CN117220549B - Permanent magnet motor position detection method based on high-frequency injection - Google Patents
Permanent magnet motor position detection method based on high-frequency injection Download PDFInfo
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Abstract
The invention discloses a permanent magnet motor position detection method based on high-frequency injection. The permanent magnet motor position detection method based on high-frequency injection comprises the following steps: acquiring position influence parameters of a permanent magnet motor; acquiring position influence data and reference position data; acquiring the position influence weight of the permanent magnet motor; and calculating position data of the permanent magnet motor. According to the method, the position influence parameters of the permanent magnet motor are obtained through the historical position data of each permanent magnet motor to be detected, then an experiment is conducted according to the position influence parameters, the reference position data of each permanent magnet motor to be detected is obtained, the position influence weight of the permanent magnet motor is obtained through a variation coefficient method, finally the corresponding index is calculated according to the data corresponding to the position influence parameters of the permanent magnet motor, the position data of each permanent magnet motor to be detected is calculated through the position influence weight of the permanent magnet motor, the position detection accuracy of the permanent magnet motor is improved, and the problem that the position detection accuracy of the permanent magnet motor is low in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of permanent magnet motor position detection, in particular to a permanent magnet motor position detection method based on high-frequency injection.
Background
Permanent magnet motors use permanent magnets as part of the rotor to generate a magnetic field that interacts with the stator field of the motor to produce mechanical motion. Permanent magnet motors are used in a wide variety of applications including electric vehicles, wind generators, industrial machinery, and household appliances. Permanent magnet motors are typically highly efficient because the permanent magnets provide a strong magnetic field, reducing energy losses. Permanent magnet motors can provide higher power output relative to other motor types, and the permanent magnet motors can respond quickly to control signals, making them useful in applications requiring rapid acceleration or deceleration. Maintenance costs are also lower because they have no brushes. High frequency injection is a control technique for permanent magnet motors, and position detection is achieved by injecting high frequency signals into the motor to ensure that the motor operates stably and efficiently under various operating conditions, thereby better controlling the performance of the motor.
In the prior art, position detection is often realized by installing a speed sensor, a position sensor and the like to acquire the speed and the like of a permanent magnet motor, and the corresponding position is also acquired by utilizing two Hall elements to detect air pressure change caused by rotor rotation of the permanent magnet motor.
For example, bulletin numbers: a method and system for permanent magnet motor position detection of CN111327233B patent publication, comprising: determining the amplitude and the phase difference of the signals through offline training; and obtaining the position of the rotor of the permanent magnet motor through online calculation.
For example, publication No.: the invention patent published application of CN104660140A discloses a permanent magnet synchronous motor initial position detection method based on high-frequency current signal injection, which comprises the following steps: constructing a rotor position closed-loop regulation system based on a pulse vibration high-frequency current injection method, and obtaining a rotor position primary estimated value; extracting a second harmonic component of the d-axis voltage response, performing corresponding signal modulation on the second harmonic component, and judging the d-axis positive direction to obtain a compensation value after the d-axis positive direction is judged; and adding the compensation value obtained after the d-axis positive direction judgment to the initial estimation value of the rotor position to obtain a final initial position estimation value.
However, in the process of implementing the technical scheme of the invention in the embodiment of the application, the application finds that the above technology has at least the following technical problems:
in the prior art, the requirements of the sensor for acquiring the position information of the permanent magnet motor on environmental factors and the like are extremely high, the Hall elements are required to be different by half a polar distance in the horizontal position, the phase difference of the two Hall elements is also required to be high, the position detection is inaccurate, and the problem of low position detection accuracy of the permanent magnet motor exists.
Disclosure of Invention
According to the permanent magnet motor position detection method based on high-frequency injection, the problem of low permanent magnet motor position detection accuracy in the prior art is solved, and improvement of the permanent magnet motor position detection accuracy is achieved.
The embodiment of the application provides a permanent magnet motor position detection method based on high-frequency injection, which comprises the following steps: step S1, acquiring historical position data of each permanent magnet motor to be detected based on different high-frequency signals in a historical time period, and acquiring position influence parameters of the permanent magnet motor according to the historical position data of each permanent magnet motor to be detected; step S2, designing a comparison experiment based on high-frequency signals for each permanent magnet motor to be tested according to the position influence parameters of the permanent magnet motor, and obtaining position influence data and reference position data of each permanent magnet motor to be tested in the comparison experiment; step S3, according to the position influence data and the reference position data, a permanent magnet motor position influence weight corresponding to the permanent magnet motor position influence parameter is obtained; and S4, designing a verification experiment based on a high-frequency signal for each permanent magnet motor to be detected according to the position influence parameters of the permanent magnet motor, calculating the position data of each permanent magnet motor to be detected by combining the position influence weights of the permanent magnet motor, and verifying the accuracy of the position detection of the permanent magnet motor based on the high-frequency signal according to the position data.
Further, the permanent magnet motor position influencing parameters comprise high-frequency signal influencing parameters, permanent magnet motor physical characteristic parameters, external environment parameters, magnetic field parameters and running state parameters; the high-frequency signal influence parameters include the frequency of the high-frequency signal, the phase of the high-frequency signal and the amplitude of the high-frequency signal; the physical characteristic parameters of the permanent magnet motor comprise the size of the permanent magnet motor and the strength of the magnet of the permanent magnet motor; the external environment parameters comprise the temperature of the permanent magnet motor, the humidity of the permanent magnet motor and the electromagnetic interference intensity of the permanent magnet motor; the magnetic field parameter is the magnetic field uniformity degree of the permanent magnet motor; the operating state parameters include an operating mode of the permanent magnet motor and an operating speed of the permanent magnet motor, wherein the operating mode of the permanent magnet motor includes stationary and rotating.
Further, the specific design method of the contrast experiment based on the high-frequency signal comprises the following steps: the method comprises the steps of taking high-frequency signal influence parameters as variables, controlling other parameters to be unchanged, sequentially changing and recording frequency data of high-frequency signals injected into all permanent magnet motors to be detected, phase data of the high-frequency signals and amplitude data of the high-frequency signals, and obtaining reference position data of the high-frequency signals of all the permanent magnet motors to be detected; controlling other parameters to be unchanged by taking physical characteristic parameters of the permanent magnet motors as variables, sequentially recording and changing size data and magnet strength data of each permanent magnet motor to be detected, and obtaining reference position data of physical characteristics of each permanent magnet motor to be detected; controlling other parameters to be unchanged by taking external environment parameters as variables, sequentially changing and recording temperature data, humidity data and electromagnetic interference intensity data of each permanent magnet motor to be detected, and obtaining reference position data of the external environment of each permanent magnet motor to be detected; controlling other parameters to be unchanged by taking magnetic field parameters as variables, sequentially changing and recording the magnet uniformity degree data of each permanent magnet motor to be detected, and obtaining the reference position data of the magnetic field of each permanent magnet motor to be detected; controlling other parameters to be unchanged by taking the running state parameters as variables, sequentially changing and recording running mode data and running speed data of the permanent magnet motors to be tested, and obtaining reference position data of the running states of the permanent magnet motors to be tested; the reference position data includes reference position data of a high frequency signal, reference position data of a physical characteristic, reference position data of an external environment, reference position data of a magnetic field, and reference position data of an operation state.
Further, the specific acquisition method of the permanent magnet motor position influence weight is as follows: according to a variation coefficient method, respectively carrying out data forward and data standardization processing on the obtained reference position data of the high-frequency signal, the reference position data of the physical characteristic, the reference position data of the external environment, the reference position data of the magnetic field and the reference position data of the running state to obtain an average value and a standard deviation of corresponding data; obtaining a variation coefficient of the corresponding parameter according to the ratio of the average value to the standard deviation of the corresponding data, and obtaining the position influence weight of the permanent magnet motor according to the variation coefficient through a formula; the permanent magnet motor position impact weights include high frequency signal parameter weights, physical characteristic parameter weights, external environment parameter weights, magnetic field parameter weights, and operating state parameter weights.
Further, the specific calculation method of the position data of each permanent magnet motor to be detected is as follows: acquiring high-frequency signal data, physical characteristic data, external environment data, magnetic field data and running state data of each permanent magnet motor to be tested based on a high-frequency signal verification test; obtaining a high-frequency signal index, a physical characteristic index, an external environment index, a magnetic field index and an operation state index corresponding to each permanent magnet motor to be tested according to a formula; calculating position data of each permanent magnet motor to be detected by combining the position influence weight of the permanent magnet motor; the position data of each permanent magnet motor to be detected adopts the following formula:
，
In the method, in the process of the invention,is +.f in the verification test based on high frequency signal>Position data of the permanent magnet motor to be measured, +.>Is natural constant (18)>Numbering the permanent magnet motor to be tested, < > for>，/>For the total number of permanent magnet machines to be tested,is +.f in the verification test based on high frequency signal>High-frequency signal index of the permanent magnet motor to be tested, < + >>Safety factor being the index of the high frequency signal, +.>For high frequency signal parameter weight,/->Is +.f in the verification test based on high frequency signal>Physical characteristic index of the permanent magnet motor to be tested, +.>Safety factor for physical Property index, +.>For the weight of the physical characteristic parameter,is +.f in the verification test based on high frequency signal>External environment index of permanent magnet motor to be tested, +.>Is a safety factor of the external environment index, +.>Weighting the external environmental parameters +.>Is +.f in the verification test based on high frequency signal>Magnetic field index of the permanent magnet motor to be tested, +.>Is a safety factor of magnetic field index, +.>Weight for magnetic field parameters>Is +.f in the verification test based on high frequency signal>Operating state indexes of the permanent magnet motors to be tested, +.>For the safety factor of the operating state index, +.>Is the weight of the operation state parameter.
Further, the high frequency signal index adopts the following formula:
，
In the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Frequency data of high-frequency signals injected by the permanent magnet motors to be tested and reference frequency data>Correction factor for frequency data of high-frequency signal, < >>And->Respectively the first ∈of the verification test based on high frequency signals>Amplitude data and reference amplitude data of high-frequency signals injected by the permanent magnet motors to be tested>Modification of amplitude data for high-frequency signalsPositive factor, meta-L>And->Respectively the first ∈of the verification test based on high frequency signals>Phase data and reference phase data of high-frequency signals injected by the permanent magnet motors to be tested>Correction factor for phase data of high-frequency signal, < >>Is->And the reference position data of the high-frequency signals of the permanent magnet motor to be detected.
Further, the physical characteristic index adopts the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Size data and reference size data of the permanent magnet motor to be measured,/-for each permanent magnet motor to be measured>And->Is the size and the magnet strength of the permanent magnet motor relative to the physical characteristicsSize weight and magnet strength weight of sexual index, +.>And->Respectively the first ∈of the verification test based on high frequency signals>Magnet strength data and reference magnet strength data of the permanent magnet motor to be tested, < > >Is->And the reference position data of the physical characteristics of the permanent magnet motor to be detected.
Further, the external environment index adopts the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Temperature data and reference temperature data of the permanent magnet motor to be measured,/-for each permanent magnet motor to be measured>And->Respectively, the first of the verification tests based on the high-frequency signalsHumidity data of permanent magnet motor to be testedAnd reference humidity data, ">And->Respectively the first ∈of the verification test based on high frequency signals>Electromagnetic interference intensity data and reference electromagnetic interference intensity data of the permanent magnet motor to be tested>Correction factor for electromagnetic interference intensity data, +.>Is->And the reference position data of the external environment of the permanent magnet motor to be detected.
Further, the magnetic field index is represented by the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Magnetic field uniformity degree data and reference magnetic field uniformity degree data of each permanent magnet motor to be tested are +.>Is a correction factor for the magnetic field uniformity data,is->And the reference position data of the magnetic field of the permanent magnet motor to be detected.
Further, the running state index adopts the following formula:
，
in the method, in the process of the invention,and- >Respectively the first ∈of the verification test based on high frequency signals>Operating speed data and reference operating speed data of the permanent magnet motor to be measured,/->And->Respectively the first ∈of the verification test based on high frequency signals>Operating mode data and reference operating mode data of the permanent magnet motor to be tested,/-for each permanent magnet motor to be tested>As a correction factor for the running speed data,is->And the reference position data of the running state of the permanent magnet motor to be tested.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. the method comprises the steps of obtaining position influence parameters of the permanent magnet motor through historical position data of the permanent magnet motor to be detected, designing a comparison experiment scheme according to the position influence parameters to carry out experiments, obtaining reference position data of the permanent magnet motor to be detected, obtaining position influence weights of the permanent magnet motor by combining a variation coefficient method, calculating corresponding indexes according to data corresponding to the position influence parameters of the permanent magnet motor, and calculating position data of the permanent magnet motor to be detected by combining the position influence weights of the permanent magnet motor, so that accurate calculation of the position data of the permanent magnet motor to be detected is achieved, improvement of position detection accuracy of the permanent magnet motor is achieved, and the problem that position detection accuracy of the permanent magnet motor in the prior art is low is effectively solved.
2. The method comprises the steps of designing a comparison experiment scheme by respectively taking a single parameter in the obtained position influence parameters of the permanent magnet motor as a variable and the principle that other parameters are unchanged, changing each influence parameter in the variable, recording corresponding data, obtaining reference position data in the comparison experiment, performing data orientation and data standardization processing according to a coefficient of variation method, and finally obtaining the position influence weight of the permanent magnet motor through a formula, thereby realizing the numerical evaluation of the position influence parameters of the permanent magnet motor on the position influence of the permanent magnet motor, and further realizing more accurate measurement of the position influence parameters of the permanent magnet motor on the position influence of the permanent magnet motor.
3. Corresponding high-frequency signal indexes are calculated by acquiring frequency data, amplitude data and phase data of high-frequency signals injected into each permanent magnet motor to be detected, then corresponding physical characteristic indexes are calculated by acquiring size data and magnet strength data of each permanent magnet motor to be detected, then corresponding external environment indexes are calculated by acquiring temperature data, humidity data and electromagnetic interference strength data of each permanent magnet motor to be detected, then corresponding magnetic field indexes are calculated by acquiring magnetic field uniformity degree data of each permanent magnet motor to be detected, finally corresponding running state indexes are calculated by acquiring running speed data and running mode data of each permanent magnet motor to be detected, and corresponding position data is obtained by combining the position influence weight of the permanent magnet motor, so that the quick detection of the position of the permanent magnet motor is realized, and further the improvement of the position detection efficiency of the permanent magnet motor is realized.
Drawings
Fig. 1 is a flowchart of a permanent magnet motor position detection method based on high-frequency injection according to an embodiment of the present application;
fig. 2 is a conceptual diagram of permanent magnet motor position influencing parameters provided in an embodiment of the present application;
fig. 3 is a flowchart of a comparative experiment based on a high frequency signal according to an embodiment of the present application.
Detailed Description
According to the permanent magnet motor position detection method based on high-frequency injection, the problem of low permanent magnet motor position detection accuracy in the prior art is solved, the position influence parameters of the permanent magnet motor are obtained through analysis of historical position data of all permanent magnet motors to be detected based on different high-frequency signals in a historical time period, then a comparison experiment is designed according to the position influence parameters of the permanent magnet motor, the experiment is conducted by taking all parameters as variables in sequence and keeping other parameters unchanged, then position influence data and reference position data of all the permanent magnet motors to be detected are obtained according to the comparison experiment, then the position influence weight of the permanent magnet motor corresponding to the position influence parameters of the permanent magnet motor is obtained by combining a variation coefficient method, finally a verification experiment is designed, the position data of all the permanent magnet motors to be detected are calculated by combining the position influence parameters of the permanent magnet motor, and the improvement of the position detection accuracy of the permanent magnet motor is achieved.
The technical scheme in this application embodiment is for solving the low problem of above-mentioned permanent magnet motor position detection accuracy, and the overall thinking is as follows:
and obtaining the position influence parameters of the permanent magnet motor through the historical position data of each permanent magnet motor to be detected, then designing a comparison experiment scheme according to the position influence parameters to carry out experiments, then obtaining the reference position data of each permanent magnet motor to be detected, obtaining the position influence weight of the permanent magnet motor by combining a variation coefficient method, and finally calculating the position data of the permanent magnet motor by combining the data corresponding to the position influence parameters of the permanent magnet motor, thereby achieving the effect of improving the position detection accuracy of the permanent magnet motor.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
As shown in fig. 1, a flowchart of a permanent magnet motor position detection method based on high-frequency injection is provided for a server, and the method includes the following steps: step S1, acquiring position influence parameters of a permanent magnet motor: acquiring historical position data of each permanent magnet motor to be detected based on different high-frequency signals in a historical time period, and acquiring position influence parameters of the permanent magnet motor according to the historical position data of each permanent magnet motor to be detected; step S2, position influence data and reference position data are acquired: according to the position influence parameters of the permanent magnet motors, a comparison experiment based on high-frequency signals is designed for each permanent magnet motor to be tested, and position influence data and reference position data of each permanent magnet motor to be tested in the comparison experiment are obtained; step S3, obtaining the position influence weight of the permanent magnet motor: acquiring permanent magnet motor position influence weights corresponding to the permanent magnet motor position influence parameters according to the position influence data and the reference position data; step S4, calculating position data of the permanent magnet motor: according to the position influence parameters of the permanent magnet motors, a verification experiment based on high-frequency signals is designed for each permanent magnet motor to be detected, position data of each permanent magnet motor to be detected are calculated by combining the position influence weights of the permanent magnet motors, and the accuracy of the position detection of the permanent magnet motors based on the high-frequency signals is verified according to the position data.
In this embodiment, the motor may be divided into a permanent magnet synchronous motor and an asynchronous motor according to different structures, where the rotor speed of the permanent magnet synchronous motor is the same as the speed of the stator rotating magnetic field, and the rotor speed of the asynchronous motor can never reach the speed of the stator rotating magnetic field, because the rotor and the magnetic force lines are equal and equivalent to each other, the rotor and the magnetic force lines are relatively stationary, and no induced current can be generated; the brush type direct current motor and the alternating current motor can be divided according to different working power supplies; high frequency injection techniques allow for real-time measurement of the rotor position of a permanent magnet motor without the use of conventional position sensors (such as encoders or hall effect sensors); obtaining reference position data through a comparison experiment, and verifying correctness through a verification experiment; the position of the permanent magnet motor is detected more accurately.
Further, as shown in fig. 2, a conceptual diagram of a permanent magnet motor position influencing parameter provided in an embodiment of the present application includes a high-frequency signal influencing parameter, a permanent magnet motor physical characteristic parameter, an external environment parameter, a magnetic field parameter, and an operating state parameter; the high-frequency signal influence parameters include the frequency of the high-frequency signal, the phase of the high-frequency signal and the amplitude of the high-frequency signal; the physical characteristic parameters of the permanent magnet motor comprise the size of the permanent magnet motor and the strength of the magnet of the permanent magnet motor; the external environment parameters comprise the temperature of the permanent magnet motor, the humidity of the permanent magnet motor and the electromagnetic interference intensity of the permanent magnet motor; the magnetic field parameter is the magnetic field uniformity degree of the permanent magnet motor; the operating state parameters include an operating mode of the permanent magnet motor and an operating speed of the permanent magnet motor, wherein the operating mode of the permanent magnet motor includes stationary and rotating.
In this embodiment, the frequency of the high-frequency signal affects the resolution of the position detection, and the amplitude of the high-frequency signal may affect the strength and detection distance of the signal; the strength of the magnet affects the transmission and detection effects of the high-frequency signals, and large motors generally provide more stable position detection results; the temperature change can influence the performance of the permanent magnet and the propagation of high-frequency signals; the strong electromagnetic field may interfere with high frequency signal injection and detection; the motion state of the permanent magnet motor can influence the injection effect of the high-frequency signal; and the influence factors of the position change of the permanent magnet motor are analyzed more comprehensively.
Further, as shown in fig. 3, a flowchart of a high-frequency signal-based comparative experiment provided in the embodiment of the present application is provided, and a specific design method of the high-frequency signal-based comparative experiment is as follows: acquiring reference position data of a high-frequency signal: the method comprises the steps of taking high-frequency signal influence parameters as variables, controlling other parameters to be unchanged, sequentially changing and recording frequency data of high-frequency signals injected into all permanent magnet motors to be detected, phase data of the high-frequency signals and amplitude data of the high-frequency signals, and obtaining reference position data of the high-frequency signals of all the permanent magnet motors to be detected; acquiring reference position data of physical characteristics: controlling other parameters to be unchanged by taking physical characteristic parameters of the permanent magnet motors as variables, sequentially recording and changing size data and magnet strength data of each permanent magnet motor to be detected, and obtaining reference position data of physical characteristics of each permanent magnet motor to be detected; acquiring reference position data of an external environment: controlling other parameters to be unchanged by taking external environment parameters as variables, sequentially changing and recording temperature data, humidity data and electromagnetic interference intensity data of each permanent magnet motor to be detected, and obtaining reference position data of the external environment of each permanent magnet motor to be detected; acquiring reference position data of a magnetic field: controlling other parameters to be unchanged by taking magnetic field parameters as variables, sequentially changing and recording the magnet uniformity degree data of each permanent magnet motor to be detected, and obtaining the reference position data of the magnetic field of each permanent magnet motor to be detected; acquiring reference position data of an operation state: controlling other parameters to be unchanged by taking the running state parameters as variables, sequentially changing and recording running mode data and running speed data of the permanent magnet motors to be tested, and obtaining reference position data of the running states of the permanent magnet motors to be tested; the reference position data includes reference position data of the high frequency signal, reference position data of the physical characteristic, reference position data of the external environment, reference position data of the magnetic field, and reference position data of the operation state.
In the embodiment, the influence of each parameter on the position of the permanent magnet motor is studied by taking a single parameter as a variable and keeping other parameters unchanged in a comparison experiment based on the high-frequency signal; because the other parameters are constant values, the change of the position data of the permanent magnet motor in the two groups of experiments is attributed to the variables, and the reference position data of each parameter can be obtained through enough experiments; the influence of the position influence parameters of the permanent magnet motor on the position of the permanent magnet motor is accurately estimated.
Further, the specific acquisition method of the permanent magnet motor position influence weight is as follows: according to a variation coefficient method, respectively carrying out data forward and data standardization processing on the obtained reference position data of the high-frequency signal, the reference position data of the physical characteristic, the reference position data of the external environment, the reference position data of the magnetic field and the reference position data of the running state to obtain an average value and a standard deviation of corresponding data; obtaining a variation coefficient of the corresponding parameter according to the ratio of the average value to the standard deviation of the corresponding data, and obtaining the position influence weight of the permanent magnet motor according to the variation coefficient through a formula; the permanent magnet motor position impact weights include high frequency signal parameter weights, physical characteristic parameter weights, external environment parameter weights, magnetic field parameter weights, and operating state parameter weights.
In this embodiment, the coefficient of variation method (Coefficient of variation method) is a method for objectively giving weight by directly using information contained in each index and obtaining the weight of the corresponding index through calculation; the method has the basic method that in an evaluation index system, the larger the index value difference is, namely the more difficult to realize, the difference of the evaluated units can be reflected, and the variation coefficients of all indexes are needed to be used for measuring the difference degree of the values of all indexes in order to eliminate the influence of the difference of the dimensions of all evaluation indexes due to the difference of the dimensions of all indexes in the evaluation index system; the coefficient of variation is a relative index used for measuring the variation state or the discrete degree of the overall distribution in statistics; the numerical evaluation of the position influence degree of the permanent magnet motor to the position influence parameters of the permanent magnet motor is realized.
Further, the specific calculation method of the position data of each permanent magnet motor to be detected is as follows: acquiring high-frequency signal data, physical characteristic data, external environment data, magnetic field data and running state data of each permanent magnet motor to be tested based on a high-frequency signal verification test; obtaining a high-frequency signal index, a physical characteristic index, an external environment index, a magnetic field index and an operation state index corresponding to each permanent magnet motor to be tested according to a formula; calculating position data of each permanent magnet motor to be detected by combining the position influence weight of the permanent magnet motor; the position data of each permanent magnet motor to be tested adopts the following formula:
，
In the method, in the process of the invention,is +.f in the verification test based on high frequency signal>Position data of the permanent magnet motor to be measured, +.>Is natural constant (18)>Numbering the permanent magnet motor to be tested, < > for>，/>For the total number of permanent magnet machines to be tested,is +.f in the verification test based on high frequency signal>High-frequency signal index of the permanent magnet motor to be tested, < + >>Safety factor being the index of the high frequency signal, +.>For high frequency signal parameter weight,/->Is +.f in the verification test based on high frequency signal>Physical characteristic index of the permanent magnet motor to be tested, +.>Safety factor for physical Property index, +.>For the weight of the physical characteristic parameter,for verification based on high frequency signalsIn test->External environment index of permanent magnet motor to be tested, +.>Is a safety factor of the external environment index, +.>Weighting the external environmental parameters +.>Is +.f in the verification test based on high frequency signal>Magnetic field index of the permanent magnet motor to be tested, +.>Is a safety factor of magnetic field index, +.>Weight for magnetic field parameters>Is +.f in the verification test based on high frequency signal>Operating state indexes of the permanent magnet motors to be tested, +.>For the safety factor of the operating state index, +.>Is the weight of the operation state parameter.
In this embodiment, the position data of each permanent magnet motor to be measured is represented by an angle (or radian), because the rotor position of the motor is an angle value; this angle value can be represented by a single number, the position data being one-dimensional; position data of each permanent magnet motor to be tested The high-frequency signal index, the physical characteristic index and the external environment index are positively correlated and negatively correlated with the magnetic field index and the running state index; in actual conditions, when the actual high-frequency signal index, physical characteristic index and external environment index of the permanent magnet motor to be measured are all 1, and the corresponding actual magnetic field index and running state index are 0, namely in the formula，/>，/>，/>，/>The corresponding position data of the permanent magnet motor to be detected is +.>The numerical value of the position data of the corresponding permanent magnet motor to be detected is 0, namely the angle is 0 degrees, so that the position data of each permanent magnet motor to be detected can be calculated more comprehensively and accurately.
The high frequency signal index is given by:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Frequency data of high-frequency signals injected by the permanent magnet motors to be tested and reference frequency data>Correction factor for frequency data of high-frequency signal, < >>And->Respectively the first ∈of the verification test based on high frequency signals>Amplitude data and reference amplitude data of high-frequency signals injected by the permanent magnet motors to be tested>Correction factor for amplitude data of high-frequency signal, < >>And->Respectively the first ∈of the verification test based on high frequency signals>Phase data and reference phase data of high-frequency signals injected by the permanent magnet motors to be tested >Correction factor for phase data of high-frequency signal, < >>Is->And the reference position data of the high-frequency signals of the permanent magnet motor to be detected.
In the present embodiment, the high-frequency signal index of the permanent magnet motor is positively correlated with the frequency data, amplitude data, and phase data of the corresponding high-frequency signal, increasing as they increase; the larger the frequency data of the high-frequency signal is, the more accurate position information is generally provided, and the more stable detection result corresponds to the amplitude data; when the actual frequency data, the actual amplitude data and the actual phase data of the injected high-frequency signal are equal to the corresponding reference data, the high-frequency signal index reaches the maximum; the high-frequency signal index of each permanent magnet motor to be detected is calculated more accurately.
Further, the physical characteristic index adopts the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Size data and reference size data of the permanent magnet motor to be measured,/-for each permanent magnet motor to be measured>And->Size weight and magnet strength weight for the permanent magnet machine relative to the physical characteristic index, +.>And->Respectively the first ∈of the verification test based on high frequency signals>Magnet strength data and reference magnet strength data of the permanent magnet motor to be tested, < > >Is->And the reference position data of the physical characteristics of the permanent magnet motor to be detected.
In this embodiment, the size and the magnetic field strength of the permanent magnet motor are different from each other on the physical characteristic index, while the size and the magnetic field strength of the permanent magnet motor are different from each other on the physical characteristic index, and the influence of other factors on the physical characteristic is very little and can be ignored; generally, the size of the permanent magnet motor and the size weight and the magnet strength weight of the magnet strength relative to the physical characteristic index can be estimated through linear regression, the corresponding weight can be obtained through constructing a decision tree, the two characteristics can be converted into a group of mutually orthogonal main components through main component analysis, the corresponding weights can be found to be 1 by the methods; the physical characteristic index of each permanent magnet motor to be detected is positively correlated with the corresponding size data and magnet strength data; the permanent magnet motor with larger size data has larger inertia, so that instability of movement is restrained; the strong magnetic field can provide stronger signals, so that the accuracy of position detection is improved; when the actual size data is equal to the reference size data and the magnet strength data is equal to the reference magnet strength data, the corresponding physical characteristic index is maximum; the physical characteristic index of each permanent magnet motor to be measured is calculated more accurately.
Further, the external environment index adopts the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>To-be-tested permanent magnetTemperature data and reference temperature data of the magneto, < >>And->Respectively, the first of the verification tests based on the high-frequency signalsHumidity data and reference humidity data of the permanent magnet motor to be tested,/->And->Respectively the first ∈of the verification test based on high frequency signals>Electromagnetic interference intensity data and reference electromagnetic interference intensity data of the permanent magnet motor to be tested>Correction factor for electromagnetic interference intensity data, +.>Is->And the reference position data of the external environment of the permanent magnet motor to be detected.
In this embodiment, the external environment index of each permanent magnet motor to be tested, the corresponding temperature data, humidity data and electromagnetic interference intensity data are in inverse proportion relation; high temperature, high humidity and high electromagnetic interference can lead to inaccurate detection and even damage to the internal performance of the permanent magnet motor; the high humidity environment may cause the motor and electronic components to become wet, affecting performance; the strong electromagnetic field may interfere with high frequency signal injection and detection; when the temperature data of each permanent magnet motor to be detected is equal to the reference temperature data, the humidity data is equal to the reference humidity data, and the actual electromagnetic interference intensity data is 0, the corresponding external environment index is 1; the external environment index of each permanent magnet motor to be measured is calculated more accurately.
Further, the magnetic field index is represented by the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Magnetic field uniformity degree data and reference magnetic field uniformity degree data of each permanent magnet motor to be tested are +.>Is a correction factor for the magnetic field uniformity data,is->And the reference position data of the magnetic field of the permanent magnet motor to be detected.
In this embodiment, the magnetic field index of each permanent magnet motor to be measured increases with the increase of the corresponding magnetic field uniformity degree data; the non-uniformity of the magnetic field inside the motor can influence the propagation of the injected high-frequency signal, thereby influencing the accuracy of position detection; the method realizes more accurate calculation of the magnetic field index of each permanent magnet motor to be measured.
Further, the running state index adopts the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Operating speed data and reference operating speed data of the permanent magnet motor to be measured,/->And->Respectively the first ∈of the verification test based on high frequency signals>Operating mode data and reference operating mode data of the permanent magnet motor to be tested,/-for each permanent magnet motor to be tested>As a correction factor for the running speed data,is->And the reference position data of the running state of the permanent magnet motor to be tested.
In this embodiment, the running state index of each permanent magnet motor to be tested increases with the increase of the running speed data, and the optimal actual running speed data is the reference running speed data; but decreases along with the increase of the operation mode data, when the permanent magnet motor to be tested is in a static state, namely the operation mode data is the same as the reference operation mode data; the motion state of the permanent magnet motor can influence the injection effect of the high-frequency signal, the position detection can be more accurate in the static state, and the acceleration and the angular velocity need to be considered in the motion state; the running state indexes of the permanent magnet motors to be measured are calculated more accurately.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages: relative to the bulletin number: according to the method and the system for detecting the position of the permanent magnet motor, disclosed by CN111327233B, a comparison experiment scheme is designed according to the principle that a single one of obtained position influence parameters of the permanent magnet motor is a variable and other parameters are unchanged, then each influence parameter in the variable is changed, corresponding data is recorded, reference position data in the comparison experiment is obtained, data orientation and data standardization processing are carried out according to a variation coefficient method, finally the position influence weight of the permanent magnet motor is obtained through a formula, so that the numerical evaluation of the position influence of the permanent magnet motor on the position influence of the permanent magnet motor is realized, and further, the more accurate measurement of the position influence of the permanent magnet motor on the position influence of the permanent magnet motor by the position influence parameter of the permanent magnet motor is realized; relative to publication No.: according to the method for detecting the initial position of the permanent magnet synchronous motor based on high-frequency current signal injection disclosed by CN104660140A, the corresponding high-frequency signal index is calculated by acquiring frequency data, amplitude data and phase data of high-frequency signals injected into each permanent magnet motor to be detected, then the corresponding physical characteristic index is calculated by acquiring size data and magnet strength data of each permanent magnet motor to be detected, then the corresponding external environment index is calculated by acquiring temperature data, humidity data and electromagnetic interference strength data of each permanent magnet motor to be detected, then the corresponding magnetic field index is calculated by acquiring magnetic field uniformity degree data of each permanent magnet motor to be detected, finally the corresponding running speed data and running mode data of each permanent magnet motor to be detected are obtained, and the corresponding position data is obtained by combining the position influence weight of the permanent magnet motor, so that the quick detection of the position of the permanent magnet motor is realized, and the improvement of the position detection efficiency of the permanent magnet motor is further realized.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. The permanent magnet motor position detection method based on high-frequency injection is used for a server and is characterized by comprising the following steps of:
step S1, acquiring historical position data of each permanent magnet motor to be detected based on different high-frequency signals in a historical time period, and acquiring position influence parameters of the permanent magnet motor according to the historical position data of each permanent magnet motor to be detected;
step S2, designing a comparison experiment based on high-frequency signals for each permanent magnet motor to be tested according to the position influence parameters of the permanent magnet motor, and obtaining position influence data and reference position data of each permanent magnet motor to be tested in the comparison experiment;
step S3, according to the position influence data and the reference position data, a permanent magnet motor position influence weight corresponding to the permanent magnet motor position influence parameter is obtained;
step S4, designing a verification experiment based on a high-frequency signal for each permanent magnet motor to be detected according to the position influence parameters of the permanent magnet motor, calculating position data of each permanent magnet motor to be detected by combining the position influence weights of the permanent magnet motor, and verifying the accuracy of the position detection of the permanent magnet motor based on the high-frequency signal according to the position data;
The permanent magnet motor position influence parameters comprise high-frequency signal influence parameters, permanent magnet motor physical characteristic parameters, external environment parameters, magnetic field parameters and running state parameters;
the high-frequency signal influence parameters include the frequency of the high-frequency signal, the phase of the high-frequency signal and the amplitude of the high-frequency signal;
the physical characteristic parameters of the permanent magnet motor comprise the size of the permanent magnet motor and the strength of the magnet of the permanent magnet motor;
the external environment parameters comprise the temperature of the permanent magnet motor, the humidity of the permanent magnet motor and the electromagnetic interference intensity of the permanent magnet motor;
the magnetic field parameter is the magnetic field uniformity degree of the permanent magnet motor;
the operation state parameters comprise the operation mode of the permanent magnet motor and the operation speed of the permanent magnet motor, wherein the operation mode of the permanent magnet motor comprises static and rotary states;
the specific design method of the contrast experiment based on the high-frequency signal comprises the following steps:
the method comprises the steps of taking high-frequency signal influence parameters as variables, controlling other parameters to be unchanged, sequentially changing and recording frequency data of high-frequency signals injected into all permanent magnet motors to be detected, phase data of the high-frequency signals and amplitude data of the high-frequency signals, and obtaining reference position data of the high-frequency signals of all the permanent magnet motors to be detected;
Controlling other parameters to be unchanged by taking physical characteristic parameters of the permanent magnet motors as variables, sequentially recording and changing size data and magnet strength data of each permanent magnet motor to be detected, and obtaining reference position data of physical characteristics of each permanent magnet motor to be detected;
controlling other parameters to be unchanged by taking external environment parameters as variables, sequentially changing and recording temperature data, humidity data and electromagnetic interference intensity data of each permanent magnet motor to be detected, and obtaining reference position data of the external environment of each permanent magnet motor to be detected;
controlling other parameters to be unchanged by taking magnetic field parameters as variables, sequentially changing and recording the magnet uniformity degree data of each permanent magnet motor to be detected, and obtaining the reference position data of the magnetic field of each permanent magnet motor to be detected;
controlling other parameters to be unchanged by taking the running state parameters as variables, sequentially changing and recording running mode data and running speed data of the permanent magnet motors to be tested, and obtaining reference position data of the running states of the permanent magnet motors to be tested;
the reference position data comprises reference position data of a high-frequency signal, reference position data of physical characteristics, reference position data of an external environment, reference position data of a magnetic field and reference position data of an operation state;
The specific acquisition method of the permanent magnet motor position influence weight is as follows:
according to a variation coefficient method, respectively carrying out data forward and data standardization processing on the obtained reference position data of the high-frequency signal, the reference position data of the physical characteristic, the reference position data of the external environment, the reference position data of the magnetic field and the reference position data of the running state to obtain an average value and a standard deviation of corresponding data;
obtaining a variation coefficient of the corresponding parameter according to the ratio of the average value to the standard deviation of the corresponding data, and obtaining the position influence weight of the permanent magnet motor according to the variation coefficient through a formula;
the permanent magnet motor position influence weight comprises a high-frequency signal parameter weight, a physical characteristic parameter weight, an external environment parameter weight, a magnetic field parameter weight and an operation state parameter weight;
the specific calculation method of the position data of each permanent magnet motor to be detected is as follows:
acquiring high-frequency signal data, physical characteristic data, external environment data, magnetic field data and running state data of each permanent magnet motor to be tested based on a high-frequency signal verification test;
obtaining a high-frequency signal index, a physical characteristic index, an external environment index, a magnetic field index and an operation state index corresponding to each permanent magnet motor to be tested according to a formula;
Calculating position data of each permanent magnet motor to be detected by combining the position influence weight of the permanent magnet motor;
the position data of each permanent magnet motor to be detected adopts the following formula:
，
in the method, in the process of the invention,is +.f in the verification test based on high frequency signal>Position data of the permanent magnet motor to be measured, +.>Is natural constant (18)>Numbering the permanent magnet motor to be tested, < > for>，/>For the total number of permanent magnet motors to be tested, < > for>Is +.f in the verification test based on high frequency signal>High-frequency signal index of the permanent magnet motor to be tested, < + >>Safety factor being the index of the high frequency signal, +.>For high frequency signal parameter weight,/->Is +.f in the verification test based on high frequency signal>Physical characteristic index of the permanent magnet motor to be tested, +.>Safety factor for physical Property index, +.>Weight for physical characteristic parameter->Is +.f in the verification test based on high frequency signal>External environment index of permanent magnet motor to be tested, +.>Is a safety factor of the external environment index, +.>Weighting the external environmental parameters +.>Is +.f in the verification test based on high frequency signal>Magnetic field index of the permanent magnet motor to be tested, +.>Is a safety factor of magnetic field index, +.>Weight for magnetic field parameters>Is +.f in the verification test based on high frequency signal>Operating state indexes of the permanent magnet motors to be tested, +. >For the safety factor of the operating state index, +.>Is the weight of the operation state parameter.
2. The method for detecting the position of a permanent magnet motor based on high-frequency injection as claimed in claim 1, wherein the high-frequency signal index is represented by the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Frequency data of high-frequency signals injected by the permanent magnet motors to be tested and reference frequency data>Correction factor for frequency data of high-frequency signal, < >>And->Respectively the first ∈of the verification test based on high frequency signals>Amplitude data and reference amplitude data of high-frequency signals injected by the permanent magnet motors to be tested>Correction factor for amplitude data of high-frequency signal, < >>And->Respectively the first ∈of the verification test based on high frequency signals>Phase data and reference phase data of high-frequency signals injected by the permanent magnet motors to be tested>Correction factor for phase data of high-frequency signal, < >>Is->And the reference position data of the high-frequency signals of the permanent magnet motor to be detected.
3. The method for detecting the position of a permanent magnet motor based on high frequency injection as claimed in claim 2, wherein the physical characteristic index adopts the following formula:
，
in the method, in the process of the invention,and- >Respectively the first ∈of the verification test based on high frequency signals>Size data and reference size data of the permanent magnet motor to be measured,/-for each permanent magnet motor to be measured>And->Size weight and magnet strength weight for the permanent magnet machine relative to the physical characteristic index, +.>And->Respectively the first ∈of the verification test based on high frequency signals>Magnet strength data and reference magnet strength data of the permanent magnet motor to be tested, < >>Is->And the reference position data of the physical characteristics of the permanent magnet motor to be detected.
4. A method for detecting the position of a permanent magnet motor based on high frequency injection as claimed in claim 3, wherein the external environment index is represented by the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Temperature data and reference temperature data of the permanent magnet motor to be measured,/-for each permanent magnet motor to be measured>And->Respectively the first ∈of the verification test based on high frequency signals>Humidity data and reference humidity data of the permanent magnet motor to be tested,/->And->Respectively the first ∈of the verification test based on high frequency signals>Electromagnetic interference intensity data and reference electromagnetic interference intensity data of the permanent magnet motor to be tested>Correction factor for electromagnetic interference intensity data, +.>Is->And the reference position data of the external environment of the permanent magnet motor to be detected.
5. The method for detecting the position of a permanent magnet motor based on high frequency injection as claimed in claim 4, wherein the magnetic field index is represented by the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Magnetic field uniformity degree data and reference magnetic field uniformity degree data of each permanent magnet motor to be tested are +.>Correction factor for magnetic field homogeneity data, +.>Is->And the reference position data of the magnetic field of the permanent magnet motor to be detected.
6. The method for detecting the position of a permanent magnet motor based on high frequency injection as claimed in claim 5, wherein the running state index uses the following formula:
，
in the method, in the process of the invention,and->Respectively the first ∈of the verification test based on high frequency signals>Operating speed data and reference operating speed data of the permanent magnet motor to be measured,/->And->Respectively the first ∈of the verification test based on high frequency signals>Operating mode data and reference operating mode data of the permanent magnet motor to be tested,/-for each permanent magnet motor to be tested>For the correction factor of the operating speed data, +.>Is->And the reference position data of the running state of the permanent magnet motor to be tested.
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| CN107911050A (en) * | 2017-11-24 | 2018-04-13 | 苏州半唐电子有限公司 | A kind of compensation method of high-frequency signal injection detection permanent-magnet synchronous motor rotor position |
| CN109150052A (en) * | 2018-08-13 | 2019-01-04 | 哈尔滨工业大学 | A kind of high frequency noise suppressing method for the random sinusoidal injection permanent magnet machine rotor position detection device considering digital control delay |
| CN111654220A (en) * | 2020-06-24 | 2020-09-11 | 江苏建筑职业技术学院 | Interpolation type permanent magnet synchronous motor rotor position information extraction method |
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| CN107911050A (en) * | 2017-11-24 | 2018-04-13 | 苏州半唐电子有限公司 | A kind of compensation method of high-frequency signal injection detection permanent-magnet synchronous motor rotor position |
| CN109150052A (en) * | 2018-08-13 | 2019-01-04 | 哈尔滨工业大学 | A kind of high frequency noise suppressing method for the random sinusoidal injection permanent magnet machine rotor position detection device considering digital control delay |
| CN111654220A (en) * | 2020-06-24 | 2020-09-11 | 江苏建筑职业技术学院 | Interpolation type permanent magnet synchronous motor rotor position information extraction method |
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