CN114094914B - Surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method - Google Patents
Surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method Download PDFInfo
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- CN114094914B CN114094914B CN202210046907.6A CN202210046907A CN114094914B CN 114094914 B CN114094914 B CN 114094914B CN 202210046907 A CN202210046907 A CN 202210046907A CN 114094914 B CN114094914 B CN 114094914B
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/66—Controlling or determining the temperature of the rotor
- H02P29/662—Controlling or determining the temperature of the rotor the rotor having permanent magnets
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
- H02P2207/055—Surface mounted magnet motors
Abstract
The invention discloses an online temperature measuring method for a rotor permanent magnet of a surface-mounted permanent magnet synchronous motor, which is used for online measuring the temperature of the rotor permanent magnet of the surface-mounted permanent magnet synchronous motor adopting an Id =0 control mode, and can perform real-time online monitoring on the temperature of the rotor permanent magnet by measuring the ambient temperature of the motor at the starting moment, the voltage value, the current value and the rotating speed of the motor at the moment when the motor is started to reach the preset rotating speed and measuring the voltage value, the current value and the rotating speed of the motor at any moment. The invention does not need to add a temperature sensor and a measuring coil, does not need to be powered off in the measuring process, and has the advantages of simple method, low cost and capability of realizing on-line measurement. The method not only plays an important role in maintaining the reliable operation of the permanent magnet synchronous motor, but also provides important reference for guiding the optimization design of the motor and improving the power density of the motor.
Description
Technical Field
The invention relates to a surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method, and belongs to the technical field of motor measurement and control.
Background
The surface-mounted permanent magnet synchronous motor has the advantages of high performance, small volume, high power density, simple structure, low manufacturing cost and small rotational inertia, and plays an important role in driving systems of automobiles, household appliances and the like. However, when the surface-mounted permanent magnet synchronous motor operates, a large amount of eddy current loss is generated in the rotor under the influence of a non-sinusoidal power supply and a tooth slot of the motor. Due to the fact that the rotor heat dissipation condition is poor, the temperature of the rotor is increased due to a large amount of eddy current loss, the magnetic performance of the magnetic conduction permanent magnet material is reduced due to the fact that the temperature of the rotor is too high, and even irreversible demagnetization occurs, real-time measurement of the temperature of the permanent magnet of the rotor plays a vital role in maintaining the reliable operation of the permanent magnet synchronous motor and guiding the optimal design of the permanent magnet synchronous motor.
Since the rotor of the motor is in rotation, the measurement of the surface temperature of the rotor is difficult. At present, two methods are mainly used for measuring the temperature of a surface-mounted permanent magnet synchronous motor rotor: one is measurement by a sensor, the sensor is divided into a non-contact temperature measurement sensor and a contact temperature measurement sensor, and the contact or non-contact sensor causes the problems of complex installation, increased cost and reduced system reliability. In addition, the sensor measuring signal is easily interfered by the magnetic field inside the motor in the process of transmitting outwards.
Another approach is to map the motor temperature by means of temperature-dependent motor internal parameters. The li system of Zhejiang university provides a method for measuring the temperature of a permanent magnet synchronous motor rotor by adopting a back electromotive force method in 'calculation and measurement of a temperature field of the permanent magnet synchronous motor rotor' of the Master thesis. According to the method, a measuring coil is required to be arranged in a stator slot of the motor, and a functional relation between magnetic flux in the measuring coil and the temperature of a permanent magnet of a motor rotor is obtained through derivation, so that the temperature of the rotor permanent magnet can be obtained through recording the magnetic flux value of the coil through experiments. Although the method is a simple and feasible rotor temperature measurement method, a test coil needs to be installed in a stator slot in advance, the process is complex, the performance of the motor is reduced, and in addition, the method needs to be subjected to outage measurement, so that the temperature of a permanent magnet of the motor cannot be monitored on line.
Therefore, a temperature measuring method with simple measuring process and high precision is needed in the prior art to measure the temperature of the permanent magnet of the rotor of the surface-mounted permanent magnet synchronous motor on line.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides the online temperature measuring method for the rotor permanent magnet of the surface-mounted permanent magnet synchronous motor, which can effectively solve the problems of complex temperature testing process, low testing precision and online real-time measurement of the rotor of the permanent magnet synchronous motor and has great significance for guaranteeing the safe operation of the motor and guiding the optimal design of the permanent magnet synchronous motor.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method comprises the following steps:
1) recording the ambient temperature at the moment of starting of the motorT 1To identifyT 1As the initial temperature of the permanent magnets of the motor rotor. After the motor is started to a preset rotating speed by using the frequency converter, the phase voltage of the motor at the moment is measured immediatelyU 1Phase currentI 1And rotational speedn 1。
2) When the motor operates stably, the motor is tested in real timeVoltage ofU 2Current ofI 2And rotational speedn 2。
3) And establishing a temperature conversion model as shown in formula 1.
In the formula (I), the compound is shown in the specification,U 1、I 1、n 1、T 1the data measured in step 1;U 2、I 2、n 2the data measured in the step 2;T 2the temperature of the permanent magnet of the rotor at the moment corresponding to the step 2, alpha Br The temperature coefficient of the residual magnetic induction intensity is,Z(T 1), Z(T 2) Is temperatureT 1 、T 2Corresponding stator impedance parameters.
4) And (3) converting the measured data in the step (1) and the step (2) into the temperature of the permanent magnet of the rotor by using the temperature conversion model.
Preferably, in the step 1, the environmental temperature is measured by a mercury thermometer or an infrared thermometer, the temperature measurement range is required to be-30-50 ℃, and the measurement precision is +/-0.2 ℃. The voltage and the current are obtained by a power analyzer, and the sampling frequency of the power analyzer is required to be more than 300 kHz. The motor speed is measured by a torque speed sensor.
Preferably, the starting process of the motor to the preset rotating speed in the step 1 is rapid, and the starting time of the frequency converter is set to be less than 5 s.
Preferably, the recording process of recording the voltage, the current and the rotation speed in step 2 is less than 10s, so that the measurement error caused by time lag is prevented.
Preferably, the temperature conversion model in step 3 needs to take into account the influence of temperature on the motor impedance parameter.
Preferably, in step 3, the input of the temperature conversion model is the initial temperature of the permanent magnet, the phase voltage of the motor, the phase current and the rotating speed, and the output of the model is the temperature of the permanent magnet of the rotor.
Has the advantages that: the invention provides an online temperature measuring method for a rotor permanent magnet of a surface-mounted permanent magnet synchronous motor, which is used for online measuring the temperature of the rotor permanent magnet of the surface-mounted permanent magnet synchronous motor adopting an Id =0 control mode, and can perform real-time online monitoring on the temperature of the rotor permanent magnet by measuring the ambient temperature of the motor at the starting moment, the voltage value, the current value and the rotating speed of the motor at the moment when the motor is started to reach the preset rotating speed and measuring the voltage value, the current value and the rotating speed of the motor at any moment based on the principle that the residual magnetic induction intensity of a permanent magnet material reversibly changes along with the temperature. The method does not need to add a temperature sensor and a measuring coil, does not need to be powered off in the measuring process, and has the advantages of simplicity, low cost and capability of realizing on-line measurement. The method not only plays an important role in maintaining the reliable operation of the permanent magnet synchronous motor, but also provides important reference for guiding the optimization design of the motor and improving the power density of the motor.
Drawings
Fig. 1 is a flow chart of online measurement of temperature of a permanent magnet of a surface-mounted permanent magnet synchronous motor rotor.
Fig. 2 shows induced electromotive forces of the surface-mounted permanent magnet synchronous motor in idle and rated load states in an Id =0 control manner according to an embodiment of the present application.
Fig. 3 is a graph of rotor permanent magnet temperature converted from measurement data provided by an embodiment of the present application.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1, the online temperature measuring method for the permanent magnet of the surface-mounted permanent magnet synchronous motor rotor according to the present invention specifically comprises the following operation processes:
1) a surface-mounted three-phase permanent magnet synchronous motor with rated power of 1.6kW, rated voltage of 200V, rated current of 6.2A and rated rotation speed of 4500r/min is selected as a measurement object, the motor permanent magnet material brand is N35EH, and the motor is controlled by a commercial frequency converter in an Id =0 mode. First, the ambient temperature at the time of starting the motor was recorded by a mercury thermometerT 1，T 1At 19 ℃, mixingT 1As a motor rotorThe initial temperature of the magnet. Then, the frequency converter is used for controlling the motor to rapidly increase the rotating speed of the motor from 0 to the rated rotating speed, and the phase voltage of the motor is immediately read in the power analyzerU 1Phase currentI 1And reading the rotation speed of the motor on a torque and rotation speed testern 1。
2) And respectively measuring the voltage value, the current value and the rotating speed of the permanent magnet synchronous motor which operates at 500s, 1000s, 1500 s, 2000s, 2500s, 3000s, 3500s and 4000s under the rated working condition.
3) And establishing a temperature conversion model.
The voltage equation of the permanent magnet synchronous motor is shown in formula 2,
In the formula (I), the compound is shown in the specification,Uthe phase voltage of the motor,EFor inducing electromotive force,IIs a phase current,ZIs the stator winding impedance.
The stator winding impedance Z = R + jX, where X represents the inductive reactance and only the resistance R is temperature dependent, and the relation is R (T)2)=R(T1)[1+α(T2-T1)]Wherein R (T)2) Representing rotor permanent magnet temperature T2Resistance of time-dependent resistor R, R (T)1) Representing the rotor permanent magnet as T1The resistance value of the resistor R is alpha which is the temperature coefficient of the conductor resistance and is approximately equal to 0.004 ℃ for copper alpha-1。
As can be seen from equation 2, the induced electromotive force of the motor can be obtained by the phase voltage, the phase current and the impedance parameter measured in the steps 1 and 2EThe electromotive force is induced on the stator winding by the coaction of the stator winding magnetic field and the permanent magnet excitation magnetic field. However, in the case of the surface-mounted permanent magnet synchronous motor, in order to ensure that a larger torque can be generated per unit current, a control method of Id =0 is generally adopted, that is, the current is all concentrated on the q axis, and the load magnetic field does not change much compared with the idle magnetic field when the motor is not saturated. FIG. 2 is a comparison of induced electromotive force when the motor of the embodiment of the present application is unloaded and rated load, and no-load induction for the embodiment of the present applicationThe difference between the induced electromotive force and the effective value of the rated load induced electromotive force is 3.12%, that is, the electromotive force of the surface-mounted permanent magnet synchronous motor adopting the Id =0 control mode is only generated by the permanent magnet excitation magnetic field.
The temperature of the permanent magnet changes, the residual magnetic induction intensity of the permanent magnet changes, and the induced electromotive force changes along with the change, so that the relationship between the induced electromotive force and the temperature of the permanent magnet can be obtained.
The induced electromotive force generated in the stator winding by only the permanent magnet magnetic field is as shown in equation 3,
In the formulanThe number of revolutions of the motor is,pthe number of the pole pairs of the motor is,Nthe number of turns in series for each phase winding,k w1as a function of the fundamental winding coefficient,k φis the coefficient of the waveform of the magnetic field,b m0is the working point of the permanent magnet,B r（T) The residual magnetic induction intensity of the permanent magnet material when the temperature of the rotor permanent magnet is T,A mproviding the permanent magnet with a magnetic flux area per pole, σ0Is the no-load magnetic leakage coefficient,K Eis an electromotive constant.
The residual magnetic induction intensity of the permanent magnet material at the moment of starting to the preset rotating speed can be obtained according to the formulas 2 and 3, and is shown in a formula 4; the residual magnetic induction intensity of the permanent magnet material at the stable operation moment of the motor is shown as the formula 5.
The degree of the change of the residual magnetic induction intensity of the permanent magnetic material along with the temperature is shown as a formula 6,
Using equations 4, 5, and 6, a temperature conversion model can be obtained, as shown in equation 1, by solving equation 1 for T2And obtaining the temperature of the permanent magnet of the rotor at any moment.
4) And transmitting the voltage, the current value and the rotating speed at different moments to a temperature conversion model to obtain the temperature values of the rotor permanent magnets at different moments. As shown in fig. 3.
According to the surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method, the temperature sensor and the test coil are not required to be installed, and the power-off measurement is not required, so that the measurement method is not interfered by environmental factors, the measurement accuracy is high, the rotor permanent magnet temperature online measurement can be realized, the safe and reliable operation of the motor is ensured, and a theoretical basis is provided for the optimization design of the motor. The surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method is simple in application mode and low in cost.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. A surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method is characterized by comprising the following steps: the method comprises the following steps:
step 1: recording the ambient temperature T at the moment of starting of the motor1Identify T1As the initial temperature of the permanent magnet of the motor rotor;
step 2: obtaining phase voltage U of the motor when the motor is in a preset rotating speed1Phase current I1And a rotational speed n1；
And step 3: acquiring the temperature T of the permanent magnet of the rotor to be measured2Voltage U of time motor2Current I2And a rotational speed n2；
And 4, step 4: obtaining the temperature T of the permanent magnet of the rotor1Temperature T of permanent magnet of rotor to be measured2Corresponding stator impedance Z (T)1),Z(T2)；
And 5: will T1、U1、I1、n1、U2、I2、n2、Z(T1) And Z (T)2) Substituting the temperature conversion model to obtain the temperature T of the permanent magnet of the rotor to be measured2；
The temperature conversion model is as shown in formula 1:
wherein: alpha is alphaBrThe temperature coefficient of the residual magnetic induction intensity is shown;
the motor adopts a surface-mounted permanent magnet synchronous motor;
the motor adopts IdAnd (5) setting the control mode as 0.
2. The surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method according to claim 1, characterized in that: the environment temperature is measured by a mercury thermometer or an infrared thermometer, the temperature measuring range is required to be-30-50 ℃, and the measuring precision is +/-0.2 ℃; the voltage and the current of the motor are obtained by a power analyzer, and the sampling frequency of the power analyzer is required to be more than 300 kHz; the motor speed is measured by a torque speed sensor.
3. The surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method according to claim 1, characterized in that: the preset rotating speed is set as the rotating speed of the frequency converter for controlling the starting time of the motor to be less than 5 s.
4. The surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method according to claim 1, characterized in that: recording phase voltage U of motor1Phase current I1And a rotational speed n1Is less than 10 s.
5. The surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method according to claim 1, characterized in that: the stator impedance Z (T) ═ R (T) + jX, R (T)2)＝R(T1)[1+α(T2-T1)]Wherein X represents an inductive reactance, R (T)2) Representing rotor permanent magnet temperature T2Resistance of time-dependent resistor R, R (T)1) Representing the rotor permanent magnet as T1The resistance R of the resistor is alpha, which is the temperature coefficient of the conductor resistor.
6. The surface-mounted permanent magnet synchronous motor rotor permanent magnet temperature online measurement method according to claim 5, characterized in that: the alpha is set to 0.004 deg.C-1。
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| KR101927693B1 (en) * | 2012-01-26 | 2018-12-12 | 삼성전자 주식회사 | Sensorless controlling apparatus and method for motor |
| CN104158463B (en) * | 2014-09-05 | 2016-03-30 | 南车株洲电力机车研究所有限公司 | A kind of temperature monitoring method and system of permagnetic synchronous motor |
| CN109039197B (en) * | 2018-07-24 | 2022-01-07 | 上海大郡动力控制技术有限公司 | Correction method for temperature influence of output torque of permanent magnet synchronous motor |
| CN110880838A (en) * | 2019-11-25 | 2020-03-13 | 珠海英搏尔电气股份有限公司 | Device and method for detecting temperature of permanent magnet of rotor of permanent magnet synchronous motor |
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