CN112511058A - Method for rapidly, accurately and comprehensively calculating characteristics of servo motor influenced by temperature - Google Patents

Method for rapidly, accurately and comprehensively calculating characteristics of servo motor influenced by temperature Download PDF

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CN112511058A
CN112511058A CN202011485411.6A CN202011485411A CN112511058A CN 112511058 A CN112511058 A CN 112511058A CN 202011485411 A CN202011485411 A CN 202011485411A CN 112511058 A CN112511058 A CN 112511058A
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temperature
motor
psi
calculation
flux linkage
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徐永向
邹继斌
刘成思
肖利军
禹国栋
卓亮
陈恩涛
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Harbin Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque

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Abstract

A method for rapidly and accurately calculating the characteristics of a servo motor by integrating temperature influence belongs to the technical field of motor characteristic calculation. Constructing a model of a calculation method, and acquiring the normal temperature t of the motor by using the model0The running performance and the motor related performance of any working condition are relative to the normal temperature t0The first derivative of (a); sequentially calculating the temperature t of the motorsTemperature difference delta t, variation of motor running performance caused by temperature, and motor temperature tsMotor running performance. The invention can quickly and accurately obtain the calculation result under any working condition; by two temperatures t0And t1According to the finite element calculation result, the running performance of the motor at any temperature can be quickly and accurately obtained by establishing a first derivative method, so that the temperature and the running performance of the motor are realizedThe quick and accurate coupling calculation completes the establishment of the quick and accurate servo motor characteristic calculation method considering the temperature influence.

Description

Method for rapidly, accurately and comprehensively calculating characteristics of servo motor influenced by temperature
Technical Field
The invention relates to a method for rapidly, accurately and comprehensively calculating the characteristics of a servo motor influenced by temperature, and belongs to the technical field of motor characteristic calculation.
Background
In recent years, servo motors are increasingly widely applied in the fields of national defense, aerospace, transportation, machine manufacturing, medical treatment and the like, and novel application fields are gradually developed. The excellent characteristics of the servo motor result from accurate characteristic calculation, and the characteristic calculation of the motor at present mainly uses a magnetic circuit method and an electromagnetic field finite element method. The magnetic circuit method enables electromagnetic field distribution inside the motor to be equivalent to magnetic potential, magnetic flux and magnetic resistance, and the calculation is carried out by using the circuit calculation method, so that the method has the advantage of high calculation speed, but the accuracy is poor. The finite element method of the electromagnetic field divides the electromagnetic field distribution in the motor into a plurality of small grids, and establishes a differential equation set for the electromagnetic field distribution in each grid and calculates the electromagnetic field distribution, so the accuracy of the calculation result is extremely high, but the calculation speed is slow because a large amount of differential equation sets are solved. When the motor characteristics are calculated, the two methods cannot simultaneously guarantee the calculation speed and accuracy, and cannot meet the application requirements in the fields of precise motor control and the like with higher requirements on the calculation speed and accuracy.
In addition, the operating performance of the servo motor and the temperature rise of the motor present a strong coupling relation in the operating process. On the one hand, servo motor can produce the loss in the operation to lead to the motor temperature to rise, serious condition can lead to motor insulation damage, the motor burns out. On the other hand, changes in motor temperature can result in changes in the material properties of the motor components, thereby causing changes in the motor operating performance. At present, when simulation of the motor operation process and calculation of the operation performance are carried out, temperature influence is mostly ignored, so that errors exist in calculation results, and high-quality motor control is difficult to realize.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a method for quickly and accurately calculating the characteristics of the servo motor by integrating the temperature influence.
The invention adopts the following technical scheme: a method for rapidly and accurately calculating the characteristics of a servo motor influenced by temperature comprehensively comprises the following steps:
s1: constructing a model of a calculation method;
s2: obtaining the normal temperature t of the motor by utilizing the model constructed in S10The running performance under any working condition is as follows: d-axis flux linkage psidt0Q-axis flux linkage psiqt0Loss Pt0And electromagnetic torque Tet0；
S3: obtaining the correlation performance of the motor relative to the normal temperature t by using the model constructed by the S10First derivative of, i.e. delta psid0，Δψq0，ΔP0，ΔTe0；
S4: calculating the temperature t of the motors；
S5: calculating S4 the motor temperature tsAt room temperature t0The temperature difference Δ t therebetween;
s6: calculating the variation delta t delta psi of the motor running performance caused by temperatured0，Δt*Δψq0，Δt*ΔP0，Δt*ΔTe0；
S7: calculating the temperature t of the motorsMotor running performance psidts，ψqts，PtsAnd Tets。
Compared with the prior art, the invention has the beneficial effects that:
according to the method, a plurality of finite element calculation results are used, and calculation results under any working condition can be quickly and accurately obtained by establishing a result database and adopting an interpolation method; by two temperatures t0And t1According to the finite element calculation result, the running performance of the motor at any temperature can be quickly and accurately obtained by establishing a first derivative method, so that the temperature is realizedAnd the quick and accurate coupling calculation of the motor running performance completes the establishment of the quick and accurate servo motor characteristic calculation method considering the temperature influence.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic flow diagram of a method of constructing a model of a computational method;
FIG. 3 is a block diagram of the computational flow of the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
A method for rapidly and accurately calculating the characteristics of a servo motor influenced by temperature comprehensively comprises the following steps:
s1: constructing a model of a calculation method;
s2: obtaining the normal temperature t of the motor by utilizing the model constructed in S10The running performance under any working condition is as follows: d-axis flux linkage psidt0Q-axis flux linkage psiqt0Loss Pt0And electromagnetic torque Tet0；
D-axis current i corresponding to given arbitrary working conditionsdoAnd q-axis current iqoCan pass through the database psidt0(id,iq)，ψqt0(id,iq)，Pt0(id,iq)，Tet0(id,iq) Obtaining the normal temperature t of any working condition0Lower d-axis flux linkage psidt0Q-axis flux linkage psiqt0Loss Pt0And electromagnetic torque Tet0；
S3: obtaining the correlation performance of the motor relative to the normal temperature t by using the model constructed by the S10First derivative of, i.e. delta psid0，Δψq0，ΔP0，ΔTe0；
By means of a database of delta psid(id,iq)，Δψq(id,iq)，ΔP(id,iq)，ΔTe(id,iq) Obtaining the relative performance of the motor to the normal temperature t0First derivative of the next Delta psid0，Δψq0，ΔP0，ΔTe0；
S4: through loss Pt0Calculating motor temperature t by combining lumped parameter thermal circuit methods；
S5: by t ═ ts-t0Calculating S4 the motor temperature tsAt room temperature t0The temperature difference Δ t therebetween;
s6: through S5, the temperature difference delta t is respectively related to the motor performance relative to the normal temperature t0First derivative of delta phid0，Δψq0，ΔP0，ΔTe0Multiplying, i.e. calculating the variation deltat of the motor running performance caused by the temperature*Δψd0，Δt*Δψq0，Δt*ΔP0，Δt*ΔTe0；
S7: changing the variation quantity delta t delta psi of S6d0，Δt*Δψq0，Δt*ΔP0，Δt*ΔTe0And normal temperature t as in S20Running performance psi of motordt0，ψqt0，Pt0And Tet0Adding and calculating the motor temperature tsMotor running performance psidts，ψqts，PtsAnd Tets. The calculation formula is as follows:
ψdts＝ψdt0+Δt*Δψd0
ψqts＝ψqt0+Δt*Δψq0
Pts＝Pt0+Δt*ΔP0
Tets＝Tet0+Δt*ΔTe0。
the construction of the model of the calculation method described in S1 includes the steps of:
S101：a d-axis currents i are given in electromagnetic field finite element calculation softwaredAnd b q-axis currents iqSimulating a × b working conditions;
s102: setting the running temperature of the motor to be normal temperature t0；
S103: calculating electromagnetic field finite elements under a multiplied by b working conditions to obtain the calculation results of the motor running performance under all the working conditions: d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque Te；
S104: establishing d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque TeRelative to d-axis current idAnd q-axis current iqDatabase psidt0(id,iq)，ψqt0(id,iq)，Pt0(id,iq)，Tet0(id,iq)；
When any working condition is given, a group of currents i corresponding tod0And iq0All can use interpolation method, combine database psidt0(id,iq)，ψqt0(id,iq)，Pt0(id,iq)，Tet0(id,iq) Acquiring d-axis flux linkage psi under the working conditiondt0Q-axis flux linkage psiqt0Loss Pt0And electromagnetic torque Tet0(ii) a Based on the motor running performance under the a x b working conditions, combining a cubic spline interpolation method to obtain the motor running performance under any working conditions;
s105: changing the operating temperature of the electric machine to a temperature t1(t1≠t0) And simultaneously setting the relevant parameter of the motor material as t0The parameter is modified to a temperature t1A parameter of time;
s106: repeating S103;
s107: establishing a temperature of t1Time d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque TeRelative to d-axis current idAnd q-axis current iqDatabase psidt1(id,iq)，ψqt1(id,iq)，Pt1(id,iq)，Tet1(id,iq)；
S108: will be at temperature t1Data in the database of (1) and temperature t0The data in the lower database are subtracted and divided by the temperature change t1-t0Obtaining d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque TeDatabase of first derivatives of temperature Δ ψd(id,iq)，Δψq(id,iq)，ΔP(id,iq)，ΔTe(id,iq) The calculation formula is as follows:
Figure BDA0002838987010000051
Figure BDA0002838987010000052
Figure BDA0002838987010000053
Figure BDA0002838987010000054
s109: database psi at S104 and S108dt0(id,iq)，ψqt0(id,iq)，Pt0(id,iq)，Tet0(id,iq)，Δψd(id,iq)，Δψq(id,iq)，ΔP(id,iq)，ΔTe(id,iq) I.e. the model of the constructed calculation method.
The invention considers the influence caused by the temperature rise of the motor at the same time to overcome the defects of the existing calculation method, thereby meeting the requirements of practical application scenes on the calculation speed and the calculation precision of the running characteristic of the motor.
Although the electromagnetic field finite element calculation is accurate, when the working condition of the motor changes, a large number of differential equations need to be solved and iterative calculation needs to be carried out again, the method only needs to carry out the electromagnetic field finite element calculation under a small number of working conditions, the operating performance of all the working conditions can be obtained by using an interpolation method based on the calculation result, and the calculation speed is greatly improved when the subsequent calculation is carried out.
The calculation method has the advantages of being fast and accurate in calculation. By using the calculation method, finite element calculation is carried out for a plurality of times in the early stage, interpolation is carried out in the subsequent calculation process only according to input, a differential equation set does not need to be solved, and the calculation speed is greatly improved. The calculation result of the calculation method is from the calculation data of the finite element, has the precision of the finite element calculation, and considers the influence caused by the magnetic saturation and the harmonic wave.
The method is suitable for the fields of precise control of the servo motor and the like, and can meet the requirements of the fields on precise and rapid calculation of the running performance of the motor.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (4)

1. A method for rapidly and accurately calculating the characteristics of a servo motor under the influence of comprehensive temperature is characterized by comprising the following steps: the method comprises the following steps:
s1: constructing a model of a calculation method;
s2: obtaining the normal temperature t of the motor by utilizing the model constructed in S10The running performance under any working condition is as follows: d-axis flux linkage psidt0Q-axis flux linkage psiqt0Loss Pt0And electromagnetic torque Tet0；
S3: obtaining the correlation performance of the motor relative to the normal temperature t by using the model constructed by the S10First derivative of, i.e. delta psid0，Δψq0，ΔP0，ΔTe0；
S4: calculating the temperature t of the motors；
S5: calculating S4 the motor temperature tsAt room temperature t0The temperature difference Δ t therebetween;
s6: calculating the variation Deltat of the motor running performance caused by temperature*Δψd0，Δt*Δψq0，Δt*ΔP0，Δt*ΔTe0；
S7: calculating the temperature t of the motorsMotor running performance psidts，ψqts，PtsAnd Tets。
2. The method for calculating the characteristics of the servo motor rapidly, accurately and comprehensively affected by temperature according to claim 1, characterized in that: the construction of the model of the calculation method described in S1 includes the steps of:
s101: a d-axis currents i are given in electromagnetic field finite element calculation softwaredAnd b q-axis currents iqSimulating a × b working conditions;
s102: setting the running temperature of the motor to be normal temperature t0；
S103: for a x bCalculating electromagnetic field finite elements under working conditions to obtain the calculation results of the motor running performance under all the working conditions: d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque Te；
S104: establishing d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque TeRelative to d-axis current idAnd q-axis current iqDatabase psidt0(id,iq)，ψqt0(id,iq)，Pt0(id,iq)，Tet0(id,iq)；
S105: changing the operating temperature of the electric machine to a temperature t1(t1≠t0) And simultaneously setting the relevant parameter of the motor material as t0The parameter is modified to a temperature t1A parameter of time;
s106: repeating S103;
s107: establishing a temperature of t1Time d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque TeRelative to d-axis current idAnd q-axis current iqDatabase psidt1(id,iq)，ψqt1(id,iq)，Pt1(id,iq)，Tet1(id,iq)；
S108: obtaining d-axis flux linkage psidQ-axis flux linkage psiqLoss P and electromagnetic torque TeDatabase of first derivatives of temperature Δ ψd(id,iq)，Δψq(id,iq)，ΔP(id,iq)，ΔTe(id,iq)；
S109: database psi at S104 and S108dt0(id,iq)，ψqt0(id,iq)，Pt0(id,iq)，Tet0(id,iq)，Δψd(id,iq)，Δψq(id,iq)，ΔP(id,iq)，ΔTe(id,iq) I.e. the model of the constructed calculation method.
3. The method for calculating the characteristics of the servo motor rapidly, accurately and comprehensively affected by temperature according to claim 2, characterized in that: the calculation formula of S108 is as follows:
Figure FDA0002838985000000021
Figure FDA0002838985000000022
Figure FDA0002838985000000023
Figure FDA0002838985000000024
4. the method for calculating the characteristics of the servo motor rapidly, accurately and comprehensively affected by temperature according to claim 1, characterized in that: the motor temperature t in S7sMotor running performance psidts，ψqts，PtsAnd TetsThe calculation formula of (a) is as follows:
ψdts＝ψdt0+Δt*Δψd0
ψqts＝ψqt0+Δt*Δψq0
Pts＝Pt0+Δt*ΔP0
Tets＝Tet0+Δt*ΔTe0。
CN202011485411.6A 2020-12-16 2020-12-16 Method for rapidly, accurately and comprehensively calculating characteristics of servo motor influenced by temperature Pending CN112511058A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105450108A (en) * 2015-11-19 2016-03-30 中国矿业大学 Electromechanical energy conversion switch reluctance motor simulation method
CN110868120A (en) * 2019-10-29 2020-03-06 中车永济电机有限公司 Control method for built-in permanent magnet synchronous motor
CN111737893A (en) * 2020-05-22 2020-10-02 北京理工大学 Permanent magnet synchronous motor modeling method based on predictable iron loss
CN111914442A (en) * 2020-06-22 2020-11-10 东南大学 Modeling method of flux linkage adjustable permanent magnet synchronous reluctance motor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105450108A (en) * 2015-11-19 2016-03-30 中国矿业大学 Electromechanical energy conversion switch reluctance motor simulation method
CN110868120A (en) * 2019-10-29 2020-03-06 中车永济电机有限公司 Control method for built-in permanent magnet synchronous motor
CN111737893A (en) * 2020-05-22 2020-10-02 北京理工大学 Permanent magnet synchronous motor modeling method based on predictable iron loss
CN111914442A (en) * 2020-06-22 2020-11-10 东南大学 Modeling method of flux linkage adjustable permanent magnet synchronous reluctance motor

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* Cited by examiner, † Cited by third party
Title
尤哈•皮罗内，等: "《旋转电机设计》", 30 June 2016 *

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