CN116131695A - Parameter self-identification algorithm and system for permanent magnet synchronous motor - Google Patents

Parameter self-identification algorithm and system for permanent magnet synchronous motor Download PDF

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Publication number
CN116131695A
CN116131695A CN202211515464.7A CN202211515464A CN116131695A CN 116131695 A CN116131695 A CN 116131695A CN 202211515464 A CN202211515464 A CN 202211515464A CN 116131695 A CN116131695 A CN 116131695A
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phase
motor
fixed duty
voltage
phase fixed
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张善交
曹振兴
黄佳
毕亮亮
陈广
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Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
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Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
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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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Control Of Ac Motors In General (AREA)

Abstract

The application provides a parameter self-identification algorithm and a system for a permanent magnet synchronous motor, and the method aims at the trend that the current permanent magnet synchronous motor is widely used in various fields, so that the servo motor controller has a parameter identification function and becomes urgent system demand. The technical scheme provided by the invention is as follows: the stability of the motor performance can be guaranteed through the initial U phase angle identification, the motor pole pair number identification, the moment of inertia identification, the electrode inductance identification and the motor phase resistance identification, and the necessary parameters are identified by combining engineering practice, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is improved.

Description

Parameter self-identification algorithm and system for permanent magnet synchronous motor
Technical Field
The application relates to the technical field of motors, in particular to a parameter self-identification algorithm and system for a permanent magnet synchronous motor.
Background
In recent decades, the permanent magnet synchronous motor gradually stands out in an alternating current servo system due to the characteristics of high control precision, high response speed, high power density and the like, and becomes a main current motor for the application of a servo system executing mechanism, and the application of the motor almost extends to various fields of society;
meanwhile, along with the continuous development of technology, the intelligent level of each industry is continuously improved, so that higher requirements are also provided for the permanent magnet synchronous motor servo system.
The main flow control method of the permanent magnet synchronous motor adopts vector control and mainly depends on accurate knowing of motor parameters, however, the permanent magnet synchronous motor control system is a typical nonlinear control system, and the temperature and the magnetic saturation degree change during motor load running can change the parameters of the permanent magnet synchronous motor, so that the dynamic and steady state performance of the whole vector control system is affected, and the electrical parameters such as motor pole pair number identification, rotational inertia identification, electrode inductance, motor phase resistance and the like of the permanent magnet synchronous motor are generally difficult to accurately know. According to a classical control theory method, the accuracy of the electrical parameters of the permanent magnet synchronous motor can influence the quality of adjustment of proportional parameters and integral parameters of PI controllers such as a current loop, a speed loop and a position loop. The good controller self-tuning parameters can help the permanent magnet synchronous motor to have smaller overshoot and quicker response capability in the vector control speed regulation or positioning process. The parameter self-identification of the permanent magnet synchronous motor is mainly divided into off-line parameter self-identification and on-line parameter self-identification, wherein the off-line parameter self-identification is to identify the electrical parameter of the motor before the motor operates, and the on-line parameter self-identification is to continuously identify and update the electrical parameter of the motor in the motor operation process. The on-line parameter self-identification calculation amount is huge, and when the parameter identification is more, the calculation is very complex, the requirement on hardware is very high, and the common controller cannot achieve the ideal effect.
Disclosure of Invention
The application provides a parameter self-identification algorithm and a parameter self-identification system for a permanent magnet synchronous motor, and the universality of a controller is improved.
The application provides a parameter self-identification algorithm for a permanent magnet synchronous motor, which comprises the following steps:
acquiring a d-axis current instruction, a rated phase current peak value, a voltage of a V-phase fixed duty ratio, a U-phase fixed duty ratio voltage and a W-phase fixed duty ratio voltage of a motor;
identifying a U-phase angle through a d-axis current instruction;
determining the pole pair number of the motor through a d-axis current instruction, a rated phase current peak value, a V-phase fixed duty ratio voltage and a U-phase fixed pin duty ratio voltage;
determining the moment of inertia of the motor through feedback current of the motor during uniform rotation and a synchronous machine moment coefficient;
determining the motor inductance according to the voltage of the V-phase fixed duty ratio, the voltage of the U-phase fixed duty ratio and the voltage of the W-phase fixed duty ratio;
and determining the stability of the motor performance according to the determined initial U-phase angle, the pole pair number of the motor, the moment of inertia and the electrode inductance.
In the technical scheme, the stability of the performance of the control motor can be ensured through the identification of the initial U phase angle, the identification of the pole pair number of the motor, the identification of the moment of inertia and the identification of the electrode inductance, and the engineering is combined to actually identify the necessary parameters, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is improved.
In a specific embodiment, the identifying a U-phase angle by a d-axis current command; the method specifically comprises the following steps:
giving a d-axis current instruction as 80% of a set rated working current peak value, and giving a q-axis current instruction as 0; the motor is fixed at the initial position of the U phase, and the initial U phase angle is obtained by reading the U phase angle.
In a specific embodiment, the motor pole pair number is determined by a d-axis current command, a rated phase current peak value, a V-phase fixed duty cycle voltage, a U-phase fixed duty cycle voltage; the method comprises the following steps:
giving a d-axis current instruction, recording an angle value A1, wherein the rated phase current peak value is 30%;
given a V-phase fixed duty cycle of 70%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%;
given a W-phase fixed duty cycle voltage of 70%, given a U-phase fixed duty cycle voltage of 40%, and given a V-phase fixed duty cycle voltage of 40%;
giving a d-axis current instruction, recording an angle value A2, wherein the peak value of rated phase current is 30%;
and continuing the repeated execution of the process, and determining the pole pair number of the motor as n in the recorded n times of processes when the angle value An is coincident with A1.
In a specific embodiment, the moment of inertia of the motor is determined by the feedback current of the motor during uniform rotation and the torque coefficient of the synchronous machine; the method comprises the following steps:
according to formula J M α＝i qfb T l -T f Determining the product of feedback current and a synchronous machine moment coefficient;
in J M For load moment of inertia, i qfb For feeding back current, T l For the moment coefficient of the synchronous machine, α for actual angular acceleration, T f Estimating a frictional resistance;
the product of the feedback current and the synchronous machine moment coefficient determines the moment of inertia of the motor.
In a specific embodiment, the motor inductance is determined according to a voltage of a V-phase fixed duty cycle, a U-phase fixed duty cycle voltage, and a W-phase fixed duty cycle voltage; the method comprises the following steps:
given a V-phase fixed duty cycle voltage of 60%, given a U-phase fixed duty cycle voltage of 50%, given a W-phase fixed duty cycle voltage of 50%, according to the following
Figure BDA0003970414430000031
Calculating to obtain i d1 L at the time d1 ；
Given a V-phase fixed duty cycle voltage of 60%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%, according to
Figure BDA0003970414430000032
Calculating to obtain i d2 L at the time d2 ；
Given a V-phase fixed duty cycle voltage of 70%, given a U-phase fixed voltageFixed duty cycle voltage 40%, given a fixed duty cycle voltage 40% for the W phase, according to
Figure BDA0003970414430000033
Calculating to obtain i d3 L at the time d3 ；
The rated working current peak value of the motor is taken as a limit, and a fixed duty ratio is given to obtain i dn L at the time dn And obtaining a corresponding table of the current and the inductance, and performing linear interpolation lookup to obtain the motor inductance.
In a specific embodiment, the method further comprises obtaining a phase resistance value of the motor according to the U-phase fixed duty cycle voltage and the U-phase current resistance value.
In a specific implementation manner, the phase resistance value of the motor is obtained according to the U-phase fixed duty ratio voltage and the U-phase current resistance value; the method comprises the following steps:
given a U-phase fixed duty cycle voltage of 70%, given a V-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%;
the U-phase current value is obtained through a current sensor, and the following formula is adopted:
Figure BDA0003970414430000041
calculating the phase resistance value R, wherein V BUS Is the bus voltage.
In a second aspect, there is provided a permanent magnet synchronous motor parameter self-identification system, the system comprising:
the acquisition unit is used for acquiring d-axis current instructions, rated phase current peaks, voltage of V-phase fixed duty ratio, U-phase fixed duty ratio voltage and W-phase fixed duty ratio voltage of the motor;
the data processing unit is used for identifying the U-phase angle through a d-axis current instruction; determining the pole pair number of the motor through a d-axis current instruction, a rated phase current peak value, a V-phase fixed duty ratio voltage and a U-phase fixed pin duty ratio voltage; determining the moment of inertia of the motor through feedback current of the motor during uniform rotation and a synchronous machine moment coefficient; determining the motor inductance according to the voltage of the V-phase fixed duty ratio, the voltage of the U-phase fixed duty ratio and the voltage of the W-phase fixed duty ratio; and determining the stability of the motor performance according to the determined initial U-phase angle, the pole pair number of the motor, the moment of inertia and the electrode inductance.
In a specific embodiment, the data processing unit is further specifically configured to set the d-axis current command to 80% of the rated operating current peak value and the q-axis current command to 0; the motor is fixed at the initial position of the U phase, and the initial U phase angle is obtained by reading the U phase angle.
In a specific embodiment, the data processing unit is further specifically configured to M α＝i qfb T l -T f Determining the product of feedback current and a synchronous machine moment coefficient; in J M For load moment of inertia, i qfb For feeding back current, T l For the torque coefficient of the synchronous machine, alpha is the actual angular acceleration, T f Estimating a frictional resistance; the product of the feedback current and the synchronous machine moment coefficient determines the moment of inertia of the motor.
In the technical scheme, the stability of the performance of the control motor can be ensured through the identification of the initial U phase angle, the identification of the pole pair number of the motor, the identification of the moment of inertia and the identification of the electrode inductance, and the engineering is combined to actually identify the necessary parameters, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is improved.
In a third aspect, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a self-identification algorithm for permanent magnet synchronous motor parameters as claimed in any one of the preceding claims when the program is executed.
In a fourth aspect, a non-transitory computer readable storage medium is provided, the non-transitory computer readable storage medium storing computer instructions for causing the computer to perform any of the above-described self-identification algorithms for permanent magnet synchronous motor parameters.
In a fifth aspect, there is also provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the self-identification algorithm for permanent magnet synchronous motor parameters described in any of the above applications.
In addition, the technical effects of any of the possible design manners in the third aspect to the fifth aspect may be referred to as effects of different design manners in the method section, and are not described herein.
Drawings
Fig. 1 is a flowchart of a permanent magnet synchronous motor parameter self-identification algorithm provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a given d-axis current command provided in an embodiment of the present application set to 80% of the nominal operating current peak, with q-axis command being 0;
FIG. 3 is a schematic diagram of a speed command issue;
fig. 4 shows a schematic hardware structure of an electronic device according to this embodiment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings.
It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The use of the terms "first," "second," and the like in one or more embodiments of the present description does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
The invention discloses a parameter self-identification algorithm for a permanent magnet synchronous motor, which aims at the trend that the current permanent magnet synchronous motor is widely used in various fields, and makes a servo motor controller with a parameter identification function become urgent demands of a system. The technical scheme provided by the invention is as follows: the stability of the performance of the control motor can be ensured through the identification of the initial U phase angle, the pole pair number of the motor, the identification of the moment of inertia, the identification of phase resistance and the identification of electrode inductance, and the identification of necessary parameters is carried out by combining engineering practice, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is improved.
As shown in fig. 1, the present application provides a parameter self-identification algorithm for a permanent magnet synchronous motor, which includes the following steps:
step 001: acquiring a d-axis current instruction, a rated phase current peak value, a voltage of a V-phase fixed duty ratio, a U-phase fixed duty ratio voltage and a W-phase fixed duty ratio voltage of a motor;
the above parameters of the motor may be detected by different means, such as a current sensor, a voltage sensor or other types of sensors.
Step 002: identifying a U-phase angle through a d-axis current instruction;
specifically, the d-axis current command is set to 80% of the peak value of rated working current, and the q-axis current command is set to 0; the motor is fixed at the initial position of the U phase, and the initial U phase angle is obtained by reading the U phase angle.
In specific recognition, as shown in fig. 2, in the PI control architecture, a given d-axis current command is set to 80% of the rated operating current peak value, and a q-axis command is set to 0; note that this process time cannot be too long, and the motor is easily burned out, and at this time, the motor is automatically fixed at the U-phase initial position, and the angle value is read and stored in the memory chip.
Step 002: determining the pole pair number of the motor through a d-axis current instruction, a rated phase current peak value, a V-phase fixed duty ratio voltage and a U-phase fixed pin duty ratio voltage;
specifically, given a d-axis current instruction, a rated phase current peak value is 30%, and an angle value A1 is recorded;
given a V-phase fixed duty cycle of 70%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%;
given a W-phase fixed duty cycle voltage of 70%, given a U-phase fixed duty cycle voltage of 40%, and given a V-phase fixed duty cycle voltage of 40%;
giving a d-axis current instruction, recording an angle value A2, wherein the peak value of rated phase current is 30%;
and continuing the repeated execution of the process, and determining the pole pair number of the motor as n in the recorded n times of processes when the angle value An is coincident with A1.
When the steps are executed, when the three-phase voltage is given to a fixed duty ratio, the duty ratio voltage difference output can be properly reduced, the excessive phase current is avoided, the time control of each constant current process is not too long, and the motor is easy to generate heat.
Step 003: determining the moment of inertia of the motor through feedback current of the motor during uniform rotation and a synchronous machine moment coefficient;
specifically, according to formula J M α＝i qfb T l -T f Determining the product of feedback current and a synchronous machine moment coefficient;
in J M For load moment of inertia, i qfb For feeding back current, T l For the torque coefficient of the synchronous machine, alpha is the actual angular acceleration, T f Estimating a frictional resistance;
the product of the feedback current and the synchronous machine moment coefficient determines the moment of inertia of the motor.
Wherein, by J M α＝i qfb T l -T f In the formula J M For load moment of inertia, i qfb For feeding back current, T l For the torque coefficient of the synchronous machine, alpha is the actual angular acceleration, T f For frictional resistance estimation by i at constant rotation qfb And a multiplier estimate of the moment coefficient. 1. In the case of a better speed tracking: the speed command is issued according to the fixed slope of the graph 3, at the moment, the angular acceleration is a fixed value in theory, the q-axis feedback current is sampled for multiple times and calculated according to a formula, the moment coefficient of the motor is a fixed number, the sampling calculation is carried out for multiple times, and the average value is taken as the rotational inertia output value; 2. at the speed ofIn the case of poor degree tracking: the command speed is issued according to the fixed slope of fig. 3, the equal interval period is sampled, the actual angular acceleration is calculated according to the speed feedback, the q-axis feedback current is sampled for a plurality of times in the interval period, the average value is calculated, and a group of moment of inertia is calculated. The moment of inertia is calculated and the average is taken over a plurality of cycles.
Step 004: determining the motor inductance according to the voltage of the V-phase fixed duty ratio, the voltage of the U-phase fixed duty ratio and the voltage of the W-phase fixed duty ratio;
specifically, given a V-phase fixed duty cycle voltage of 60%, a U-phase fixed duty cycle voltage of 50%, and a W-phase fixed duty cycle voltage of 50%, according to
Figure BDA0003970414430000081
Calculating to obtain i d1 L at the time d1 ；
Given a V-phase fixed duty cycle voltage of 60%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%, according to
Figure BDA0003970414430000082
Calculating to obtain i d2 L at the time d2 ；
Given a V-phase fixed duty cycle voltage of 70%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%, according to
Figure BDA0003970414430000083
Calculating to obtain i d3 L at the time d3 ；
The rated working current peak value of the motor is taken as a limit, and a fixed duty ratio is given to obtain i dn L at the time dn And obtaining a corresponding table of the current and the inductance, and performing linear interpolation lookup to obtain the motor inductance.
In the above steps, firstly, a V-phase fixed duty ratio voltage of 60%, a U-phase fixed duty ratio voltage of 50%, and a W-phase fixed duty ratio voltage of 50% are given according to the following steps
Figure BDA0003970414430000084
Calculated to obtaini d1 L at the time d1 The method comprises the steps of carrying out a first treatment on the surface of the Giving a V-phase fixed duty ratio voltage of 60%, a U-phase fixed duty ratio voltage of 40%, and a W-phase fixed duty ratio voltage of 40%, according to the following
Figure BDA0003970414430000085
Calculating to obtain i d2 L at the time d2 The method comprises the steps of carrying out a first treatment on the surface of the Then, the fixed duty ratio voltage of the V phase is set to be 70%, the fixed duty ratio voltage of the U phase is set to be 40%, and the fixed duty ratio voltage of the W phase is set to be 40%, according to +.>
Figure BDA0003970414430000086
Calculating to obtain i d3 L at the time d3 The method comprises the steps of carrying out a first treatment on the surface of the According to the law of the steps, the rated working current peak value is taken as a limit, different V-phase fixed duty ratio voltages, U-phase fixed duty ratio voltages and W-phase fixed duty ratio voltages are given, corresponding inductance and current are obtained through corresponding calculation, corresponding tables of the corresponding current and the inductance are given, and linear interpolation table lookup is carried out to obtain the current value. Note that the duty ratio can be properly reduced in this process, and the maximum value of the current slope is preferably obtained without exceeding the rated current value.
Step 005: according to classical control theory control, the open-loop transfer function of the position loop and the open-loop transfer function of the speed loop are set to be typical II-type systems, the open-loop transfer function of the current loop is set to be typical I-type systems, PI parameters of the position loop, the speed loop and the current loop are related to motor rotational inertia, resistance and inductance, and more accurate proportional parameters and integral parameters of the current loop, the rotational speed loop and the position loop PI controller are calculated according to initial U-phase angles, motor pole pair numbers, rotational inertia and electrode inductances determined in the steps 001-004, so that the PI controller is optimized, the universality of the PI controller is improved, and the permanent magnet synchronous motor has smaller rotational speed super-speed and faster dynamic steady state response performance.
In the technical scheme, the stability of the performance of the control motor can be ensured through the identification of the initial U phase angle, the identification of the pole pair number of the motor, the identification of the moment of inertia and the identification of the electrode inductance, and the engineering is combined to actually identify the necessary parameters, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is improved.
In addition, the method provided by the embodiment of the application further comprises the step of obtaining the phase resistance value of the motor according to the U-phase fixed duty ratio voltage and the U-phase current resistance value.
Specifically, the fixed duty cycle voltage of the given U phase is 70%, the fixed duty cycle voltage of the given V phase is 40%, and the fixed duty cycle voltage of the given W phase is 40%;
the U-phase current value is obtained through a current sensor, and the following formula is adopted:
Figure BDA0003970414430000091
calculating the phase resistance value R, wherein V BUS Is the bus voltage.
When the phase resistance value is determined, the stability of the performance of the control motor can be ensured through the identification of the initial U phase angle, the identification of the pole pair number of the motor, the identification of the moment of inertia, the phase resistance value and the identification of the electrode inductance, and the identification of necessary parameters is carried out by combining engineering practice, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is increased.
The embodiment of the application provides a permanent magnet synchronous motor parameter self-identification system, which comprises:
the acquisition unit is used for acquiring d-axis current instructions, rated phase current peaks, voltage of V-phase fixed duty ratio, U-phase fixed duty ratio voltage and W-phase fixed duty ratio voltage of the motor;
the data processing unit is used for identifying the U-phase angle through a d-axis current instruction; determining the pole pair number of the motor through a d-axis current instruction, a rated phase current peak value, a V-phase fixed duty ratio voltage and a U-phase fixed pin duty ratio voltage; determining the moment of inertia of the motor through feedback current of the motor during uniform rotation and a synchronous machine moment coefficient; determining the motor inductance according to the voltage of the V-phase fixed duty ratio, the voltage of the U-phase fixed duty ratio and the voltage of the W-phase fixed duty ratio; and determining the stability of the motor performance according to the determined initial U-phase angle, the pole pair number of the motor, the moment of inertia and the electrode inductance. The functions of the acquisition unit and the data processing unit may refer to the descriptions in the above method, and are not described herein.
In a specific embodiment, the data processing unit is further specifically configured to set the d-axis current command to 80% of the rated operating current peak value and the q-axis current command to 0; the motor is fixed at the initial position of the U phase, and the initial U phase angle is obtained by reading the U phase angle. The function of the data processing unit may refer to the description of the method, and will not be described herein.
In a specific embodiment, the data processing unit is further specifically configured to M α＝i qfb T l -T f Determining the product of feedback current and a synchronous machine moment coefficient; in J M For load moment of inertia, i qfb For feeding back current, T l For the torque coefficient of the synchronous machine, alpha is the actual angular acceleration, T f Estimating a frictional resistance; the product of the feedback current and the synchronous machine moment coefficient determines the moment of inertia of the motor.
In the technical scheme, the stability of the performance of the control motor can be ensured through the identification of the initial U phase angle, the identification of the pole pair number of the motor, the identification of the moment of inertia and the identification of the electrode inductance, and the engineering is combined to actually identify the necessary parameters, so that the controller has wider adaptability, the debugging time of the controller is reduced, and the universality of the controller is improved. The function of the data processing unit may refer to the description of the method, and will not be described herein.
The embodiment of the application also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and is characterized in that the processor realizes the self-identification algorithm for the parameters of the permanent magnet synchronous motor according to any one of the above when executing the program.
The embodiment of the application also provides a non-transitory computer readable storage medium, which stores computer instructions for causing a computer to execute any one of the self-identification algorithms for the parameters of the permanent magnet synchronous motor.
Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the self-identification algorithm for permanent magnet synchronous motor parameters described in any of the above applications.
Fig. 4 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present disclosure are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; combinations of features of the above embodiments or in different embodiments are also possible within the spirit of the present disclosure, steps may be implemented in any order, and there are many other variations of the different aspects of one or more embodiments described above which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure one or more embodiments of the present description. Furthermore, the apparatus may be shown in block diagram form in order to avoid obscuring the one or more embodiments of the present description, and also in view of the fact that specifics with respect to implementation of such block diagram apparatus are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present disclosure is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the one or more embodiments of the disclosure, are therefore intended to be included within the scope of the disclosure.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. The parameter self-identification algorithm for the permanent magnet synchronous motor is characterized by comprising the following steps of:
acquiring a d-axis current instruction, a rated phase current peak value, a voltage of a V-phase fixed duty ratio, a U-phase fixed duty ratio voltage and a W-phase fixed duty ratio voltage of a motor;
identifying a U-phase angle through a d-axis current instruction;
determining the pole pair number of the motor through a d-axis current instruction, a rated phase current peak value, a V-phase fixed duty ratio voltage and a U-phase fixed pin duty ratio voltage;
determining the moment of inertia of the motor through feedback current of the motor during uniform rotation and a synchronous machine moment coefficient;
determining the motor inductance according to the voltage of the V-phase fixed duty ratio, the voltage of the U-phase fixed duty ratio and the voltage of the W-phase fixed duty ratio;
and determining the stability of the motor performance according to the determined initial U-phase angle, the pole pair number of the motor, the moment of inertia and the electrode inductance.
2. The self-identification algorithm for parameters of a permanent magnet synchronous motor according to claim 1, wherein the U-phase angle is identified by a d-axis current command; the method specifically comprises the following steps:
giving a d-axis current instruction as 80% of a set rated working current peak value, and giving a q-axis current instruction as 0; the motor is fixed at the initial position of the U phase, and the initial U phase angle is obtained by reading the U phase angle.
3. The self-identification algorithm for parameters of a permanent magnet synchronous motor according to claim 2, wherein the motor pole pair number is determined by d-axis current command, rated phase current peak value, V-phase fixed duty cycle voltage, U-phase fixed duty cycle voltage; the method comprises the following steps:
giving a d-axis current instruction, recording an angle value A1, wherein the rated phase current peak value is 30%;
given a V-phase fixed duty cycle of 70%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%;
given a W-phase fixed duty cycle voltage of 70%, given a U-phase fixed duty cycle voltage of 40%, and given a V-phase fixed duty cycle voltage of 40%;
giving a d-axis current instruction, recording an angle value A2, wherein the peak value of rated phase current is 30%;
and continuing the repeated execution of the process, and determining the pole pair number of the motor as n in the recorded n times of processes when the angle value An is coincident with A1.
4. The self-identification algorithm for parameters of a permanent magnet synchronous motor according to claim 3, wherein the moment of inertia of the motor is determined by a feedback current of the motor during uniform rotation and a torque coefficient of the synchronous motor; the method comprises the following steps:
according to formula J M α＝i qfb T l -T f Determining the product of feedback current and a synchronous machine moment coefficient;
in J M For load moment of inertia, i qfb For feeding back current, T l For the torque coefficient of the synchronous machine, alpha is the actual angular acceleration, T f Estimating a frictional resistance;
the product of the feedback current and the synchronous machine moment coefficient determines the moment of inertia of the motor.
5. The algorithm for parameter self-identification of permanent magnet synchronous motor according to claim 4, wherein the motor inductance is determined according to a voltage of V-phase fixed duty cycle, a voltage of U-phase fixed duty cycle, and a voltage of W-phase fixed duty cycle; the method comprises the following steps:
given a V-phase fixed duty cycle voltage of 60%, given a U-phase fixed duty cycle voltage of 50%, given a W-phase fixed duty cycle voltage of 50%, according to the following
Figure FDA0003970414420000021
Calculating to obtain i d1 L at the time d1 ；
Given a V-phase fixed duty cycle voltage of 60%, given a U-phase fixed duty cycle voltage of 40%, givenW phase fixed duty cycle voltage 40% according to
Figure FDA0003970414420000022
Calculating to obtain i d2 L at the time d2 ；
Given a V-phase fixed duty cycle voltage of 70%, given a U-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%, according to
Figure FDA0003970414420000023
Calculating to obtain i d3 L at the time d3 ；
The rated working current peak value of the motor is taken as a limit, and a fixed duty ratio is given to obtain i dn L at the time dn And obtaining a corresponding table of the current and the inductance, and performing linear interpolation lookup to obtain the motor inductance.
6. The algorithm for self-identification of parameters of a permanent magnet synchronous motor according to any one of claims 1 to 5, further comprising obtaining a phase resistance value of the motor according to the U-phase fixed duty cycle voltage and the U-phase current resistance value.
7. The algorithm for parameter self-identification of permanent magnet synchronous motor according to claim 6, wherein the phase resistance value of the motor is obtained according to the U-phase fixed duty cycle voltage and the U-phase current resistance value; the method comprises the following steps:
given a U-phase fixed duty cycle voltage of 70%, given a V-phase fixed duty cycle voltage of 40%, given a W-phase fixed duty cycle voltage of 40%;
the U-phase current value is obtained through a current sensor, and the following formula is adopted:
Figure FDA0003970414420000031
calculating the phase resistance value R, wherein V BUS Is the bus voltage.
8. A permanent magnet synchronous motor parameter self-identification system, comprising:
the acquisition unit is used for acquiring d-axis current instructions, rated phase current peaks, voltage of V-phase fixed duty ratio, U-phase fixed duty ratio voltage and W-phase fixed duty ratio voltage of the motor;
the data processing unit is used for identifying the U-phase angle through a d-axis current instruction; determining the pole pair number of the motor through a d-axis current instruction, a rated phase current peak value, a V-phase fixed duty ratio voltage and a U-phase fixed pin duty ratio voltage; determining the moment of inertia of the motor through feedback current of the motor during uniform rotation and a synchronous machine moment coefficient; determining the motor inductance according to the voltage of the V-phase fixed duty ratio, the voltage of the U-phase fixed duty ratio and the voltage of the W-phase fixed duty ratio; and determining the stability of the motor performance according to the determined initial U-phase angle, the pole pair number of the motor, the moment of inertia and the electrode inductance.
9. The FOD radar and camera global calibration system according to claim 8, wherein the data processing unit is further specifically configured to set the d-axis current command to 80% of the rated operating current peak value and the q-axis current command to 0; the motor is fixed at the initial position of the U phase, and the initial U phase angle is obtained by reading the U phase angle.
10. The FOD radar and camera global calibration system according to claim 8, wherein the data processing unit is further specifically configured to M α＝i qfb T l -T f Determining the product of feedback current and a synchronous machine moment coefficient; in J M For load moment of inertia, i qfb For feeding back current, T l For the torque coefficient of the synchronous machine, alpha is the actual angular acceleration, T f Estimating a frictional resistance; the product of the feedback current and the synchronous machine moment coefficient determines the moment of inertia of the motor.
CN202211515464.7A 2022-11-29 2022-11-29 Parameter self-identification algorithm and system for permanent magnet synchronous motor Pending CN116131695A (en)

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