CN117169715A - Permanent magnet synchronous motor current parameter calibration method and device and readable storage medium - Google Patents
Permanent magnet synchronous motor current parameter calibration method and device and readable storage medium Download PDFInfo
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- CN117169715A CN117169715A CN202311140740.0A CN202311140740A CN117169715A CN 117169715 A CN117169715 A CN 117169715A CN 202311140740 A CN202311140740 A CN 202311140740A CN 117169715 A CN117169715 A CN 117169715A
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Abstract
The application provides a method and a device for calibrating current parameters of a permanent magnet synchronous motor and a readable storage medium, wherein the method for calibrating the current parameters of the permanent magnet synchronous motor comprises the following steps: collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor; and calculating the acquired characteristic parameters to acquire current parameters. The method comprises the steps of carrying out small-scale data acquisition on a rack, and then carrying out calculation and deduction by applying a theoretical formula of a permanent magnet synchronous motor based on the acquired data, so as to obtain the current parameters required in the whole area. The condition of large-scale calibration on a rack is avoided.
Description
Technical Field
The application relates to the field of permanent magnet synchronous motors, in particular to a method and a device for calibrating current parameters of a permanent magnet synchronous motor and a readable storage medium.
Background
When the current parameters of the magnetic synchronous motor in the prior art are calibrated, the working area used by the permanent magnet synchronous motor in actual working is calibrated in a whole area, namely, bench test is carried out on each working point (rotating speed and torque) of the permanent magnet synchronous motor in the whole area, and the optimal working current is matched through a calibrating method, so that software is written.
However, this type of method requires a lot of time and labor, such as a permanent magnet synchronous motor with a peak power of 170kW, and requires a lot of points to be selected for calibration due to high control accuracy during actual control. That is, in such a matrix of (0 rpm to 16000 rpm) × (-350 Nm to +350 Nm), the rotation speed step is 1000rpm, the torque step is 10Nm or less for calibration, and in addition to calibration at rated voltage, calibration is performed at 2 to 3 voltages of the maximum and minimum, so that the workload is doubled by 2 to 3 times.
The above problems are currently in need of solution.
Disclosure of Invention
The application aims to provide a method and a device for calibrating current parameters of a permanent magnet synchronous motor and a readable storage medium.
In order to solve the technical problems, the application provides a method for calibrating current parameters of a permanent magnet synchronous motor, which comprises the following steps:
collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor;
and calculating the acquired characteristic parameters to acquire current parameters.
Further, the characteristic parameters include torque, dq-axis current, and dq-axis voltage.
Further, the step of collecting the characteristic parameters affecting the torque of the permanent magnet synchronous motor includes:
under fixed voltage, the rotating speed of the permanent magnet synchronous motor is stabilized at the rotating speed N before the weak magnetic rotating speed;
and (3) through controlling the inverter, current I is fed into the permanent magnet synchronous motor, the inlet angle of the current I is changed, and the torque, dq-axis current and dq-axis voltage of each inlet angle under the current I are obtained.
Further, the step of calculating the collected characteristic parameters to obtain current parameters includes:
fitting the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages to obtain a 3D relation table;
and obtaining a minimum current value required under the required torque, namely a current parameter under mtpa between the weak magnets according to the 3D relation table.
Further, the step of obtaining the minimum current value required under the required torque according to the 3D relation table includes:
calculating vector voltages under all currents I according to a voltage formula of the permanent magnet synchronous motor;
judging whether the vector voltage under each current I is smaller than a voltage limit value;
if the vector voltage of the current I corresponding to the required torque is smaller than the voltage limit value, selecting the point as a target working point to calibrate the current parameters;
if the vector voltage of the current I corresponding to the target torque is larger than the voltage limit, reducing the d-axis current to perform field weakening, judging again until the vector voltage is smaller than the voltage limit value, and selecting the point as a target working point to perform current parameter calibration;
and (3) calibrating current parameters of all the required torque, and constructing a current parameter table of the motor in the weak magnetic area.
Further, the vector voltages under all currents I are obtained according to the voltage formula of the permanent magnet synchronous motor, namely:
obtaining a current I of a required torque according to a 3D relation table;
based on the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages, constructing a relation table of the dq-axis currents and flux linkages by applying a voltage formula of a permanent magnet synchronous motor in a steady state, and acquiring the dq-axis flux linkages under the dq-axis currents corresponding to the currents I of the required torque through the table;
vector voltage calculation is performed according to the current I of the required torque and the dq axis flux linkage.
The application also provides a device for calibrating the current parameters of the permanent magnet synchronous motor, which comprises:
the acquisition module is suitable for acquiring characteristic parameters affecting the torque of the permanent magnet synchronous motor;
the calculation module is suitable for calculating the acquired characteristic parameters and acquiring current parameters.
Further, the characteristic parameters include torque, dq-axis current, and dq-axis voltage.
The application also provides a computer readable storage medium, wherein at least one instruction is stored in the computer readable storage medium, and the instruction realizes the method for calibrating the current parameters of the permanent magnet synchronous motor when being executed by a processor.
The application also provides an electronic device, which comprises a memory and a processor; at least one instruction is stored in the memory; and the processor loads and executes the at least one instruction to realize the method for calibrating the current parameters of the permanent magnet synchronous motor.
The application has the beneficial effects that the application provides a method and a device for calibrating current parameters of a permanent magnet synchronous motor and a readable storage medium, wherein the method for calibrating the current parameters of the permanent magnet synchronous motor comprises the following steps: collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor; and calculating the acquired characteristic parameters to acquire current parameters. The method comprises the steps of carrying out small-scale data acquisition on a rack, and then carrying out calculation and deduction by applying a theoretical formula of a permanent magnet synchronous motor based on the acquired data, so as to obtain the current parameters required in the whole area. The condition of large-scale calibration on a rack is avoided.
Drawings
The application will be further described with reference to the drawings and examples.
Fig. 1 is a flowchart of a method for calibrating current parameters of a permanent magnet synchronous motor according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a current parameter calibration device for a permanent magnet synchronous motor according to an embodiment of the present application.
Fig. 3 is a schematic view of a part of a structure of an electronic device according to an embodiment of the present application.
Detailed Description
The application will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the application and therefore show only the structures which are relevant to the application.
In embodiment 1, referring to fig. 1, the present embodiment provides a method for calibrating current parameters of a permanent magnet synchronous motor, which includes performing small-scale data acquisition on a rack, and performing calculation and deduction by applying a theoretical formula of the permanent magnet synchronous motor based on the acquired data, so as to obtain current parameters required in the whole area. The condition of large-scale calibration on a rack is avoided.
Specifically, the method for calibrating the current parameters of the permanent magnet synchronous motor comprises the following steps:
s110: characteristic parameters affecting the torque of the permanent magnet synchronous motor are collected.
Specifically, the characteristic parameters include torque, dq-axis current, and dq-axis voltage. The data acquisition is performed on the gantry in a specific manner.
Specifically, step S110 includes the steps of:
s111: under fixed voltage, the rotating speed of the permanent magnet synchronous motor is stabilized at the rotating speed N before the weak magnetic rotating speed;
s112: and (3) through controlling the inverter, current I is fed into the permanent magnet synchronous motor, the inlet angle of the current I is changed, and the torque, dq-axis current and dq-axis voltage of each inlet angle under the current I are obtained.
S120: and calculating the acquired characteristic parameters to acquire current parameters.
Specifically, step S120 includes the steps of:
s121: fitting the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages to obtain a 3D relation table;
s122: and obtaining a minimum current value required under the required torque, namely a current parameter under mtpa between the weak magnets according to the 3D relation table.
The step of obtaining the minimum current value required under the required torque according to the 3D relation table comprises the following steps:
calculating vector voltages under all currents I according to a voltage formula of the permanent magnet synchronous motor;
judging whether the vector voltage under each current I is smaller than a voltage limit value;
if the vector voltage of the current I corresponding to the required torque is smaller than the voltage limit value, selecting the point as a target working point to calibrate the current parameters;
if the vector voltage of the current I corresponding to the target torque is larger than the voltage limit, reducing the d-axis current to perform field weakening, judging again until the vector voltage is smaller than the voltage limit value, and selecting the point as a target working point to perform current parameter calibration;
and (3) calibrating current parameters of all the required torque, and constructing a current parameter table of the motor in the weak magnetic area.
The vector voltages under all currents I are obtained according to a voltage formula of the permanent magnet synchronous motor, namely:
obtaining a current I of a required torque according to a 3D relation table;
based on the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages, constructing a relation table of the dq-axis currents and flux linkages by applying a voltage formula of a permanent magnet synchronous motor in a steady state, and acquiring the dq-axis flux linkages under the dq-axis currents corresponding to the currents I of the required torque through the table;
vector voltage calculation is performed according to the current I of the required torque and the dq axis flux linkage.
Embodiment 2 referring to fig. 2, the present embodiment provides a current parameter calibration device for a permanent magnet synchronous motor, which includes:
and the acquisition module is suitable for acquiring characteristic parameters affecting the torque of the permanent magnet synchronous motor.
Specifically, the acquisition module is configured to perform the following steps:
s111: under fixed voltage, the rotating speed of the permanent magnet synchronous motor is stabilized at the rotating speed N before the weak magnetic rotating speed;
s112: and (3) through controlling the inverter, current I is fed into the permanent magnet synchronous motor, the inlet angle of the current I is changed, and the torque, dq-axis current and dq-axis voltage of each inlet angle under the current I are obtained.
The calculation module is suitable for calculating the acquired characteristic parameters and acquiring current parameters.
Specifically, the computing module is configured to perform the steps of:
s121: fitting the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages to obtain a 3D relation table;
s122: and obtaining a minimum current value required under the required torque, namely a current parameter under mtpa between the weak magnets according to the 3D relation table.
The step of obtaining the minimum current value required under the required torque according to the 3D relation table comprises the following steps:
calculating vector voltages under all currents I according to a voltage formula of the permanent magnet synchronous motor;
judging whether the vector voltage under each current I is smaller than a voltage limit value;
if the vector voltage of the current I corresponding to the required torque is smaller than the voltage limit value, selecting the point as a target working point to calibrate the current parameters;
if the vector voltage of the current I corresponding to the target torque is larger than the voltage limit, reducing the d-axis current to perform field weakening, judging again until the vector voltage is smaller than the voltage limit value, and selecting the point as a target working point to perform current parameter calibration;
and (3) calibrating current parameters of all the required torque, and constructing a current parameter table of the motor in the weak magnetic area.
The vector voltages under all currents I are obtained according to a voltage formula of the permanent magnet synchronous motor, namely:
obtaining a current I of a required torque according to a 3D relation table;
based on the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages, constructing a relation table of the dq-axis currents and flux linkages by applying a voltage formula of a permanent magnet synchronous motor in a steady state, and acquiring the dq-axis flux linkages under the dq-axis currents corresponding to the currents I of the required torque through the table;
vector voltage calculation is performed according to the current I of the required torque and the dq axis flux linkage.
Embodiment 3 provides a computer readable storage medium, where at least one instruction is stored, where the instruction, when executed by a processor, implements the method for calibrating a current parameter of a permanent magnet synchronous motor provided in embodiment 1.
The current parameter calibration method of the permanent magnet synchronous motor comprises the following steps: collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor; and calculating the acquired characteristic parameters to acquire current parameters. The method comprises the steps of carrying out small-scale data acquisition on a rack, and then carrying out calculation and deduction by applying a theoretical formula of a permanent magnet synchronous motor based on the acquired data, so as to obtain the current parameters required in the whole area. The condition of large-scale calibration on a rack is avoided.
Embodiment 4, referring to fig. 3, the present embodiment provides an electronic device, including: a memory 502 and a processor 501; at least one program instruction is stored in the memory 502; the processor 501 performs the method for calibrating the current parameter of the permanent magnet synchronous motor according to embodiment 1 by loading and executing the at least one program instruction.
The memory 502 and the processor 501 are connected by a bus, which may include any number of interconnected buses and bridges, which connect together the various circuits of the one or more processors 501 and the memory 502. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 501 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 501.
The processor 501 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 502 may be used to store data used by processor 501 in performing operations.
In summary, the application provides a method and a device for calibrating current parameters of a permanent magnet synchronous motor and a readable storage medium, wherein the method for calibrating the current parameters of the permanent magnet synchronous motor comprises the following steps: collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor; and calculating the acquired characteristic parameters to acquire current parameters. The method comprises the steps of carrying out small-scale data acquisition on a rack, and then carrying out calculation and deduction by applying a theoretical formula of a permanent magnet synchronous motor based on the acquired data, so as to obtain the current parameters required in the whole area. The condition of large-scale calibration on a rack is avoided.
The components (components not illustrating the specific structure) selected in the present application are common standard components or components known to those skilled in the art, and the structures and principles thereof are known to those skilled in the art through technical manuals or through routine experimental methods. Moreover, the software program related to the application is the prior art, and the application does not relate to any improvement on the software program.
In the description of embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
With the above-described preferred embodiments according to the present application as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the description, but must be determined according to the scope of claims.
Claims (10)
1. The method for calibrating the current parameters of the permanent magnet synchronous motor is characterized by comprising the following steps of:
collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor;
and calculating the acquired characteristic parameters to acquire current parameters.
2. The method for calibrating current parameters of a permanent magnet synchronous motor according to claim 1, wherein,
the characteristic parameters include torque, dq-axis current, and dq-axis voltage.
3. The method for calibrating current parameters of the permanent magnet synchronous motor according to claim 2, wherein,
the step of collecting characteristic parameters affecting the torque of the permanent magnet synchronous motor comprises the following steps:
under fixed voltage, the rotating speed of the permanent magnet synchronous motor is stabilized at the rotating speed N before the weak magnetic rotating speed;
and (3) through controlling the inverter, current I is fed into the permanent magnet synchronous motor, the inlet angle of the current I is changed, and the torque, dq-axis current and dq-axis voltage of each inlet angle under the current I are obtained.
4. The method for calibrating current parameters of the permanent magnet synchronous motor according to claim 3, wherein,
the step of calculating the collected characteristic parameters and obtaining the current parameters comprises the following steps:
fitting the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages to obtain a 3D relation table;
and obtaining a minimum current value required under the required torque, namely a current parameter under mtpa between the weak magnets according to the 3D relation table.
5. The method for calibrating current parameters of a permanent magnet synchronous motor according to claim 4, wherein,
the step of obtaining the minimum current value required under the required torque according to the 3D relation table comprises the following steps:
calculating vector voltages under all currents I according to a voltage formula of the permanent magnet synchronous motor;
judging whether the vector voltage under each current I is smaller than a voltage limit value;
if the vector voltage of the current I corresponding to the required torque is smaller than the voltage limit value, selecting the point as a target working point to calibrate the current parameters;
if the vector voltage of the current I corresponding to the target torque is larger than the voltage limit, reducing the d-axis current to perform field weakening, judging again until the vector voltage is smaller than the voltage limit value, and selecting the point as a target working point to perform current parameter calibration;
and (3) calibrating current parameters of all the required torque, and constructing a current parameter table of the motor in the weak magnetic area.
6. The method for calibrating current parameters of a permanent magnet synchronous motor according to claim 5, wherein,
the vector voltage under all currents I is obtained according to the voltage formula of the permanent magnet synchronous motor, namely:
obtaining a current I of a required torque according to a 3D relation table;
based on the torques of different currents I at different inlet angles, dq-axis currents and dq-axis voltages, constructing a relation table of the dq-axis currents and flux linkages by applying a voltage formula of a permanent magnet synchronous motor in a steady state, and acquiring the dq-axis flux linkages under the dq-axis currents corresponding to the currents I of the required torque through the table;
vector voltage calculation is performed according to the current I of the required torque and the dq axis flux linkage.
7. A permanent magnet synchronous motor current parameter calibration device, characterized in that the device comprises:
the acquisition module is suitable for acquiring characteristic parameters affecting the torque of the permanent magnet synchronous motor;
the calculation module is suitable for calculating the acquired characteristic parameters and acquiring current parameters.
8. The permanent magnet synchronous motor current parameter calibration device according to claim 7, wherein,
the characteristic parameters include torque, dq-axis current, and dq-axis voltage.
9. A computer readable storage medium having stored therein at least one instruction, wherein the above instructions, when executed by a processor, implement the method of calibrating a current parameter of a permanent magnet synchronous motor according to any of claims 1-6.
10. An electronic device comprising a memory and a processor; at least one instruction is stored in the memory; the processor is used for realizing the permanent magnet synchronous motor current parameter calibration method according to any one of claims 1-6 by loading and executing the at least one instruction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311140740.0A CN117169715A (en) | 2023-09-06 | 2023-09-06 | Permanent magnet synchronous motor current parameter calibration method and device and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311140740.0A CN117169715A (en) | 2023-09-06 | 2023-09-06 | Permanent magnet synchronous motor current parameter calibration method and device and readable storage medium |
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| CN117169715A true CN117169715A (en) | 2023-12-05 |
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