CN110460282A - A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters - Google Patents
A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters Download PDFInfo
- Publication number
- CN110460282A CN110460282A CN201910777903.3A CN201910777903A CN110460282A CN 110460282 A CN110460282 A CN 110460282A CN 201910777903 A CN201910777903 A CN 201910777903A CN 110460282 A CN110460282 A CN 110460282A
- Authority
- CN
- China
- Prior art keywords
- stator
- inductance
- calibration
- shaft
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- H02P21/16—Estimation of constants, e.g. the rotor time constant
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of automatic calibration methods of permanent magnet synchronous motor inductance parameters.Its given initial current value, control current value successively changes according to a fixed step size until final Calibrated current, the corresponding voltage of each step-length electric current is recorded respectively, the corresponding inductance of each step-length electric current is calculated according to each step-length electric current and corresponding voltage, the functional relation between inductance and electric current is obtained in such a way that difference is handled, realizes the calibration of inductance parameters.Scaling method of the invention is based on motor actual parameter and demarcates inductive data, and precision is high, and dynamic property is good, avoids Always Online" calculating, alleviates processor load, this scaling method is simple and reliable, improves calibration efficiency.
Description
Technical field
The invention belongs to motor parameter measurement technology fields, and in particular to a kind of permanent magnet synchronous motor inductance parameters it is automatic
Scaling method.
Background technique
Permanent magnet synchronous motor is used widely in fields such as automobile, aerospace, Industry Controls at present, on the market
The electric car significant portion of investment used uses permanent magnet synchronous motor as a source of power.Realize that high performance permanent magnetism is same
Walk motor control system, it is necessary to it is accurate to obtain motor inductances parameter, and motor inductances parameter can be with the factors such as motor temperature hair
Changing, many scaling methods are complicated and main by artificial means calibration at present, time-consuming and laborious.
Summary of the invention
The object of the invention is to it is electromechanical to provide a kind of permanent magnet synchronous electric in order to solve deficiency existing for above-mentioned background technique
Feel the automatic calibration method of parameter.
The technical solution adopted by the present invention is that: a kind of automatic calibration method of permanent magnet synchronous motor inductance parameters gives just
Beginning current value, control current value successively change according to a fixed step size until final Calibrated current, record each step-length electric current respectively
Corresponding voltage calculates the corresponding inductance of each step-length electric current according to each step-length electric current and corresponding voltage, passes through difference arithmetic meter
Calculation obtains the functional relation between inductance and electric current, realizes the calibration of inductance parameters.
Further, real-time detection electrical fault state and motor temperature during the calibration inductance parameters, if electric
Calibration process is then exited in machine failure, if motor is without failure but motor temperature reaches the threshold value of setting, record is current
Calibration point, suspend calibration process, revolving speed be reduced to zero, waits motor temperature to restore, after motor temperature drops to temperature recovery point
Again it is demarcated since the calibration point of record, demarcates and complete until inductance parameters.
Further, the calibration process including d-axis inductance: given stator q shaft current component is zero and stator d shaft current
Component initial value, control stator d shaft current component successively change the stator d shaft current until calibration according to the first setting step-length,
The corresponding stator q shaft voltage component of each stator d shaft current component is recorded respectively, according to each stator d shaft current component and corresponding
Stator q shaft voltage component calculates the corresponding d-axis inductance of each stator d shaft current component, and d-axis electricity is calculated by difference arithmetic
First function relational expression between sense and stator d shaft current component realizes the calibration of d-axis inductance.
Further, the stator d shaft current component initial value is -25, and described first sets step-length as -20~-30.
Further, including the calibration process of axis inductor: given stator d shaft current component is zero and stator q shaft current
Component initial value, control stator q shaft current component successively change the stator q shaft current until calibration according to the second setting step-length,
The corresponding stator d shaft voltage component of each stator q shaft current component is recorded respectively, according to each stator q shaft current component and corresponding
Stator d shaft voltage component calculates the corresponding axis inductor of each stator q shaft current component, and quadrature axis electricity is calculated by difference arithmetic
Second function relational expression between sense and stator q shaft current component, realizes the calibration of axis inductor.
Further, the stator q shaft current component initial value is 25, and described second sets step-length as 20~30.
It further, further include the characteristic current for demarcating motor: in the calibration process of d-axis inductance, from the institute of record
Have in stator q shaft voltage component data, searches the smallest stator q shaft voltage component of absolute value, then the smallest stator q of the absolute value
The corresponding stator d shaft current component of shaft voltage component is the characteristic current of motor.
Scaling method of the invention is based on motor actual parameter and demarcates inductive data, and precision is high, and dynamic property is good, avoids
Always Online" calculates, and alleviates processor load, this scaling method is simple and reliable, improves calibration efficiency.
Detailed description of the invention
Fig. 1 is permanent magnet synchronous motor d-axis inductance L of the present inventiondDemarcation flow figure.
Fig. 2 is permanent magnet synchronous motor axis inductor L of the present inventionqDemarcation flow figure.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
By voltage equation of the permanent magnet synchronous motor under two-phase rotating coordinate system:
Wherein, ud、uq--- stator d axis, q shaft voltage component；
id、iq--- stator d axis, q shaft current component；
Ld、Lq--- stator d axis, q axle inductance component；
ω --- motor angular rate；
ψf--- rotor permanent magnet magnetic linkage.
It is found that
iqWhen=0,Therefore d-axis inductance L can be calculatedd；
idWhen=0,Therefore axis inductor L can be calculatedq。
Based on principles above, the present invention provides a kind of automatic calibration method of permanent magnet synchronous motor inductance parameters, gives just
Beginning current value, control current value successively change according to a fixed step size until final Calibrated current, record each step-length electric current respectively
Corresponding voltage calculates the corresponding inductance of each step-length electric current according to each step-length electric current and corresponding voltage, passes through difference arithmetic meter
Calculation obtains the functional relation between inductance and electric current, realizes the calibration of inductance parameters, later according to actually given current value
And function relational expression actual inductance, inductance parameters include d-axis inductance and axis inductor.
In above scheme, real-time detection electrical fault state and motor temperature during inductance parameters are demarcated, if motor
Calibration process is then exited in failure, if motor is without failure but motor temperature reaches the threshold value of setting, record is current
Calibration point suspends calibration process, and revolving speed is reduced to zero, motor temperature is waited to restore, and motor temperature drops to weight after temperature recovery point
It is newly demarcated since the calibration point of record, demarcates and complete until inductance parameters.
Elaboration technical solution of the present invention for greater clarity, is described further in conjunction with attached drawing.It is quasi- before calibration
Standby work includes: that testboard bay 1) is arranged, and connects electric machine controller and tested permanent magnet synchronous motor；2) setting calibration host computer,
Rack and controller are controlled by CAN communication；3) to low pressure on controller, again to high pressure on controller if without failure.
After preparation is completed, start button is demarcated by selection calibration host computer inductance, host computer completes entire mark
Determine process.In order to better understand the calibration process of this patent, it is described further below.
After demarcating high pressure on controller, controller dragging motor is run with the revolving speed of positive direction 1000RPM.It is arranged upper
Motor excess temperature parameter, motor temperature recovery point and maximum calibration phase current is arranged according to different motors in machine calibrating parameters.
It is as shown in Figure 1 the calibration process of d-axis inductance: given stator q shaft current component iqIt is zero and stator d shaft current
Component idInitial value (is typically set to -25), controls stator d shaft current component idAccording to first setting step-length (being typically set to -25) according to
Secondary variation, such as -25, -50, -75 ... until maximum calibration stator d shaft current, torque stablize after record each stator respectively
D shaft current component idCorresponding stator q shaft voltage component uq, stator q shaft voltage component uqIt is calculated by controller, according to
Each stator d shaft current component and corresponding stator q shaft voltage component uqPass through formulaCalculate each stator d shaft current
The corresponding d-axis inductance of component, ω are motor angular rate, ψfFor rotor permanent magnet magnetic linkage, the dimensional table of d-axis inductance is obtained
Lattice obtain d-axis inductance L in such a way that difference is handleddWith stator d shaft current component idBetween first function relational expression, it is real
The calibration of existing d-axis inductance, when application, calculate directly according to actually given stator d shaft current component and first function relational expression
Axle inductance Ld。
Detection malfunction constantly and motor temperature, calibration is then exited if there is failure in d-axis inductance calibration process
Process, if no fault occurs only motor temperature reach the threshold value of setting, then record the point currently to be demarcated, suspend calibrated
Revolving speed is reduced to zero, motor temperature is waited to restore by journey, and motor temperature is dropped to after temperature recovery point and opened again from the calibration point of record
Begin to demarcate, until d-axis inductance LdCalibration is completed.
In above scheme, stator d shaft current component initial value is -25, and described first sets step-length as -20~-30, preferably
It is -25.
It is illustrated in figure 2 the calibration process of axis inductor: given stator d shaft current component idIt is zero and stator q shaft current
Component iqInitial value (is typically set to 25), controls stator q shaft current component iqSuccessively according to the second setting step-length (being typically set to 25)
Variation, such as 25,50,75 ... until the stator q shaft current of maximum calibration, torque records each stator q axis electricity respectively after stablizing
The corresponding stator d shaft voltage component u of flow componentd, according to each stator q shaft current component iqAnd corresponding stator d shaft voltage component ud
Pass through formulaCalculate the corresponding axis inductor L of each stator q shaft current componentq, the one-dimensional table of axis inductor is obtained,
Axis inductor L is obtained in such a way that difference is handledqWith stator q shaft current component iqBetween second function relational expression, realize hand over
The calibration of axle inductance determines axis inductor according to actually given stator q shaft current component and second function relational expression when application.
Detection malfunction constantly and motor temperature, calibration is then exited if there is failure in axis inductor calibration process
Process, if no fault occurs only motor temperature reach the threshold value of setting, then record the point currently to be demarcated, suspend calibrated
Revolving speed is reduced to zero, motor temperature is waited to restore by journey, and motor temperature is dropped to after temperature recovery point and opened again from the calibration point of record
Begin to demarcate, until axis inductor LqCalibration is completed.
In above scheme, stator q shaft current component initial value is 25, and described second sets step-length as 20~30, preferably
25。
It further include the characteristic current for demarcating motor: in d-axis inductance L in above schemedCalibration process in, from record
All stator q shaft voltage component uqIn data, the smallest stator q shaft voltage component u of absolute value is searchedq, then the absolute value is the smallest
Stator q shaft voltage component uqCorresponding stator d shaft current component idFor the characteristic current of motor, the control of power supply machine weak magnetic is used.
The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (7)
1. a kind of automatic calibration method of permanent magnet synchronous motor inductance parameters, it is characterised in that: given initial current value, control electricity
Flow valuve successively changes according to a fixed step size until final Calibrated current, records the corresponding voltage of each step-length electric current respectively, according to
Each step-length electric current and corresponding voltage calculate the corresponding inductance of each step-length electric current, and inductance and electric current is calculated by difference arithmetic
Between functional relation, realize the calibration of inductance parameters.
2. the automatic calibration method of permanent magnet synchronous motor inductance parameters according to claim 1, it is characterised in that: the mark
Determine real-time detection electrical fault state and motor temperature during inductance parameters, is exited if motor breaks down calibrated
Journey records current calibration point, suspends calibration process if motor is without failure but motor temperature reaches the threshold value of setting,
Revolving speed is reduced to zero, motor temperature is waited to restore, motor temperature drops to after temperature recovery point again since the calibration point of record
Calibration is demarcated until inductance parameters and is completed.
3. the automatic calibration method of permanent magnet synchronous motor inductance parameters according to claim 1, which is characterized in that including straight
The calibration process of axle inductance: given stator q shaft current component is zero and stator d shaft current component initial value, control stator d axis electricity
Flow component successively changes the stator d shaft current until calibration according to the first setting step-length, records each stator d shaft current component respectively
Corresponding stator q shaft voltage component calculates each stator d according to each stator d shaft current component and corresponding stator q shaft voltage component
The corresponding d-axis inductance of shaft current component is calculated between d-axis inductance and stator d shaft current component by difference arithmetic
First function relational expression realizes the calibration of d-axis inductance.
4. the automatic calibration method of permanent magnet synchronous motor inductance parameters according to claim 3, it is characterised in that: described fixed
Sub- d shaft current component initial value is -25, and described first sets step-length as -20~-30.
5. the automatic calibration method of permanent magnet synchronous motor inductance parameters according to claim 1, which is characterized in that including handing over
The calibration process of axle inductance: given stator d shaft current component is zero and stator q shaft current component initial value, control stator q axis electricity
Flow component successively changes the stator q shaft current until calibration according to the second setting step-length, records each stator q shaft current component respectively
Corresponding stator d shaft voltage component calculates each stator q according to each stator q shaft current component and corresponding stator d shaft voltage component
The corresponding axis inductor of shaft current component is calculated between axis inductor and stator q shaft current component by difference arithmetic
Second function relational expression realizes the calibration of axis inductor.
6. the automatic calibration method of permanent magnet synchronous motor inductance parameters according to claim 5, it is characterised in that: described fixed
Sub- q shaft current component initial value is 25, and described second sets step-length as 20~30.
7. the automatic calibration method of permanent magnet synchronous motor inductance parameters according to claim 5, which is characterized in that further include
Demarcate the characteristic current of motor: in the calibration process of d-axis inductance, from all stator q shaft voltage component datas of record,
The smallest stator q shaft voltage component of absolute value is searched, then the corresponding stator d axis of the smallest stator q shaft voltage component of the absolute value
Current component is the characteristic current of motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777903.3A CN110460282A (en) | 2019-08-22 | 2019-08-22 | A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910777903.3A CN110460282A (en) | 2019-08-22 | 2019-08-22 | A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110460282A true CN110460282A (en) | 2019-11-15 |
Family
ID=68488428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910777903.3A Pending CN110460282A (en) | 2019-08-22 | 2019-08-22 | A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110460282A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116609661A (en) * | 2023-07-14 | 2023-08-18 | 西安创联超声技术有限责任公司 | Automatic calibration method, electronic equipment and readable storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4752124B2 (en) * | 2001-03-30 | 2011-08-17 | 株式会社安川電機 | Magnetic pole estimation device for permanent magnet type synchronous motor |
| CN107994828A (en) * | 2017-12-29 | 2018-05-04 | 武汉英弗耐斯电子科技有限公司 | A kind of permanent magnet synchronous motor ac-dc axis inductance measurement method |
| CN108155843A (en) * | 2017-12-28 | 2018-06-12 | 武汉合康动力技术有限公司 | The discrimination method of permanent magnet synchronous motor initial magnetic pole position and ac-dc axis inductance |
| CN108181587A (en) * | 2018-01-29 | 2018-06-19 | 东风特汽（十堰）专用车有限公司 | The scaling method and device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance |
| CN108288935A (en) * | 2018-02-11 | 2018-07-17 | 安徽江淮汽车集团股份有限公司 | A kind of permanent magnet synchronous motor inductance parameters acquisition methods and system |
| CN108696219A (en) * | 2018-06-21 | 2018-10-23 | 精进电动科技股份有限公司 | A kind of method and apparatus of calibration permanent magnet synchronous motor electric current |
| CN109412494A (en) * | 2018-10-31 | 2019-03-01 | 阳光电源股份有限公司 | A kind of motor scaling method and device |
| CN109951125A (en) * | 2019-04-16 | 2019-06-28 | 江苏力信电气技术有限公司 | The evaluation method of used in new energy vehicles permanent magnet synchronous motor ac-dc axis inductance |
-
2019
- 2019-08-22 CN CN201910777903.3A patent/CN110460282A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4752124B2 (en) * | 2001-03-30 | 2011-08-17 | 株式会社安川電機 | Magnetic pole estimation device for permanent magnet type synchronous motor |
| CN108155843A (en) * | 2017-12-28 | 2018-06-12 | 武汉合康动力技术有限公司 | The discrimination method of permanent magnet synchronous motor initial magnetic pole position and ac-dc axis inductance |
| CN107994828A (en) * | 2017-12-29 | 2018-05-04 | 武汉英弗耐斯电子科技有限公司 | A kind of permanent magnet synchronous motor ac-dc axis inductance measurement method |
| CN108181587A (en) * | 2018-01-29 | 2018-06-19 | 东风特汽（十堰）专用车有限公司 | The scaling method and device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance |
| CN108288935A (en) * | 2018-02-11 | 2018-07-17 | 安徽江淮汽车集团股份有限公司 | A kind of permanent magnet synchronous motor inductance parameters acquisition methods and system |
| CN108696219A (en) * | 2018-06-21 | 2018-10-23 | 精进电动科技股份有限公司 | A kind of method and apparatus of calibration permanent magnet synchronous motor electric current |
| CN109412494A (en) * | 2018-10-31 | 2019-03-01 | 阳光电源股份有限公司 | A kind of motor scaling method and device |
| CN109951125A (en) * | 2019-04-16 | 2019-06-28 | 江苏力信电气技术有限公司 | The evaluation method of used in new energy vehicles permanent magnet synchronous motor ac-dc axis inductance |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116609661A (en) * | 2023-07-14 | 2023-08-18 | 西安创联超声技术有限责任公司 | Automatic calibration method, electronic equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103338003B (en) | A kind of method of electric motor load torque and inertia on-line identification simultaneously | |
| CN105119549B (en) | A kind of motor stator resistance discrimination method | |
| CN102931906B (en) | Method for asynchronous motor rotor flux linkage observation and rotation speed identification | |
| CN102624320B (en) | Electromotor dynamic/stable stage parameter identification method based on stator resistance observer | |
| CN108696219A (en) | A kind of method and apparatus of calibration permanent magnet synchronous motor electric current | |
| CN106549620B (en) | A kind of Speed Sensorless Induction Motor vector control system low frequency processing method | |
| CN109873587B (en) | Automatic multi-parameter identification method for permanent magnet synchronous motor | |
| CN104393814B (en) | A kind of method for controlling permanent magnet synchronous motor | |
| CN106169894B (en) | Threephase asynchronous machine on-line parameter discrimination method and device | |
| CN107482982A (en) | A kind of Vector Control System of Induction Motor method based on iron loss model | |
| CN103338002A (en) | Method for identifying permanent magnet flux and quadrature axis inductance of permanent magnet synchronous motor | |
| CN106301100A (en) | The automatic calibration method of a kind of permagnetic synchronous motor, system and controller | |
| CN109327171A (en) | A strategy for suitable for rail traffic traction electric machine on-line parameter identification | |
| CN109560740A (en) | A kind of non-synchronous motor parameter identification method of model reference adaptive | |
| CN109782173A (en) | Asynchronous machine excitation mutual inductance curve measurement system and its measurement method | |
| CN110649851B (en) | Multi-parameter decoupling online identification method for asynchronous motor | |
| CN102647144A (en) | Method and apparatus for estimating rotor angle of synchronous reluctance motor | |
| CN103684171A (en) | Method and system for controlling speeds of alternating-current motors | |
| CN110460282A (en) | A kind of automatic calibration method of permanent magnet synchronous motor inductance parameters | |
| CN105024612A (en) | Parameter identification-based motor current control method and system | |
| CN105353220B (en) | The discrimination method of threephase asynchronous electric parameters | |
| CN104050312A (en) | Electromechanical joint simulation method | |
| CN106160616A (en) | A kind of motor stator resistance on-line identification method | |
| CN110007228A (en) | A kind of permanent magnet synchronous motor scaling method based on torque and reactive power measurement | |
| CN113659906B (en) | Online identification method for unknown motor parameters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191115 |