C phase stator winding and IGBTSc +Form another closed current loop.When the second voltage pulse is 111 or 000
When, due to the characteristic that the electric current of inductance is not mutated, the IGBT parasitic diode there are freewheel current by afterflow and two
IGBT in parallel, it is contemplated that the conduction voltage drop of IGBT conducting and the conduction voltage drop of parasitic diode, the A phase of the motor is fixed
The voltage clamping of sub- winding is in the conduction voltage drop of parasitic diode and the conduction voltage drop of an IGBT.Therefore, described second
Voltage be an IGBT parasitic diode conduction voltage drop and an IGBT the sum of conduction voltage drop, described second
The direction of voltage is contrary with the first voltage, i.e., the described second voltage is-(UIGBT+UDIODE), wherein UDIODEFor institute
State the conduction voltage drop of the parasitic diode of IGBT.In one possible implementation, the parasitic diode of the IGBT
Conduction voltage drop UDIODEWith conduction voltage drop UIGBTFor a fixed value, the parasitic diode conduction voltage drop of the IGBT and the type of IGBT
Number and production business men and IGBT using batch it is related.
103, the average voltage of the motor is calculated according to the first voltage and the second voltage.Specifically, again
With reference to Fig. 3, as shown in figure 3, the time that the multiple mutually different pulse voltage acts on the inverter is T, described the
The time that one pulse voltage acts on the inverter is T1, T1Less than T；Calculate the first voltage and the first duty ratio D1, with
The first product is obtained, wherein the first duty ratio D1=T1/T；The product of the second voltage and the second duty ratio is calculated, with
To the second product, wherein D2=1-D1；Second sum of products described in first sum of products is determined as to the average electricity of the motor
Pressure.In one possible implementation, the IGBTS when the first pulse voltage is 100, in the first parta +Conducting, then
The first duty ratio D1For the duty ratio of the A phase stator winding of the motor, i.e., the described input current of inverter acts on A phase
The time of stator winding accounts for the ratio that multiple mutually different pulse voltages act on the time of the inverter, at this time the electricity
Machine is in effective impulse voltage status.When the second pulse voltage is 000 or 111, the motor is in freewheeling state.The electricity
The A phase stator winding of machine forms a complete period by effective impulse state and freewheeling state, and therefore, the motor is averaged
Voltage Uav=(Udc-2UIGBT)×D1-(UIGBT+UDIODE)×(1-D1)。
104, the resistance value of the motor is determined according to the average voltage of the motor and the reference current.Specifically,
According to Ohm's law, resistance is equal to voltage divided by electric current, and step 103 has been computed in one cycle flat of the motor
Equal voltage, when being in effective impulse state due to motor, the input current of the motor is the reference current；Electric current is in continuous
When stream mode, the electric current of the motor is not mutated, also the still reference current.It is understood that being determined according to electric current
The principle of motor speed, the reference current are that the motor reaches electric current required for the velocity of rotation of setting.According to step
100 it is found that the reference current have passed through A phase stator winding and remain when motor is in effective impulse state and freewheeling state
The stator winding in parallel of remaining two-phase, the equivalent electric motor resistance that the input current of the inverter flows through is shown in Figure 4, and Fig. 4 is
A kind of electric motor resistance equivalent schematic of method measuring electric motor resistance provided by the embodiments of the present application.As shown in figure 4, due to three
The resistance of phase stator winding be it is the same, with RsInstead of the phase resistance of any phase in the A phase, B phase or C phase of motor, then the ginseng
The resistance for examining electric current process is Rs+Rs//Rs=3Rs/2.The average voltage of the motor is obtained into institute divided by the reference current
State the measurement resistance value of motor, i.e. 3Rs/ 2=Uav/Id, then electric motor resistance Rs=2Uav/3Id, wherein the IdTo be described with reference to electricity
Stream.
The reference current is the input current of the motor, in motor control, due to the variation of motor speed, motor
The influence of the factors such as the variation of variation, the load of working environment and the disturbance of external power supply, the input current meeting of the motor
It changes, but motor is at work, it is undesirable to which the input current of motor is changing, it is desirable to which the input current of motor is in a perseverance
In the state of stream, the electric current of motor is stablized in being the introduction of current regulator, it is how stable to current regulator below
The input current of the motor is that the reference current is introduced.
In one possible implementation, the current regulator obtains the reference current and the practical electricity of the motor
The difference of stream changes the DC voltage that the current regulator is exported to the space vector pulse width modulation device according to the difference
Amplitude, to export the target DC voltage to the space vector pulse width modulation device.Specifically, the current regulator obtains
The difference of the reference current Yu the motor actual current is taken, to learn that the electric current of the motor does not reach target electricity
Stream, the current regulator transmits the difference of the two by the amplitude of the DC voltage of output, with current regulator
The amplitude for the DC voltage that the space vector pulse width modulation device of one end connection is exported according to the current regulator is modulated arteries and veins
Voltage is rushed, the first duty ratio of the first pulse voltage, the motor average voltage U being calculated according to step 103 are changedav=
(Udc-2UIGBT)×D1-(UIGBT+UDIoDE)×(1-D1), it is known that D1It changes, UavAlso can change therewith, then the motor
Input current can also change, so that the input current of the motor is stabilized to the reference current in this way.
It should be noted that a kind of method for measuring electric motor resistance, since the initial position of the rotor of motor is not true
It is fixed, so needing first to carry out initialization positioning to the rotor of the motor before executing step 100.Specifically, space vector
The pulse voltage that pulse width modulator is modulated can allow the voltage input of external power supply to the stator of the motor, it is believed that
The stator is d axis, the electric current of fixed value is received, so that the external power supply generates electricity on the stator winding of the motor
Stream.Illustratively, the pulse voltage can be 001,010,011,100,101 or 110.The voltage of external power supply is applied to institute
The stator winding for stating motor generates fixed-size DC current between the stator winding of the motor, theoretical according to electric magnetisation,
The stator winding generates magnetic field.Since rotor is permanent magnet, it is believed that the rotor is q axis, and the current value received is
0, rotor rotates up to stabilization in the magnetic field that stator generates, and realizes that the initialization to rotor positions.It, can be with by introducing dq axis
Three groups of parameters of three-phase motor are converted into two groups of parameters.Specifically, Fig. 5 is one kind provided by the embodiments of the present application referring to Fig. 5
Measure the coordinate system schematic diagram of electric motor resistance.As shown in figure 5, including three-phase static coordinate system (ABC), the static seat of two-phase in Fig. 5
Mark system (alfa and beta) and two-phase rotating coordinate system (dq), wherein A, B and C respectively indicate three-phase electricity static in space
The axis of machine stator winding differs 120 ° two-by-two；Due to threephase stator winding can with mutually independent two-phase Symmetric Orthogonal around
The equivalent replacement of group, the magneto electromotive force of generation is identical, then has alfa and beta two-phase stationary coordinate system, wherein alfa and beta
90 ° of difference；For motor stator, from two phase coordinate systems that alfa and beta is changed in the three phase coordinate system transfers of ABC, become
Motor stator after alternatively remains static, but for rotor, changes to from the three phase coordinate system transfers of ABC
In two phase coordinate systems of alfa and beta, rotor is still within rotation status, and rotor and motor stator exist opposite
Movement, being transformed into two phase coordinate systems from three phase coordinate systems reduces dimension, simplifies between motor stator and rotor
Self-induction matrix.The motor stator and the rotor are applied into rotation transformation simultaneously, rotate to the same two-phase rotation
In coordinate system (dq), make to improve what system controlled there is no relative motion between the motor stator and the rotor
Freedom degree.In principle, the electric current of d axis is projected toward three-phase static coordinate system ABC, allows d axis and A overlapping of axles, the electric current etc. of A axis
In the electric current of d axis, when due to the pulse voltage that the inverter receives being 100, the A phase current of the motor is the defeated of motor
Enter electric current, i.e. the size of the A phase current of motor is reference current, and direction is to flow into motor.A phase current is thrown into B phase and C phase
Shadow, since the angle between A, B and C is 120 °, so the size of current of B phase and C phase is the half of A phase current, i.e. size is
The half of reference current, direction are outflow motor, meet the current trend that the motor is in the effective impulse state, so
The fixed value for being transmitted to the electric current of the stator winding of motor can be the reference current value.
In the present embodiment, the IGBT in inverter is controlled by the mutually different pulse voltage of space vector pulse width modulation
On state, control voltage acts on time of inverter, so that it is variable that control, which is applied to the voltage of motor, and
When calculating the voltage being applied on motor, it is contemplated that the conduction voltage drop of IGBT and the conduction voltage drop of parasitic diode realize motor
The accurate measurement of resistance, improves the accuracy of measurement.
The embodiment of the present application also provides a kind of measurement electric motor resistance device, referring to Fig. 6, Fig. 6 is that the application is implemented
A kind of schematic device for measurement electric motor resistance that example provides.As shown in fig. 6, the embodiment of the present application provides a kind of measurement motor
The device 60 of resistance, described device 60 include motor 600 and inverter 601, and the inverter 601 includes first part and second
Part, the first part and the second part respectively include three insulated gate bipolar transistor IGBTs in parallel, each
IGBT includes a parasitic diode, and the input current and input voltage of the inverter 601 are respectively reference current and reference
Voltage, in which:
The inverter 601, for receiving multiple mutually different pulse voltages, wherein the multiple mutually different arteries and veins
Rushing voltage includes the first pulse voltage and the second pulse voltage, and first pulse voltage is for controlling in the first part
Two IGBT conducting in one IGBT conducting and the second part, so that the motor is in effective impulse state, it is described
Three IGBT that second pulse voltage is used to control in the first part or the second part are all turned on, so that the electricity
Machine is in freewheeling state.Specifically, described device 60 further includes space vector pulse width modulation device 602, current regulator 603 and turns
Fast adjuster 604, space vector pulse width modulation device 604 are modulated to obtain multiple mutually different pulse electricity according to target DC voltage
Pressure, and the multiple mutually different pulse voltage is successively transported into the inverter 601 by preset order, it is the multiple mutually not
Identical pulse voltage for changing the motor average voltage so that the actual current of the motor 600 be the reference
Electric current.The target DC voltage can be provided by current regulator 603, in one possible implementation, current regulation
One end of device 603 is connect with the other end of space vector pulse width modulation device 602, the other end and the revolving speed of the motor 600
One end of adjuster 604 connects, and the other end of the current regulator 603 is connect with the other end of the speed regulator 604；
The speed regulator 604 exports the reference current to the current regulator 603 according to preset motor rotation speed；Institute
It states current regulator 603 and mesh is exported to the space vector pulse width modulation device 602 by clipping unit according to the reference current
Mark DC voltage.The target DC voltage can be understood as carry signal by voltage magnitude, affect space vector arteries and veins
The modulated signal of wide modulator 602.Specifically, speed regulator 604 exports reference current according to the configuration of motor speed, then pass through
Overcurrent adjuster 603 obtains the reference current and exports target DC voltage, and the DC voltage is sweared as the space
The given voltage of pulse width modulator 602 is measured, the space pulsewidth vector modulator 602 is modulated more according to given voltage
A mutually different pulse voltage, such as change the first pulse voltage and second pulse described in the frequency shift of pulse voltage
The duty ratio of voltage, controls the turn-on time of the inverter 601, to change the average voltage of the motor 600, so that electric
The actual current value of machine 600 is equal with reference current value.The space vector pulse width modulation device 602 modulate obtain it is multiple mutually not
The waveform of identical pulse voltage can be with reference to the embodiment previously in conjunction with Fig. 2, and the multiple mutually different pulse voltage
State is turned on and off for control IGBT in the inverter 601, before the working condition of the inverter 601 can refer to
Text combines the embodiment of Fig. 3, does not repeat herein.Described device 60 further includes computing module 605, for calculating the motor
600 are in the input voltage of the inverter 601 when the effective impulse state by an IGBT in the first part
With the first voltage after the conduction voltage drop of two IGBT in the second part.Specifically, the motor 600, which is in described, to be had
When imitating pulse condition, first pulse voltage is used to control IGBT conducting and described second in the first part
Two IGBT conducting in being divided to.Illustratively, an IGBTS in the first part of the inverter 601a +Conducting, second
Two IGBTS being divided tob -And Sc -The input voltage of conducting, the inverter 601 passes through IGBTSa +Reach motor A phase stator around
Group can choose B phase stator winding and IGBTS by motorb -Formed one closure voltage circuit, also can choose by
The C phase stator winding and IGBTS of motorc -Form another sealing voltage circuit.When the input voltage formation of the inverter is closed
When closing circuit, the input voltage of the inverter is applied on the motor, it is contemplated that conduction voltage drop when IGBT is connected, due to
The IGBTSb -With the IGBTSc -For parallel relationship, therefore, the input voltage of the inverter 601 subtracts IGBTSb -And Sc -
After parallel connection and IGBTSa +The conduction voltage drop of concatenated IGBT is the first voltage.Illustratively, the IGBTSb -、Sc -And
Sa +Conduction voltage drop be UIGBT, the input voltage of the inverter is Udc, the first voltage is Udc-2UIGBT, i.e., described
One voltage is the input voltage of the inverter 601 and the conduction voltage drop of twice of IGBT.It is understood that described device
60 further include external power supply 606, in one possible implementation, the second end and external power supply 606 of the inverter 601
Connection, the voltage of the external power supply 606 are the input voltage of the inverter 601.
The computing module 605 is also used to calculate the motor and is in one on state under the freewheeling state
IGBT parasitic diode and another on state IGBT conduction voltage drop and be second voltage.Specifically, described
When motor 600 is in the freewheeling state, three IGBT in the first part or the second part are all turned on.Example
Such as, IGBTS in the second part of the inverter 601a -、Sb -And Sc -It all turns on, the electric current of the motor 600 passes through
IGBTSa -Parasitic diode Da -A phase stator winding is flowed into, motor B phase stator winding and IGBTS are then passed throughb -Form one
The current loop of closure also can choose by motor C phase stator winding and IGBTSc -Form another closed current loop；Again
For example, IGBTS in the first part of the inverter 601a +、Sb +And Sc +It all turns on, the electric current of the motor 600 passes through
IGBTSa +Parasitic diode Da +A phase stator winding is flowed into, motor B phase stator winding and IGBTS are then passed throughb +Form one
The current loop of closure also can choose by motor C phase stator winding and IGBTSc +Form another closed current loop.When
When the second voltage pulse is 111 or 000, due to the characteristic that the electric current of inductance is not mutated, there are freewheel currents to pass through one
The IGBT parasitic diode of afterflow and two IGBT in parallel, it is contemplated that the conduction voltage drop and parasitic diode of IGBT conducting
Conduction voltage drop, by the voltage clamping of the motor A phase stator winding a parasitic diode conduction voltage drop and an IGBT
Conduction voltage drop.Therefore, the second voltage is described in the conduction voltage drop of the parasitic diode of an IGBT and one
The sum of conduction voltage drop of IGBT, the direction of the second voltage is contrary with the first voltage, i.e., the described second voltage
For-(UIGBT+UDIODE), wherein UDIODEFor the conduction voltage drop of the parasitic diode of the IGBT.In a kind of possible implementation
In, and the conduction voltage drop U of the parasitic diode of the IGBTDIODEWith conduction voltage drop UIGBTFor a fixed value, the IGBT's
Parasitic diode conduction voltage drop and the model of IGBT and production business men and IGBT are related using batch.
The computing module 605 is also used to calculate the flat of the motor according to the first voltage and the second voltage
Equal voltage, specifically, the time that the multiple mutually different pulse voltage acts on the inverter is T, first arteries and veins
It rushes voltage and acts on the time of the inverter as T1, T1Less than T；The computing module 605 calculates the first voltage and first
Duty ratio D1, to obtain the first product, wherein the first duty ratio D1=T1/T；The computing module 605 calculates described second
The product of voltage and the second duty ratio, to obtain the second product, wherein D2=1-D1；By the second product described in first sum of products
The sum of be determined as the average voltage of the motor 600.In one possible implementation, when the first pulse voltage is 100,
IGBTS in the first parta +It is connected, then the first duty ratio D1For the duty ratio of the A phase stator winding of the motor,
The time that the i.e. described input current of inverter acts on A phase stator winding account for multiple mutually different pulse voltages act on it is described
The ratio of the time of inverter, the motor is in effective impulse voltage status at this time.When the second pulse voltage is 000 or 111
When, the motor is in freewheeling state.The A phase stator winding of the motor forms one by effective impulse state and freewheeling state
The complete period, therefore, the average voltage U of the motorav=(Udc-2UIGBT)×D1-(UIGBT+UDIODE)×(1-D1).One
In the possible implementation of kind, the T and T1It is to be controlled by space vector pulse width modulation device 602, the computing module 605 can
T and T is obtained from the space vector pulse width modulation device 602 in a manner of through reading1Occurrence.The inverter 601
Input voltage Udc, IGBT parasitic diode conduction voltage drop UDIODEWith the conduction voltage drop U of IGBTIGBTIt can be known fixed
Value, the T and T that the computing module 605 will acquire1The first duty ratio D is calculated1, so that it may the motor is calculated
600 average voltage.
The computing module 602 is also used to according to the average voltage of the motor 600 and reference current determination
The resistance value of motor 600.Specifically, resistance is equal to voltage divided by electric current according to Ohm's law, motor has been acquired above at one
Average voltage in period, when being in effective impulse state due to motor, reference current described in the input current of the motor；Electricity
When stream is in freewheeling state, the electric current of the motor is not mutated, also the still reference current.It should be noted that described
Computing module 605 is connect with the current regulator 603, and in one possible implementation, the current regulator 603 is
It is digital regulated, it will be converted into digital quantity for the reference current of analog quantity, the computing module 605 is by reading the current regulation
Storing data in device obtains the reference current.It is described with reference to electricity when motor is in effective impulse state and freewheeling state
Stream have passed through the stator winding in parallel of A phase stator winding and remaining two-phase, the equivalent electricity that the input current of the inverter flows through
Electromechanics resistance it is shown in Figure 4, Fig. 4 be it is provided by the embodiments of the present application it is a kind of measure electric motor resistance method electric motor resistance etc.
Imitate schematic diagram.Due to the resistance of threephase stator winding be it is the same, with RsIt is instead of the phase resistance of phase any in A, B or C, then described
The resistance that the input current of inverter passes through is Rs+Rs//Rs=3Rs/2.By the average voltage of the motor divided by the reference
Electric current obtains the measurement resistance value of the motor, i.e. 3Rs/ 2=Uav/Id, then Rs=2Uav/3Id, wherein the IdFor the reference
Electric current.
The reference current be the motor input current, in motor control, due to the variation of 600 revolving speed of motor,
The influence of the factors such as the variation of variation, the load of 600 working environment of motor and the disturbance of external power supply 606, the motor
Input current can change, but motor 600 is at work, it is undesirable to which the input current of motor 600 is changing, it is desirable to motor
600 input current carries out surely the electric current of motor 600 in being the introduction of current regulator 603 in the state of a constant current
Fixed, the input current of the motor 600 how stable to current regulator 603 is that the reference current is introduced below.
In one possible implementation, the current regulator 603 obtains the reference current and the motor 600
It is defeated to the space vector pulse width modulation device 602 to change the current regulator 603 according to the difference for the difference of actual current
The amplitude of DC voltage out, to export the target DC voltage to the space vector pulse width modulation device 602.One kind can
In the implementation of energy, described device 60 further includes the first plus-minus module 607 and the second plus-minus module 608, first plus-minus
Module 607 and the second plus-minus module 608 are used for the two-phase by the reference current and the motor 600 after conversion
Electric current in rotating coordinate system dq axis is subtracted each other, and the introduction of the dq axis may refer to the embodiment previously in conjunction with Fig. 5, herein
It does not repeat.The first plus-minus module 607 and described second adds and subtracts module 608 for differential transmission between the two to the electricity
Throttle regulator 603.Specifically, the current regulator 603 obtains the difference of the reference current Yu 600 actual current of motor
Value, to learn that the electric current of the motor 600 does not reach target current, the current regulator 603 leads to the difference of the two
The amplitude for crossing the DC voltage of output is transmitted, the space vector pulse width modulation that connect with one end of current regulator 603
The amplitude for the DC voltage that device 602 is exported according to the current regulator 603 is modulated pulse voltage, changes the first pulse electricity
First duty ratio of pressure, according to motor average voltage Uav=(Udc-2UIGBT)×D1-(UIGBT+UDIODE)×(1-D1), it is known that D1Hair
Changing, UavAlso can change therewith, then the input current of the motor 600 can also change, and make the motor in this way
Input current stabilizes to the reference current.
It should be noted that a kind of method for measuring electric motor resistance, since the initial position of the rotor of motor is not true
It is fixed, so needing first to carry out initialization positioning to the rotor of the motor before receiving multiple mutually different pulse voltages.Tool
The initialization positioning method of body can not repeat herein with reference to the embodiment previously in conjunction with Fig. 5.Described device 60 further includes
One coordinate transferring 609, the second coordinate transferring 610 and third left side conversion module 611.The first coordinate modulus of conversion
Block 609 is Clark transformation, is matrix operation used in motor coordinate system transformation, is realized previously in conjunction with Fig. 2 the embodiment described
In three-phase static coordinate system ABC to two-phase stationary coordinate system (alfa and beta) conversion.Second coordinate transferring
610 convert for Park, realize and revolve previously in conjunction with the two-phase stationary coordinate system alfa and beta in Fig. 2 the embodiment described to two-phase
Turn the conversion between coordinate system (dq).Described and third coordinate transferring 611 is Park inverse transformation, the current regulator
603 by clipping unit export voltage be two-phase rotating coordinate system (dq) on voltage, by with third coordinate transferring
The voltage of two-phase rotating coordinate system (dq) is converted to two-phase stationary coordinate system (alfa and beta), institute by 611 Park inverse transformation
State space vector pulse width adjuster 602 be modulated according to the target DC voltage of two-phase stationary coordinate system (alfa and beta) it is defeated
Multiple mutually different pulse voltages out.
In the present embodiment, the IGBT in inverter is controlled by the mutually different pulse voltage of space vector pulse width modulation
On state, control voltage acts on time of inverter, so that it is variable that control, which is applied to the voltage of motor, and
When calculating the voltage being applied on motor, it is contemplated that the conduction voltage drop of IGBT and the conduction voltage drop of parasitic diode realize motor
The accurate measurement of resistance, improves the accuracy of measurement.
The embodiment of the present application also provides a kind of equipment for measuring electric motor resistance, are the embodiment of the present application referring to Fig. 7, Fig. 7
A kind of equipment of the measurement electric motor resistance provided.As shown in fig. 7, the embodiment of the present application provides a kind of setting for measurement electric motor resistance
Standby 70, the equipment 70 includes motor 701, inverter 702, processor 703, current regulator 704, space vector pulse width adjusting
Device 705 and speed regulator 706, the inverter 702 include first part and second part, the first part and described
Second part respectively includes three insulated gate bipolar transistor IGBTs in parallel, and each IGBT includes a parasitic diode,
The input current and input voltage of the inverter 702 are respectively reference current and reference voltage, in which:
The inverter 702, for receiving multiple mutually different pulse voltages, wherein the multiple mutually different arteries and veins
Rushing voltage includes the first pulse voltage and the second pulse voltage, and first pulse voltage is for controlling in the first part
Two IGBT conducting in one IGBT conducting and the second part, so that the motor is in effective impulse state, it is described
Three IGBT that second pulse voltage is used to control in the first part or the second part are all turned on, so that the electricity
Machine is in freewheeling state.
The processor 703, for calculating the inverter 702 when the motor 701 is in the effective impulse state
Input voltage after the conduction voltage drop of an IGBT in the first part and two IGBT in the second part
First voltage；
The processor 703 is also used to calculate the motor 701 and is in one on state under the freewheeling state
IGBT parasitic diode and another on state IGBT conduction voltage drop and be second voltage；
The processor 703 is also used to calculate the flat of the motor 701 according to the first voltage and the second voltage
Equal voltage；
The processor 703 is also used to obtain the electricity according to the average voltage and the reference current of the motor 701
The resistance value of machine 701.
In one possible implementation, computer program is stored in the processor 703, which includes
Program instruction, for executing operation above.
In the specific implementation, above-mentioned electronic equipment can be executed by each functional module built in it as above-mentioned Fig. 1 to Fig. 6 is each
Implementation provided by a step, for details, reference can be made to implementations provided by each step in above-mentioned Fig. 6, no longer superfluous herein
It states.
It is understood that it is 100, A phase electricity that the embodiment of the application combination Fig. 1 to Fig. 7, which is first pulse voltage,
The first part on road is connected, i.e. IGBTSa +Conducting, and the second part of B and C circuitry phase is connected, i.e. IGBTSb -And Sc -Conducting, in
It is then the equivalent resistance of motor is connected for the stator winding parallel connection of B and C phase with A phase stator winding.In a kind of possible implementation
In example, first pulse voltage is that the first part of 010, B circuitry phase is connected, i.e. IGBTSb +Conducting, and A and C circuitry phase
Second part conducting, i.e. IGBTSa -And Sc -Conducting, then the equivalent resistance of motor be A and C phase stator winding it is in parallel then and
The series connection of B phase stator winding；In alternatively possible embodiment, first pulse voltage is first of 001, C circuitry phase
Divide conducting, i.e. IGBTSc +Conducting, and the second part of A and B circuitry phase is connected, i.e. IGBTSa -And Sb -Conducting, then motor etc.
The stator winding parallel connection that resistance is A and B circuitry phase is imitated then to connect with C phase stator winding.It optionally, can be by the embodiment
It is arbitrarily combined, the electric motor resistance value that all embodiments acquire is sought into resistance average value again, implements the application
The electric motor resistance measurement of example is more accurate.
It should be noted that above-mentioned term " first ", " second " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
This application provides a kind of computer readable storage medium, instruction is stored in the readable storage medium storing program for executing, when it
When running on computers, so that computer executes any one previously described possible embodiment.
In several embodiments provided herein, it should be understood that disclosed method and device can pass through
Other modes are realized.Embodiments described above is only schematical, for example, the division of the unit, only one
Kind logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or can
To be integrated into another system, or some features can be ignored or not executed.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit, it can and it is in one place, it may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned include: movable storage device, it is read-only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or
The various media that can store program code such as person's CD.
If alternatively, the above-mentioned integrated unit of the application is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the application is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
Personal computer, server or network equipment etc.) execute each embodiment the method for the application all or part.
And storage medium above-mentioned includes: that movable storage device, ROM, RAM, magnetic or disk etc. are various can store program code
Medium.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application should be based on the protection scope of the described claims.
Claims (9)
1. a kind of method for measuring electric motor resistance, which is characterized in that one end of the motor and the first end of inverter connect,
Described in inverter include first part and second part, the first part and the second part respectively include three parallel connections
Insulated gate bipolar transistor IGBT, each IGBT includes a parasitic diode, and the input current of the motor is reference
Electric current, which comprises
The inverter receives multiple mutually different pulse voltages, wherein the multiple mutually different pulse voltage includes the
One pulse voltage and the second pulse voltage, first pulse voltage are used to control the IGBT conducting in the first part
It is connected with two IGBT in the second part, so that the motor is in effective impulse state, second pulse voltage
It is all turned on for controlling three IGBT in the first part or the second part, so that the motor is in afterflow shape
State；
It calculates the motor and is in the input voltage of the inverter when effective impulse state by the first part
An IGBT and two IGBT in the second part conduction voltage drop after first voltage；
Calculate the conducting pressure that the motor is in the parasitic diode of the IGBT of one on state under the freewheeling state
Drop and another on state IGBT conduction voltage drop and be second voltage；
The average voltage of the motor is calculated according to the first voltage and the second voltage；
The resistance value of the motor is determined according to the average voltage of the motor and the reference current.
2. the method according to claim 1, wherein the multiple mutually different pulse voltage act on it is described
The time of inverter is T, and the time that first pulse voltage acts on the inverter is T1, T1Less than T；
The average voltage for calculating the motor according to the first voltage and the second voltage includes:
Calculate the first voltage and the first duty ratio D1Product, to obtain the first product, wherein the first duty ratio D1=
T1/T；
Calculate the second voltage and the second duty ratio D2Product, to obtain the second product, wherein D2=1-D1；
Second sum of products described in first sum of products is determined as to the average voltage of the motor.
3. the method according to claim 1, wherein the first voltage be the inverter input voltage with
The difference of the conduction voltage drop of twice of IGBT；
The second voltage is the conduction voltage drop of the parasitic diode of an IGBT and the conduction voltage drop of an IGBT
The sum of, the direction of the second voltage is contrary with the first voltage.
4. according to the method described in claim 3, it is characterized in that, the second end of the inverter is connect with external power supply, institute
The voltage for stating external power supply is the input voltage of the inverter.
5. the method according to claim 1, wherein the inverter receives multiple mutually different pulse voltages
Include:
Space vector pulse width modulation device is modulated to obtain multiple mutually different pulse voltages according to target DC voltage, and will be described
Multiple mutually different pulse voltages are successively transmitted to the inverter, the multiple mutually different pulse electricity by preset order
The average voltage for changing the motor is pressed, so that the actual current of the motor is the reference current.
6. the method according to claim 1, wherein one end of current regulator and space vector pulse width modulation device
Other end connection, the other end of the motor connect with one end of the speed regulator, the current regulator it is another
End is connect with the other end of the speed regulator；
The method also includes:
The speed regulator exports the reference current to the current regulator according to preset motor rotation speed；
The current regulator exports mesh to the space vector pulse width modulation device by clipping unit according to the reference current
Mark DC voltage.
7. according to the method described in claim 6, it is characterized in that, the current regulator is logical according to the reference current
Clipping unit, which is crossed, to space vector pulse width modulation device output target DC voltage includes:
The current regulator obtains the difference of the reference current Yu the motor actual current, changes institute according to the difference
The amplitude for the DC voltage that current regulator is exported to the space vector pulse width modulation device is stated, with to the space vector pulse width
Modulator exports the target DC voltage.
8. a kind of device for measuring electric motor resistance, which is characterized in that described device includes motor and inverter, the inverter packet
First part and second part are included, the first part and the second part respectively include three insulated gate bipolars in parallel
Transistor IGBT, each IGBT include a parasitic diode, and the input current of the motor is reference current, in which:
The inverter, for receiving multiple mutually different pulse voltages, wherein the multiple mutually different pulse voltage
Including the first pulse voltage and the second pulse voltage, first pulse voltage is used to control one in the first part
Two IGBT conducting in IGBT conducting and the second part, so that the motor is in effective impulse state, described second
Three IGBT that pulse voltage is used to control in the first part or the second part are all turned on, so that at the motor
In freewheeling state；
Computing module, the input voltage for calculating the inverter when motor is in the effective impulse state pass through institute
First voltage after stating the conduction voltage drop of an IGBT in first part and two IGBT in the second part；
The computing module is also used to calculate the motor and is in the IGBT of one on state under the freewheeling state
The conduction voltage drop of the IGBT of parasitic diode and another on state and be second voltage；
The computing module is also used to calculate the average voltage of the motor according to the first voltage and the second voltage；
The computing module is also used to determine the resistance of the motor according to the average voltage and the reference current of the motor
Value.
9. a kind of equipment for measuring electric motor resistance, which is characterized in that the equipment includes motor, inverter and processor, described
Inverter includes first part and second part, and the first part and the second part respectively include three insulation in parallel
Grid bipolar transistor IGBT, each IGBT include a parasitic diode, and the input current of the motor is reference current,
In:
The inverter, for receiving multiple mutually different pulse voltages, wherein the multiple mutually different pulse voltage
Including the first pulse voltage and the second pulse voltage, first pulse voltage is used to control one in the first part
Two IGBT conducting in IGBT conducting and the second part, so that the motor is in effective impulse state, described second
Three IGBT that pulse voltage is used to control in the first part or the second part are all turned on, so that at the motor
In freewheeling state；
The processor, the input voltage for calculating the inverter when motor is in the effective impulse state pass through
First voltage after the conduction voltage drop of an IGBT in the first part and two IGBT in the second part；
The processor is also used to calculate the motor and is in posting for the IGBT of one on state under the freewheeling state
The conduction voltage drop of raw diode and the IGBT of another on state and be second voltage；The processor, is also used to basis
The first voltage and the second voltage calculate the average voltage of the motor；
The processor is also used to obtain the resistance of the motor according to the average voltage and the reference current of the motor
Value.
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| CN201910654658.7A CN110426559A (en) | 2019-07-19 | 2019-07-19 | A kind of method, apparatus and equipment measuring electric motor resistance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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