CN112415382A - Motor parameter determination device, method and system, household appliance and storage medium - Google Patents
Motor parameter determination device, method and system, household appliance and storage medium Download PDFInfo
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- CN112415382A CN112415382A CN201910786046.3A CN201910786046A CN112415382A CN 112415382 A CN112415382 A CN 112415382A CN 201910786046 A CN201910786046 A CN 201910786046A CN 112415382 A CN112415382 A CN 112415382A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/08—Measuring resistance by measuring both voltage and current
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
- G01R27/2611—Measuring inductance
Abstract
The invention provides a device, a method and a system for determining motor parameters, a household appliance and a storage medium, wherein the device for determining the motor parameters comprises the following steps: the parameter detection circuit is used for acquiring phase current and phase voltage of the motor; the control circuit is connected with the parameter detection circuit and used for determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor; determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor; and determining the back electromotive force constant according to the resistance parameter and the inductance parameter, so that the back electromotive force constant in the motor characteristic parameter can be automatically determined, thereby reducing manual participation and improving the speed and reliability of determination.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a device for determining motor parameters, a method for controlling a motor, a system for controlling a motor, a household appliance, an electric vehicle and a computer readable storage medium.
Background
The motor is a driving assembly formed by assembling a plurality of components into a whole, and inherent parameters of the motor are related to assembled elements, so that the parameters of the motor need to be measured and debugged when the motor leaves a factory.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention provides a device for determining a parameter of an electric machine.
A second aspect of the present invention is to provide a control method of an electric motor.
A third aspect of the present invention is to provide a control system of an electric machine.
A fourth aspect of the invention is to propose a household appliance.
A fifth aspect of the invention is to propose an electric vehicle.
A sixth aspect of the invention is directed to a computer readable storage medium.
In view of this, according to a first aspect of the present invention, there is provided a motor parameter determination apparatus, comprising: the parameter detection circuit is used for acquiring phase current and phase voltage of the motor; the control circuit is connected with the parameter detection circuit and used for determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor; determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor; and determining a back electromotive force constant according to the resistance parameter and the inductance parameter.
The device for determining the motor parameters, provided by the invention, has the advantages that the parameter detection circuit and the control circuit are arranged, the parameter detection circuit is used for detecting the back electromotive force constant to determine the required phase current and the phase voltage of the motor, the resistance parameter of the motor is determined according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor, the inductance parameter of the motor is determined according to the phase current and the phase voltage of the motor, and the back electromotive force constant is determined by using the determined resistance parameter and the determined inductance parameter, so that the automatic determination of the back electromotive force constant in the characteristic parameters of the motor can be realized, the manual participation is reduced, and the determination speed and the reliability are improved.
In addition, according to the determining device of the motor parameter in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the foregoing technical solution, preferably, the control circuit is specifically configured to: and determining the inductance parameter of the motor according to the magnetic pole pair number of the motor, the calculation coefficient of the inductance parameter of the motor, the number of turns of a coil of the motor, the phase current of the motor and the phase voltage of the motor.
In the technical scheme, parameters such as the number of magnetic pole pairs of the motor, the calculation coefficient of inductance parameters of the motor, the number of turns of a coil of the motor and the like are usually determined in the production process, so that the inductance parameters of the motor can be directly determined by calling the information and combining the detected phase current of the motor and the detected phase voltage of the motor without calling other parameters of the motor, the calculation process is simple, and the requirement on hardware is low.
In any of the above technical solutions, preferably, the method further includes: the zero-crossing detection circuit is used for determining a zero-crossing point signal of the bus voltage and feeding the zero-crossing point signal of the bus voltage back to the control circuit; the control circuit determines the rotor position of the motor according to the zero crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor.
In the technical scheme, the zero-crossing point signal of the bus voltage is determined by using the zero-crossing detection circuit, so that the accuracy of determining the position of the rotor of the motor according to the zero-crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor is higher, the accurate control of the rotor is facilitated, and the conditions of stalling, step loss and the like are reduced.
In any of the above technical solutions, preferably, the control circuit is further configured to: receiving a speed instruction; and controlling the motor to operate according to the rotor position of the motor and the target rotating speed contained in the speed command.
In the technical scheme, a control circuit in the device for determining the motor parameters adjusts the rotating speed of the motor by using speed loop control and current loop control so as to realize control of acceleration, deceleration and the like.
In any of the above technical solutions, preferably, the control circuit is further configured to: and carrying out torque compensation on the bus current according to the zero crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor.
In this solution, the control circuit is further configured to: and torque compensation is carried out on the bus current according to a zero crossing point signal of the bus voltage, phase voltage of the motor and phase current of the motor, and torque pulsation of the motor in the operation process is eliminated by carrying out torque compensation on the phase current so as to improve the stability of the motor in the operation process.
In any of the above technical solutions, preferably, the control circuit is specifically configured to determine a phase difference between a phase voltage of the motor and a phase current of the motor at a zero-crossing time of the zero-crossing point signal; the control circuit further includes: a filter circuit for outputting a pulse signal corresponding to a difference between the phase difference and a specified value; and the input end of the amplitude extraction circuit is connected with the output end of the filter circuit and is used for extracting the torque fundamental wave amplitude corresponding to the pulse signal and carrying out torque compensation on the bus current based on the torque fundamental wave amplitude.
In the technical scheme, the pulse signal output by the filter circuit is used for compensation, the bus signal is not required to be adjusted, the difficulty of torque compensation is reduced, the advance or delay adjustment of the phase current is realized, the possibility of stalling of the motor in the operation process is reduced while the estimation accuracy of the position of the rotor is improved, and the noise of the motor is reduced by reducing the torque pulsation.
In any of the above technical solutions, preferably, the method further includes: based on the zero-crossing time of the zero-crossing signal, a compensation current with a frequency greater than 15kHz is applied to the motor.
In the technical scheme, the compensation current with the frequency greater than 15kHz is applied to the motor, so that the starting voltage of the motor is improved, the possibility of motor starting failure is reduced, and the running stability of the motor is improved.
According to a second aspect of the present invention, there is provided a control method of a motor for a determination apparatus of a motor parameter as defined in any one of the above, wherein the control method of the motor comprises: determining a resistance parameter of the motor according to a starting current corresponding to the rated torque of the motor and a phase voltage of the motor; determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor; and determining a back electromotive force constant according to the resistance parameter and the inductance parameter.
According to the control method of the motor, the resistance parameter of the motor is determined through the starting current corresponding to the rated torque of the motor and the phase voltage of the motor, the inductance parameter of the motor is determined according to the phase current of the motor and the phase voltage of the motor, and the back electromotive force constant is determined by using the determined resistance parameter and the determined inductance parameter, so that the automatic determination of the back electromotive force constant in the characteristic parameters of the motor can be realized, the manual participation is reduced, and the determination speed and the determination reliability are improved.
In addition, according to the control method of the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the above technical solution, preferably, the step of determining the inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor specifically includes: and determining the inductance parameter of the motor according to the magnetic pole pair number of the motor, the calculation coefficient of the inductance parameter of the motor, the number of turns of a coil of the motor, the phase current of the motor and the phase voltage of the motor.
In the technical scheme, parameters such as the number of magnetic pole pairs of the motor, the calculation coefficient of inductance parameters of the motor, the number of turns of a coil of the motor and the like are usually determined in the production process, so that the inductance parameters of the motor can be directly determined by calling the information and combining the detected phase current of the motor and the detected phase voltage of the motor without calling other parameters of the motor, the calculation process is simple, and the requirement on hardware is low.
In any of the above technical solutions, preferably, the method further includes: and receiving a zero crossing point signal of the bus voltage, and determining the rotor position of the motor according to the zero crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor.
In the technical scheme, the zero-crossing point signal of the bus voltage is determined, so that the accuracy of determining the position of the rotor of the motor is higher according to the zero-crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor, the accurate control of the rotor is facilitated, and the conditions of stalling, step loss and the like are reduced.
In any of the above technical solutions, preferably, the method further includes: and receiving a speed command, and controlling the motor to operate according to the rotor position of the motor and the target rotating speed contained in the speed command.
In the technical scheme, the target rotating speed contained in the speed instruction is obtained through analysis by receiving the speed instruction, and the rotating speed of the motor is adjusted by combining the current rotor position of the motor, so that the control of acceleration, deceleration and the like is realized.
In any of the above technical solutions, preferably, the method further includes: and carrying out torque compensation on the bus current according to the zero crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor.
According to the technical scheme, the bus current is subjected to torque compensation according to a zero crossing point signal of the bus voltage, phase voltage of the motor and phase current of the motor, and the phase current is subjected to torque compensation, so that torque pulsation of the motor in the operation process is eliminated, and the stability of the motor in the operation process is improved.
In any of the above technical solutions, preferably, the step of performing torque compensation on the bus current according to a zero-crossing point signal of the bus voltage, a phase voltage of the motor, and a phase current of the motor specifically includes: determining the phase difference between the phase voltage of the motor and the phase current of the motor at the zero-crossing time of the zero-crossing point signal; determining a pulse signal corresponding to a difference between the phase difference and a specified value; and extracting the torque fundamental wave amplitude corresponding to the pulse signal, and performing torque compensation on the bus current based on the torque fundamental wave amplitude.
In the technical scheme, the pulse signal is used for compensation, the bus signal does not need to be adjusted, the difficulty of torque compensation is reduced, the advance or delay adjustment of the phase current is realized, the possibility of stalling of the motor in the running process is reduced while the estimation accuracy of the position of the rotor is improved, and the noise of the motor is reduced by reducing the torque pulsation.
In any of the above technical solutions, preferably, the method further includes: based on the zero-crossing time of the zero-crossing signal, a compensation current with a frequency greater than 15kHz is applied to the motor.
In the technical scheme, the compensation current with the frequency greater than 15kHz is applied to the motor, so that the starting voltage of the motor is improved, the possibility of motor starting failure is reduced, and the running stability of the motor is improved.
According to a third aspect of the present invention, there is provided a control system of an electric motor, comprising: a controller; a memory for storing a computer program; the controller executes a computer program stored in the memory to implement the steps of the method of controlling the motor as in any one of the above. Since the controller executes the computer program stored in the memory to realize the steps of the control method of the motor according to any one of the above-mentioned claims, the control system of the motor includes all the advantageous effects of the control method of the motor according to any one of the above-mentioned claims.
According to a fourth aspect of the present invention, there is provided a household appliance comprising: a motor; a motor parameter determination apparatus as claimed in any one of the preceding claims. Since the household appliance comprises the motor parameter determination device according to any one of the above-mentioned embodiments, the motor parameter determination device according to any one of the above-mentioned embodiments has all the advantages.
According to a fifth aspect of the present invention, there is provided an electric vehicle including: a motor; a motor parameter determination apparatus as claimed in any one of the preceding claims. Since the electric vehicle includes the motor parameter determination device according to any one of the above embodiments, the electric vehicle has all the advantageous effects of the motor parameter determination device according to any one of the above embodiments.
According to a sixth aspect of the present invention, a computer-readable storage medium is presented, on which a computer program is stored, which, when executed, carries out the steps of the method of controlling an electric machine according to any one of the above. The computer readable storage medium thus includes all the advantageous effects of the control method of the motor according to any of the above-described technical solutions.
Additional aspects and advantages 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 above 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 shows a schematic block diagram of a device for determining a parameter of an electric machine according to an embodiment of the invention;
fig. 2 shows a schematic block diagram of a determination apparatus of a motor parameter of a further embodiment of the present invention;
fig. 3 shows a flow chart diagram of a control method of the motor of one embodiment of the present invention;
fig. 4 shows a flow chart of a control method of a motor of a further embodiment of the present invention;
fig. 5 shows a flow chart of a control method of a motor of a further embodiment of the present invention;
fig. 6 shows a hardware schematic of the motor parameter determination apparatus according to an embodiment of the present invention;
FIG. 7 illustrates a topology of a motor drive circuit of a specific embodiment of the present invention;
FIG. 8 illustrates a topology diagram of a controller of a particular embodiment of the present invention;
FIG. 9 illustrates a topology diagram of a zero crossing detection circuit in accordance with a specific embodiment of the present invention;
FIG. 10 illustrates a topology diagram of a phase voltage detection circuit in accordance with an exemplary embodiment of the present invention;
FIG. 11 illustrates a topology diagram of a phase current detection circuit in accordance with an embodiment of the present invention;
fig. 12 shows a topology diagram of a sampling circuit of a specific embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the first aspect of the present invention provides a device 1 for determining a motor parameter, including: the parameter detection circuit 10 is used for acquiring phase current and phase voltage of the motor; the control circuit 20 is connected with the parameter detection circuit 10 and used for determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor; determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor; and determining a back electromotive force constant according to the resistance parameter and the inductance parameter.
The process of determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor specifically comprises the following steps:
alternatively, the maximum torque T of the motor is usedmaxInstead of the starting current for the rated torque.
According to maximum allowable starting current or 2I of motorNLimiting the maximum torque T of the electric machinemaxCorresponding starting current is I1＝(1.5-2)INIn which INRated current of the motor;
minimum torque I of an electric machine2Greater than or equal to load torque, e.g. I2≥(1.1)IN；
And R represents the total resistance, the total resistance of each stage of the K-stage starting resistor is as follows:
K：Rk＝Ra+rk；…R3＝Ra+rk+…+r3；
R2＝Ra+rk+…+r3+r2；R2＝Ra+rk+…+r3+r2+r1；
e is always equal when two adjacent stages of resistors are switched and has a common ratio
Relationship of k to q:
wherein the content of the first and second substances,
so as to obtain the compound with the characteristics of,
wherein k is an integer, and q and R1Both are uncertain and there are two methods at present.
(1) First determining I1I.e. maximum current, is determined again
And given I2Then, then
From this it is concluded that k is calculated, and if k is not an integer, it can be replaced by an integer larger than the calculated value, and q and the stage resistances are determined from the replaced k.
(2) First determining I1I.e. maximum current, is determined again
Given k, calculate
To verify I2And whether the current is larger than the load torque or not, and if so, calculating the resistance of each stage.
Specifically, the control circuit 20 is specifically configured to: and determining the inductance parameter of the motor according to the magnetic pole pair number of the motor, the calculation coefficient of the inductance parameter of the motor, the number of turns of a coil of the motor, the phase current of the motor and the phase voltage of the motor.
In this embodiment, by providing the parameter detection circuit 10 and the control circuit 20, the parameter detection circuit 10 is used to detect the back electromotive force constant to determine the phase current of the motor and the phase voltage of the motor, the resistance parameter of the motor is determined according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor, the inductance parameter of the motor is determined according to the phase current of the motor and the phase voltage of the motor, and the back electromotive force constant is determined according to the determined resistance parameter and inductance parameter, so that the back electromotive force constant in the motor characteristic parameters can be automatically measured, thereby reducing the manual involvement and improving the speed and reliability of the measurement.
Where, Lm is (Kd × Un × 1000)/(2 × P × Nn × In), where Lm is an inductance parameter, Kd calculates a coefficient, for a general uncompensated motor: kd ranges from 8 to 12, P is the number of magnetic pole pairs of the motor, Nn is the number of coil turns of the motor, Un and In are phase voltage and phase current of the motor which are detected by the parameter detection circuit 10 In real time, and inductance parameters of the motor can be directly calculated through the formula.
Because parameters such as the number of magnetic pole pairs of the motor, the calculation coefficient of inductance parameters of the motor, the number of turns of coils of the motor and the like are usually determined in the production process, the inductance parameters of the motor can be directly determined by calling the information and combining the detected phase current of the motor and the detected phase voltage of the motor, other parameters of the motor do not need to be called, the calculation process is simple, and the requirement on hardware is low.
Example two:
in one embodiment of the present invention, as shown in fig. 2, the device 1 for determining motor parameters includes: the parameter detection circuit 10 is used for acquiring phase current and phase voltage of the motor; the control circuit 20 is connected with the parameter detection circuit 10 and used for determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor; determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor; determining a back electromotive force constant according to the resistance parameter and the inductance parameter; the zero-crossing detection circuit 30 is used for determining a zero-crossing point signal of the bus voltage, and feeding the zero-crossing point signal of the bus voltage back to the control circuit 20; the control circuit 20 determines the rotor position of the motor based on the zero crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor.
In this embodiment, the zero-crossing detection circuit 30 is used to determine the zero-crossing point signal of the bus voltage, so that the accuracy of determining the rotor position of the motor according to the zero-crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor is high, thereby facilitating the realization of accurate control of the rotor and reducing the occurrence of stall, step-out and the like.
Specifically, the zero-crossing detection circuit 30 determines the zero-crossing time in the zero-crossing point signal of the bus voltage, acquires the phase current of the motor and the phase voltage of the motor, and determines the rotor position according to the phase current of the motor and the phase voltage of the motor, so as to observe and control the rotation speed of the motor according to the rotor position, and accurately determine the rotor position, so as to determine the optimal adjustment time when the motor performs speed regulation control, and reduce the occurrence of stall, step-out and the like.
Example three:
in one embodiment of the present invention, as shown in fig. 2, the device 1 for determining motor parameters includes: the parameter detection circuit 10 is used for acquiring phase current and phase voltage of the motor; the control circuit 20 is connected with the parameter detection circuit 10 and used for determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor; determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor; determining a back electromotive force constant according to the resistance parameter and the inductance parameter; the zero-crossing detection circuit 30 is used for determining a zero-crossing point signal of the bus voltage, and feeding the zero-crossing point signal of the bus voltage back to the control circuit 20; the control circuit 20 determines the rotor position of the motor according to the zero crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor; wherein, the control circuit 20 is specifically configured to receive a speed command; and controlling the motor to operate according to the rotor position of the motor and the target rotating speed contained in the speed command.
In this embodiment, the control circuit 20 uses the speed loop control and the current loop control to adjust the rotation speed of the motor to realize acceleration, deceleration, and other control.
Example four:
in any of the above embodiments, the control circuit 20 is further configured to: and carrying out torque compensation on the bus current according to the zero crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor.
In this embodiment, the control circuit 20 is further configured to: and torque compensation is carried out on the bus current according to a zero crossing point signal of the bus voltage, phase voltage of the motor and phase current of the motor, and torque pulsation of the motor in the operation process is eliminated by carrying out torque compensation on the phase current so as to improve the stability of the motor in the operation process.
Example five:
in any of the above embodiments, the control circuit 20 is specifically configured to determine a phase difference between a phase voltage of the motor and a phase current of the motor at a zero-crossing time of the zero-crossing point signal; wherein, the control circuit 20 includes: a filter circuit for outputting a pulse signal corresponding to a difference between the phase difference and a specified value; and the input end of the amplitude extraction circuit is connected with the output end of the filter circuit and is used for extracting the torque fundamental wave amplitude corresponding to the pulse signal and carrying out torque compensation on the bus current based on the torque fundamental wave amplitude.
In the embodiment, the pulse signal output by the filter circuit is used for compensation, adjustment for a bus signal is not needed, the difficulty of torque compensation is reduced, adjustment for leading or lagging of phase current is realized, the possibility of stalling in the running process of the motor is reduced while the estimation accuracy of the position of the rotor is improved, and meanwhile, the noise of the motor is reduced by reducing torque pulsation.
Example six:
in any of the above embodiments, further comprising: based on the zero-crossing time of the zero-crossing signal, a compensation current with a frequency greater than 15kHz is applied to the motor.
In the embodiment, the compensation current with the frequency more than 15kHz is applied to the motor to improve the starting voltage of the motor, so that the possibility of starting failure of the motor is reduced, and the running stability of the motor is improved.
Example seven:
in an embodiment of the second aspect of the present invention, as shown in fig. 3, a control method of a motor includes:
s102, determining a resistance parameter of the motor according to a starting current corresponding to the rated torque of the motor and a phase voltage of the motor;
s104, determining inductance parameters of the motor according to phase current and phase voltage of the motor;
and S106, determining a back electromotive force constant according to the resistance parameter and the inductance parameter.
According to the control method of the motor, the resistance parameter of the motor is determined through the starting current corresponding to the rated torque of the motor and the phase voltage of the motor, the inductance parameter of the motor is determined according to the phase current of the motor and the phase voltage of the motor, and the back electromotive force constant is determined by using the determined resistance parameter and the determined inductance parameter, so that the automatic determination of the back electromotive force constant in the characteristic parameters of the motor can be realized, the manual participation is reduced, and the determination speed and the determination reliability are improved.
Example eight:
in one implementation of the present invention, the step of determining an inductance parameter of the motor according to a phase current of the motor and a phase voltage of the motor specifically includes: and determining the inductance parameter of the motor according to the magnetic pole pair number of the motor, the calculation coefficient of the inductance parameter of the motor, the number of turns of a coil of the motor, the phase current of the motor and the phase voltage of the motor.
In this embodiment, parameters such as the number of pole pairs of the motor, the calculation coefficient of the inductance parameter of the motor, the number of coil turns of the motor, and the like are usually determined in the production process, so that the inductance parameter of the motor can be directly determined by calling the above information and combining the detected phase current of the motor and the detected phase voltage of the motor, other parameters of the motor do not need to be called, the calculation process is simple, and the requirement on hardware is low.
Example nine:
in one embodiment of the present invention, as shown in fig. 4, a control method of a motor includes:
s202, determining resistance parameters of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor;
s204, determining an inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor;
s206, determining a back electromotive force constant according to the resistance parameter and the inductance parameter;
and S208, receiving a zero-crossing point signal of the bus voltage, and determining the rotor position of the motor according to the zero-crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor.
In the embodiment, the zero-crossing point signal of the bus voltage is determined, so that the accuracy of determining the position of the rotor of the motor is higher according to the zero-crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor, the accurate control of the rotor is facilitated, and the occurrence of conditions such as stalling and step loss is reduced.
Example ten:
in one embodiment of the present invention, as shown in fig. 5, a control method of a motor includes:
s302, determining a resistance parameter of the motor according to a starting current corresponding to the rated torque of the motor and a phase voltage of the motor;
s304, determining inductance parameters of the motor according to phase current and phase voltage of the motor;
s306, determining a back electromotive force constant according to the resistance parameter and the inductance parameter;
s308, receiving a zero crossing point signal of the bus voltage, and determining the rotor position of the motor according to the zero crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor;
and S310, receiving the speed command, and controlling the motor to operate according to the rotor position of the motor and the target rotating speed contained in the speed command.
In this embodiment, the target rotation speed included in the speed command is obtained through analysis by receiving the speed command, and the adjustment of the rotation speed of the motor is realized by combining the current rotor position of the motor, so as to realize control of acceleration, deceleration and the like.
Example eleven:
in any of the above embodiments, the control method of the motor further includes: and carrying out torque compensation on the bus current according to the zero crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor.
In the embodiment, the bus current is subjected to torque compensation according to the zero-crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor, and the phase current is subjected to torque compensation to eliminate the torque pulsation of the motor in the operation process so as to improve the stability of the motor in the operation process.
Preferably, the step of performing torque compensation on the bus current according to the zero-crossing point signal of the bus voltage, the phase voltage of the motor, and the phase current of the motor specifically includes: determining the phase difference between the phase voltage of the motor and the phase current of the motor at the zero-crossing time of the zero-crossing point signal; determining a pulse signal corresponding to a difference between the phase difference and a specified value; and extracting the torque fundamental wave amplitude corresponding to the pulse signal, and performing torque compensation on the bus current based on the torque fundamental wave amplitude.
In the embodiment, the pulse signal is used for compensation, the bus signal does not need to be adjusted, the difficulty of torque compensation is reduced, the phase current is adjusted in a leading or lagging mode, the estimation accuracy of the position of the rotor is improved, the possibility of stalling of the motor in the operation process is reduced, and meanwhile, the noise of the motor is reduced by reducing the torque pulsation.
Optionally, the pulsed signal is a 100Hz pulsed signal.
Example twelve:
in any of the above embodiments, the control method of the motor further includes: based on the zero-crossing time of the zero-crossing signal, a compensation current with a frequency greater than 15kHz is applied to the motor.
In the embodiment, the compensation current with the frequency more than 15kHz is applied to the motor to improve the starting voltage of the motor, so that the possibility of starting failure of the motor is reduced, and the running stability of the motor is improved.
Example thirteen:
in one embodiment of the present invention, as shown in fig. 6, the hardware circuit of the motor parameter determination apparatus includes: a phase voltage (back electromotive force) detection circuit, a phase current detection circuit, a zero-cross detection circuit, a 100Hz filter circuit, a torque fundamental wave amplitude extraction circuit (amplitude extraction circuit), a torque compensation circuit and an executive motor.
In this case, high-frequency current injection (high-frequency current signal) is carried out during the determination of the rotor position in order to increase the starting voltage of the electric machine.
Optionally, an amplifier circuit is also included.
Specifically, after the control circuit is electrified and initialized, the control circuit gives a speed instruction to enter a speed loop control circuit, a current loop control circuit, an amplifier circuit and a motor body circuit to be started, a phase current sampling circuit and a phase voltage (back electromotive force) detection circuit detect data to carry out data operation (id/iq conversion) so as to calculate the resistance value and the inductance value of the motor, namely, resistance detection and inductance measurement and calculation are realized, a motor (rotor) position circuit, a 100Hz filtering circuit and a torque fundamental wave extracting circuit form a closed loop, and the control in the running process of the motor is realized through the speed loop control and the current loop control.
The control circuit comprises a controller, as shown in fig. 7, and the input terminals UN1, UP1, VN1, VP1, WN1 and WP1 of the motor driving circuit of the motor are respectively connected with the controller shown in fig. 8, wherein the input terminals UN1, UP1, VN1, VP1, WN1 and WP1 are respectively connected with PWM WL, PWM VL, PWM UL, PWM WH, PWM VH and PWM UH, and the controller outputs PWM (Pulse-Width Modulation) signals to control the motor driving circuit, so that the motor driving circuit is connected with the windings U1, V1 and W1 of the motor through U1, V1 and W1 for injecting signals into the windings.
Alternatively, as shown in fig. 9, the input terminal of the ZERO-crossing detection circuit is connected to the AC + side of the AC-DC (alternating current-direct current) circuit, and the output terminal is connected to the CROSS _ ZERO port of the controller, for feeding back the ZERO-crossing signal of the power supply signal to the controller.
Alternatively, as shown in fig. 10, the output terminals EMF _ U, EMF _ W and EMF _ V of the phase voltage (back electromotive force) detection circuits are connected to the EMF U, EMF W and EMF V shown in fig. 8, respectively, for feeding back the phase voltages to the controller, and at the same time, AMPUO, AMPVO and AMPWO in fig. 8 are connected to the AMPUO, AMPVO and AMPWO in the phase current detection circuits shown in fig. 11, respectively, as shown in fig. 12, as voltage sampling circuits whose output segments VIN are connected to VIN in fig. 8.
An embodiment of a third aspect of the present invention provides a control system for an electric machine, including: a controller; a memory for storing a computer program; the controller executes a computer program stored in the memory to implement the steps of the method of controlling the motor as in any one of the above. Therefore, the control system of the motor has all the advantages of the control method of the motor in any embodiment.
An embodiment of a fourth aspect of the present invention provides a household appliance, including: a motor; a motor parameter determination apparatus as claimed in any one of the preceding claims. Since the household appliance comprises the motor parameter determination device according to any one of the above-mentioned embodiments, the motor parameter determination device according to any one of the above-mentioned embodiments has all the advantages.
Optionally, the household appliance comprises a food processing device, wherein the food processing device is any one of a blender, a wall breaking machine, a soymilk machine, a cooking machine, a chef machine and a cooking machine.
Optionally, the domestic appliance comprises an air supply device, such as a fan.
An embodiment of a fifth aspect of the present invention proposes an electric vehicle including: a motor; a motor parameter determination apparatus as claimed in any one of the preceding claims. Since the electric vehicle includes the motor parameter determination device according to any one of the above embodiments, the electric vehicle has all the advantageous effects of the motor parameter determination device according to any one of the above embodiments.
An embodiment of the sixth aspect of the invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed, carries out the steps of the method of controlling an electric machine according to any one of the above. The computer-readable storage medium thus includes all the advantageous effects of the control method of the motor of any of the above embodiments.
In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. 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, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means 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 do not necessarily 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.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (18)
1. An apparatus for determining a parameter of an electric machine, comprising:
the parameter detection circuit is used for acquiring phase current and phase voltage of the motor;
the control circuit is connected with the parameter detection circuit and used for determining the resistance parameter of the motor according to the starting current corresponding to the rated torque of the motor and the phase voltage of the motor;
determining an inductance parameter of the motor according to a phase current of the motor and a phase voltage of the motor; and
and determining a back electromotive force constant according to the resistance parameter and the inductance parameter.
2. The motor parameter determination apparatus of claim 1, wherein the control circuit is specifically configured to:
and determining the inductance parameter of the motor according to the magnetic pole pair number of the motor, the calculation coefficient of the inductance parameter of the motor, the number of turns of a coil of the motor, the phase current of the motor and the phase voltage of the motor.
3. The motor parameter determination apparatus of claim 1, further comprising:
the zero-crossing detection circuit is used for determining a zero-crossing signal of the bus voltage and feeding the zero-crossing signal of the bus voltage back to the control circuit;
and the control circuit determines the rotor position of the motor according to the zero-crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor.
4. The motor parameter determination apparatus of claim 3, wherein the control circuit is further configured to:
receiving a speed instruction; and
and controlling the motor to operate according to the rotor position of the motor and the target rotating speed contained in the speed command.
5. The motor parameter determination apparatus of claim 4, wherein the control circuit is further configured to:
and carrying out torque compensation on the bus current according to the zero crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor.
6. The motor parameter determination apparatus of claim 5, wherein the control circuit is specifically configured to:
determining a phase difference between a phase voltage of the motor and a phase current of the motor at a zero-crossing time of the zero-crossing point signal;
the control circuit further includes:
a filter circuit for outputting a pulse signal corresponding to a difference between the phase difference and a specified value;
and the input end of the amplitude extraction circuit is connected with the output end of the filter circuit and is used for extracting the torque fundamental wave amplitude corresponding to the pulse signal and carrying out torque compensation on the bus current based on the torque fundamental wave amplitude.
7. The motor parameter determination apparatus of any of claims 4 to 6, further comprising:
applying a compensation current having a frequency greater than 15kHz to the motor based on a zero-crossing time of the zero-crossing signal.
8. A method of controlling a motor, comprising:
determining a resistance parameter of the motor according to a starting current corresponding to the rated torque of the motor and a phase voltage of the motor;
determining an inductance parameter of the motor according to a phase current of the motor and a phase voltage of the motor;
and determining a back electromotive force constant according to the resistance parameter and the inductance parameter.
9. The method according to claim 8, wherein the step of determining the inductance parameter of the motor according to the phase current of the motor and the phase voltage of the motor specifically comprises:
and determining the inductance parameter of the motor according to the magnetic pole pair number of the motor, the calculation coefficient of the inductance parameter of the motor, the number of turns of a coil of the motor, the phase current of the motor and the phase voltage of the motor.
10. The control method of the motor according to claim 8, further comprising:
receiving a zero crossing point signal of a bus voltage, and determining the rotor position of the motor according to the zero crossing point signal of the bus voltage, the phase current of the motor and the phase voltage of the motor.
11. The control method of the motor according to claim 10, further comprising:
and receiving a speed instruction, and controlling the motor to operate according to the rotor position of the motor and the target rotating speed contained in the speed instruction.
12. The control method of the motor according to claim 10, further comprising:
and carrying out torque compensation on the bus current according to the zero crossing point signal of the bus voltage, the phase voltage of the motor and the phase current of the motor.
13. The method according to claim 12, wherein the step of performing torque compensation on the bus current according to the zero-crossing point signal of the bus voltage, the phase voltage of the motor, and the phase current of the motor specifically comprises:
determining a phase difference between a phase voltage of the motor and a phase current of the motor at a zero-crossing time of the zero-crossing point signal;
determining a pulse signal corresponding to a difference between the phase difference and a specified value;
and extracting a torque fundamental wave amplitude corresponding to the pulse signal, and performing torque compensation on the bus current based on the torque fundamental wave amplitude.
14. The control method of the motor according to any one of claims 10 to 13, further comprising:
applying a compensation current having a frequency greater than 15kHz to the motor based on a zero-crossing time of the zero-crossing signal.
15. A control system for an electric machine, comprising:
a controller;
a memory for storing a computer program;
the controller executes a computer program stored in the memory to implement the steps of the control method of the electric machine according to any one of claims 8 to 14.
16. A household appliance, characterized in that it comprises:
a motor;
determination device of a motor parameter according to any of the claims 1 to 7.
17. An electric vehicle, characterized by comprising:
a motor;
determination device of a motor parameter according to any of the claims 1 to 7.
18. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, carries out the steps of the method of controlling an electric machine according to any one of claims 8 to 14.
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| CN101043194A (en) * | 2006-03-23 | 2007-09-26 | 上海格立特电力电子有限公司 | Vector control method and apparatus for induction motor |
| CN104518722A (en) * | 2013-10-08 | 2015-04-15 | 广东美的制冷设备有限公司 | Torque compensation control system and torque compensation control method of synchronous motor |
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