CN117767817A

CN117767817A - Permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method, device and equipment

Info

Publication number: CN117767817A
Application number: CN202311764416.6A
Authority: CN
Inventors: 李玮; 储琦; 刘超
Original assignee: Beijing Electric Vehicle Co Ltd
Current assignee: Beijing Electric Vehicle Co Ltd
Priority date: 2023-12-20
Filing date: 2023-12-20
Publication date: 2024-03-26

Abstract

The application relates to the technical field of power electronics, in particular to a permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method, device and equipment, wherein the method comprises the following steps: acquiring current state data of a permanent magnet synchronous motor; obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value. Therefore, the problems of influence of external environmental factors and motor working states on the permanent magnet flux linkage and the like are solved, high-precision measurement and calibration of the motor flux linkage are realized, the method is suitable for current loop decoupling and torque estimation in permanent magnet synchronous motor control, engineering realization is easy, and good engineering popularization value is realized.

Description

Permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method, device and equipment

Technical Field

The application relates to the technical field of power electronics, in particular to a permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method, device and equipment.

Background

In permanent magnet synchronous motor control, the accuracy of permanent magnet flux linkage can have an influence on the current loop decoupling effect and the dynamic response characteristic of torque. In the functional safety design of an electric automobile, accurate measurement and calibration of the motor permanent magnet flux linkage are key to improving the torque estimation precision. In motor flux linkage application, the accuracy requirements of different scenes on flux linkage values are different, for example, current loop decoupling control needs to be close to a true value, and motor output torque estimation needs to introduce more system state dimensions to correct flux linkage so as to improve estimation accuracy.

In the related art, in practical engineering application, the flux linkage of the permanent magnet synchronous motor is obtained through early measurement, such as motor model finite element simulation analysis, theoretical derivation, motor rack measurement and the like.

However, the measuring and calibrating method of the permanent magnet synchronous motor flux linkage of the electric automobile at present considers few external influence factors, such as the working state of the motor and the influence of magnetic saturation on the motor flux linkage, so that high-precision measurement of the flux linkage is difficult to realize. In addition, in the field of electric automobiles, no mature and effective permanent magnet synchronous motor flux linkage test calibration method is available at present to simultaneously meet the important application scenes of current loop decoupling control of a motor and motor output torque estimation of the motor flux linkage, so that improvement of motor performance and effective implementation of a whole vehicle safety protection mechanism (such as functional safety) are affected, and the problem is to be solved.

Disclosure of Invention

The application provides a permanent magnet flux linkage measurement calibration method, device and equipment for a rotor of a permanent magnet synchronous motor, which are used for solving the problems of influence of external environmental factors and motor working states on the flux linkage of the permanent magnet and the like.

An embodiment of a first aspect of the present application provides a method for calibrating flux linkage measurement of a permanent magnet of a rotor of a permanent magnet synchronous motor, including the following steps:

acquiring current state data of a permanent magnet synchronous motor;

obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to the current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and

and obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value.

With reference to the first aspect, in some possible implementations, the current state data includes at least one of a current motor temperature, a current motor speed, a current motor q-axis current, and a current input torque.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the obtaining, based on the current state data, the current flux linkage initial value of the permanent magnet synchronous motor based on a preset first three-dimensional map table includes:

a first target three-dimensional map table is obtained from the preset first three-dimensional map table in a reorganization mode based on a temperature interval in which the current motor temperature is located, a rotating speed interval in which the current motor rotating speed is located and a current interval in which the current motor q-axis current is located;

calculating a first flux linkage linear interpolation based on the current motor q-axis current and a second flux linkage linear interpolation based on the current motor rotating speed according to the minimum value of a temperature interval in which the current motor temperature is located based on the first target three-dimensional map table, and calculating a third flux linkage linear interpolation based on the current motor q-axis current and a fourth flux linkage linear interpolation based on the current motor rotating speed according to the maximum value of the temperature interval in which the current motor temperature is located;

and calculating the initial value of the current magnetic linkage according to the first magnetic linkage linear interpolation, the second magnetic linkage linear interpolation, the third magnetic linkage linear interpolation and the fourth magnetic linkage linear interpolation.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, before obtaining, based on the preset first three-dimensional map table, a flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to the current state data, the method further includes:

determining a plurality of calibration motor temperatures, a plurality of calibration motor speeds and a plurality of calibration q-axis currents of a target motor;

d-axis current of the target motor is regulated to 0, the target motor is controlled based on the plurality of calibration motor temperatures, the plurality of calibration motor rotating speeds and the plurality of calibration q-axis currents respectively, and when the target motor working state is in a preset first working steady state, the motor three-phase current value, the motor three-phase voltage value, the electric angle of a motor rotor and the power factor angle when each calibration motor rotating speed corresponds to the plurality of calibration q-axis currents are recorded at each calibration motor temperature;

calculating the flux linkage initial value of the permanent magnet when the rotating speed of each calibration motor corresponds to the q-axis currents according to the motor three-phase current value, the motor three-phase voltage value, the electric angle of the motor rotor and the power factor angle when the rotating speed of each calibration motor corresponds to the q-axis currents at the temperature of each calibration motor;

And generating the preset first three-dimensional map table according to the flux linkage initial values of the permanent magnets when the rotating speed of each calibration motor corresponds to the q-axis currents at the temperature of each calibration motor.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the obtaining, based on the current state data, the current flux linkage correction compensation coefficient of the permanent magnet based on a preset second three-dimensional map table includes:

a second target three-dimensional map table is obtained from the preset second three-dimensional map table in a reorganization mode based on a temperature interval in which the current motor temperature is located, a rotating speed interval in which the current motor rotating speed is located and a torque interval in which the current input torque is located;

calculating a first flux linkage correction compensation coefficient linear interpolation based on the current torque input instruction and a second flux linkage correction compensation coefficient linear interpolation based on the current motor speed according to the minimum value of a temperature interval in which the current motor temperature is located based on the second target three-dimensional map table, calculating a third flux linkage correction compensation coefficient linear interpolation based on the current torque input instruction and a fourth flux linkage correction compensation coefficient linear interpolation based on the current motor speed according to the maximum value of the temperature interval in which the current motor temperature is located, and calculating a fifth flux linkage correction compensation coefficient linear interpolation based on the current motor temperature;

And calculating the current flux linkage correction compensation coefficient according to the first flux linkage correction compensation coefficient linear interpolation, the second flux linkage correction compensation coefficient linear interpolation, the third flux linkage correction compensation coefficient linear interpolation and the fourth flux linkage correction compensation coefficient linear interpolation.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, before obtaining, based on the preset second three-dimensional map table, a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data, the method further includes:

determining a plurality of calibration input torques of the target motor, and corresponding q-axis currents and d-axis currents at the plurality of calibration motor temperatures and the plurality of calibration motor speeds;

adjusting the target motor based on the corresponding q-axis current and d-axis current at the plurality of calibration motor temperatures and the plurality of calibration motor speeds, an

D-axis current of the target motor is regulated to 0, the target motor is controlled based on the plurality of calibration motor temperatures, the plurality of calibration motor rotating speeds and the plurality of calibration input torques respectively, and when the target motor working state is in a preset second working steady state, the motor three-phase current value, the motor three-phase voltage value, the electric angle of a motor rotor and the power factor angle when each calibration motor rotating speed corresponds to the plurality of calibration input torques are recorded at each calibration motor temperature;

Calculating a flux linkage correction compensation coefficient when the rotating speed of each calibration motor corresponds to the plurality of calibration input torques at the temperature of each calibration motor according to the motor three-phase current value, the motor three-phase voltage value, the electric angle of a motor rotor and the power factor angle when the rotating speed of each calibration motor corresponds to the plurality of calibration input torques at the temperature of each calibration motor;

and generating the preset second three-dimensional map table according to the flux linkage correction compensation coefficient when the rotating speed of each calibration motor corresponds to the plurality of calibration input torques at the temperature of each calibration motor.

According to the permanent magnet flux linkage measurement calibration method of the permanent magnet synchronous motor rotor, current state data of the permanent magnet synchronous motor are obtained; obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value. Therefore, the problems of influence of external environmental factors and motor working states on the permanent magnet flux linkage and the like are solved, high-precision measurement and calibration of the motor flux linkage are realized, the method is suitable for current loop decoupling and torque estimation in permanent magnet synchronous motor control, engineering realization is easy, and good engineering popularization value is realized.

An embodiment of a second aspect of the present application provides a permanent magnet flux linkage measurement calibration device for a rotor of a permanent magnet synchronous motor, including:

the acquisition module is used for acquiring current state data of the permanent magnet synchronous motor;

the processing module is used for obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to the current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and

and the calibration module is used for obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value.

With reference to the second aspect, in some possible implementations, the current state data includes at least one of a current motor temperature, a current motor speed, a current motor q-axis current, and a current input torque.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the processing module is configured to:

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, before obtaining, based on a preset first three-dimensional map table, a flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to the current state data, the processing module is further configured to:

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, before obtaining, based on the preset second three-dimensional map table, a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data, the processing module is further configured to:

The permanent magnet flux linkage measurement calibration device of the permanent magnet synchronous motor rotor is used for acquiring current state data of the permanent magnet synchronous motor; obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value. Therefore, the problems of influence of external environmental factors and motor working states on the permanent magnet flux linkage and the like are solved, high-precision measurement and calibration of the motor flux linkage are realized, the method is suitable for current loop decoupling and torque estimation in permanent magnet synchronous motor control, engineering realization is easy, and good engineering popularization value is realized.

An embodiment of a third aspect of the present application provides an electronic device, including: the device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method according to the embodiment.

An embodiment of a fourth aspect of the present application provides a computer readable storage medium, where the computer readable storage medium stores computer instructions for causing the computer to execute the permanent magnet flux linkage measurement calibration method for a permanent magnet synchronous motor rotor according to the above embodiment.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic diagram of the vector control principle of a permanent magnet synchronous motor according to one embodiment of the present application;

fig. 2 is a flowchart of a permanent magnet flux linkage measurement calibration method for a rotor of a permanent magnet synchronous motor according to an embodiment of the present application;

FIG. 3 is a schematic diagram of d-q axis voltage and current vectors of a permanent magnet synchronous motor according to one embodiment of the present application;

fig. 4 is a schematic block diagram of a permanent magnet flux linkage measurement calibration device of a rotor of a permanent magnet synchronous motor according to an embodiment of the application;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

The method, the device and the equipment for measuring and calibrating the permanent magnet flux linkage of the permanent magnet synchronous motor rotor in the embodiment of the application are described below with reference to the accompanying drawings. Aiming at the problems that the measuring and calibrating method of the permanent magnet synchronous motor flux linkage of the electric automobile in the prior art considers few external influence factors, and no mature and effective permanent magnet synchronous motor flux linkage testing and calibrating method is available to simultaneously meet the important application situations of current loop decoupling control of the motor and motor output torque estimation and the like, the application provides the measuring and calibrating method of the permanent magnet synchronous motor rotor permanent magnet flux linkage, solves the problems of influence of external environment factors and motor working states on the permanent magnet flux linkage and the like, realizes high-precision measuring and calibrating of the motor flux linkage, is suitable for current loop decoupling and torque estimation in permanent magnet synchronous motor control, is easy for engineering realization, and has good engineering popularization value.

The method for measuring and calibrating the permanent magnet flux linkage of the rotor of the permanent magnet synchronous motor relies on a vector control theory, and simultaneously measures the permanent magnet flux linkage value of the current motor based on a back electromotive force voltage method and a rotating coordinate system stator current method, so that three parts of the vector control basic principle of the permanent magnet synchronous motor, the back electromotive force voltage flux linkage measuring method and the rotating coordinate system stator current flux linkage measuring method are described before the method for measuring and calibrating the permanent magnet flux linkage of the rotor of the permanent magnet synchronous motor provided by the embodiment of the application is described in detail.

Firstly, introducing a basic principle of vector control of a permanent magnet synchronous motor, wherein the architecture of the basic principle of vector control of the permanent magnet synchronous motor of an electric automobile is shown in fig. 1, and an IGBT (Insulated Gate Bipolar Transistor ) is a power conversion module in a motor controller; PMSM (Permanent Magnet Synchronous Motor) is a permanent magnet synchronous motor; i.e _d * And i _q * Representing a given d-q axis current command determined by maximum torque current ratio control, maximum torque voltage ratio control, field weakening control, and the like, in accordance with a required torque of the vehicle and a driving system state; three-phase current i of permanent magnet synchronous motor _A 、i _B 、i _C Obtaining the actual d-q axis current i after two coordinate transformations (Clark transformation and Park transformation) _d And i _q The method comprises the steps of carrying out a first treatment on the surface of the The difference value between the d-q axis command current and the actual current is used as the input of a PI controller (Proportional Integral, proportional integral controller) to carry out current loop adjustment, so as to keep the d-q axis current actually output by the motor consistent with the command current through PI control; obtaining a d-q axis voltage command U through two paths of PI controllers _d And U _q ，U _d And U _q After coordinate transformation, the control signal of the IGBT module is obtained through space vector pulse width modulation, and the constant direct current bus voltage U is obtained at the input end of the motor controller _DC Is operated to generate a current (i) in the three-phase winding of the motor _A 、i _B 、i _C ) Thereby causing the motor to output torque as desired.

It follows from this that the core of the vector control of the permanent magnet synchronous motor is the control of the current, and from fig. 1 it follows that the key to the vector control is by controlling the actual d-q axis current i of the motor _d 、i _q And command current i _d *、i _q * Maintaining consistency to ensure desired torque output by the motor to achieve actual current and commanded currentThe core of the fast and accurate follow-up is a PI current loop regulator, according to figure 1, PI regulators are respectively added in a d-axis current path and a q-axis current path, and current follow-up is realized by PI and current loop decoupling control.

Secondly, introducing a back electromotive force voltage flux linkage measurement method, wherein the back electromotive force voltage flux linkage measurement method is a flux linkage measurement method commonly used in engineering, a permanent magnet synchronous motor is installed in a motor opposite-dragging test platform and disconnected with a motor controller, the motor is reversely dragged by a dynamometer to rotate so as to generate back electromotive force, an effective value of a fundamental line voltage of the motor is obtained through measurement of a power analyzer, and at the moment, the flux linkage of a permanent magnet of the motor has the following relation with the effective value of the line voltage, the motor rotating speed and the pole pair number of the motor:

in the formula (1), the components are as follows,is a permanent magnet flux linkage, V _rms Is the effective value of the fundamental wave line voltage of the motor, p is the pole logarithm of the motor, omega _m Is the motor speed (rpm). Wherein V is _rms And omega _m The pole pair number p of the motor is a fixed value through real-time accurate measurement of equipment such as a dynamometer in a motor pair-drag test platform, so that all variables on the right side of the formula (1) are known, and the current permanent magnet flux linkage value of the motor can be obtained by solving an equation.

Further, the above method for measuring the flux linkage of the permanent magnet of the motor rotor is calculated by using the back electromotive force generated when the motor is reversely towed, so the method is called back electromotive force voltage flux linkage measurement method. The method has the advantages of clear testing mechanism, convenient testing and small calculated amount, and the variable parameters of the motor, such as the inductance of the motor, are not relied on in the process of calculating the flux linkage, so that the flux linkage accuracy of the obtained motor is higher, but the method does not consider the influence of the current state of the motor, such as temperature, magnetic saturation and other factors on the flux linkage value, so that the actual application effect of the motor is influenced.

Finally, describing a stator current flux linkage measurement method of a rotating coordinate system, a voltage equation in vector control of the permanent magnet synchronous motor has the following form in a steady state:

wherein u is _d And u is equal to _q D-q axis voltages, R, of permanent magnet synchronous motors respectively _s For stator winding resistance, i _d And i _q For d-q axis current of motor, L _d And L is equal to _q Is d-q axis inductance, omega of motor _e For the electrical angular velocity of the motor,representing the permanent magnet flux linkage.

Further, i is controlled by using permanent magnet synchronous vector _d Control adjusts to 0 (corresponding to d-axis current command i in FIG. 1 _d * =0), then u _q The represented q-axis voltage equation can be reduced to:

in the formula (3), the q-axis current i of the motor _q With q-axis voltage u _q All can be obtained by utilizing motor three-phase current and three-phase voltage signals acquired by a motor test platform in real time through Clark and Park coordinate transformation calculation, and the electric angular velocity omega of the motor is obtained _e The resistance R of the motor stator winding can be obtained accurately in real time by using a position sensor in motor conditions _s The permanent magnet flux linkage of the motor in the current state can be calculated by the formula (3) as a known quantity.

It can be obtained from this that the mapping relation between the motor flux linkage and the motor q-axis current, and the motor rotation speed can be obtained by the formula (3), and because the mapping between the motor flux linkage and the motor q-axis current is established, the method has better adaptability than the back electromotive force voltage flux linkage measurement method, but the influence of temperature on the motor flux linkage is not considered by the formula, so that the improvement of the practical application effect is limited.

The invention provides a measuring and calibrating method for the permanent magnet flux linkage of a rotor of a permanent magnet synchronous motor on the basis of the two measuring methods in the engineering fields of the permanent magnet flux linkage of the permanent magnet synchronous motor, and the method is described in detail below.

Specifically, fig. 2 is a flowchart of a permanent magnet flux linkage measurement calibration method for a rotor of a permanent magnet synchronous motor according to an embodiment of the present application.

Specifically, as shown in fig. 2, the permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method comprises the following steps:

in step S201, current state data of the permanent magnet synchronous motor is acquired.

Wherein, in some embodiments, the current state data includes at least one of a current motor temperature, a current motor speed, a current motor q-axis current, and a current input torque.

Specifically, the working state of the permanent magnet synchronous motor can be obtained through a direct measurement mode.

In the embodiment of the present application, the current state data of the permanent magnet synchronous motor may be acquired in a variety of ways, which are not specifically limited herein.

In step S202, a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor is obtained according to current state data based on a preset first three-dimensional map table, and a current flux linkage correction compensation coefficient of the permanent magnet is obtained according to the current state data based on a preset second three-dimensional map table.

Further, in some embodiments, before obtaining the initial value of flux linkage of the permanent magnet synchronous motor according to the current state data based on the preset first three-dimensional map table, the method further includes: determining a plurality of calibration motor temperatures, a plurality of calibration motor speeds and a plurality of calibration q-axis currents of a target motor; d-axis current of the target motor is regulated to 0, the target motor is controlled based on a plurality of calibration motor temperatures, a plurality of calibration motor rotating speeds and a plurality of calibration q-axis currents respectively, and when the working state of the target motor is in a preset first working steady state, the d-axis current of the target motor is recorded at each calibration motor temperature, and each calibration motor rotating speed corresponds to a motor three-phase current value, a motor three-phase voltage value, an electric angle and a power factor angle of a motor rotor when the plurality of calibration q-axis currents are generated; calculating the flux linkage initial value of the permanent magnet when the rotating speed of each calibration motor corresponds to a plurality of calibration q-axis currents according to the motor three-phase current value, the motor three-phase voltage value, the electric angle of the motor rotor and the power factor angle when the rotating speed of each calibration motor corresponds to a plurality of calibration q-axis currents at the temperature of each calibration motor; and generating a preset first three-dimensional map table according to the flux linkage initial values of the permanent magnets when the rotating speed of each calibration motor corresponds to a plurality of calibration q-axis currents at the temperature of each calibration motor.

Preferably, the preset first operating steady state may be a q-axis current command i of the motor within 5s _d * And the actual q-axis current i _d The deviation is less than 2A, the temperature change of the motor is less than 1 ℃, and the rotation speed change of the motor is less than 2rpm.

Specifically, a motor operation state table is established, the motor operation states are divided, the specific forms are shown in tables 1 to 4, wherein tables 1 to 4 are respectively motor operation state test calibration tables at different temperatures, and q-axis current instructions in tables 1 to 4 are increased from 30A according to a step length of 30A until the current reaches a maximum value i _q-max * The method comprises the steps of carrying out a first treatment on the surface of the The motor speed is increased from 500rpm in steps of 500rpm until reaching the maximum motor speed omega _max The method comprises the steps of carrying out a first treatment on the surface of the And obtaining a two-dimensional table of the working state of the motor according to the mode.

In consideration of the fact that the influence of the motor temperature on the rotor permanent magnet flux linkage is large, the temperature dimension is added on the basis of the two-dimensional table of the motor working state, 4 temperature points (60 ℃, 90 ℃, 120 ℃ and 150 ℃) are determined according to the step length of 30 ℃ from 60 ℃ according to the working temperature interval of the permanent magnet synchronous motor of the electric automobile, so that the two-dimensional table of the motor working state based on the q-axis current instruction and the motor rotating speed is expanded to be three-dimensional, and the table is used for measuring and calibrating the initial value of the motor rotor permanent magnet flux linkage.

TABLE 1

TABLE 2

TABLE 3 Table 3

TABLE 4 Table 4

Further, given a motor d-axis current command of 0, corresponding to i in FIG. 1 _d * =0, and adjusting a cooling system (coolant flow, coolant temperature) of a motor test stand, reversely dragging the motor by using the motor to drag the test platform, giving a q-axis current instruction of the motor through the upper computer, enabling the motor to enter into working states in tables 1 to 4, and obtaining flux linkage measurement data of the motor in the working states by using a dynamometer, a power analyzer, a speed sensor and other devices in the motor test stand after the working states of the motor reach steady state and last for 5s in the working states of the motor in tables 1 to 4, wherein the method comprises the following steps: three-phase current value i of motor _A 、i _B 、i _C Three-phase voltage value U of motor _A 、U _B 、U _C Electric angle θ and power factor angle θ of motor rotor _s 。

Further, parameters required for calculating flux linkage under the current motor working state are calculated, including q-axis actual current i _d Q-axis voltage u _q ；

Q-axis electricity of motorFlow through the three-phase current value i of the motor _A 、i _B 、i _C The method is obtained by performing Clark and Park transformation, and specifically comprises the following steps:

formula (4) is a Clark transformation equation, wherein i _A 、i _B 、i _C U, V, W three-phase current, i, of corresponding motor _α And i _β For the transformed alpha-beta axis current, the motor three-phase current under the ABC static coordinate system is transformed into the alpha-beta coordinate system through Clark transformation.

Equation (5) is Park transformation formula, wherein θ is the electrical angle of the motor rotor, and the actual q-axis current i of the current motor in the d-q axis rotation coordinate system in the vector control of the permanent magnet synchronous motor is finally obtained through Park transformation _q 。

The q-axis voltage of the motor likewise utilizes the motor three-phase voltage value U _A 、U _B 、U _C And performing Clark and Park transformation.

Formula (6) is Clark transformation equation of three-phase voltage of motor, wherein U _A 、U _B 、U _C U, V, W three-phase voltage of corresponding motor, u _α And u is equal to _β For the transformed alpha-beta axis voltage, the motor three-phase voltage under the ABC static coordinate system is transformed into the alpha-beta coordinate system through Clark transformation.

For the permanent magnet synchronous motor, the voltage vector in the d-q axis coordinate system leads the current vector, and the included angle between the voltage vector and the current vector is a power factor angle, as shown in fig. 3, wherein the power factor angle can be obtained through real-time measurement of a power analyzer in a motor test bed.

Wherein i in FIG. 3 _s Representing the current vector in the d-q axis coordinate system, u _s Representing the voltage vector, θ, in the d-q axis coordinate system _s To obtain the current q-axis voltage u of the motor, park conversion is carried out according to FIG. 3, wherein the voltage vector leads the included angle of the current vector, namely the power factor angle _q 。

Equation (7) is a Park conversion equation of d-q axis voltage.

Further, the q-axis actual current i is completed _q With q-axis voltage u _q After the analysis of (3), the permanent magnet flux linkage value in the current motor working state is calculated according to the formula. Motor stator winding resistance R in (3) _s For the previous measurement, the resistance of the motor stator winding at 4 temperature points was measured in advance according to tables 1 to 4.

Further, all working states in tables 1 to 4 are traversed according to the steps to obtain motor permanent magnet flux linkage values in all working states, and the flux linkage values in all working states are filled in tables 1 to 4.

Therefore, a mapping relation between the permanent magnet flux linkage of the motor and the working state (motor rotating speed, motor temperature and motor q-axis current) of the motor, namely a first three-dimensional map table, is established, and the calibration of the initial value of the permanent magnet flux linkage of the motor is completed.

Further, in some embodiments, based on a preset first three-dimensional map table, obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to current state data includes: the method comprises the steps that a first target three-dimensional map table is obtained by reorganization from a preset first three-dimensional map table based on a temperature interval in which the current motor temperature is located, a rotating speed interval in which the current motor rotating speed is located and a current interval in which the current motor q-axis current is located; based on a first target three-dimensional map table, calculating a first flux linkage linear interpolation based on the current motor q-axis current and a second flux linkage linear interpolation based on the current motor rotating speed according to the minimum value of a temperature interval in which the current motor temperature is located, and calculating a third flux linkage linear interpolation based on the current motor q-axis current and a fourth flux linkage linear interpolation based on the current motor rotating speed according to the maximum value of the temperature interval in which the current motor temperature is located; and calculating the initial value of the current flux linkage according to the first flux linkage linear interpolation, the second flux linkage linear interpolation, the third flux linkage linear interpolation and the fourth flux linkage linear interpolation.

Specifically, as can be seen from tables 1 to 4, a three-dimensional map table of permanent magnet flux linkage is established by traversing a limited number of motor working states, the table is stored in a motor controller, and the flux linkage value of the motor under the current working condition is calculated by a linear interpolation table look-up mode in the actual engineering application process, and the method comprises the following steps:

assuming that the motor is in a particular condition, the q-axis current of the motor is at [ i ] _qL A,i _qH A]Interval (i) _qH -i _qL =30a), defined as i _qc The method comprises the steps of carrying out a first treatment on the surface of the The temperature of the motor is [ T ] _ML ℃,T _MH ℃]Section (T) _MH -T _ML =30℃), defined as T _motor The method comprises the steps of carrying out a first treatment on the surface of the The motor speed is R _L rpm,R _H rpm]Interval (R) _H -R _L =500 rpm), defined as R _c The three-dimensional map table of the permanent magnet flux linkage related to the working condition is intercepted, and is specifically shown in table 5 and table 6, wherein table 5 and table 6 are intercepting tables of working states of adjacent motors, and the invention introduces a difference value calculation method of initial values of the permanent magnet flux linkage of the motor rotor based on table 5 and table 6.

In tables 5 and 6, F _TML-11 、F _TML-12 、F _TML-21 、F _TML-22 、F _TMH-11 、F _TMH-12 、F _TMH-21 、F _TMH-22 The flux linkage values of the permanent magnets in the working states of the adjacent motors are obtained through the calibration method.

TABLE 5

TABLE 6

According to tables 5 and 6, the initial value of the permanent magnet flux linkage in the current motor operating state is obtained according to the following linear interpolation procedure.

(1) Flux linkage linear interpolation (motor temperature T) based on q-axis current _ML ℃)

C in formula (8) _{TL_RL} Is shown as T at motor temperature _ML Lower motor speed boundary R in a DEG C table _L The q-axis current flux linkage linearity difference under the condition; c in formula (9) _TL _RH Is shown as T at motor temperature _ML Upper motor speed boundary R in a DEG C table _H Q-axis current flux linkage linearity difference under conditions.

(2) Flux linkage linear interpolation (motor temperature T) based on motor rotation speed _ML ℃)

F in formula (10) _TL Is shown as T at motor temperature _ML Motor flux linkage linear interpolation in the c table.

(3) Flux linkage linear interpolation (motor temperature T) based on q-axis current _MH ℃)

C in formula (11) _{TH_RL} Is shown as T at motor temperature _MH Lower motor speed boundary R in a DEG C table _L The q-axis current flux linkage linearity difference under the condition; c in formula (12) _{TH_RH} Is shown as T at motor temperature _MH Upper motor speed boundary R in a DEG C table _H Q-axis current flux linkage linearity difference under conditions.

(4) Flux linkage linear interpolation (motor temperature T) based on motor rotation speed _MH ℃)

F in formula (13) _TH Is shown as T at motor temperature _MH Motor flux linkage linear interpolation in the c table.

(5) Flux linkage linear interpolation based on motor temperature

Psi in formula (14) _f-int For the current condition (motor q-axis current i _qc Temperature T of motor _motor Motor rotation speed R _c Working condition) the initial value of the permanent magnet flux linkage of the motor rotor, which is obtained through linear interpolation, is used for current loop decoupling control in vector control of the permanent magnet synchronous motor.

Further, in some embodiments, before obtaining the current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on the preset second three-dimensional map table, the method further includes: determining a plurality of calibration input torques of a target motor, and corresponding q-axis currents and d-axis currents at a plurality of calibration motor temperatures and a plurality of calibration motor speeds; adjusting a target motor based on q-axis current and d-axis current corresponding to the temperatures of the plurality of calibration motors and the rotational speeds of the plurality of calibration motors, adjusting d-axis current of the target motor to be 0, respectively controlling the target motor based on the temperatures of the plurality of calibration motors, the rotational speeds of the plurality of calibration motors and the plurality of calibration input torques, and recording three-phase current values of the motor, three-phase voltage values of the motor, electrical angles of the motor rotor and power factor angles when the working state of the target motor is in a preset second working steady state at each calibration motor temperature and each calibration motor rotational speed corresponds to the plurality of calibration input torques; calculating a flux linkage correction compensation coefficient when each calibration motor rotating speed corresponds to a plurality of calibration input torques at each calibration motor temperature according to a motor three-phase current value, a motor three-phase voltage value, an electric angle of a motor rotor and a power factor angle when each calibration motor rotating speed corresponds to a plurality of calibration input torques at each calibration motor temperature; and generating a preset second three-dimensional map table according to the flux linkage correction compensation coefficient when the rotating speed of each calibration motor corresponds to a plurality of calibration input torques at the temperature of each calibration motor.

Preferably, the second preset steady state may be the d-axis current command i of the motor within 5s _d * And the actual d-axis current i _d The deviation is less than 2A, and the q-axis current of the motor is instructed to be i _q * And the actual q-axis current i _q The deviation is less than 2A, the temperature change of the motor is less than 1 ℃, and the rotation speed change of the motor is less than 2rpm.

Specifically, a motor operating state table is established, the motor operating states are divided, and the specific forms are shown in tables 7 to 10, wherein tables 7 to 10 are respectively permanent magnet synchronous motor rotor permanent magnet flux linkage correction compensation operating state tables at different temperatures, and torque instructions in tables 7 to 10 increase from 50Nm according to a step size of 50Nm until the torque instructions reach a maximum value T _q-max The method comprises the steps of carrying out a first treatment on the surface of the The motor speed is increased from 500rpm in steps of 500rpm until reaching the maximum motor speed omega _max The method comprises the steps of carrying out a first treatment on the surface of the And obtaining a two-dimensional table of the working state of the motor according to the mode.

In consideration of the fact that the influence of the motor temperature on the rotor permanent magnet flux linkage is large, the temperature dimension is added on the basis of the two-dimensional table of the motor working state, 4 temperature points (60 ℃, 90 ℃, 120 ℃ and 150 ℃) are determined according to the step length of 30 ℃ from 60 ℃ according to the working temperature interval of the permanent magnet synchronous motor of the electric automobile, and therefore the two-dimensional table of the motor working state is expanded to be three-dimensional, and the table is used for measuring and calibrating flux linkage correction compensation coefficients.

TABLE 7

TABLE 8

TABLE 9

Table 10

Further, vector control of permanent magnet synchronous motor in the electric automobile field mostly adopts a table look-up method to obtain current d-q axis current instruction, namely, according to current state of motor, d-q axis instruction i of motor is obtained by searching map table of motor state and motor d-q axis instruction _d * And i _q * (see fig. 1 specifically), the basic form of the map table is consistent with tables 7 to 10, namely, the motor state comprises the rotation speed, the torque command and the motor temperature of the motor, and in the actual torque control process, the torque command, the rotation speed and the motor temperature are taken as inputs, and the d-q axis current command under the current working condition is obtained by looking up the difference value. The calibration of the d-q axis current table belongs to the parameter calibration category of maximum torque current ratio control, maximum torque voltage ratio control and field weakening control in the vector control of the permanent magnet synchronous motor, and has a mature calibration scheme in the industry, which does not belong to the content of the invention, and the invention only uses the result thereof, namely the d-q axis current under different motor working states obtained by looking up the tableInstruction i _d * And i _q *。

Further, the motor test bed cooling system (coolant flow rate and coolant temperature) is adjusted, and the motor is used for reversely dragging the motor to rotate on the dragging test platform and giving a torque command of the motor through the upper computer, so that the motor enters the working states in tables 7 to 10.

Further, in the working state of a certain motor in tables 7 to 10, when the working state of the motor reaches a steady state and lasts for 5 seconds, the flux linkage measurement data of the motor in the working state is obtained by using a dynamometer, a power analyzer, a speed sensor and other devices in the motor test bed, and the method comprises the following steps: three-phase current value i of motor _A 、i _B 、i _C The electrical angle θ of the motor rotor and the actual output torque of the motor.

Further, the actual output torque of the motor under the current working condition is obtained through the dynamometer, and the torque is defined as T _e And the permanent magnet flux linkage value of the motor under the current working condition is reversely pushed according to the torque formula of the permanent magnet synchronous motor.

Formula (15) is a torque formula of the permanent magnet synchronous motor, and the embodiment of the application uses the formula to perform back calculation of the permanent magnet flux linkage of the motor, wherein T is as follows _e For the current actual output torque of the motor, p is the pole pair number of the motor, L _d And L is equal to _q I is d-q axis inductance of motor _d And i _q Is the actual d-q axis current of the motor, ψ _f Is the permanent magnet flux linkage of the motor. The pole pair number p of the motor in the formula (15) is a known quantity, the actual d-q axis current of the motor can be obtained by utilizing three-phase current coordinate transformation of the motor, a mature calibration method exists in the d-q axis inductance industry of the motor, in the actual engineering control of the permanent magnet synchronous motor of the electric automobile, the d-q axis inductance of the motor is calibrated in advance in a form of a table and is stored in a motor controller, and the d-q axis inductance is obtained in a table lookup mode later. To this end, in formula (15), other than motor flux linkage The parameters are all known, and then the motor flux linkage value under the current working condition is calculated through a formula (16).

Further, according to tables 7 to 10, the system state under the current working condition can be determined, including the d-q axis current of the motor, the d-q axis voltage of the motor, the motor rotation speed, the motor torque command and the like, and according to the table look-up calculation method for the initial value of the permanent magnet flux linkage of the motor rotor provided by the invention, the initial value psi of the motor flux linkage can be obtained by the table look-up method according to formulas (8) to (14) _f-int And then calculating the correction coefficient of the motor flux linkage under the current working condition according to the formula (17).

Further, according to the steps, all the motor working states in tables 7 to 10 are traversed to obtain the mapping relation between the motor flux linkage correction coefficient and the motor rotating speed, torque command and motor temperature, so that the mapping relation between the motor flux linkage correction coefficient and the motor working states (motor rotating speed, motor temperature and motor torque command), namely the second three-dimensional map table, is established, and the calibration of the motor permanent magnet flux linkage correction coefficient is completed.

Further, in some embodiments, based on a preset second three-dimensional map table, obtaining the current flux linkage correction compensation coefficient of the permanent magnet according to the current state data includes: the second target three-dimensional map table is obtained by reorganization from a preset second three-dimensional map table based on a temperature interval in which the current motor temperature is located, a rotating speed interval in which the current motor rotating speed is located and a torque interval in which the current input torque is located; based on a second target three-dimensional map table, calculating a first flux linkage correction compensation coefficient linear interpolation based on a current torque input instruction and a second flux linkage correction compensation coefficient linear interpolation based on a current motor rotating speed according to a minimum value of a temperature interval in which the current motor temperature is located, calculating a third flux linkage correction compensation coefficient linear interpolation based on the current torque input instruction and a fourth flux linkage correction compensation coefficient linear interpolation based on the current motor rotating speed according to a maximum value of the temperature interval in which the current motor temperature is located, and calculating a fifth flux linkage correction compensation coefficient linear interpolation based on the current motor temperature; and calculating the current flux linkage correction compensation coefficient according to the first flux linkage correction compensation coefficient linear interpolation, the second flux linkage correction compensation coefficient linear interpolation, the third flux linkage correction compensation coefficient linear interpolation and the fourth flux linkage correction compensation coefficient linear interpolation.

According to tables 7 to 10, the three-dimensional map table of permanent magnet flux linkage correction compensation coefficients and motor working states is established by traversing limited motor working states, the table is stored in a motor controller, the flux linkage correction compensation coefficients under the current working condition are calculated in a linear interpolation table look-up mode in the actual engineering application process, and flux linkage values of the motor are calculated by using the coefficients, wherein the flux linkage values are used for estimating the output torque of the motor.

Assuming the motor is in a particular condition, the motor torque command is at [ T ] _qL Nm,T _qH Nm]Section (T) _qH -T _qL =50nm), defined as T _qc The method comprises the steps of carrying out a first treatment on the surface of the The temperature of the motor is [ T ] _ML ℃,T _MH ℃]Section (T) _MH -T _ML =30℃), defined as T _motor The method comprises the steps of carrying out a first treatment on the surface of the The motor speed is R _L rpm,R _H rpm]Interval (R) _H -R _L =500 rpm), defined as R _c Intercepting a three-dimensional map table of flux linkage correction compensation coefficients related to the working condition, wherein the table 11 and the table 12 are adjacent motor working state intercepting tables, and the invention introduces a linear difference value calculation method of the flux linkage correction compensation coefficients of a motor rotor permanent magnet based on the table 11 and the table 12.

In tables 11 and 12, K _TML-11 、K _TML-12 、K _TML-21 、K _TML-22 、K _TMH-11 、K _TMH-12 、K _TMH-21 、K _TMH-22 And the correction compensation coefficients are respectively the correction compensation coefficients of the permanent magnet flux linkage under the working state of the adjacent motor.

TABLE 11

Table 12

According to tables 11 and 12, the permanent magnet flux linkage correction compensation coefficient in the current motor working state is obtained according to the following linear interpolation steps.

(1) Flux linkage correction compensation coefficient linear interpolation (motor temperature T _ML ℃)

H in formula (18) _{TL_RL} Is shown as T at motor temperature _ML Lower motor speed boundary R in a DEG C table _L The flux linkage under the condition corrects the linear difference value of the compensation coefficient; h in formula (19) _{TL_RH} Is shown as T at motor temperature _ML Upper motor speed boundary R in a DEG C table _H The flux linkage under the condition corrects the linear difference of the compensation coefficients.

J in formula (20) _TL Is shown as T at motor temperature _ML Linear interpolation of motor flux linkage correction compensation coefficients in the c table.

(3) Flux linkage correction compensation coefficient linear interpolation (motor temperature T _MH ℃)

H in formula (21) _{TH_RL} Is shown as T at motor temperature _MH Lower motor speed boundary R in a DEG C table _L The flux linkage under the condition corrects the linear difference value of the compensation coefficient; h in formula (22) _{TH_RH} Is shown as T at motor temperature _MH Upper motor speed boundary R in a DEG C table _H The flux linkage under the condition corrects the linear difference of the compensation coefficients.

(4) Flux linkage correction compensation coefficient linear interpolation (motor temperature T) based on motor rotation speed _MH ℃)

J in formula (23) _TH At the temperature T of the motor _MH Linear interpolation of motor flux linkage correction compensation coefficients in the c table.

(5) Flux linkage correction compensation coefficient linear interpolation based on motor temperature

K in formula (14) _Ψ For the current condition (motor torque command T _qc Temperature T of motor _motor Motor rotation speed R _c ) And the motor rotor permanent magnet flux linkage correction compensation coefficient is obtained through linear interpolation.

In step S203, a final flux linkage value of the permanent magnet is obtained according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient, so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value.

Specifically, the motor rotor permanent magnet flux linkage is utilized to repairPositive compensation coefficient K _Ψ With an initial value psi of the motor flux linkage calculated in advance _f-int Multiplying to obtain the flux linkage value psi of the motor rotor permanent magnet under the current working condition _f See in particular equation (25).

ψ _f ＝K _ψ ·ψ _f-int (25)

The permanent magnet flux linkage value psi of the motor rotor obtained by using the formula (25) _f Will be used for the estimation of the motor output torque.

Compared with the test calibration of the initial value of the permanent magnet flux linkage of the motor rotor, the invention introduces the d-axis current of the motor in the process of calculating the flux linkage correction compensation coefficient of the motor rotor, and realizes the accurate calculation of the flux linkage value of the motor for torque estimation by increasing the dimension of the mapping relation between the system state and the flux linkage correction compensation coefficient.

Therefore, the method for measuring and calibrating the permanent magnet flux linkage of the rotor of the permanent magnet synchronous motor of the electric automobile takes environmental factors and influences of the working state of the motor on the permanent magnet flux linkage into consideration, and is suitable for important application scenes of current loop decoupling in the control of the permanent magnet synchronous motor of the electric automobile to estimate the flux linkage of the two motors with torque. The parameters used in the process of calculating the motor permanent magnet flux linkage can be directly measured, and the method is independent of perturbation parameters in the motor, so that the accuracy of the motor flux linkage obtained by the method is ensured. In addition, the method has the advantages of clear logic, easy engineering realization and wide application range, thereby having good engineering popularization value.

According to the permanent magnet flux linkage measurement calibration method for the permanent magnet synchronous motor rotor, the current state data of the permanent magnet synchronous motor are obtained; obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value. Therefore, the problems of influence of external environmental factors and motor working states on the permanent magnet flux linkage and the like are solved, high-precision measurement and calibration of the motor flux linkage are realized, the method is suitable for current loop decoupling and torque estimation in permanent magnet synchronous motor control, engineering realization is easy, and good engineering popularization value is realized.

Secondly, a permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration device according to an embodiment of the application is described with reference to the accompanying drawings.

Fig. 4 is a schematic block diagram of a permanent magnet flux linkage measurement calibration device 10 of a rotor of a permanent magnet synchronous motor according to an embodiment of the present application.

As shown in fig. 4, the permanent magnet flux linkage measurement calibration device 10 of the rotor of the permanent magnet synchronous motor comprises: the device comprises an acquisition module 100, a processing module 200 and a calibration module 300.

The acquiring module 100 is configured to acquire current state data of the permanent magnet synchronous motor; the processing module 200 obtains the current flux linkage initial value of the permanent magnet synchronous motor according to the current state data based on a preset first three-dimensional map table, and obtains the current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; the calibration module 300 is configured to obtain a final flux linkage value of the permanent magnet according to a product of the current flux linkage initial value and the current flux linkage correction compensation coefficient, so as to estimate an output torque of the permanent magnet synchronous motor according to the final flux linkage value.

Further, in some embodiments, the current state data includes at least one of a current motor temperature, a current motor speed, a current motor q-axis current, and a current input torque.

Further, in some embodiments, the processing module 200 is configured to: the method comprises the steps that a first target three-dimensional map table is obtained by reorganization from a preset first three-dimensional map table based on a temperature interval in which the current motor temperature is located, a rotating speed interval in which the current motor rotating speed is located and a current interval in which the current motor q-axis current is located; based on a first target three-dimensional map table, calculating a first flux linkage linear interpolation based on the current motor q-axis current and a second flux linkage linear interpolation based on the current motor rotating speed according to the minimum value of a temperature interval in which the current motor temperature is located, and calculating a third flux linkage linear interpolation based on the current motor q-axis current and a fourth flux linkage linear interpolation based on the current motor rotating speed according to the maximum value of the temperature interval in which the current motor temperature is located; and calculating the initial value of the current flux linkage according to the first flux linkage linear interpolation, the second flux linkage linear interpolation, the third flux linkage linear interpolation and the fourth flux linkage linear interpolation.

Further, in some embodiments, before obtaining the initial value of the flux linkage of the permanent magnet synchronous motor according to the current state data based on the preset first three-dimensional map table, the processing module 200 is further configured to: determining a plurality of calibration motor temperatures, a plurality of calibration motor speeds and a plurality of calibration q-axis currents of a target motor; d-axis current of the target motor is regulated to 0, the target motor is controlled based on a plurality of calibration motor temperatures, a plurality of calibration motor rotating speeds and a plurality of calibration q-axis currents respectively, and when the working state of the target motor is in a preset first working steady state, the d-axis current of the target motor is recorded at each calibration motor temperature, and each calibration motor rotating speed corresponds to a motor three-phase current value, a motor three-phase voltage value, an electric angle and a power factor angle of a motor rotor when the plurality of calibration q-axis currents are generated; calculating the flux linkage initial value of the permanent magnet when the rotating speed of each calibration motor corresponds to a plurality of calibration q-axis currents according to the motor three-phase current value, the motor three-phase voltage value, the electric angle of the motor rotor and the power factor angle when the rotating speed of each calibration motor corresponds to a plurality of calibration q-axis currents at the temperature of each calibration motor; and generating a preset first three-dimensional map table according to the flux linkage initial values of the permanent magnets when the rotating speed of each calibration motor corresponds to a plurality of calibration q-axis currents at the temperature of each calibration motor.

Further, in some embodiments, the processing module 200 is configured to: the second target three-dimensional map table is obtained by reorganization from a preset second three-dimensional map table based on a temperature interval in which the current motor temperature is located, a rotating speed interval in which the current motor rotating speed is located and a torque interval in which the current input torque is located; based on a second target three-dimensional map table, calculating a first flux linkage correction compensation coefficient linear interpolation based on a current torque input instruction and a second flux linkage correction compensation coefficient linear interpolation based on a current motor rotating speed according to a minimum value of a temperature interval in which the current motor temperature is located, calculating a third flux linkage correction compensation coefficient linear interpolation based on the current torque input instruction and a fourth flux linkage correction compensation coefficient linear interpolation based on the current motor rotating speed according to a maximum value of the temperature interval in which the current motor temperature is located, and calculating a fifth flux linkage correction compensation coefficient linear interpolation based on the current motor temperature; and calculating the current flux linkage correction compensation coefficient according to the first flux linkage correction compensation coefficient linear interpolation, the second flux linkage correction compensation coefficient linear interpolation, the third flux linkage correction compensation coefficient linear interpolation and the fourth flux linkage correction compensation coefficient linear interpolation.

Further, in some embodiments, before obtaining the current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on the preset second three-dimensional map table, the processing module 200 is further configured to: determining a plurality of calibration input torques of a target motor, and corresponding q-axis currents and d-axis currents at a plurality of calibration motor temperatures and a plurality of calibration motor speeds; adjusting a target motor based on q-axis current and d-axis current corresponding to the temperatures of the plurality of calibration motors and the rotational speeds of the plurality of calibration motors, adjusting d-axis current of the target motor to be 0, respectively controlling the target motor based on the temperatures of the plurality of calibration motors, the rotational speeds of the plurality of calibration motors and the plurality of calibration input torques, and recording three-phase current values of the motor, three-phase voltage values of the motor, electrical angles of the motor rotor and power factor angles when the working state of the target motor is in a preset second working steady state at each calibration motor temperature and each calibration motor rotational speed corresponds to the plurality of calibration input torques; calculating a flux linkage correction compensation coefficient when each calibration motor rotating speed corresponds to a plurality of calibration input torques at each calibration motor temperature according to a motor three-phase current value, a motor three-phase voltage value, an electric angle of a motor rotor and a power factor angle when each calibration motor rotating speed corresponds to a plurality of calibration input torques at each calibration motor temperature; and generating a preset second three-dimensional map table according to the flux linkage correction compensation coefficient when the rotating speed of each calibration motor corresponds to a plurality of calibration input torques at the temperature of each calibration motor.

It should be noted that the foregoing explanation of the embodiment of the method for measuring and calibrating the flux linkage of the permanent magnet of the rotor of the permanent magnet synchronous motor is also applicable to the device for measuring and calibrating the flux linkage of the permanent magnet of the rotor of the permanent magnet synchronous motor in this embodiment, and is not repeated herein.

The permanent magnet flux linkage measuring and calibrating device for the permanent magnet synchronous motor rotor is used for acquiring current state data of the permanent magnet synchronous motor; obtaining a current flux linkage initial value of a permanent magnet of the permanent magnet synchronous motor according to current state data based on a preset first three-dimensional map table, and obtaining a current flux linkage correction compensation coefficient of the permanent magnet according to the current state data based on a preset second three-dimensional map table; and obtaining a final flux linkage value of the permanent magnet according to the product of the current flux linkage initial value and the current flux linkage correction compensation coefficient so as to estimate the output torque of the permanent magnet synchronous motor according to the final flux linkage value. Therefore, the problems of influence of external environmental factors and motor working states on the permanent magnet flux linkage and the like are solved, high-precision measurement and calibration of the motor flux linkage are realized, the method is suitable for current loop decoupling and torque estimation in permanent magnet synchronous motor control, engineering realization is easy, and good engineering popularization value is realized.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:

memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.

The processor 502 implements the permanent magnet flux linkage measurement calibration method for the permanent magnet synchronous motor rotor provided in the above embodiment when executing the program.

Further, the electronic device further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

Memory 501 for storing a computer program executable on processor 502.

The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.

The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the permanent magnet flux linkage measurement calibration method for a permanent magnet synchronous motor rotor as described above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. The permanent magnet flux linkage measurement calibration method for the rotor of the permanent magnet synchronous motor is characterized by comprising the following steps of:

acquiring current state data of a permanent magnet synchronous motor;

2. The method of claim 1, wherein the current state data comprises at least one of a current motor temperature, a current motor speed, a current motor q-axis current, and a current input torque.

3. The method according to claim 2, wherein the obtaining the current flux linkage initial value of the permanent magnet synchronous motor according to the current state data based on the preset first three-dimensional map table includes:

4. A method according to claim 1 or 3, further comprising, before deriving the initial value of the flux linkage of the permanent magnet synchronous motor from the current state data based on a preset first three-dimensional map table:

5. The method of claim 4, wherein the obtaining the current flux linkage correction compensation coefficient of the permanent magnet based on the current state data based on the preset second three-dimensional map table comprises:

6. The method of claim 5, further comprising, prior to deriving the current flux linkage correction compensation coefficient for the permanent magnet from the current state data based on a preset second three-dimensional map table:

7. The utility model provides a permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration device which characterized in that includes:

8. The apparatus of claim 7, wherein the current state data comprises at least one of a current motor temperature, a current motor speed, a current motor q-axis current, and a current input torque.

9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the permanent magnet synchronous motor rotor permanent magnet flux measurement calibration method according to any one of claims 1-6.

10. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor for implementing a permanent magnet synchronous motor rotor permanent magnet flux linkage measurement calibration method according to any one of claims 1-6.