CN114553081A - Motor calibration method and device - Google Patents
Motor calibration method and device Download PDFInfo
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- CN114553081A CN114553081A CN202011347286.2A CN202011347286A CN114553081A CN 114553081 A CN114553081 A CN 114553081A CN 202011347286 A CN202011347286 A CN 202011347286A CN 114553081 A CN114553081 A CN 114553081A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The application provides a motor calibration method, which comprises the steps of obtaining a calibration point matrix, then obtaining a straight shaft current search interval of a target working condition, searching for the optimal working current of the target working condition through a preset search algorithm when the straight shaft current search interval is not empty, stopping searching for the optimal working current of the rest working condition under the target rotating speed when the straight shaft current search interval is empty, and using the working conditions under other rest rotating speeds as the next target working condition, so that the precision requirement is ensured, the rapid calibration of each working condition point is realized, the calibration time is shortened, the maximum efficiency control is realized by adopting a search mode, the external characteristics of a motor under the current rotating speed are autonomously determined under the condition that the current search interval is empty, and the self-adaption is realized.
Description
Technical Field
The application relates to the field of motor control and calibration, in particular to a motor calibration method and device.
Background
With the current social and economic development, the energy crisis and environmental protection problems become more serious. New energy power mainly comprising an electric motor (also called as a motor) is increasingly applied to automobiles, engineering machinery, ships and the like in multiple aspects. In recent years, alternating current motors, particularly permanent magnet synchronous motors, have received much attention and research.
At present, vector control is the mainstream scheme of motor control, and has the advantages of smooth torque output, quick response, wide speed regulation interval and capability of realizing accurate control on the motor torque. Before the motor is used formally, the motor is often required to be calibrated in order to achieve the best performance state of the motor. In the conventional calibration method, grids are divided in an external characteristic interval of the motor, and rectangular axis target currents of all calibration points are calibrated in sequence, so that output torque is matched with target required torque.
Although the method can realize accurate output of the torque, the calibration workload is large, the data is large, and all motors in the same batch are difficult to calibrate in engineering. In the vector control, regardless of the control method of the direct component being 0 or the control method of the maximum torque current ratio (MTPA), the field weakening control needs to be matched in the high-speed region to improve the operation speed range and the maximum output torque of the motor.
If the motor calibration is carried out in a conventional manner, the calibration is relatively time-consuming and labor-consuming. Therefore, it is desirable to provide a fast and reliable calibration method.
Disclosure of Invention
The application provides a motor calibration method. The method comprises the steps of obtaining a calibration point matrix through calibration equipment, then obtaining a straight-axis current search interval of a target working condition, searching for the optimal working current of the target working condition through a preset search algorithm when the straight-axis current search interval is not empty, stopping searching for the optimal working current of the rest working conditions at the target rotating speed when the straight-axis current search interval is empty, and taking the working conditions at other rest rotating speeds as the next target working condition, so that the precision requirement is guaranteed, quick calibration of each working condition point is realized, the calibration time is shortened, the maximum efficiency control is realized by adopting a search mode, and the external characteristics of a motor at the current rotating speed are autonomously determined under the condition that the current search interval is empty, and the self-adaption is realized.
In a first aspect, the present application provides a motor calibration method, including:
acquiring a calibration point matrix, wherein the calibration point matrix comprises a plurality of calibration points, each calibration point corresponds to a working condition, and the working condition is used for describing the rotating speed and the torque of a motor;
acquiring a direct-axis current search interval of a target working condition, wherein the target working condition is a working condition corresponding to one calibration point in a plurality of calibration points, and the rotating speed of a motor under the target working condition is a target rotating speed;
when the direct-axis current searching interval is not empty, searching the optimal working current of the target working condition through a preset searching algorithm, when the direct-axis current searching interval is empty, stopping searching the optimal working current of the rest working conditions at the target rotating speed, and taking the working conditions at other rest rotating speeds as the next target working condition, wherein the optimal working current comprises the direct-axis current and the quadrature-axis current when the motor efficiency is optimal.
In some possible implementations, the predetermined search algorithm includes at least one of a golden section method or a dichotomy method.
In some possible implementations, obtaining a direct-axis current search interval of a target operating condition includes:
when the target working condition corresponds to the first calibration point under the target rotating speed, taking a current limit circle determined by a preset current threshold value as a search interval of the target working condition;
and when the target working condition corresponds to the non-first calibration point at the target rotating speed, taking the neighborhood of the optimal working current of the last calibration point corresponding to the target rotating speed as a search interval of the target working condition.
In some possible implementations, the method further includes:
and correcting the direct-axis current search interval.
In some possible implementations, modifying the direct axis current search interval includes:
and correcting the direct-axis current search interval according to the voltage limit circle set and the current limit circle of the motor.
In some possible implementation manners, when the direct-axis current search interval is not empty, searching for the optimal working current of the target working condition through a preset search algorithm, including:
when the corrected direct axis current search interval is not empty, performing iterative search by taking the corrected direct axis current search interval as an initial search interval to obtain a new search interval, wherein the new search interval is a search interval compressed according to a preset multiplying power;
and when the length of the search interval is not more than the length of the preset interval, stopping iteration and obtaining the optimal working current according to the search interval.
In some possible implementations, the method further includes:
and fitting according to the optimal working current of each calibration point to obtain a two-dimensional function of the optimal working current in the full-rotating-speed interval with respect to the torque and the rotating speed.
In a second aspect, the present application provides a motor calibration apparatus, including:
the communication module is used for acquiring a calibration point matrix, the calibration point matrix comprises a plurality of calibration points, each calibration point corresponds to one working condition, and the working conditions are used for describing the rotating speed and the torque of the motor;
the searching interval determining module is used for acquiring a direct-axis current searching interval of a target working condition, the target working condition is a working condition corresponding to one calibration point in the plurality of calibration points, and the rotating speed of the motor under the target working condition is a target rotating speed;
and the searching module is used for searching the optimal working current of the target working condition through a preset searching algorithm when the direct-axis current searching interval is not empty, stopping searching the optimal working current of the rest working conditions at the target rotating speed when the direct-axis current searching interval is empty, and taking the working conditions at other rest rotating speeds as the next target working condition, wherein the optimal working current comprises the direct-axis current and the quadrature-axis current when the motor efficiency is optimal.
In some possible implementations, the predetermined search algorithm includes at least one of a golden section method or a dichotomy method.
In some possible implementations, the search interval determining module is specifically configured to:
when the target working condition corresponds to the first calibration point under the target rotating speed, taking a current limit circle determined by a preset current threshold value as a search interval of the target working condition;
and when the target working condition corresponds to the non-first calibration point at the target rotating speed, taking the neighborhood of the optimal working current of the last calibration point corresponding to the target rotating speed as a search interval of the target working condition.
In some possible implementations, the apparatus further includes:
and the correction module is used for correcting the direct-axis current search interval.
In some possible implementations, the modification module is specifically configured to:
and correcting the direct-axis current search interval according to the voltage limit circle set and the current limit circle of the motor.
In some possible implementations, the search module is specifically configured to:
when the corrected direct axis current search interval is not empty, performing iterative search by taking the corrected direct axis current search interval as an initial search interval to obtain a new search interval, wherein the new search interval is a search interval compressed according to a preset multiplying power;
and when the length of the search interval is not more than the length of the preset interval, stopping iteration and obtaining the optimal working current according to the search interval.
In some possible implementations, the apparatus further includes:
and the fitting module is used for fitting according to the optimal working current of each calibration point to obtain a two-dimensional function of the optimal working current in the full-rotating-speed interval on the torque and the rotating speed.
In a third aspect, the present application provides an apparatus comprising a processor and a memory. The processor and the memory communicate with each other. The processor is configured to execute instructions stored in the memory to cause the apparatus to perform a motor calibration method as in the first aspect or any implementation manner of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and the instructions instruct an apparatus to perform the motor calibration method according to the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising instructions which, when run on an apparatus, cause the apparatus to perform a motor calibration method as described in the first aspect or any implementation manner of the first aspect.
The present application can further combine to provide more implementations on the basis of the implementations provided by the above aspects.
According to the technical scheme, the embodiment of the application has the following advantages:
the embodiment of the application provides a motor calibration method, a calibration point matrix is obtained through calibration equipment, then a straight shaft current search interval of a target working condition is obtained, when the straight shaft current search interval is not empty, the optimal working current of the target working condition is searched through a preset search algorithm, when the straight shaft current search interval is empty, the optimal working current of the rest working conditions under the target rotating speed is stopped to be searched, the working conditions under other rest rotating speeds are taken as the next target working condition, so that the precision requirement is guaranteed, meanwhile, the rapid calibration of each working condition point is realized, the calibration time is shortened, meanwhile, the maximum efficiency control is realized through a search mode, and in the case that the current search interval is empty, the external characteristics of a motor under the current rotating speed are autonomously determined, and the self-adaption is realized.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flow chart of a motor calibration method according to an embodiment of the present disclosure;
FIG. 2 is a diagram illustrating a least-squares fit of a direct-axis current as a function of rotational speed-torque provided by an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating a process of obtaining a direct axis current search interval according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart illustrating a process of correcting a direct-axis current search interval according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a current circle and a voltage circle at various rotation speeds according to motor parameters provided in an embodiment of the present application;
FIG. 6 is a diagram illustrating a modified direct axis current search interval according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart of an interval for searching for an optimal operating current of a target operating point according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a motor calibration device provided in an embodiment of the present application.
Detailed Description
The scheme in the embodiments provided in the present application will be described below with reference to the drawings in the present application.
The terms "first" and "second" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Some technical terms referred to in the embodiments of the present application will be first described.
And motor calibration, which is to test the corresponding relation between the output current of the controller and the output torque of the motor on the bench. Because the body parameters of the motors in different batches are different, the current sizes corresponding to the torque and the rotating speed are also different, and if the motors are not calibrated, the motors cannot reach the optimal running state.
In general, a calibration method for a motor is to divide a grid in an external characteristic interval of the motor, and sequentially calibrate quadrature axis target currents of each calibration point, so that an output torque is matched with a target required torque.
However, although this method can achieve accurate output of torque, the calibration amount is large, data is large, and it is difficult to calibrate all motors in the same batch in engineering. In the vector control, regardless of the control method in which the direct component is 0 or the control method in which the maximum torque current ratio (MTPA) is used, it is necessary to match the field weakening control in the high speed region, which is relatively laborious.
Meanwhile, the influence of the iron loss of the motor is not considered in the conventional method, and the calibrated motor still does not operate in the most efficient state even if the maximum torque current ratio control is adopted. For vehicles, their limited electrical energy storage is not fully utilized.
Therefore, the calibration method capable of realizing maximum efficiency control through fast calibration of the search algorithm is provided. The method can be executed by calibration equipment, a calibration point matrix is obtained through the calibration equipment, a direct-axis current search interval of a target working condition is obtained, when the direct-axis current search interval is not empty, the optimal working current of the target working condition is searched through a preset search algorithm, when the direct-axis current search interval is empty, the calibration equipment stops searching the optimal working current of the rest working conditions under the target rotating speed, the working conditions under other rest rotating speeds are taken as the next target working condition, so that the optimal working current capable of enabling the motor to achieve the maximum efficiency is obtained through a search mode, the external characteristics of the motor under the current rotating speed are autonomously determined under the condition that the current search interval is empty, and self-adaptation is achieved.
The calibration device may be a computing device, such as a terminal like a desktop, a notebook, a mobile phone, or the like, or a server. The calibration device may also be a computing cluster formed by a plurality of computing devices.
In order to make the technical solution of the present application clearer and easier to understand, the following will describe the technical solution of the present application in detail from the perspective of a calibration device.
Referring to fig. 1, a schematic flow chart of a motor calibration method provided in an embodiment of the present application includes the following steps:
s102: the calibration device obtains a matrix of calibration points.
The calibration point matrix comprises a plurality of calibration points, each calibration point corresponds to one working condition, and the working conditions are used for describing the rotating speed and the torque of the motor. Specifically, the calibration point matrix may be obtained by selecting calibration points point by point from the origin to the maximum rotation speed and the maximum torque according to the set rotation speed and torque distance.
For ease of understanding, the index point matrix is described below in connection with a specific example.
For example, the maximum rotation speed of the motor to be calibrated is 10000 revolutions per minute (rpm), the maximum torque is 50 Newton meters (Nm), the rotation speed interval is 2000rpm, the torque interval is 10Nm, the calibration point is selected, and when the same rotation speed is used as the same row of the matrix and the same torque is used as the same column of the matrix, the first row of the finally obtained calibration point matrix is: (0,0), (0,10), (0,20), (0,30), (0,40), (0,50), second action: (2000,0), (2000,10), (2000,20), (2000,30), (2000,40), (2000,50), a third act: (4000,0), (4000,10), (4000,20), (4000,30), (4000,40), (4000,50), and so on, which are not listed again here.
S104: the calibration equipment acquires a direct-axis current search interval of a target working condition, the direct-axis current search interval is a dynamic adjustment interval, when the direct-axis current search interval is empty, if the direct-axis current search interval is empty, S106 is entered, and if the direct-axis current search interval is empty, S108 is entered.
The target working condition is a working condition corresponding to one of the calibration points, and the rotating speed of the motor under the target working condition is a target rotating speed. When the target working condition points are searched in sequence, after the working condition points under the same rotating speed are calibrated, the rotating speed is switched until all the working condition points in the external characteristic are searched. That is, the rotating speed values of the rotating speed sequence are sequentially taken from the minimum rotating speed, then the torque values of the torque sequence are sequentially taken from the minimum torque, and if the torque of the target working condition point reaches the maximum torque, the rotating speed values are sequentially taken according to the sequence; and stopping calibration of the calibration point if the rotating speed of the target working condition point reaches the maximum rotating speed.
Specifically, the direct-axis current search interval is a dynamic adjustment interval, and when the target working condition corresponds to the first calibration point at the target rotating speed, a current limit circle determined by a preset current threshold is used as the search interval of the target working condition; and when the target working condition corresponds to the non-first calibration point at the target rotating speed, taking the neighborhood of the optimal working current of the last calibration point corresponding to the target rotating speed as a search interval of the target working condition.
The size of the optimal working current neighborhood of the last calibration point is dynamically adjusted according to the current variation amplitude of the last calibration point. Specifically, if the current variation amplitude is smaller than a first preset current threshold, setting the neighborhood as the first preset current threshold; if the current variation amplitude is larger than the first preset current threshold value but smaller than the second preset current threshold value, setting the neighborhood as the second preset current threshold value; and if the current variation amplitude is larger than a second preset current threshold, setting the neighborhood as a third preset current threshold, wherein the preset current threshold is determined according to the motor parameters and the torque interval of the working point.
S106: when the direct-axis current searching interval is empty, the calibration equipment stops searching the optimal working current of the rest working conditions at the target rotating speed, and the working conditions at other rest rotating speeds are taken as the next target working condition.
Therefore, the external motor characteristic of the current rotating speed, namely the maximum torque, is determined, and the external motor characteristic does not need to be preset in advance according to parameters, so that self-adaption is realized.
Specifically, even if the torque of the calibration point does not reach the maximum torque, the search for the optimal working current of the remaining working conditions at the target rotation speed is stopped, and the working conditions at other remaining rotation speeds are taken as the next target working condition.
S108: and when the direct-axis current searching interval is not empty, the calibration equipment searches the optimal working current of the target working condition through a preset searching algorithm.
The preset search algorithm is specifically an algorithm which is preset by a user and is used for searching the optimal working current from the direct-axis current search interval. Wherein the optimal working current comprises a direct-axis current when the motor efficiency is optimal. Further, the optimal working current also comprises a quadrature axis current when the motor efficiency is optimal. After searching out the direct-axis current with the optimal motor efficiency through a preset search algorithm, the calibration equipment determines the quadrature-axis current with the optimal motor efficiency.
The preset search algorithm may include at least one of a golden section method or a dichotomy method. The interval is compressed through a golden section method and a bisection method, and the method comprises the steps of determining a new search interval and a new test point according to the loss of the current, wherein the golden section method compresses the interval by adopting the golden section point of the original interval, namely 0.618 every time, and the bisection method compresses the original interval by adopting one half of the original interval every time, and the application is not limited herein.
In some possible implementations, the calibration device may also modify the direct axis current search interval. Specifically, the calibration equipment corrects the direct-axis current search interval according to the voltage limit circle set and the current limit circle of the motor. Wherein the set of voltage limiting circles is determined by the given motor parameter and a preset voltage threshold, and the current limiting circle is determined by a preset current threshold.
And when the corrected direct axis current search interval is not empty, performing iterative search by taking the corrected direct axis current search interval as an initial search interval to obtain a new search interval. And when the length of the search interval is not more than the length of the preset interval, stopping iteration, and determining the optimal working current according to the obtained search interval.
Specifically, the corrected direct-axis current search interval is set as an initial search interval, and iterative search is performed in the initial search interval by adopting a heuristic principle search algorithm, so that a new search interval is determined. Wherein, each time of iterative search, the search interval is according to fixed multiplying power L (usually L)<0.5) once compression, in the searching process, the optimal working current is always in the compressed current searching interval,when in useAnd stopping iteration when the length of the search interval is not more than the length of the preset interval, and selecting boundary points or internal probe points of the search interval meeting the length condition of the preset interval as the optimal working current of the target working condition point.
In some possible implementation modes, iterative search can be realized by a golden section method, an interval trial point is obtained by calculation in a search interval, quadrature axis current matched with the torque of the target working condition point at the trial point is determined, total system loss corresponding to the given quadrature axis current is calculated, and the total system loss is compared to determine a new search interval.
Specifically, determining the quadrature current that matches the target operating point torque mayCalculating according to a torque formula to obtain an initial value of the quadrature axis current, and respectively taking iq around the initial value1、iq2Measuring corresponding output torque Te1、Te2Finally according to
And (4) calculating.
S110: and the calibration equipment performs fitting according to the optimal working current of each calibration point to obtain a two-dimensional function of the optimal working current in the full-rotating-speed interval with respect to the torque and the rotating speed.
Specifically, according to the optimal working current of each calibration point, a preset fitting algorithm is adopted to perform polynomial fitting on the optimal working current of each calibration point, and the obtained two-dimensional function of the optimal working current in the full-rotating-speed interval with respect to the torque-rotating speed is as follows:
wherein, akBeing coefficients of rotation speed terms raised to the power of the order of magnitude, bkA coefficient raised to the power of the product of the rotational speed and the torque, ckIs a coefficient to the power of the torque term.
Referring to fig. 2, taking least square fitting as an example, defining the optimal working current of the direct axis corresponding to the rotation speed-torque as z, the rotation speed as x, and the torque as y, wherein different colors or different grays represent different magnitudes of the direct axis current, and the deeper the color is, the smaller the direct axis current is. Specifically, the calibration device may perform quadratic polynomial fitting according to the following formula:
z＝a0+a1x+a2y+a3x2+a4xy+a5y2
wherein, ai(i-0, …,5) are coefficients of the fitting function.
Optionally, the coefficient calculation formula of each term may be:
similarly, the quadrature axis current is fitted to obtain the functional relation between the quadrature axis current and the rotating speed-torque.
S112: in the motor control process, according to the required rotating speed and the required torque, the calibration equipment calculates the target current through the two-dimensional function and carries out vector control.
In the application, through the calibration of the motor, a two-dimensional function of the optimal working current in a full-rotating-speed interval about the torque and the rotating speed can be obtained, according to the required rotating speed and the required torque, the calibration equipment calculates the target current by using the two-dimensional function, the motor reaches the required rotating speed and the required torque by adjusting the current, the output of the motor is controlled, and therefore vector control is achieved.
It should be noted that the above embodiment provides only an optional reference for the motor calibration method of the present application, where S110 and S112 are optional steps, and in some embodiments, those steps may not be executed.
In the embodiment, the calibration point matrix is obtained through the calibration equipment, then the direct axis current search interval of the target working condition is obtained, when the direct axis current search interval is not empty, the optimal working current of the target working condition is searched through the preset search algorithm, when the direct axis current search interval is empty, the optimal working current of the rest working conditions at the target rotating speed is stopped to be searched, and the working conditions at other rest rotating speeds are taken as the next target working condition.
Compared with the conventional method, the method has the advantages that the requirement on the torque precision is guaranteed, each working condition point is calibrated quickly through the search algorithm, 7-8 times of calibration may be needed for one point in the conventional method, only 3-4 times of calibration may be needed for determining one point, the quick calibration for each working condition point is realized, and the calibration is shortened. The system total loss of each probe point is the basis of search algorithm compression, the obtained calibration result can be regarded as a vector control method, namely maximum efficiency control, different from the methods of id 0, MTPA and the like, the method can achieve the optimal efficiency, but the mathematical analysis solution is difficult to solve, and the scheme adopts a search method to achieve the maximum efficiency control. Secondly, in the scheme, if the current search range is empty, the current rotation speed calibration is stopped, so that the external characteristics (namely the maximum torque of the motor at each rotation speed) are determined in a self-adaptive manner.
Another possible implementation manner is provided below for the process of obtaining the direct-axis current search interval by the calibration apparatus in the present application.
Specifically, the process of the calibration device obtaining the direct-axis current search interval is shown in fig. 3.
S302: the calibration equipment judges whether the target working condition is the first calibration point under the target rotating speed, and when the target working condition is the first calibration point under the target rotating speed, the operation enters S304; otherwise, the process proceeds to S306.
S304: the calibration device takes the current limit circle determined by the preset current threshold as the search interval of the target operating point, and the process proceeds to S318.
S306: the calibration equipment judges whether the current variation amplitude is smaller than a first preset current threshold value or not, and if the current variation amplitude is smaller than the first preset current threshold value, the step S308 is entered; otherwise, the process proceeds to S310.
S308: the calibration device sets the neighborhood to the first preset current threshold and proceeds to S316.
S310: the calibration device judges whether the current variation amplitude is smaller than a second preset current threshold value, and if the current variation amplitude is smaller than the first preset current threshold value, the step S312 is entered; otherwise, the process proceeds to S314.
S312: the calibration device sets the neighborhood to a second predetermined current threshold and proceeds to S316.
S314: the calibration device sets the neighborhood to a third preset current threshold and proceeds to S316.
S316: the calibration device takes the optimal working current neighborhood of a calibration point at the target rotation speed as the search interval of the target working condition point, and the process goes to S318.
S318: and the calibration equipment determines a direct-axis current search interval of the target working condition point.
The preset current threshold is determined according to motor parameters and the torque distance of the working point.
The embodiment that the calibration device obtains the direct axis current search interval is provided by obtaining the current variation amplitude and the preset current threshold, and the direct axis current search interval can be obtained dynamically, it should be noted that the embodiment only provides an optional reference for the motor calibration method of the present application, and other methods may also be adopted to obtain the direct axis current search interval of the target working condition, which is not limited in the present application. Another possible implementation is provided below for the process of the calibration apparatus of the present application to modify the direct axis current search interval. In one possible embodiment, the process for the calibration apparatus to modify the direct axis current search interval is illustrated with reference to FIG. 4.
S402: the calibration equipment acquires a current limit circle and a voltage limit circle set of the motor.
Wherein the current limit circle is determined by a preset current threshold value id2+iq2<imax2The voltage limiting circle set determines Ud from given motor parameters and preset voltage thresholds2+Uq2<U_lim2. The current circle and voltage source at each speed are plotted, as determined by the specific motor parameters, as shown with reference to fig. 5.
S404: and calibrating the intersection of the current feedback circle of the equipment and the voltage limiting circle corresponding to the rotating speed of the target working condition point.
S406: and the calibration equipment corrects the direct-axis current search interval according to a first preset correction algorithm.
Specifically, if the left boundary point of the direct-axis current search interval is smaller than the minimum value of the direct-axis current of the intersection, the left boundary point is corrected to be the smaller one of the minimum value of the direct-axis current of the intersection and the right boundary point; and if the right boundary point is larger than the maximum value of the straight-axis current of the intersection, correcting the right boundary point into the larger one of the maximum value and the left boundary point, and correcting the straight-axis current search interval.
S408: and the calibration equipment acquires quadrature axis current threshold values corresponding to the direct axis currents.
S410: and the calibration equipment calculates quadrature axis current corresponding to the torque of the target working condition point at the left boundary point and the right boundary point.
S412: the calibration equipment judges whether the quadrature axis current corresponding to the target operating point torque is greater than the quadrature axis current threshold, if so, the S414 is executed; otherwise, S416 is performed.
S414: and the calibration equipment adjusts the direct-axis current search interval according to a second preset correction algorithm and enters S418.
Specifically, if the quadrature axis current corresponding to the left boundary of the direct axis current search interval is greater than the quadrature axis current threshold, the left boundary of the direct axis current search interval is adjusted to the right, if the quadrature axis current corresponding to the right boundary of the direct axis current search interval is greater than the quadrature axis current threshold, the right boundary of the direct axis current search interval is adjusted to the left, if the left boundary of the search interval is adjusted to the right, the direct axis current search interval is empty, and if the right boundary is adjusted to the left, the direct axis current search interval is empty. When the direct current search interval after the above correction is not empty, the process proceeds to S416.
S416: and outputting the corrected direct-axis current search interval by the calibration equipment.
S418: and the calibration equipment executes the calculation of the quadrature axis current corresponding to the target operating point torque.
Referring to fig. 6, in an embodiment of the present application, an example of a calibration device correcting a direct axis current search interval is provided, where at target operating points of 8000rpm and 30Nm, the direct axis current search interval is set to [ l0, r0], a right boundary point is outside an intersection of the limit circles and is corrected to r1 according to a first preset algorithm, the corrected search interval is [ l1, r1], intersection currents corresponding to left and right boundary points and a target torque exceed a current threshold, left and right boundaries are corrected to l2, r2 according to a second preset algorithm, and the corrected search interval is [ l2, r2 ].
When the quadrature axis current corresponding to the direct axis current exceeds the current threshold value through the first preset correction algorithm and the second preset correction algorithm, the direct axis current search interval is corrected, and a more accurate direct axis current search interval is obtained.
Another possible implementation is provided below for the process of marking the interval in which the device searches for the optimal operating current for the target operating point in the present application.
In one possible embodiment, the interval in which the calibration apparatus searches for the optimal operating current for the target operating point is shown with reference to fig. 7.
S702: and the calibration equipment determines the corrected direct-axis current search interval as an initial search interval [ a, b ].
S704: setting probing point x for calibration equipment1、x2,x1＝a+0.382(b-a),x2B-0.382(b-a), the loss of the system is a function of the direct current, denoted as f (x)1)、f(x2)。
S706: the calibration device judges whether the length of the search interval is not greater than the preset interval length, if so, the step goes to step S714, and otherwise, the step goes to step S708.
S708: the calibration apparatus determines whether the total loss of probe point 1 is less than the total loss of probe point 2, and if so, proceeds to S710, otherwise, proceeds to S712.
S710: the calibration device determines a new search interval: a, b, x2，x2＝x1The process proceeds to S704. Namely, the left end point of the new search interval is unchanged, and the right end point of the new search interval is changed into the original probing point x2。
S712: the calibration device determines a new search interval: a ═ x1，b＝b，x1＝x2The process proceeds to S704. Namely, the left end point of the new search interval is changed into the original probe point x1And the right end point is unchanged.
S714: and stopping iteration of the calibration equipment, and selecting boundary points or internal probing points of the search interval meeting the preset interval length condition as the optimal working current of the target working condition point.
The interval of the optimal working current of the target working condition point is subjected to iterative search through the golden section method, a new search interval after compression is obtained, the interval is reduced, and the accuracy is improved.
The motor calibration method is suitable for automatic or semi-automatic control calibration, various preset thresholds are input into a program in advance before the calibration is started, and the program is automatically calculated, adjusted and recorded in the calibration process without human intervention; or manually controlled by a calibration personnel, wherein the target working condition points can be input by the calibration personnel in sequence and can be manually intervened in the calibration process. Wherein each preset threshold comprises: current threshold, voltage threshold, given motor maximum speed, maximum torque, given speed spacing, torque spacing, and the like. The full-rotating-speed interval of the motor is divided into rotating speed sequences, and each rotating speed is divided into torque sequences, so that a calibration point matrix is formed.
Corresponding to the above method embodiment, the present application also provides a motor calibration apparatus, referring to fig. 8, where the apparatus 800 includes: a communication module 802, a search interval determination module 804, and a search module 806.
The communication module 802 is configured to obtain a calibration point matrix, where the calibration point matrix includes a plurality of calibration points, each calibration point corresponds to a working condition, and the working condition is used to describe a rotation speed and a torque of a motor;
a search interval determining module 804, configured to obtain a direct axis current search interval of a target working condition, where the target working condition is a working condition corresponding to one of the multiple calibration points, and a rotating speed of the motor under the target working condition is a target rotating speed;
the searching module 806 is configured to search for an optimal working current of a target working condition through a preset search algorithm when the direct-axis current search interval is not empty, stop searching for the optimal working current of the remaining working condition at the target rotation speed when the direct-axis current search interval is empty, and use the working conditions at other remaining rotation speeds as a next target working condition, where the optimal working current includes the direct-axis current and the quadrature-axis current when the motor efficiency is optimal.
In some possible implementations, the predetermined search algorithm includes at least one of a golden section method or a dichotomy method.
In some possible implementations, the search interval determining module 804 is specifically configured to:
when the target working condition corresponds to the first calibration point under the target rotating speed, taking a current limit circle determined by a preset current threshold value as a search interval of the target working condition;
and when the target working condition corresponds to the non-first calibration point at the target rotating speed, taking the neighborhood of the optimal working current of the last calibration point corresponding to the target rotating speed as a search interval of the target working condition.
In some possible implementations, the apparatus 800 further includes:
and the correction module is used for correcting the direct-axis current search interval.
In some possible implementations, the modification module is specifically configured to:
and correcting the direct-axis current search interval according to the voltage limit circle set and the current limit circle of the motor.
In some possible implementations, the searching module 806 is specifically configured to:
when the corrected direct axis current search interval is not empty, performing iterative search by taking the corrected direct axis current search interval as an initial search interval to obtain a new search interval, wherein the new search interval is a search interval compressed according to a preset multiplying power;
and when the length of the search interval is not more than the length of the preset interval, stopping iteration and obtaining the optimal working current according to the search interval.
In some possible implementations, the apparatus 800 further includes:
and the fitting module is used for fitting according to the optimal working current of each calibration point to obtain a two-dimensional function of the optimal working current in the full rotating speed interval with respect to the torque and the rotating speed.
The motor calibration apparatus 800 according to the embodiment of the present application may correspond to performing the method described in the embodiment of the present application, and the above and other operations and/or functions of each module of the motor calibration apparatus 800 are respectively for implementing corresponding processes of each method in fig. 1, and are not described herein again for brevity.
The application provides a device for implementing an access control method. The apparatus includes a processor and a memory. The processor and the memory communicate with each other. The processor is configured to execute instructions stored in the memory to cause the apparatus to perform a motor calibration method.
The present application provides a computer readable storage medium having stored therein instructions that, when run on an apparatus, cause the apparatus to perform the above-described motor calibration method.
The present application provides a computer program product comprising instructions which, when run on an apparatus, cause the apparatus to perform the above-described motor calibration method.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, an exercise device, or a network device) to execute the method according to the embodiments of the present application.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, training device, or data center to another website site, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a training device, a data center, etc., that incorporates one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Claims (10)
1. A motor calibration method is characterized by comprising the following steps:
acquiring a calibration point matrix, wherein the calibration point matrix comprises a plurality of calibration points, each calibration point corresponds to a working condition, and the working condition is used for describing the rotating speed and the torque of the motor;
acquiring a direct-axis current search interval of a target working condition, wherein the target working condition is a working condition corresponding to one calibration point in the calibration points, and the rotating speed of the motor under the target working condition is a target rotating speed;
when the direct-axis current searching interval is not empty, searching the optimal working current of the target working condition through a preset searching algorithm, when the direct-axis current searching interval is empty, stopping searching the optimal working current of the rest working conditions at the target rotating speed, and taking the working conditions at other rest rotating speeds as the next target working condition, wherein the optimal working current comprises the direct-axis current and the quadrature-axis current when the motor efficiency is optimal.
2. The method of claim 1, wherein the predetermined search algorithm comprises at least one of a golden section method or a dichotomy method.
3. The method of claim 1, wherein the obtaining the direct axis current search interval for the target operating condition comprises:
when the target working condition corresponds to a first calibration point at a target rotating speed, taking a current limit circle determined by a preset current threshold value as a search interval of the target working condition;
and when the target working condition corresponds to the non-first calibration point at the target rotating speed, taking the neighborhood of the optimal working current of the last calibration point corresponding to the target rotating speed as a search interval of the target working condition.
4. The method according to any one of claims 1 to 3, further comprising:
and correcting the direct-axis current search interval.
5. The method of claim 4, wherein the modifying the direct axis current search interval comprises:
and correcting the direct-axis current search interval according to the voltage limit circle set and the current limit circle of the motor.
6. The method according to claim 4, wherein when the direct-axis current search interval is not empty, searching for the optimal working current of the target working condition through a preset search algorithm comprises:
when the corrected direct axis current search interval is not empty, performing iterative search by taking the corrected direct axis current search interval as an initial search interval to obtain a new search interval, wherein the new search interval is a search interval compressed according to a preset multiplying power;
and when the length of the search interval is not more than the length of a preset interval, stopping iteration and obtaining the optimal working current according to the search interval.
7. The method according to any one of claims 1 to 6, further comprising:
and fitting according to the optimal working current of each calibration point to obtain a two-dimensional function of the optimal working current in the full-rotating-speed interval with respect to the torque and the rotating speed.
8. An apparatus for calibrating a motor, the apparatus comprising:
the communication module is used for acquiring a calibration point matrix, wherein the calibration point matrix comprises a plurality of calibration points, each calibration point corresponds to a working condition, and the working condition is used for describing the rotating speed and the torque of the motor;
the search interval determining module is used for acquiring a direct-axis current search interval of a target working condition, wherein the target working condition is a working condition corresponding to one calibration point in the plurality of calibration points, and the rotating speed of the motor under the target working condition is a target rotating speed;
and the searching module is used for searching the optimal working current of the target working condition through a preset searching algorithm when the direct-axis current searching interval is not empty, stopping searching the optimal working current of the rest working conditions under the target rotating speed when the direct-axis current searching interval is empty, and taking the working conditions under other rest rotating speeds as the next target working condition, wherein the optimal working current comprises the direct-axis current and the quadrature-axis current when the motor efficiency is optimal.
9. An apparatus, comprising a processor and a memory;
the processor is to execute instructions stored in the memory to cause the device to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium comprising instructions that direct a device to perform the method of any of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116620042A (en) * | 2023-06-05 | 2023-08-22 | 小米汽车科技有限公司 | Motor control parameter calibration method and device and vehicle |
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| CN116620042A (en) * | 2023-06-05 | 2023-08-22 | 小米汽车科技有限公司 | Motor control parameter calibration method and device and vehicle |
| CN116620042B (en) * | 2023-06-05 | 2024-02-06 | 小米汽车科技有限公司 | Motor control parameter calibration method and device and vehicle |
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