CN114567222A - Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor - Google Patents

Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor Download PDF

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Publication number
CN114567222A
CN114567222A CN202210187193.0A CN202210187193A CN114567222A CN 114567222 A CN114567222 A CN 114567222A CN 202210187193 A CN202210187193 A CN 202210187193A CN 114567222 A CN114567222 A CN 114567222A
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phase
pulse voltage
current
voltage
rated
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位俊雷
赵振华
胡冰
崔晓光
张利军
邵春伟
赵栋
咸粤飞
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CRRC Qingdao Sifang Rolling Stock Research Institute Co Ltd
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CRRC Qingdao Sifang Rolling Stock Research Institute Co Ltd
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Priority to CN202210187193.0A priority Critical patent/CN114567222A/en
Publication of CN114567222A publication Critical patent/CN114567222A/en
Priority to PCT/CN2022/131675 priority patent/WO2023160023A1/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency

Abstract

The invention provides a static initial position estimation method and a stator inductance identification method for a permanent magnet synchronous motor. Injecting rated positive pulse voltage and rated negative pulse voltage into AB phase, BC phase and CA phase windings of the motor in sequence, recording the response current values of the phases under the rated positive pulse voltage and the rated negative pulse voltage, and calculating to obtain the current response difference value delta I of the AB phase, the BC phase and the CA phase under a three-phase static coordinate systemab、ΔIbcAnd Δ Ica(ii) a Clark conversion is carried out on the current response difference values of all phases to obtain the current response difference value delta I under an alpha-beta axis two-phase static coordinate systemαAnd Δ Iβ(ii) a Based on Delta IαAnd Δ IβThe rotor initial position θ is calculated. And calculating the stator inductance of the permanent magnet synchronous motor based on the initial position of the rotor obtained by calculation. The invention is realized by coordinate transformationAnd solving is carried out, the position of the rotor is directly obtained through the current impulse response, an intermediate conversion link is omitted, data loss can be reduced, and data precision is guaranteed.

Description

Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of motor control, in particular to a static initial position estimation method and a stator inductance identification method for a permanent magnet synchronous motor.
Background
The direct-drive permanent magnet wind driven generator has stable performance and high economic benefit, is widely applied to various large wind power plants, and because the size of the generator set is limited by factors such as the size of the generator set, and devices such as a position sensor and the like are difficult to obtain sufficient installation space, a sensorless control strategy is increasingly applied to the field of wind power. The sensorless control strategy of the permanent magnet synchronous motor comprises various control methods such as observer control, switching control and variable structure control, and all the methods need to accurately estimate the initial position of a rotor. Meanwhile, the accurate identification of the initial position is also a key problem related to the performance of a motor system, and if the detection deviation is large, the problems of load capacity reduction, step loss and even starting failure and the like can occur in the starting stage of the motor, so that potential safety hazards are easily caused. Therefore, the problem of identifying the initial position of the rotor of the permanent magnet synchronous motor is one of the research hotspots with theoretical significance and economic benefit.
At present, the initial position identification of the rotor mainly adopts two methods of high-frequency injection and instantaneous pulse.
The high-frequency injection comprises a high-frequency rotating voltage injection method, a pulse vibration voltage injection method and the like, the current response of the stator winding is measured by injecting a high-frequency signal, and then the current signal is filtered and calculated to obtain the position of the rotor. For example: publication No. CN113114077A discloses a sensorless permanent magnet synchronous motor initial position detection method, which is to inject a high-frequency square wave voltage into a d-axis and estimate a rotor initial position according to a high-frequency response current signal. The method can theoretically obtain higher estimation accuracy, but the algorithm is complex, a PI controller is needed to perform online adjustment or a filter and other equipment are needed to process high-frequency signals, and hardware cost is increased.
The instantaneous pulse position identification method comprises a table look-up method and an inductance matrix method, and the rotor position is obtained according to the transient current response by injecting equal-width pulses into the winding. For example, a table look-up method, in which a comparison table of a current response and a rotor angle obtained in advance is used to obtain a rotor position, requires a large number of tests in advance, and is complex in operation and low in precision; for another example, in an inductance matrix method, an inductance matrix is obtained through transient current response, and then the position of the rotor is obtained through calculation of the inductance matrix.
Disclosure of Invention
The present invention is directed to solve at least one of the above problems and provides a method for estimating a static initial position of a permanent magnet synchronous motor and a method for identifying a stator inductance.
In order to achieve the purpose, the invention adopts the technical scheme that:
a static initial position estimation method for a permanent magnet synchronous motor comprises the following steps:
injecting rated positive pulse voltage and rated negative pulse voltage into AB phase, BC phase and CA phase windings of the motor in sequence, wherein the rated positive pulse voltage and the rated negative pulse voltage are voltages when the output current of each phase reaches the rated current of the motor;
under the condition that the rated positive pulse voltage and the rated negative pulse voltage are injected into each phase, the response current values of each phase under the rated positive pulse voltage and the rated negative pulse voltage are recorded, the response current of each phase under the rated positive pulse voltage is subtracted from the response current of each phase under the rated negative pulse voltage, and the current response difference value delta I of the AB phase, the BC phase and the CA phase under a three-phase static coordinate system is calculatedab、ΔIbcAnd Δ Ica；
C is carried out on the response difference value of each phase currentThe lark transformation is carried out to obtain the current response difference value delta I under the alpha-beta axis two-phase static coordinate systemαAnd Δ Iβ；
Based on Delta IαAnd Δ IβCalculating a rotor initial position angle theta:
Figure BDA0003523202550000021
in some embodiments of the present invention, the method further comprises a magnetic pole direction verifying step:
when the sector of the initial position angle of the rotor is 30-90 degrees, inputting positive pulse voltage to the phase A, B and negative pulse voltage to the phase C according to a voltage vector U3, and measuring the phase C output current Ic-; inputting negative pulse voltage to the phase A and the phase B according to the voltage vector U4, inputting positive pulse voltage to the phase C, and measuring the phase C output current Ic +; if Ic- > Ic +, the calculated value of the position angle is judged to be accurate;
when the sector of the initial position angle of the rotor is 210-270 degrees, inputting positive pulse voltage to the phase A, B and negative pulse voltage to the phase C according to a voltage vector U3, and measuring the phase C output current Ic-; inputting negative pulse voltage to the phase A and the phase B according to the voltage vector U4, inputting positive pulse voltage to the phase C, and measuring the phase C output current Ic +; if Ic + is more than Ic-, judging the calculated value of the position angle to be accurate; (ii) a
When the sector of the initial position angle of the rotor is 90-150 degrees, inputting positive pulse voltage to the phase A and the phase B according to a voltage vector U5, and measuring the phase B output current Ib-; inputting negative pulse voltage to the phase A and the phase C according to the voltage vector U6, inputting positive pulse voltage to the phase B, and measuring the phase B output current Ib +; if Ib < - > Ib +, the calculated value of the position angle is judged to be accurate;
when the sector of the initial position angle of the rotor is 270-330 degrees, inputting positive pulse voltage to the phase A and the phase B according to a voltage vector U5, and measuring the phase B output current Ib-; inputting negative pulse voltage to the phase A and the phase C according to the voltage vector U6, inputting positive pulse voltage to the phase B, and measuring the phase B output current Ib +; if Ib + is greater than Ib-, judging that the calculated value of the position angle is accurate;
when the sector of the initial position angle of the rotor is 150-210 degrees, inputting positive pulse voltage to the phase B and the phase C according to a voltage vector U2, inputting negative pulse voltage to the phase A, and measuring the phase A output current Ia-; inputting negative pulse voltage to the phase B and the phase C according to the voltage vector U1, inputting positive pulse voltage to the phase A, and measuring the phase A output current Ia +; if Ia + is greater than Ia-, the calculated value of the position angle is judged to be accurate;
when the sector of the initial position angle of the rotor is 330-360 degrees or 0-30 degrees, inputting positive pulse voltage to the phase B and the phase C according to a voltage vector U2, inputting negative pulse voltage to the phase A, and measuring the phase A output current Ia-; inputting negative pulse voltage to the phase B and the phase C according to the voltage vector U1, inputting positive pulse voltage to the phase A, and measuring the phase A output current Ia +; and if Ia < - > Ia +, judging that the calculated value of the position angle is accurate.
The second embodiment of the present invention further provides a method for identifying stator inductance of a permanent magnet synchronous motor, which is characterized by comprising the following steps:
calculating the initial position angle of the patent by adopting the method;
calculating the inductance of the AB phase winding, the BC phase winding and the CA phase winding:
Figure BDA0003523202550000041
wherein: t issIn order to be the pulse width of the pulse,
Figure BDA0003523202550000042
is the average value of the AB phase current of the winding in unit pulse width,
Figure BDA0003523202550000043
Respectively the average value of phase current of a BC winding in a unit pulse width,
Figure BDA0003523202550000044
Is the average value of the phase current of the winding CA in unit pulse width, Delta isuFor the variation of the AB phase current of the winding in a unit pulse width, Δ isvVariation amount of phase current of winding BC in unit pulse width, Δ iswThe variation of the phase current of the winding CA in unit pulse width;
three-phase line inductance versus d-q axis inductance:
Figure BDA0003523202550000045
wherein: l isdIs d-axis inductance, LqIs a q-axis inductor;
further estimate Ld、LqComprises the following steps:
Figure BDA0003523202550000046
compared with the prior art, the method provided by the invention has the beneficial effects that:
(1) the invention improves the transient pulse injection method and provides a detection method for obtaining the position of a rotor by directly utilizing a transient current response difference value. According to the method, a large number of earlier-stage tests are not needed to be carried out to obtain a comparison table like a table look-up method, a large number of complex conversions are not needed to be carried out like an inductance matrix method, the position of the rotor is directly obtained through current impulse response through coordinate transformation and solving, an intermediate conversion link is omitted, data loss can be reduced, data accuracy is guaranteed, meanwhile, the method only needs to use existing equipment, extra hardware expenditure is not generated, and the method is simple, convenient and easy to implement and has high practical value.
(2) The invention provides a simple and easy rotor magnetic pole judging method which can be used for verifying whether the initial angle of the rotor is judged correctly, ensuring the accuracy of the identification of the initial angle and improving the robustness and the anti-interference capability of the system; after the initial position is obtained, the invention can conveniently obtain the stator inductance by formula calculation, and avoids additional inductance detection equipment or complex matrix transformation.
(3) After the initial position is obtained, the invention can conveniently obtain the stator inductance by formula calculation, avoids the additional inductance detection equipment and reduces the hardware cost, and simultaneously does not need complex inductance matrix transformation and reduces the calculated amount. Meanwhile, a plurality of functions such as motor rotor initial position identification, rotor polarity verification, inductance parameter identification and the like can be realized through one set of control strategy, the whole calculated amount and hardware overhead of a system can be reduced, and the integrated design of the functions can be realized conveniently.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a permanent magnet wind motor control system.
Fig. 2 is a flow chart of an implementation of initial position estimation and stator inductance identification of a permanent magnet synchronous motor.
Fig. 3 is an equivalent schematic diagram of the estimation of the initial position of the permanent magnet synchronous motor and the identification of the stator inductance.
FIG. 4 is a schematic diagram of three-phase pulse injection for magnetic pole direction identification.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a static initial position estimation method and an inductance identification mode for a permanent magnet synchronous motor, the whole process refers to a figure 2, and the method can be used for auxiliary control of a direct-drive permanent magnet wind driven generator so as to solve the problems of initial position estimation of a motor rotor and stator inductance identification.
The structure of the direct-drive permanent magnet wind generator system is shown in fig. 1, and mainly comprises the following parts: machine side input reactor, machine side IGBT module, support electric capacity, net side IGBT module, net side output reactor, voltage current sampling circuit and controller, this part belongs to prior art, no longer gives unnecessary details.
The invention provides a static initial position estimation method of a permanent magnet synchronous motor, which is based on salient pole characteristics of the permanent magnet motor, and the stator inductance changes along with the change of the position of a rotor magnetic pole, so that the rotor position information can be obtained by utilizing the characteristics.
First, the principle of the method of estimating the initial position of the stator according to the present invention will be described.
Based on the saliency principle, the permanent magnet generator set bus support capacitor is externally applied with voltage, and two-phase voltage pulses can be applied to a permanent magnet motor stator winding by controlling the switching sequence of the PWM of the set inversion module, as shown in figure 3. The motor winding can be equivalent to an RL circuit, and the zero state response indicates that:
Figure BDA0003523202550000061
in the formula, U is rated pulse voltage, R is winding resistance, i is pulse response current, L is phase inductance, and t is time.
As can be seen from equation (1), by applying a voltage pulse, the current impulse response of the corresponding winding can be measured, and ignoring the winding resistance, the following can be obtained:
Figure BDA0003523202550000062
according to the traditional identification method, two technical routes exist, one is that an inductance matrix of each winding is obtained through current impulse response, and then a rotor position angle is obtained through complex calculation; the other type is to directly record the law of current response and rotor position, obtain a comparison table of rotor position angle and current response law through a large number of experiments, and then obtain the rotor position angle through a table look-up method. For the first method, the inductance matrix solving and conversion are quite complex, and the data precision is easily lost in the complex conversion solving process; the second method requires a lot of preliminary preparation work, and the identification precision of the table lookup method is difficult to guarantee due to operation and sampling errors.
The invention provides a novel method for directly obtaining the position angle of a rotor from current impulse response by using a current difference value without an inductance matrix. The method for estimating the static initial position of the permanent magnet synchronous motor specifically comprises the following steps.
S1: and injecting rated positive pulse voltage and rated negative pulse voltage into AB phase, BC phase and CA phase windings of the motor in sequence, wherein the rated positive pulse voltage and the rated negative pulse voltage are voltages when the output current of each phase reaches the rated current of the motor.
The rated pulse voltage can be obtained by the following method. In some embodiments of the invention: the rated pulse voltage can be obtained by the following method. Injecting pulse U-phase positive pulse and pulse V-phase negative pulse into the AB-phase winding, and recording the pulse response Iu of the U-phase current; and gradually increasing the pulse width until Iu is larger than the rated current value of the motor, wherein the pulse width is the selected pulse width and corresponds to the rated positive pulse voltage and the rated negative pulse voltage of each phase.
S2: under the condition that the rated positive pulse voltage and the rated negative pulse voltage are injected into each phase, the response current values of each phase under the rated positive pulse voltage and the rated negative pulse voltage are recorded, the response current of each phase under the rated positive pulse voltage is subtracted from the response current of each phase under the rated negative pulse voltage, and the current response difference value delta I of the AB phase, the BC phase and the CA phase under a three-phase static coordinate system is calculatedab、ΔIbcAnd Δ Ica。
Specifically, after a rated pulse value is obtained, the pulse width is maintained, and a U-phase positive pulse and a V-phase negative pulse, and a V-phase positive pulse and a U-phase negative pulse are injected into the AB-phase winding in sequence to respectively obtain positive pulse response current iabAnd a negative impulse response current iba(ii) a Injecting a V-phase positive pulse and a W-phase negative pulse, and a W-phase positive pulse and a V-phase negative pulse into the BC-phase winding to respectively obtain positive pulse response current ibcAnd negative impulse current response icb(ii) a Winding around CAInjecting W-phase positive pulse and U-phase negative pulse, and U-phase positive pulse and W-phase negative pulse to obtain positive pulse response current icaAnd negative impulse current response iac(ii) a Obtaining the AB phase, BC phase and CA phase current response difference value delta I under the three-phase static coordinate systemab、ΔIbcAnd Δ Ica。
Clark conversion is carried out on the current response difference values of all phases to obtain the current response difference value delta I under an alpha-beta axis two-phase static coordinate systemαAnd Δ Iβ；
Figure BDA0003523202550000071
Based on Delta IαAnd Δ IβCalculating the initial position theta of the rotor:
Figure BDA0003523202550000072
the method for acquiring the rotor position angle is simple to operate, a complex intermediate inductance matrix does not need to be calculated, and the rotor position angle can be directly acquired by current impulse response by utilizing the current difference value.
Hereinafter, the estimation process of the initial position of the rotor will be described in detail.
The following relation exists between the response difference value of positive and negative current of each phase and the phase inductance
Figure BDA0003523202550000081
Wherein: i.e. iabFor positive pulse response current, i, of AB phase windingbaThe current is the AB phase winding negative direction impulse response current; i.e. ibcPulse response current, i, for positive direction of BC phase windingcbThe pulse response current is in the negative direction of the BC phase winding; i.e. icaPulse response current, i, for positive direction of CA phase windingacThe current is the negative direction pulse response current of the CA phase winding; l isabAnd LbaAn AB phase winding inductor; l is a radical of an alcoholbcAnd LcbIs a BC phase winding inductor; l iscaAnd LacIs a CA phase winding inductance; u is rated pulse voltage;
that is, each phase current response difference value is calculated based on the bus voltage and each phase winding inductance.
Wherein: further there are the following relationships:
the AB phase winding inductance meets the condition one:
Figure BDA0003523202550000082
the inductance of the BC phase winding meets the second condition:
Figure BDA0003523202550000083
the inductance of the CA phase winding meets the third condition:
Figure BDA0003523202550000084
wherein: l0A constant component of line inductance,/g1Is the first harmonic amplitude of the line inductance,/g2Is the line inductance second harmonic amplitude;
substituting equations (6) - (8) into equation (5) yields:
Figure BDA0003523202550000091
Figure BDA0003523202550000092
Figure BDA0003523202550000093
since the following inequality relationships exist in equations (9) - (11):
l0、lg1、lg2the condition four is satisfied:
Figure BDA0003523202550000094
Figure BDA0003523202550000095
substituting the conditional four formula into (9) - (11) to obtain:
Figure BDA0003523202550000101
Figure BDA0003523202550000102
Figure BDA0003523202550000103
the direct relation between the difference value of positive and negative current of the windings AB, BC and CA and the position of the rotor can be obtained by processing the formula (14) - (16):
Figure BDA0003523202550000104
clark transformation of equation (17) becomes:
Figure BDA0003523202550000111
the initial position of the rotor can then be obtained:
Figure BDA0003523202550000112
as can be seen from equation (19), the initial angle of the motor can be directly obtained from the current difference without performing a complicated inductance calculation. The obtained angle only shows 1 time periodic change along with the rotor position in a period of 1 electrical angle, and the position angle of 0-360 degrees can be directly calculated without performing an NS pole judgment process.
By the method, the position angle of the rotor can be accurately identified theoretically, but due to the influence of factors such as sampling deviation and external interference, the situation that accidental detection deviation is overlarge in the actual use process can occur, and aiming at the situation, the invention provides a simple method for verifying whether the torque angle is correctly identified by judging the direction of the NS pole.
The magnetic pole direction of the rotor is checked to pass through the detected rotor position angle value, the direction of applying three-phase pulse to the motor stator winding A, B, C is selected, then positive and negative current pulse response is obtained, the magnetic pole direction can be judged by comparing the positive and negative current amplitude values, and further, whether the rotor position angle identification is correct is checked. A schematic diagram of a three-phase pulse injection is shown in fig. 4.
In some embodiments of the present invention, the pole direction verification step is as follows.
According to the position of the sector where the rotor initial position angle obtained by calculation is located, a positive pulse signal or a negative pulse signal is applied to a motor winding according to rules, and output current is compared to judge the accuracy of the calculation result of the rotor initial position angle; according to the illustration of fig. 4, the rule for implementing the tailored three-phase pulse injection is shown in table 1. Applying a pulse signal to a motor winding according to the interval of the rotor position angle value, and if the synthetic magnetomotive force of the winding is in the same direction as the rotor magnetomotive force and a positive pulse signal is applied to the motor winding, reducing the inductance value at the moment, and accelerating the current response speed; when a reverse pulse signal is applied to the motor winding, the magnetomotive force synthesized by the winding is opposite to the rotor magnetomotive force, and at the moment, the inductance value is increased, and the current response speed is reduced. Therefore, if the pulse response current test result is consistent with that in table 1, the initial position angle detection is considered to be correct, and the next operation can be carried out; if the test result is inconsistent with table 1, it is determined that the initial position angle detection deviation is too large, and position angle detection needs to be performed again. When the rotor position angle is in the other sector, a check is made according to table 1.
Figure BDA0003523202550000121
The flow of the specific embodiment is described as follows.
When the sector of the initial position angle of the rotor is 30-90 degrees, inputting positive pulse voltage to the phase A and the phase C according to a voltage vector U3, and measuring the phase C output current Ic-; inputting negative pulse voltage to the phase A and the phase B according to the voltage vector U4, inputting positive pulse voltage to the phase C, and measuring the phase C output current Ic +; if Ic & gt Ic +, judging that the calculated value of the position angle is accurate;
when the sector of the initial position angle of the rotor is 210-270 degrees, inputting positive pulse voltage to the phase A, B and negative pulse voltage to the phase C according to a voltage vector U3, and measuring the phase C output current Ic-; inputting negative pulse voltage to the phase A and the phase B according to the voltage vector U4, inputting positive pulse voltage to the phase C, and measuring the phase C output current Ic +; if Ic + is more than Ic-, judging the calculated value of the position angle to be accurate; (ii) a
When the sector of the initial position angle of the rotor is 90-150 degrees, inputting positive pulse voltage to the phase A and the phase B according to a voltage vector U5, and measuring the phase B output current Ib-; inputting negative pulse voltage to the phase A and the phase C according to the voltage vector U6, inputting positive pulse voltage to the phase B, and measuring the phase B output current Ib +; if Ib < - > Ib +, the calculated value of the position angle is judged to be accurate;
when the sector of the initial position angle of the rotor is 270-330 degrees, inputting positive pulse voltage to the phase A and the phase B according to a voltage vector U5, and measuring the phase B output current Ib-; inputting negative pulse voltage to the phase A and the phase C according to the voltage vector U6, inputting positive pulse voltage to the phase B, and measuring the phase B output current Ib +; if Ib + is greater than Ib-, judging that the calculated value of the position angle is accurate;
when the sector of the initial position angle of the rotor is 150-210 degrees, inputting positive pulse voltage to the phase B and the phase C according to a voltage vector U2, inputting negative pulse voltage to the phase A, and measuring the phase A output current Ia-; inputting negative pulse voltage to the phase B and the phase C according to the voltage vector U1, inputting positive pulse voltage to the phase A, and measuring the phase A output current Ia +; if Ia + is greater than Ia-, the calculated value of the position angle is judged to be accurate;
when the sector of the initial position angle of the rotor is 330-360 degrees or 0-30 degrees, inputting positive pulse voltage to the phase B and the phase C according to a voltage vector U2, inputting negative pulse voltage to the phase A, and measuring the phase A output current Ia-; inputting negative pulse voltage to the phase B and the phase C according to the voltage vector U1, inputting positive pulse voltage to the phase A, and measuring the phase A output current Ia +; and if Ia < - > Ia +, judging that the calculated value of the position angle is accurate.
The second embodiment of the present invention further provides a method for identifying a stator inductance of a permanent magnet synchronous motor, which includes the following steps.
Calculating an initial position angle of a patent by adopting the method disclosed by the first embodiment;
calculating the inductance of the AB phase winding, the BC phase winding and the CA phase winding:
Figure BDA0003523202550000131
wherein: t issIn order to be the width of the pulse,
Figure BDA0003523202550000132
is the average value of the AB phase current of the winding in unit pulse width,
Figure BDA0003523202550000133
Respectively the average value of the phase current of the winding BC in the unit pulse width,
Figure BDA0003523202550000134
Is the average value of the phase current of the winding CA in unit pulse width, Delta isuFor the variation of the AB phase current of the winding in a unit pulse width, Δ isvVariation amount of phase current of winding BC in unit pulse width, Δ iswThe variation of the phase current of the winding CA in unit pulse width; r is a winding resistance;
three-phase line inductance versus d-q axis inductance:
Figure BDA0003523202550000135
wherein: l isdIs d-axis inductance, LqIs a q-axis inductor;
further estimate Ld、LqComprises the following steps:
Figure BDA0003523202550000141
Figure BDA0003523202550000142
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (4)

1. A static initial position estimation method of a permanent magnet synchronous motor is characterized by comprising the following steps:
injecting rated positive pulse voltage and rated negative pulse voltage into AB phase, BC phase and CA phase windings of the motor in sequence, wherein the rated positive pulse voltage and the rated negative pulse voltage are voltages when the output current of each phase reaches the rated current of the motor;
under the condition that the rated positive pulse voltage and the rated negative pulse voltage are injected into each phase, the response current values of each phase under the rated positive pulse voltage and the rated negative pulse voltage are recorded, the response current of each phase under the rated positive pulse voltage is subtracted from the response current of each phase under the rated negative pulse voltage, and the current response difference value delta I of the AB phase, the BC phase and the CA phase under a three-phase static coordinate system is calculatedab、ΔIbcAnd Δ Ica；
Clark conversion is carried out on the current response difference values of all phases to obtain the current response difference value delta I under an alpha-beta axis two-phase static coordinate systemαAnd Δ Iβ；
Based on Delta IαAnd Δ IβCalculating a rotor initial position angle theta:
Figure FDA0003523202540000011
2. the static initial position estimation method of a permanent magnet synchronous motor according to claim 1, wherein the method of obtaining the rated positive pulse voltage and the rated negative pulse voltage comprises:
injecting pulse U-phase positive pulse and pulse V-phase negative pulse into the AB-phase winding, and recording the pulse response Iu of the U-phase current;
and gradually increasing the pulse width until Iu is larger than the rated current value of the motor, wherein the pulse width is the selected pulse width and corresponds to the rated positive pulse voltage and the rated negative pulse voltage of each phase.
3. The method for estimating the static initial position of the permanent magnet synchronous motor according to any one of claims 1 to 2, further comprising a magnetic pole direction verifying step of:
when the sector of the initial position angle of the rotor is 30-90 degrees, inputting positive pulse voltage to the phase A, B and negative pulse voltage to the phase C according to a voltage vector U3, and measuring the phase C output current Ic-; inputting negative pulse voltage to the phase A and the phase B according to the voltage vector U4, inputting positive pulse voltage to the phase C, and measuring the phase C output current Ic +; if Ic & gt Ic +, judging that the calculated value of the position angle is accurate;
when the sector of the initial position angle of the rotor is 210-270 degrees, inputting positive pulse voltage to the phase A, B and negative pulse voltage to the phase C according to a voltage vector U3, and measuring the phase C output current Ic-; inputting negative pulse voltage to the phase A and the phase B according to the voltage vector U4, inputting positive pulse voltage to the phase C, and measuring the phase C output current Ic +; if Ic + is more than Ic-, judging the calculated value of the position angle to be accurate; (ii) a
When the sector of the initial position angle of the rotor is 90-150 degrees, inputting positive pulse voltage to the phase A and the phase B according to a voltage vector U5, and measuring the phase B output current Ib-; inputting negative pulse voltage to the phase A and the phase C according to the voltage vector U6, inputting positive pulse voltage to the phase B, and measuring the phase B output current Ib +; if Ib < - > Ib +, judging that the calculated value of the position angle is accurate;
when the sector of the initial position angle of the rotor is 270-330 degrees, inputting positive pulse voltage to the phase A and the phase B according to a voltage vector U5, and measuring the phase B output current Ib-; inputting negative pulse voltage to the phase A and the phase C according to the voltage vector U6, inputting positive pulse voltage to the phase B, and measuring the phase B output current Ib +; if Ib + is greater than Ib-, judging that the calculated value of the position angle is accurate;
when the sector of the initial position angle of the rotor is 150-210 degrees, inputting positive pulse voltage to the phase B and the phase C according to a voltage vector U2, inputting negative pulse voltage to the phase A, and measuring the phase A output current Ia-; inputting negative pulse voltage to the phase B and the phase C according to the voltage vector U1, inputting positive pulse voltage to the phase A, and measuring the phase A output current Ia +; if Ia + is greater than Ia-, the calculated value of the position angle is judged to be accurate;
when the sector of the initial position angle of the rotor is 330-360 degrees or 0-30 degrees, inputting positive pulse voltage to the phase B and the phase C according to a voltage vector U2, inputting negative pulse voltage to the phase A, and measuring the phase A output current Ia-; inputting negative pulse voltage to the phase B and the phase C according to the voltage vector U1, inputting positive pulse voltage to the phase A, and measuring the phase A output current Ia +; and if Ia < - > Ia +, judging that the calculated value of the position angle is accurate.
4. A permanent magnet synchronous motor stator inductance identification method is characterized by comprising the following steps:
calculating a patent initial position angle using the method of any one of claims 1 to 3;
calculating the inductance of the AB phase winding, the BC phase winding and the CA phase winding:
Figure FDA0003523202540000021
wherein: t is a unit ofsIn order to be the width of the pulse,
Figure FDA0003523202540000022
is the average value of the AB phase current of the winding in unit pulse width,
Figure FDA0003523202540000023
Respectively the average value of the phase current of the winding BC in the unit pulse width,
Figure FDA0003523202540000031
Is the average value of the phase current of the winding CA in unit pulse width, Delta isuThe variation quantity, delta i, of the AB phase current of the winding in a unit pulse widthsvVariation amount of phase current of winding BC in unit pulse width, delta iswThe variation of the phase current of the winding CA in unit pulse width;
three-phase line inductance is related to d-q axis inductance:
Figure FDA0003523202540000032
wherein: l isdIs d-axis inductance, LqIs a q-axis inductance;
further estimate Ld、LqComprises the following steps:
Figure FDA0003523202540000033
CN202210187193.0A 2022-02-28 2022-02-28 Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor Pending CN114567222A (en)

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