CN112655148A - Method, device, equipment and medium for directionally correcting magnetic field of permanent magnet synchronous motor - Google Patents
Method, device, equipment and medium for directionally correcting magnetic field of permanent magnet synchronous motor Download PDFInfo
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Abstract
The application discloses a magnetic field orientation correction method and device of a permanent magnet synchronous motor, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor; calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor; carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle; the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle. The method and the device accurately calculate the magnetic field orientation deviation based on the power factor angle calculated in different modes, and further accurately correct the position angle of the rotor magnetic field of the permanent magnet synchronous motor, so that the magnetic field orientation accuracy is improved. The motor is subjected to vector control based on the calibrated result, so that the current loss of the motor can be effectively reduced, and the output torque and the motor operation efficiency of the motor under the unit current are improved.
Description
Technical Field
The present disclosure relates to the field of frequency converter control technologies, and in particular, to a method and an apparatus for correcting a magnetic field orientation of a permanent magnet synchronous motor, an electronic device, and a computer-readable storage medium.
Background
The permanent magnet synchronous motor has the advantages of small volume, high power density, high power factor, high efficiency, energy conservation, hard mechanical characteristics, large starting torque, wide speed regulation range and the like, and is concerned and widely applied in various fields of industry, military industry, new energy power generation, new energy automobiles, smart homes, rail traction, unmanned aerial vehicles and the like.
In the permanent magnet synchronous motor control based on the rotor magnetic field orientation, the accuracy of the magnetic field orientation can be reduced by the factors such as algorithm parameters, motor parameters, temperature, load change and the like. After the magnetic field orientation has deviation, the stator current of the motor is increased, the motor loss is increased, the motor generates heat seriously, and the output torque and the working efficiency of the motor are reduced.
In recent years, many researches on speed sensorless algorithms are carried out, but few documents mention the problem of magnetic field orientation deviation correction, and with the gradual maturity of the control of the permanent magnet synchronous motor, the requirements on the performances of the motor, such as the efficiency, the torque control precision and the like, are continuously increased, and in the vector control based on the rotor magnetic field orientation, the performances are related to the accuracy of the magnetic field orientation. Therefore, how to accurately correct the magnetic field orientation of the permanent magnet synchronous motor becomes a technical key and a technical problem for improving the vector control performance.
Disclosure of Invention
The present application aims to provide a method and an apparatus for correcting a magnetic field orientation of a permanent magnet synchronous motor, an electronic device, and a computer-readable storage medium, so as to effectively improve a magnetic field orientation accuracy of the permanent magnet synchronous motor, and further improve a motor control accuracy.
In order to solve the technical problem, on one hand, the application discloses a magnetic field orientation correction method for a permanent magnet synchronous motor, which comprises the following steps:
calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor;
calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor;
carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle;
the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle.
Optionally, if the permanent magnet synchronous motor does not adopt idIf the control mode is 0, the calculating a first value of the power factor angle based on the current model of the permanent magnet synchronous motor includes:
a first value of the power factor angle is calculated according to the following formula:
wherein,
a first value of a power factor angle; omega is the rotor speed; l isd、LqD-axis inductance and q-axis inductance under a two-phase synchronous rotating coordinate system are respectively adopted; i.e. id、iqD-axis current and q-axis current under a two-phase synchronous rotating coordinate system are respectively adopted; e0＝ωψrIs in no-load reverse electromotive modePotential; psirIs the rotor flux linkage.
Optionally, if the permanent magnet synchronous motor adopts idIf the control mode is 0, the calculating a first value of the power factor angle based on the current model of the permanent magnet synchronous motor includes:
a first value of the power factor angle is calculated according to the following formula:
optionally, the calculating a second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor includes:
calculating a second value of the power factor angle according to the following formula:
wherein γ is a second value of the power factor angle; p is active power; q is reactive power; u. ofα、uβRespectively an alpha axis voltage and a beta axis voltage under a two-phase static coordinate system; i.e. iα、iβThe alpha axis current and the beta axis current are respectively under a two-phase static coordinate system.
Optionally, the performing a generalized PID calculation on a difference value obtained by subtracting the second value from the first value to obtain a deviation angle includes:
carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value;
the result of the generalized PID calculation is low pass filtered to obtain the deviation angle.
Optionally, the performing a generalized PID calculation on a difference value obtained by subtracting the second value from the first value to obtain a deviation angle includes:
and calculating the deviation angle based on the difference value of the first value and the second value by adopting a pure proportional P calculation formula or a proportional plus integral PI calculation formula.
Optionally, the obtaining of the detected value of the rotor magnetic field position angle includes:
acquiring the detection value of the rotor magnetic field position angle based on encoder detection; or, based on a non-speed observer algorithm, calculating and acquiring the detection value of the rotor magnetic field position angle according to the voltage value and the current value.
In another aspect, the present application provides a magnetic field orientation correction apparatus of a permanent magnet synchronous motor, including:
the calculation module is used for calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor; calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor;
the difference making module is used for carrying out generalized PID calculation on the difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle;
and the correction module is used for subtracting the deviation angle from the detection value of the rotor magnetic field position angle so as to obtain the correction value of the rotor magnetic field position angle.
In another aspect, the present application also discloses an electronic device, including:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of any of the methods of field orientation correction for permanent magnet synchronous machines described above.
In yet another aspect, the present application also discloses a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the steps of any of the methods of field orientation correction of a permanent magnet synchronous machine as described above.
The magnetic field orientation correction method of the permanent magnet synchronous motor comprises the following steps: calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor; calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor; carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle; the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle.
The magnetic field orientation correction method, device, electronic equipment and computer readable storage medium of the permanent magnet synchronous motor have the advantages that: the method and the device accurately calculate the magnetic field orientation deviation based on the power factor angle calculated in different modes, and further accurately correct the position angle of the rotor magnetic field of the permanent magnet synchronous motor, so that the magnetic field orientation accuracy is improved. The motor is subjected to vector control based on the calibrated result, so that the current loss of the motor can be effectively reduced, and the output torque and the motor operation efficiency of the motor under the unit current are improved.
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In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings that are needed to be used in the description of the prior art and the embodiments of the present application will be briefly described below. Of course, the following description of the drawings related to the embodiments of the present application is only a part of the embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any creative effort, and the obtained other drawings also belong to the protection scope of the present application.
Fig. 1 is a main circuit topology structure diagram of a driving permanent magnet synchronous motor according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a magnetic field orientation correction method for a permanent magnet synchronous motor disclosed in an embodiment of the present application;
FIG. 3 is a schematic diagram of a magnetic field orientation correction method based on pure scale elements according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a magnetic field orientation correction method based on a proportional-integral element according to an embodiment of the present disclosure;
fig. 5 is a schematic view of vector control of a permanent magnet synchronous motor with field orientation correction according to an embodiment of the present application;
fig. 6 is a block diagram of a magnetic field orientation correction apparatus of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 7 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The core of the application is to provide a magnetic field orientation correction method and device for a permanent magnet synchronous motor, an electronic device and a computer readable storage medium, so that the magnetic field orientation accuracy of the permanent magnet synchronous motor is effectively improved, and the motor control accuracy is further improved.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
A Permanent Magnet Synchronous Machine (PMSM) is a Synchronous Machine that establishes an excitation Magnetic field using Permanent magnets. The structure of the motor of the permanent magnet synchronous motor is simpler, so that the processing and assembling cost is reduced, a collecting ring and an electric brush which are easy to cause problems are omitted, and the running reliability of the motor is improved; and because the exciting current is not needed, and the exciting loss is avoided, the efficiency and the power density of the motor are effectively improved.
Permanent magnet synchronous motors are widely used in many fields. Referring to fig. 1, fig. 1 is a main circuit topology structure diagram of a driving permanent magnet synchronous motor according to an embodiment of the present disclosure.
The permanent magnet synchronous motor is composed of a stator, a rotor, an end cover and the like. The stator generates a rotating magnetic field, and the rotor is made of permanent magnetic material. The stator is formed by lamination of laminations, in which a three-phase ac winding, called armature, is mounted to reduce iron losses during operation of the motor. The rotor may be made in solid form or may be pressed from laminations which carry the permanent magnet material.
When three-phase current is introduced into a three-phase symmetrical winding of a stator of the permanent magnet synchronous motor, magnetomotive force generated by the current is synthesized into rotary magnetomotive force with unchanged amplitude. Because the amplitude of the rotating magnetomotive force is not changed, the track of the rotating magnetomotive force forms a circle, which is called a circular rotating magnetomotive force.
Because the rotating speed of the permanent magnet synchronous motor is always synchronous, the rotating magnetic field generated by the rotor main magnetic field and the stator circular rotating magnetomotive force keeps relatively static. The interaction of the two magnetic fields forms a resultant magnetic field in the air gap between the stator and the rotor, which interacts with the primary magnetic field of the rotor to produce an electromagnetic torque that propels or retards the rotation of the motor. Because of the difference of the position relation of the air gap synthetic magnetic field and the main magnetic field of the rotor, the permanent magnet synchronous motor can operate in a motor state and a generator state.
When the air gap synthetic magnetic field lags behind the rotor main magnetic field, the generated electromagnetic torque is opposite to the rotation direction of the rotor, and the motor is in a power generation state; in contrast, when the air-gap composite magnetic field leads the main magnetic field of the rotor, the generated electromagnetic torque is the same as the rotation direction of the rotor, and the motor is in an electric state. The angle between the main rotor field and the resultant air gap field is known as the power factor angle.
The vector control technology is a control mode of a permanent magnet synchronous motor born in the early 70 s of the last century. The vector control system of the permanent magnet synchronous motor refers to a control strategy of a direct current motor, and decomposes collected vectors such as three-phase stator current, flux linkage and the like of the motor into two components by utilizing coordinate transformation according to the direction of a rotation vector of a rotor flux linkage, wherein one component is called as a direct-axis (d-axis) excitation current along the direction of the rotor flux linkage; the other is orthogonal to the rotor flux linkage direction and is called quadrature axis (q-axis) torque current. The exciting current and the torque current are adjusted according to different control targets, so that accurate control of speed and torque is realized, and a control system obtains good steady-state and dynamic response characteristics.
The vector control algorithm commonly used in the permanent magnet synchronous motor can be divided into the following algorithms: and (4) a control mode of id being 0, a maximum torque/current control mode, a unit power factor control mode and the like. These performance indicators can be achieved by independent control of the dc field current and the quadrature torque current.
In the vector control process, the position angle of the rotor magnetic field of the permanent magnet synchronous motor is an important parameter which is a transformation calculation basis between the two-phase static coordinate system and the two-phase synchronous rotating coordinate system, so the precision of the parameter is directly related to the control precision of the permanent magnet synchronous motor. Therefore, the magnetic field orientation correction scheme of the permanent magnet synchronous motor is provided, the position angle of the rotor magnetic field is accurately corrected, the magnetic field orientation accuracy can be effectively improved, and the motor control accuracy is further improved.
Referring to fig. 2, an embodiment of the present application discloses a magnetic field orientation correction method for a permanent magnet synchronous motor, which mainly includes:
s101: a first value of the power factor angle is calculated based on a current model of the permanent magnet synchronous motor.
S102: and calculating a second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor.
S103: and carrying out generalized PID calculation on the difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle.
S104: the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle.
It is easy to understand that, in the case of accurate orientation, the first value and the second value of the power factor angle calculated in the two ways are equal. However, in the case of a misaligned magnetic field, there is a difference between the two values.
Specifically, the first value of the power factor angle calculated by the present application is obtained based on a steady-state voltage equation or a current model of the permanent magnet synchronous motor. The first value of the power factor angle mainly depends on q-axis inductance of the motor, rotor flux linkage and motor current, so that when deviation occurs in magnetic field orientation, the deviation between the first value and the true value of the power factor angle is relatively small.
The second value of the power factor angle calculated by the method is obtained based on an instantaneous power model, when the magnetic field orientation has deviation, the two-phase static coordinate system and the physical coordinate system have larger deviation, so that the voltage of the two-phase static coordinate system also has larger deviation, and the calculated second value of the power factor angle and the true value of the power factor angle have larger deviation.
Therefore, the first value obtained by calculation according to the current model is used as a reference value, the second value obtained by calculation according to the instantaneous power model is used as a feedback value, the generalized PID adjustment is carried out after the difference calculation to obtain a deviation angle, and the deviation angle is used as a correction basis for the rotor magnetic field position angle to obtain the correction value of the rotor magnetic field position angle.
The classical PID adjusting method is a common closed-loop control method including a proportional element (P), an integral element (I) and a differential element (D), and on the basis, by adjusting the existence of each element or adding some other control strategies (such as differential advance, saturation limit, etc.), more generalized PID adjusting methods can be derived, and the skilled person in the art can select the methods by himself according to the actual application needs, which is not limited by the present application.
After the correction value of the rotor magnetic field position angle participates in the vector control of the motor, the active power and the reactive power output by the motor in real time change, and a second value of the power factor angle calculated according to the instantaneous power model also changes, so that the tracking of the reference value is realized. When the difference result between the reference value and the feedback value is 0, it indicates that the magnetic field orientation correction is completed.
The magnetic field orientation correction method of the permanent magnet synchronous motor provided by the embodiment of the application comprises the following steps: calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor; calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor; carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle; the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle.
Therefore, the magnetic field orientation correction method of the permanent magnet synchronous motor accurately calculates the magnetic field orientation deviation based on the power factor angle calculated in different modes, and further accurately corrects the position angle of the rotor magnetic field of the permanent magnet synchronous motor, so that the magnetic field orientation accuracy is improved. The motor is subjected to vector control based on the calibrated result, so that the current loss of the motor can be effectively reduced, and the output torque and the motor operation efficiency of the motor under the unit current are improved.
Specifically, under a two-phase synchronous rotating coordinate system, a steady-state voltage equation, i.e., a current model, of the permanent magnet synchronous motor is specifically as follows:
wherein u isd、uqD-axis voltage and q-axis voltage under a two-phase synchronous rotation coordinate system are respectively adopted; rsIs a stator resistor; l isd、LqD-axis inductance and q-axis inductance under a two-phase synchronous rotating coordinate system are respectively adopted; psirIs a rotor flux linkage; ω is the rotor speed (synchronous speed); i.e. id、iqThe d-axis current and the q-axis current are respectively under a two-phase synchronous rotating coordinate system.
Therefore, based on the above, if the permanent magnet synchronous motor adopts idIn combination with the phasor diagram, the control mode of 0 can result in:
wherein E is0＝ωψrIs a no-load back electromotive force. Considering idWhen equal to 0, iqI.e. the total current I, i.e.
Therefore, the calculation formula of the first value of the power factor angle at this time can be expressed as:
on the basis of the above contents, the permanent magnet synchronous motor does not adopt idIn the control mode of 0, the first power factor angle can be obtained by combining the vector diagramThe calculation formula of a value is:
wherein,
a first value of a power factor angle; omega is the rotor speed; l isd、LqD-axis inductance and q-axis inductance under a two-phase synchronous rotating coordinate system are respectively adopted; i.e. id、iqD-axis current and q-axis current under a two-phase synchronous rotating coordinate system are respectively adopted; e0＝ωψrIs no-load counter electromotive force; psirIs the rotor flux linkage.
As a specific embodiment, the method for correcting the magnetic field orientation of the permanent magnet synchronous motor according to the embodiment of the present application, based on the above contents, calculates a second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor, and includes:
calculating a second value of the power factor angle according to the following formula:
wherein γ is a second value of the power factor angle; p is active power; q is reactive power; u. ofα、uβRespectively an alpha axis voltage and a beta axis voltage under a two-phase static coordinate system; i.e. iα、iβThe alpha axis current and the beta axis current are respectively under a two-phase static coordinate system.
Or, similarly, the second value of the power factor angle may also be calculated based on the parameters in the two-phase synchronous rotating coordinate system:
as a specific embodiment, the method for correcting a magnetic field orientation of a permanent magnet synchronous motor according to the embodiment of the present application, based on the above contents, performs a generalized PID calculation on a difference between a first value and a second value to obtain a deviation angle, including:
and calculating a deviation angle based on the difference value of the first value minus the second value by adopting a pure proportion P calculation formula or a proportion plus integral PI calculation formula.
Specifically, the present embodiment provides two specific generalized PID adjusting methods, including pure proportional P adjustment and proportional plus integral PI adjustment. Of course, other generalized PID control methods may be used by those skilled in the art.
As a specific embodiment, the method for correcting a magnetic field orientation of a permanent magnet synchronous motor according to the embodiment of the present application, based on the above contents, performs a generalized PID calculation on a difference between a first value and a second value to obtain a deviation angle, including:
carrying out generalized PID calculation on the difference value obtained by subtracting the second value from the first value;
the result of the generalized PID calculation is low-pass filtered to obtain the deviation angle.
Specifically, the design of the Low-Pass Filter (LPF) can further improve the data accuracy.
Referring to fig. 3, fig. 3 is a schematic diagram of a magnetic field orientation correction method based on pure-scale elements according to an embodiment of the present disclosure. Wherein δ' is the difference of the first value minus the second value of the power factor angle; kp is a PID controller only comprising a pure proportion link; delta theta' is a control quantity calculated by the generalized PID; and delta theta is a deviation angle obtained after filtering.
Referring to fig. 4, fig. 4 is a schematic diagram of a magnetic field orientation correction method based on a proportional-integral element according to an embodiment of the present application. Wherein δ' is the difference of the first value minus the second value of the power factor angle; the PI is a PID controller comprising a proportional link and an integral link; delta theta' is a control quantity calculated by the generalized PID; and delta theta is a deviation angle obtained after filtering.
As a specific embodiment, in the method for correcting the magnetic field orientation of the permanent magnet synchronous motor according to the embodiment of the present application, based on the above contents, the process of obtaining the detected value of the rotor magnetic field position angle includes:
acquiring a detection value of a rotor magnetic field position angle based on the detection of the encoder; or calculating and acquiring a detection value of the rotor magnetic field position angle according to the voltage value and the current value based on a non-speed observer algorithm.
Referring to fig. 5, fig. 5 is a schematic view of vector control of a permanent magnet synchronous motor with field orientation correction according to an embodiment of the present application.
It should be noted that the method provided by the present application is not only applicable to vector control with an encoder, but also applicable to vector control without a speed sensor. When the speed sensor is configured, the rotor magnetic field position angle can be detected by a mechanical sensor such as an encoder; when the speed sensor is not configured, the acquired detection value θ may be calculated according to a non-speed observer algorithm based on the voltage-current information.
As shown in fig. 5, after the detection value θ of the rotor magnetic field position angle is acquired and the deviation angle Δ θ is acquired based on any of the embodiments, the deviation angle Δ θ may be subtracted from the detection value θ to obtain the correction value θ of the rotor magnetic field position angle*And the vector control of the permanent magnet synchronous motor is participated.
Referring to fig. 6, an embodiment of the present application discloses a magnetic field orientation correction device for a permanent magnet synchronous motor, which mainly includes:
a calculating module 201, configured to calculate a first value of a power factor angle based on a current model of a permanent magnet synchronous motor; calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor;
a difference module 202, configured to perform generalized PID calculation on a difference value obtained by subtracting the second value from the first value to obtain a deviation angle;
and the correction module 203 is used for subtracting the deviation angle from the detection value of the rotor magnetic field position angle to acquire a correction value of the rotor magnetic field position angle.
Therefore, the magnetic field orientation correction device of the permanent magnet synchronous motor disclosed by the embodiment of the application accurately calculates the magnetic field orientation deviation based on the power factor angle calculated in different modes, and further accurately corrects the position angle of the rotor magnetic field of the permanent magnet synchronous motor, so that the magnetic field orientation accuracy is improved. The motor is subjected to vector control based on the calibrated result, so that the current loss of the motor can be effectively reduced, and the output torque and the motor operation efficiency of the motor under the unit current are improved.
For the specific content of the magnetic field orientation correction device of the permanent magnet synchronous motor, reference may be made to the foregoing detailed description of the magnetic field orientation correction method of the permanent magnet synchronous motor, and details thereof are not repeated here.
As a specific embodiment, the magnetic field orientation correction apparatus for a permanent magnet synchronous motor disclosed in the embodiments of the present application is based on the above-mentioned contents, if the permanent magnet synchronous motor does not adopt idWhen the first value of the power factor angle is calculated based on the current model of the permanent magnet synchronous motor, the calculation module 201 is specifically configured to:
a first value of the power factor angle is calculated according to the following formula:
wherein,
a first value of a power factor angle; omega is the rotor speed; l isd、LqD-axis inductance and q-axis inductance under a two-phase synchronous rotating coordinate system are respectively adopted; i.e. id、iqD-axis current and q-axis current under a two-phase synchronous rotating coordinate system are respectively adopted; e0＝ωψrIs no-load counter electromotive force; psirIs the rotor flux linkage.
As a specific embodiment, the magnetic field orientation correction apparatus for a permanent magnet synchronous motor disclosed in the embodiments of the present application is based on the above-mentioned contents, if the permanent magnet synchronous motor adopts idIf the control mode is 0, the calculation module 201 has the function of calculating the first value of the power factor angle based on the current model of the permanent magnet synchronous motorThe body is used for:
a first value of the power factor angle is calculated according to the following formula:
as a specific embodiment, in the magnetic field orientation correction apparatus of a permanent magnet synchronous motor disclosed in the embodiment of the present application, on the basis of the above contents, when the calculating module 201 calculates the second value of the power factor angle based on the instantaneous power model of the permanent magnet synchronous motor, the calculating module is specifically configured to:
calculating a second value of the power factor angle according to the following formula:
wherein γ is a second value of the power factor angle; p is active power; q is reactive power; u. ofα、uβRespectively an alpha axis voltage and a beta axis voltage under a two-phase static coordinate system; i.e. iα、iβThe alpha axis current and the beta axis current are respectively under a two-phase static coordinate system.
As a specific embodiment, the magnetic field orientation correction apparatus for a permanent magnet synchronous motor disclosed in the embodiment of the present application is specifically configured to, on the basis of the above contents, perform the generalized PID calculation on the difference obtained by subtracting the second value from the first value by the difference module 202 to obtain the deviation angle:
carrying out generalized PID calculation on the difference value obtained by subtracting the second value from the first value; the result of the generalized PID calculation is low-pass filtered to obtain the deviation angle.
As a specific embodiment, the magnetic field orientation correction apparatus for a permanent magnet synchronous motor disclosed in the embodiment of the present application is specifically configured to, on the basis of the above contents, perform the generalized PID calculation on the difference obtained by subtracting the second value from the first value by the difference module 202 to obtain the deviation angle:
and calculating a deviation angle based on the difference value of the first value minus the second value by adopting a pure proportion P calculation formula or a proportion plus integral PI calculation formula.
As a specific embodiment, the magnetic field orientation correction apparatus of a permanent magnet synchronous motor disclosed in the embodiment of the present application, on the basis of the above contents, when the correction module 203 acquires the detection value of the rotor magnetic field position angle, is specifically configured to:
acquiring a detection value of a rotor magnetic field position angle based on the detection of the encoder; or calculating and acquiring a detection value of the rotor magnetic field position angle according to the voltage value and the current value based on a non-speed observer algorithm.
Referring to fig. 7, an embodiment of the present application discloses an electronic device, including:
a memory 301 for storing a computer program;
a processor 302 for executing the computer program for implementing the steps of any of the methods of field orientation correction of a permanent magnet synchronous machine as described above.
Further, the present application also discloses a computer-readable storage medium, in which a computer program is stored, and the computer program is used for implementing the steps of any one of the methods for correcting the magnetic field orientation of a permanent magnet synchronous motor described above when being executed by a processor.
For details of the electronic device and the computer-readable storage medium, reference may be made to the foregoing detailed description of the magnetic field orientation correction method for the permanent magnet synchronous motor, and details thereof are not repeated here.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the equipment disclosed by the embodiment, the description is relatively simple because the equipment corresponds to the method disclosed by the embodiment, and the relevant parts can be referred to the method part for description.
It is further noted that, throughout this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The technical solutions provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall into the protection scope of the present application.
Claims (10)
1. A magnetic field orientation correction method of a permanent magnet synchronous motor is characterized by comprising the following steps:
calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor;
calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor;
carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle;
the deviation angle is subtracted from the detected value of the rotor magnetic field position angle to obtain a corrected value of the rotor magnetic field position angle.
2. The method of claim 1, wherein if the PMSM does not use idWhen the control mode is 0, thenThe calculating of the first value of the power factor angle based on the current model of the permanent magnet synchronous motor comprises the following steps:
a first value of the power factor angle is calculated according to the following formula:
wherein,
a first value of a power factor angle; omega is the rotor speed; l isd、LqD-axis inductance and q-axis inductance under a two-phase synchronous rotating coordinate system are respectively adopted; i.e. id、iqD-axis current and q-axis current under a two-phase synchronous rotating coordinate system are respectively adopted; e0＝ωψrIs no-load counter electromotive force; psirIs the rotor flux linkage.
3. The method of claim 2, wherein if the PMSM adopts idIf the control mode is 0, the calculating a first value of the power factor angle based on the current model of the permanent magnet synchronous motor includes:
a first value of the power factor angle is calculated according to the following formula:
4. the method of claim 1, wherein calculating the second value of the power factor angle based on the instantaneous power model of the PMSM comprises:
calculating a second value of the power factor angle according to the following formula:
wherein γ is a second value of the power factor angle; p is active power; q is reactive power; u. ofα、uβRespectively an alpha axis voltage and a beta axis voltage under a two-phase static coordinate system; i.e. iα、iβThe alpha axis current and the beta axis current are respectively under a two-phase static coordinate system.
5. The method of claim 1, wherein the performing a generalized PID calculation on the difference between the first value and the second value to obtain a deviation angle comprises:
carrying out generalized PID calculation on a difference value obtained by subtracting the second value from the first value;
the result of the generalized PID calculation is low pass filtered to obtain the deviation angle.
6. The method for correcting the magnetic field orientation of the permanent magnet synchronous motor according to any one of claims 1 to 5, wherein the performing a generalized PID calculation on the difference value obtained by subtracting the second value from the first value to obtain the deviation angle includes:
and calculating the deviation angle based on the difference value of the first value and the second value by adopting a pure proportional P calculation formula or a proportional plus integral PI calculation formula.
7. The field orientation correction method of a permanent magnet synchronous motor according to claim 6, wherein the acquisition process of the detected value of the rotor field position angle includes:
acquiring the detection value of the rotor magnetic field position angle based on encoder detection; or, based on a non-speed observer algorithm, calculating and acquiring the detection value of the rotor magnetic field position angle according to the voltage value and the current value.
8. A magnetic field orientation correction device of a permanent magnet synchronous motor is characterized by comprising:
the calculation module is used for calculating a first value of a power factor angle based on a current model of the permanent magnet synchronous motor; calculating a second value of the power factor angle based on an instantaneous power model of the permanent magnet synchronous motor;
the difference making module is used for carrying out generalized PID calculation on the difference value obtained by subtracting the second value from the first value so as to obtain a deviation angle;
and the correction module is used for subtracting the deviation angle from the detection value of the rotor magnetic field position angle so as to obtain the correction value of the rotor magnetic field position angle.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program for implementing the steps of the method of field orientation correction of a permanent magnet synchronous machine according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, is adapted to carry out the steps of the method of field orientation correction of a permanent magnet synchronous machine according to any one of claims 1 to 7.
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| PCT/CN2020/135534 WO2022120772A1 (en) | 2020-12-11 | 2020-12-11 | Magnetic field orientation correction method and apparatus for permanent magnet synchronous motor, device and medium |
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