CN114598199A - Maximum torque current ratio calibration method, device and equipment of permanent magnet synchronous motor - Google Patents
Maximum torque current ratio calibration method, device and equipment of permanent magnet synchronous motor Download PDFInfo
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Abstract
The application relates to the technical field of permanent magnet synchronous motors, in particular to a method, a device and equipment for calibrating a maximum torque-current ratio of a permanent magnet synchronous motor, wherein the method comprises the following steps: generating a current amplitude maximum torque current ratio MTPA table according to the maximum torque value of the permanent magnet synchronous motor under each obtained current amplitude and the current angle corresponding to the maximum torque value; generating a current angle MTPA table according to the maximum torque value of the permanent magnet synchronous motor at each angle and the current amplitude corresponding to the maximum torque value; and filling blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table to obtain an MTPA calibration result of the permanent magnet synchronous motor. Therefore, the problems that the maximum torque current ratio is usually calibrated manually in the related technology, the calibration period is long, the efficiency is low, the calibration precision is poor, the labor cost is high and the like are solved.
Description
Technical Field
The present disclosure relates to the field of permanent magnet synchronous motors, and more particularly, to a method and an apparatus for calibrating a maximum torque-to-current ratio of a permanent magnet synchronous motor, an electronic device, and a storage medium.
Background
The IPMSM (permanent magnet synchronous motor) parameters are easy to change along with the running state, so that the uncertainty of the parameters influences the control performance of the motor, the influence of the change of the current on the inductance value of a motor winding is large in the running process of the motor, and particularly when the motor runs in a magnetic circuit saturation state, the inductance parameter change is more obvious, so that the precision requirement of the MTPA (maximum torque current ratio) calibration of the motor is higher and higher.
In the related art, the motor MTPA is usually calibrated by means of manual calibration. However, manual calibration requires an engineer to continuously input data manually, the technical requirement on a matching engineer is high, the working strength is high, the calibration period is long, the calibration precision is not ideal enough, the data display interface is not visual enough, the engineer needs to perform calculation twice or even many times to obtain a final result, and the working efficiency is greatly reduced; meanwhile, with the improvement of control precision in the calibration or efficiency calculation process, the current tables are required to be denser, so that more manpower and material resources are consumed for calibration work, and reading errors are inevitably generated in the manual calibration process, so that the calibration precision is greatly reduced.
Disclosure of Invention
The application provides a maximum torque current ratio calibration method and device of a permanent magnet synchronous motor, electronic equipment and a storage medium, and aims to solve the problems that the maximum torque current ratio is usually calibrated manually in the related technology, the calibration period is long, the efficiency is low, the calibration precision is poor, the labor cost is high and the like.
An embodiment of a first aspect of the present application provides a method for calibrating a maximum torque-to-current ratio of a permanent magnet synchronous motor, including the following steps: acquiring a maximum torque value and a current angle corresponding to the maximum torque value under each current amplitude of the permanent magnet synchronous motor, and generating a current amplitude MTPA table according to the maximum torque value and the current angle corresponding to the maximum torque value under each current amplitude; acquiring a maximum torque value and a current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor, and generating a current angle MTPA table according to the maximum torque value and the current amplitude corresponding to the maximum torque value at each current angle; and filling blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table to obtain an MTPA calibration result of the permanent magnet synchronous motor.
Further, the obtaining of the maximum torque value and the current angle corresponding to the maximum torque value at each current amplitude of the permanent magnet synchronous motor includes: giving a first initial current amplitude and a first initial current angle; and controlling the current amplitude to increase sequentially from the first initial current amplitude according to a first preset current step length until the first target current amplitude is reached, wherein, under each current amplitude, controlling the first initial current angle to increase sequentially according to a second preset current step length until the first target current angle is reached, and obtaining a maximum torque value under the current amplitude and a current angle corresponding to the maximum torque value.
Further, the obtaining of the maximum torque value at each angle of the permanent magnet synchronous motor and the current amplitude corresponding to the maximum torque value includes: giving a second initial current amplitude and a second initial current angle; and controlling the second initial current angle to increase sequentially according to a third preset current step length until a second target current angle is reached, wherein, at each current angle, controlling the current amplitude to increase sequentially from the second initial current amplitude according to a fourth preset current step length until the second target current amplitude is reached, and obtaining a maximum torque value at the current angle and a current angle corresponding to the maximum torque value.
Further, the filling blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table to obtain the MTPA calibration result of the permanent magnet synchronous motor includes: screening a value different from the current amplitude value in the current amplitude value MTPA table from the current angle MTPA table to obtain a first screening result of the current angle MTPA table; screening out a value with the error of the current amplitude exceeding a target range from the first screening result to the median current amplitude of the current amplitude MTPA table to obtain a second screening result of the current angle MTPA table; and inserting the maximum torque value at each current angle in the second screening result and the current amplitude corresponding to the maximum torque value into the current amplitude MTPA table to generate an MTPA table of the current, the angle and the torque.
An embodiment of a second aspect of the present application provides a maximum torque-to-current ratio calibration apparatus for a permanent magnet synchronous motor, including: the first generation module is used for acquiring a maximum torque value and a current angle corresponding to the maximum torque value under each current amplitude of the permanent magnet synchronous motor and generating a current amplitude maximum torque to current ratio MTPA table according to the maximum torque value and the current angle corresponding to the maximum torque value under each current amplitude; the second generation module is used for acquiring a maximum torque value and a current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor, and generating a current angle MTPA table according to the maximum torque value and the current amplitude corresponding to the maximum torque value at each current angle; and the supplementing module is used for supplementing blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table so as to obtain the MTPA calibration result of the permanent magnet synchronous motor.
Further, the first generating module is further configured to: giving a first initial current amplitude and a first initial current angle; and controlling the current amplitude to increase sequentially from the first initial current amplitude according to a first preset current step length until the first target current amplitude is reached, wherein, under each current amplitude, controlling the first initial current angle to increase sequentially according to a second preset current step length until the first target current angle is reached, and obtaining a maximum torque value under the current amplitude and a current angle corresponding to the maximum torque value.
Further, the second generating module is further configured to: giving a second initial current amplitude and a second initial current angle; and controlling the second initial current angle to increase sequentially according to a third preset current step length until a second target current angle is reached, wherein, at each current angle, controlling the current amplitude to increase sequentially from the second initial current amplitude according to a fourth preset current step length until the second target current amplitude is reached, and obtaining a maximum torque value at the current angle and a current angle corresponding to the maximum torque value.
Further, the supplemental module is further to: screening a value different from the current amplitude value in the current amplitude value MTPA table from the current angle MTPA table to obtain a first screening result of the current angle MTPA table; screening out a value with the error of the current amplitude exceeding a target range from the first screening result to the median current amplitude of the current amplitude MTPA table to obtain a second screening result of the current angle MTPA table; and inserting the maximum torque value at each current angle in the second screening result and the current amplitude corresponding to the maximum torque value into the current amplitude MTPA table to generate the MTPA table of the current, the angle and the torque.
An embodiment of a third aspect of the present application provides an electronic device, including: the calibration method comprises the following steps of storing a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the calibration method of the maximum torque current ratio of the permanent magnet synchronous motor according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor, and is used to implement the maximum torque current ratio calibration method for a permanent magnet synchronous motor as described in the foregoing embodiments.
Therefore, the application has at least the following beneficial effects:
the maximum torque-current ratio is calibrated in an automatic calibration mode, the calibration period is effectively shortened, the calibration efficiency and the calibration precision are improved, the influence of different changes of the inductance value of the motor winding on the calibration result under two conditions of current slow increase (a current amplitude MTPA table) and current transient (a current angle MTPA table) is considered, and the calibration table is dense, wide in data range and simple to operate. Therefore, the technical problems that the maximum torque current ratio is usually calibrated manually in the related technology, the calibration period is long, the efficiency is low, the calibration precision is poor, the labor cost is high and the like are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a maximum torque-to-current ratio calibration method for a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a maximum torque to current ratio calibration method for a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 3 is an exemplary diagram of a maximum torque current ratio apparatus of a permanent magnet synchronous motor provided according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a maximum torque current ratio calibration method, a maximum torque current ratio calibration device, an electronic device, and a storage medium of a permanent magnet synchronous motor according to an embodiment of the present application with reference to the drawings. In order to solve the problems that the maximum torque current ratio is calibrated manually, the calibration period is long, the efficiency is low, the calibration precision is poor and the labor cost is high in the related technology mentioned in the background technology, the maximum torque current ratio calibration method of the permanent magnet synchronous motor is provided. Therefore, the technical problems that the maximum torque current ratio is usually calibrated manually in the related technology, the calibration period is long, the efficiency is low, the calibration precision is poor, the labor cost is high and the like are solved.
Specifically, fig. 1 is a schematic flowchart of a maximum torque-to-current ratio calibration method for a permanent magnet synchronous motor according to an embodiment of the present disclosure.
As shown in fig. 1, the method for calibrating the maximum torque current ratio of the permanent magnet synchronous motor comprises the following steps:
in step S101, a maximum torque value and a current angle corresponding to the maximum torque value at each current amplitude of the permanent magnet synchronous motor are obtained, and a current amplitude MTPA table is generated according to the maximum torque value and the current angle corresponding to the maximum torque value at each current amplitude.
The current amplitude MTPA table may also be referred to as an equal current step MTPA table.
In this embodiment of the present application, obtaining a maximum torque value and a current angle corresponding to the maximum torque value at each current amplitude of a permanent magnet synchronous motor includes: giving a first initial current amplitude and a first initial current angle; and controlling the current amplitude to increase sequentially from the first initial current amplitude according to a first preset current step length until the first target current amplitude is reached, wherein, under each current amplitude, controlling the first initial current angle to increase sequentially according to a second preset current step length until the first target current angle is reached, and obtaining a maximum torque value under the current amplitude and a current angle corresponding to the maximum torque value.
The first initial current amplitude, the first initial current angle, the first preset current step, the first target current amplitude, the second preset current step, and the first target current angle may be specifically set according to an actual calibration condition, which is not specifically limited herein.
It can be understood that, in the embodiment of the present application, a current amplitude may be given, the current amplitude is controlled to sequentially change according to a certain current step length until a final calibration current amplitude is obtained, and a maximum torque point and a maximum current angle corresponding to the maximum torque point under each current amplitude are respectively obtained, so as to obtain a current amplitude MTPA table.
Specifically, the process of obtaining the maximum torque point and the current angle corresponding to the maximum torque point under the current amplitude is as follows:
(1) setting current amplitude and current angle, and controlling the set current amplitude to be unchanged;
(2) the current angle is uniformly changed according to the set step length until the current angle reaches the final calibration value, and the maximum torque value in the process is obtained;
(3) and increasing a step length for the current amplitude, then obtaining the maximum torque value under the current amplitude and the current angle corresponding to the maximum torque value according to the method, and completing the MTPA calibration table of the equal current amplitude compensation according to the method until the current amplitude is increased to a final calibration value.
It should be noted that the current in the table is uniformly increased according to the set step length, the torque is the actual torque value collected by the power analyzer, the current angle is the current angle corresponding to the maximum torque, and the current angle here is irregular data.
In step S102, a maximum torque value and a current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor are obtained, and a current angle MTPA table is generated according to the maximum torque value and the current amplitude corresponding to the maximum torque value at each current angle.
The current angle MTPA table may also be referred to as an equal current angle step MTPA table.
In this embodiment of the present application, obtaining a maximum torque value and a current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor includes: giving a second initial current amplitude and a second initial current angle; and controlling the second initial current angle to increase in sequence according to a third preset current step length until a second target current angle is reached, wherein, at each current angle, controlling the current amplitude to increase in sequence from the second initial current amplitude according to a fourth preset current step length until the second target current amplitude is reached, and obtaining a maximum torque value at the current angle and a current angle corresponding to the maximum torque value.
The second initial current amplitude, the second initial current angle, the third preset current step, the second target current angle, the fourth preset current step and the second target current angle may be specifically set according to an actual calibration condition, which is not specifically limited.
It can be understood that, in the embodiment of the present application, a specified current angle may be given, the current angle is controlled to sequentially change according to a certain angle step until a final calibration angle is obtained, and the maximum torque point and the current amplitude corresponding to the maximum torque point at each current angle are respectively obtained, so as to obtain the current angle MTPA table.
Specifically, the process of obtaining the maximum torque point and the current amplitude corresponding to the maximum torque point at the current angle is as follows:
(1) giving a current angle and a current amplitude value, and controlling the given current angle to be unchanged;
(2) the current amplitude is uniformly changed according to the set step length until reaching a final calibration value, and the maximum torque value in the process is obtained;
(3) and increasing a step length for the current angle, then obtaining the maximum torque value under the current angle and the current amplitude corresponding to the maximum torque value according to the method, and completing the MTPA calibration table of the equal current angle compensation according to the method until the current angle is increased to the final calibration value.
It should be noted that the current angle in the table is uniformly increased according to the set step length, the torque is the actual torque value collected by the power analyzer, the current amplitude is the current amplitude corresponding to the maximum torque, and the current amplitude here is irregular data.
In step S103, blank grid points in the current amplitude MTPA table are filled according to the data of the current angle MTPA table to obtain an MTPA calibration result of the permanent magnet synchronous motor.
It can be understood that, in the embodiment of the present application, a final current MTPA table can be obtained by performing a point-filling on the equivalent current amplitude step MTPA table, so as to complete MTPA calibration, thereby considering the influence of different changes of the inductance value on the calibration result in two cases, namely, a current ramp (current amplitude MTPA table) and a current transient (current angle MTPA table), and in particular, making the calibration result more accurate.
In the embodiment of the present application, the filling blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table to obtain the MTPA calibration result of the permanent magnet synchronous motor includes: screening a value different from the current amplitude value in the current amplitude value MTPA table from the current angle MTPA table to obtain a first screening result of the current angle MTPA table; screening out a value with the error of the current amplitude exceeding a target range from the first screening result to obtain a second screening result of the current angle MTPA table; and inserting the maximum torque value at each current angle in the second screening result and the current amplitude corresponding to the maximum torque value into a current amplitude MTPA table to generate an MTPA table of the current, the angle and the torque.
Specifically, the process of performing point-filling on the equivalent current amplitude step size MTPA table to obtain the final current MTPA table is as follows: and searching a current amplitude which is not contained in the current amplitude MTPA table from the equal current angle step MTPA table, wherein the difference between the current amplitude and the current amplitude in the current amplitude MTPA table is not in an error range, inserting the current amplitude and the maximum torque value at the angle into the current amplitude MTPA table to form a final torque MTPA table, wherein the current amplitude and the current angle of the finally formed MTPA table may not be uniformly changed, but the MTPA table is dense, wide in data range and high in calibration precision.
It should be noted that, in the calibration of the current table and the angle table, the changes of the current and the angle are uniform, the operation can be automatically realized by the aid of an upper computer, that is, the process can be automatically calibrated by the aid of the upper computer, and after a user sets calibration parameters, the user does not need to interfere with the calibration process under the condition that no fault occurs.
The method for calibrating the maximum torque current ratio of the permanent magnet synchronous motor will be explained by using a specific embodiment, as shown in fig. 2, specifically as follows:
the method comprises the following steps: determining delta I according to the peak current of the motor and the calibration precision required by a user, and determining delta theta according to the current angle range and the calibration precision required by the user.
Step two: and a user inputs a motor rotating speed value on an upper computer interface, and the rotating speed of the motor is kept unchanged in the calibration process.
Step three, calibrating the MTPA table with equal current step length: giving a current amplitude value Is, controlling the current amplitude value to sequentially change according to a current step size delta I until a final calibrated current amplitude value Ismax, and respectively obtaining a maximum torque point Tmax and a current angle theta under each current amplitude value to obtain an equal current step size MTPA table, wherein the specific process Is as follows: setting an initial value of the current amplitude to be 0, setting an initial current angle to be 0 degree, recording a torque value of the motor collected by the power analyzer, then controlling the current angle to be uniformly increased to a maximum value according to a step length of 0.5 degree, recording the torque value of the motor at each angle, and comparing the obtained torque values to obtain a maximum torque at the current and an angle corresponding to the maximum torque. And increasing the current amplitude by 0.5 ampere step until the current peak value, and obtaining the maximum torque and the current angle corresponding to the maximum torque under each current amplitude according to the mode, namely finishing the current amplitude MTPA table. The ammeter obtained by the method has denser format and higher precision, and the process is controlled by the upper computer, so that the operation is simple and the speed is high.
Step four: calibrating an MTPA table with equal angle step length: giving a current angle theta, controlling the current amplitude to sequentially change according to a current step delta theta until a final calibration current amplitude I theta max, respectively obtaining a maximum torque point Tmax and a current amplitude Is under each current amplitude, and obtaining an equal angle step MTPA table, wherein the specific process Is as follows: setting the initial value of the current angle to be 0, setting the initial current amplitude to be 0 degree, recording the torque value of the motor collected by the power analyzer, then controlling the current amplitude to be uniformly increased to the maximum value according to 0.5 ampere step length, recording the torque value of the motor at each angle, and comparing the obtained torque values to obtain the maximum torque at the angle and the current corresponding to the maximum torque. And increasing the current angle by 0.5 degree step to the maximum value, and obtaining the maximum torque under each current amplitude and the current amplitude corresponding to the maximum torque according to the mode, namely finishing the current angle MTPA table. The ammeter obtained by the method is denser in form and higher in precision, the process is controlled by an upper computer, and the method is simple to operate and high in speed.
Step five: and searching a current amplitude which is not in the current amplitude MTPA table in the equal current angle step MTPA table, wherein the difference between the current amplitude and the current amplitude in the current amplitude MTPA table is not in an error range, and inserting the current amplitude and the maximum torque value at the angle into the current amplitude MTPA table to form a final current, angle and torque MTPA table. The current amplitude and the current angle of the finally formed MTPA table may not be uniformly changed, but the MTPA table has wide data range, high data density and high precision.
In summary, the embodiment of the present application determines the equal current step size MTPA table, then determines the equal current angle step size MTPA table, and inserts the current amplitude and the maximum torque value under the angle table into the current amplitude MTPA table to form the final torque MTPA table. The calibration method is simple and reliable, high in precision and efficiency, greatly reduces the workload of calibration personnel, improves the efficiency in the research and development stage, and reduces the research and development cost. Meanwhile, the embodiment of the application considers the influence of different changes of the inductance value on the calibration result under two conditions of current slow increase (a current amplitude MTPA table) and current transient (a current angle MTPA table), and can effectively improve the performance control of the motor.
Next, a maximum torque current ratio calibration apparatus of a permanent magnet synchronous motor according to an embodiment of the present application is described with reference to the drawings.
Fig. 3 is a block diagram schematically illustrating a maximum torque current ratio calibration apparatus of a permanent magnet synchronous motor according to an embodiment of the present application.
As shown in fig. 3, the maximum torque current ratio calibration apparatus 10 of the permanent magnet synchronous motor includes: a first generation module 100, a second generation module 200, and a replenishment module 300.
The first generating module 100 is configured to obtain a maximum torque value and a current angle corresponding to the maximum torque value at each current amplitude of the permanent magnet synchronous motor, and generate a current amplitude maximum torque to current ratio MTPA table according to the maximum torque value and the current angle corresponding to the maximum torque value at each current amplitude; the second generating module 200 is configured to obtain a maximum torque value at each angle of the permanent magnet synchronous motor and a current amplitude corresponding to the maximum torque value, and generate a current angle MTPA table according to the maximum torque value at each current angle and the current amplitude corresponding to the maximum torque value; the supplementing module 300 is configured to supplement the blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table, so as to obtain an MTPA calibration result of the permanent magnet synchronous motor.
In an embodiment of the present application, the first generating module 100 is further configured to: giving a first initial current amplitude and a first initial current angle; and controlling the current amplitude to increase sequentially from the first initial current amplitude according to a first preset current step length until the first target current amplitude is reached, wherein, under each current amplitude, controlling the first initial current angle to increase sequentially according to a second preset current step length until the first target current angle is reached, and obtaining a maximum torque value under the current amplitude and a current angle corresponding to the maximum torque value.
In an embodiment of the present application, the second generating module 200 is further configured to: giving a second initial current amplitude and a second initial current angle; and controlling the second initial current angle to increase in sequence according to a third preset current step length until a second target current angle is reached, wherein, at each current angle, controlling the current amplitude to increase in sequence from the second initial current amplitude according to a fourth preset current step length until the second target current amplitude is reached, and obtaining a maximum torque value at the current angle and a current angle corresponding to the maximum torque value.
In an embodiment of the present application, the supplementary module 300 is further configured to: screening a value different from the current amplitude value in the current amplitude value MTPA table from the current angle MTPA table to obtain a first screening result of the current angle MTPA table; screening out a value with the error of the current amplitude exceeding a target range from the first screening result to obtain a second screening result of the current angle MTPA table; and inserting the maximum torque value at each current angle in the second screening result and the current amplitude corresponding to the maximum torque value into a current amplitude MTPA table to generate an MTPA table of the current, the angle and the torque.
It should be noted that the explanation of the foregoing embodiment of the maximum torque current ratio calibration method for a permanent magnet synchronous motor is also applicable to the maximum torque current ratio calibration apparatus for a permanent magnet synchronous motor in this embodiment, and details are not repeated here.
According to the maximum torque current ratio calibration device of the permanent magnet synchronous motor, the maximum torque current ratio is calibrated in an automatic calibration mode, the calibration period is effectively shortened, the calibration efficiency and the calibration precision are improved, the influence of different changes of the inductance value of the motor winding on the calibration result under two conditions of current slow increase (a current amplitude value MTPA table) and current transient (a current angle MTPA table) is considered, and the calibration table is dense, wide in data range and simple to operate.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
The processor 402 executes the program to implement the maximum torque current ratio calibration method of the permanent magnet synchronous motor provided in the above embodiment.
Further, the electronic device further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing computer programs executable on the processor 402.
The Memory 401 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete mutual communication through an internal interface.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for calibrating the maximum torque current ratio of the permanent magnet synchronous motor is realized.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" 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 at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (10)
1. A maximum torque current ratio calibration method of a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a maximum torque value and a current angle corresponding to the maximum torque value under each current amplitude of the permanent magnet synchronous motor, and generating a current amplitude maximum torque-to-current ratio (MTPA) table according to the maximum torque value and the current angle corresponding to the maximum torque value under each current amplitude;
acquiring a maximum torque value and a current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor, and generating a current angle MTPA table according to the maximum torque value and the current amplitude corresponding to the maximum torque value at each current angle; and
and filling blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table to obtain an MTPA calibration result of the permanent magnet synchronous motor.
2. The method of claim 1, wherein the obtaining of the maximum torque value and the current angle corresponding to the maximum torque value at each current amplitude of the permanent magnet synchronous motor comprises:
giving a first initial current amplitude and a first initial current angle;
and controlling the current amplitude to increase sequentially from the first initial current amplitude according to a first preset current step length until the first target current amplitude is reached, wherein, under each current amplitude, controlling the first initial current angle to increase sequentially according to a second preset current step length until the first target current angle is reached, and obtaining a maximum torque value under the current amplitude and a current angle corresponding to the maximum torque value.
3. The method of claim 1, wherein the obtaining of the maximum torque value and the current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor comprises:
giving a second initial current amplitude and a second initial current angle;
and controlling the second initial current angle to increase sequentially according to a third preset current step length until a second target current angle is reached, wherein, at each current angle, controlling the current amplitude to increase sequentially from the second initial current amplitude according to a fourth preset current step length until the second target current amplitude is reached, and obtaining a maximum torque value at the current angle and a current angle corresponding to the maximum torque value.
4. The method according to claim 1, wherein the filling blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table to obtain the MTPA calibration result of the permanent magnet synchronous motor comprises:
screening a value different from the current amplitude value in the current amplitude value MTPA table from the current angle MTPA table to obtain a first screening result of the current angle MTPA table;
screening out a value with the error of the current amplitude exceeding a target range from the first screening result to the median current amplitude of the current amplitude MTPA table to obtain a second screening result of the current angle MTPA table;
and inserting the maximum torque value at each current angle in the second screening result and the current amplitude corresponding to the maximum torque value into the current amplitude MTPA table to generate an MTPA table of the current, the angle and the torque.
5. The utility model provides a maximum torque current ratio calibration device of PMSM which characterized in that includes:
the first generation module is used for acquiring a maximum torque value and a current angle corresponding to the maximum torque value under each current amplitude of the permanent magnet synchronous motor and generating a current amplitude maximum torque to current ratio MTPA table according to the maximum torque value and the current angle corresponding to the maximum torque value under each current amplitude;
the second generation module is used for acquiring a maximum torque value and a current amplitude corresponding to the maximum torque value at each angle of the permanent magnet synchronous motor, and generating a current angle MTPA table according to the maximum torque value and the current amplitude corresponding to the maximum torque value at each current angle; and
and the supplementing module is used for supplementing blank grid points in the current amplitude MTPA table according to the data of the current angle MTPA table so as to obtain the MTPA calibration result of the permanent magnet synchronous motor.
6. The apparatus of claim 5, wherein the first generation module is further configured to:
giving a first initial current amplitude and a first initial current angle;
and controlling the current amplitude to increase sequentially from the first initial current amplitude according to a first preset current step length until the first target current amplitude is reached, wherein, under each current amplitude, controlling the first initial current angle to increase sequentially according to a second preset current step length until the first target current angle is reached, and obtaining a maximum torque value under the current amplitude and a current angle corresponding to the maximum torque value.
7. The apparatus of claim 5, wherein the second generating module is further configured to:
giving a second initial current amplitude and a second initial current angle;
and controlling the second initial current angle to increase sequentially according to a third preset current step length until a second target current angle is reached, wherein, at each current angle, controlling the current amplitude to increase sequentially from the second initial current amplitude according to a fourth preset current step length until the second target current amplitude is reached, and obtaining a maximum torque value at the current angle and a current angle corresponding to the maximum torque value.
8. The apparatus of claim 5, wherein the supplemental module is further configured to:
screening a value different from the current amplitude value in the current amplitude value MTPA table from the current angle MTPA table to obtain a first screening result of the current angle MTPA table;
screening out a value with the error of the current amplitude exceeding a target range from the first screening result to the median current amplitude of the current amplitude MTPA table to obtain a second screening result of the current angle MTPA table;
and inserting the maximum torque value at each current angle in the second screening result and the current amplitude corresponding to the maximum torque value into the current amplitude MTPA table to generate the MTPA table of the current, the angle and the torque.
9. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the maximum torque to current ratio calibration method of a permanent magnet synchronous motor according to any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method for maximum torque to current ratio calibration of a permanent magnet synchronous machine according to any of claims 1-5.
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| CN202210280570.5A CN114598199A (en) | 2022-03-21 | 2022-03-21 | Maximum torque current ratio calibration method, device and equipment of permanent magnet synchronous motor |
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| CN202210280570.5A CN114598199A (en) | 2022-03-21 | 2022-03-21 | Maximum torque current ratio calibration method, device and equipment of permanent magnet synchronous motor |
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