CN207752119U - The caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance - Google Patents
The caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance Download PDFInfo
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- CN207752119U CN207752119U CN201820147284.0U CN201820147284U CN207752119U CN 207752119 U CN207752119 U CN 207752119U CN 201820147284 U CN201820147284 U CN 201820147284U CN 207752119 U CN207752119 U CN 207752119U
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Abstract
The utility model discloses the caliberating devices of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance.Rack test device is set, and the engine bench test device includes：Console, the console connection power analyzer, high voltage power supply, electric machine controller, dynamometer machine；The high voltage power supply connects electric machine controller；The electric machine controller connects tested motor；The tested motor dynamometer machine for connecting is equipped with speed/torque sensor on the connecting line of tested motor and dynamometer machine.The practical rack of the utility model in use, used d-axis inductance Ld and quadrature axis inductance Lq scaling method, accelerate the speed and efficiency of calibration, actually use these obtained inductance parameters, more satisfactory control effect can be obtained.
Description
Technical field
The utility model belongs to hybrid electric vehicle or pure electric vehicle technical field, and in particular to a kind of hybrid power and
Electric vehicle permanent magnet synchronous motor vector controlled needs the caliberating device of d-axis inductance and quadrature axis inductance parameters to be used.
Background technology
For the vector controlled for the internal permanent magnet synchronous motor that electric vehicle mainstream uses, d-axis inductance (Ld) and quadrature axis
Inductance (Lq) is two key parameters, and interior permanent magnet machines parameter easily changes with operating status, i.e. the parameter of electric machine
Uncertainty will influence the control performance of motor, when especially operating in magnetic circuit saturation, inductance parameters are saturated and hand over motor
Fork coupling is more obvious, but because on-line proving needs to run complicated algorithm operation, the load of processor, work is significantly greatly increased
It is become impractical in journey, so needing a kind of accurate off-line calibration method, obtained inductance parameters are tabled look-up for vector operation and made
With.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the utility model provides a kind of permanent-magnetic synchronous motor stator
The caliberating device of d-axis inductance and quadrature axis inductance, its object is to solve the uncertainty of the parameter of electric machine to influence the control of motor
The technical issues of performance.
To achieve the above object, a kind of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis are provided according to the utility model
The caliberating device of inductance, is arranged rack test device, and the engine bench test device includes：
Console, the console connection power analyzer, high voltage power supply, electric machine controller, dynamometer machine；
The high voltage power supply connects electric machine controller；
The electric machine controller connects tested motor；
The tested motor dynamometer machine for connecting is equipped with speed/moment sensing on the connecting line of tested motor and dynamometer machine
Device.
Further, the electric machine controller connects power supply simulator, and the power supply simulator converts alternating current to directly
Galvanic electricity.
Further, the dynamometer machine includes measurement and control instrument, Dynamometer Control room, electric dynamometer motor, Dynamometer Control
With electric dynamometer motor by encoder feedback, measurement and control instrument is communicated with Dynamometer Control room CANbus for room.
Further, the axis of dynamo dynamometer machine motor connects the axis of tested motor by torque sensor.
Further, the console is system operatio platform, system operatio platform and power analyzer by ethernet communication,
System operatio platform is communicated with dynamometer machine by CANbus.
The scaling method of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance includes the following steps：
The first step：Using certain size of current as step-length, setting electric machine phase current Is sizes are electric from initial value to maximum output
Stream；
Second step：Change torque current angular dimension, obtains the group of direct-axis current Ids_cmd and quadrature axis current Iqs_cmd
Close command value；
Third walks：Electric machine controller driving tested motor operates under vector current ring control model；
4th step：For each group of direct-axis current Id_cmd and quadrature axis current Iq_cmd command values and value of feedback, by certainly
The dynamic mode for adjusting PI, is adjusted to stable operating status point；
5th step：Variable parameter is obtained by power analyzer and console：Vab、Vcb、Ia、Ic、ξAB、ξCB、ωm、
T,
The Vab is A, B line voltage virtual values,
The Vcb is C, B line voltage virtual values,
The Ia is A phase current virtual values,
The Ic is C phase current virtual values,
The ξ AB are angles of the Vab to Ia,
The ξ CB are angles of the Vcb to Ic,
The ω m are motor speeds,
The T is motor actual torque.
Further, for each group of direct-axis current Id_cmd of the 4th step and quadrature axis current Iq_cmd command values and feedback
Value calculates the angle of ac-dc axis electric current
Wherein Ids_fed, Iqs_fed are to convert to obtain by clark and park by phase current；
Variable parameter Ia, Ic obtained by the 5th step calculates phase current peak I peak, to by following transformation relation
Obtain the actual value of Iqs and Ids：
Iqs=Ipeak*cos δ
Ids=-Ipeak*sin δ
Power-factor angle is obtained according to following transformation：
Phase voltage peak value Vpeak is calculated by Vab, Vcb, to obtain the reality of Vqs and Vds by following transformation relation
Value：
Vqs=Vpeak*cos (δ+pf)
Vds=-Vpeak*sin (δ+pf)
Further, the calculation formula of quadrature axis inductance is as follows：
Wherein Rs is parameter of electric machine stator resistance, and p is parameter of electric machine stator number of pole-pairs
The calculation formula of d-axis magnetic linkage is as follows：
When Ids=0, thus permanent magnet flux linkage ke=λ d obtain ke with the interpolation table of curent change further according to following
The transformation for mula of d-axis inductance Ld obtains final d-axis inductance：
Further, the torque current angle is the angle of quadrature axis current and phase current, and range is from -10 degree to 190 degree.
The utility model has the beneficial effects that：Practical rack is in use, used d-axis inductance Ld and quadrature axis inductance Lq
Scaling method, accelerate the speed and efficiency of calibration, actually use these obtained inductance parameters, can obtain more satisfactory
Control effect.
Description of the drawings
Fig. 1 is engine bench test schematic device；
Fig. 2 is the utility model embodiment installation drawing；
Fig. 3 is vector current ring control model；
Fig. 4 is the angle schematic diagram of ac-dc axis electric current.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, the caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance, setting engine bench test fills
It sets, the engine bench test device includes：
Console, the console connection power analyzer, high voltage power supply, electric machine controller, dynamometer machine；
The high voltage power supply connects electric machine controller；
The electric machine controller connects tested motor；
The tested motor dynamometer machine for connecting is equipped with speed/moment sensing on the connecting line of tested motor and dynamometer machine
Device.
If Fig. 2 is utility model device embodiment.
High voltage power supply is generally from factory power, and electric machine controller connects power supply simulator, and power analyzer is used for motor
The measurement amount DC of controller includes U, I, P, power analyzer for the measurement amount AC of tested motor include U, I, upk/upk, P,
Q、λ、Φ、f、η、loss。
Dynamometer machine includes measurement and control instrument, Dynamometer Control room, electric dynamometer motor, Dynamometer Control room and electric dynamometer
Motor is communicated by encoder feedback, measurement and control instrument with Dynamometer Control room CANbus, and Dynamometer Control room is supplied by factory power
Electricity, measuring signal of the torque sensor to measurement and control instrument transfer of torque, rotating speed.
The axis of dynamo dynamometer machine motor connects the axis of tested motor by torque sensor.
Console is system operatio platform, system operatio platform and power analyzer by ethernet communication, system operatio platform with
Measurement and control instrument is communicated by CANbus.
The scaling method of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance：Using 50 Ampere currents sizes as step-length,
Electric machine phase current Is sizes are set from 25 amperes of initial value to maximum output current, passes through and changes torque current angular dimension, model
It encloses from -10 degree to 190 degree, to obtain the combined command value of direct-axis current Ids_cmd and quadrature axis current Iqs_cmd.
Electric machine controller driving tested motor operates under vector current ring control model, and control model is as shown in Figure 3.
Each (Ids_cmd, Iqs_cmd) is combined, by way of automatic adjusting PI, is adjusted to stable operation shape
State point, all measured values below are all based on what measurement under stable state obtained.
The mode of automatic adjusting PI is primarily referred to as the resource using electric machine controller itself, is needed in controller parameter whole
Periodically, it is then used to one small interference signal for being unlikely to influence system normal operation of system with estimating image parameter
ISE index Design pid parameters.Typically apply the voltage drive of certain forms to tested motor, and acquires current-responsive in real time
Calculate the parameter of electric machine.The stator resistance, rotor resistance, stator of motor are leaked by DC experiment, single-phase experiment and no-load test
Sense, rotor leakage inductance, mutual inductance automatic test, in order to keep the parameter of identification more accurate, electric machine controller algorithm can utilize minimum
Square law and middle position filtering method handle data, improve the precision of identified parameters, the essence of such methods is adaptive
The combination of control theory and System Discrimination.I.e. the characteristic of controlled device by the analysis of the mathematical model to controlled device come
It arrives, pid parameter is calculated with a kind of Tuning based on model on the basis of mathematical model of controlled plant.
As shown in Figure 1, following variable parameter can be obtained by power analyzer and console：(A, B line voltage have Vab
Valid value), Vcb (C, B line voltage virtual value), Ia (A phase currents virtual value), Ic (C phase currents virtual value), (Vab is to Ia's by ξ AB
Angle), ξ CB (angles of the Vcb to Ic), ω m (motor speed), T (motor actual torque), A, B, C correspond to the phase voltage of U, V, W
And line voltage.
For each group of direct-axis current Id_cmd above and quadrature axis current Iq_cmd command values and value of feedback, can calculate
The angle of ac-dc axis electric current, as shown in Figure 4
Wherein Ids_fed, Iqs_fed are converted to obtain by phase current by clark and park.
In Fig. 4, PF is power factor angle, q-axis, that is, q axis, d-axis, that is, d axis.
Clark is converted and Park transformation is one kind of motor control vector coordinate transform.
Clark is converted：It is α axis and A overlapping of axles, it will be under three phase static ABC coordinate system transformations to the static α β coordinate systems of two-phase.
Park is converted：It will be under the dq coordinate systems of the static α β coordinate system transformations of two-phase to rotation.
Motor status equation can inverse transformation of equal value under three coordinate systems.
Because (the phase current peaks Ipeak can be calculated by Ia (A phase currents virtual value), Ic (C phase currents virtual value)
Value), to obtain the actual value of Iqs and Ids by following transformation relation：
Iqs=Ipeak*cos δ
Ids=-Ipeak*sin δ
Power-factor angle can be obtained according to following transformation：
Because Vpeak (mutually electricity can be calculated by Vab (A, B line voltage virtual value), Vcb (C, B line voltage virtual value)
Voltage crest value), to obtain the actual value of Vqs and Vds by following transformation relation：
Vqs=Vpeak*cos (δ+pf)
Vds=-Vpeak*sin (δ+pf)
Based on measured value all of the above (and conversion value) and parameter of electric machine stator resistance Rs and number of pole-pairs p, so that it may with
Quadrature axis inductance is obtained according to the following formula：
The electromagnetism synchronizing speed ω e and parameter of electric machine electronics stator resistance Rs obtained based on measured value above, conversion
D-axis magnetic linkage can be obtained according to the following formula：
Because when Ids=0, thus permanent magnet flux linkage ke=λ d obtain interpolation tables of the ke with curent change.
Further according to the transformation for mula of following d-axis inductance Ld, final d-axis inductance is obtained：
Practical rack in use, used d-axis inductance Ld and quadrature axis inductance Lq scaling method, use automation control
The mode of system controls the operation of each operating point, to accelerate the speed and efficiency of calibration.And because being come with certain current steps
Inductance parameters are demarcated, these obtained inductance parameters is actually used, more satisfactory control effect can be obtained.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (5)
1. the caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance, it is characterised in that setting engine bench test fills
It sets, the engine bench test device includes：
Console, the console connection power analyzer, high voltage power supply, electric machine controller, dynamometer machine；The high voltage power supply connects
Connect electric machine controller；
The electric machine controller connects tested motor；
The tested motor dynamometer machine for connecting is equipped with speed/torque sensor on the connecting line of tested motor and dynamometer machine.
2. the caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance according to claim 1, feature
It is the electric machine controller connection power supply simulator.
3. the caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance according to claim 1, feature
It is that the dynamometer machine includes measurement and control instrument, Dynamometer Control room, electric dynamometer motor, Dynamometer Control room and electric dynamometer
Motor is communicated by encoder feedback, measurement and control instrument with Dynamometer Control room CANbus.
4. the caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance according to claim 3, feature
It is that the axis of dynamo dynamometer machine motor connects the axis of tested motor by torque sensor.
5. the caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance according to claim 1, feature
Be that the console is system operatio platform, system operatio platform and power analyzer by ethernet communication, system operatio platform with
Dynamometer machine is communicated by CANbus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820147284.0U CN207752119U (en) | 2018-01-29 | 2018-01-29 | The caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820147284.0U CN207752119U (en) | 2018-01-29 | 2018-01-29 | The caliberating device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181587A (en) * | 2018-01-29 | 2018-06-19 | 东风特汽（十堰）专用车有限公司 | The scaling method and device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance |
| CN109302117A (en) * | 2018-11-30 | 2019-02-01 | 上海大郡动力控制技术有限公司 | Permanent magnet synchronous motor voltage utilization automatic optimizing method |
| CN112698200A (en) * | 2020-12-21 | 2021-04-23 | 深圳市大地和电气股份有限公司 | Three-phase alternating current permanent magnet synchronous motor parameter measuring method and system |
-
2018
- 2018-01-29 CN CN201820147284.0U patent/CN207752119U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181587A (en) * | 2018-01-29 | 2018-06-19 | 东风特汽（十堰）专用车有限公司 | The scaling method and device of permanent-magnetic synchronous motor stator d-axis inductance and quadrature axis inductance |
| CN109302117A (en) * | 2018-11-30 | 2019-02-01 | 上海大郡动力控制技术有限公司 | Permanent magnet synchronous motor voltage utilization automatic optimizing method |
| CN112698200A (en) * | 2020-12-21 | 2021-04-23 | 深圳市大地和电气股份有限公司 | Three-phase alternating current permanent magnet synchronous motor parameter measuring method and system |
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Granted publication date: 20180821 |