WO2020192102A1 - Stator flux linkage matrix extraction method for permanent magnet synchronous electric motor and application thereof - Google Patents
Stator flux linkage matrix extraction method for permanent magnet synchronous electric motor and application thereof Download PDFInfo
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- WO2020192102A1 WO2020192102A1 PCT/CN2019/112851 CN2019112851W WO2020192102A1 WO 2020192102 A1 WO2020192102 A1 WO 2020192102A1 CN 2019112851 W CN2019112851 W CN 2019112851W WO 2020192102 A1 WO2020192102 A1 WO 2020192102A1
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- permanent magnet
- motor
- flux linkage
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- axis
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/22—Current control, e.g. using a current control loop
Definitions
- the invention belongs to the technical field of motor control, relates to the measurement of a permanent magnet synchronous motor stator flux linkage matrix, and specifically relates to a permanent magnet synchronous motor stator flux matrix extraction method and its application.
- Permanent magnet synchronous motors have the characteristics of high power density, low moment of inertia, high efficiency, etc., and are widely used in high-precision, high-reliability, and wide-speed range servo devices.
- the built-in permanent magnet motor utilizes reluctance torque, which can further improve the overload capacity of the motor and broaden the speed range.
- the motor In order to make full use of motor materials and space, the motor is often designed at the saturated operating point when overloaded. Non-linear factors such as motor magnetic saturation and dq axis mutual inductance will seriously affect the performance of the control system. Therefore, it is very necessary to calibrate the stator flux matrix of the motor under different dq currents in advance and apply it in the motor control system.
- the calibrated stator flux matrix can be used for flux observer, extract the maximum torque current ratio MTPA control trajectory and predict the temperature rise of permanent magnet online.
- R is the motor resistance
- L dd is the inductance of the d-axis stator flux linkage ⁇ d on the d-axis
- L dq is the inductance of the d-axis stator flux linkage ⁇ d on the q-axis
- L qq is the inductance of the q-axis stator flux linkage ⁇ q on the q-axis
- L qd is the inductance produced by the stator flux ⁇ q of the q-axis on the d-axis
- ⁇ is the rotor position
- the locked-rotor method (Evaluation of saturation and cross-magnetization effects in interior permanent-magnet synchronous motor), lock the motor to make id (or iq) a constant value, and scan for different iq (or id) values.
- Is 0, (or ) Is 0, the stator flux matrix is obtained by integrating the difference between the feedback voltage and the resistance voltage drop.
- the feedback voltage here has been compensated for the voltage difference caused by the dead zone and the tube voltage drop.
- the advantage of this method is simple operation and easy to measure the resistance value after temperature rise. But the disadvantage is that it assumes that the permanent magnet flux linkage is not affected by the dq axis current, and the measured d-axis stator flux linkage matrix does not contain the permanent magnet flux linkage. In addition, the permanent magnet flux linkage changes caused by the temperature rise in the test were not compensated.
- Rotation method Magnetic model self-identification for PM synchronous machine drives
- make the motor rotate at a certain speed make id (or iq) a constant value and reach a steady state, scan different iq (or id) values and reach Steady state, at this time Is a constant value, (or ) Is 0.
- this method attempts to consider the influence of the resistance value caused by the temperature rise during the test, it assumes that the constant dq axis current that changes in both positive and negative directions has a linear equivalent effect on the dq stator flux linkage to be solved. This will cause measurement deviation.
- the temperature rise of the permanent magnet was not compensated.
- the problem to be solved by the present invention is: the existing permanent magnet synchronous motor stator flux matrix measurement method does not consider the influence of magnetic saturation and dq mutual inductance, or does not consider the influence of dq axis current on the permanent magnet flux, or based on ideal or assumption Measurement under conditions will cause measurement deviation, and the existing measurement methods do not take into account the influence of permanent magnet temperature rise on the permanent magnet flux matrix. The accuracy of the measured value is difficult to ensure, which will affect the subsequent motor control. .
- the technical scheme of the present invention is: a method for extracting a stator flux matrix of a permanent magnet synchronous motor, and measuring the stator flux matrix of a permanent magnet synchronous motor includes the following steps:
- the dq axis currents i d and i q of the measured permanent magnet synchronous motor are constant and reach a steady state. According to the motor heat dissipation conditions, run for a period of time, and the time should be less than the thermal protection under the current current Allowable running time, record the feedback voltage u d and u q of the motor after the dead zone and tube pressure drop compensation during this process;
- ⁇ d is the d-axis stator flux linkage, in Wb,
- ⁇ q is the stator flux linkage of the q axis, in Wb,
- R is the estimated current phase resistance value of the motor, that is, the thermal resistance value of the motor obtained in step 6), in ⁇ ,
- ⁇ is the electrical speed of the motor, in rad/s
- step 3 confirm that the motor is not demagnetized, modify the values of i d and i q , repeat steps 4)-7), taking into account that the saturation degree of different dq axis current motors is different, the permanent magnet demagnetization situation is also different, according to Motor overload capacity.
- the step size is set to 0.35*I rate to ensure positive
- Each negative has 10 points; according to this, the corresponding d-axis and q-axis stator flux linkages are obtained by repeatedly testing different dq-axis currents, and finally the d-axis stator flux linkage matrix ⁇ sd (i d , i q ) and the q-axis stator flux linkage are formed Matrix ⁇ sq (i d , i q ).
- the present invention also proposes the application of the method for extracting the stator flux matrix of the permanent magnet synchronous motor.
- the permanent magnet synchronous motor adopts vector control based on current closed loop, and extracts the MTPA control trajectory through the stator flux matrix:
- the relative iq value change indicates the influence of the q-axis current on the permanent magnet flux linkage. Assuming the permanent magnet flux linkage It is not affected by the d-axis current, or the influence of the d-axis current on the permanent magnet flux linkage is reduced to the d-axis inductance.
- the permanent magnet flux linkage vector is the same, forming a permanent magnet flux linkage matrix ⁇ m ( i d , i q ), assuming that the element in the permanent magnet flux matrix is ⁇ m , the corresponding vector is calculated according to the formula:
- l d is the d-axis inductance
- l q is the axis inductance
- t e is the electromagnetic torque.
- the permanent magnet synchronous motor stator flux matrix measured by the present invention takes into account both the magnetic saturation and dq coupling effects.
- the test method of the present invention also considers the motor windings and The influence of the temperature rise of the permanent magnet is compensated by the method of measuring the no-load back EMF of the motor through the sealed pulse, which improves the accuracy and consistency of the test results and meets the accuracy of the permanent magnet synchronous motor stator flux matrix measurement sexual requirements.
- the present invention also provides a method for extracting MTPA control trajectory through the stator flux matrix.
- MTPA control is a relatively mature control method.
- the prior art mostly adopts Obtained by the method of scanning the current lead angle to obtain the maximum output torque, without considering the influence of temperature and stator winding resistance.
- the method of the present invention proposes a new method. Based on the measurement of the stator flux matrix in the present invention, the MTPA is calculated The trajectory is not available before, and because the present invention has considered the temperature rise when measuring the stator flux matrix, the calculated MTPA trajectory is also more accurate. The accuracy of the stator flux matrix ensures the accuracy of the MTPA control trajectory.
- Figure 1 is a flow chart of the method for extracting the stator flux matrix of the permanent magnet synchronous motor and its application according to the present invention.
- Figure 2 is a schematic diagram of the permanent magnet synchronous motor system structure corresponding to the present invention.
- FIG. 3 is a schematic diagram of the control method used in the present invention.
- Fig. 4 is a schematic diagram of electromagnetic torque matrix and MTPA trajectory calculated by the method embodiment of the present invention.
- the invention provides a method for measuring the stator flux matrix of a permanent magnet synchronous motor, especially for a high saturation, dq-coupled embedded permanent magnet synchronous motor, and on this basis, a method for extracting the maximum torque current ratio MTPA control trajectory is proposed.
- Method, the present invention not only considers the influence of magnetic saturation and dq coupling, but also considers the influence of the motor resistance and the temperature rise of the permanent magnet on the test result during the test.
- the test system used in the present invention includes a permanent magnet synchronous motor under test and a position encoder, a motor controller, a current and voltage sampling device, a dynamometer or a pair of drag motors and their controllers.
- a pair of towed motors is used.
- the dynamometer can also replace the pair of towed motors to make the motor under test rotate at a fixed speed.
- wm represents the mechanical speed of the motor
- Vab represents the line-to-line voltage measurement
- Ia represents the phase A current
- Ib represents the phase B current.
- the motor control method used in the present invention is vector control based on current closed loop, and the control diagram is shown in Figure 3.
- the dq axis currents i d and i q of the measured permanent magnet synchronous motor are constant and reach a steady state.
- the time should be less than the thermal protection under the current current Allowable running time, record the feedback voltage u d and u q after dead zone and tube voltage drop compensation in the software of the permanent magnet synchronous motor;
- the software here refers to the control software program of the permanent magnet synchronous motor itself, which is the current There is technology, and no more details;
- ⁇ d is the d-axis stator flux linkage, in Wb,
- ⁇ q is the stator flux linkage of the q axis, in Wb,
- R is the estimated current phase resistance value of the motor, that is, the thermal resistance value of the motor obtained in step 6), in ⁇ ,
- ⁇ is the electrical speed of the motor, in rad/s
- step 3 confirm that the motor is not demagnetized, modify the values of i d and i q , repeat steps 4)-7), taking into account that the saturation degree of different dq axis current motors is different, the permanent magnet demagnetization situation is also different, according to Motor overload capacity.
- the step size is set to 0.35*I rate to ensure positive
- Each negative has 10 points; according to this, the corresponding d-axis and q-axis stator flux linkages are obtained by repeatedly testing different dq-axis currents, and finally the d-axis stator flux linkage matrix ⁇ sd (i d , i q ) and the q-axis stator flux linkage are formed Matrix ⁇ sq (i d , i q ).
- the positive and negative q-axis currents produce the same degree of motor saturation, and the permanent magnet demagnetization is the same.
- the q-axis current only tests the positive part.
- the present invention further proposes a method for extracting the MTPA control trajectory through the stator flux matrix.
- the permanent magnet synchronous motor adopts the vector control based on current closed loop, and the MTPA control is extracted by the stator flux matrix.
- the trajectory is shown in Figure 3:
- the relative iq value change indicates the influence of the q-axis current on the permanent magnet flux linkage. Assuming the permanent magnet flux linkage It is not affected by the d-axis current, or the influence of the d-axis current on the permanent magnet flux linkage is reduced to the d-axis inductance.
- the permanent magnet flux linkage vector is the same, forming a permanent magnet flux linkage matrix ⁇ m ( i d , i q ), assuming that the element in the permanent magnet flux matrix is ⁇ m , the corresponding vector is calculated according to the formula:
- l d is the d-axis inductance
- l q is the axis inductance
- t e is the electromagnetic torque.
- Figure 4 shows an example of the measured dq-axis stator flux matrix of a certain embedded permanent magnet motor, and the electromagnetic torque matrix and MTPA trajectory are calculated from the stator flux matrix.
- Figure 4(a) shows the d-axis stator flux matrix
- Figure 4(b) shows the q-axis stator flux matrix
- Figure 4(c) is the MTPA control trajectory extracted from the stator flux matrix.
Abstract
Provided is a stator flux linkage matrix extraction method for a permanent magnet synchronous electric motor. In the method, the magnetic saturation influence and the dq coupling influence are taken into consideration, and the influence of resistance of an electric motor and temperature rise of a permanent magnet on a test result during a test process is also taken into consideration. A stator flux linkage matrix of a permanent magnet synchronous electric motor is measured. For the measured stator flux linkage matrix of the permanent magnet synchronous electric motor, the magnetic saturation influence is taken into consideration, and the dq coupling influence is also taken into consideration. In addition, the influence of temperature rise of an electric motor winding and the permanent magnet during the testing process is also taken into consideration, and the testing result is compensated for using the method for measuring a no-load counter electromotive force of the electric motor by means of pulse blocking, thereby improving the accuracy and consistency of the testing result.
Description
本发明属于电机控制技术领域，涉及永磁同步电机定子磁链矩阵的测量，具体为一种永磁同步电机定子磁链矩阵提取方法及其应用。The invention belongs to the technical field of motor control, relates to the measurement of a permanent magnet synchronous motor stator flux linkage matrix, and specifically relates to a permanent magnet synchronous motor stator flux matrix extraction method and its application.
永磁同步电机具有高功率密度、低转动惯量、高效率等特点，在高精度、高可靠性、宽调速范围的伺服装置中得到广泛应用。其中，内嵌式永磁电机因利用磁阻转矩，可进一步提高电机的过载能力，拓宽调速范围。为了充分利用电机材料和空间，在过载时电机往往设计在饱和运行点。而电机磁饱和和dq轴互感影响等非线性因素会严重影响控制系统性能。因此，提前标定出在不同dq电流下电机的定子磁链矩阵，并将其应用在电机的控制系统中是非常必要的。标定出的定子磁链矩阵可用于磁通观测器、提取最大转矩电流比MTPA控制轨迹和在线预测永磁体温升。Permanent magnet synchronous motors have the characteristics of high power density, low moment of inertia, high efficiency, etc., and are widely used in high-precision, high-reliability, and wide-speed range servo devices. Among them, the built-in permanent magnet motor utilizes reluctance torque, which can further improve the overload capacity of the motor and broaden the speed range. In order to make full use of motor materials and space, the motor is often designed at the saturated operating point when overloaded. Non-linear factors such as motor magnetic saturation and dq axis mutual inductance will seriously affect the performance of the control system. Therefore, it is very necessary to calibrate the stator flux matrix of the motor under different dq currents in advance and apply it in the motor control system. The calibrated stator flux matrix can be used for flux observer, extract the maximum torque current ratio MTPA control trajectory and predict the temperature rise of permanent magnet online.
目前的离线测量永磁同步电机定子磁链或电感的技术没有考虑磁饱和和dq互感的影响，也没有考虑q轴电流对永磁体磁链的影响，如CN103560736B；有的方案需要更改电机绕组的连接方式，或外加接地，增加了测试的复杂性，如CN103018577B、CN103647492B。除前述公开技术之外，其他已发表的定子磁链矩阵测量方法主要基于以下公式：The current offline measurement of permanent magnet synchronous motor stator flux or inductance technology does not consider the influence of magnetic saturation and dq mutual inductance, nor does it consider the influence of q-axis current on permanent magnet flux, such as CN103560736B; some solutions need to change the motor windings The connection method, or the addition of grounding, increases the complexity of the test, such as CN103018577B and CN103647492B. In addition to the aforementioned disclosed technology, other published stator flux matrix measurement methods are mainly based on the following formula:
其中，among them,
R，是电机电阻，R is the motor resistance,
L
dd，是d轴定子磁链ψ
d在d轴产生的电感，
L dd is the inductance of the d-axis stator flux linkage ψ d on the d-axis,
L
dq，是d轴定子磁链ψ
d在q轴产生的电感，
L dq is the inductance of the d-axis stator flux linkage ψ d on the q-axis,
L
qq，是q轴定子磁链ψ
q在q轴产生的电感，
L qq , is the inductance of the q-axis stator flux linkage ψ q on the q-axis,
L
qd，是q轴定子磁链ψ
q在d轴产生的电感，
L qd is the inductance produced by the stator flux ψ q of the q-axis on the d-axis,
Θ，是转子位置。Θ, is the rotor position.
测试方法主要有两种：There are two main test methods:
1、堵转法(Evaluation of saturation and cross-magnetization effects in interior permanent-magnet synchronous motor)，将电机堵转，使id(或iq)为恒定值，扫描不同的iq(或id)值，此时
为0，
(或
)为0，通过反馈电压与电阻压降之差的积分得到定子磁链矩阵。这里的反馈电压已经被补偿了死区和管压降造成的电压差。这个方法的优点是操作简单，容易测得温升之后的电阻值。但缺点是，其假定永磁体磁链不受dq轴电流影响，测得的d轴定子磁链矩阵不包含永磁体磁链。另外，测试中温升造成的永磁体磁链改变也没有得到补偿。
1. The locked-rotor method (Evaluation of saturation and cross-magnetization effects in interior permanent-magnet synchronous motor), lock the motor to make id (or iq) a constant value, and scan for different iq (or id) values. Is 0, (or ) Is 0, the stator flux matrix is obtained by integrating the difference between the feedback voltage and the resistance voltage drop. The feedback voltage here has been compensated for the voltage difference caused by the dead zone and the tube voltage drop. The advantage of this method is simple operation and easy to measure the resistance value after temperature rise. But the disadvantage is that it assumes that the permanent magnet flux linkage is not affected by the dq axis current, and the measured d-axis stator flux linkage matrix does not contain the permanent magnet flux linkage. In addition, the permanent magnet flux linkage changes caused by the temperature rise in the test were not compensated.
2、旋转法(Magnetic model self-identification for PM synchronous machine drives)，使电机以某一转速转动，使id(或iq)为恒定值并达到稳态，扫描不同的iq(或id)值并达到稳态，此时
为恒定值，
(或
)为0。这个方法虽然尝试考虑电阻值在测试过程由温升带来的影响，但是其假定正负两个方向改变的恒定的dq轴电流对需要求解的dq定子磁链产生的影响是线性等值的，这会造成测量偏差。并且，在这个测试中，永磁体温升也没有得到补偿。
2. Rotation method (Magnetic model self-identification for PM synchronous machine drives), make the motor rotate at a certain speed, make id (or iq) a constant value and reach a steady state, scan different iq (or id) values and reach Steady state, at this time Is a constant value, (or ) Is 0. Although this method attempts to consider the influence of the resistance value caused by the temperature rise during the test, it assumes that the constant dq axis current that changes in both positive and negative directions has a linear equivalent effect on the dq stator flux linkage to be solved. This will cause measurement deviation. Moreover, in this test, the temperature rise of the permanent magnet was not compensated.
发明内容Summary of the invention
本发明要解决的问题是：现有的永磁同步电机定子磁链矩阵测量方法没有考虑磁饱和和dq互感的影响，或没有考虑dq轴电流对永磁体磁链的影响，或以理想或假定条件来进行测量，都会造成测量的偏差，并且现有测量方法均未考虑到永磁体温升对永磁体磁链矩阵的影响，测量值的精确度难以确保，进而也会影响到后续的电机控制。The problem to be solved by the present invention is: the existing permanent magnet synchronous motor stator flux matrix measurement method does not consider the influence of magnetic saturation and dq mutual inductance, or does not consider the influence of dq axis current on the permanent magnet flux, or based on ideal or assumption Measurement under conditions will cause measurement deviation, and the existing measurement methods do not take into account the influence of permanent magnet temperature rise on the permanent magnet flux matrix. The accuracy of the measured value is difficult to ensure, which will affect the subsequent motor control. .
本发明的技术方案为：永磁同步电机定子磁链矩阵提取方法，测量永磁同步电机定子磁链矩阵，包括以下步骤：The technical scheme of the present invention is: a method for extracting a stator flux matrix of a permanent magnet synchronous motor, and measuring the stator flux matrix of a permanent magnet synchronous motor includes the following steps:
1)测得室温T
0和电机的冷态直流电阻；
1) Measure the room temperature T 0 and the cold DC resistance of the motor;
2)为永磁同步电机设置对拖电机或测功机，通过对拖电机或测功机使永磁同步电机在设定的转速空载转动；2) Set a pair of motor or dynamometer for the permanent magnet synchronous motor, and make the permanent magnet synchronous motor rotate at the set speed without load by the motor or dynamometer;
3)根据空载线电压计算永磁同步电机的空载反电势，并由空载反电势波形基波峰值计算电机永磁体磁链，确认电机没有被退磁，并以所述计算得到的永磁体磁链作为冷态永磁体磁链ψ
m0；
3) Calculate the no-load back EMF of the permanent magnet synchronous motor based on the no-load line voltage, and calculate the permanent magnet flux linkage of the motor from the fundamental wave peak of the no-load back EMF waveform, confirm that the motor is not demagnetized, and use the calculated permanent magnet The flux linkage is used as the cold permanent magnet flux linkage ψ m0 ;
4)通过电流闭环矢量控制使被测永磁同步电机的dq轴电流i
d和i
q为恒定值并达到稳态，根据电机散热条件运行一段时间，所述时间应小于热保护在当前电流下允许的运行时间，记录此过程中电机经过死区和管压降补偿的反馈电压u
d和u
q；
4) Through the current closed-loop vector control, the dq axis currents i d and i q of the measured permanent magnet synchronous motor are constant and reach a steady state. According to the motor heat dissipation conditions, run for a period of time, and the time should be less than the thermal protection under the current current Allowable running time, record the feedback voltage u d and u q of the motor after the dead zone and tube pressure drop compensation during this process;
5)封脉冲停止PWM但保持被测电机旋转，测量并记录电机线电压，获得电机空载反电势波形，由空载反电势波形基波峰值计算此时的永磁体磁链，用冷态永磁体磁链 减去当前计算的永磁体磁链，得到由温升造成的永磁体磁链下降值Δψ
m，根据永磁体剩磁温度系数α(Br)计算永磁体热态平均温度；
5) Seal the pulse to stop the PWM but keep the motor under test rotating, measure and record the motor line voltage, obtain the motor no-load back-EMF waveform, calculate the permanent magnet flux linkage at this time from the fundamental wave peak value of the no-load back-EMF waveform, and use the cold permanent The magnet flux minus the current calculated permanent magnet flux linkage to obtain the permanent magnet flux linkage drop value Δψ m caused by the temperature rise, and calculate the average thermal state temperature of the permanent magnet according to the permanent magnet remanence temperature coefficient α(Br);
6)以永磁体热态平均温度计算电机热态电阻值；6) Calculate the thermal resistance value of the motor based on the average thermal state temperature of the permanent magnet;
7)根据稳态电压方程计算dq轴定子磁链，并在计算中补偿温度造成的永磁体磁链减小：7) Calculate the dq axis stator flux linkage according to the steady-state voltage equation, and compensate the permanent magnet flux linkage reduction caused by temperature in the calculation:
这里，Here,
ψ
d为d轴定子磁链，单位Wb，
ψ d is the d-axis stator flux linkage, in Wb,
ψ
q为q轴定子磁链，单位Wb，
ψ q is the stator flux linkage of the q axis, in Wb,
R为估算的电机当前相电阻值，即步骤6)得到的电机热态电阻值，单位Ω，R is the estimated current phase resistance value of the motor, that is, the thermal resistance value of the motor obtained in step 6), in Ω,
ω为电机的电转速，单位rad/s；ω is the electrical speed of the motor, in rad/s;
8)返回步骤3)，确认电机没有退磁，修改i
d和i
q值，重复步骤4)-7)，考虑到不同的dq轴电流电机的饱和程度不同，永磁体去磁情况也不同，根据电机过载能力将i
d和i
q的测试范围设为[-3.5，3.5]*I
rate，这里I
rate为额定电流，修改i
d和i
q值时步长设为0.35*I
rate以保证正负均有10个点；据此重复测试不同dq轴电流得到对应的d轴和q轴定子磁链，最终构成d轴定子磁链矩阵Ψ
sd(i
d，i
q)和q轴定子磁链矩阵Ψ
sq(i
d，i
q)。
8) Return to step 3), confirm that the motor is not demagnetized, modify the values of i d and i q , repeat steps 4)-7), taking into account that the saturation degree of different dq axis current motors is different, the permanent magnet demagnetization situation is also different, according to Motor overload capacity. Set the test range of i d and i q to [-3.5, 3.5]*I rate , where I rate is the rated current. When modifying the values of i d and i q , the step size is set to 0.35*I rate to ensure positive Each negative has 10 points; according to this, the corresponding d-axis and q-axis stator flux linkages are obtained by repeatedly testing different dq-axis currents, and finally the d-axis stator flux linkage matrix Ψ sd (i d , i q ) and the q-axis stator flux linkage are formed Matrix Ψ sq (i d , i q ).
进一步的，本发明还提出了上述永磁同步电机定子磁链矩阵提取方法的应用，永磁同步电机采用基于电流闭环的矢量控制，通过定子磁链矩阵提取MTPA控制轨迹：Further, the present invention also proposes the application of the method for extracting the stator flux matrix of the permanent magnet synchronous motor. The permanent magnet synchronous motor adopts vector control based on current closed loop, and extracts the MTPA control trajectory through the stator flux matrix:
9)在d轴定子磁链矩阵中，i
d＝0对应的向量为永磁体磁链向量，其相对的iq值的变化表明了q轴电流对永磁体磁链的影响，假定永磁体磁链不受d轴电流影响，或d轴电流对永磁体磁链的影响都归算到d轴电感中，则对所有i
d值，永磁体磁链向量相同，构成永磁体磁链矩阵Ψ
m(i
d，i
q)，设永磁体磁链矩阵中的元素为ψ
m，则对应的向量根据公式进行计算：
9) In the d-axis stator flux linkage matrix, the vector corresponding to i d = 0 is the permanent magnet flux linkage vector. The relative iq value change indicates the influence of the q-axis current on the permanent magnet flux linkage. Assuming the permanent magnet flux linkage It is not affected by the d-axis current, or the influence of the d-axis current on the permanent magnet flux linkage is reduced to the d-axis inductance. For all i d values, the permanent magnet flux linkage vector is the same, forming a permanent magnet flux linkage matrix Ψ m ( i d , i q ), assuming that the element in the permanent magnet flux matrix is ψ m , the corresponding vector is calculated according to the formula:
其中，l
d为d轴电感，l
q为轴电感，t
e为电磁转矩，求得dq电感矩阵L
d(i
d，i
q)、L
q(i
d，i
q)，以及电磁转矩矩阵T
e(i
d，i
q)，其中p为电机极对数；
Among them, l d is the d-axis inductance, l q is the axis inductance, and t e is the electromagnetic torque. The dq inductance matrix L d (i d , i q ), L q (i d , i q ), and the electromagnetic rotation Moment matrix T e (i d , i q ), where p is the number of motor pole pairs;
10)对电磁转矩矩阵T
e(i
d，i
q)进行细化插值，对某一给定电磁转矩值，参考T
e(i
d，i
q)提取所有可能对应的i
d和i
q电流组合，将电流幅值
最小的一组i
d和i
q组合挑选出来，即为该电磁转矩下的MTPA电流向量；将电磁转矩矩阵中的最小转矩和最大转矩提取出来作为转矩给定范围，设定转矩步长，重复以上计算，得到每一个电磁转矩的MTPA电流向量，最终得到所有对应的最小i
d和i
q组合，即为MTPA控制轨迹。
10) Perform refined interpolation on the electromagnetic torque matrix Te (i d , i q ). For a given electromagnetic torque value, refer to Te (i d , i q ) to extract all possible corresponding i d and i q current combination, the current amplitude The smallest combination of i d and i q is selected, which is the MTPA current vector under the electromagnetic torque; extract the minimum torque and maximum torque in the electromagnetic torque matrix as the torque given range, set For the torque step, repeat the above calculations to obtain the MTPA current vector of each electromagnetic torque, and finally obtain all the corresponding minimum i d and i q combinations, which is the MTPA control trajectory.
与现有技术相比，本发明测得的永磁同步电机定子磁链矩阵既考虑了磁饱和影响，又考虑了dq耦合影响，另外，本发明的测试方法还考虑了测试过程中电机绕组和永磁体温升的影响，并通过封脉冲测电机空载反电势的方法对测试结果进行了补偿，提高了测试结果的准确性和一致性，满足对永磁同步电机定子磁链矩阵测量的精确性要求。在此基础上，本发明根据测试结果，还提供了通过定子磁链矩阵提取MTPA控制轨迹的方法，MTPA控制是比较成熟的控制方法，在如何提取MTPA轨迹的方案上，现有技术多是通过扫描电流超前角得到最大输出转矩的方法得到的，没有考虑温度和定子绕组阻值的影响，本发明方法提出了一种新方法，在本发明测量定子磁链矩阵的基础上，再计算MTPA轨迹，是之前没有的，而由于本发明在测量定子磁链矩阵时已经考虑了温升，由此计算的MTPA轨迹也更加准确，定子磁链矩阵的准确性保证了MTPA控制轨迹的准确性。Compared with the prior art, the permanent magnet synchronous motor stator flux matrix measured by the present invention takes into account both the magnetic saturation and dq coupling effects. In addition, the test method of the present invention also considers the motor windings and The influence of the temperature rise of the permanent magnet is compensated by the method of measuring the no-load back EMF of the motor through the sealed pulse, which improves the accuracy and consistency of the test results and meets the accuracy of the permanent magnet synchronous motor stator flux matrix measurement Sexual requirements. On this basis, according to the test results, the present invention also provides a method for extracting MTPA control trajectory through the stator flux matrix. MTPA control is a relatively mature control method. In terms of how to extract the MTPA trajectory, the prior art mostly adopts Obtained by the method of scanning the current lead angle to obtain the maximum output torque, without considering the influence of temperature and stator winding resistance. The method of the present invention proposes a new method. Based on the measurement of the stator flux matrix in the present invention, the MTPA is calculated The trajectory is not available before, and because the present invention has considered the temperature rise when measuring the stator flux matrix, the calculated MTPA trajectory is also more accurate. The accuracy of the stator flux matrix ensures the accuracy of the MTPA control trajectory.
图1为本发明永磁同步电机定子磁链矩阵提取方法及其应用的流程图。Figure 1 is a flow chart of the method for extracting the stator flux matrix of the permanent magnet synchronous motor and its application according to the present invention.
图2为本发明对应的永磁同步电机系统结构示意图。Figure 2 is a schematic diagram of the permanent magnet synchronous motor system structure corresponding to the present invention.
图3为本发明使用的控制方法示意图。Figure 3 is a schematic diagram of the control method used in the present invention.
图4为本发明方法实施例计算得到的电磁转矩矩阵和MTPA轨迹示意图。Fig. 4 is a schematic diagram of electromagnetic torque matrix and MTPA trajectory calculated by the method embodiment of the present invention.
本发明提供了一种测量永磁同步电机定子磁链矩阵的方法，特别对于高饱和、dq耦合的内嵌永磁同步电机，并在此基础上提出了提取最大转矩电流比MTPA控制轨迹的方法，本发明不仅考虑了磁饱和影响和dq耦合影响，还考虑了在测试过程中电机电阻和永磁体的温升对测试结果带来的影响。The invention provides a method for measuring the stator flux matrix of a permanent magnet synchronous motor, especially for a high saturation, dq-coupled embedded permanent magnet synchronous motor, and on this basis, a method for extracting the maximum torque current ratio MTPA control trajectory is proposed. Method, the present invention not only considers the influence of magnetic saturation and dq coupling, but also considers the influence of the motor resistance and the temperature rise of the permanent magnet on the test result during the test.
如图2所示，本发明所用测试系统包括被测永磁同步电机和位置编码器，电机控制器，电流、电压采样装置，测功机或对拖电机及其控制器。图2中采用了对拖电机，测功机也可取代对拖电机使被测电机按固定转速旋转。图中wm表示电机机械转速，Vab表示线对线电压测量，Ia表示A相电流，Ib表示B相电流。本发明所使用的电机控制方法为基于电流闭环的矢量控制，控制示意图如图3。As shown in Figure 2, the test system used in the present invention includes a permanent magnet synchronous motor under test and a position encoder, a motor controller, a current and voltage sampling device, a dynamometer or a pair of drag motors and their controllers. In Figure 2, a pair of towed motors is used. The dynamometer can also replace the pair of towed motors to make the motor under test rotate at a fixed speed. In the figure, wm represents the mechanical speed of the motor, Vab represents the line-to-line voltage measurement, Ia represents the phase A current, and Ib represents the phase B current. The motor control method used in the present invention is vector control based on current closed loop, and the control diagram is shown in Figure 3.
本发明提出的测试方法的流程如图1所示，具体如下：The flow of the test method proposed by the present invention is shown in Figure 1, and the details are as follows:
1)测得室温T
0和电机的冷态直流电阻；
1) Measure the room temperature T 0 and the cold DC resistance of the motor;
2)为永磁同步电机设置对拖电机或测功机，通过对拖电机或测功机使永磁同步电机在设定的转速空载转动；设定转速的原则为：不能太高以致使铁损和永磁体损耗不能忽略，也不能太低以致使电压测量精度降低，此为本领域技术人员的常规技术判断，不再详述。2) Set up a pair of drag motors or dynamometers for permanent magnet synchronous motors. By pairing the drag motors or dynamometers, the permanent magnet synchronous motors can rotate at the set speed without load; the principle of setting the speed is: not too high to cause The iron loss and the permanent magnet loss cannot be ignored, nor too low to reduce the voltage measurement accuracy. This is a conventional technical judgment of a person skilled in the art and will not be described in detail.
3)根据空载线电压计算永磁同步电机的空载反电势，并由空载反电势波形的基波峰值计算电机永磁体磁链，确认电机没有被退磁，并以所述计算得到的永磁体磁链作为冷态永磁体磁链ψ
m0，即如果在空载转动中电机没有被退磁，则记录计算的永磁体磁链；
3) Calculate the no-load back EMF of the permanent magnet synchronous motor based on the no-load line voltage, and calculate the permanent magnet flux linkage of the motor from the fundamental wave peak of the no-load back EMF waveform, confirm that the motor is not demagnetized, and use the calculated permanent The magnet flux is regarded as the cold permanent magnet flux ψ m0 , that is, if the motor is not demagnetized during no-load rotation, the calculated permanent magnet flux is recorded;
4)通过电流闭环矢量控制使被测永磁同步电机的dq轴电流i
d和i
q为恒定值并达到稳态，根据电机散热条件运行一段时间，所述时间应小于热保护在当前电流下允许的运行时间，记录永磁同步电机的自带软件中经过死区和管压降补偿的反馈电压u
d和u
q；这里的软件指永磁同步电机本身自带的控制软件程序，为现有技术，也不再详述；
4) Through the current closed-loop vector control, the dq axis currents i d and i q of the measured permanent magnet synchronous motor are constant and reach a steady state. According to the motor heat dissipation conditions, run for a period of time, and the time should be less than the thermal protection under the current current Allowable running time, record the feedback voltage u d and u q after dead zone and tube voltage drop compensation in the software of the permanent magnet synchronous motor; the software here refers to the control software program of the permanent magnet synchronous motor itself, which is the current There is technology, and no more details;
5)封脉冲停止PWM但保持被测电机旋转，测量并记录电机线电压，获得电机空载反电势波形，由空载反电势波形基值计算此时的永磁体磁链，用冷态永磁体磁链减去当前计算的永磁体磁链，得到由温升造成的永磁体磁链下降值Δψ
m，根据永磁体剩磁温度系数α(Br)计算永磁体热态平均温度，剩磁温度系数α(Br)为负值，单位是[％/K]：
5) Seal the pulse to stop the PWM but keep the motor under test rotating, measure and record the motor line voltage, obtain the motor no-load back EMF waveform, calculate the permanent magnet flux linkage at this time from the no-load back EMF waveform base value, use cold permanent magnets The flux linkage subtracts the current calculated permanent magnet flux linkage to obtain the permanent magnet flux linkage drop value Δψ m caused by the temperature rise. Calculate the permanent magnet thermal state average temperature and remanence temperature coefficient according to the permanent magnet remanence temperature coefficient α(Br) α(Br) is a negative value, and the unit is [%/K]:
6)以永磁体热态平均温度计算电机热态电阻值，对于内部热阻较小、热稳态时定子绕组到永磁体平均温度梯度较小的电机，可近似认为永磁体温度与电机电阻温度相等；对于内部热阻较大的电机，由于热态电阻值受温度影响较大，则需根据热网络或电机绕组内嵌的热电偶来估算电机绕组温度，这属于本领域人员的常规判断，可以通过有限元计算来了解温度梯度变化，也可以通过埋入温度传感器和红外测温枪等方法来判断。6) Calculate the thermal resistance of the motor based on the average temperature of the permanent magnet. For motors with small internal thermal resistance and a small average temperature gradient from the stator winding to the permanent magnet in the thermal steady state, the permanent magnet temperature and the motor resistance temperature can be approximated Equal; for motors with large internal thermal resistance, since the thermal resistance value is greatly affected by temperature, it is necessary to estimate the temperature of the motor windings based on the thermal network or the thermocouples embedded in the motor windings. This is a routine judgment of those in the field. The temperature gradient change can be understood through finite element calculation, and it can also be judged by embedding temperature sensors and infrared temperature measuring guns.
7)根据稳态电压方程计算dq轴定子磁链，并在计算中补偿温度造成的永磁体磁链 减小：7) Calculate the dq-axis stator flux linkage according to the steady-state voltage equation, and compensate the permanent magnet flux linkage reduction caused by temperature in the calculation:
这里，Here,
ψ
d为d轴定子磁链，单位Wb，
ψ d is the d-axis stator flux linkage, in Wb,
ψ
q为q轴定子磁链，单位Wb，
ψ q is the stator flux linkage of the q axis, in Wb,
R为估算的电机当前相电阻值，即步骤6)得到的电机热态电阻值，单位Ω，R is the estimated current phase resistance value of the motor, that is, the thermal resistance value of the motor obtained in step 6), in Ω,
ω为电机的电转速，单位rad/s；ω is the electrical speed of the motor, in rad/s;
8)返回步骤3)，确认电机没有退磁，修改i
d和i
q值，重复步骤4)-7)，考虑到不同的dq轴电流电机的饱和程度不同，永磁体去磁情况也不同，根据电机过载能力将i
d和i
q的测试范围设为[-3.5，3.5]*I
rate，这里I
rate为额定电流，修改i
d和i
q值时步长设为0.35*I
rate以保证正负均有10个点；据此重复测试不同dq轴电流得到对应的d轴和q轴定子磁链，最终构成d轴定子磁链矩阵Ψ
sd(i
d，i
q)和q轴定子磁链矩阵Ψ
sq(i
d，i
q)。作为改进，测试不同i
d和i
q值时，正值与负值的q轴电流产生的电机饱和程度相同，永磁体去磁情况相同，为了简化测试过程，q轴电流只测试正值部分。
8) Return to step 3), confirm that the motor is not demagnetized, modify the values of i d and i q , repeat steps 4)-7), taking into account that the saturation degree of different dq axis current motors is different, the permanent magnet demagnetization situation is also different, according to Motor overload capacity. Set the test range of i d and i q to [-3.5, 3.5]*I rate , where I rate is the rated current. When modifying the values of i d and i q , the step size is set to 0.35*I rate to ensure positive Each negative has 10 points; according to this, the corresponding d-axis and q-axis stator flux linkages are obtained by repeatedly testing different dq-axis currents, and finally the d-axis stator flux linkage matrix Ψ sd (i d , i q ) and the q-axis stator flux linkage are formed Matrix Ψ sq (i d , i q ). As an improvement, when testing different values of i d and i q , the positive and negative q-axis currents produce the same degree of motor saturation, and the permanent magnet demagnetization is the same. In order to simplify the test process, the q-axis current only tests the positive part.
本发明在得到了定子磁链矩阵的基础上，进一步提出了一种通过定子磁链矩阵提取MTPA控制轨迹的方法，永磁同步电机采用基于电流闭环的矢量控制，通过定子磁链矩阵提取MTPA控制轨迹，如图3所示：On the basis of obtaining the stator flux matrix, the present invention further proposes a method for extracting the MTPA control trajectory through the stator flux matrix. The permanent magnet synchronous motor adopts the vector control based on current closed loop, and the MTPA control is extracted by the stator flux matrix. The trajectory is shown in Figure 3:
9)在d轴定子磁链矩阵中，i
d＝0对应的向量为永磁体磁链向量，其相对的iq值的变化表明了q轴电流对永磁体磁链的影响，假定永磁体磁链不受d轴电流影响，或d轴电流对永磁体磁链的影响都归算到d轴电感中，则对所有i
d值，永磁体磁链向量相同，构成永磁体磁链矩阵Ψ
m(i
d，i
q)，设永磁体磁链矩阵中的元素为ψ
m，则对应的向量根据公式进行计算：
9) In the d-axis stator flux linkage matrix, the vector corresponding to i d = 0 is the permanent magnet flux linkage vector. The relative iq value change indicates the influence of the q-axis current on the permanent magnet flux linkage. Assuming the permanent magnet flux linkage It is not affected by the d-axis current, or the influence of the d-axis current on the permanent magnet flux linkage is reduced to the d-axis inductance. For all i d values, the permanent magnet flux linkage vector is the same, forming a permanent magnet flux linkage matrix Ψ m ( i d , i q ), assuming that the element in the permanent magnet flux matrix is ψ m , the corresponding vector is calculated according to the formula:
其中，l
d为d轴电感，l
q为轴电感，t
e为电磁转矩，求得dq电感矩阵L
d(i
d，i
q)、 L
q(i
d，i
q)，以及电磁转矩矩阵T
e(i
d，i
q)，其中p为电机极对数；
Among them, l d is the d-axis inductance, l q is the axis inductance, and t e is the electromagnetic torque. The dq inductance matrix L d (i d , i q ), L q (i d , i q ), and the electromagnetic rotation Moment matrix T e (i d , i q ), where p is the number of motor pole pairs;
10)对电磁转矩矩阵T
e(i
d，i
q)进行细化插值，对某一给定电磁转矩值，参考T
e(i
d，i
q)提取所有可能对应的i
d和i
q电流组合，将电流幅值
最小的一组i
d和i
q组合挑选出来，即为该电磁转矩下的MTPA电流向量；将电磁转矩矩阵中的最小转矩和最大转矩提取出来作为转矩给定范围，设定转矩步长，重复以上计算，得到每一个电磁转矩的MTPA电流向量，最终得到所有对应的最小i
d和i
q组合，即为MTPA控制轨迹。如图4所示。图4给出了一个例子，针对某一款内嵌永磁电机测得的dq轴定子磁链矩阵，并由定子磁链矩阵计算出了电磁转矩矩阵和MTPA轨迹。图4(a)显示了d轴定子磁链矩阵，图4(b)显示了q轴定子磁链矩阵，图4(c)为从定子磁链矩阵提取的MTPA控制轨迹。
10) Perform refined interpolation on the electromagnetic torque matrix Te (i d , i q ). For a given electromagnetic torque value, refer to Te (i d , i q ) to extract all possible corresponding i d and i q current combination, the current amplitude The smallest combination of i d and i q is selected, which is the MTPA current vector under the electromagnetic torque; extract the minimum torque and maximum torque in the electromagnetic torque matrix as the torque given range, set For the torque step, repeat the above calculations to obtain the MTPA current vector of each electromagnetic torque, and finally obtain all the corresponding minimum i d and i q combinations, which is the MTPA control trajectory. As shown in Figure 4. Figure 4 shows an example of the measured dq-axis stator flux matrix of a certain embedded permanent magnet motor, and the electromagnetic torque matrix and MTPA trajectory are calculated from the stator flux matrix. Figure 4(a) shows the d-axis stator flux matrix, Figure 4(b) shows the q-axis stator flux matrix, and Figure 4(c) is the MTPA control trajectory extracted from the stator flux matrix.
步骤9)中，i
d＝0对应的永磁体磁链向量为室温下的值，可进一步用于在线估计永磁体温升，此为现有技术，可参考专利申请CN103888041A提到的方法，在id＝0的情况下用于估计永磁体温度。
In step 9), the permanent magnet flux linkage vector corresponding to i d =0 is the value at room temperature, which can be further used to estimate the temperature rise of the permanent magnet online. This is the prior art. You can refer to the method mentioned in patent application CN103888041A. When id=0, it is used to estimate the permanent magnet temperature.
Claims (5)
- 永磁同步电机定子磁链矩阵提取方法，其特征是测量永磁同步电机定子磁链矩阵，包括以下步骤：The method for extracting the stator flux matrix of the permanent magnet synchronous motor is characterized by measuring the stator flux matrix of the permanent magnet synchronous motor, including the following steps:1)测得室温T 0和电机的冷态直流电阻； 1) Measure the room temperature T 0 and the cold DC resistance of the motor;2)为永磁同步电机设置对拖电机或测功机，通过对拖电机或测功机使永磁同步电机在设定的转速空载转动；2) Set a pair of motor or dynamometer for the permanent magnet synchronous motor, and make the permanent magnet synchronous motor rotate at the set speed without load by the motor or dynamometer;3)根据空载线电压计算永磁同步电机的空载反电势，并由空载反电势波形基波峰值计算电机永磁体磁链，确认电机没有被退磁，并以所述计算得到的永磁体磁链作为冷态永磁体磁链ψ m0； 3) Calculate the no-load back EMF of the permanent magnet synchronous motor based on the no-load line voltage, and calculate the permanent magnet flux linkage of the motor from the fundamental wave peak of the no-load back EMF waveform, confirm that the motor is not demagnetized, and use the calculated permanent magnet The flux linkage is used as the cold permanent magnet flux linkage ψ m0 ;4)通过电流闭环矢量控制使被测永磁同步电机的dq轴电流i d和i q为恒定值并达到稳态，根据电机散热条件运行一段时间，所述时间应小于热保护在当前电流下允许的运行时间，记录此过程中电机经过死区和管压降补偿的反馈电压u d和u q； 4) Through the current closed-loop vector control, the dq axis currents i d and i q of the measured permanent magnet synchronous motor are constant and reach a steady state. According to the motor heat dissipation conditions, run for a period of time, and the time should be less than the thermal protection under the current current Allowable running time, record the feedback voltage u d and u q of the motor after the dead zone and tube pressure drop compensation during this process;5)封脉冲停止PWM但保持被测电机旋转，测量并记录电机线电压，获得电机空载反电势波形，由空载反电势波形基波峰值计算此时的永磁体磁链，用冷态永磁体磁链减去当前计算的永磁体磁链，得到由温升造成的永磁体磁链下降值Δψ m，根据永磁体剩磁温度系数 α(Br)计算永磁体热态平均温度； 5) Seal the pulse to stop the PWM but keep the motor under test rotating, measure and record the motor line voltage, obtain the motor no-load back-EMF waveform, calculate the permanent magnet flux linkage at this time from the fundamental wave peak value of the no-load back-EMF waveform, and use the cold permanent The magnet flux minus the current calculated permanent magnet flux linkage to obtain the permanent magnet flux linkage drop value Δψ m caused by the temperature rise, and calculate the average thermal state temperature of the permanent magnet according to the permanent magnet remanence temperature coefficient α (Br);
6)以永磁体热态平均温度计算电机热态电阻值；6) Calculate the thermal resistance value of the motor based on the average thermal state temperature of the permanent magnet;7)根据稳态电压方程计算dq轴定子磁链，并在计算中补偿温度造成的永磁体磁链减小：7) Calculate the dq axis stator flux linkage according to the steady-state voltage equation, and compensate the permanent magnet flux linkage reduction caused by temperature in the calculation:
这里，Here,ψ d为d轴定子磁链，单位Wb， ψ d is the d-axis stator flux linkage, in Wb,ψ q为q轴定子磁链，单位Wb， ψ q is the stator flux linkage of the q axis, in Wb,R为估算的电机当前相电阻值，即步骤6)得到的电机热态电阻值，单位Ω，R is the estimated current phase resistance value of the motor, that is, the thermal resistance value of the motor obtained in step 6), in Ω,ω为电机的电转速，单位rad/s；ω is the electrical speed of the motor, in rad/s;8)返回步骤3)，确认电机没有退磁，修改i d和i q值，重复步骤4)-7)，考虑到不同的dq轴电流电机的饱和程度不同，永磁体去磁情况也不同，根据电机过载能力将i d 和i q的测试范围设为[-3.5，3.5]*I rate，这里I rate为额定电流，修改i d和i q值时步长设为0.35*I rate以保证正负均有10个点；据此重复测试不同dq轴电流得到对应的d轴和q轴定子磁链，最终构成d轴定子磁链矩阵Ψ sd(i d，i q)和q轴定子磁链矩阵Ψ sq(i d，i q)。 8) Return to step 3), confirm that the motor is not demagnetized, modify the values of i d and i q , repeat steps 4)-7), taking into account that the saturation degree of different dq axis current motors is different, the permanent magnet demagnetization situation is also different, according to Motor overload capacity. Set the test range of i d and i q to [-3.5, 3.5]*I rate , where I rate is the rated current. When modifying the values of i d and i q , the step size is set to 0.35*I rate to ensure positive Each negative has 10 points; according to this, the corresponding d-axis and q-axis stator flux linkages are obtained by repeatedly testing different dq-axis currents, and finally the d-axis stator flux linkage matrix Ψ sd (i d , i q ) and the q-axis stator flux linkage are formed Matrix Ψ sq (i d , i q ). - 根据权利要求1所述的永磁同步电机定子磁链矩阵提取方法，其特征是步骤8)中，测试不同i d和i q值时，正值与负值的q轴电流产生的电机饱和程度相同，永磁体去磁情况相同，为了简化测试过程，q轴电流只测试正值部分。 The method for extracting a stator flux matrix of a permanent magnet synchronous motor according to claim 1, characterized in that in step 8), when different values of i d and i q are tested, the degree of motor saturation generated by the positive and negative q-axis currents The same, the permanent magnet demagnetization situation is the same, in order to simplify the test process, the q-axis current only tests the positive part.
- 根据权利要求1所述的永磁同步电机定子磁链矩阵提取方法，其特征是步骤2)中，设定转速的原则为：不能太高以致使铁损和永磁体损耗不能忽略，也不能太低以致使电压测量精度降低。The permanent magnet synchronous motor stator flux matrix extraction method according to claim 1, characterized in that in step 2), the principle of setting the speed is: not too high so that the iron loss and permanent magnet loss cannot be ignored, nor too much It is so low that the accuracy of voltage measurement is reduced.
- 权利要求1所述的永磁同步电机定子磁链矩阵提取方法的应用，其特征是永磁同步电机采用基于电流闭环的矢量控制，通过定子磁链矩阵提取MTPA控制轨迹：The application of the permanent magnet synchronous motor stator flux matrix extraction method according to claim 1, characterized in that the permanent magnet synchronous motor adopts vector control based on current closed loop, and extracts the MTPA control trajectory through the stator flux matrix:9)在d轴定子磁链矩阵中，i d＝0对应的向量为永磁体磁链向量，其相对的iq值的变化表明了q轴电流对永磁体磁链的影响，假定永磁体磁链不受d轴电流影响，或d轴电流对永磁体磁链的影响都归算到d轴电感中，则对所有i d值，永磁体磁链向量相同，构成永磁体磁链矩阵Ψ m(i d，i q)，设永磁体磁链矩阵中的元素为ψ m，则对应的向量根据公式进行计算： 9) In the d-axis stator flux linkage matrix, the vector corresponding to i d = 0 is the permanent magnet flux linkage vector. The relative iq value change indicates the influence of the q-axis current on the permanent magnet flux linkage. Assuming the permanent magnet flux linkage It is not affected by the d-axis current, or the influence of the d-axis current on the permanent magnet flux linkage is reduced to the d-axis inductance. For all i d values, the permanent magnet flux linkage vector is the same, forming a permanent magnet flux linkage matrix Ψ m ( i d , i q ), assuming that the element in the permanent magnet flux matrix is ψ m , the corresponding vector is calculated according to the formula:
其中，l d为d轴电感，l q为轴电感，t e为电磁转矩，求得dq电感矩阵L d(i d，i q)、L q(i d，i q)，以及电磁转矩矩阵T e(i d，i q)，其中p为电机极对数； Among them, l d is the d-axis inductance, l q is the axis inductance, and t e is the electromagnetic torque. The dq inductance matrix L d (i d , i q ), L q (i d , i q ), and the electromagnetic rotation Moment matrix T e (i d , i q ), where p is the number of motor pole pairs;10)对电磁转矩矩阵T e(i d，i q)进行细化插值，对某一给定电磁转矩值，参考T e(i d，i q)提取所有可能对应的i d和i q电流组合，将电流幅值最小的一组i d和i q组合挑选出来，即为该电磁转矩下的MTPA电流向量；将电磁转矩矩阵中的最小转矩和最大转矩提取出来作为转矩给定范围，设定转矩步长，重复以上计算，得到每一个电磁转矩的MTPA电流向量，最终得到所有对应的最小i d和i q组合，即为MTPA控制轨迹。 10) Perform refined interpolation on the electromagnetic torque matrix Te (i d , i q ). For a given electromagnetic torque value, refer to Te (i d , i q ) to extract all possible corresponding i d and i q current combination, the current amplitude
The smallest combination of i d and i q is selected, which is the MTPA current vector under the electromagnetic torque; extract the minimum torque and maximum torque in the electromagnetic torque matrix as the torque given range, set For the torque step, repeat the above calculations to obtain the MTPA current vector of each electromagnetic torque, and finally obtain all the corresponding minimum i d and i q combinations, which is the MTPA control trajectory. - 根据权利要求4所述的永磁同步电机定子磁链矩阵提取方法的应用，其特征是步骤9)中，i d＝0对应的永磁体磁链向量为室温下的值，进一步用于在线估计永磁体 温升。 The application of the permanent magnet synchronous motor stator flux matrix extraction method according to claim 4, characterized in that in step 9), the permanent magnet flux vector corresponding to i d =0 is the value at room temperature, which is further used for online estimation The permanent magnet temperature rises.
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| CN110581680B (en) * | 2019-11-11 | 2020-02-28 | 南京埃斯顿自动化股份有限公司 | Vector control and flux weakening method and system of embedded permanent magnet synchronous motor |
| WO2021127806A1 (en) * | 2019-12-23 | 2021-07-01 | 潍柴动力股份有限公司 | Temperature compensation method and apparatus for output torque of permanent magnet synchronous electric motor |
| CN111711393A (en) * | 2020-07-06 | 2020-09-25 | 哈尔滨理工大学 | MTPA control method of built-in permanent magnet synchronous motor |
| CN112234897B (en) * | 2020-09-29 | 2022-08-23 | 深圳市英威腾电动汽车驱动技术有限公司 | Permanent magnet synchronous motor parameter identification method, identification device and identification system |
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