CN118264163A - Full-speed segment calibration method and system for double-winding permanent magnet synchronous motor - Google Patents

Full-speed segment calibration method and system for double-winding permanent magnet synchronous motor Download PDF

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Publication number
CN118264163A
CN118264163A CN202211686087.3A CN202211686087A CN118264163A CN 118264163 A CN118264163 A CN 118264163A CN 202211686087 A CN202211686087 A CN 202211686087A CN 118264163 A CN118264163 A CN 118264163A
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motor
current
speed
motor stator
synchronous motor
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Inventor
沈凡享
凌岳伦
彭再武
杨洪波
陈慧民
梁松
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Hunan Crrc Commercial Vehicle Power Technology Co ltd
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Hunan Crrc Commercial Vehicle Power Technology Co ltd
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Priority to CN202211686087.3A priority Critical patent/CN118264163A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a full-speed section calibration method and a full-speed section calibration system of a double-winding permanent magnet synchronous motor, wherein the calibration method comprises a motor basic parameter identification process, an MTPA calibration method and a weak magnetic calibration method of two sets of windings, wherein the MTPA calibration method of the two sets of windings comprises the following specific steps: s1, under different preset motor stator current amplitudes Is, adjusting a motor stator current angle theta, and detecting corresponding torque values; when the torque value reaches the maximum torque value, obtaining a motor stator current amplitude Is and a motor stator current angle theta under the maximum torque value; s2, obtaining a motor stator d-axis current Id matrix and a motor stator q-axis current Iq matrix according to the motor stator current amplitude Is and the motor stator current angle theta corresponding to the maximum torque value under different preset motor stator current amplitudes Is obtained in the step S1, and further obtaining a maximum torque current ratio curve. The invention has the advantages of simple and rapid operation, stable control and the like.

Description

Full-speed segment calibration method and system for double-winding permanent magnet synchronous motor
Technical Field
The invention mainly relates to the technical field of permanent magnet synchronous motors, in particular to a method and a system for calibrating full-speed sections of a double-winding permanent magnet synchronous motor.
Background
Along with the rapid development of power electronic technology, microelectronic technology and novel motor control theory, the permanent magnet synchronous motor is widely applied to the field of new energy automobiles with the advantages of high power density and light weight. Most new energy electric automobiles in the current market adopt a permanent magnet synchronous motor as a main drive motor, wherein the double-winding permanent magnet synchronous motor inherits the advantages of the permanent magnet synchronous motor and a multi-phase motor and has the advantages of small output torque pulsation, stable low-speed running, good fault tolerance and the like, so the double-winding permanent magnet synchronous motor is an ideal motor selection type for the main drive motor for vehicles with strict reliability requirements.
The double-winding permanent magnet synchronous motor is usually decoupled into two d-q subspaces by adopting a modeling method of a double d-q transformation mathematical model, which is equivalent to that two independent three-phase permanent magnet synchronous motors are independently driven and controlled by two three-phase inverters respectively included in an electric driving system, so that the realization of a mature three-phase permanent magnet synchronous motor control technology is easy, and meanwhile, the double-winding permanent magnet synchronous motor is more suitable for fault-tolerant control of the motor and is widely used in engineering application.
A synchronous control method and a synchronous control device 202110120927.9 of a double-winding permanent magnet synchronous motor are provided, wherein the two independent windings after decoupling are respectively subjected to angle observation, so that two controllers respectively synchronously control two sets of stator windings, but the method inevitably has the problem of controlling the synchronism during engineering application.
A flux weakening control method 201810204955.7 of a permanent magnet synchronous motor based on a table look-up mode provides a module based on rotation speed and torque table look-up, and can look-up reference currents Idref and Iqref in real time to control the operation of the permanent magnet synchronous motor, but the table look-up table is calculated based on a fixed inductance value, so that torque precision of most working condition points is not high. In addition, the control method does not introduce a field weakening dynamic adjustment module, so when the table look-up calculation is not performed, two adverse conditions occur: the voltage utilization rate is low, and the voltage is insufficient, so that the motor is out of control.
A method for calibrating a permanent magnet synchronous motor, a method for calibrating a maximum torque current ratio and equipment 202210937453.1 are provided, and a simple method for calibrating the maximum torque current ratio of the permanent magnet synchronous motor Is provided, and d-q axis current corresponding to a maximum torque point Is searched and recorded by alternately and circularly adjusting target current Is and current vector angle theta of a motor to be tested, but the method does not consider the running condition of the motor after field weakening, which leads to low torque precision of the motor after field weakening, unstable motor control and easy runaway.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides a method and a system for calibrating full-speed sections of a double-winding permanent magnet synchronous motor, which are simple and convenient to operate.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the method for calibrating the full-speed section of the double-winding permanent magnet synchronous motor comprises the steps of:
S1, under different preset motor stator current amplitudes Is, adjusting a motor stator current angle theta, and detecting corresponding torque values; when the torque value reaches the maximum torque value, obtaining a motor stator current amplitude Is and a motor stator current angle theta under the maximum torque value;
S2, obtaining a motor stator d-axis current Id matrix and a motor stator q-axis current Iq matrix according to the motor stator current amplitude Is and the motor stator current angle theta corresponding to the maximum torque value under different preset motor stator current amplitudes Is obtained in the step S1, and further obtaining a maximum torque current ratio curve.
Preferably, after step S2, after obtaining the maximum torque current ratio curves under the motor driving working condition and the braking working condition, polynomial fitting and linear interpolation are performed on the maximum torque current ratio curve, so as to finally obtain table look-up data of the maximum torque current ratio curve.
Preferably, in step S1, when the motor is in a driving condition, the adjustment range of the current angle θ of the motor stator is 0 ° to 50 °; when the motor is in a driving working condition, the adjustment range of the current angle theta of the motor stator is 180-130 degrees; wherein different preset motor stator current magnitudes Is are arranged in an equal ratio array.
Preferably, the method for calibrating the weak magnetism of the two sets of windings comprises the following steps: at different calibration speeds, a given torque is increased from 0 and the like step size and applied to the motor; after the motor enters the field weakening regulation area, detecting calibration data under different given torques until the output torque of the motor is close to the theoretical maximum torque under the current rotating speed, and stopping the calibration under the current rotating speed; the calibration data comprise motor stator d-axis current Id, motor stator q-axis current Iq, motor stator d-axis voltage Ud, motor stator q-axis voltage Uq, direct current side bus voltage Udc, rotating speed and torque data.
Preferably, the table look-up data of the maximum torque current ratio curve in the maximum torque current ratio calibration method and the calibration data obtained in the weak magnetic calibration method are fused to obtain original calibration data, and finally the table look-up data of full-speed section torque current distribution under the calibration voltage is generated.
Preferably, in the weak magnetic calibration method, whether the motor enters a weak magnetic adjustment area is judged by introducing a modulation coefficient lambda; when the modulation coefficient lambda is more than or equal to a preset value, judging that the motor enters a weak magnetic regulation area;
The formula for calculating the modulation factor lambda is:
Us＝U peak to peak ≤U Wire (C) rms-max*SQRT(2)/SQRT(3)
U Wire (C) rms-max＝Udc/SQRT(2)
Us＝λ*Udc≤0.577*Udc
λ＝Us/Udc＝SQRT(Ud^2+Uq^2)/Udc
where Us is the space voltage vector magnitude, U peak to peak is the phase voltage peak, U Wire (C) rms-max is the maximum value of the line voltage effective value, udc is the dc side bus voltage.
Preferably, table lookup data of a maximum torque current ratio curve are obtained, a table lookup rotating speed sequence is generated, and when the weak magnetic area of the motor is calibrated, the rotating speed of the turning rotating speed minus a preset rotating speed value or the interval rotating speed from n% of the rotating speed to the peak rotating speed of the motor is selected as the weak magnetic area calibration rotating speed; wherein the preset rotating speed is 200-400rpm, and n is 75-85.
Preferably, the method also comprises the identification of basic parameters of the motor, specifically:
Under steady state, neglecting differential sub-terms, the formula of the voltage equation of the permanent magnet synchronous motor is as follows:
Ud＝Rs*Id-ωe*Lq*Iq
Uq＝Rs*Iq+ωe*(ψf+Ld*Id)
Wherein Ud is d-axis voltage in the synchronous motor model, uq is q-axis voltage in the synchronous motor model, id is d-axis current in the synchronous motor model, iq is q-axis current in the synchronous motor model, rs is synchronous motor phase resistance, ld is d-axis inductance of the synchronous motor, lq is q-axis inductance of the synchronous motor, ωe is motor electrical angular velocity, and ψf is synchronous motor flux linkage;
on the premise of ensuring accurate phases of the voltage vector us and the current vector is, the motor line resistance Rs is directly measured by a resistance measuring instrument;
The motor flux linkage is obtained by measuring the effective value of the line back electromotive force of the motor at different rotating speeds, and the calculation formula of the motor flux linkage is as follows:
ψf＝U line back electromotive force *SQRT(2/3)/(n*P*2*π/60)
Wherein U line back electromotive force is the effective value of the no-load back electromotive force line voltage, n is the mechanical rotation speed of the motor, and P is the pole pair number of the synchronous motor;
the calculation formula of the d-axis inductance of the motor is as follows: ld= (Uq- ωe×ψf)/(ωe×id);
The calculation formula of the q-axis inductance of the motor is as follows: lq= -Ud/(ωe×iq).
Preferably, according to an inductance calculation formula, ld and Lq values are calculated by respectively selecting a plurality of different characteristic Id and Iq combined values, and an average value is taken as an inductance initial measurement value.
The invention also discloses a full-speed segment calibration system of the double-winding permanent magnet synchronous motor, which comprises a memory and a processor, wherein the memory is stored with a computer program which executes the steps of the method when being run by the processor.
Compared with the prior art, the invention has the advantages that:
The invention can accurately identify the basic parameters of the motor in an off-line manner, and the related parameters provided by motor designers are only used as references and even are not required to be provided. The torque precision of the invention can reach +/-1% at most in the full rotation speed region of motor operation. The weak magnetic regulator is in a linear regulation state, and can meet response requirements under all working conditions by using only one group of parameters. The invention can effectively improve torque precision, control stability and reliability, avoid repeated calibration verification of the bench, calibrate the motor once, and continuously use the whole life cycle of the motor.
Drawings
FIG. 1 is a flow chart of an MTPA calibration method according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the method for calibrating full-speed segments of a duplex winding permanent magnet synchronous motor according to the embodiment of the invention comprises a motor basic parameter identification process, specifically:
Under steady state, neglecting differential sub-terms, the formula of the voltage equation of the permanent magnet synchronous motor is as follows:
Ud＝Rs*Id-ωe*Lq*Iq
Uq＝Rs*Iq+ωe*(ψf+Ld*Id)
wherein Ud is d-axis voltage in the synchronous motor model, uq is q-axis voltage in the synchronous motor model, id is d-axis current in the synchronous motor model, iq is q-axis current in the synchronous motor model, rs is synchronous motor phase resistance, ld is d-axis inductance of the synchronous motor, lq is q-axis inductance of the synchronous motor, ωe is motor electrical angular velocity, and ψf is synchronous motor flux linkage.
The motor line resistance Rs is directly measured by a resistance measuring instrument on the premise of ensuring accurate phases of the voltage vector us and the current vector is.
The motor flux linkage is obtained by calculating the effective value of the line back electromotive force of the motor under different rotating speeds through an oscilloscope or a power analyzer, and the calculation formula of the motor flux linkage is as follows:
ψf＝U line back electromotive force *SQRT(2/3)/(n*P*2*π/60)
Wherein U line back electromotive force is the effective value of the no-load back electromotive force line voltage, n is the mechanical rotation speed of the motor, and P is the pole pair number of the synchronous motor.
Wherein in steady state the differential operator term is ignored:
the calculation formula of the d-axis inductance of the motor is as follows: ld= (Uq- ωe×ψf)/(ωe×id);
the calculation formula of the q-axis inductance of the motor is as follows: lq= -Ud/(ωe×iq)
According to the inductance calculation formula, the Ld value and the Lq value can be calculated by selecting five different characteristic Id and Iq combined values respectively, and the average value is taken as an inductance initial measurement value.
For example, selecting a test rotation speed n Testing ＝1000rpm,ωe＝n Testing ×p×2pi/60, and selecting characteristic points of Id and Iq:
(1) Id=i dmax/5、Id＝idmax/5*2、Id＝idmax/5*3、Id＝idmax/5*4、Id＝idmax, iq=0, data during steady state operation are collected respectively, and d-axis inductance Ld can be calculated according to a formula;
(2) Id=0, iq=i qmax/5、Iq＝iqmax/5*2、Iq＝iqmax/5*3、Iq＝iqmax/5*4、Iq＝iqmax, data during steady state operation are collected respectively, and q-axis inductance Lq can be calculated according to a formula;
the method can carry out off-line identification on the basic parameters of the motor, and related parameters provided by motor designers are only used as references and even do not need to be provided. Therefore, the invention can complete the calibration of the double-winding permanent magnet synchronous motor without providing accurate motor parameters and simulation data on the motor side, improves the torque control precision and reduces the calibration error.
In a specific embodiment, the method further comprises an MTPA (maximum torque current ratio, the same applies hereinafter) calibration method of two sets of windings, specifically:
When MTPA calibration is carried out, the motor is usually operated in a constant torque area, and the motor is required to be calibrated under the condition of constant operation at a low speed and no weak magnetism.
The MTPA calibration rotating speed is selected as the motor turning rotating speed minus 300rpm or 80% of the motor turning rotating speed, so as to ensure that the motor is not in flux weakening during the operation of the motor at peak torque; where motor turn speed = 9550 motor peak power/motor peak torque.
MTPA calibration of the two sets of windings adopts a polar coordinate free current form, namely, different stator current amplitude Is and different stator current angle theta of a given motor are adopted, torque change Is observed, and Is, theta and torque values under the maximum torque point are found and recorded; in the calibration process, the same Is and θ are given to the two windings, and the recorded torque value Is the total output torque of the motor. The method comprises the following steps:
S1, under different preset motor stator current amplitudes Is, adjusting a motor stator current angle theta, and detecting corresponding torque values; when the torque value reaches the maximum torque value, obtaining a motor stator current amplitude Is and a motor stator current angle theta under the maximum torque value;
S2, obtaining a motor stator d-axis current Id matrix and a motor stator q-axis current Iq matrix according to the motor stator current amplitude Is and the motor stator current angle theta corresponding to the maximum torque value under different preset motor stator current amplitudes Is obtained in the step S1, and further obtaining a maximum torque current ratio curve.
Taking driving conditions as an example: firstly, setting a motor stator current amplitude Is as a motor stator current maximum value I smax/20, then adjusting an angle theta from 0 DEG to 50 DEG, observing a torque value, wherein the torque value shows a change rule of increasing firstly and then decreasing secondly, finding a point with the maximum torque value, and recording the Is, the theta and the torque value at the moment;
setting the current amplitude Is of the motor stator as I smax/20 x 2, using the method of the first step to find and record the values of Is, theta and torque, and pushing the values until the current maximum value I smax of the motor stator, so as to obtain data of 20 Is, theta and torque values; according to the formula Id= -Is sin theta and Iq= Is cos theta, a motor stator d-axis current Id and a motor stator q-axis current Iq matrix can be calculated, and a maximum torque current ratio curve Is obtained.
The MTPA calibration method of the motor braking working condition is the same as the MTPA calibration method of the driving working condition, except that the change range of the angle theta is changed from 180 degrees to 130 degrees.
And finally, obtaining the MTPA curves under the motor driving working condition and the braking working condition, and carrying out polynomial fitting and linear interpolation on the curves through data processing tools such as MATLAB and the like to finally obtain the accurate table look-up data of the MTPA.
The torque equation formula of the permanent magnet synchronous motor is as follows:
T＝1.5*P*Iq*(ψf+(Ld-Lq)*Id)
After the MTPA data are calibrated, according to a torque equation and a voltage equation, weak magnetic area table look-up matrix data which are inaccurate in precision and can normally operate can be finally obtained, and further the motor can perform subsequent weak magnetic area table look-up calibration in a torque ring operation mode.
In a specific embodiment, the method for calibrating the weak magnetism of the two sets of windings comprises the following steps:
When the table look-up algorithm calibration of the weak magnetic area is carried out, the motor is usually in a constant power area to operate, and the motor is required to be calibrated under the weak magnetic areas with different rotating speeds. The calibration voltage is usually about 0.85 times of the rated voltage, so that the data range of table lookup calibration is enlarged under the condition of the same mechanical power, and finally, the high-precision stable operation within the full voltage range of the motor can be met by only one table lookup data.
In the weak magnetic calibration process, aiming at whether the output voltage of the controller is full, whether the motor enters a constant-power weak magnetic area or not, a modulation coefficient lambda is introduced to judge whether the motor enters a weak magnetic adjustment area or not, and a calculation formula of the modulation coefficient lambda is as follows:
Us＝U peak to peak ≤U Wire (C) rms-max*SQRT(2)/SQRT(3)
U Wire (C) rms-max＝Udc/SQRT(2)
Us＝λ*Udc≤0.577*Udc
λ＝Us/Udc＝SQRT(Ud^2+Uq^2)/Udc
Where Us is the space voltage vector magnitude, U peak to peak is the phase voltage peak, U Wire (C) rms-max is the maximum value of the line voltage effective value, udc is the dc side bus voltage, and λ is the modulation factor. In order to reserve sufficient adjustment space for the field-weakening adjuster, a modulation factor target value λ=0.565 is set, i.e. when the modulation factor λ is greater than or equal to 0.565, the motor enters the field-weakening adjustment region.
In order to facilitate more visual observation of stable modulation coefficients in the calibration process, certain filtering treatment is generally required, and first-order low-pass filtering is adopted for filtering.
In the weak magnetic area table look-up matrix data generated after the MTPA is calibrated, a table look-up rotating speed sequence is generated at the same time, and when the weak magnetic area of the motor is calibrated, the rotating speed of the turning rotating speed minus 300rpm or the rotating speed of the interval from 80% of the rotating speed to the peak rotating speed of the motor is generally selected as the weak magnetic area calibration rotating speed.
In the weak magnetic calibration process of the two sets of windings, the two sets of windings give the same torque instruction, and the two sets of stator windings are simultaneously given by searching table look-up data of the same set of torque current, and the recorded torque value is the total output torque of the motor. The method comprises the following steps: at different calibration speeds, a given torque is increased from 0 and the like step size and applied to the motor; after the motor enters the field weakening regulation area, detecting calibration data under different given torques until the output torque of the motor is close to the theoretical maximum torque under the current rotating speed, and stopping the calibration under the current rotating speed; the calibration data comprise motor stator d-axis current Id, motor stator q-axis current Iq, motor stator d-axis voltage Ud, motor stator q-axis voltage Uq, direct current side bus voltage Udc, rotating speed and torque data.
Specifically, starting from a starting rotation speed, increasing a given torque from 0 step size to be applied to a motor, wherein a given torque interval=maximum torque/20, observing a modulation coefficient lambda, and starting to record Id, iq, ud, uq, udc, rotation speed, torque and other data under different torques when lambda is more than or equal to 0.565 until the output torque of the motor is close to the theoretical maximum torque under the current rotation speed, and stopping calibration under the current rotation speed;
and (3) increasing the rotating speed to the next calibrated rotating speed point, entering the calibration of the next rotating speed, and repeating the step of applying torque to calibrate in sequence until the peak rotating speed of the motor is calibrated.
Integrating all calibration data of the MTPA and the weak magnetic area of the two sets of windings, and performing fitting and interpolation on the calibration data according to whether the modulation coefficient lambda is more than or equal to 0.565, namely MTPA current table look-up data of the non-weak magnetic area; when the magnetic field is weak, according to Id-Iq relation under torque of each rotating speed, fitting out torque current curves under different rotating speeds, and finally generating table look-up data for accurately distributing torque current of full speed section under the calibration voltage.
The calibration method is simple and quick to operate and stable to control; only one table look-up data parameter is needed to control the stable operation of the two sets of windings; the calibration method improves torque precision and avoids repeated bench test verification.
The invention also discloses a full-speed segment calibration system of the double-winding permanent magnet synchronous motor, which comprises a memory and a processor, wherein the memory is stored with a computer program which executes the steps of the method when being run by the processor. The calibration system of the invention corresponds to the calibration method and has the advantages described in the calibration method.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.

Claims (10)

1. The method for calibrating the full-speed section of the double-winding permanent magnet synchronous motor is characterized by comprising the following specific steps of:
S1, under different preset motor stator current amplitudes Is, adjusting a motor stator current angle theta, and detecting corresponding torque values; when the torque value reaches the maximum torque value, obtaining a motor stator current amplitude Is and a motor stator current angle theta under the maximum torque value;
S2, obtaining a motor stator d-axis current Id matrix and a motor stator q-axis current Iq matrix according to the motor stator current amplitude Is and the motor stator current angle theta corresponding to the maximum torque value under different preset motor stator current amplitudes Is obtained in the step S1, and further obtaining a maximum torque current ratio curve.
2. The method for calibrating full-speed segments of a double-winding permanent magnet synchronous motor according to claim 1, wherein after step S2, the table look-up data of the maximum torque current ratio curve is finally obtained by obtaining the maximum torque current ratio curve under the motor driving condition and the braking condition and then performing polynomial fitting and linear interpolation on the maximum torque current ratio curve.
3. The method for calibrating full-speed segments of a duplex-winding permanent magnet synchronous motor according to claim 2, wherein in step S1, when the motor is in a driving condition, an adjustment range of a motor stator current angle θ is 0 ° to 50 °; when the motor is in a driving working condition, the adjustment range of the current angle theta of the motor stator is 180-130 degrees; wherein different preset motor stator current magnitudes Is are arranged in an equal ratio array.
4. A method for calibrating a full-speed segment of a double-winding permanent magnet synchronous motor according to claim 2 or 3, which is characterized by further comprising a weak magnetic calibration method of two sets of windings, specifically comprising the following steps: at different calibration speeds, a given torque is increased from 0 and the like step size and applied to the motor; after the motor enters the field weakening regulation area, detecting calibration data under different given torques until the output torque of the motor is close to the theoretical maximum torque under the current rotating speed, and stopping the calibration under the current rotating speed; the calibration data comprise motor stator d-axis current Id, motor stator q-axis current Iq, motor stator d-axis voltage Ud, motor stator q-axis voltage Uq, direct current side bus voltage Udc, rotating speed and torque data.
5. The method for calibrating full-speed segments of a double-winding permanent magnet synchronous motor according to claim 4, wherein the table look-up data of the maximum torque current ratio curve in the maximum torque current ratio calibration method and the calibration data obtained in the weak magnetic calibration method are fused to obtain original calibration data, and finally table look-up data of full-speed segment torque current distribution under the calibration voltage is generated.
6. The method for calibrating full-speed segments of a double-winding permanent magnet synchronous motor according to claim 4, wherein in the weak magnetic calibration method, whether the motor enters a weak magnetic adjustment area is judged by introducing a modulation coefficient lambda; when the modulation coefficient lambda is more than or equal to a preset value, judging that the motor enters a weak magnetic regulation area;
The formula for calculating the modulation factor lambda is:
Us＝U peak to peak ≤U Wire (C) rms-max*SQRT(2)/SQRT(3)
U Wire (C) rms-max＝Udc/SQRT(2)
Us＝λ*Udc≤0.577*Udc
λ＝Us/Udc＝SQRT(Ud^2+Uq^2)/Udc
where Us is the space voltage vector magnitude, U peak to peak is the phase voltage peak, U Wire (C) rms-max is the maximum value of the line voltage effective value, udc is the dc side bus voltage.
7. The method for calibrating full-speed segments of a double-winding permanent magnet synchronous motor according to claim 4, wherein a table look-up speed sequence is generated while table look-up data of a maximum torque current ratio curve is obtained, and when a motor weak magnetic region is calibrated, a turning speed minus a preset speed value or an interval speed from n% of the turning speed to a motor peak speed is selected as the weak magnetic region calibration speed; wherein the preset rotating speed is 200-400rpm, and n is 75-85.
8. A method for calibrating full-speed segments of a double-winding permanent magnet synchronous motor according to claim 1, 2 or 3, further comprising identification of basic parameters of the motor, specifically:
Under steady state, neglecting differential sub-terms, the formula of the voltage equation of the permanent magnet synchronous motor is as follows:
Ud＝Rs*Id-ωe*Lq*Iq
Uq＝Rs*Iq+ωe*(ψf+Ld*Id)
Wherein Ud is d-axis voltage in the synchronous motor model, uq is q-axis voltage in the synchronous motor model, id is d-axis current in the synchronous motor model, iq is q-axis current in the synchronous motor model, rs is synchronous motor phase resistance, ld is d-axis inductance of the synchronous motor, lq is q-axis inductance of the synchronous motor, ωe is motor electrical angular velocity, and ψf is synchronous motor flux linkage;
on the premise of ensuring accurate phases of the voltage vector us and the current vector is, the motor line resistance Rs is directly measured by a resistance measuring instrument;
The motor flux linkage is obtained by measuring the effective value of the line back electromotive force of the motor at different rotating speeds, and the calculation formula of the motor flux linkage is as follows:
ψf＝U line back electromotive force *SQRT(2/3)/(n*P*2*π/60)
Wherein U line back electromotive force is the effective value of the no-load back electromotive force line voltage, n is the mechanical rotation speed of the motor, and P is the pole pair number of the synchronous motor;
the calculation formula of the d-axis inductance of the motor is as follows: ld= (Uq- ωe×ψf)/(ωe×id);
The calculation formula of the q-axis inductance of the motor is as follows: lq= -Ud/(ωe×iq).
9. The method for calibrating full-speed segments of a duplex winding permanent magnet synchronous motor according to claim 8, wherein the Ld and Lq values are calculated by selecting a plurality of different characteristic Id and Iq combined values respectively according to an inductance calculation formula, and an average value is taken as an inductance initial measurement value.
10. A dual winding permanent magnet synchronous motor full speed segment calibration system comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the computer program, when run by the processor, performs the steps of the method according to any of claims 1-9.
CN202211686087.3A 2022-12-27 2022-12-27 Full-speed segment calibration method and system for double-winding permanent magnet synchronous motor Pending CN118264163A (en)

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