CN117458920A - Permanent magnet synchronous motor rotor zero position identification method and permanent magnet synchronous motor rotor zero position identification system - Google Patents
Permanent magnet synchronous motor rotor zero position identification method and permanent magnet synchronous motor rotor zero position identification system Download PDFInfo
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- CN117458920A CN117458920A CN202311404346.3A CN202311404346A CN117458920A CN 117458920 A CN117458920 A CN 117458920A CN 202311404346 A CN202311404346 A CN 202311404346A CN 117458920 A CN117458920 A CN 117458920A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000001514 detection method Methods 0.000 claims description 22
- 230000005284 excitation Effects 0.000 claims description 14
- 238000013016 damping Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000003993 interaction Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
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- 239000000243 solution Substances 0.000 description 2
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- 239000002131 composite material Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the application provides a zero position identification method and an identification system for a rotor of a permanent magnet synchronous motor. The identification method comprises the following steps: step S1: the permanent magnet synchronous motor works in a locked-rotor state; step S2: setting exciting current id=0 and torque current iq=iqref of the permanent magnet synchronous motor, wherein iqRef represents a set torque current given value; step S31-1: the Step of increasing the phase angle of the stator is first assigned, step=k 1 A degree; step S31-2: starting the permanent magnet synchronous motor, controlling the stator phase angle to be increased from 0 degree to 180 degrees according to the step length, and recording the output torque and the direction of the permanent magnet synchronous motor corresponding to each stator phase angle; step S31-3: and judging the zero position of the rotor according to the output torque and the direction of each stator phase angle. The embodiment of the application solves the problem that the zero identification method of the traditional permanent magnet synchronous motor is limited by respective technical ideas.
Description
Technical Field
The application relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor rotor zero position identification method and an identification system.
Background
The method for identifying the patent zero position of the permanent magnet synchronous motor in the prior art comprises the following steps:
the method comprises the following steps: the method is a method commonly used in industry, and the rotor of the permanent magnet synchronous motor can rotate to a zero position when the frequency converter outputs three-phase power and is added to the permanent magnet synchronous motor by controlling the frequency converter to give exciting current and enabling torque current to be equal to 0. When the motor damping is large, the motor output torque is small when the motor damping is near the zero position of the rotor, so that the rotor cannot overcome resistance movement, and therefore, the motor cannot accurately run to the zero position, and the zero position detection precision is reduced.
The second method is as follows: according to the method for automatically calibrating the salient pole motor for the electric power-assisted vehicle disclosed in the patent with the publication number of CN112671281A, zero detection of the rotor of the salient pole permanent magnet synchronous motor can be performed through high-frequency signal injection. However, the method is only suitable for salient pole permanent magnet synchronous motors, has a narrow application range and is not suitable for most working conditions.
And a third method: the method of the patent with publication number CN112422012A, namely a zero position identification method of a vehicle-mounted permanent magnet synchronous motor under zero speed, is to acquire the absolute position of a rotor by using a rotary encoder of the permanent magnet synchronous motor, and on the basis, perform zero position calibration of the rotor by using different methods. Such a method must be applicable on a motor on which an absolute position encoder is mounted. And when the motor damping is larger, the problem of reduced zero detection precision is also caused.
Therefore, the traditional zero position identification method of the permanent magnet synchronous motor is limited by respective technical ideas, and has the technical problems of limited application range and lower detection precision.
The above information disclosed in the background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The embodiment of the application provides a rotor zero position identification method and an identification system of a permanent magnet synchronous motor, which are used for solving the technical problems that the traditional method for identifying the zero position of the permanent magnet synchronous motor is limited by respective technical ideas, the application range is limited, and the detection precision is low.
According to a first aspect of the embodiments of the present application, there is provided a rotor zero identification method of a permanent magnet synchronous motor, including the following steps:
step S1: the permanent magnet synchronous motor works in a locked-rotor state;
step S2: setting exciting current id=0 and torque current iq=iqref of the permanent magnet synchronous motor, wherein iqRef represents a set torque current given value;
step S31-1: the Step of increasing the phase angle of the stator is first assigned, step=k 1 A degree;
step S31-2: starting the permanent magnet synchronous motor, controlling the stator phase angle to be increased from 0 degree to 180 degrees according to the step length, and recording the output torque and the direction of the permanent magnet synchronous motor corresponding to each stator phase angle;
step S31-3: and judging the zero position of the rotor according to the output torque and the direction of each stator phase angle.
According to a second aspect of the embodiments of the present application, there is provided a zero identification system for a rotor of a permanent magnet synchronous motor, including:
the motor locked rotor device is used for being connected with the permanent magnet synchronous motor so that the permanent magnet synchronous motor can work in a locked rotor state;
the torque detection device is used for being arranged on a motor shaft of the permanent magnet synchronous motor;
the frequency converter is connected with the permanent magnet synchronous motor to control the permanent magnet synchronous motor;
the torque data acquisition device is connected with the torque detection device and the frequency converter;
the frequency converter is further used for reading and recording torque values corresponding to each phase angle of a motor shaft of the permanent magnet synchronous motor through the torque detection device, judging the size and the direction of the torque, and further determining the zero position of the rotor.
By adopting the technical scheme, the embodiment of the application has the following technical effects:
the rotor zero position identification method of the permanent magnet synchronous motor is different from the traditional rotor zero position identification method in technical thought. The technical idea of the rotor zero position identification method of the permanent magnet synchronous motor is that under the condition that the permanent magnet synchronous motor works in a locked-rotor state, under the condition that exciting current id=0, torque current iq=iqRef and Step of increasing a stator phase angle are given, output torque of the permanent magnet synchronous motor is detected, and the rotor zero position identification method of the rotor zero position identification of the permanent magnet synchronous motor is achieved. The first assignment of the Step of increasing the phase angle of the stator can determine the zero identification precision. The zero position identification method for the permanent magnet synchronous motor rotor is wide in application range, controllable in identification precision and capable of being selected according to actual needs.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic diagram of the working principle of a permanent magnet synchronous motor;
FIG. 2 is a schematic diagram of the magnetic field of the permanent magnet synchronous motor of FIG. 1;
FIG. 3 is a schematic diagram of a magnetic field according to one principle of the method in the background art;
FIG. 4 is a schematic diagram of the magnetic field of the principle of the rotor zero identification method of the permanent magnet synchronous motor of the present application;
FIG. 5 is a flowchart of a method for identifying zero position of a rotor of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 6 is a schematic diagram of a rotor zero identification system of a permanent magnet synchronous motor of the present application.
Reference numerals:
the device comprises a permanent magnet synchronous motor 1, a motor locked rotor device 2, a torque detection device 3, a frequency converter 4 and a torque data acquisition device 5.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is given with reference to the accompanying drawings, and it is apparent that the described embodiments are only some of the embodiments of the present application and not exhaustive of all the embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
Fig. 1 is a schematic diagram of the working principle of a permanent magnet synchronous motor.
The principle of operation of a permanent magnet synchronous motor is shown in figures 1 and 2. A permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, abbreviated as PMSM) is a synchronous motor that uses permanent magnets (as a rotor, typically rare earth permanent magnet material) as excitation sources. The permanent magnets of the PMSM produce a constant magnetic field, while the stator of the motor produces a rotating magnetic field, which, through interaction between the magnetic fields, produces electromagnetic torque.
In a permanent magnet synchronous motor, the current can be split into two components: stator q-axis current and stator d-axis current. Wherein the stator q-axis current is the current component perpendicular to the rotor magnetic field and the stator d-axis current is the current component parallel to the rotor magnetic field. Splitting the current into stator q-axis and stator d-axis allows better control of the operating state of the motor.
Specifically, the stator d-axis current controls the magnetic field of the motor, and the stator q-axis current controls the torque of the motor. By controlling the magnitude and direction of the stator q-axis current and the stator d-axis current, accurate control of the rotational speed, torque and efficiency of the motor can be achieved.
The magnitude and direction of the stator combined magnetic field are controlled by controlling the stator exciting magnetic field (namely the magnetic field generated by the stator d-axis current) and the torque magnetic field (namely the magnetic field generated by the stator q-axis current), and the permanent magnet synchronous motor can be controlled to operate according to the requirements through the interaction of the stator combined magnetic field and the rotor magnetic field.
The first method in the background art is based on the basic principle of operation of a permanent magnet synchronous motor, as shown in fig. 3, given excitation current id=idref, torque current iq=0, and an excitation magnetic field (i.e., stator excitation magnetic field) is generated, wherein the excitation current is stator d-axis current, and the torque current is stator q-axis current. At this time:
if the rotor of the permanent magnet synchronous motor is at zero position, there is no torque output.
If the rotor is not in the zero position, the stator composite magnetic field and the rotor magnetic field interact to generate electromagnetic torque to drive the rotor to rotate to the zero position, so that zero position identification is realized.
However, when the rotor approaches zero position, the output torque becomes smaller, so that the zero position identification precision is lower. In addition, when the motor damping is large, the precision is obviously reduced.
The application provides a method for zero position identification of a rotor of a permanent magnet synchronous motor of another technical idea, as shown in fig. 4, the permanent magnet synchronous motor is enabled to work in a locked-rotor state, and torque current iq=iqref and excitation current id=0 are given, so that a scheme of a torque magnetic field is generated, wherein the excitation current is stator d-axis current, and the torque current is stator q-axis current. At this time, as shown in fig. 4:
if the rotor is at zero position, the output torque of the permanent magnet synchronous motor should be at maximum;
if the rotor is at a position of plus or minus 180 degrees in the zero position, the output torque of the permanent magnet synchronous motor should be at the inverse maximum.
As shown in fig. 4, if the rotor of the permanent magnet synchronous motor is not at the null position, the torque current iq=iqref generates a virtually stator resultant magnetic field, which is decomposed into a stator excitation magnetic field direction and a stator torque magnetic field direction, at which time the stator torque magnetic field direction component will be smaller than the case where the rotor is at the null position, and thus the output torque of the permanent magnet synchronous motor is smaller than the case where the rotor is at the null position.
In other words, the rotor zero position distinguishing method for distinguishing the zero position of the rotor of the permanent magnet synchronous motor is realized by detecting the output torque of the permanent magnet synchronous motor under the condition that the permanent magnet synchronous motor works in a locked state and the Step length Step of the stator phase angle is increased by giving exciting current id=0, torque current iq=iqRef.
Example 1
As shown in fig. 5, the zero position identification method for the rotor of the permanent magnet synchronous motor in the embodiment of the application includes the following steps:
step S1: the permanent magnet synchronous motor works in a locked-rotor state;
step S2: setting exciting current id=0 and torque current iq=iqref of the permanent magnet synchronous motor, wherein iqRef represents a set torque current given value;
step S31-1: step advance for increasing stator phase angleLine first assignment, step=k 1 A degree; as an example step=k 1 Degree = 10 degrees;
step S31-2: starting the permanent magnet synchronous motor, controlling the stator phase angle to be increased from 0 degree to 180 degrees according to the step length, and recording the output torque and the direction of the permanent magnet synchronous motor corresponding to each stator phase angle; correspondingly, the output torque and the direction of the permanent magnet synchronous motor are recorded every 10 degrees, so that 18 output torques and directions are recorded; wherein, the phase angle of the stator is controlled to be changed from 0 degree to 180 degrees according to the step length, K 1 Both positive and negative;
step S31-3: and judging the zero position of the rotor according to the output torque and the direction of each stator phase angle.
The rotor zero position identification method of the permanent magnet synchronous motor is different from the traditional rotor zero position identification method in technical thought. The technical idea of the rotor zero position identification method of the permanent magnet synchronous motor is that under the condition that the permanent magnet synchronous motor works in a locked-rotor state, under the condition that exciting current id=0, torque current iq=iqRef and Step of increasing a stator phase angle are given, output torque of the permanent magnet synchronous motor is detected, and the rotor zero position identification method of the rotor zero position identification of the permanent magnet synchronous motor is achieved. The first assignment of the Step of increasing the phase angle of the stator can determine the zero identification precision. The zero position identification method for the permanent magnet synchronous motor rotor is wide in application range, controllable in identification precision and capable of being selected according to actual needs.
Specifically, the main body for recording the output torque and the direction of the permanent magnet synchronous motor corresponding to each stator phase angle is a frequency converter, and the main body for judging the zero position of the rotor is a frequency converter.
Under the working condition of larger damping of the permanent magnet synchronous motor, the zero position of the rotor can be accurately identified.
Since this solution is to find the point of maximum output torque in case of a locked rotor, i.e. rotor zero or rotor zero +180 degrees, by giving iq=iqref. Because the motor itself does not rotate under the condition of locked rotor, the motor is not affected by the damping of the motor.
Specifically, the reason why the permanent magnet synchronous motor in step S1 works in the locked-rotor state is that: in order to measure the output torque of the motor given different phase angles, if not in a locked-rotor state, the motor will rotate and the speed will increase continuously, making it difficult to measure the output torque of the motor.
In practice, step S31-3 specifically comprises:
comparing the absolute value and direction of the output torque of each stator phase angle:
and when the absolute value of the output torque is maximum and the direction of the output torque is a phase angle corresponding to positive, the phase angle is a phase angle corresponding to zero position of the rotor.
When the absolute value of the output torque is maximum and the direction of the output torque is a limit angle corresponding to negative, the position where the phase angle rotates 180 degrees is the phase angle corresponding to the zero position of the rotor.
The direction of the output torque is defined by the positive rotation direction Xiang Wei of the motor shaft of the permanent magnet synchronous motor.
If the rotor is at the rotor null position, in the case of excitation current id=0 and torque current iq=iqref, only the stator torque field is generated, and no stator excitation field is generated, so the output torque absolute value is maximum, and the output torque direction is positive.
If the rotor is located at a position where the rotor is turned 180 degrees in zero position, in the case of the exciting current id=0 and the torque current iq=iqref, only the stator torque field is generated, and there is no stator exciting field, so that the absolute value of the output torque is maximum and the output torque direction is negative.
If the rotor is located at a position other than the position where the rotor zero position and the rotor zero position are rotated 180 degrees, in the case of the exciting current id=0 and the torque current iq=iqref, the torque current iq=iqref generates a virtually stator resultant magnetic field, the stator resultant magnetic field will be decomposed into a stator exciting magnetic field direction and a stator torque magnetic field direction, the stator torque magnetic field direction component will be reduced, and the output torque of the permanent magnet synchronous motor will be smaller than when the rotor is at the zero position.
In order to further improve the accuracy of the rotor zero discrimination, after step S31-3, it further includes:
step S32-1: performing a second assignment of a Step of increasing the phase angle of the stator, step=k 2 Degree, where K 2 Less than K 1 ；Step＝K 2 Degree = 1 degree;
step S32-2: controlling the permanent magnet synchronous motor to start, traversing according to step length in a phase angle range corresponding to the zero position of the rotor determined for the first time, and recording the output torque and the direction of the permanent magnet synchronous motor when each stator phase angle; correspondingly, the step length of 1 degree is increased from 10 degrees to 20 degrees, and the output torque and the direction of the permanent magnet synchronous motor are recorded at each degree phase angle, so that 10 output torques and directions are recorded;
step S33-3: and judging the zero position of the rotor according to the output torque and the direction of each stator phase angle.
The zero position identification method of the rotor of the permanent magnet synchronous motor is quick and high in precision by the method of assigning the Step for multiple times and assigning smaller and smaller values.
In practice, step S31-3 specifically comprises:
the absolute values of the output torques and directions of the respective stator phase angles are compared (i.e., 10 output torques and directions in step S32-2 are compared):
and when the absolute value of the output torque is maximum and the direction of the output torque is a phase angle corresponding to positive, the phase angle is a phase angle corresponding to zero position of the rotor.
When the absolute value of the output torque is maximum and the direction of the output torque is a limit angle corresponding to negative, the position where the phase angle rotates 180 degrees is the phase angle corresponding to the zero position of the rotor.
In implementation, step S1 specifically includes:
and a motor locked rotor device is arranged on the permanent magnet synchronous motor, so that the permanent magnet synchronous motor works in a locked rotor state.
In the implementation, the output torque of each stator phase angle is obtained through a torque detection device arranged on a motor shaft of the permanent magnet synchronous motor and is transmitted to a frequency converter through a torque data acquisition device.
In practice, the excitation current id=0 and the torque current iq=iqref of a given permanent magnet synchronous motor are given by a frequency converter; assigning a value to the Step of increasing the phase angle of the stator through a frequency converter;
wherein, the converter controls the permanent magnet synchronous motor.
Under the condition that the permanent magnet synchronous motor leaves the factory and is not subjected to zero calibration and no absolute position sensor is provided, the rotor zero identification method of the permanent magnet synchronous motor can accurately detect the rotor zero, and the detection accuracy is high. In addition, under the working condition that the damping of the permanent magnet synchronous motor is large, the zero position identification method of the rotor of the permanent magnet synchronous motor can remarkably improve the zero position identification precision of the rotor of the permanent magnet synchronous motor.
Example two
A permanent magnet synchronous motor rotor zero identification system of this application embodiment, as shown in fig. 6, includes:
the motor locked rotor device 2 is connected with the permanent magnet synchronous motor 1 so that the permanent magnet synchronous motor can work in a locked rotor state;
a torque detecting device 3, which is used for being installed on a motor shaft of the permanent magnet synchronous motor;
a frequency converter 4, which is connected with the permanent magnet synchronous motor 1 to control the permanent magnet synchronous motor;
a torque data acquisition device 5 connected with the torque detection device 3 and the frequency converter 4;
the frequency converter is further used for reading and recording torque values corresponding to each phase angle of a motor shaft of the permanent magnet synchronous motor through the torque detection device, judging the size and the direction of the torque, and further determining the zero position of the rotor.
The rotor zero position identification system of the permanent magnet synchronous motor is used for realizing the rotor zero position identification method of the permanent magnet synchronous motor in the first embodiment.
The torque detection device and the motor locked rotor device are special equipment for zero position identification configuration of the rotor of the permanent magnet synchronous motor. After the rotor zero position is identified, the torque detection device and the motor locked rotor device need to be removed. Namely, when the permanent magnet synchronous motor is used, a torque detection device and a motor locked rotor device are not needed, and a frequency converter is needed.
And when the frequency converter is started, driving the permanent magnet synchronous motor to operate. Because the motor locked rotor device is arranged, the permanent magnet synchronous motor works in a locked rotor state. The frequency converter reads and records a torque value corresponding to each phase angle of a motor shaft of the permanent magnet synchronous motor through the torque detection device, and then judges the torque and the direction, so that the zero position of the rotor is determined. The identification process is fully automated.
In practice, the frequency converter is further configured to:
receiving a given excitation current id=0 and a torque current iq=iqref of the permanent magnet synchronous motor, wherein iqRef represents a set torque current given value;
a Step of increasing the phase angle of the stator is received for assignment.
In the description of the present application and its embodiments, it should be understood that the terms "top," "bottom," "height," and the like indicate an orientation or positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.
In this application and in its embodiments, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed, unless otherwise explicitly stated and defined as such; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In this application and in its embodiments, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
The above disclosure provides many different embodiments or examples for implementing different structures of the present application. The components and arrangements of specific examples are described above in order to simplify the disclosure of this application. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.
While preferred embodiments of the present application 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 application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (9)
1. A rotor zero position identification method of a permanent magnet synchronous motor is characterized by comprising the following steps:
step S1: the permanent magnet synchronous motor works in a locked-rotor state;
step S2: setting exciting current id=0 and torque current iq=iqref of the permanent magnet synchronous motor, wherein iqRef represents a set torque current given value;
step S31-1: the Step of increasing the phase angle of the stator is first assigned, step=k 1 A degree;
step S31-2: starting the permanent magnet synchronous motor, controlling the stator phase angle to be increased from 0 degree to 180 degrees according to the step length, and recording the output torque and the direction of the permanent magnet synchronous motor corresponding to each stator phase angle;
step S31-3: and judging the zero position of the rotor according to the output torque and the direction of each stator phase angle.
2. The identification method according to claim 1, wherein step S31-3 specifically comprises:
comparing the absolute value and direction of the output torque of each stator phase angle:
when the absolute value of the output torque is maximum and the direction of the output torque is a phase angle corresponding to positive, the phase angle is a phase angle corresponding to zero position of the rotor;
when the absolute value of the output torque is maximum and the direction of the output torque is a limit angle corresponding to negative, the position where the phase angle rotates 180 degrees is the phase angle corresponding to the zero position of the rotor.
3. The identification method according to claim 2, further comprising, after step S31-3:
step S32-1: performing a second assignment of a Step of increasing the phase angle of the stator, step=k 2 Degree, where K 2 Less than K 1 ；
Step S32-2: controlling the permanent magnet synchronous motor to start, traversing according to step length in a phase angle range corresponding to the zero position of the rotor determined for the first time, and recording the output torque and the direction of the permanent magnet synchronous motor when each stator phase angle;
step S32-3: and judging the zero position of the rotor according to the output torque and the direction of each stator phase angle.
4. The identification method according to claim 3, wherein the step S32-3 specifically comprises:
comparing the absolute value and direction of the output torque of each stator phase angle:
when the absolute value of the output torque is maximum and the direction of the output torque is a phase angle corresponding to positive, the phase angle is a phase angle corresponding to zero position of the rotor;
when the absolute value of the output torque is maximum and the direction of the output torque is a limit angle corresponding to negative, the position where the phase angle rotates 180 degrees is the phase angle corresponding to the zero position of the rotor.
5. The identification method according to any one of claims 1 to 4, wherein step S1 specifically comprises:
and a motor locked rotor device is arranged on the permanent magnet synchronous motor, so that the permanent magnet synchronous motor works in a locked rotor state.
6. The identification method according to claim 5, wherein the output torque of each stator phase angle is obtained by a torque detection device mounted on a motor shaft of the permanent magnet synchronous motor.
7. The identification method according to claim 5, characterized in that the excitation current id=0 and the torque current iq=iqref of a given permanent magnet synchronous motor are given by a frequency converter; assigning a value to the Step of increasing the phase angle of the stator through a frequency converter;
the frequency converter is used for controlling the permanent magnet synchronous motor, and is also used for reading and recording torque values corresponding to each phase angle of a motor shaft of the permanent magnet synchronous motor through the torque detection device, and then judging the torque and the direction, so as to determine the zero position of the rotor.
8. A permanent magnet synchronous motor rotor zero identification system, comprising:
the motor locked rotor device is used for being connected with the permanent magnet synchronous motor so that the permanent magnet synchronous motor can work in a locked rotor state;
the torque detection device is used for being arranged on a motor shaft of the permanent magnet synchronous motor;
the frequency converter is connected with the permanent magnet synchronous motor to control the permanent magnet synchronous motor;
the torque data acquisition device is connected with the torque detection device and the frequency converter;
the frequency converter is further used for reading and recording torque values corresponding to each phase angle of a motor shaft of the permanent magnet synchronous motor through the torque detection device, judging the size and the direction of the torque, and further determining the zero position of the rotor.
9. The identification system of claim 8, wherein the frequency converter is further configured to:
receiving a given excitation current id=0 and a torque current iq=iqref of the permanent magnet synchronous motor, wherein iqRef represents a set torque current given value;
a Step of increasing the phase angle of the stator is received for assignment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311404346.3A CN117458920A (en) | 2023-10-27 | 2023-10-27 | Permanent magnet synchronous motor rotor zero position identification method and permanent magnet synchronous motor rotor zero position identification system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311404346.3A CN117458920A (en) | 2023-10-27 | 2023-10-27 | Permanent magnet synchronous motor rotor zero position identification method and permanent magnet synchronous motor rotor zero position identification system |
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| CN202311404346.3A Pending CN117458920A (en) | 2023-10-27 | 2023-10-27 | Permanent magnet synchronous motor rotor zero position identification method and permanent magnet synchronous motor rotor zero position identification system |
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