CN111384882A - Control method and device of permanent magnet synchronous motor - Google Patents
Control method and device of permanent magnet synchronous motor Download PDFInfo
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- CN111384882A CN111384882A CN202010229686.7A CN202010229686A CN111384882A CN 111384882 A CN111384882 A CN 111384882A CN 202010229686 A CN202010229686 A CN 202010229686A CN 111384882 A CN111384882 A CN 111384882A
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- magnet synchronous
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The application provides a control method and a device of a permanent magnet synchronous motor, wherein the method comprises the following steps: firstly, acquiring a current signal of a stator of a permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state; then, extracting a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor, and calculating to obtain quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor; then, inputting the negative sequence current component into a preset phase-locked loop, and obtaining the initial position information of the rotor of the permanent magnet synchronous motor through the operation of the phase-locked loop; and finally, controlling the permanent magnet synchronous motor by utilizing the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor. Therefore, the accuracy of parameter identification is improved, and the purpose of high-performance control of the permanent magnet motor is achieved.
Description
Technical Field
The present disclosure relates to the field of motor technologies, and in particular, to a method and an apparatus for controlling a permanent magnet synchronous motor.
Background
The embedded permanent magnet synchronous motor has the advantages of high efficiency, easy control, wide weak magnetic speed expansion capability and the like, and is increasingly applied to the application fields of servo, electric vehicles and the like.
With the development of the driving control technology of the permanent magnet synchronous motor, a large number of control technologies are proposed by domestic and foreign scholars to realize the high-performance control of the permanent magnet motor. No matter the control speed, the position or the torque control, the realization of high dynamic response and high precision control target all needs to use accurate motor parameters, but the parameters are greatly changed by the influence of factors such as temperature, stator current and magnetic flux saturation, so in the practical application process, the effect of theoretical analysis is difficult to achieve by methods such as vector control, direct torque control permanent magnet synchronous motor and the like.
Therefore, a method for improving the accuracy of parameter identification is needed to realize high-performance control of the permanent magnet motor.
Disclosure of Invention
In view of this, the present application provides a method and an apparatus for controlling a permanent magnet synchronous motor, which are used to improve accuracy of parameter identification, thereby implementing high performance control on the permanent magnet synchronous motor.
In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:
the application provides a control method of a permanent magnet synchronous motor in a first aspect, comprising the following steps:
acquiring a current signal of a stator of the permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state;
extracting a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor, and calculating to obtain quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor;
inputting the negative sequence current component into a preset phase-locked loop, and calculating by the phase-locked loop to obtain initial position information of a rotor of the permanent magnet synchronous motor;
and controlling the permanent magnet synchronous motor by using the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor.
Optionally, the current signal of the stator of the permanent magnet synchronous motor is obtained by detecting the current signal of the stator of the permanent magnet synchronous motor through a current sensor.
Optionally, the extracting a negative-sequence current component in a current signal of a stator of the permanent magnet synchronous motor includes:
converting a positive sequence current component in a current signal of a stator of the permanent magnet synchronous motor into a direct current quantity;
and inputting the positive sequence current component converted into the direct current quantity into a high-pass filter, and filtering by the high-pass filter to obtain a negative sequence current component in the stator current signal of the permanent magnet synchronous motor.
Optionally, the calculating, according to the current signal of the stator of the permanent magnet synchronous motor, to obtain a quadrature axis inductance and a direct axis inductance of the stator of the permanent magnet synchronous motor includes:
calculating a positive sequence current component and a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor by using a quadrature axis inductance of the stator of the permanent magnet synchronous motor and a relational expression of the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor to obtain the quadrature axis inductance of the stator of the permanent magnet synchronous motor;
and calculating the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor by using the direct axis inductance of the stator of the permanent magnet synchronous motor and the relational expression of the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor to obtain the direct axis inductance of the stator of the permanent magnet synchronous motor.
Optionally, the method for injecting the high-frequency voltage signal into the stator of the permanent magnet synchronous motor in the non-working state is as follows:
and superposing a three-phase balanced rotating high-frequency voltage excitation on the fundamental wave excitation of the stator of the permanent magnet synchronous motor in the non-working state.
The present application in a second aspect provides a control apparatus for a permanent magnet synchronous motor, comprising:
the acquisition unit is used for acquiring a current signal of a stator of the permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state;
the extraction unit is used for extracting a negative-sequence current component in a current signal of a stator of the permanent magnet synchronous motor;
the calculation unit is used for calculating and obtaining quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor;
the input unit is used for inputting the negative sequence current component into a preset phase-locked loop, and the initial position information of the rotor of the permanent magnet synchronous motor is obtained through the operation of the phase-locked loop;
and the control unit is used for controlling the permanent magnet synchronous motor by utilizing the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor.
Optionally, the current signal of the stator of the permanent magnet synchronous motor is obtained by detecting the current signal of the stator of the permanent magnet synchronous motor through a current sensor.
Optionally, the extracting unit includes:
the conversion unit is used for converting a positive sequence current component in a current signal of a stator of the permanent magnet synchronous motor into a direct current quantity;
and the filtering unit is used for inputting the positive sequence current component converted into the direct current quantity into a high-pass filter, and the negative sequence current component in the stator current signal of the permanent magnet synchronous motor is obtained by filtering through the high-pass filter.
Optionally, the computing unit includes;
the first calculating subunit is configured to calculate a positive sequence current component and a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor by using a quadrature axis inductance of the stator of the permanent magnet synchronous motor and a relational expression between the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the quadrature axis inductance of the stator of the permanent magnet synchronous motor;
and the second calculating subunit is configured to calculate a positive sequence current component and a negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor by using a relationship expression between the direct axis inductance of the stator of the permanent magnet synchronous motor and the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the direct axis inductance of the stator of the permanent magnet synchronous motor.
Optionally, the obtaining unit is configured to, when obtaining a current signal of a stator of the permanent magnet synchronous motor:
and superposing a three-phase balanced rotating high-frequency voltage excitation on the fundamental wave excitation of the stator of the permanent magnet synchronous motor in the non-working state, and then acquiring a current signal of the stator of the permanent magnet synchronous motor.
According to the scheme, the control method and the control device for the permanent magnet synchronous motor are provided by the application; firstly, acquiring a current signal of a stator of a permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state; then, extracting a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor, and calculating to obtain quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor; then, inputting the negative sequence current component into a preset phase-locked loop, and obtaining the initial position information of the rotor of the permanent magnet synchronous motor through the operation of the phase-locked loop; and finally, controlling the permanent magnet synchronous motor by utilizing the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor. Therefore, the accuracy of parameter identification is improved, and the purpose of high-performance control of the permanent magnet motor is achieved.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a detailed flowchart of a control method of a permanent magnet synchronous motor according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating a control method of a permanent magnet synchronous motor according to another embodiment of the present disclosure;
fig. 3 is a flowchart illustrating a control method of a permanent magnet synchronous motor according to another embodiment of the present disclosure;
fig. 4 is a schematic diagram of a phase-locked loop used in a control method of a permanent magnet synchronous motor according to another embodiment of the present application;
fig. 5 is a schematic diagram of a control apparatus of a permanent magnet synchronous motor according to another embodiment of the present application;
FIG. 6 is a schematic diagram of an extraction unit according to another embodiment of the present application;
fig. 7 is a schematic diagram of a computing unit according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like, referred to in this application, are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of functions performed by these devices, modules or units, but the terms "include", or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements that are not explicitly listed, or includes elements 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.
The embodiment of the application provides a control method of a permanent magnet synchronous motor, as shown in fig. 1, the method includes the following steps:
s101, acquiring a current signal of a stator of the permanent magnet synchronous motor.
The current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state.
Optionally, in another embodiment of the present application, the current signal of the stator of the permanent magnet synchronous motor is obtained by detecting the current signal of the stator of the permanent magnet synchronous motor by a current sensor.
Optionally, in another embodiment of the present application, a manner of injecting a high-frequency voltage signal into a stator of the permanent magnet synchronous motor in the non-operating state is as follows:
a three-phase balanced rotating high-frequency voltage excitation is superposed on the fundamental wave excitation of the stator of the permanent magnet synchronous motor in a non-working state.
For example, in step S101, when the permanent magnet synchronous motor is in a non-operating state, i.e., a static state, a stator voltage equation in the two-phase coordinate system is as follows:
Injecting a three-phase balanced high-frequency voltage excitation under a two-phase static coordinate system; the voltage equation of the high-frequency voltage signal in the two-phase static coordinate system is as follows:
After a three-phase balanced high-frequency voltage is superposed for excitation in a two-phase static coordinate system, a stator voltage equation of the permanent magnet synchronous motor in the two-phase static coordinate system can be deduced as follows:
after a three-phase balanced high-frequency voltage is superposed for excitation in a two-phase static coordinate system, because the rotating speed of the permanent magnet synchronous motor is far less than the frequency of the high-frequency voltage, the stator voltage equation of the voltage permanent magnet synchronous motor in the two-phase static coordinate system can be deduced as follows:
by calculation it is possible to obtain:
finally, the current signal of the stator of the permanent magnet synchronous motor can be obtained as follows:
S102, extracting a negative-sequence current component in a current signal of a stator of the permanent magnet synchronous motor.
Optionally, in another embodiment of the present application, an implementation manner of step S102, as shown in fig. 2, includes:
s201, converting a positive sequence current component in a current signal of a stator of the permanent magnet synchronous motor into a direct current quantity.
In particular, can beCurrent signal of stator of permanent magnet synchronous motor
After park transformation, will
And converting the positive sequence current component in the current signal of the stator of the permanent magnet synchronous motor into direct current quantity by converting the positive sequence current component into a coordinate system with the frequency consistent with the negative sequence component.
S202, inputting the positive sequence current component converted into the direct current quantity into a high-pass filter, and filtering by the high-pass filter to obtain a negative sequence current component in the stator current signal of the permanent magnet synchronous motor.
Specifically, the positive sequence current component converted into the direct current is input to a high-pass filter, the negative sequence current component in the stator current signal of the permanent magnet synchronous motor is obtained by filtering through the high-pass filter, and the finally obtained negative sequence current component is as follows:
s103, calculating to obtain quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor.
Optionally, in another embodiment of the present application, an implementation manner of step S103, as shown in fig. 3, includes:
s301, calculating a positive sequence current component and a negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor by using the quadrature axis inductance of the stator of the permanent magnet synchronous motor and a relational expression of the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the quadrature axis inductance of the stator of the permanent magnet synchronous motor.
S302, calculating a positive sequence current component and a negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor by using a direct axis inductance of the stator of the permanent magnet synchronous motor and a relational expression of the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the direct axis inductance of the stator of the permanent magnet synchronous motor.
Specifically, when the motor is at rest, the current signal of the stator of the permanent magnet synchronous motor
It can be calculated to obtain:
finally, respectively obtaining the direct axis inductance of the stator of the permanent magnet synchronous motor and the quadrature axis inductance of the stator of the permanent magnet synchronous motor through calculation:
and S104, inputting the negative sequence current component into a preset phase-locked loop, and calculating by using the phase-locked loop to obtain initial position information of a rotor of the permanent magnet synchronous motor.
Specifically, the current of the negative sequence current component in the α axis and the current of the β axis of the static coordinate system are respectively input into a phase-locked loop shown in fig. 4 to be calculated, so that the identification position of the rotor of the permanent magnet synchronous motor is obtained, the identification position of the rotor of the permanent magnet synchronous motor with the minimum difference value with the theoretical position of the rotor of the permanent magnet synchronous motor is selected as the initial position of the rotor of the permanent magnet synchronous motor through the calculated difference value between the identification position of the rotor of the permanent magnet synchronous motor and the theoretical position of the rotor of the permanent magnet synchronous motor.
It should be noted that e in fig. 4 is calculated by a heterodyne method, and the calculation process is as follows:
wherein the content of the first and second substances,
is the identified position of the rotor of the permanent magnet synchronous motor,
is the theoretical position of the rotor of the permanent magnet synchronous motor.
And S105, controlling the permanent magnet synchronous motor by using the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor.
According to the scheme, the control method of the permanent magnet synchronous motor provided by the application is characterized in that the control method comprises the following steps of; firstly, acquiring a current signal of a stator of a permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state; then, extracting a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor, and calculating to obtain quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor; then, inputting the negative sequence current component into a preset phase-locked loop, and obtaining the initial position information of the rotor of the permanent magnet synchronous motor through the operation of the phase-locked loop; and finally, controlling the permanent magnet synchronous motor by utilizing the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor. Therefore, the accuracy of parameter identification is improved, and the purpose of high-performance control of the permanent magnet motor is achieved.
Another embodiment of the present application provides a control device for a permanent magnet synchronous motor, as shown in fig. 5, specifically including:
an obtaining unit 501 is configured to obtain a current signal of a stator of the permanent magnet synchronous motor.
The current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state.
Optionally, in another embodiment of the present application, the current signal of the stator of the permanent magnet synchronous motor is obtained by detecting the current signal of the stator of the permanent magnet synchronous motor by a current sensor.
For specific working processes of the units disclosed in the above embodiments of the present application, reference may be made to the contents of the corresponding method embodiments, which are not described herein again.
Optionally, in another embodiment of the present application, the obtaining unit 501, when obtaining the current signal of the stator of the permanent magnet synchronous motor, is configured to:
the method comprises the steps of superposing a three-phase balanced rotating high-frequency voltage excitation on a fundamental wave excitation of a stator of the permanent magnet synchronous motor in a non-working state, and then collecting a current signal of the stator of the permanent magnet synchronous motor.
For specific working processes of the units disclosed in the above embodiments of the present application, reference may be made to the contents of the corresponding method embodiments, which are not described herein again.
An extracting unit 502 for extracting a negative-sequence current component in a current signal of a stator of the permanent magnet synchronous motor.
Optionally, in another embodiment of the present application, an implementation manner of the extracting unit 502, as shown in fig. 6, includes:
the conversion unit 601 is configured to convert a positive-sequence current component in a current signal of a stator of the permanent magnet synchronous motor into a direct current component.
The filtering unit 602 is configured to input the positive sequence current component converted into the direct current to a high-pass filter, and the negative sequence current component in the stator current signal of the permanent magnet synchronous motor is obtained by filtering with the high-pass filter.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 2, which is not described herein again.
The calculating unit 503 is configured to calculate a quadrature axis inductance and a direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor.
Optionally, in another embodiment of the present application, an implementation manner of the calculating unit 503, as shown in fig. 7, includes:
the first calculating subunit 701 is configured to calculate a positive sequence current component and a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor by using a quadrature axis inductance of the stator of the permanent magnet synchronous motor and a relational expression between the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the quadrature axis inductance of the stator of the permanent magnet synchronous motor.
The second calculating subunit 702 is configured to calculate a positive sequence current component and a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor by using a relationship expression between a direct axis inductance of the stator of the permanent magnet synchronous motor and the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the direct axis inductance of the stator of the permanent magnet synchronous motor.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 3, which is not described herein again.
The input unit 504 is configured to input the negative-sequence current component into a preset phase-locked loop, and obtain initial position information of a rotor of the permanent magnet synchronous motor through phase-locked loop operation.
The control unit 505 controls the permanent magnet synchronous motor by using the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 1, which is not described herein again.
According to the scheme, the control device of the permanent magnet synchronous motor is characterized in that the permanent magnet synchronous motor is provided with a motor; firstly, a current signal of a stator of the permanent magnet synchronous motor is acquired through an acquisition unit 501; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state; then, the extraction unit 502 is used for extracting the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, and the calculation unit 503 is used for calculating the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor; then, the input unit 504 inputs the negative sequence current component into a preset phase-locked loop, and the phase-locked loop calculates to obtain initial position information of a rotor of the permanent magnet synchronous motor; finally, the control unit 505 controls the permanent magnet synchronous motor by using the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor. Therefore, the accuracy of parameter identification is improved, and the purpose of high-performance control of the permanent magnet motor is achieved.
In the above embodiments disclosed in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present disclosure may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a live broadcast device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Those skilled in the art can make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A control method of a permanent magnet synchronous motor, comprising:
acquiring a current signal of a stator of the permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state;
extracting a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor, and calculating to obtain quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor;
inputting the negative sequence current component into a preset phase-locked loop, and calculating by the phase-locked loop to obtain initial position information of a rotor of the permanent magnet synchronous motor;
and controlling the permanent magnet synchronous motor by using the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor.
2. The control method according to claim 1, wherein the current signal of the stator of the permanent magnet synchronous motor is detected by a current sensor.
3. The control method according to claim 1, wherein the extracting a negative-sequence current component in a current signal of a stator of the permanent magnet synchronous motor includes:
converting a positive sequence current component in a current signal of a stator of the permanent magnet synchronous motor into a direct current quantity;
and inputting the positive sequence current component converted into the direct current quantity into a high-pass filter, and filtering by the high-pass filter to obtain a negative sequence current component in the stator current signal of the permanent magnet synchronous motor.
4. The control method according to claim 1, wherein the calculating of the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor comprises:
calculating a positive sequence current component and a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor by using a quadrature axis inductance of the stator of the permanent magnet synchronous motor and a relational expression of the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor to obtain the quadrature axis inductance of the stator of the permanent magnet synchronous motor;
and calculating the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor by using the direct axis inductance of the stator of the permanent magnet synchronous motor and the relational expression of the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor to obtain the direct axis inductance of the stator of the permanent magnet synchronous motor.
5. The control method according to claim 1, wherein the stator of the permanent magnet synchronous motor in the non-working state injects the high-frequency voltage signal in a manner that:
and superposing a three-phase balanced rotating high-frequency voltage excitation on the fundamental wave excitation of the stator of the permanent magnet synchronous motor in the non-working state.
6. A control device of a permanent magnet synchronous motor, characterized by comprising:
the acquisition unit is used for acquiring a current signal of a stator of the permanent magnet synchronous motor; the current signal of the stator of the permanent magnet synchronous motor is acquired after a high-frequency voltage signal is injected into the stator of the permanent magnet synchronous motor in a non-working state;
the extraction unit is used for extracting a negative-sequence current component in a current signal of a stator of the permanent magnet synchronous motor;
the calculation unit is used for calculating and obtaining quadrature axis inductance and direct axis inductance of the stator of the permanent magnet synchronous motor according to the current signal of the stator of the permanent magnet synchronous motor;
the input unit is used for inputting the negative sequence current component into a preset phase-locked loop, and the initial position information of the rotor of the permanent magnet synchronous motor is obtained through the operation of the phase-locked loop;
and the control unit is used for controlling the permanent magnet synchronous motor by utilizing the initial position information of the rotor and the quadrature axis inductance and the direct axis inductance of the stator of the permanent magnet synchronous motor.
7. The control device according to claim 6, wherein the current signal of the stator of the permanent magnet synchronous motor is detected by a current sensor.
8. The control device according to claim 6, wherein the extraction unit includes:
the conversion unit is used for converting a positive sequence current component in a current signal of a stator of the permanent magnet synchronous motor into a direct current quantity;
and the filtering unit is used for inputting the positive sequence current component converted into the direct current quantity into a high-pass filter, and the negative sequence current component in the stator current signal of the permanent magnet synchronous motor is obtained by filtering through the high-pass filter.
9. The control device according to claim 6, wherein the calculation unit includes;
the first calculating subunit is configured to calculate a positive sequence current component and a negative sequence current component in a current signal of the stator of the permanent magnet synchronous motor by using a quadrature axis inductance of the stator of the permanent magnet synchronous motor and a relational expression between the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the quadrature axis inductance of the stator of the permanent magnet synchronous motor;
and the second calculating subunit is configured to calculate a positive sequence current component and a negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor by using a relationship expression between the direct axis inductance of the stator of the permanent magnet synchronous motor and the positive sequence current component and the negative sequence current component in the current signal of the stator of the permanent magnet synchronous motor, so as to obtain the direct axis inductance of the stator of the permanent magnet synchronous motor.
10. The control device according to claim 6, wherein the acquisition unit, when acquiring the current signal of the stator of the permanent magnet synchronous motor, is configured to:
and superposing a three-phase balanced rotating high-frequency voltage excitation on the fundamental wave excitation of the stator of the permanent magnet synchronous motor in the non-working state, and then acquiring a current signal of the stator of the permanent magnet synchronous motor.
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| US20160099667A1 (en) * | 2014-10-01 | 2016-04-07 | Hyundai Motor Company | Sensorless control method and system for motor |
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| CN102714480A (en) * | 2011-03-30 | 2012-10-03 | 深圳市英威腾电气股份有限公司 | Inductance parameter identification method of synchronous motor and implementation system thereof |
| US20160099667A1 (en) * | 2014-10-01 | 2016-04-07 | Hyundai Motor Company | Sensorless control method and system for motor |
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