CN111490710B - Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle - Google Patents
Method and system for identifying zero offset of permanent magnet synchronous motor for vehicle Download PDFInfo
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- CN111490710B CN111490710B CN202010371742.0A CN202010371742A CN111490710B CN 111490710 B CN111490710 B CN 111490710B CN 202010371742 A CN202010371742 A CN 202010371742A CN 111490710 B CN111490710 B CN 111490710B
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a method and a system for identifying zero offset of a permanent magnet synchronous motor, the method is to set a plurality of groups of different voltage control angles, and simultaneously collecting d-axis current, comparing the maximum value of the d-axis current under each control angle, taking the voltage control angle corresponding to the maximum value of the d-axis current as the reference initial angle of the permanent magnet synchronous motor, then, the reference initial angle is taken as a voltage control angle, the correction of the reference initial angle is carried out, the initial angle of the permanent magnet synchronous motor is obtained after the correction, the system comprises a voltage controller and the permanent magnet synchronous motor, and has the characteristics of high identification precision, short identification time consumption and wide identification conditions.
Description
Technical Field
The invention relates to a permanent magnet synchronous motor, in particular to a method and a system for identifying zero offset of a permanent magnet synchronous motor.
Background
Compared with other motors, the permanent magnet synchronous motor has the advantages of high efficiency, high power density and small torque pulsation. Therefore, the field of electric automobiles mostly adopts a permanent magnet synchronous motor for driving, the permanent magnet synchronous motor needs an encoder to obtain the position of a motor rotor when in operation, and because the zero position of the motor and the zero position of the encoder can not be aligned generally, a zero position angle needs to be set in a motor controller for converting the angle read by the encoder into a synchronous electric angle when the motor is controlled. In the running process of the vehicle, a motor stator or an encoder can move, so that the deviation between a set zero position angle and an actual zero position angle is increased, the permanent magnet synchronous motor can deviate from an optimal working curve to run due to the increase of the zero position angle, the torque is deviated, the vehicle cannot accelerate or accelerates too violently, the motor can accelerate illegally or is out of control at a high speed in serious conditions, and the driving safety and the safety of drivers and passengers are affected.
The zero offset identification method in the prior art has the advantages of low precision, long identification time consumption, need of additionally adding hardware circuits such as a voltage sampling circuit, a zero-crossing detection circuit and the like, strict identification conditions and free rotation of a motor, so that zero offset cannot be identified in advance and risks cannot be found in advance.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a system for identifying the zero offset of a permanent magnet synchronous motor for a vehicle, which have the characteristics of high identification precision and short identification time.
A method for identifying zero offset of a permanent magnet synchronous motor comprises the following steps:
the method comprises the following steps: the method comprises the steps that a motor controller applies voltage with amplitude not being zero to a d axis of a permanent magnet synchronous motor, applies voltage with amplitude being zero to a q axis, sets multiple groups of different angles as voltage control angles, collects d axis current values under different angles at the same time, the d axis is the d axis of the permanent magnet synchronous motor with reference to a synchronous rotating coordinate system, the q axis rotates anticlockwise by 90 degrees in the positive direction, and the voltage control angle is the included angle between the d axis of the permanent magnet synchronous motor with reference to the synchronous rotating coordinate system and the normal line of an A-phase coil;
step two: the motor controller judges whether the permanent magnet synchronous motor is in phase failure or not according to the collected d-axis current value, if so, a phase failure is output, and if not, a reference initial angle is determined according to the collected d-axis current value;
step three: the motor controller takes a reference initial angle as a reference of a voltage control angle, the voltage control angle is subjected to fine adjustment on the basis of the reference initial angle according to the collected d-axis current change trend, the reference initial angle is subjected to correction processing to obtain an initial angle Theta, and meanwhile, a first encoder characterization angle Theta1 corresponding to the initial angle Theta is obtained;
step four: the motor controller identifies according to the initial angle theta, confirms the position of the N pole of the rotor to obtain an identification initial angle S representing the position of the N pole of the rotor, and simultaneously reads the AD value of the encoder to obtain a representation electric angle SAD of the encoder corresponding to the identification initial angle S;
step five: judging whether the difference value of the first characterization angle Theta1 of the encoder and the characterization electrical angle SAD of the encoder corresponding to the identification initial angle S exceeds an angle threshold value, if so, making an error in identification, and if not, turning to a sixth step;
step six: the method comprises the steps of obtaining a motor identification zero position angle by differentiating an identification initial angle S and a characterization electrical angle SAD of a coder corresponding to the identification initial angle S;
step seven: and comparing the motor identification zero angle with the set motor zero angle, and outputting a corresponding fault mark according to a corresponding protection strategy or performing zero angle correction processing.
In the first step, the d-axis voltage amplitude is set according to the modulation degree of 0.8; and the sampling point for collecting the d-axis current value is the midpoint of a switching period or the end point of the switching period, and the switching period is the sum of the on-off time of the inverter for controlling the IGBT power tube.
The method for setting a plurality of different sets of angles as voltage control angles is that, starting from 0 DEG, N sets of voltage control angles are set at an angle interval of 180 DEG/N, each set of voltage control angles comprises a pair of voltage control angles, and the angle difference of each pair of voltage control angles is 180 deg.
In the second step, judging whether the permanent magnet synchronous motor is in phase failure and determining the reference zero angle comprises the following steps:
A1) sequentially acting N groups of voltage control angles on a d axis, and simultaneously collecting and recording the magnitude of a d axis current value under each control angle;
A2) the method comprises the following steps Obtaining the maximum value of the d-axis current, judging whether the maximum value of the d-axis current is larger than a current threshold, if so, turning to the step A4), and if not, turning to the step A3); the current threshold is a rated current peak value which is 0.5 time, and the rated current is a rated current value specified on a name plate of the permanent magnet synchronous motor;
A3) the method comprises the following steps Applying voltage by taking the voltage control angle corresponding to the maximum current obtained in the step A2) as a voltage control angle, applying the voltage once every switching period, continuously increasing the switching period until the current is larger than the current threshold in the step A2), and turning to the step A4);
A4) the method comprises the following steps Taking the switching period when the maximum d-axis current value is greater than the current threshold value as the switching period, repeating the wave generation for 5 times, and simultaneously collecting the d-axis current value under each voltage control angle;
A5) the method comprises the following steps Respectively accumulating the d-axis current values under each voltage control angle acquired for 5 times;
A6) the method comprises the following steps And respectively judging whether the accumulated value of the d-axis current is smaller than a current threshold value when the voltage control angles are 0 degrees, 120 degrees and 240 degrees, if the accumulated value of the current of any control angle is smaller than the current threshold value, outputting a phase-missing fault and quitting the identification, otherwise, determining the voltage control angle corresponding to the maximum value of the d-axis current values accumulated by the N groups of voltage control angles as a reference zero-bit angle without the phase-missing fault.
In the third step, the voltage control angle is finely adjusted on the basis of the reference initial angle according to the collected d-axis current change trend, and the reference initial angle correction processing comprises the following steps:
B1) the method comprises the following steps Controlling the sign of the d-axis voltage to be positive and negative periodic change, and adjusting the switching period until the amplitude of the d-axis current reaches the rated current;
B2) the method comprises the following steps Sampling a d-axis current value in real time, obtaining a difference value between the current d-axis current value and the d-axis current sampled in the previous period to obtain a d-axis current variable quantity, multiplying the d-axis current variable quantity by a coincidence function of the voltage applied to the d-axis in the previous period, and inputting a product result into an angle controller to output an angle correction quantity, wherein the angle controller is an integration link;
B3) the method comprises the following steps Applying the sum of the output angle correction quantity and the reference zero angle as a new voltage control angle to the d axis, judging whether the d axis variation is zero, and if not, turning to the step B2); if the value is zero, the step B4 is executed;
B4) the method comprises the following steps After the d-axis variation in the steps B2) to B3) converges to zero, repeating the steps B2) to B3) for 100ms to obtain an average value of the voltage control angle in the 100ms as an initial angle θ, and meanwhile, averaging the sampled encoder AD in the 100ms to obtain a first encoder characterizing angle Theta 1.
In the fourth step, the zero offset identification process includes the following steps:
C1) the method comprises the following steps Setting a voltage control angle as an initial angle theta, wherein the switching period is the same as that in the step A4), sending 10 pulses to a d-axis, collecting a d-axis current value, and adding absolute values of the d-axis current to obtain a first accumulated current value sum 1; averaging the AD values of the encoder in 10 pulses of the d axis to obtain a second characterization angle Theta2 of the encoder;
C2) the method comprises the following steps Setting the voltage control angle of the d axis to be 180 degrees + theta, sending 10 pulses to the d axis, collecting the current value of the d axis, and adding the absolute values of the current of the d axis to obtain a second accumulated current value sum 2; calculating the average value of the AD values of the encoder in 10 pulses of the d axis to obtain a third representing angle Theta3 of the encoder;
C3) the method comprises the following steps Judging whether the angle difference among Theta1, Theta2 and Theta3 exceeds 1.0 degrees or not, setting an error identification mark in a motor controller if the angle difference exceeds 1.0 degrees, delaying for 5 seconds, detecting whether a running instruction of the whole vehicle controller is received by the motor controller and detecting whether the rotating speed of the motor is less than 1rpm or not, and if the running instruction of the whole vehicle controller is not received and the rotating speed of the motor is less than 1rpm, repeating the step A1); otherwise, the motor controller continues to detect;
if the angle difference does not exceed 1.0 °, proceeding to step C4);
C4) the method comprises the following steps And judging whether the first accumulated current value sum1 is larger than the second accumulated current value sum2, if so, taking the initial angle theta as an identification initial angle, otherwise, taking 180 degrees + theta as the identification initial angle.
The angle threshold is 1.0 °.
In step seven, the corresponding protection strategy comprises the following steps:
D1) the method comprises the following steps Judging whether the difference value between the motor identification zero angle and the set motor zero angle exceeds a first zero angle threshold value, if so, turning to a step D2), otherwise, not outputting a fault mark and not carrying out angle correction, wherein the first zero angle threshold value is 6 degrees;
D2) the method comprises the following steps And judging whether the difference value between the motor identification zero angle and the set motor zero angle exceeds a second zero angle threshold value, if so, outputting and identifying a primary fault, and correcting the set motor zero angle according to the identified zero angle, otherwise, outputting and identifying a secondary fault, wherein the second zero angle threshold value is 12 degrees.
The system for identifying the zero offset of the permanent magnet synchronous motor comprises a motor controller and the permanent magnet synchronous motor, wherein the motor controller comprises an inverter, a voltage instruction generating module, an initial angle acquiring module, a feedback current acquiring module, a zero angle acquiring module, a scheduling module and a zero correcting and fault processing module, the permanent magnet synchronous motor is provided with an encoder, the permanent magnet synchronous motor is electrically connected with the feedback current acquiring module, the feedback current acquiring module is connected with the initial angle acquiring module, the initial angle acquiring module is respectively connected with the zero angle acquiring module and the voltage instruction generating module, the voltage instruction generating module is connected with the inverter, the inverter is connected with the permanent magnet synchronous motor, the encoder on the permanent magnet synchronous motor is respectively connected with the zero angle acquiring module and the zero correcting and fault processing module, and the zero correction and fault processing module is connected with the zero angle acquisition module.
The invention discloses a method and a system for identifying zero offset of a permanent magnet synchronous motor for a vehicle, wherein the method comprises the steps of applying a plurality of groups of different electric angle values, simultaneously sampling the value of d-axis current of the permanent magnet synchronous motor, determining an initial reference angle of the permanent magnet synchronous motor according to the sampling condition of the current value, correcting the initial reference angle on the basis of the initial reference angle as a control angle to obtain the initial angle, obtaining a final zero angle according to the difference value of an encoder and the initial angle, without adding an additional hardware circuit, saving the circuit cost, carrying out different protections or zero offset according to the size of the zero angle offset by setting different threshold values, and has the advantages of high identification precision, short identification time consumption and wide identification conditions.
Drawings
FIG. 1 is a flow chart of a method for identifying a zero offset of a permanent magnet synchronous motor;
fig. 2 is a block diagram of a system for identifying zero offset of a permanent magnet synchronous motor.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is understood that the described embodiments are merely some implementations, rather than all implementations, and that all other embodiments that can be derived by one of ordinary skill in the art based on the described embodiments are intended to be within the scope of the present invention.
The method comprises the steps of firstly setting a plurality of groups of different voltage control angles, simultaneously collecting d-axis current, comparing the maximum value of the d-axis current under each control angle, taking the voltage control angle corresponding to the maximum value of the d-axis current as a reference initial angle of the permanent magnet synchronous motor, then correcting the reference initial angle by taking the reference initial angle as the voltage control angle to obtain an initial angle of the permanent magnet synchronous motor after correction, obtaining an identified zero-bit angle by taking the initial angle of the permanent magnet synchronous motor and the electric angle represented by an encoder as a difference, comparing the identified zero-bit angle with the set motor zero-bit angle, and outputting a corresponding protection strategy or correcting the zero-bit angle.
As shown in fig. 1, the method for identifying the zero offset of the permanent magnet synchronous motor specifically includes the following steps:
the method comprises the following steps: the method comprises the steps that a motor controller applies voltage with amplitude not being zero to a d axis of a permanent magnet synchronous motor, applies voltage with amplitude being zero to a q axis, sets multiple groups of different angles as voltage control angles, collects d axis current values under different angles at the same time, the d axis is the d axis of the permanent magnet synchronous motor with reference to a synchronous rotating coordinate system, the q axis rotates anticlockwise by 90 degrees in the positive direction, and the voltage control angle is the included angle between the d axis of the permanent magnet synchronous motor with reference to the synchronous rotating coordinate system and the normal line of an A-phase coil;
step two: the motor controller judges whether the permanent magnet synchronous motor is in phase failure or not according to the collected d-axis current value, if so, a phase failure is output, and if not, a reference initial angle is determined according to the collected d-axis current value;
step three: the motor controller takes a reference initial angle as a reference of a voltage control angle, the voltage control angle is subjected to fine adjustment on the basis of the reference initial angle according to the collected d-axis current change trend, the reference initial angle is subjected to correction processing to obtain an initial angle Theta, and meanwhile, a first encoder characterization angle Theta1 corresponding to the initial angle Theta is obtained;
step four: the motor controller identifies according to the initial angle theta, confirms the position of the N pole of the rotor, obtains a position identification initial angle S representing the N pole of the rotor, and simultaneously reads the AD value of the encoder to obtain a representation electric angle SAD of the encoder corresponding to the identification initial angle S;
step five: judging whether the difference value of the first characterization angle Theta1 of the encoder and the characterization electrical angle SAD of the encoder corresponding to the identification initial angle S exceeds an angle threshold value or not, if so, making an error in identification, and if not, turning to the sixth step;
step six: the method comprises the steps of obtaining a motor identification zero position angle by differentiating an identification initial angle S and a characterization electrical angle SAD of a coder corresponding to the identification initial angle S;
step seven: and comparing the motor identification zero angle with the set motor zero angle, and outputting a corresponding fault mark according to a corresponding protection strategy or performing zero angle correction processing.
In the first step, the d-axis voltage amplitude is set according to the modulation degree of 0.8; and the sampling point for collecting the d-axis current value is the midpoint of a switching period or the end point of the switching period, and the switching period is the sum of the on-off time of the inverter for controlling the IGBT power tube. The switching period is characterized in that voltage is applied in the first half period, the IGBT power tube is controlled to be cut off in the second half period, the sampling point is in the middle point of one switching period, the switching period can be delayed for a half period, namely, the first half period is completely closed, voltage is applied in the second half period, and the sampling point is at the end moment of the delayed switching period.
When the d-axis current value is acquired, due to the symmetry of the windings of the permanent magnet synchronous motor, three-phase currents in three-phase alternating currents in the permanent magnet synchronous motor can be acquired, any two-phase currents in the three-phase alternating currents can be acquired, and any two-phase currents in the three-phase alternating currents are preferably acquired, so that one-phase acquisition lines can be saved, and the acquired current acquisition effects are the same.
The method for setting a plurality of different sets of angles as voltage control angles is that, starting from 0 DEG, N sets of voltage control angles are set at an angle interval of 180 DEG/N, each set of voltage control angles comprises a pair of voltage control angles, and the angle difference of each pair of voltage control angles is 180 deg.
The N groups are preferably six groups, if N =6, the degree of the angle interval is 180 °/N =30 °;
the six groups of voltage control angles are sequentially as follows: 0 degrees and 180 degrees; second group: 30 degrees and 210 degrees; third group: 60 degrees and 240 degrees; and a fourth group: 90 degrees and 270 degrees; and a fifth group: 120 degrees and 300 degrees; a sixth group: 150 degrees and 330 degrees.
In the second step, judging whether the permanent magnet synchronous motor is in phase failure and determining the reference zero angle comprises the following steps:
A1) sequentially acting N groups of voltage control angles on a d axis, and simultaneously collecting and recording the magnitude of a d axis current value under each control angle;
A2) the method comprises the following steps Obtaining the maximum value of the d-axis current, judging whether the maximum value of the d-axis current is larger than a current threshold, if so, turning to the step A4), and if not, turning to the step A3); the current threshold value is 0.5 times of a rated current peak value, and the rated current is a rated current value specified on a nameplate of the permanent magnet synchronous motor;
A3) the method comprises the following steps Applying voltage by taking the voltage control angle corresponding to the maximum current obtained in the step A2) as a voltage control angle, applying the voltage once every switching period, continuously increasing the switching period until the current is larger than the current threshold in the step A2), and turning to the step A4);
A4) the method comprises the following steps Taking the switching period when the maximum d-axis current value is greater than the current threshold value as the switching period, repeating the wave generation for 5 times, and simultaneously collecting the d-axis current value under each voltage control angle;
A5) the method comprises the following steps Respectively accumulating the d-axis current values under each voltage control angle acquired for 5 times;
A6) the method comprises the following steps And respectively judging whether the accumulated value of the d-axis current is smaller than a current threshold value when the voltage control angles are 0 degrees, 120 degrees and 240 degrees, if the accumulated value of the current of any control angle is smaller than the current threshold value, outputting a phase-missing fault and quitting the identification, otherwise, determining the voltage control angle corresponding to the maximum value of the d-axis current values accumulated by the N groups of voltage control angles as a reference zero-bit angle without the phase-missing fault.
In the third step, the voltage control angle is finely adjusted on the basis of the reference initial angle according to the collected d-axis current change trend, and the reference initial angle correction processing comprises the following steps:
B1) the method comprises the following steps Controlling the sign of the d-axis voltage to be positive and negative periodic change, and adjusting the switching period until the maximum value of the d-axis current reaches the rated current;
B2) the method comprises the following steps Sampling a d-axis current value in real time, obtaining a difference value between the current d-axis current value and the d-axis current sampled in the previous period to obtain a d-axis current variable quantity, multiplying the d-axis current variable quantity by a coincidence function of the voltage applied to the d-axis in the previous period, and inputting a product result into an angle controller to output an angle correction quantity, wherein the angle controller is an integration link;
B3) the method comprises the following steps Applying the sum of the output angle correction amount and the current voltage control angle as a new voltage control angle to the d-axis, and judging whether the d-axis variation is zero, if not, then, turning to step B2); if the value is zero, the step B4 is executed;
B4) the method comprises the following steps After the d-axis variation in the steps B2) to B3) converges to zero, repeating the steps B2) to B3) for 100ms to obtain an average value of the voltage control angle in the 100ms as an initial angle θ, and meanwhile, averaging the sampled encoder AD in the 100ms to obtain a first encoder characterizing angle Theta 1.
And in the step B4), the d-axis variation is zero, namely, the d-axis variation is converged to zero, and in order to ensure that the d-axis variation is truly converged to zero, the steps B2) to B3) are repeated again for 100ms to verify that the angle fluctuation of the voltage control angle is not generated at the moment, so that the d-axis variation is ensured to be zero.
In the fourth step, the zero offset identification process includes the following steps:
C1) the method comprises the following steps Setting a voltage control angle as an initial angle theta, wherein the switching period is the same as that in the step A4), sending 10 pulses to a d-axis, collecting a d-axis current value, and adding absolute values of the d-axis current to obtain a first accumulated current value sum 1; averaging the AD values of the encoder in 10 pulses of the d axis to obtain a second characterization angle Theta2 of the encoder;
C2) the method comprises the following steps Setting the voltage control angle of the d axis to be 180 degrees + theta, sending 10 pulses to the d axis, collecting the current value of the d axis, and adding the absolute values of the current of the d axis to obtain a second accumulated current value sum 2; calculating the average value of the AD values of the encoder in 10 pulses of the d axis to obtain a third representing angle Theta3 of the encoder;
C3) the method comprises the following steps Judging whether the angle difference among Theta1, Theta2 and Theta3 exceeds 1.0 degrees or not, setting an error identification mark in a motor controller if the angle difference exceeds 1.0 degrees, delaying for 5 seconds, detecting whether a running instruction of the whole vehicle controller is received by the motor controller and detecting whether the rotating speed of the motor is less than 1rpm or not, and if the running instruction of the whole vehicle controller is not received and the rotating speed of the motor is less than 1rpm, repeating the step A1); otherwise, the motor controller continues to detect;
if the angle difference does not exceed 1.0 °, proceeding to step C4);
C4) the method comprises the following steps And judging whether the first accumulated current value sum1 is larger than the second accumulated current value sum2, if so, taking the initial angle theta as an identification initial angle, otherwise, taking 180 degrees + theta as the identification initial angle.
The angle threshold is 1.0 °.
In step seven, the corresponding protection strategy comprises the following steps:
D1) the method comprises the following steps Judging whether the difference value between the motor identification zero angle and the set motor zero angle exceeds a first zero angle threshold value, if so, turning to a step D2), otherwise, not outputting a fault mark and not carrying out angle correction, wherein the first zero angle threshold value is 6 degrees;
D2) the method comprises the following steps And judging whether the difference value between the motor identification zero angle and the set motor zero angle exceeds a second zero angle threshold value, if so, outputting and identifying a primary fault, and correcting the set motor zero angle according to the identified zero angle, otherwise, outputting and identifying a secondary fault, wherein the second zero angle threshold value is 12 degrees.
As shown in fig. 2, the system for identifying zero offset of a pmsm comprises a motor controller and a pmsm 3, wherein the motor controller comprises an inverter 2, a voltage command generating module 4, an initial angle acquiring module 5, a feedback current acquiring module 6, a zero angle acquiring module 8, a scheduling module 1 and a zero correction and fault processing module 7, the pmsm is provided with an encoder, wherein the pmsm 3 is electrically connected with the feedback current acquiring module 6, the feedback current acquiring module 6 is connected with the initial angle acquiring module 5, the initial angle acquiring module 5 is respectively connected with the zero angle acquiring module 8 and the voltage command generating module 4, the voltage command generating module 4 is connected with the inverter 2, the inverter 2 is connected with the pmsm 3, the encoder on the pmsm 3 is respectively connected with the zero angle acquiring module 8 and the zero correction and fault processing module 7, the zero correction and fault processing module 7 is connected with the zero angle acquisition module 8.
The inverter 2 is connected with the permanent magnet synchronous motor 3 through a three-phase line, and is used for receiving the voltage signal and the control angle signal generated by the voltage instruction generating module 4 and applying the received voltage signal and the control angle signal to the permanent magnet synchronous motor 3 through the three-phase line;
the voltage instruction generation module 4 is used for identifying a switching period and generating a voltage instruction, wherein the voltage instruction comprises a q-axis voltage amplitude Uq of the permanent magnet synchronous motor, a d-axis voltage amplitude Ud of the permanent magnet synchronous motor and a voltage instruction phase angle of the permanent magnet synchronous motor.
The feedback current acquisition module 6 is used for acquiring the three-phase current of the permanent magnet synchronous motor 3 and converting the sampled three-phase current of the motor.
The initial angle acquisition module 5 acquires a reference initial angle according to the feedback current acquisition module 6, and corrects the reference initial angle to acquire a motor initial angle;
the zero position angle acquisition module 8 is used for calculating an encoder result and calculating a zero position angle through the initial angle of the motor and the encoder result;
the zero correction and fault processing module 7 judges whether to carry out zero angle correction according to a protection strategy and outputs corresponding fault and open-phase judgment;
and the scheduling module 1 is used for coordinating and distributing the normal work of each module in the motor controller.
The voltage instruction generating module 4 sends voltage instructions of Ud and Uq and corresponding control angles to the inverter 2, the inverter 2 generates voltage signals according with the voltage instructions and acts the voltage signals on the permanent magnet synchronous motor 3, meanwhile, the feedback current acquiring module 6 acquires current values in three phase lines from the permanent magnet synchronous motor 3 and sends the acquired current values to the initial angle acquiring module 5, the initial angle acquiring module 5 selects a voltage control angle corresponding to the maximum value of the acquired d-axis current as a reference initial angle and sends the reference initial angle as a control angle of next control to the voltage instruction generating module 4.
The feedback current obtaining module 6 collects a three-phase current value in the permanent magnet synchronous motor 3 when the reference initial angle is taken as a control angle, and the initial angle obtaining module 5 performs reference initial angle correction processing according to the three-phase current value in the permanent magnet synchronous motor 3 to obtain an initial angle.
The initial angle is used as a control angle to act on the permanent magnet synchronous motor 3, meanwhile, a coder in the permanent magnet synchronous motor 3 outputs a coder AD, the initial angle is input into the zero position angle acquisition module 8 through the initial angle acquisition module 5, meanwhile, the zero position angle acquisition module 8 acquires an AD value of the coder, and the zero position angle acquisition module 8 obtains a zero position angle by subtracting the initial angle and the AD value of the coder.
The zero angle acquisition module 8 inputs the zero angle into the zero correction and fault processing module 7 to perform deviation identification and correction processing.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (7)
1. A method for identifying zero offset of a permanent magnet synchronous motor is characterized by comprising the following steps:
the method comprises the following steps: the method comprises the steps that a motor controller applies voltage with amplitude not being zero to a d axis of a permanent magnet synchronous motor, applies voltage with amplitude being zero to a q axis, sets multiple groups of different angles as voltage control angles, collects d axis current values under different angles at the same time, the d axis is the d axis of the permanent magnet synchronous motor with reference to a synchronous rotating coordinate system, the q axis rotates anticlockwise by 90 degrees in the positive direction, and the voltage control angle is the included angle between the d axis of the permanent magnet synchronous motor with reference to the synchronous rotating coordinate system and the normal line of an A-phase coil;
step two: the motor controller judges whether the permanent magnet synchronous motor is in phase failure or not according to the collected d-axis current value, if so, a phase failure is output, and if not, a reference initial angle is determined according to the collected d-axis current value;
step three: the motor controller takes a reference initial angle as a reference of a voltage control angle, the voltage control angle is subjected to fine adjustment on the basis of the reference initial angle according to the collected d-axis current change trend, the reference initial angle is subjected to correction processing to obtain an initial angle Theta, and meanwhile, a first encoder characterization angle Theta1 corresponding to the initial angle Theta is obtained;
step four: the motor controller identifies according to the initial angle theta, confirms the position of the N pole of the rotor, obtains a position identification initial angle S representing the N pole of the rotor, and simultaneously reads the AD value of the encoder to obtain a representation electric angle SAD of the encoder corresponding to the identification initial angle S;
step five: judging whether the difference value of the first characterization angle Theta1 of the encoder and the characterization electrical angle SAD of the encoder corresponding to the identification initial angle S exceeds an angle threshold value or not, if so, making an error in identification, and if not, turning to the sixth step;
step six: the identification initial angle S and the characterization electrical angle SAD of the encoder corresponding to the identification initial angle S are subjected to subtraction to obtain a motor identification zero position angle;
step seven: comparing the motor identification zero angle with a set motor zero angle, outputting a corresponding fault mark according to a corresponding protection strategy, or performing zero angle correction processing;
in the second step, judging whether the permanent magnet synchronous motor is in phase failure and determining the reference initial angle comprises the following steps:
A1) sequentially acting N groups of voltage control angles on a d axis, and simultaneously collecting and recording the magnitude of a d axis current value under each control angle;
A2) the method comprises the following steps Acquiring the maximum value of the d-axis current, judging whether the maximum value of the d-axis current is greater than a current threshold, if so, turning to the step A4), and if not, turning to the step A3); the current threshold is a rated current peak value which is 0.5 time, and the rated current is a rated current value specified on a name plate of the permanent magnet synchronous motor;
A3) the method comprises the following steps Applying voltage by taking the voltage control angle corresponding to the maximum current obtained in the step A2) as a voltage control angle, applying the voltage once every switching period, continuously increasing the switching period until the current is larger than the current threshold in the step A2), and turning to the step A4);
A4) the method comprises the following steps Taking the switching period when the maximum d-axis current value is greater than the current threshold value as the switching period, repeating the wave generation for 5 times, and simultaneously collecting the d-axis current value under each voltage control angle;
A5) the method comprises the following steps Respectively accumulating the d-axis current values under each voltage control angle acquired for 5 times;
A6) the method comprises the following steps Respectively judging whether the accumulated value of d-axis current is smaller than a current threshold value when the voltage control angles are 0 degrees, 120 degrees and 240 degrees, if the accumulated value of the current of any control angle is smaller than the current threshold value, outputting a phase-lacking fault and quitting the identification, otherwise, determining the voltage control angle corresponding to the maximum value of the d-axis current values accumulated by the N groups of voltage control angles as a reference initial angle without the phase-lacking fault;
in the third step, the voltage control angle is finely adjusted on the basis of the reference initial angle according to the collected d-axis current change trend, and the reference initial angle correction processing comprises the following steps:
B1) the method comprises the following steps Controlling the sign of the d-axis voltage to be positive and negative periodic change, and adjusting the switching period until the amplitude of the d-axis current reaches the rated current;
B2) the method comprises the following steps Sampling a d-axis current value in real time, obtaining a difference value between the current d-axis current value and the d-axis current sampled in the previous period to obtain a d-axis current variable quantity, multiplying the d-axis current variable quantity by a sign function of voltage applied to the d-axis in the previous period, and inputting a product result into an angle controller to output an angle correction quantity, wherein the angle controller is an integration link;
B3) the method comprises the following steps Applying the sum of the output angle correction and the reference initial angle as a new voltage control angle to the d-axis, judging whether the d-axis current variation is zero, and if not, turning to step B2); if the value is zero, the step B4 is executed;
B4) the method comprises the following steps After the d-axis current variation is converged to zero in the steps B2) to B3), repeating the steps B2) to B3) for 100ms to obtain an average value of the voltage control angle in 100ms as an initial angle Theta, and meanwhile, carrying out average value processing on the sampled encoder AD in 100ms to obtain a first encoder characterization angle Theta 1;
in the fourth step, the motor controller recognizing based on the initial angle θ comprises the following steps:
C1) the method comprises the following steps Setting a voltage control angle as an initial angle theta, wherein the switching period is the same as that in the step A4), sending 10 pulses to a d-axis, collecting a d-axis current value, and adding absolute values of the d-axis current to obtain a first accumulated current value sum 1; averaging the AD values of the encoder in 10 pulses of the d axis to obtain a second characterization angle Theta2 of the encoder;
C2) the method comprises the following steps Setting the voltage control angle of the d axis to be 180 degrees + theta, sending 10 pulses to the d axis, collecting the current value of the d axis, and adding the absolute values of the current of the d axis to obtain a second accumulated current value sum 2; calculating the average value of the AD values of the encoder in 10 pulses of the d axis to obtain a third representing angle Theta3 of the encoder;
C3) the method comprises the following steps Judging whether the angle difference among Theta1, Theta2 and Theta3 exceeds 1.0 degrees or not, setting an identification error flag in a motor controller if the angle difference exceeds 1.0 degrees, delaying for 5 seconds, detecting whether a running instruction of the whole vehicle controller is received and detecting whether the rotating speed of the motor is less than 1rpm or not by the motor controller, and repeating the step A1 if the running instruction of the whole vehicle controller is not received and the rotating speed of the motor is less than 1 rpm; otherwise, the motor controller continues to detect;
if the angle difference does not exceed 1.0 °, proceeding to step C4);
C4) the method comprises the following steps And judging whether the first accumulated current value sum1 is larger than the second accumulated current value sum2, if so, taking the initial angle theta as an identification initial angle, otherwise, taking 180 degrees + theta as the identification initial angle.
2. The method for identifying the zero offset of the permanent magnet synchronous motor according to claim 1, wherein: in the first step, the d-axis voltage amplitude is set according to the modulation degree of 0.8; and the sampling point for collecting the d-axis current value is the midpoint of a switching period or the end point of the switching period, and the switching period is the sum of the on-off time of the inverter for controlling the IGBT power tube.
3. The method for identifying the zero offset of the permanent magnet synchronous motor according to claim 2, wherein: the method for setting a plurality of different angle sets as voltage control angles is that, starting from 0 DEG, N voltage control angles are set at an angle interval of 180 DEG/N, each voltage control angle set comprises a pair of voltage control angles, and the angle difference of each pair of voltage control angles is 180 deg.
4. The method for identifying the zero offset of the permanent magnet synchronous motor according to claim 1, wherein: the angle threshold is 1.0 °.
5. The method for identifying the zero offset of the permanent magnet synchronous motor according to claim 1, wherein: in step seven, the corresponding protection strategy comprises the following steps:
D1) the method comprises the following steps Judging whether the difference value between the motor identification zero angle and the set motor zero angle exceeds a first zero angle threshold value, if so, turning to a step D2), otherwise, not outputting a fault mark and not carrying out angle correction, wherein the first zero angle threshold value is 6 degrees;
D2) the method comprises the following steps And judging whether the difference value between the motor identification zero angle and the set motor zero angle exceeds a second zero angle threshold value, if so, outputting and identifying a primary fault, and correcting the set motor zero angle according to the identified zero angle, otherwise, outputting and identifying a secondary fault, wherein the second zero angle threshold value is 12 degrees.
6. The utility model provides a PMSM zero offset identification system which characterized in that: the deviation identification system comprises the method for identifying the zero deviation of the permanent magnet synchronous motor according to any one of claims 1 to 5.
7. The system for identifying zero offset of PMSM of claim 6, wherein: the identification system comprises a motor controller and a permanent magnet synchronous motor, wherein the motor controller comprises an inverter, a voltage instruction generation module, an initial angle acquisition module, a feedback current acquisition module, a zero position angle acquisition module, a scheduling module and a zero position correction and fault processing module, an encoder is arranged on the permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is electrically connected with a feedback current acquisition module, the feedback current acquisition module is connected with an initial angle acquisition module, the initial angle acquisition module is respectively connected with the null angle acquisition module and the voltage instruction generation module, the voltage instruction generation module is connected with an inverter, the inverter is connected with a permanent magnet synchronous motor, and the encoder on the permanent magnet synchronous motor is respectively connected with the zero angle acquisition module and the zero correction and fault processing module, and the zero correction and fault processing module is connected with the zero angle acquisition module.
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| CN113917327A (en) * | 2021-09-28 | 2022-01-11 | 智新科技股份有限公司 | Phase-loss detection method and equipment for permanent magnet synchronous motor and storage medium |
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