CN114337433B - Permanent magnet synchronous motor flux linkage identification method, system, medium and terminal - Google Patents
Permanent magnet synchronous motor flux linkage identification method, system, medium and terminal Download PDFInfo
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- CN114337433B CN114337433B CN202111670268.2A CN202111670268A CN114337433B CN 114337433 B CN114337433 B CN 114337433B CN 202111670268 A CN202111670268 A CN 202111670268A CN 114337433 B CN114337433 B CN 114337433B
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Abstract
The invention provides a permanent magnet synchronous motor flux linkage identification method, a permanent magnet synchronous motor flux linkage identification system, a permanent magnet synchronous motor flux linkage identification medium and a permanent magnet synchronous motor flux linkage identification terminal, which are applied to the field of position-free sensors; the method comprises the following steps: inputting a first direct current command and a first quadrature current command to the permanent magnet synchronous motor; giving a preset electric angular speed of the permanent magnet synchronous motor, and obtaining a first real-time electric angular speed of the permanent magnet synchronous motor; judging whether the permanent magnet synchronous motor runs to a preset electric angular speed or not based on the first real-time electric angular speed; when the permanent magnet synchronous motor runs to a preset electric angular speed, reducing a first direct-axis current or a first quadrature-axis current to obtain a second real-time electric angular speed, a direct-axis voltage and a quadrature-axis voltage of the permanent magnet synchronous motor; calculating the flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage; the invention reduces the dependence on other motor parameters in the flux linkage identification process and improves the accuracy, reliability and precision of flux linkage identification.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motors, and particularly relates to a permanent magnet synchronous motor flux linkage identification method, a permanent magnet synchronous motor flux linkage identification system, a permanent magnet synchronous motor flux linkage identification medium and a permanent magnet synchronous motor terminal.
Background
The permanent magnet synchronous motor has the advantages of small volume, high efficiency, high power factor and the like, is widely applied to various electric transmission industries, vector control based on rotor flux orientation is generally adopted at present for exerting high performance of the permanent magnet synchronous motor, rotor position information is required to be known in vector control, current loop control is also required to be carried out, due to the limitation of cost and application environment, rotor position information is more and more obtained by using a position-sensor-free control method, the position-sensor-free control method has strong dependence on motor parameters (including resistance, inductance, flux linkage and the like), the accuracy of the motor parameters directly influences the accuracy of the positions, the motor efficiency and performance are reduced even the motor is out of control due to inaccurate motor parameters, but due to the difference of actual motor production, off-line measurement of the motor parameters after the quantity is large is a huge workload; and some special motors (compressor motor flux linkage cannot be directly measured) cannot directly acquire motor flux linkage parameters, so a method for automatically identifying flux linkage without human participation is urgently needed.
Currently, there are many research methods for identifying flux linkage parameters, and the existing flux linkage identification methods are mainly divided into two types: firstly, off-line identification, calculating flux linkage parameters by collecting steady-state voltage, current and rotating speed based on a motor steady-state voltage equation; and secondly, on-line identification, namely on-line identification of flux linkage parameters in real time in the running process of the motor based on a model reference self-adaptive Kalman filtering state observer and the like.
Both the above methods require the motor to be in a stable running state, and have the following problems: 1. the accurate position of the motor rotor must be known, and for some products, a position sensor cannot be installed, and thus the accurate rotor position cannot be obtained; 2. the method comprises the steps that a position-free control algorithm and a flux linkage estimation method depend on parameters such as resistance and inductance, and the inaccuracy of the parameters themselves leads to large deviation of the flux linkage parameters obtained through estimation; 3. the position estimated by the existing position-sensor-free control algorithm is inevitably in error and even cannot be operated, and the position error can cause large deviation of the flux linkage parameter estimated.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is directed to a method, a system, a medium and a terminal for identifying a flux linkage of a permanent magnet synchronous motor, which are used for solving the problem of large deviation existing in the existing flux linkage identification method of the permanent magnet synchronous motor.
To achieve the above and other related objects, the present invention provides a permanent magnet synchronous motor flux linkage identification method applied to a non-position sensor field for identifying flux linkage, comprising the following steps: step one, inputting a first direct current instruction and a first quadrature current instruction to a permanent magnet synchronous motor; the first direct current corresponding to the first direct current instruction is zero or the first quadrature current corresponding to the first quadrature current instruction is zero; step two, giving a preset electric angular speed of the permanent magnet synchronous motor, and obtaining a first real-time electric angular speed of the permanent magnet synchronous motor; step three, judging whether the permanent magnet synchronous motor runs to the preset electric angular speed or not based on the first real-time electric angular speed; executing a fourth step when the permanent magnet synchronous motor runs to the preset electric angular speed; step four, reducing the first direct-axis current or the first quadrature-axis current to obtain a second real-time electric angular speed, direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor; and fifthly, calculating the flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
In an embodiment of the present invention, the inputting the first direct current command and the first quadrature current command into the permanent magnet synchronous motor includes the following steps: dragging the rotor of the permanent magnet synchronous motor to a preset position and keeping the position unchanged; when the first quadrature axis current is zero, inputting a direct axis current to the permanent magnet synchronous motor according to a superposition rule in a first preset time period until the direct axis current input to the permanent magnet synchronous motor reaches the first direct axis current; or when the first direct current is zero, inputting the quadrature current to the permanent magnet synchronous motor according to a superposition rule in a second preset time period until the quadrature current input to the permanent magnet synchronous motor reaches the first quadrature current.
In an embodiment of the present invention, the obtaining the first real-time electrical angular velocity of the permanent magnet synchronous motor given a preset electrical angular velocity of the permanent magnet synchronous motor includes the following steps: setting the electric angular speed of the permanent magnet synchronous motor according to a superposition rule in a third preset time period until the electric angular speed of the permanent magnet synchronous motor reaches the preset electric angular speed; and when the electric angular speed of the permanent magnet synchronous motor reaches the preset electric angular speed, acquiring the first real-time electric angular speed.
In an embodiment of the present invention, the determining whether the permanent magnet synchronous motor is operated to the preset electrical angular velocity based on the first real-time electrical angular velocity includes the steps of: judging whether a first preset condition is met between the first real-time electric angular velocity and the preset electric angular velocity; if not, increasing the first direct current or the first quadrature current in the first step; when the electric angular speed is not met, the permanent magnet synchronous motor does not run to the preset electric angular speed; if yes, executing the fourth step; and when the electric motor meets the preset electric angular speed, the permanent magnet synchronous motor operates to the preset electric angular speed.
In an embodiment of the invention, the fourth step includes the following steps: reducing the first direct current to a second direct current in a fourth preset time period or reducing the first quadrature current to a second quadrature current in a fifth preset time period; and after the first direct-axis current is reduced to the second direct-axis current or the first quadrature-axis current is reduced to the second quadrature-axis current, continuing a sixth preset time period, and starting to acquire the second real-time electric angular speed, the direct-axis voltage and the quadrature-axis voltage.
In an embodiment of the invention, the fifth step includes the following steps: judging whether a second preset condition is met between the second real-time electric angular velocity and the preset electric angular velocity; if so, calculating a first flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage; the first flux linkage is the flux linkage of the permanent magnet synchronous motor; and if not, reducing the reduction amplitude of the first direct current or the reduction amplitude of the first quadrature current in the step four.
In one embodiment of the present invention, the method further comprises the steps of: repeatedly executing the fourth step and the fifth step until a second preset condition is not satisfied between the second real-time electric angular velocity and the preset electric angular velocity; the first flux linkage calculated in the previous time is the flux linkage of the permanent magnet synchronous motor.
The invention provides a permanent magnet synchronous motor flux linkage identification system, which is applied to the field of position-free sensors to identify flux linkage, and comprises the following components: the device comprises an input module, a first acquisition module, a judging module, a second acquisition module and a calculating module; the input module is used for inputting a first direct current instruction and a first quadrature current instruction to the permanent magnet synchronous motor; the first direct current corresponding to the first direct current instruction is zero or the first quadrature current corresponding to the first quadrature current instruction is zero; the first acquisition module is used for giving a preset electric angular speed to the permanent magnet synchronous motor and acquiring a first real-time electric angular speed of the permanent magnet synchronous motor; the judging module is used for judging whether the permanent magnet synchronous motor runs to the preset electric angular speed or not based on the first real-time electric angular speed; the second obtaining module is used for reducing the first direct-axis current or the first quadrature-axis current when the permanent magnet synchronous motor runs to the preset electric angular speed, and obtaining a second real-time electric angular speed, a direct-axis voltage and a quadrature-axis voltage of the permanent magnet synchronous motor; the calculation module is used for calculating the flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described permanent magnet synchronous motor flux linkage identification method.
The invention provides a terminal, comprising: a processor and a memory; the memory is used for storing a computer program; the processor is used for executing the computer program stored in the memory so that the terminal executes the permanent magnet synchronous motor flux linkage identification method.
As described above, the permanent magnet synchronous motor flux linkage identification method, system, medium and terminal of the invention have the following beneficial effects:
compared with the prior art, the permanent magnet synchronous motor flux linkage identification method reduces the dependence on other motor parameters in the flux linkage identification process and improves the accuracy, reliability and precision of flux linkage identification; the invention is applied to the application field of the position-free sensor, improves the flux linkage precision, further improves the position precision of the observer, reduces the current, improves the energy efficiency of the system and realizes energy conservation and emission reduction.
Drawings
Fig. 1 is a schematic structural diagram of a terminal according to an embodiment of the invention.
Fig. 2 is a schematic block diagram of a flux linkage identification method for a permanent magnet synchronous motor according to an embodiment of the invention.
Fig. 3 is a waveform diagram of current and electrical angular velocity according to an embodiment of the present invention.
Fig. 4 is a flowchart of a flux linkage identification method for a permanent magnet synchronous motor according to an embodiment of the invention.
Fig. 5 is a schematic diagram of a flux linkage identification system of a permanent magnet synchronous motor according to an embodiment of the invention.
Description of the reference numerals
1. Terminal
11. Processing unit
12. Memory device
121. Random access memory
122. Cache memory
123. Storage system
124. Program/utility tool
1241. Program module
13. Bus line
14. Input/output interface
15. Network adapter
2. External device
3. Display device
51. Input module
52. First acquisition module
53. Judgment module
54. Second acquisition module
55. Calculation module
S1 to S5 steps
S31 to S32 steps
S51 to S53 steps
Detailed Description
The following specific examples are presented to illustrate the present invention, and those skilled in the art will readily appreciate the additional advantages and capabilities of the present invention as disclosed herein. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Compared with the prior art, the permanent magnet synchronous motor flux linkage identification method, the system, the medium and the terminal provided by the invention have the advantages that the dependence on other motor parameters in the flux linkage identification process is reduced, and the accuracy, reliability and precision of flux linkage identification are improved; the invention is applied to the application field of the position-free sensor, improves the flux linkage precision, further improves the position precision of the observer, reduces the current, improves the energy efficiency of the system and realizes energy conservation and emission reduction.
The storage medium of the present invention stores a computer program which, when executed by a processor, implements the permanent magnet synchronous motor flux linkage identification method described below. The storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disks, U-discs, memory cards, or optical discs, and the like, which can store program codes.
Any combination of one or more storage media may be employed. The storage medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The present invention is described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks (article of manufacture).
The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
The terminal of the invention comprises a processor and a memory.
The memory is used for storing a computer program; preferably, the memory includes: various media capable of storing program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor is connected with the memory and is used for executing the computer program stored in the memory so that the terminal executes the permanent magnet synchronous motor flux linkage identification method.
Preferably, the processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field programmable gate arrays (Field Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Fig. 1 shows a block diagram of an exemplary terminal 1 suitable for use in implementing embodiments of the present invention.
The terminal 1 shown in fig. 1 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.
As shown in fig. 1, the terminal 1 is in the form of a general purpose computing device. The components of the terminal 1 may include, but are not limited to: one or more processors or processing units 11, a memory 12, a bus 13 that connects the various system components, including the memory 12 and the processing unit 11.
Bus 13 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry Standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards Association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
The terminal 1 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the terminal 1 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 12 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 121 and/or cache memory 122. The terminal 1 may further comprise other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 123 may be used to read from or write to a non-removable, nonvolatile magnetic medium (not shown in FIG. 1, commonly referred to as a "hard disk drive"). Although not shown in fig. 1, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be coupled to bus 13 through one or more data medium interfaces. Memory 12 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
Program/utility 124 having a set (at least one) of program modules 1241 may be stored in, for example, memory 12, such program modules 1241 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 1241 generally perform the functions and/or methodologies in the described embodiments of the invention.
The terminal 1 may also communicate with one or more external devices 2 (e.g., keyboard, pointing device, display 3, etc.), one or more devices that enable a user to interact with the terminal 1, and/or any devices (e.g., network card, modem, etc.) that enable the terminal 1 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 14. And, the terminal 1 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the internet, via the network adapter 15. As shown in fig. 1, the network adapter 15 communicates with other modules of the terminal 1 via the bus 13. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in connection with the terminal 1, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
As shown in fig. 2, a schematic block diagram of the permanent magnet synchronous motor flux linkage identification method of the present invention is shown; specifically, in fig. 2, the main frame is a current loop, and the dotted line frame is a flux linkage identification part, i dref And i qref Respectively inputting a direct axis and quadrature axis current command (the quadrature axis of the permanent magnet synchronous motor leads the direct axis by 90 degrees) to the permanent magnet synchronous motor; u (u) A 、u B 、u C Is the three-phase voltage of the permanent magnet synchronous motor.
In an embodiment, the permanent magnet synchronous motor flux linkage identification method is applied to the flux linkage identification in the field of no position sensor.
As shown in fig. 4, in the present embodiment, the method for identifying the flux linkage of the permanent magnet synchronous motor includes the following steps:
and S1, inputting a first direct current command and a first quadrature current command to the permanent magnet synchronous motor.
The first direct current corresponding to the first direct current instruction is zero or the first quadrature current corresponding to the first quadrature current instruction is zero; when the first quadrature current is zero, the first direct current is not zero; when the first direct current is zero, the first quadrature current is not zero.
Further, the first direct current or the first quadrature current which is not zero does not exceed the maximum current of the permanent magnet synchronous motor.
In one embodiment, the first direct current or the first quadrature current, which is not zero, is set to be 20% -40% of the maximum current of the permanent magnet synchronous motor.
In one embodiment, the inputting the first direct current command and the first quadrature current command into the permanent magnet synchronous motor includes the steps of:
and S11, dragging the rotor of the permanent magnet synchronous motor to a preset position and keeping the position unchanged.
Specifically, by dragging the rotor of the permanent magnet synchronous motor to a preset position theta 0 And the permanent magnet synchronous motor is kept unchanged, so that the permanent magnet synchronous motor is pre-positioned.
The preset position θ 0 Is a predetermined position, and is specifically set at any position, and is not a limitation of the present invention.
Step S12, when the first quadrature axis current is zero, inputting a direct axis current to the permanent magnet synchronous motor according to a superposition rule in a first preset time period until the direct axis current input to the permanent magnet synchronous motor reaches the first direct axis current; or when the first direct current is zero, inputting the quadrature current to the permanent magnet synchronous motor according to a superposition rule in a second preset time period until the quadrature current input to the permanent magnet synchronous motor reaches the first quadrature current.
As shown in fig. 3, taking the first quadrature current as zero as an example, the step S12 is specifically described as follows: in a first preset time period t 1 In, a direct-axis current is input to the permanent magnet synchronous motor, and the direct-axis current is slowly overlapped from zero to a first direct-axis current I d0 The method comprises the steps of carrying out a first treatment on the surface of the In this process, the electrical angular velocity of the permanent magnet synchronous motor is always zero.
Note that the superimposition rule in step S12 is not limited to the linear superimposition shown in fig. 3.
Further, the first direct current is zero, and the first quadrature current is zero to the permanent magnet synchronous motor, so the working principle of inputting the first direct current to the permanent magnet synchronous motor is the same, and detailed description thereof is omitted.
In one embodiment, after the direct current input to the permanent magnet synchronous motor reaches the first direct current or the quadrature current input to the permanent magnet synchronous motor reaches the first quadrature current in step S12, the process continues for a period of time t 2 Then, step S2 is performed to ensure that the permanent magnet synchronous motor is stably positioned at a preset position theta 0 。
And step S2, giving a preset electric angular speed to the permanent magnet synchronous motor, and obtaining a first real-time electric angular speed of the permanent magnet synchronous motor.
Specifically, starting from the step S2, an open loop start is entered, and a preset electrical angular velocity of the permanent magnet synchronous motor is set.
In an embodiment, the obtaining the first real-time electrical angular velocity of the permanent magnet synchronous motor given a preset electrical angular velocity of the permanent magnet synchronous motor includes the steps of:
and S21, setting the electric angular speed of the permanent magnet synchronous motor according to a superposition rule in a third preset time period until the electric angular speed of the permanent magnet synchronous motor reaches the preset electric angular speed.
As shown in fig. 3, in a third preset time period t 3 In, giving the electric angular velocity of the permanent magnet synchronous motor, slowly increasing the electric angular velocity from zero, and finally reaching the preset electric angular velocity omega open The method comprises the steps of carrying out a first treatment on the surface of the In the process, the current of the permanent magnet synchronous motor is unchanged (taking the first quadrature DC as zero as an example, that is, the direct current of the permanent magnet synchronous motor is kept at the first direct current I d0 Unchanged).
Note that the superimposition rule in step S21 is not limited to the linear superimposition shown in fig. 3.
It should be noted that the preset electrical angular velocity is a preset electrical angular velocity, which does not exceed the rated electrical angular velocity of the permanent magnet synchronous motor.
In one embodiment, the preset electrical angular velocity is set to 10% -30% of the rated electrical angular velocity of the permanent magnet synchronous motor.
And S22, acquiring the first real-time electric angular velocity when the electric angular velocity of the permanent magnet synchronous motor reaches the preset electric angular velocity.
In one embodiment, the real-time electrical angular velocity of the permanent magnet synchronous motor is obtained by means of a velocity observer; specifically, when the electrical angular velocity of the permanent magnet synchronous motor reaches the preset electrical angular velocity, the velocity observer starts to work and outputs the real-time electrical angular velocity corresponding to the permanent magnet synchronous motor, namely the first real-time electrical angular velocity in step S22.
In one embodiment, the first real-time electrical angular velocity in the step S22 is a period of time (corresponding to t in fig. 2 4 ) Real-time electric angular velocity omega output by internal velocity observer fdb_est Is expressed as the average value of
It should be noted that, when the electric angular velocity of the permanent magnet synchronous motor reaches the preset electric angular velocity ω open When the permanent magnet synchronous motor generates a position signal for providing an angle matrix for the coordinate transformation 1 and the coordinate transformation 3 in fig. 2, corresponding to θ in fig. 2 open 。
Specifically, the position signal θ open Equation (1) is obtained by integrating the given open loop electrical angular velocity.
θ open ＝θ 0 +n′ω ref Δt (1)
In the formula (1), Δt represents a control period of a current command input to the permanent magnet synchronous motor through step S1; n 'represents an n' th control period; omega ref Representing the preset electrical angular velocity omega of a given permanent magnet synchronous motor open In this case, the generated electrical angular velocity command corresponds to the electrical angular velocity.
Specifically, by giving a permanent magnet synchronous motor a preset electrical angular velocity ω open Then pass through in FIG. 2The open loop position generating module generates a corresponding electric angular velocity command corresponding to an electric angular velocity, namely omega ref The method comprises the steps of carrying out a first treatment on the surface of the Finally, the electric angular velocity command is acted on the permanent magnet synchronous motor to increase the electric angular velocity of the permanent magnet synchronous motor from zero until reaching the preset electric angular velocity omega open 。
It should be noted that, the "coordinate transformation 1" in fig. 2 refers to transforming from a two-phase rotating coordinate system to a two-phase stationary coordinate system; "coordinate transformation 2" in fig. 2 refers to transformation from a three-phase stationary coordinate system to a two-phase stationary coordinate system; "coordinate transformation 3" in fig. 2 refers to transformation from a two-phase stationary coordinate system to a two-phase rotating coordinate system; in the "coordinate transformation 1", "coordinate transformation 2", "coordinate transformation 3" and fig. 2, the processes from "coordinate transformation 1" to "permanent magnet synchronous motor" through "SVPWM" (voltage space vector pulse width modulation) are all conventional technical means in the field, so detailed descriptions thereof are omitted herein.
As shown in fig. 2, the speed observer outputs a real-time electric angular speed corresponding to the permanent magnet synchronous motor based on the voltage and current of the permanent magnet synchronous motor.
The voltage of the permanent magnet synchronous motor comprises a first voltage and a second voltage; wherein the first voltage may be the direct axis voltage u in FIG. 2 d The corresponding second voltage is the quadrature axis voltage u in FIG. 2 q The method comprises the steps of carrying out a first treatment on the surface of the The first voltage may also be θ -based in FIG. 2 open For u d Voltage u generated by performing coordinate transformation (the coordinate transformation corresponds to coordinate transformation 1 in fig. 2) α The corresponding second voltage is based on θ in FIG. 2 open For u q Voltage u generated by performing coordinate transformation (the coordinate transformation corresponds to coordinate transformation 1 in fig. 2) β The method comprises the steps of carrying out a first treatment on the surface of the The current of the permanent magnet synchronous motor comprises a first feedback current and a second feedback current; wherein the first feedback current may be i in fig. 2 α_fdb The corresponding second feedback current is i in FIG. 2 β_fdb The method comprises the steps of carrying out a first treatment on the surface of the The first feedback current may also be the direct-axis feedback current i in fig. 2 d_fdb The corresponding second feedback current is the quadrature feedback current i in FIG. 2 q_fdb 。
It should be noted that, the speed observer is a conventional position-sensor-free control algorithm, and uses signals such as voltage and current to estimate the position and speed signals of the motor; the present invention does not use the estimated position, but only uses the velocity signal, i.e., the real-time electrical angular velocity in step S22 (the estimated position is generally biased, but the velocity is not substantially biased); the speed observer is based on the voltage and current output of the permanent magnet synchronous motor and corresponds to the real-time electric angular speed of the permanent magnet synchronous motor, adopts the technical means conventional in the field, and specifically adopts any method and the working principle of the adopted method are not used as conditions for limiting the invention, so that detailed description is omitted herein.
Further, i α_fdb 、i β_fdb Is to the three-phase current i of the collected permanent magnet synchronous motor A 、i B 、i C A coordinate transformation (the coordinate transformation corresponds to the coordinate transformation 2 in fig. 2); i.e d_fdb 、i q_fdb Is based on theta open Pair i α_fdb 、i β_fdb A coordinate transformation (the coordinate transformation corresponds to the coordinate transformation 3 in fig. 2); therefore, to acquire i α_fdb 、i β_fdb 、i d_fdb 、i q_fdb The three-phase current i of the permanent magnet synchronous motor also needs to be sampled A 、i B 、i C The method comprises the steps of carrying out a first treatment on the surface of the Specifically, the time period t in fig. 2 corresponds to 4 Internal sampling three-phase current i of permanent magnet synchronous motor A 、i B 、i C The method comprises the steps of carrying out a first treatment on the surface of the Also, corresponds to the time period t in fig. 2 4 And internally sampling the voltage of the permanent magnet synchronous motor.
It should be noted that, the method for collecting the three-phase current of the permanent magnet synchronous motor adopts the technical means (such as current sensor sampling, resistance sampling, etc.) which are conventional in the field, and the specific collecting method is not a condition for limiting the present invention, so the detailed description thereof is omitted.
And step S3, judging whether the permanent magnet synchronous motor runs to the preset electric angular speed or not based on the first real-time electric angular speed.
As shown in fig. 4, in an embodiment, the determining whether the permanent magnet synchronous motor is operated to the preset electrical angular velocity based on the first real-time electrical angular velocity includes the following steps:
Step S31, judging whether a first preset condition is met between the first real-time electric angular velocity and the preset electric angular velocity.
In one embodiment, the first preset condition is formula (2):
in the formula (2), the amino acid sequence of the compound,representing the real-time electrical angular velocity omega output by the velocity observer fdb_est I.e. the first real-time electrical angular velocity; ζ represents a preset electrical angular velocity error threshold.
If not, that is, if equation (2) is not satisfied, step S32 is performed.
If the formula (2) is not satisfied, it means that the current input to the permanent magnet synchronous motor through the step S1 cannot be satisfied to enable the permanent magnet synchronous motor to operate to the preset electrical angular velocity, and at this time, the current in the step S1 needs to be increased; then, the execution is resumed from step S1.
Step S32, increasing the first direct current or the first quadrature current in the step S1.
If so, the formula (2) is satisfied, that is, the current input to the permanent magnet synchronous motor through the step S1 can be satisfied to enable the permanent magnet synchronous motor to run to the preset electrical angular velocity, and at this time, the step S4 is executed.
And S4, reducing the first direct-axis current or the first quadrature-axis current, and obtaining the second real-time electric angular speed, the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor.
In one embodiment, the step S4 includes the following steps:
Step S41, reducing the first direct current to the second direct current in a fourth preset time period, or reducing the first quadrature current to the second quadrature current in a fifth preset time period.
And S42, after the first direct-axis current is reduced to the second direct-axis current or the first quadrature-axis current is reduced to the second quadrature-axis current, continuing a sixth preset time period, and starting to acquire the second real-time electric angular velocity, the direct-axis voltage and the quadrature-axis voltage.
In step S1, the first quadrature current input to the PMSM is zero, and the first direct current is I d0 For example, the step S41 and the step S42 are explained.
As shown in FIG. 3, the first direct current I d0 In a fourth predetermined period of time (corresponding to t in FIG. 3 5 ) Inner slow decrease Δi d To I d1 After that, for a sixth preset period of time (corresponding to t in fig. 3 6 ) When the permanent magnet synchronous motor is stable (t 5 +t 6 After corresponding to "build+steady phase 1" in fig. 3, the acquisition of the electrical angular velocity (corresponding to the second real-time electrical angular velocity in step S4) and the voltage (corresponding to the direct axis voltage and the quadrature axis voltage in step S4) of the permanent magnet synchronous motor is started.
It should be noted that the rule of decreasing the first direct current or the first quadrature current in step S41 is not limited to the linear decrease shown in fig. 3; the second real-time electrical angular velocity, the direct-axis voltage and the quadrature-axis voltage obtained in step S42 are all a period of time (corresponding to the sampling stage 1 in fig. 3, i.e. t 7 ) An average value in the above.
Further, the principle of acquiring the second real-time electrical angular velocity in the step S42 is the same as that of acquiring the first real-time electrical angular velocity in the step S22; meanwhile, the principle of obtaining the direct-axis voltage and the quadrature-axis voltage in the step S42 is a technical means conventional in the art, and therefore, the details are not repeated here.
In one embodiment, the direct axis voltage in step S42 is u in FIG. 2 d The method comprises the steps of carrying out a first treatment on the surface of the The quadrature axis voltage is u in FIG. 2 q 。
Step S41 and step S42 are used as a flux linkage identification process, corresponding to the "identification 1 stage" in FIG. 3.
And S5, calculating the flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
As shown in fig. 4, in an embodiment, the step S5 includes the following steps:
step S51, determining whether a second preset condition is satisfied between the second real-time electrical angular velocity and the preset electrical angular velocity.
In an embodiment, the second preset condition is the same as the first preset condition in the step S31.
If so, step S52 is performed.
And step S52, calculating a first flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
If not, step S53 is performed.
Step S53, reducing the reduction amplitude of the first direct current or the reduction amplitude of the first quadrature current in the step S4.
Taking the example of decreasing the magnitude of the decrease in the first direct current, i.e., by this step S53, ΔI is decreased d 。
It should be noted that the first flux linkage calculated in the step S52 is not necessarily the actual flux linkage corresponding to the permanent magnet synchronous motor, and the step S4 and the step S5 (see fig. 4) need to be continuously and repeatedly performed until the second real-time electrical angular velocity and the preset electrical angular velocity do not meet the second preset condition, so as to finally obtain the flux linkage corresponding to the permanent magnet synchronous motor.
It should be noted that, when the step S4 and the step S5 (refer to the identification 2 stage to the identification n stage in fig. 3) are repeatedly performed until the second real-time electrical angular velocity and the preset electrical angular velocity do not satisfy the second preset condition, the first flux linkage (calculated in the step S52) obtained by the previous calculation is regarded as the flux linkage of the permanent magnet synchronous motor.
The principle of the flux linkage identification calculation in step S52 is explained in detail below.
In different stages of flux linkage identification, the direct-axis current or quadrature-axis current input to the permanent magnet synchronous motor is shown in formula (3):
Where n corresponds to the nth stage of flux linkage identification in FIG. 3.
The flux linkage identification is shown in formula (4) according to the voltage equation of the motor direct axis and the quadrature axis:
in the formula (4), R s U is the stator phase resistance of the permanent magnet synchronous motor d And u q The voltages of the direct axis and the quadrature axis, i d And i q Direct and quadrature currents, L d And L q Respectively, direct axis inductance and quadrature axis inductance, ω is the motor electrical angular velocity, ψ f Is a permanent magnet flux linkage.
After executing the steps S1 to S5, under the steady-state working condition of the motor, the current change can be ignored in the formula (4); meanwhile, as the inductance is generally mH level, under the working condition of no load or light load and low speed, the counter potential related components and resistance voltage drop in counter potential can be ignored in the formula (4), the formula (5) can be obtained, and the counter potential components can be completely offset for the output voltage of the inverter.
Since the artificially given position is not accurate in the open loop operation, equation (5) is actually equation (6).
In the formula (6), u' d And u' q For artificially giving the position theta open The direct axis and quadrature axis voltages under the coordinate system; θ Err Artificially given position theta open And the actual position thetaThe difference is shown in formula (7).
θ Err ＝θ-θ open (7) The flux linkage identification formula is shown as formula (8).
In formula (8), the voltageCorresponding to the direct axis voltage in step S42, i.e., u in FIG. 3 d ；/>Corresponding to the quadrature axis voltage in step S42, i.e., u in FIG. 3 q ；ω fdb_est Corresponding to the second real-time electrical angular velocity in step S42; psi phi type est Representing a first flux linkage.
Note that, the ω fdb_est Calculating with an average value over a sampling period; the omega fdb_est Also can use preset electric angular velocity omega open To calculate.
It should be noted that, the protection scope of the permanent magnet synchronous motor flux linkage identification method of the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the schemes implemented by increasing or decreasing the steps and replacing the steps according to the prior art by using the principles of the present invention are included in the protection scope of the present invention.
As shown in fig. 5, in an embodiment, the permanent magnet synchronous motor flux linkage identification system of the present invention is applied to a flux linkage identification in a non-position sensor field, and includes an input module 51, a first obtaining module 52, a judging module 53, a second obtaining module 54 and a calculating module 55.
The input module 51 is configured to input a first direct current command and a first quadrature current command to the permanent magnet synchronous motor; the first direct current corresponding to the first direct current instruction is zero or the first quadrature current corresponding to the first quadrature current instruction is zero.
The first obtaining module 52 is configured to obtain a first real-time electrical angular velocity of the permanent magnet synchronous motor given a preset electrical angular velocity of the permanent magnet synchronous motor.
The judging module 53 is configured to judge whether the permanent magnet synchronous motor is operated to the preset electrical angular velocity based on the first real-time electrical angular velocity.
The second obtaining module 54 is configured to reduce the first direct current or the first quadrature current when the permanent magnet synchronous motor is operated to the preset electrical angular velocity, and obtain a second real-time electrical angular velocity, a direct voltage, and a quadrature voltage of the permanent magnet synchronous motor.
The calculation module 55 is configured to calculate a flux linkage of the permanent magnet synchronous motor based on the second real-time electrical angular velocity, the direct axis voltage, and the quadrature axis voltage.
It should be noted that the structures and principles of the input module 51, the first obtaining module 52, the judging module 53, the second obtaining module 54, and the calculating module 55 are in one-to-one correspondence with the steps (step S1 to step S5) in the above-mentioned permanent magnet synchronous motor flux linkage identification method, so that the description thereof is omitted here.
It should be noted that, it should be understood that the division of the modules of the above system is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the x module may be a processing element that is set up separately, may be implemented in a chip of the system, or may be stored in a memory of the system in the form of program code, and the function of the x module may be called and executed by a processing element of the system. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more digital signal processors (Digital Signal Processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a System-On-a-Chip (SOC).
It should be noted that, the permanent magnet synchronous motor flux linkage identification system of the present invention can implement the permanent magnet synchronous motor flux linkage identification method of the present invention, but the implementation device of the permanent magnet synchronous motor flux linkage identification method of the present invention includes, but is not limited to, the structure of the permanent magnet synchronous motor flux linkage identification system listed in this embodiment, and all structural modifications and substitutions made according to the principles of the present invention in the prior art are included in the protection scope of the present invention.
In summary, compared with the prior art, the permanent magnet synchronous motor flux linkage identification method, the system, the medium and the terminal provided by the invention have the advantages that the dependence on other motor parameters in the flux linkage identification process is reduced, and the accuracy, reliability and precision of flux linkage identification are improved; the invention is applied to the application field of the position-free sensor, improves the flux linkage precision, further improves the position precision of the observer, reduces the current, improves the energy efficiency of the system and realizes energy conservation and emission reduction; therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (9)
1. The permanent magnet synchronous motor flux linkage identification method is applied to the field of position-free sensors for identifying flux linkage, and is characterized by comprising the following steps of:
Step one, inputting a first direct current instruction and a first quadrature current instruction to a permanent magnet synchronous motor; the first direct current corresponding to the first direct current instruction is zero or the first quadrature current corresponding to the first quadrature current instruction is zero;
step two, giving a preset electric angular speed of the permanent magnet synchronous motor, and obtaining a first real-time electric angular speed of the permanent magnet synchronous motor;
step three, judging whether the permanent magnet synchronous motor runs to the preset electric angular speed or not based on the first real-time electric angular speed; executing a fourth step when the permanent magnet synchronous motor runs to the preset electric angular speed;
step four, reducing the first direct-axis current or the first quadrature-axis current to obtain a second real-time electric angular speed, direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor; the fourth step comprises the following steps:
reducing the first direct current to a second direct current in a fourth preset time period or reducing the first quadrature current to a second quadrature current in a fifth preset time period;
after the first direct-axis current is reduced to the second direct-axis current or the first quadrature-axis current is reduced to the second quadrature-axis current, continuing a sixth preset time period, and starting to acquire the second real-time electric angular speed, the direct-axis voltage and the quadrature-axis voltage; and fifthly, calculating the flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
2. The method of claim 1, wherein the step of inputting the first direct current command and the first quadrature current command to the permanent magnet synchronous motor comprises the steps of:
dragging the rotor of the permanent magnet synchronous motor to a preset position and keeping the position unchanged;
when the first quadrature axis current is zero, inputting a direct axis current to the permanent magnet synchronous motor according to a superposition rule in a first preset time period until the direct axis current input to the permanent magnet synchronous motor reaches the first direct axis current; or when the first direct current is zero, inputting the quadrature current to the permanent magnet synchronous motor according to a superposition rule in a second preset time period until the quadrature current input to the permanent magnet synchronous motor reaches the first quadrature current.
3. The method of claim 1, wherein the step of obtaining a first real-time electrical angular velocity of the permanent magnet synchronous motor given a predetermined electrical angular velocity of the permanent magnet synchronous motor comprises the steps of:
setting the electric angular speed of the permanent magnet synchronous motor according to a superposition rule in a third preset time period until the electric angular speed of the permanent magnet synchronous motor reaches the preset electric angular speed;
And when the electric angular speed of the permanent magnet synchronous motor reaches the preset electric angular speed, acquiring the first real-time electric angular speed.
4. The method of claim 1, wherein determining whether the permanent magnet synchronous motor is operating to the preset electrical angular velocity based on the first real-time electrical angular velocity comprises:
judging whether a first preset condition is met between the first real-time electric angular velocity and the preset electric angular velocity;
if not, increasing the first direct current or the first quadrature current in the first step; when the electric angular speed is not met, the permanent magnet synchronous motor does not run to the preset electric angular speed;
if yes, executing the fourth step; and when the electric motor meets the preset electric angular speed, the permanent magnet synchronous motor operates to the preset electric angular speed.
5. The method for identifying the flux linkage of the permanent magnet synchronous motor according to claim 1, wherein the fifth step comprises the following steps:
judging whether a second preset condition is met between the second real-time electric angular velocity and the preset electric angular velocity;
if so, calculating a first flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage; the first flux linkage is the flux linkage of the permanent magnet synchronous motor;
And if not, reducing the reduction amplitude of the first direct current or the reduction amplitude of the first quadrature current in the step four.
6. The method of claim 5, further comprising the steps of, if satisfied: repeatedly executing the fourth step and the fifth step until a second preset condition is not satisfied between the second real-time electric angular velocity and the preset electric angular velocity; the first flux linkage calculated in the previous time is the flux linkage of the permanent magnet synchronous motor.
7. The utility model provides a permanent magnet synchronous motor flux linkage identification system, is applied to the no position sensor field and discerns the flux linkage, its characterized in that includes: the device comprises an input module, a first acquisition module, a judging module, a second acquisition module and a calculating module;
the input module is used for inputting a first direct current instruction and a first quadrature current instruction to the permanent magnet synchronous motor; the first direct current corresponding to the first direct current instruction is zero or the first quadrature current corresponding to the first quadrature current instruction is zero;
the first acquisition module is used for giving a preset electric angular speed to the permanent magnet synchronous motor and acquiring a first real-time electric angular speed of the permanent magnet synchronous motor;
The judging module is used for judging whether the permanent magnet synchronous motor runs to the preset electric angular speed or not based on the first real-time electric angular speed;
the second obtaining module is used for reducing the first direct-axis current or the first quadrature-axis current when the permanent magnet synchronous motor runs to the preset electric angular speed, and obtaining a second real-time electric angular speed, a direct-axis voltage and a quadrature-axis voltage of the permanent magnet synchronous motor; the step of reducing the first direct-axis current or the first quadrature-axis current to obtain the second real-time electric angular speed, the direct-axis voltage and the quadrature-axis voltage of the permanent magnet synchronous motor comprises the following steps:
reducing the first direct current to a second direct current in a fourth preset time period or reducing the first quadrature current to a second quadrature current in a fifth preset time period;
after the first direct-axis current is reduced to the second direct-axis current or the first quadrature-axis current is reduced to the second quadrature-axis current, continuing a sixth preset time period, and starting to acquire the second real-time electric angular speed, the direct-axis voltage and the quadrature-axis voltage; the calculation module is used for calculating the flux linkage of the permanent magnet synchronous motor based on the second real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
8. A storage medium having stored thereon a computer program, which when executed by a processor implements the permanent magnet synchronous motor flux linkage identification method of any one of claims 1 to 6.
9. A terminal, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory, so that the terminal executes the permanent magnet synchronous motor flux linkage identification method according to any one of claims 1 to 6.
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