CN108226774A - The automatic calibration system and method for Over Electric Motor with PMSM - Google Patents
The automatic calibration system and method for Over Electric Motor with PMSM Download PDFInfo
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- CN108226774A CN108226774A CN201611129139.1A CN201611129139A CN108226774A CN 108226774 A CN108226774 A CN 108226774A CN 201611129139 A CN201611129139 A CN 201611129139A CN 108226774 A CN108226774 A CN 108226774A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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Abstract
The invention discloses the automatic calibration systems and method of a kind of Over Electric Motor with PMSM, this system is made of tested motor and dynamometer machine and corresponding electric machine controller, speed of torque sensor is used to detect the torque of tested motor and dynamometer machine and speed and the information transmitting unit that passes through are transmitted to industrial personal computer, and industrial personal computer communicates with corresponding electric machine controller connect respectively.This method meets all current command values of electric machine controller limiting voltage and electric current by industrial personal computer automatic measurement, the parameters such as stator voltage, magnetic flux, torque and the temperature under each current command value are recorded, the optimal current bid value for meeting motor control is found out by way of interpolation fitting.This system and method are since the data by actually measuring are demarcated, and not only accuracy is high, but also automatic operating, and calibration speed is fast, the development progress of the new product of quickening, reduce R＆D costs.
Description
Technical field
The present invention relates to the automatic calibration systems and method of a kind of Over Electric Motor with PMSM.
Background technology
It is widely used in new energy when permanent magnet synchronous motor is because its power density is high, efficient, the range of speeds is wide the advantages that
Electric vehicle field, however to realize these advantages of permanent magnet synchronous motor, it is necessary to it is accurately controlled.Automobile permanent magnet
The inner ring of synchronous motor control system is electric current loop, receives torque command from gas pedal or der Geschwindigkeitkreis, then orders torque
Enable the current command value being parsed into synchronous rotating frame.The breakdown principle generally used at present is in specific rotation speeds
Under some torque when stator current value it is minimum, generally obtained by way of being demarcated on rack each under different rotating speeds
Current command value corresponding to a torque command.
Traditional motor scaling method be according to the maximum current, maximum output voltage and motor of electric machine controller most
The mathematical model of the parametric configurations motor such as large torque, then according to the corresponding electricity of torque each under mathematical model generation different rotating speeds
Flow bid value, after these current command values are made table burning actual tests school is carried out in the microprocessor of electric machine controller
It is accurate；Since many parameters of motor in itself are unknown quantitys, in the mathematical model for constructing motor, engineer can only pass through according to individual
One initial value of setting is tested, calibration then is repeated by actual tests, so repeatedly, needs to take a long time, and
Precision is also not fully up to expectations, these all limit the product of the new product of an Over Electric Motor with PMSM control system
Change process and application.
Low in order to solve conventional motors scaling method precision, the problems such as scalar period is long, the present invention provides a kind of novel
Motor automatic calibration system, automatic Calibration rack is as shown in Figure 1.The present invention meets motor control by host computer automatic measurement
Then all current command values of device limiting voltage and electric current record stator voltage value, stator under each current command value
The parameters such as magnetic flux, torque value and temperature find out the optimal current bid value for meeting motor control by way of interpolation fitting, should
Method is because demarcated by the data actually measured, and not only accuracy is high, but also automatic operating, demarcates speed
Soon, the development progress of the new product of quickening.
Invention content
The technical problems to be solved by the invention are to provide a kind of automatic Calibration system of Over Electric Motor with PMSM
System and method, this system is simple in structure, facilitates the automatic Calibration for realizing permanent magnet synchronous motor；This method effectively improves stated accuracy
And efficiency, exploitation and the application process of new product are accelerated, reduces R＆D costs.
In order to solve the above technical problems, the automatic calibration system of Over Electric Motor with PMSM of the present invention includes direct current
Power supply, tested motor and dynamometer machine, the tested motor and dynamometer machine axis connection, this system further include the first electric machine controller,
Second electric machine controller, speed of torque sensor, information transmitting unit and industrial personal computer, the DC power supply is respectively with described first
Electric machine controller and the second electric machine controller are electrically connected to provide DC voltage, first electric machine controller and the second motor control
Respectively with the tested motor and measurement of power mechatronics and tested motor and dynamometer machine being controlled to run, the speed of torque passes device processed
Sensor is mechanically connected to acquire torque and velocity information, described information transmitting element point respectively with the tested motor and dynamometer machine
Not with the speed of torque sensor and industry control mechatronics the torque of acquisition and velocity information are transmitted to the industrial personal computer,
The industrial personal computer is electrically connected to send instruction and receive feedback respectively with first electric machine controller and the second electric machine controller
Information.
Further, connected between described information transmitting element and industrial personal computer by serial port communication, the industrial personal computer with
It is connected between first electric machine controller and the second electric machine controller by CAN communication interface.
A kind of automatic calibration method of Over Electric Motor with PMSM includes the following steps：
Step 1: carrying out correcting current to the first electric machine controller, ensure electric current accuracy, the first electric machine controller carries out dead zone
Compensation and rotation become offset calibration, measure tested motor stator resistance Rs, to ensure the accuracy of calibration；
Step 2: industrial personal computer is instructed to the second electric machine controller transmission speed, dynamometer machine is made to be rotated in a setting speed, measurement of power
Machine dragging tested motor rotates, and ensure that dynamometer machine and tested motor do not enter weak magnetic area under setting speed together；
Step 3: industrial personal computer sends running current instruction to the first electric machine controller, and set maximum current, spacing current, peak torque, interval time；
Step 4: enable current-orderSince 0 byStep-length increases, every timeIncrease, enableBy between setting since 0
Every the timeSpacing current is pressed in timingIncrease, until traversing all measurable current points, record can survey current point every time
Current-order, output voltage instruction, output torque, tested motor stator temperature Temp and motor speed,
WhereinTorque value for the detection of speed of torque sensor；
Step 5: work asIt increases toOrIt increases to、Or≥When terminate, andOrder
Drop quickly to 0；
Step 6: it will every time recordData form is formed, according to data form meter
Calculate synchronous rotating frame DQ axis stator magnetic flux 、,
（1）
（2）
Wherein：For the thermo-compensator of tested motor stator resistance Rs,Stator during for initial measurement stator resistance
Temperature value,For real-time stator temperature；
Step 7: the stator magnetic flux that will be calculated 、Data form is incorporated to, forms permanent magnet synchronous motor total state tables of data
And it stores；
Step 8: according in total state tables of dataPeak torque electric current is established than curve, byFitting
Into a three-dimension curved surface, according to the triadic relation after fitting, the torque curves such as establish by interval of the torque step-length that sets, then
Every is found out to wait on torque curvesMinimum point, these points are connected to form peak torque electric current than bent
Line, while these points are recorded, form an optimum torque control MTPA table；
Step 9: according in total state tables of dataFitting obtainsWithRelationship
Curved surface fixes a rotating speed point, torque commandIt is incremented by since 0 with the torque step-length of setting, until the rotating speed pointUnder
The maximum torque of permission；The torque command is obtained by MTPA tablesCorrespondingPoint, withBy searching forWithRelationship curved surface obtains, and pass through following formula and obtain stator voltage：
（3）
If Step 10: meet, then the torque commandCorrespondingPoint can be in the rotating speed
PointLower operation；Otherwise, with fixed step size so thatSuccessively decrease to obtain, search byThe three-dimension curved surface of fitting obtains, with
NewStep 9 is repeated, until meetingUntil；If work asWhenIt can not still set up, then current rotating speed pointThis torque command can not be run to；WhereinWithThe respectively limiting voltage and carrying current of motor operation；
Step 11: increased speed with fixed step size, step 9 is repeated, until traversing all rotating speedsUnder all torque commands, and be that between-line spacing is recorded and all meets condition by row interval, speed step-length of torque step-length, generate motor
What control neededTable；
Step 12: according toTable realizes the optimal current control of permanent magnet synchronous motor, improves motor control
The efficiency of system processed.
Further, in step 5The order renewal time of order rapid decrease is industrial personal computer and the first electric machine controller
Communication cycle, order update step-length are。
Since the automatic calibration system and method for Over Electric Motor with PMSM of the present invention employ above-mentioned technical proposal, i.e.,
This system is made of tested motor and dynamometer machine and corresponding electric machine controller, and speed of torque sensor is used to detect tested motor
With the torque and speed of dynamometer machine and pass through information transmitting unit and be transmitted to industrial personal computer, industrial personal computer controls respectively with corresponding motor
Device communication connection.This method meets all current orders of electric machine controller limiting voltage and electric current by industrial personal computer automatic measurement
Value records the parameters such as stator voltage, magnetic flux, torque and temperature under each current command value, by way of interpolation fitting
Find out the optimal current bid value for meeting motor control.This system and method since the data by actually measuring are demarcated,
Not only accuracy is high, but also automatic operating, and calibration speed is fast, the development progress of the new product of quickening, reduces R＆D costs.
Description of the drawings
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the automatic calibration system schematic diagram of Over Electric Motor with PMSM of the present invention.
Specific embodiment
Embodiment is as shown in Figure 1, the automatic calibration system of Over Electric Motor with PMSM of the present invention includes direct current
Source 1, tested motor 2 and dynamometer machine 3,3 axis connection of the tested motor 2 and dynamometer machine, this system further include the control of the first motor
Device 4, the second electric machine controller 5, speed of torque sensor 6, information transmitting unit 7 and industrial personal computer 8, the DC power supply 1 are distinguished
It is electrically connected to provide DC voltage, first electric machine controller with 4 and second electric machine controller 5 of the first electric machine controller
4 and second electric machine controller 5 be electrically connected respectively with the tested motor 2 and dynamometer machine 3 and control tested motor 2 and dynamometer machine 3
Operation, the speed of torque sensor 6 are mechanically connected to acquire torque and speed with the tested motor 2 and dynamometer machine 3 respectively
Information, described information transmitting element 7 are electrically connected respectively with the speed of torque sensor 6 and industrial personal computer 8 with by the torque acquired
Be transmitted to the industrial personal computer 8 with velocity information, the industrial personal computer 8 respectively with the 4 and second motor control of the first electric machine controller
Device 5 processed is electrically connected to send instruction and receive feedback information.
Preferably, it is connected between described information transmitting element 7 and industrial personal computer 8 by serial port communication, the industrial personal computer 8
It is connect between the first electric machine controller 4 and the second electric machine controller 5 by CAN communication interface.
A kind of automatic calibration method of Over Electric Motor with PMSM includes the following steps：
Step 1: carrying out correcting current to the first electric machine controller, ensure electric current accuracy, the first electric machine controller carries out dead zone
Compensation and rotation become offset calibration, measure tested motor stator resistance Rs, to ensure the accuracy of calibration；
Step 2: industrial personal computer is instructed to the second electric machine controller transmission speed, dynamometer machine is made to be rotated in a setting speed, measurement of power
Machine dragging tested motor rotates, and ensure that dynamometer machine and tested motor do not enter weak magnetic area under setting speed together；
Step 3: industrial personal computer sends running current instruction to the first electric machine controller, and set maximum current, spacing current, peak torque, interval time；During specific implementation such as=100A、=10A, then=0,10,20 ... 100,=
0、-10、-20…-100；
Step 4: enable current-orderSince 0 byStep-length increases, every timeIncrease, enableBy between setting since 0
Every the timeSpacing current is pressed in timingIncrease, until traversing all measurable current points, record can survey current point every time
Current-order, output voltage instruction, output torque, tested motor stator temperature Temp and motor speed,
WhereinTorque value for the detection of speed of torque sensor；
Step 5: work asIt increases toOrIt increases to、Or≥When terminate, andOrder
Drop quickly to 0；
Step 6: it will every time recordData form is formed, according to data form meter
Calculate synchronous rotating frame DQ axis stator magnetic flux 、,
（1）
（2）
Wherein：For the thermo-compensator of tested motor stator resistance Rs,Stator during for initial measurement stator resistance
Temperature value,For real-time stator temperature；
Step 7: the stator magnetic flux that will be calculated 、Data form is incorporated to, forms permanent magnet synchronous motor total state tables of data
And it stores；
Step 8: according in total state tables of dataPeak torque electric current is established than curve, byFitting
Into a three-dimension curved surface, according to the triadic relation after fitting, the torque curves such as establish by interval of the torque step-length that sets, then
Every is found out to wait on torque curvesMinimum point, these points are connected to form peak torque electric current than bent
Line, while these points are recorded, form an optimum torque control MTPA table；
Step 9: according in total state tables of dataFitting obtainsWithRelationship
Curved surface fixes a rotating speed point, torque commandIt is incremented by since 0 with the torque step-length of setting, until the rotating speed pointUnder
The maximum torque of permission；The torque command is obtained by MTPA tablesCorrespondingPoint, withBy searching forWithRelationship curved surface obtains, and pass through following formula and obtain stator voltage：
（3）
If Step 10: meet, then the torque commandCorrespondingPoint can be in the rotating speed
PointLower operation；Otherwise, with fixed step size so thatSuccessively decrease to obtain, search byThe three-dimension curved surface of fitting obtains, with
NewStep 9 is repeated, until meetingUntil；If work asWhenIt can not still set up, then current rotating speed pointThis torque command can not be run to；WhereinWithThe respectively limiting voltage and carrying current of motor operation；
Step 11: increased speed with fixed step size, step 9 is repeated, until traversing all rotating speedsUnder all torque commands, and be that between-line spacing is recorded and all meets condition by row interval, speed step-length of torque step-length, generate motor
What control neededTable；
Step 12: according toTable realizes the optimal current control of permanent magnet synchronous motor, improves motor control
The efficiency of system processed.
Preferably, in step 5The order renewal time of order rapid decrease is industrial personal computer and the first electric machine controller
Communication cycle, order update step-length are。
This method sends instruction, speed of torque to the first electric machine controller and the second electric machine controller respectively by industrial personal computer
Sensor acquires the torque and velocity information of tested motor in real time, industrial personal computer automatic measurement meet electric machine controller limiting voltage and
All current command values of electric current record stator voltage value, stator magnetic flux, torque value and temperature under each current command value
Etc. parameters, found out by way of interpolation fitting meet motor control optimal current bid value；And this method medium torque is bent
The generation of line and MTPA curves is obtained according to the data that speed of torque sensor acquires in real time, therefore is become with the voltage of motor and rotation
Offset is all not related, you can to ensureThe correctness of correspondence provides foundation for motor calibration.We
Method carries out motor calibration by the data of actual acquisition, and not only accuracy is high, but also automatic operating, and calibration speed is fast, accelerates
The development progress of new product reduces R＆D costs.
Claims (4)
1. a kind of automatic calibration system of Over Electric Motor with PMSM, including DC power supply, tested motor and dynamometer machine,
The tested motor and dynamometer machine axis connection, it is characterised in that：It further includes the first electric machine controller, the second electric machine controller, turn round
Square velocity sensor, information transmitting unit and industrial personal computer, the DC power supply respectively with first electric machine controller and second
Electric machine controller electrical connection to provide DC voltage, first electric machine controller and the second electric machine controller respectively with the quilt
Measured motor and measurement of power mechatronics simultaneously control tested motor and dynamometer machine to run, the speed of torque sensor respectively with the quilt
Measured motor and dynamometer machine mechanical connection to acquire torque and velocity information, described information transmitting element respectively with the speed of torque
Sensor and industry control mechatronics the torque of acquisition and velocity information be transmitted to the industrial personal computer, the industrial personal computer respectively with
First electric machine controller and the second electric machine controller are electrically connected to send instruction and receive feedback information.
2. the automatic calibration system of Over Electric Motor with PMSM according to claim 1, it is characterised in that：It is described
It is connected between information transmitting unit and industrial personal computer by serial port communication, the industrial personal computer and the first electric machine controller and second
It is connected between electric machine controller by CAN communication interface.
3. a kind of automatic calibration method of Over Electric Motor with PMSM, it is characterised in that this method includes the following steps：
Step 1: carrying out correcting current to the first electric machine controller, ensure electric current accuracy, the first electric machine controller carries out dead zone
Compensation and rotation become offset calibration, measure tested motor stator resistance Rs, to ensure the accuracy of calibration；
Step 2: industrial personal computer is instructed to the second electric machine controller transmission speed, dynamometer machine is made to be rotated in a setting speed, measurement of power
Machine dragging tested motor rotates, and ensure that dynamometer machine and tested motor do not enter weak magnetic area under setting speed together；
Step 3: industrial personal computer sends running current instruction to the first electric machine controller, and set maximum current, spacing current, peak torque, interval time；
Step 4: enable current-orderSince 0 byStep-length increases, every timeIncrease, enableBy between setting since 0
Every the timeSpacing current is pressed in timingIncrease, until traversing all measurable current points, record can survey current point every time
Current-order, output voltage instruction, output torque, tested motor stator temperature Temp and motor speed,
WhereinTorque value for the detection of speed of torque sensor；
Step 5: work asIt increases toOrIt increases to、Or≥When terminate, andOrder
Drop quickly to 0；
Step 6: it will every time recordData form is formed, is calculated according to data form
Synchronous rotating frame DQ axis stator magnetic flux 、,
（1）
（2）
Wherein：For the thermo-compensator of tested motor stator resistance Rs,Stator during for initial measurement stator resistance
Temperature value,For real-time stator temperature；
Step 7: the stator magnetic flux that will be calculated 、Data form is incorporated to, forms permanent magnet synchronous motor total state tables of data simultaneously
Storage；
Step 8: according in total state tables of dataPeak torque electric current is established than curve, byIt is fitted to
One three-dimension curved surface according to the triadic relation after fitting, using the torque step-length set as torque curves such as interval foundation, is then looked for
Go out every to wait on torque curvesMinimum point, these points are connected to form peak torque electric current than bent
Line, while these points are recorded, form an optimum torque control MTPA table；
Step 9: according in total state tables of dataFitting obtainsWithRelationship it is bent
A rotating speed point is fixed in face, torque commandIt is incremented by since 0 with the torque step-length of setting, until the rotating speed pointIt is lower to permit
Perhaps maximum torque；The torque command is obtained by MTPA tablesCorrespondingPoint, withBy searching forWithRelationship curved surface obtains, and pass through following formula and obtain stator voltage：
（3）
If Step 10: meet, then the torque commandCorrespondingPoint can be in the rotating speed
PointLower operation；Otherwise, with fixed step size so thatSuccessively decrease to obtain, search byThe three-dimension curved surface of fitting obtains, with
NewStep 9 is repeated, until meetingUntil；If work asWhenIt can not still set up, then current rotating speed pointThis torque command can not be run to；WhereinWithThe respectively limiting voltage and carrying current of motor operation；
Step 11: increased speed with fixed step size, step 9 is repeated, until traversing all rotating speedsUnder all torque commands, and be that between-line spacing is recorded and all meets condition by row interval, speed step-length of torque step-length, generate motor
What control neededTable；
Step 12: according toTable realizes the optimal current control of permanent magnet synchronous motor, improves motor control
The efficiency of system.
4. the automatic calibration method of Over Electric Motor with PMSM according to claim 3, it is characterised in that：Step
In fiveThe order renewal time of order rapid decrease is industrial personal computer and the communication cycle of the first electric machine controller, and order update walks
It is a length of。
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| CN201611129139.1A CN108226774B (en) | 2016-12-09 | 2016-12-09 | Automatic calibration system and method for permanent magnet synchronous motor for electric automobile |
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|---|---|---|---|
| CN201611129139.1A CN108226774B (en) | 2016-12-09 | 2016-12-09 | Automatic calibration system and method for permanent magnet synchronous motor for electric automobile |
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| CN108226774A true CN108226774A (en) | 2018-06-29 |
| CN108226774B CN108226774B (en) | 2020-07-28 |
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| CN107482986A (en) * | 2017-10-19 | 2017-12-15 | 苏州阿福机器人有限公司 | The parameter calibration and control method of a kind of motor |
| 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 |
| CN110007228A (en) * | 2019-04-04 | 2019-07-12 | 江苏吉泰科电气股份有限公司 | A kind of permanent magnet synchronous motor scaling method based on torque and reactive power measurement |
| CN110247602A (en) * | 2019-07-15 | 2019-09-17 | 东风电子科技股份有限公司 | It tables look-up processing method for the Bench calibration system of IPM synchronous motor external characteristics calibration and corresponding calibration |
| CN111082730A (en) * | 2019-12-30 | 2020-04-28 | 东风航盛（武汉）汽车控制系统有限公司 | Calibration method for maximum torque current ratio control of permanent magnet synchronous motor |
| CN111766516A (en) * | 2020-07-14 | 2020-10-13 | 北京经纬恒润科技有限公司 | Direct current motor parameter calibration method and device |
| 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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| CN107482986B (en) * | 2017-10-19 | 2020-05-19 | 苏州阿福机器人有限公司 | Parameter calibration and control method of motor |
| CN107482986A (en) * | 2017-10-19 | 2017-12-15 | 苏州阿福机器人有限公司 | The parameter calibration and control method of a kind of motor |
| 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 |
| CN110007228A (en) * | 2019-04-04 | 2019-07-12 | 江苏吉泰科电气股份有限公司 | A kind of permanent magnet synchronous motor scaling method based on torque and reactive power measurement |
| CN110007228B (en) * | 2019-04-04 | 2022-01-21 | 江苏吉泰科电气股份有限公司 | Permanent magnet synchronous motor calibration method based on torque and reactive power measurement |
| CN110247602A (en) * | 2019-07-15 | 2019-09-17 | 东风电子科技股份有限公司 | It tables look-up processing method for the Bench calibration system of IPM synchronous motor external characteristics calibration and corresponding calibration |
| CN111082730A (en) * | 2019-12-30 | 2020-04-28 | 东风航盛（武汉）汽车控制系统有限公司 | Calibration method for maximum torque current ratio control of permanent magnet synchronous motor |
| CN111082730B (en) * | 2019-12-30 | 2021-10-29 | 东风航盛（武汉）汽车控制系统有限公司 | Calibration method for maximum torque current ratio control of permanent magnet synchronous motor |
| CN111766516B (en) * | 2020-07-14 | 2023-02-28 | 北京经纬恒润科技股份有限公司 | Direct current motor parameter calibration method and device |
| CN111766516A (en) * | 2020-07-14 | 2020-10-13 | 北京经纬恒润科技有限公司 | Direct current motor parameter calibration method and device |
| 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 |
| CN113108749A (en) * | 2021-05-20 | 2021-07-13 | 中国第一汽车股份有限公司 | Phase angle calibration method and device of dual-motor hybrid power system and vehicle |
| CN114221599A (en) * | 2021-12-26 | 2022-03-22 | 霸州市宏伟机械有限公司 | Alternating current motor speed regulating system and control method thereof |
| CN114415014A (en) * | 2022-01-05 | 2022-04-29 | 首钢智新迁安电磁材料有限公司 | A calibration test method, device and computer equipment for a permanent magnet synchronous motor |
| CN114526372A (en) * | 2022-03-10 | 2022-05-24 | 雷沃工程机械集团有限公司 | Method for calibrating electromagnetic valve of transmission control system and loader |
| CN115308663A (en) * | 2022-08-22 | 2022-11-08 | 苏州汇川控制技术有限公司 | Current calibration system, method, apparatus, and computer-readable storage medium |
| CN116609661A (en) * | 2023-07-14 | 2023-08-18 | 西安创联超声技术有限责任公司 | Automatic calibration method, electronic equipment and readable storage medium |
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