CN111948537B - Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor - Google Patents

Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor Download PDF

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CN111948537B
CN111948537B CN202010802334.6A CN202010802334A CN111948537B CN 111948537 B CN111948537 B CN 111948537B CN 202010802334 A CN202010802334 A CN 202010802334A CN 111948537 B CN111948537 B CN 111948537B
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value
flux linkage
permanent magnet
salient pole
magnet synchronous
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CN111948537A (en
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马铱林
刘光远
杨欢
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Leadrive Technology Shanghai Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Abstract

The embodiment of the disclosure provides a method for calibrating a maximum torque flux ratio working point of a salient pole permanent magnet synchronous motor, and belongs to the technical field of electric control. The method comprises the following steps: selecting a target flux linkage value from a preset flux linkage value interval; calculating an actual flux linkage value by using a preset flux linkage value calculation formula; adjusting the quadrature axis current instruction value until the actual flux linkage value is equal to the target flux linkage value; measuring the current output torque; judging whether the current output torque is larger than or equal to the reference torque or not; if not, calibrating a working point under the maximum torque flux ratio corresponding to the target flux ratio according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque; and if so, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current command value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque. By the scheme, the efficiency and the precision of working point calibration are improved.

Description

Method for calibrating maximum torque flux ratio working point of salient pole type permanent magnet synchronous motor
Technical Field
The disclosure relates to the technical field of electric control, in particular to a method for calibrating a maximum torque flux ratio working point of a salient pole type permanent magnet synchronous motor.
Background
The salient pole type permanent magnet synchronous motor is widely applied to the fields of electric automobile driving and the like due to the characteristics of high power density, high energy conversion efficiency and the like. When the salient pole permanent magnet synchronous motor runs at a high speed, the maximum torque capacity which can be output by the salient pole permanent magnet synchronous motor is generally limited by air gap flux linkage. The maximum air gap flux linkage that the permanent magnet synchronous motor can reach under different rotating speeds has difference. And, the same air gap flux linkage also corresponds to various stator direct-axis current and quadrature-axis current combinations, wherein the combination with the maximum output torque corresponds to the maximum torque flux linkage ratio. However, in the existing method for calibrating the maximum torque flux ratio working point of the salient pole permanent magnet synchronous motor, the output torque and the air gap flux corresponding to each working point are measured through experiments by presetting the stator current working point, and then a maximum torque flux ratio curve is obtained through later-period data fitting, and certain errors exist in the data fitting.
Therefore, the existing method for calibrating the maximum torque flux ratio working point of the salient pole permanent magnet synchronous motor is difficult to ensure that the air gap flux generated by the preset stator current working point is kept consistent, the maximum torque working point under the same air gap flux cannot be found through simple judgment, and the technical problems of poor calculation efficiency and poor precision exist.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method and an apparatus for calibrating a maximum torque flux ratio operating point of a salient pole type permanent magnet synchronous motor, and a salient pole type permanent magnet synchronous motor, which at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a method for calibrating a maximum torque flux ratio operating point of a salient pole type permanent magnet synchronous motor, including:
selecting a target flux linkage value from a preset flux linkage value interval;
calculating an actual flux linkage value of the salient pole type permanent magnet synchronous motor by using a preset flux linkage value calculation formula;
adjusting the quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;
measuring the current output torque of the salient pole permanent magnet synchronous motor according to a direct-axis current instruction value and a quadrature-axis current instruction value input by a user;
judging whether the current output torque of the salient pole type permanent magnet synchronous motor is larger than or equal to a reference torque or not;
if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, calibrating a working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque;
and if the current output torque of the salient pole permanent magnet synchronous motor is greater than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is less than the new reference torque.
According to a specific implementation manner of the embodiment of the disclosure, the direct-axis current instruction value is less than or equal to the maximum short-circuit current of the salient pole type permanent magnet synchronous motor;
the maximum value of the preset flux linkage value interval is the maximum flux linkage value output by the salient pole type permanent magnet synchronous motor at the basic speed, wherein the basic speed is the highest rotating speed when the salient pole type permanent magnet synchronous motor outputs the maximum torque.
According to a specific implementation manner of the embodiment of the present disclosure, the step of adjusting the quadrature axis current command value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value includes:
calculating a flux linkage deviation value of the actual flux linkage value and the target flux linkage value;
and carrying out proportional operation and integral operation on the flux linkage deviation value to obtain a quadrature axis current instruction value of the salient pole type permanent magnet synchronous motor.
According to a specific implementation manner of the embodiment of the present disclosure, after the step of calibrating the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct axis current instruction value and the quadrature axis current instruction value corresponding to the reference torque if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, the method further includes:
updating the direct-axis current command value and the target flux linkage value;
measuring a new output torque according to the updated direct-axis current instruction value and the updated target flux linkage value, and comparing the new output torque with a new reference torque until the new output torque is smaller than the new reference torque;
and calibrating the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the new reference torque.
According to a specific implementation manner of the embodiment of the present disclosure, after the step of calibrating the working point of the salient pole permanent magnet synchronous motor at the maximum torque flux ratio corresponding to the target flux ratio by using the direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque, the method further includes:
and forming a maximum torque flux linkage ratio curve according to the maximum current working points corresponding to all the target flux linkage values.
According to a specific implementation manner of the embodiment of the present disclosure, the step of measuring the current output torque of the salient pole type permanent magnet synchronous motor according to the direct-axis current instruction value and the quadrature-axis current instruction value input by the user includes:
respectively inputting the direct-axis current instruction value and the quadrature-axis current instruction value into a current controller of the salient pole type permanent magnet synchronous motor to obtain corresponding direct-axis modulation voltage and quadrature-axis modulation voltage;
performing pulse width modulation on the direct axis modulation voltage and the quadrature axis modulation voltage to generate a power switch driving signal;
and inputting the power switch driving signal into an inverter, and measuring the output torque of the salient pole type permanent magnet synchronous motor.
According to a specific implementation manner of the embodiment of the present disclosure, the flux linkage value calculation formula is:
Figure BDA0002627854400000031
therein, Ψ g Is the actual flux linkage value, u * ds For the direct axis modulation of the voltage u * qs For quadrature modulation of voltage, R s Is a stator phase resistance, i dsfbk Is the actual value of the direct-axis current, i qsfbk Is the actual value of quadrature current, ω r Is the rotating angular velocity of the salient pole type permanent magnet synchronous motor.
In a second aspect, an embodiment of the present disclosure provides a device for calibrating a maximum torque flux ratio operating point of a salient pole type permanent magnet synchronous motor, including:
the selection module is used for selecting a target flux linkage value from a preset flux linkage value interval;
the first calculation module is used for calculating an actual flux linkage value of the salient pole permanent magnet synchronous motor by using a preset flux linkage value calculation formula;
the second calculation module is used for adjusting the quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;
the measuring module is used for measuring the current output torque of the salient pole type permanent magnet synchronous motor according to a direct-axis current instruction value and the quadrature-axis current instruction value input by a user;
the judging module is used for judging whether the current output torque of the salient pole type permanent magnet synchronous motor is larger than or equal to a reference torque;
a calibration module for, in use,
if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, calibrating a working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque;
and if the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque.
In a third aspect, an embodiment of the present disclosure further provides a salient pole permanent magnet synchronous motor, including: the motor comprises a motor body and a processor, wherein the processor can execute the method for calibrating the maximum torque flux linkage ratio working point of the salient pole permanent magnet synchronous motor in the first aspect or any implementation manner of the first aspect.
The method for calibrating the maximum torque flux linkage ratio working point of the salient pole permanent magnet synchronous motor in the embodiment of the disclosure comprises the following steps: selecting a target flux linkage value from a preset flux linkage value interval; calculating an actual flux linkage value of the salient pole type permanent magnet synchronous motor by using a preset flux linkage value calculation formula; adjusting the quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value; measuring the current output torque of the salient pole permanent magnet synchronous motor according to a direct-axis current instruction value and a quadrature-axis current instruction value input by a user; judging whether the current output torque of the salient pole type permanent magnet synchronous motor is larger than or equal to a reference torque or not; if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, calibrating a working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque; and if the current output torque of the salient pole permanent magnet synchronous motor is greater than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is less than the new reference torque. According to the scheme disclosed by the invention, the maximum torque working point under the current flux linkage value is measured by utilizing the flux linkage value and the direct-axis current instruction value which are selected in advance, so that the calculation efficiency and the precision of the calibration method of the maximum torque flux linkage ratio working point of the salient pole type permanent magnet synchronous motor are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for calibrating a maximum torque flux ratio operating point of a salient pole type permanent magnet synchronous motor according to an embodiment of the present disclosure;
fig. 2 is a maximum torque flux ratio curve involved in the method for calibrating the maximum torque flux ratio operating point of the salient pole type permanent magnet synchronous motor according to the embodiment of the present disclosure;
fig. 3 is a schematic partial flowchart of a method for calibrating a maximum torque flux ratio operating point of a salient pole permanent magnet synchronous motor according to an embodiment of the present disclosure;
fig. 4 is a schematic block diagram of a program of a salient pole permanent magnet synchronous motor control system according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a device for calibrating a maximum torque flux ratio operating point of a salient pole permanent magnet synchronous motor according to an embodiment of the present disclosure.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The disclosure may be carried into practice or applied to various other specific embodiments, and various modifications and changes may be made in the details within the description and the drawings without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to or other than one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
Usually, an experimental calibration method is adopted in engineering application to obtain the maximum torque flux linkage ratio curve. The existing experimental calibration method comprises the following steps: the method comprises the steps of presetting discrete stator current working points within a certain range, and obtaining corresponding output torque and air gap flux linkage on each working point through experimental measurement and calculation. And fitting the later-period data to obtain a set of stator current working points corresponding to the same air gap flux linkage. And finally, comparing the output torques of different working points under the same air gap flux linkage to obtain a maximum torque flux linkage ratio curve. However, the air gap flux linkage generated by the preset stator current working point is not controllable, and it is difficult to obtain enough sets of stator current working points with the same air gap flux linkage, and only data fitting can be relied on. However, certain errors are introduced in data fitting, the accuracy of the maximum torque flux ratio curve is affected, and the maximum output torque of the motor under different air gap flux linkage conditions is reduced.
The embodiment of the disclosure provides a method for calibrating a maximum torque flux ratio working point of a salient pole type permanent magnet synchronous motor. The method for calibrating the maximum torque flux ratio operating point of the salient pole permanent magnet synchronous motor provided in this embodiment may be executed by a computing device, where the computing device may be implemented as software, or implemented as a combination of software and hardware, and the computing device may be integrally disposed in a server, a terminal device, or the like.
Referring to fig. 1, a schematic flow chart of a method for calibrating a maximum torque flux ratio operating point of a salient pole permanent magnet synchronous motor according to an embodiment of the present disclosure is shown. As shown in fig. 1, the method mainly comprises the following steps:
s101, selecting a target flux linkage value from a preset flux linkage value interval;
the method for calibrating the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux ratio can be applied to the current working point calibration process in the motor operation scene.
In specific implementation, considering that each salient pole type permanent magnet synchronous motor corresponds to the maximum flux linkage value, the maximum value of the preset flux linkage value interval can be set as the maximum flux linkage value corresponding to the salient pole type permanent magnet synchronous motor, when the target flux linkage value is selected from the preset flux linkage value interval, the maximum value can be selected firstly, and then the target flux linkage value is decreased gradually in subsequent measurement, of course, different target flux linkage values can be selected from the preset flux linkage value interval according to measurement requirements.
S102, calculating an actual flux linkage value of the salient pole type permanent magnet synchronous motor by using a preset flux linkage value calculation formula;
optionally, the flux linkage value calculation formula is:
Figure BDA0002627854400000071
therein, Ψ g Is the actual flux linkage value, u * ds For modulating the voltage u on the direct axis * qs For quadrature modulation of voltage, R s Is a stator phase resistance, i dsfbk Is the actual value of the direct-axis current, i qsfbk Is the actual value of quadrature axis current, omega r The rotating angular speed of the salient pole type permanent magnet synchronous motor is provided.
In specific implementation, considering that the salient pole permanent magnet synchronous motor operates under a non-ideal condition, when the salient pole permanent magnet synchronous motor operates according to the selected target flux linkage value, the actual flux linkage value output by the salient pole permanent magnet synchronous motor may deviate from the target flux linkage value. The actual flux linkage value of the salient pole permanent magnet synchronous motor in the running state can be calculated by adopting the flux linkage calculation formula, so that the subsequent operation process is carried out.
S103, adjusting a quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;
in specific implementation, the quadrature axis current instruction value of the salient pole permanent magnet synchronous motor is further calculated in an iterative mode according to the actual flux linkage value obtained through the flux linkage value calculation formula and the selected target flux linkage value.
S104, measuring the current output torque of the salient pole type permanent magnet synchronous motor according to a direct-axis current instruction value and the quadrature-axis current instruction value input by a user;
when the method is implemented specifically, according to the direct-axis current instruction value and the quadrature-axis current instruction value, a current equal to the direct-axis current instruction value is applied to the stator direct axis of the salient pole permanent magnet synchronous motor, a current equal to the quadrature-axis current instruction value is applied to the stator quadrature axis of the salient pole permanent magnet synchronous motor, and the current output torque of the salient pole permanent magnet synchronous motor can be measured through a torque sensor.
S105, judging whether the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to a reference torque;
and comparing the measured current output torque of the salient pole permanent magnet synchronous motor with the reference torque so as to determine the next operation. It should be noted that the reference torque generally needs to be reset to 0 each time the target flux linkage value is modified.
If the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, executing a step S106, and calibrating a working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct axis current instruction value and the quadrature axis current instruction value corresponding to the reference torque;
in specific implementation, when the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, it is determined that a working point composed of the direct-axis current instruction value and the quadrature-axis current instruction value is not a maximum torque flux ratio working point of the salient pole permanent magnet synchronous motor corresponding to the target flux ratio, and the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux ratio corresponding to the target flux ratio is calibrated according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque.
If the current output torque of the salient pole permanent magnet synchronous motor is greater than or equal to the reference torque, executing step S107, taking the output torque as a new reference torque, measuring a new output torque according to the updated direct-axis current command value, and comparing the new output torque with the new reference torque until the new output torque is less than the new reference torque.
For example, when the current output torque of the salient pole permanent magnet synchronous motor is greater than or equal to the reference torque, it is determined that the direct-axis current command value and the quadrature-axis current command value corresponding to the reference torque are not the operating points of the salient pole permanent magnet synchronous motor at the maximum torque flux linkage ratio corresponding to the target flux linkage value. At this time, the current output torque of the salient pole permanent magnet synchronous motor may be used as a new reference torque, the direct-axis current command value is updated, and then the new output torque is measured, and then the new output torque is compared with the new reference torque until the new output torque is smaller than the new reference torque.
According to the method for calibrating the maximum torque flux ratio working point of the salient pole permanent magnet synchronous motor, the maximum torque working point under the current flux value is obtained by calibrating the flux instruction value and the direct-axis current instruction value which are selected in advance, the working point corresponding to the maximum torque under the target flux value can be obtained without performing data fitting in the later period, and the calculation efficiency and the accuracy of the method for calibrating the maximum torque flux ratio working point of the salient pole permanent magnet synchronous motor are improved.
On the basis of the above embodiment, the direct-axis current command value is less than or equal to the maximum short-circuit current of the salient pole permanent magnet synchronous motor;
the maximum value of the preset flux linkage value interval is the maximum flux linkage value output by the salient pole type permanent magnet synchronous motor at the basic speed, wherein the basic speed is the highest rotating speed when the salient pole type permanent magnet synchronous motor outputs the maximum torque.
In specific implementation, considering that each salient pole type permanent magnet synchronous motor has a corresponding maximum flux linkage value, the highest rotating speed which can be reached when the salient pole type permanent magnet synchronous motor outputs the maximum torque is the basic speed of the salient pole type permanent magnet synchronous motor, and each salient pole type permanent magnet synchronous motor has a corresponding maximum short-circuit current. When a user inputs the direct-axis current command value, the value of the input direct-axis current command value should be less than or equal to the maximum short-circuit current of the salient pole permanent magnet synchronous motor, and meanwhile, the selected target flux linkage value should also be less than or equal to the maximum flux linkage value. For convenience of the detection process, when the direct-axis current command value is input, the maximum short-circuit current value may be input first, and when the target flux value is selected, the maximum flux value may be selected first, and then the maximum flux value is gradually decreased until the measurement is completed.
On the basis of the foregoing embodiment, the adjusting the quadrature axis current command value of the salient pole permanent magnet synchronous motor in step S103 until the actual flux linkage value is equal to the target flux linkage value includes:
calculating a flux linkage deviation value of the actual flux linkage value and the target flux linkage value;
and carrying out proportional operation and integral operation on the flux linkage deviation value to obtain a quadrature axis current instruction value of the salient pole type permanent magnet synchronous motor.
In specific implementation, a flux linkage controller may be disposed in the salient pole permanent magnet synchronous motor, the flux linkage controller calculates a flux linkage offset value according to the target flux linkage value and the actual flux linkage value, and then performs proportional operation and integral operation on the flux linkage offset value to obtain a quadrature axis current command value stabilized on the target flux linkage value through iterative calculation.
Further, in step S106, if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, after calibrating the operating point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque, the method further includes:
updating the direct-axis current command value and the target flux linkage value;
and selecting a new target flux linkage value in the preset flux linkage value interval, and meanwhile, resetting the direct-axis current instruction value as the maximum short-circuit current value of the salient pole permanent magnet synchronous motor, and then gradually reducing the direct-axis current instruction value in subsequent measurement until the maximum torque under the current target flux linkage value is obtained.
Measuring a new output torque according to the updated direct-axis current instruction value and the updated target flux linkage value, and comparing the new output torque with a new reference torque until the new output torque is smaller than the new reference torque;
and measuring a new output torque by using the updated direct-axis current instruction value and the target flux linkage value, and comparing the new output torque with a new reference torque, thereby determining whether the next operation flow is to calibrate a working point corresponding to the maximum torque flux linkage ratio or to update the direct-axis current instruction value again.
And calibrating the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the new reference torque.
In specific implementation, when the new output torque of the salient pole permanent magnet synchronous motor is smaller than the new reference torque, it is determined that the working point formed by the updated direct-axis current instruction value and the alternate-axis current instruction value is not the maximum torque flux linkage ratio of the salient pole permanent magnet synchronous motor corresponding to the target flux linkage value, and the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value is calibrated according to the direct-axis current instruction value and the alternate-axis current instruction value corresponding to the new reference torque. And if the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque.
Optionally, as shown in fig. 2, after the step of calibrating the operating point of the salient pole permanent magnet synchronous motor at the maximum torque flux ratio corresponding to the target flux ratio by using the direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque, the method further includes:
and forming a maximum torque flux linkage ratio curve according to the maximum current working points corresponding to all the target flux linkage values.
In specific implementation, different target flux linkage values can be selected within the preset flux linkage value interval according to needs, and certainly, more target flux linkage values can be selected to ensure measurement accuracy, and after a working point corresponding to the maximum output torque on each target flux linkage value is obtained through measurement, the maximum torque flux linkage ratio curve is formed according to all the working points.
On the basis of the above embodiment, as shown in fig. 3, the step S104 of measuring the current output torque of the salient pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user includes:
s301, respectively inputting the direct-axis current instruction value and the quadrature-axis current instruction value into a current controller of the salient pole permanent magnet synchronous motor to obtain corresponding direct-axis modulation voltage and quadrature-axis modulation voltage;
for example, in one embodiment, the salient pole permanent magnet synchronous motor may be controlled by a salient pole permanent magnet synchronous motor control system, which is configured as shown in fig. 4. The salient pole type permanent magnet synchronous motor control system can be provided with a current controller, after the obtained quadrature axis current instruction value and a direct axis current instruction value manually input by a user are input into the current controller, the current controller generates a direct axis modulation voltage corresponding to the direct axis current instruction value and generates a quadrature axis modulation voltage corresponding to the quadrature axis current instruction value according to the quadrature axis current instruction value and the direct axis current instruction value.
S302, performing pulse width modulation on the direct axis modulation voltage and the quadrature axis modulation voltage to generate a power switch driving signal;
and after the direct axis modulation voltage and the quadrature axis modulation voltage are subjected to pulse width modulation, generating corresponding power switch driving signals.
And S303, inputting the pulse width signal into an inverter, and measuring the output torque of the salient pole type permanent magnet synchronous motor.
And meanwhile, the generated power switch driving signal is input into an inverter of the salient pole permanent magnet synchronous motor so as to drive the salient pole permanent magnet synchronous motor to operate, and the output torque of the salient pole permanent magnet synchronous motor during operation is further measured through a torque sensor.
Corresponding to the above method embodiment, referring to fig. 5, an embodiment of the present disclosure further provides a device 50 for calibrating a maximum torque flux ratio operating point of a salient pole permanent magnet synchronous motor, including:
a selecting module 501, configured to select a target flux linkage value from a preset flux linkage value interval;
a first calculating module 502, configured to calculate an actual flux linkage value of the salient pole permanent magnet synchronous motor by using a preset flux linkage value calculating formula;
a second calculating module 503, configured to adjust a quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;
the measuring module 504 is configured to measure a current output torque of the salient pole permanent magnet synchronous motor according to a direct-axis current instruction value and the quadrature-axis current instruction value input by a user;
a judging module 505, configured to judge whether a current output torque of the salient pole permanent magnet synchronous motor is greater than or equal to a reference torque;
a calibration module 506 for, in use,
if the current output torque of the salient pole type permanent magnet synchronous motor is smaller than the reference torque, calibrating a working point of the salient pole type permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque;
and if the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque.
The apparatus shown in fig. 5 may correspondingly execute the content in the above method embodiment, and details of the part not described in detail in this embodiment refer to the content described in the above method embodiment, which is not described again here.
The embodiment of the present disclosure also provides a salient pole type permanent magnet synchronous motor, which includes:
the motor comprises a motor body and a processor, wherein the processor can execute the method for calibrating the maximum torque flux linkage ratio working point of the salient pole permanent magnet synchronous motor in the method embodiment.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (9)

1. A method for calibrating a maximum torque flux linkage ratio working point of a salient pole permanent magnet synchronous motor is characterized by comprising the following steps:
selecting a target flux linkage value from a preset flux linkage value interval;
calculating an actual flux linkage value of the salient pole permanent magnet synchronous motor by using a preset flux linkage value calculation formula;
adjusting the quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;
measuring the current output torque of the salient pole type permanent magnet synchronous motor according to a direct-axis current instruction value and a quadrature-axis current instruction value input by a user;
judging whether the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to a reference torque or not;
if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, calibrating a working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque;
and if the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque.
2. The method according to claim 1, wherein the direct-axis current command value is less than or equal to a maximum short-circuit current of the salient pole permanent magnet synchronous motor;
the maximum value of the preset flux linkage value interval is the maximum flux linkage value output by the salient pole type permanent magnet synchronous motor at the basic speed, wherein the basic speed is the highest rotating speed when the salient pole type permanent magnet synchronous motor outputs the maximum torque.
3. The method of claim 1, wherein the step of adjusting the quadrature axis current command value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value comprises:
calculating a flux linkage deviation value of the actual flux linkage value and the target flux linkage value;
and carrying out proportional operation and integral operation on the flux linkage deviation value to obtain a quadrature axis current instruction value of the salient pole permanent magnet synchronous motor.
4. The method according to claim 1, wherein after the step of calibrating the operating point of the salient pole permanent magnet synchronous machine at the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current command value and the quadrature-axis current command value corresponding to the reference torque if the current output torque of the salient pole permanent magnet synchronous machine is smaller than the reference torque, the method further comprises:
updating the direct-axis current command value and the target flux linkage value;
measuring a new output torque according to the updated direct-axis current instruction value and the updated target flux linkage value, and comparing the new output torque with a new reference torque until the new output torque is smaller than the new reference torque;
and calibrating the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the new reference torque.
5. The method according to claim 4, wherein after the step of calibrating the operating point of the salient pole permanent magnet synchronous motor at the maximum torque flux ratio corresponding to the target flux ratio by using the direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque, the method further comprises:
and forming a maximum torque flux ratio curve according to the maximum current working points corresponding to all the target flux values.
6. The method of claim 1, wherein the step of measuring the current output torque of the salient pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user comprises:
respectively inputting the direct-axis current instruction value and the quadrature-axis current instruction value into a current controller of the salient pole permanent magnet synchronous motor to obtain corresponding direct-axis modulation voltage and quadrature-axis modulation voltage;
performing pulse width modulation on the direct axis modulation voltage and the quadrature axis modulation voltage to generate a power switch driving signal;
and inputting the power switch driving signal into an inverter, and measuring the output torque of the salient pole type permanent magnet synchronous motor.
7. The method according to any one of claims 1 to 6, wherein the flux linkage value calculation formula is:
Figure FDA0002627854390000031
therein, Ψ g Is the actual flux linkage value u * ds For the direct axis modulation of the voltage u * qs For quadrature-axis modulation of voltage, R s Is a stator phase resistance, i dsfbk Actual value of direct axis current, i qsfbk Is the actual value of quadrature axis current, omega r The rotating angular speed of the salient pole type permanent magnet synchronous motor is provided.
8. The utility model provides a calibration device of salient pole formula PMSM maximum torque flux linkage ratio operating point which characterized in that includes:
the selection module is used for selecting a target flux linkage value from a preset flux linkage value interval;
the first calculation module is used for calculating the actual flux linkage value of the salient pole permanent magnet synchronous motor by using a preset flux linkage value calculation formula;
the second calculation module is used for adjusting the quadrature axis current instruction value of the salient pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;
the measuring module is used for measuring the current output torque of the salient pole type permanent magnet synchronous motor according to a direct-axis current instruction value and the quadrature-axis current instruction value input by a user;
the judging module is used for judging whether the current output torque of the salient pole type permanent magnet synchronous motor is larger than or equal to a reference torque;
a calibration module for, in use,
if the current output torque of the salient pole permanent magnet synchronous motor is smaller than the reference torque, calibrating a working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque;
and if the current output torque of the salient pole permanent magnet synchronous motor is larger than or equal to the reference torque, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current instruction value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque.
9. A salient pole permanent magnet synchronous motor, characterized in that, salient pole permanent magnet synchronous motor includes: the motor comprises a motor body and a processor, wherein the processor can execute the method for calibrating the maximum torque flux ratio working point of the salient pole permanent magnet synchronous motor in any one of the preceding claims 1-7.
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