CN111800047A - Method and device for measuring permanent magnet flux linkage of permanent magnet synchronous motor and motor control system - Google Patents
Method and device for measuring permanent magnet flux linkage of permanent magnet synchronous motor and motor control system Download PDFInfo
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- CN111800047A CN111800047A CN201910207320.7A CN201910207320A CN111800047A CN 111800047 A CN111800047 A CN 111800047A CN 201910207320 A CN201910207320 A CN 201910207320A CN 111800047 A CN111800047 A CN 111800047A
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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
- H02P21/141—Flux estimation
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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Abstract
The invention discloses a method and a device for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor and a motor control system, wherein the method comprises the following steps: giving a preset voltage vector to enable a rotor of the motor to rotate to a preset position and finally to stand at the preset position; sampling a stator current of the motor to obtain a sampling current in the process that a rotor of the motor rotates to a preset position and is still at the preset position; and calculating the permanent magnetic flux linkage of the motor according to the sampling current. The method of the embodiment of the invention can obtain accurate permanent magnetic flux linkage, is simple to operate, easy to realize and low in measurement cost, and can be applied to engineering practice.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a method and a device for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor and a motor control system.
Background
With the development and maturity of vector variable frequency control technology, more and more devices are equipped with variable frequency drivers to drive the operation of the motor. For example, appliances such as household air conditioners, kitchen appliances, washing machines, refrigerators, elevators, etc. are equipped with variable frequency drives. However, when the variable frequency driver drives the motor by using the vector control technology, the variable frequency driver has strong dependency on parameters of the motor, and if the parameters of the motor are inaccurate, the variable frequency driver has a large influence on the driving performance, the energy saving effect, the starting characteristic and the like of the motor. Usually, the manufacturer of the motor will give the parameters commonly used by the motor, such as resistance, inductance curve varying with current, back electromotive force coefficient, magnetic pole pair number, etc. It is therefore necessary to make accurate and efficient measurements of the permanent magnetic flux linkage.
The method comprises the steps of grounding a neutral point of the permanent magnet synchronous motor and a midpoint of a direct-current voltage source to enable the voltage of the neutral point of the permanent magnet synchronous motor to be 0; determining the terminal voltage of the permanent magnet synchronous motor through the on-off states of a power tube and a freewheeling diode in the conducting process and the freewheeling process of the three-phase full-bridge inverter, and subtracting the voltage of a neutral point from the terminal voltage to obtain the phase voltage of the permanent magnet synchronous motor; calculating to obtain three-phase opposite potential of the permanent magnet synchronous motor according to a permanent magnet synchronous motor phase voltage balance equation by adopting the phase voltage and the permanent magnet synchronous motor phase current detected by a current sensor; and integrating three-phase opposite potentials of the permanent magnet synchronous motor to obtain a three-phase permanent magnet flux linkage, and synthesizing the three-phase permanent magnet flux linkage vector through CLARK conversion to obtain the permanent magnet flux linkage of the permanent magnet synchronous motor. However, the method needs electric control participation, has high requirements on measurement conditions and equipment, and has no universality and generality.
In summary, in the related art, there are problems of application limitations, measurement accuracy, and the like when identifying or measuring the permanent magnetic flux linkage, and therefore, an improvement of the measurement method of the permanent magnetic flux linkage is required.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first objective of the present invention is to provide a method for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor, which can obtain an accurate permanent magnet flux linkage, is simple to operate, easy to implement, and low in measurement cost, and can be applied to engineering practice.
A second object of the present invention is to provide a measuring apparatus for a permanent magnet flux linkage of a permanent magnet synchronous motor.
A third object of the present invention is to provide a motor control system.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor, including the following steps: giving a preset voltage vector to enable a rotor of the motor to rotate to a preset position and finally to stand at the preset position; sampling the stator current of the motor to obtain a sampling current in the process that the rotor of the motor rotates to the preset position and is still at the preset position; and calculating the permanent magnetic flux linkage of the motor according to the sampling current.
According to the method for measuring the permanent magnet flux linkage of the permanent magnet synchronous motor, the rotor of the motor rotates to the preset position by giving the preset voltage vector and finally stands still at the preset position, the stator current of the motor is sampled to obtain the sampling current in the process that the rotor of the motor rotates to the preset position and stands still at the preset position, and the permanent magnet flux linkage of the motor is calculated according to the sampling current. Therefore, the method can realize accurate measurement of the permanent magnet flux linkage, can finish measurement under the condition of loading, and has the advantages of high measurement precision, simple calculation and easy realization.
In addition, the method for measuring the permanent magnet flux linkage of the permanent magnet synchronous motor according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the present invention, when sampling the stator current of the motor, the stator current of the motor when the rotor of the motor is stationary at the preset position is obtained as a reference current sample value, sampling time points when a plurality of current sample values are equal to the reference current sample value are obtained, and a permanent magnet flux linkage of the motor is calculated according to the sampling time points when the plurality of current sample values are equal to the reference current sample value, and the sampling current.
According to one embodiment of the invention, the permanent magnet flux linkage of the machine is calculated according to the following formula:
wherein psifIs the permanent magnet flux linkage of the motor, J is the moment of inertia of the motor, p0Is the number of pole pairs, i, of the motorBFor the sampling current i∞For the reference current sample value, t1For the first current sample value equal to i∞At a sampling time point of (t)2For the second current sample value equal to i∞The sampling time point of (2).
According to an embodiment of the present invention, the amplitude and the position angle of the preset voltage vector are both constant, and the rotor position corresponding to the position angle of the preset voltage vector is the preset position.
In order to achieve the above object, a second embodiment of the present invention provides a device for measuring a permanent magnet flux linkage of an electric machine, including: the giving module is used for giving a preset voltage vector to enable the rotor of the motor to rotate to a preset position and finally to be static at the second position; the sampling module is used for sampling the stator current of the motor to obtain a sampling current in the process that the rotor of the motor rotates at the preset position and is still at the preset position; and the calculation module is connected with the sampling module and used for calculating the permanent magnet flux linkage of the motor according to the sampling current.
According to the measuring device of the permanent magnet flux linkage of the permanent magnet synchronous motor, the preset voltage vector is given through the given module so that the rotor of the motor rotates to the preset position and finally stands still at the second position; in the process that a rotor of the motor rotates at a preset position and is still at the preset position, a sampling module samples stator current of the motor to obtain sampling current; and the calculation module calculates the permanent magnetic flux linkage of the motor according to the sampling current. Therefore, the device can realize accurate measurement of the permanent magnetic flux linkage, can finish measurement under the condition of loading, and has the advantages of high measurement precision, simple calculation and easy realization.
In addition, the measuring device for the permanent magnet flux linkage of the permanent magnet synchronous motor according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the invention, when the sampling module samples the stator current of the motor, the sampling module obtains the stator current of the motor when the rotor is still at the preset position as a reference current sampling value, and obtains a plurality of sampling time points when the current sampling values are equal to the reference current sampling value; the calculation module calculates the permanent magnet flux linkage of the motor according to the sampling time point when the plurality of current sampling values are equal to the reference current sampling value, the reference current sampling value and the sampling current.
According to one embodiment of the invention, the permanent magnet flux linkage of the machine is calculated according to the following formula:
wherein psifIs the permanent magnet flux linkage of the motor, J is the moment of inertia of the motor, p0Is the number of pole pairs, i, of the motorBFor the sampling current i∞For the reference current sample value, t1For the first current sample value equal to i∞At a sampling time point of (t)2For the second current sample value equal to i∞The sampling time point of (2).
According to an embodiment of the present invention, the amplitude and the position angle of the preset voltage vector are both constant, and the position of the rotor corresponding to the position of the preset voltage vector is the preset position.
In order to achieve the above object, a motor control system according to a third embodiment of the present invention includes the above device for measuring a permanent magnet flux linkage of a motor.
According to the motor control system provided by the embodiment of the invention, the accurate measurement of the permanent magnetic flux linkage can be realized through the measuring device of the permanent magnetic flux linkage of the motor, the measurement can be completed under the condition of loading, the measurement precision is high, the calculation is simple, and the realization is easy.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method of measuring permanent magnet flux linkage of a permanent magnet synchronous machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a preset voltage vector according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of sample current acquisition according to one embodiment of the present invention;
FIG. 4 is a block schematic diagram of a measurement arrangement of the permanent magnet flux linkage of an electric machine according to an embodiment of the invention;
FIG. 5 is a block schematic diagram of a motor control system according to an embodiment of the present invention; and
FIG. 6 is a schematic diagram of a motor control system according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method, an apparatus, and a motor control system for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor according to an embodiment of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method of measuring permanent magnet flux linkage of a permanent magnet synchronous machine according to an embodiment of the present invention.
As shown in fig. 1, the method for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor according to an embodiment of the present invention may include the following steps:
and S1, setting a preset voltage vector to rotate the rotor of the motor to a preset position and finally to be stationary at the preset position.
According to one embodiment of the present invention, the amplitude and the position angle of the preset voltage vector are both constant, and the rotor position corresponding to the position angle of the preset voltage vector is a preset position.
Specifically, as shown in fig. 2, by setting a voltage vector with constant amplitude and a position angle β rad in the stationary ABC reference frame, the rotor of the motor is driven from a stationary position to a preset position S2 shaft under the action of torque, and is rocked at a preset position S2 shaft and finally is stationary.
And S2, sampling the stator current of the motor to obtain a sampling current in the process that the rotor of the motor rotates to the preset position and is still at the preset position.
And S3, calculating the permanent magnet flux linkage of the motor according to the sampling current.
According to one embodiment of the invention, when the stator current of the motor is sampled, the stator current of the motor when the rotor is still at a preset position is obtained to be used as a reference current sampling value, sampling time points when a plurality of current sampling values are equal to the reference current sampling value are obtained, and the permanent magnet flux linkage of the motor is calculated according to the sampling time points when the plurality of current sampling values are equal to the reference current sampling value, the reference current sampling value and the sampling current.
Further, according to an embodiment of the present invention, the permanent magnet flux linkage of the motor may be calculated according to the following formula (1):
wherein psifIs the permanent magnet flux linkage of the motor, J is the moment of inertia of the motor, p0Is the number of pole pairs, i, of the motorBTo sample the current, i∞Is a sample value of the reference current, t1For the first current sample value equal to i∞At a sampling time point of (t)2For the second current sample value equal to i∞The sampling time point of (2).
Specifically, as shown in fig. 3, given a preset voltage vector, the sampled current is a ringing response and eventually levels off, with a steady state value of i∞From which the sampling time point t can be derived1、t2And t3T to be collected1To t2And t2To t3And a reference current sample value i∞And the permanent magnet flux linkage of the motor can be accurately calculated by substituting the data into the formula (1), the whole measuring process is simple and easy to realize, and the method does not consider whether the load torque is zero or not, and can be used for no-load measurement and on-load measurement.
In summary, according to the method for measuring the permanent magnet flux linkage of the permanent magnet synchronous motor in the embodiment of the present invention, the rotor of the motor is rotated to the preset position by giving the preset voltage vector and is finally stopped at the preset position, the stator current of the motor is sampled to obtain the sampling current in the process that the rotor of the motor is rotated to the preset position and is stopped at the preset position, and the permanent magnet flux linkage of the motor is calculated according to the sampling current. Therefore, the method can realize accurate measurement of the permanent magnet flux linkage, can finish measurement under the condition of loading, and has the advantages of high measurement precision, simple calculation and easy realization.
Fig. 4 is a block schematic diagram of a measuring device of a permanent magnet flux linkage of an electric machine according to an embodiment of the invention.
As shown in fig. 4, the device for measuring a permanent magnet flux linkage of a motor according to an embodiment of the present invention may include: a module 10, a sampling module 20 and a calculation module 30 are given.
Wherein the given module 10 is configured to give a preset voltage vector to rotate the rotor of the motor to a preset position and finally to rest in the second position. The sampling module 20 is configured to sample a stator current of the motor to obtain a sampled current in a process that a rotor of the motor rotates at a preset position and is stationary at the preset position. The calculating module 30 is connected to the sampling module 20 and is configured to calculate a permanent magnetic flux linkage of the motor according to the sampled current.
According to one embodiment of the present invention, the amplitude and the position angle of the preset voltage vector are both constant, and the position of the rotor corresponding to the position of the preset voltage vector is a preset position. That is, as shown in fig. 2, by giving a voltage vector of constant amplitude and position angle β rad in the stationary ABC reference frame, the rotor of the motor is caused to run from stationary to the preset position S2 shaft under the action of torque, and to rock and finally to be stationary at the preset position S2 shaft.
According to an embodiment of the present invention, when the sampling module samples the stator current of the motor, the sampling module 20 obtains the stator current of the motor when the rotor is stationary at the preset position as the reference current sampling value, and obtains a plurality of sampling time points when the current sampling values are equal to the reference current sampling value; the calculation module 30 calculates the permanent magnet flux linkage of the motor according to the sampling time point when the plurality of current sampling values are equal to the reference current sampling value, the reference current sampling value and the sampling current.
According to one embodiment of the invention, the permanent magnet flux linkage of the motor is calculated according to equation (1) above.
Specifically, as shown in fig. 3, when the preset voltage vector is given to the given module 10, the sampled current is a ringing response and eventually levels off, and the steady state value is i∞So that the sampling module 20 can obtain the sampling time t1、t2And t3T to be collected1To t2And t2To t3And a reference current sample value i∞When the data is substituted into the formula (1), the calculation module 30 can accurately calculate the permanent magnet flux linkage of the motor, the whole measurement process is simple and easy to implement, and the method does not consider whether the load torque is zero or not, and can measure in no-load mode or in load mode.
FIG. 5 is a block schematic diagram of a motor control system according to an embodiment of the present invention.
As shown in fig. 5, a motor control system 1000 according to an embodiment of the present invention may include: the measuring device 100 for the permanent magnet flux linkage of the motor is described above.
In a specific example of the present invention, as shown in fig. 6, the motor control system 1000 may further include: the device comprises a motor 1001, a current sampling module 1002, a first coordinate conversion module 1003, a current correction module 1004, a direct axis voltage module 1005, a quadrature axis voltage module 1006, a second coordinate conversion module 1007, an SVPWM (Space Vector Pulse Width Modulation) driving module 1008, an inverter 1009 and a dc power supply 1010.
The current sampling module 1002 is configured to sample three-phase currents of the motor 1001. The first coordinate conversion module 1003 is configured to perform Clarke coordinate conversion and Park coordinate conversion on the three-phase current according to the initial position of the rotor to obtain direct-axis current and quadrature-axis current. The current correction module 1004 is configured to perform current correction on the direct-axis current and the quadrature-axis current according to the direct-axis reference current and the quadrature-axis reference current to obtain a direct-axis voltage variation value and a quadrature-axis voltage variation value. The direct-axis voltage module 1005 is used for adjusting the direct-axis voltage according to the rotor electrical angular velocity. The quadrature axis voltage module 1006 is configured to adjust the quadrature axis voltage according to the rotor electrical angular velocity. The second coordinate conversion module 1007 performs Clarke coordinate inverse transformation and Park coordinate inverse transformation on the sum of the direct axis voltage and the direct axis voltage variation value and the sum of the quadrature axis voltage and the quadrature axis voltage variation value according to the initial position to obtain three-phase voltages. The SVPWM driving module 1008 is configured to output a driving signal according to the three-phase voltage. The inverter 1009 is used to control the current of the motor 1001 according to the drive signal. A dc power supply 1010 is used to power the inverter 1009.
In this way, motor control system 1000 based on the above gives a preset voltage vector to control the rotor of motor 1001 to be stationary at the first position. Sampling the current of the motor 1001 at a preset sampling point of a preset time period to obtain a sampling current; during the process that the rotor of the motor 1001 rotates from a standstill to a preset position and is stationary at the preset position, the stator current of the motor 1001 is sampled to obtain a sampled current, and then the measuring device 100 calculates the permanent magnet flux linkage of the motor according to the sampled current.
In summary, the motor control system according to the embodiment of the present invention can realize accurate measurement of the permanent magnetic flux linkage through the measurement device of the permanent magnetic flux linkage of the motor, and can complete measurement under a load condition without considering whether the load torque is zero or not during measurement, and the measurement accuracy is high, and the calculation is simple and easy to implement.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A method for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor is characterized by comprising the following steps:
giving a preset voltage vector to enable a rotor of the motor to rotate to a preset position and finally to stand at the preset position;
sampling the stator current of the motor to obtain a sampling current in the process that the rotor of the motor rotates to the preset position and is still at the preset position;
and calculating the permanent magnetic flux linkage of the motor according to the sampling current.
2. The method according to claim 1, wherein when sampling the stator current of the motor, the stator current at which the rotor of the motor is stationary at the preset position is obtained as a reference current sample value, sampling time points at which a plurality of current sample values are equal to the reference current sample value are obtained, and the permanent magnet flux linkage of the motor is calculated from the sampling time points at which the plurality of current sample values are equal to the reference current sample value, and the sampling current.
3. The method of measuring permanent magnet flux linkage of a permanent magnet synchronous motor according to claim 1, wherein the permanent magnet flux linkage of the motor is calculated according to the following formula:
wherein psifIs the permanent magnet flux linkage of the motor, J is the moment of inertia of the motor, p0Is the number of pole pairs, i, of the motorBFor the sampling current i∞For the reference current sample value, t1For the first current sample value equal to i∞At a sampling time point of (t)2For the second current sample value equal to i∞The sampling time point of (2).
4. The method of claim 1, wherein the amplitude and the position angle of the predetermined voltage vector are constant, and the rotor position corresponding to the position angle of the predetermined voltage vector is the predetermined position.
5. A device for measuring a permanent magnet flux linkage of a permanent magnet synchronous motor, comprising:
the giving module is used for giving a preset voltage vector to enable the rotor of the motor to rotate to a preset position and finally to be static at the second position;
the sampling module is used for sampling the stator current of the motor to obtain a sampling current in the process that the rotor of the motor rotates at the preset position and is still at the preset position;
and the calculation module is connected with the sampling module and used for calculating the permanent magnet flux linkage of the motor according to the sampling current.
6. The device for measuring the permanent magnet flux linkage of the permanent magnet synchronous motor according to claim 5, wherein when the sampling module samples the stator current of the motor, the sampling module obtains the stator current of the motor when the rotor is stationary at the preset position as a reference current sample value, and obtains a plurality of sampling time points when the current sample values are equal to the reference current sample value;
the calculation module calculates the permanent magnet flux linkage of the motor according to the sampling time point when the plurality of current sampling values are equal to the reference current sampling value, the reference current sampling value and the sampling current.
7. The method of claim 6, wherein the permanent magnet flux linkage of the motor is calculated according to the following formula:
wherein psifIs the permanent magnet flux linkage of the motor, J is the moment of inertia of the motor, p0Is the number of pole pairs, i, of the motorBFor the sampling current i∞For the reference current sample value, t1For the first current sample value equal to i∞At a sampling time point of (t)2For the second current sample value equal to i∞The sampling time point of (2).
8. The apparatus of claim 5, wherein the magnitude and the position angle of the predetermined voltage vector are constant, and the position of the rotor corresponding to the position of the predetermined voltage vector is the predetermined position.
9. A motor control system, characterized by comprising a measuring device of the permanent magnet flux linkage of an electric machine according to any of claims 5-8.
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| CN201910207320.7A CN111800047A (en) | 2019-03-19 | 2019-03-19 | Method and device for measuring permanent magnet flux linkage of permanent magnet synchronous motor and motor control system |
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| CN201910207320.7A CN111800047A (en) | 2019-03-19 | 2019-03-19 | Method and device for measuring permanent magnet flux linkage of permanent magnet synchronous motor and motor control system |
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