CN110601610B - Method and device for identifying zero offset of permanent magnet synchronous motor and rotary transformer - Google Patents
Method and device for identifying zero offset of permanent magnet synchronous motor and rotary transformer Download PDFInfo
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- CN110601610B CN110601610B CN201910891577.9A CN201910891577A CN110601610B CN 110601610 B CN110601610 B CN 110601610B CN 201910891577 A CN201910891577 A CN 201910891577A CN 110601610 B CN110601610 B CN 110601610B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
Abstract
The invention provides a method and a device for identifying zero offset of a permanent magnet synchronous motor and a rotary transformer. The method and the device firstly obtain initial angle deviation, then set a zero offset compensation value to be 0, obtain a first time length that the permanent magnet synchronous motor is reduced from a first rotating speed to 0 and a first current component of a Q shaft of the permanent magnet synchronous motor is 0, increase the zero offset compensation value, obtain a second time length that the permanent magnet synchronous motor is reduced from the first rotating speed to 0 and a negative second current component of a D shaft of the permanent magnet synchronous motor is not 0, judge whether the second time length is greater than the first time length, if so, return to the process of obtaining the second time length, if not, calculate an average value of the current zero offset compensation value and a last zero offset compensation value, and establish a mathematical model according to the average value, the first rotating speed and the initial angle deviation. The mathematical model of the zero offset compensation value and the rotating speed of the permanent magnet synchronous motor can be obtained without adding external equipment, and the method is convenient and rapid.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motors, in particular to a method and a device for identifying zero offset of a permanent magnet synchronous motor and a rotary transformer.
Background
When the angular speed and the angular displacement of the permanent magnet synchronous motor are measured by the rotary transformer, the shaft of the rotor of the rotary transformer needs to be connected with the shaft of the rotor of the permanent magnet synchronous motor, so that errors can be brought to installation places, and errors can be caused between the zero position of the rotary transformer and the zero position of the permanent magnet synchronous motor. And because the time delay and the calculation error of network transmission need time, the angular speed and the angular displacement of the permanent magnet synchronous motor collected by the rotary transformer transmitted to the computer have certain errors with the actual angular speed and the actual angular displacement of the current permanent magnet synchronous motor, and the larger the rotating speed of the permanent magnet synchronous motor is, the larger the error is.
In the prior art, the error is measured by using a dynamometer to drive a motor to give a negative current of a D shaft at different rotating speeds, observing whether the reading of a torque sensor is the same as the initial friction torque, and if the reading is not the same as the initial friction torque, adjusting a zero offset compensation value to be the same to obtain the zero offset compensation value in a full rotating speed range.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for identifying a zero offset between a permanent magnet synchronous motor and a resolver, which can conveniently and quickly obtain a zero offset compensation value in a full rotation speed range by a logical judgment method without adding an external device.
In order to achieve the above object, the present invention provides the following technical solutions:
in a first aspect, the present invention provides a method for identifying a zero offset between a permanent magnet synchronous motor and a resolver, comprising:
obtaining an initial angle deviation: obtaining the initial angle deviation between a rotary transformer and the permanent magnet synchronous motor when the rotating speed of the permanent magnet synchronous motor is 0;
a first time length obtaining step: setting a zero offset compensation value to be 0, and obtaining a first time length from a first time to a second time, wherein the first time is a time when a first current component of a Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is a first rotating speed, and the second time is a time when the permanent magnet synchronous motor is reduced from the first rotating speed to 0;
a step of obtaining a second time length: increasing the zero offset compensation value, obtaining a second time length from a third time to a fourth time, and recording the current zero offset compensation value, wherein the third time is a time when a first current component of a Q shaft of the permanent magnet synchronous motor is 0, a negative second current component of a D shaft of the permanent magnet synchronous motor is not 0, and the rotating speed is the first rotating speed, and the fourth time is a time when the permanent magnet synchronous motor is reduced from the first rotating speed to 0;
obtaining an average value: when the second time length is longer than the first time length, returning to execute the second time length step; obtaining an average of said current offset compensation value and a previous offset compensation value when said second time duration is less than said first time duration;
establishing a mathematical model: and establishing a mathematical model of the rotation speed and zero offset compensation value of the permanent magnet synchronous motor according to the initial angle deviation, the average value and the first rotation speed.
With reference to the first aspect, in certain implementations of the first aspect, the obtaining the initial angle deviation step includes: and gradually increasing the voltage of a D shaft of the permanent magnet synchronous motor, and when the current of the U phase of the permanent magnet synchronous motor is larger than a preset current threshold value of the U phase, obtaining the initial angle deviation between the rotary transformer and the permanent magnet synchronous motor when the rotating speed of the permanent magnet synchronous motor is 0.
Optionally, the step-by-step increasing the voltage of the D-axis of the permanent magnet synchronous motor includes: and increasing the voltage of the D shaft of the permanent magnet synchronous motor by a preset voltage threshold value every time so as to gradually increase the voltage of the D shaft of the permanent magnet synchronous motor.
With reference to the first aspect, in certain implementations of the first aspect, the obtaining the first time length step includes:
setting the voltage of a D shaft of the permanent magnet synchronous motor to be 0, gradually increasing a first current component of a Q shaft of the permanent magnet synchronous motor, and setting a zero offset compensation value to be 0;
setting the first current component of the Q shaft of the permanent magnet synchronous motor to be 0 when the rotating speed of the permanent magnet synchronous motor is increased to a first rotating speed, and setting the time when the first current component of the Q shaft of the permanent magnet synchronous motor is set to be 0 as a first time;
determining the moment when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0 as a second moment;
and acquiring a first time length from the first time to the second time.
Optionally, the step-increasing the first current component of the Q-axis of the permanent magnet synchronous motor includes: the first current component of the Q-axis of the permanent magnet synchronous motor increases a preset current threshold each time to gradually increase the first current component of the Q-axis of the permanent magnet synchronous motor.
With reference to the first aspect, in certain implementations of the first aspect, the obtaining the second length of time step includes:
increasing the zero offset compensation value, setting the voltage of the D shaft of the permanent magnet synchronous motor to be 0, and setting the first current component of the Q shaft of the permanent magnet synchronous motor to be 0 and then gradually increasing the first current component of the Q shaft of the permanent magnet synchronous motor;
when the rotating speed of the permanent magnet synchronous motor rises to the first rotating speed, setting the first current component of the Q shaft of the permanent magnet synchronous motor to be 0 again and applying a negative second current component to the permanent magnet synchronous motor, wherein the negative second current component is not 0 and has the direction opposite to the direction of the D shaft, and the moment of applying the negative second current component to the permanent magnet synchronous motor is a third moment;
determining the moment when the permanent magnet synchronous motor is reduced from the first rotating speed to 0 as a fourth moment;
and acquiring a second time length between the third time and the fourth time, and recording the current zero offset compensation value.
Optionally, the method further includes: and applying a null offset compensation amount corresponding to the increased null offset compensation value to the permanent magnet synchronous motor to adjust the second time period.
In a second aspect, the present invention provides an apparatus for identifying a zero offset between a permanent magnet synchronous motor and a resolver, comprising:
an initial angle deviation obtaining unit, configured to obtain an initial angle deviation between the resolver and the permanent magnet synchronous motor when a rotation speed of the permanent magnet synchronous motor is 0;
a first time length obtaining unit, configured to set a zero offset compensation value to 0, and obtain a first time length from a first time to a second time, where the first time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0 and a rotation speed of the Q axis of the permanent magnet synchronous motor is a first rotation speed, and the second time is a time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0;
a second time length obtaining unit, configured to increase the zero offset compensation value, obtain a second time length from a third time to a fourth time, and record a current zero offset compensation value, where the third time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0, a negative second current component of a D axis of the permanent magnet synchronous motor is not 0, and a rotation speed of the permanent magnet synchronous motor is the first rotation speed, and the fourth time is a time when the permanent magnet synchronous motor decreases from the first rotation speed to 0;
an average value obtaining unit, configured to trigger the second time length obtaining unit when the second time length is greater than the first time length; obtaining an average of said current offset compensation value and a previous offset compensation value when said second time duration is less than said first time duration;
and the mathematical model establishing unit is used for establishing a mathematical model of the rotating speed and the zero offset compensation value of the permanent magnet synchronous motor according to the initial angle deviation, the average value and the first rotating speed.
With reference to the second aspect, in some implementations of the first aspect, the obtaining the first time length unit includes:
a zero offset compensation value setting subunit, configured to set a zero offset compensation value to 0;
a first time length obtaining subunit configured to obtain a first time length between a first time when the first current component of the Q-axis of the permanent magnet synchronous motor is 0 and the rotation speed is a first rotation speed and a second time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0.
With reference to the second aspect, in some implementations of the first aspect, the obtaining the second time length unit includes:
a zero offset compensation value increasing subunit, configured to increase the zero offset compensation value;
a second time length obtaining subunit, configured to obtain a second time length from a third time to a fourth time, where the third time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0, a negative second current component of a D axis of the permanent magnet synchronous motor is not 0, and a rotation speed of the permanent magnet synchronous motor is the first rotation speed, and the fourth time is a time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0;
and the recording zero offset compensation value subunit is used for recording the current zero offset compensation value.
The invention provides a method for identifying zero offset of a permanent magnet synchronous motor and a rotary transformer, which comprises the following steps of: the initial angle deviation between the rotary transformer and the permanent magnet synchronous motor can be obtained when the rotating speed of the permanent magnet synchronous motor is 0; a first time length obtaining step: setting a zero offset compensation value to be 0, and obtaining a first time length from a first time to a second time, wherein the first time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0 and a rotation speed is a first rotation speed, and the second time is a time when the permanent magnet synchronous motor is reduced from the first rotation speed to 0; a step of obtaining a second time length: the zero offset compensation value may be increased, a second time length from a third time point to a fourth time point may be obtained, and the current zero offset compensation value may be recorded, where the third time point is a time point when the first current component of the Q axis of the permanent magnet synchronous motor is 0, the negative second current component of the D axis of the permanent magnet synchronous motor is not 0, and the rotation speed is the first rotation speed, and the fourth time point is a time point when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0; obtaining an average value: when the second time length is longer than the first time length, the step of the second time length can be executed; obtaining an average of said current offset compensation value and a previous offset compensation value when said second time duration is less than said first time duration; establishing a mathematical model: a mathematical model of the rotational speed and zero offset compensation value of the permanent magnet synchronous motor may be established based on the initial angular deviation, the average value, and the first rotational speed. Therefore, the invention can firstly obtain the initial angle deviation of the rotary transformer and the permanent magnet synchronous motor under the condition that the rotating speed of the permanent magnet synchronous motor is zero, then can set the zero deviation compensation value to be 0, can obtain the first time length according to the time length between the moment that the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is the first rotating speed and the moment that the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0, then can increase the zero deviation compensation value, can obtain the second time length according to the moment that the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the negative second current component of the D shaft of the permanent magnet synchronous motor is not 0 and the rotating speed is the first rotating speed and the moment that the permanent magnet synchronous motor is reduced from the first rotating speed to 0, can judge whether the second time length is larger than the first time length, if so, if the time length is less than the first time length, an average value can be calculated according to the current zero offset compensation value and the last zero offset compensation value, and a mathematical model of the rotating speed of the permanent magnet synchronous motor and the zero offset compensation value can be established according to the average value, the first rotating speed and the initial angle offset. Through logic judgment, the zero offset compensation value of the permanent magnet synchronous motor in the full rotating speed range can be obtained without additionally adding external equipment, and the method is convenient and rapid.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 illustrates a flow chart of a method of identifying a zero offset of a PMSM with a resolver provided by the present invention;
fig. 2 is a structural diagram illustrating an apparatus for identifying a zero offset between a permanent magnet synchronous motor and a resolver according to the present invention.
Detailed Description
The invention discloses a method and a device for identifying zero offset of a permanent magnet synchronous motor and a rotary transformer, and a person skilled in the art can appropriately improve process parameters by referring to the content. It is expressly intended that all such similar substitutes and modifications which would be obvious to one skilled in the art are deemed to be included in the invention. While the methods and applications of this invention have been described in terms of preferred embodiments, it will be apparent to those of ordinary skill in the art that variations and modifications in the methods and applications described herein, as well as other suitable variations and combinations, may be made to implement and use the techniques of this invention without departing from the spirit and scope of the invention.
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present embodiment, "a plurality" means two or more unless otherwise specified.
As shown in fig. 1, the present invention provides a method for identifying a zero offset between a permanent magnet synchronous motor and a resolver, comprising:
s100, acquiring the initial angle deviation between a rotary transformer and the permanent magnet synchronous motor when the rotating speed of the permanent magnet synchronous motor is 0;
s200, setting a zero offset compensation value to be 0, and obtaining a first time length from a first time to a second time, wherein the first time is a time when a first current component of a Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is a first rotating speed, and the second time is a time when the permanent magnet synchronous motor is reduced from the first rotating speed to 0;
s300, increasing the zero offset compensation value, obtaining a second time length from a third time to a fourth time, and recording the current zero offset compensation value, wherein the third time is a time when a first current component of a Q shaft of the permanent magnet synchronous motor is 0, a negative second current component of a D shaft of the permanent magnet synchronous motor is not 0, and the rotating speed is the first rotating speed, and the fourth time is a time when the permanent magnet synchronous motor is reduced from the first rotating speed to 0;
s400, when the second time length is larger than the first time length, returning to execute the S300; obtaining an average of said current offset compensation value and a previous offset compensation value when said second time duration is less than said first time duration;
s500, establishing a mathematical model of the rotating speed and the zero offset compensation value of the permanent magnet synchronous motor according to the initial angle offset, the average value and the first rotating speed.
It should be understood that when studying a permanent magnet synchronous motor, a person skilled in the art is used to establish a coordinate system for a rotor of the permanent magnet synchronous motor, where the coordinate system includes the Q axis and the D axis, the direction of the D axis is consistent with the U direction of the permanent magnet synchronous motor, the Q axis is perpendicular to the D axis, and the positive direction of the Q axis is the counterclockwise 90 degrees direction of the D axis, and the Q axis and the D axis should not be understood otherwise in this application.
Alternatively, instead of obtaining an average of two offset compensation values, an average of four or more offset compensation values may be obtained, which is not limited by the present invention.
Optionally, when the second time length is equal to the first time length, the average value of the zero offset compensation value may not be calculated, and the mathematical model may be established directly based on the zero offset compensation value, the initial angular offset, and the first rotational speed when the second time length is equal to the first time length.
Optionally, the mathematical model may be a linear mathematical model using the rotation speed of the permanent magnet synchronous motor as an abscissa and the zero offset compensation value as an ordinate.
The invention can firstly obtain the initial angle deviation between the rotary transformer and the permanent magnet synchronous motor under the condition that the rotating speed of the permanent magnet synchronous motor is zero, then can set the zero deviation compensation value as 0, and can obtain the first time length according to the time length between the moment when the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is the first rotating speed and the moment when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0, then increase the zero deviation compensation value, and can obtain the second time length according to the moment when the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the negative second current component of the D shaft of the permanent magnet synchronous motor is not 0 and the rotating speed is the first rotating speed and the moment when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0, can judge whether the second time length is greater than the first time length, if so, the process of increasing the zero deviation compensation value and obtaining the second time length can be returned, if the value is less than the preset zero offset compensation value, calculating to obtain an average value according to the current zero offset compensation value and the last zero offset compensation value, and establishing a mathematical model of the rotating speed and the zero offset compensation value of the permanent magnet synchronous motor according to the average value, the first rotating speed and the initial angle offset. Through logic judgment, the zero offset compensation value of the permanent magnet synchronous motor in the full rotating speed range can be obtained without additionally adding external equipment, and the method is convenient and rapid.
Optionally, in some implementations, the S100 may include: the voltage of the D shaft of the permanent magnet synchronous motor can be gradually increased, and when the current of the U phase of the permanent magnet synchronous motor is larger than the preset current threshold value of the U phase, the initial angle deviation of the rotary transformer and the permanent magnet synchronous motor can be obtained when the rotating speed of the permanent magnet synchronous motor is 0.
It will be appreciated that the above-described initial angular deviation may be due to actual mounting errors caused by mounting the resolver on the permanent magnet synchronous machine.
It should be understood that the current threshold of the U-phase may be a safe current threshold of the permanent magnet synchronous motor, and when the current of the U-phase is greater than the current threshold of the U-phase, the coil of the permanent magnet synchronous motor may be overheated, which may result in a safety hazard.
Optionally, the step-by-step increasing the voltage of the shaft D of the permanent magnet synchronous motor may include: and increasing the voltage of the D shaft of the permanent magnet synchronous motor by a preset voltage threshold value every time so as to gradually increase the voltage of the D shaft of the permanent magnet synchronous motor.
Alternatively, the step-up of the D-axis voltage of the permanent magnet synchronous motor may be to change the U, V and W three-phase voltages of the permanent magnet synchronous motor, resulting in the component of the voltages of the three phases on the D-axis increasing, i.e. the D-axis voltage of the permanent magnet synchronous motor increases.
Optionally, the increasing of the voltage of the shaft D of the permanent magnet synchronous motor may be a fixed preset voltage threshold value when the voltage of the shaft D of the permanent magnet synchronous motor increases each time, or may be a voltage value that can be set at any time by a person when the voltage of the shaft D of the permanent magnet synchronous motor increases each time, which is not limited in the present invention.
It should be appreciated that increasing the D-axis voltage of the pmsm gradually causes the pmsm to generate a magnetic field with a direction that is aligned with the D-axis of the pmsm, which attracts the stator of the pmsm near the D-axis of the pmsm.
Optionally, in some implementations, the S200 may include:
the voltage of the D shaft of the permanent magnet synchronous motor can be set to be 0, the first current component of the Q shaft of the permanent magnet synchronous motor can be increased step by step, and the zero offset compensation value can be set to be 0;
when the rotation speed of the permanent magnet synchronous motor is increased to a first rotation speed, setting the first current component of the Q axis of the permanent magnet synchronous motor to 0, and setting the first current component of the Q axis of the permanent magnet synchronous motor to 0 may be a first time;
determining that the time when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0 can be a second time;
a first time length between the first time and the second time may be obtained.
Optionally, in some implementations, the step-increasing the first current component of the Q-axis of the permanent magnet synchronous motor may include: the first current component of the Q-axis of the pm synchronous motor may be increased by a preset current threshold each time to gradually increase the first current component of the Q-axis of the pm synchronous motor.
It should be understood that, gradually increasing the first current component of the Q-axis of the permanent magnet synchronous motor may gradually increase the rotation speed of the permanent magnet synchronous motor, when the rotation speed of the permanent magnet synchronous motor increases to the first rotation speed, the first current component of the Q-axis may be set to 0, and at the same time, timing may be started, or a time when the first current component of the Q-axis is set to 0 may be recorded, and when the rotation speed of the permanent magnet synchronous motor decreases to 0, timing may be stopped, or a time when the rotation speed of the permanent magnet synchronous motor decreases to 0 may be recorded, so that the first time length may be obtained.
It should be understood that the first rotation speed may be a low rotation speed, which may not exceed 10% of the maximum rotation speed of the permanent magnet synchronous motor, and the size of the rotation speed may not be limited, which is not limited by the present invention.
Optionally, after the voltage of the D axis of the permanent magnet synchronous motor is set to 0, the current mode may be entered, and the first current component of the Q axis of the permanent magnet synchronous motor may be gradually increased in the current mode, which is not limited in the present invention.
Alternatively, the U, V and W three-phase currents of the permanent magnet synchronous motor can be changed according to a certain algorithm, so as to achieve the purpose of gradually increasing the first current component of the Q shaft of the permanent magnet synchronous motor.
Optionally, the step of setting the null offset compensation value to 0 may be performed before the voltage of the D-axis of the permanent magnet synchronous motor is set to 0, and the present invention is not limited to this.
Optionally, in some implementations, the S300 may include:
the zero offset compensation value may be increased, the voltage of the D axis of the permanent magnet synchronous motor may be set to 0, and the first current component of the Q axis of the permanent magnet synchronous motor may be gradually increased after the first current component of the Q axis of the permanent magnet synchronous motor is set to 0;
when the rotation speed of the permanent magnet synchronous motor increases to the first rotation speed, setting the first current component of the Q axis of the permanent magnet synchronous motor to 0 again and applying a negative second current component to the permanent magnet synchronous motor, where the negative second current component may not be 0 and may be opposite to the direction of the D axis, and the time when the negative second current component is applied to the permanent magnet synchronous motor may be a third time;
determining that a time when the permanent magnet synchronous motor decreases from the first rotation speed to 0 may be a fourth time;
a second length of time between the third time and the fourth time may be obtained and a current offset compensation value may be recorded.
It should be understood that, after the voltage of the D-axis of the permanent magnet synchronous motor is set to 0, the current mode may be entered, the first current component of the Q-axis of the permanent magnet synchronous motor is first set to 0, the first current component of the Q-axis obtained before the first time duration may be set to 0, then the first current component of the Q-axis is gradually increased to gradually increase the rotation speed of the permanent magnet synchronous motor, when the rotation speed of the permanent magnet synchronous motor increases to the first rotation speed, the first current component of the Q-axis of the permanent magnet synchronous motor is again set to 0, and the second current component may be applied at the same time, and timing may be started or a time of applying the negative second current component may be recorded, when the rotation speed of the permanent magnet synchronous motor decreases to 0, timing may be stopped or a time of decreasing the permanent magnet synchronous motor from the first rotation speed to 0 may be recorded, so as to obtain the second time duration, and the current zero offset compensation, for later use in calculating the average.
Alternatively, the U, V and W three-phase currents of the permanent magnet synchronous motor may be changed according to a certain algorithm, so that the first current component of the Q-axis of the permanent magnet synchronous motor is set to 0 or is increased step by step.
Alternatively, the current may be directly applied to the U, V and W three phases of the permanent magnet synchronous motor, so that the negative second current component having a direction opposite to that of the permanent magnet synchronous motor and a magnitude different from 0 is generated on the D axis of the permanent magnet synchronous motor, or the negative second current component may be applied to the permanent magnet synchronous motor in other manners, which is not limited in the present invention.
Optionally, the method may further include: the second time period may be adjusted by applying a null offset compensation amount corresponding to the increased null offset compensation value to the permanent magnet synchronous motor.
It will be appreciated that increasing the null offset compensation value may correspondingly increase the amount of null offset compensation applied to the permanent magnet synchronous motor, which may result in a different descent speed of the permanent magnet synchronous motor, thereby adjusting the second length of time.
Optionally, the zero offset compensation value may increase a preset zero offset threshold value every time, where the zero offset threshold value may be fixed or may be manually changed or set at any time, and the present invention is not limited to this.
As shown in fig. 2, the present invention provides an apparatus for identifying a zero offset between a permanent magnet synchronous motor and a resolver, which may include:
an initial angle deviation obtaining unit 100, configured to obtain an initial angle deviation between the resolver and the permanent magnet synchronous motor when the rotation speed of the permanent magnet synchronous motor is 0;
a first time length obtaining unit 200, configured to set a null offset compensation value to 0, and obtain a first time length from a first time to a second time, where the first time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0 and a rotation speed of the Q axis of the permanent magnet synchronous motor is a first rotation speed, and the second time is a time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0;
a second time length obtaining unit 300, configured to increase the zero offset compensation value, obtain a second time length from a third time to a fourth time, and record a current zero offset compensation value, where the third time is a time when the first current component of the Q axis of the permanent magnet synchronous motor is 0, the negative second current component of the D axis of the permanent magnet synchronous motor is not 0, and the rotation speed is the first rotation speed, and the fourth time is a time when the permanent magnet synchronous motor decreases from the first rotation speed to 0;
an average value obtaining unit 400, configured to trigger the second time length obtaining unit 300 when the second time length is greater than the first time length; obtaining an average of said current offset compensation value and a previous offset compensation value when said second time duration is less than said first time duration;
the mathematical model building unit 500 may be configured to build a mathematical model of the rotation speed and the zero offset compensation value of the permanent magnet synchronous motor according to the initial angle offset, the average value, and the first rotation speed.
Optionally, in some implementations, the obtaining the first time length unit 200 may include:
a zero offset compensation value setting subunit, configured to set a zero offset compensation value to 0;
the obtaining of the first time length subunit may be configured to obtain the first time length between a first time when the first current component of the Q-axis of the permanent magnet synchronous motor is 0 and the rotation speed is a first rotation speed and a second time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0.
Optionally, in some embodiments, the obtaining the first time length unit 200 may include:
a D-axis voltage subunit is arranged, and can be used for setting the voltage of the D axis of the permanent magnet synchronous motor to 0;
the Q-axis first current component increasing subunit is used for gradually increasing the first current component of the Q axis of the permanent magnet synchronous motor;
a zero offset compensation value subunit operable to set a zero offset compensation value to 0;
the Q-axis first current component subunit is arranged and can be used for setting the first current component of the Q axis of the permanent magnet synchronous motor to 0 when the rotating speed of the permanent magnet synchronous motor is increased to a first rotating speed;
a determining first time subunit operable to determine, as a first time, a time at which the first current component of the Q-axis of the permanent magnet synchronous motor is set to 0;
a second time determining subunit, configured to determine, as a second time, a time when the rotational speed of the permanent magnet synchronous motor decreases from the first rotational speed to 0;
the obtaining unit is configured to obtain a first time length between a first time and a second time;
and the recording current zero offset subunit can be used for recording the current zero offset compensation value.
Optionally, in some implementations, the obtaining the second time length unit 300 may include:
a zero offset compensation value increasing subunit operable to increase the zero offset compensation value;
a second time length obtaining subunit operable to obtain a second time length from a third time point to a fourth time point, where the third time point is a time point at which a first current component of a Q axis of the permanent magnet synchronous motor is 0, a negative second current component of a D axis of the permanent magnet synchronous motor is not 0, and a rotation speed is the first rotation speed, and the fourth time point is a time point at which the permanent magnet synchronous motor decreases from the first rotation speed to 0;
and the recording zero offset compensation value subunit can be used for recording the current zero offset compensation value.
Optionally, in some embodiments, the obtaining the second time length unit 300 may include:
a zero offset compensation value subunit is added, which can be used for increasing the zero offset compensation value;
the zero setting D-axis voltage subunit is used for setting the voltage of the D axis of the permanent magnet synchronous motor to 0;
the zero setting Q-axis first current component subunit is used for setting the first current component of the Q axis of the permanent magnet synchronous motor to 0;
the Q-axis first current component increasing subunit is used for gradually increasing the first current component of the Q axis of the permanent magnet synchronous motor;
the negative second current component applying subunit is configured to apply a negative second current component to the permanent magnet synchronous motor, where the negative second current component is not 0 and has a direction opposite to the direction of the D axis;
a third time determining subunit, configured to determine a time at which the negative second current component is applied to the permanent magnet synchronous motor as a third time;
the fourth time sub-unit is used for determining the fourth time from the time when the first rotation speed of the permanent magnet synchronous motor is reduced to 0;
and the obtaining second time length subunit may be configured to obtain a second time length between the third time and the fourth time.
Optionally, in some implementations, the obtaining the initial angle deviation unit 100 may include:
the D-axis voltage increasing subunit is used for gradually increasing the voltage of the D axis of the permanent magnet synchronous motor;
the initial angle deviation obtaining subunit may be configured to obtain an initial angle deviation between the resolver and the permanent magnet synchronous motor when the rotation speed of the permanent magnet synchronous motor is 0 when the current of the U phase of the permanent magnet synchronous motor is greater than a preset current threshold of the U phase.
Optionally, in some implementations, the apparatus may further include: and the zero offset compensation applying unit can be used for applying the zero offset compensation amount corresponding to the increased zero offset compensation value to the permanent magnet synchronous motor so as to adjust the second time length.
The invention can firstly obtain the initial angle deviation between the rotary transformer and the permanent magnet synchronous motor under the condition that the rotating speed of the permanent magnet synchronous motor is zero, then can set the zero deviation compensation value as 0, and can obtain the first time length according to the time length between the moment when the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is the first rotating speed and the moment when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0, then increase the zero deviation compensation value, and can obtain the second time length according to the moment when the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the negative second current component of the D shaft of the permanent magnet synchronous motor is not 0 and the rotating speed is the first rotating speed and the moment when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0, can judge whether the second time length is greater than the first time length, if so, the process of increasing the zero deviation compensation value and obtaining the second time length can be returned to, if the value is less than the preset zero offset compensation value, calculating to obtain an average value according to the current zero offset compensation value and the last zero offset compensation value, and establishing a mathematical model of the rotating speed and the zero offset compensation value of the permanent magnet synchronous motor according to the average value, the first rotating speed and the initial angle offset. Through logic judgment, the zero offset compensation value of the permanent magnet synchronous motor in the full rotating speed range can be obtained without additionally adding external equipment, and the method is convenient and rapid.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. The method for identifying the zero offset of the permanent magnet synchronous motor and the rotary transformer is characterized by comprising the following steps of:
obtaining an initial angle deviation: obtaining the initial angle deviation of a rotary transformer and a permanent magnet synchronous motor when the rotating speed of the permanent magnet synchronous motor is 0;
a first time length obtaining step: setting a zero offset compensation value to be 0, and obtaining a first time length from a first time to a second time, wherein the first time is a time when a first current component of a Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is a first rotating speed, and the second time is a time when the permanent magnet synchronous motor is reduced from the first rotating speed to 0;
a step of obtaining a second time length: increasing the zero offset compensation value, obtaining a second time length from a third time to a fourth time, and recording the current zero offset compensation value, wherein the third time is a time when a first current component of a Q shaft of the permanent magnet synchronous motor is 0, a negative second current component of a D shaft of the permanent magnet synchronous motor is not 0, and the rotating speed is the first rotating speed, and the fourth time is a time when the permanent magnet synchronous motor is reduced from the first rotating speed to 0;
obtaining an average value: when the second time length is larger than the first time length, returning to execute the second time length step; when the second time length is smaller than the first time length, obtaining an average value of the current zero offset compensation value and the previous zero offset compensation value;
establishing a mathematical model: and establishing a mathematical model of the rotating speed and the zero offset compensation value of the permanent magnet synchronous motor according to the initial angle deviation, the average value and the first rotating speed, wherein the mathematical model is a linear mathematical model taking the first rotating speed as an abscissa and the zero offset compensation value as an ordinate.
2. The method of claim 1, wherein the step of obtaining an initial angular deviation comprises:
the method comprises the steps of gradually increasing the voltage of a D shaft of the permanent magnet synchronous motor, and when the current of the U phase of the permanent magnet synchronous motor is larger than a preset current threshold value of the U phase, obtaining the initial angle deviation between a rotary transformer and the permanent magnet synchronous motor when the rotating speed of the permanent magnet synchronous motor is 0.
3. The method of claim 2, wherein the step-wise increasing the voltage of the D-axis of the permanent magnet synchronous motor comprises:
and increasing the voltage of the D shaft of the permanent magnet synchronous motor by a preset voltage threshold value every time so as to gradually increase the voltage of the D shaft of the permanent magnet synchronous motor.
4. The method of claim 1, wherein the step of obtaining the first length of time comprises:
setting the voltage of a D shaft of the permanent magnet synchronous motor to be 0, gradually increasing a first current component of a Q shaft of the permanent magnet synchronous motor, and setting a zero offset compensation value to be 0;
when the rotating speed of the permanent magnet synchronous motor rises to a first rotating speed, setting the first current component of the Q shaft of the permanent magnet synchronous motor to be 0, and setting the time when the first current component of the Q shaft of the permanent magnet synchronous motor is set to be 0 as a first time;
determining the moment when the rotating speed of the permanent magnet synchronous motor is reduced from the first rotating speed to 0 as a second moment;
obtaining a first time length between the first time and the second time.
5. The method of claim 4, wherein said step-wise increasing the first current component of the Q-axis of the PMSM comprises:
the first current component of the Q shaft of the permanent magnet synchronous motor is increased by a preset current threshold value every time so as to gradually increase the first current component of the Q shaft of the permanent magnet synchronous motor.
6. The method of claim 1, wherein the step of obtaining a second length of time comprises:
increasing the zero offset compensation value, setting the voltage of the D shaft of the permanent magnet synchronous motor to be 0, and gradually increasing the first current component of the Q shaft of the permanent magnet synchronous motor after setting the first current component of the Q shaft of the permanent magnet synchronous motor to be 0;
when the rotating speed of the permanent magnet synchronous motor rises to the first rotating speed, setting the first current component of the Q shaft of the permanent magnet synchronous motor to be 0 again and applying a negative second current component to the permanent magnet synchronous motor, wherein the negative second current component is not 0 and has the direction opposite to the direction of the D shaft, and the moment of applying the negative second current component to the permanent magnet synchronous motor is a third moment;
determining the moment when the first rotation speed of the permanent magnet synchronous motor is reduced to 0 as a fourth moment;
and acquiring a second time length from the third time to the fourth time, and recording the current zero offset compensation value.
7. The method of claim 6, further comprising:
applying a null offset compensation amount corresponding to the increased null offset compensation value to the permanent magnet synchronous motor to adjust the second time length.
8. Discernment PMSM and resolver zero offset's device, its characterized in that includes:
the device comprises an initial angle deviation obtaining unit, a control unit and a control unit, wherein the initial angle deviation obtaining unit is used for obtaining the initial angle deviation of a rotary transformer and a permanent magnet synchronous motor when the rotating speed of the permanent magnet synchronous motor is 0;
a first time length obtaining unit, configured to set a zero offset compensation value to be 0, and obtain a first time length from a first time to a second time, where the first time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0 and a rotation speed of the Q axis of the permanent magnet synchronous motor is a first rotation speed, and the second time is a time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0;
a second time length obtaining unit, configured to increase the zero offset compensation value, obtain a second time length from a third time to a fourth time, and record a current zero offset compensation value, where the third time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0, a negative second current component of a D axis of the permanent magnet synchronous motor is not 0, and a rotation speed is the first rotation speed, and the fourth time is a time when the permanent magnet synchronous motor decreases from the first rotation speed to 0;
the average value obtaining unit is used for triggering the second time length obtaining unit when the second time length is greater than the first time length; when the second time length is smaller than the first time length, obtaining an average value of the current zero offset compensation value and the previous zero offset compensation value;
and the mathematical model establishing unit is used for establishing a mathematical model of the rotating speed and the zero offset compensation value of the permanent magnet synchronous motor according to the initial angle offset, the average value and the first rotating speed, and the mathematical model is a linear mathematical model taking the first rotating speed as an abscissa and the zero offset compensation value as an ordinate.
9. The apparatus of claim 8, wherein the obtaining the first time length unit comprises:
a zero offset compensation value setting subunit, configured to set a zero offset compensation value to 0;
and the obtaining unit is used for obtaining a first time length between a first moment and a second moment, wherein the first moment is a moment when the first current component of the Q shaft of the permanent magnet synchronous motor is 0 and the rotating speed is a first rotating speed, and the second moment is a moment when the first rotating speed of the permanent magnet synchronous motor is reduced to 0.
10. The apparatus of claim 8, wherein the obtaining the second time length unit comprises:
an increase zero offset compensation value subunit for increasing the zero offset compensation value;
a second time length obtaining subunit, configured to obtain a second time length between a third time and a fourth time, where the third time is a time when a first current component of a Q axis of the permanent magnet synchronous motor is 0, a negative second current component of a D axis of the permanent magnet synchronous motor is not 0, and a rotation speed of the permanent magnet synchronous motor is the first rotation speed, and the fourth time is a time when the rotation speed of the permanent magnet synchronous motor decreases from the first rotation speed to 0;
and the recording zero offset compensation value subunit is used for recording the current zero offset compensation value.
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| CN113386565B (en) * | 2020-03-12 | 2023-05-26 | 北京新能源汽车股份有限公司 | Permanent magnet synchronous motor zero point deviation detection method, device, equipment and automobile |
| CN111262495B (en) * | 2020-03-20 | 2021-05-28 | 无锡市艾克特电气股份有限公司 | Method for detecting initial rotor angle of permanent magnet synchronous motor of incremental encoder |
| CN111490710B (en) * | 2020-05-06 | 2022-06-21 | 郑州智驱科技有限公司 | Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle |
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