CN108599638B - Method for identifying stator flux linkage of permanent magnet synchronous motor - Google Patents
Method for identifying stator flux linkage of permanent magnet synchronous motor Download PDFInfo
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- CN108599638B CN108599638B CN201810387004.8A CN201810387004A CN108599638B CN 108599638 B CN108599638 B CN 108599638B CN 201810387004 A CN201810387004 A CN 201810387004A CN 108599638 B CN108599638 B CN 108599638B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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Abstract
The invention discloses a method for identifying a permanent magnet synchronous motor stator flux linkage, which comprises the following steps: grounding the neutral point of the permanent magnet synchronous motor and the midpoint of the direct current voltage source, so that the voltage of the neutral point of the permanent magnet synchronous motor is 0; determining the terminal voltage and the phase voltage of the permanent magnet synchronous motor; detecting phase current, and calculating three-phase opposite potential by combining phase voltage; integrating the three-phase opposite potential to obtain a three-phase permanent magnetic flux linkage; and calculating to obtain a three-phase stator flux linkage by using the three-phase permanent magnet flux linkage and the phase current, and synthesizing the three-phase stator flux linkage vector through CLARK transformation to obtain the permanent magnet synchronous motor stator flux linkage. The method for identifying the stator flux linkage of the permanent magnet synchronous motor can solve the problem that the motor stator flux linkage is difficult to accurately identify in real time in the high-performance control of the permanent magnet synchronous motor in the prior art, and has the advantages of less required motor parameters, simple structure, small calculated amount, high identification precision and good real-time property.
Description
The invention relates to a divisional application of a patent with the application number of 2015108676303 and the application date of 2015, 12 and 02, which is named as a method for identifying a stator flux linkage of a permanent magnet synchronous motor.
Technical Field
The invention relates to a permanent magnet synchronous motor, in particular to a method for identifying a stator flux linkage of the permanent magnet synchronous motor, and belongs to the field of permanent magnet synchronous motor control.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high power density, simple control and the like. In recent years, permanent magnet synchronous motors are increasingly widely used in the industrial fields of high-performance speed regulation systems, servo control systems and the like.
The accurate identification of the stator flux linkage is an important link of a permanent magnet synchronous motor control system. The stator flux linkage affects the selection of the space voltage vector, i.e. the sector where the flux linkage is located may not be accurately determined due to observation errors. Therefore, the accurate identification of the stator flux linkage has important significance for improving the control performance of the permanent magnet synchronous motor. At present, in the known prior art, the stator flux linkage of the permanent magnet synchronous motor is observed by various observer methods, but the algorithm of the method is very complex and is difficult to be practically applied.
Therefore, the stator flux linkage identification effect in the prior art is difficult to meet the high-performance control requirement of the permanent magnet synchronous motor. How to accurately identify the stator flux linkage of the permanent magnet synchronous motor in real time is a problem to be solved in the prior art.
Disclosure of Invention
The invention aims to solve the problem that the motor stator flux linkage is difficult to accurately identify in real time in the high-performance control of a permanent magnet synchronous motor, and provides an identification method of the permanent magnet synchronous motor stator flux linkage.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for identifying a permanent magnet synchronous motor stator flux linkage comprises the following steps:
(1) grounding the neutral point of the permanent magnet synchronous motor and the midpoint of the direct current voltage source, so that the voltage of the neutral point of the permanent magnet synchronous motor is 0;
(2) determining A, B, C three-phase end voltage and phase voltage of the permanent magnet synchronous motor;
(3) detecting A, B, C three-phase current of the permanent magnet synchronous motor, and calculating A, B, C three-phase opposite potential of the permanent magnet synchronous motor by combining the phase voltage;
(4) integrating three-phase opposite potentials of the permanent magnet synchronous motor A, B, C to obtain a three-phase permanent magnet flux linkage;
(5) and calculating to obtain a three-phase stator flux linkage by using the three-phase permanent magnet flux linkage and the phase current, and synthesizing the three-phase stator flux linkage vector through CLARK transformation to obtain the permanent magnet synchronous motor stator flux linkage.
In the step (2), the method for determining the three-phase terminal voltage of the permanent magnet synchronous motor A, B, C includes: firstly, whether the three-phase full-bridge inverter works in a conduction process or a follow current process is judged, and when the three-phase full-bridge inverter works in the conduction process, the three-phase end voltage of the permanent magnet synchronous motor A, B, C is determined through the state of a power tube: if the upper bridge arm power tube of a certain phase is switched on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is positive, and if the lower bridge arm power tube of a certain phase is switched on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is negative; when operating in the freewheeling process, the three-phase terminal voltage of the permanent magnet synchronous motor A, B, C is determined by the state of the freewheeling diode: if the freewheeling diode of the upper bridge arm of a certain phase is turned on, the voltage value of the phase end is 1/2 of the amplitude of the direct-current voltage source, and the polarity is positive, and if the freewheeling diode of the lower bridge arm of a certain phase is turned on, the voltage value of the phase end is 1/2 of the amplitude of the direct-current voltage source, and the polarity is negative.
The method for judging whether the three-phase full-bridge inverter works in the conducting process or the follow current process comprises the following steps: detecting whether the power tubes of the three-phase full-bridge inverter are completely turned off, and when the power tubes of the three-phase full-bridge inverter are not completely turned off, indicating that the three-phase full-bridge inverter is in a conducting process; when the power tubes of the three-phase full-bridge inverter are all turned off, the three-phase full-bridge inverter is indicated to be in a follow current process.
In the step (2), the method for determining the three-phase voltage of the permanent magnet synchronous motor A, B, C includes: the voltage of the neutral point is subtracted from the three-phase end voltage of the permanent magnet synchronous motor A, B, C to obtain the phase voltage of the permanent magnet synchronous motor, and the phase voltage and the end voltage are the same because the voltage of the neutral point is 0.
The details of the step (3) are as follows: detecting three-phase currents ia, ib and ic of the permanent magnet synchronous motor A, B, C by using a current sensor, and calculating three-phase opposite potentials ea, eb and ec of the permanent magnet synchronous motor according to a permanent magnet synchronous motor phase voltage balance equation in the following formula by combining A, B, C three-phase voltages ua, ub and uc in the step (2):
wherein, Ra, Rb, Rc are three-phase resistances of the permanent magnet synchronous motor A, B, C, and La, Lb, Lc are three-phase inductances of the permanent magnet synchronous motor A, B, C.
The details of the step (4) are as follows: integrating the three-phase opposite potentials of the permanent magnet synchronous motor obtained in the step (3) by using the following formula to obtain three-phase permanent magnet magnetic chains psi ra, psi rb and psi rc:
the details of the step (5) are as follows: and (3) calculating three-phase stator flux linkages psi sa, psi sb and psi sc by using the three-phase permanent magnet flux linkages psi ra, psi rb and psi rc calculated in the step (4) and the phase currents ia, ib and ic measured in the step (3) according to the following formula:
wherein, La, Lb and Lc are three-phase inductances of the permanent magnet synchronous motor A, B, C respectively;
and synthesizing the three-phase stator flux linkage vectors by using CLARK transformation according to the following formula to obtain stator flux linkages psi s alpha and psi s beta of the permanent magnet synchronous motor:
compared with the prior art, the method has the advantages of less needed motor parameters, simple structure, small calculated amount, high identification precision and good real-time property.
Drawings
Fig. 1 is a flowchart of a method for identifying a stator flux linkage of a permanent magnet synchronous motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the method for identifying a stator flux linkage of a permanent magnet synchronous motor according to the present invention includes the following steps:
(1) grounding the neutral point of the permanent magnet synchronous motor and the midpoint of a direct current voltage source, so as to clamp the voltage of the neutral point of the permanent magnet synchronous motor to 0;
(2) determining the terminal voltage of the permanent magnet synchronous motor through the on-off states of a power tube and a freewheeling diode in the conducting process and the freewheeling process of the three-phase full-bridge inverter; subtracting the voltage of the neutral point from the terminal voltage to obtain a permanent magnet synchronous motor phase voltage;
when determining the terminal voltages of the three phases of the permanent magnet synchronous motor A, B, C, the two conditions of the conducting process and the follow current process of the three-phase full-bridge inverter can be considered respectively, specifically, whether the three-phase full-bridge inverter works in the conducting process or the follow current process can be judged by detecting whether the power tubes of the three-phase full-bridge inverter are completely turned off, and specifically, when the power tubes of the three-phase full-bridge inverter are not completely turned off, the three-phase full-bridge inverter is indicated to be in the conducting process; when the power tubes of the three-phase full-bridge inverter are all turned off, the three-phase full-bridge inverter is indicated to be in a follow current process.
In the conduction process of the three-phase full-bridge inverter, the three-phase terminal voltage of the permanent magnet synchronous motor A, B, C is determined by the state of the power tube: if the upper bridge arm power tube of a certain phase is turned on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is positive, and if the lower bridge arm power tube of a certain phase is turned on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is negative.
In the three-phase full-bridge inverter freewheeling process, the three-phase terminal voltage of the permanent magnet synchronous motor A, B, C is determined by the state of the freewheeling diode: because all the three-phase full-bridge inverter power tubes are turned off in the freewheeling process, each phase of the permanent magnet synchronous motor A, B, C freewheels through the only on-going freewheeling diode on the bridge arm of the three-phase full-bridge inverter connected with each phase, if the freewheeling diode on the upper bridge arm of a certain phase is on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, the polarity is positive, and if the freewheeling diode on the lower bridge arm of a certain phase is on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is negative.
Subtracting the voltage of the neutral point from the terminal voltage to obtain a permanent magnet synchronous motor phase voltage, wherein the voltage of the neutral point is 0, so the phase voltage is the same as the terminal voltage: the phase A voltage ua is equal to the phase A end voltage, the phase B voltage ub is equal to the phase B end voltage, and the phase C voltage uc is equal to the phase C end voltage.
(3) Detecting three-phase currents ia, ib and ic of the permanent magnet synchronous motor A, B, C by using a current sensor, and calculating three-phase opposite potentials ea, eb and ec of the permanent magnet synchronous motor according to a permanent magnet synchronous motor phase voltage balance equation in combination with the phase voltages ua, ub and uc:
wherein, Ra, Rb, Rc are three-phase resistances of the permanent magnet synchronous motor A, B, C, and La, Lb, Lc are three-phase inductances of the permanent magnet synchronous motor A, B, C.
(4) Integrating the three-phase opposite potentials of the permanent magnet synchronous motor obtained in the step (3) by using the following formula to obtain three-phase permanent magnet magnetic chains psi ra, psi rb and psi rc:
(5) using the three-phase permanent magnetic linkages ψ ra, ψ rb, ψ rc calculated in the step (4) and the phase currents ia, ib, ic measured in the step (3), the three-phase stator linkages ψ sa, ψ sb, ψ sc are calculated using the following formula:
and synthesizing the three-phase stator flux linkage vectors by using CLARK transformation according to the following formula to obtain stator flux linkages psi s alpha and psi s beta of the permanent magnet synchronous motor:
the above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.
Claims (4)
1. A method for identifying a permanent magnet synchronous motor stator flux linkage is characterized by comprising the following steps:
(1) grounding the neutral point of the permanent magnet synchronous motor and the midpoint of the direct current voltage source, so that the voltage of the neutral point of the permanent magnet synchronous motor is 0;
(2) determining A, B, C three-phase end voltage and phase voltage of the permanent magnet synchronous motor;
(3) detecting A, B, C three-phase current of the permanent magnet synchronous motor, and calculating A, B, C three-phase opposite potential of the permanent magnet synchronous motor by combining the phase voltage;
(4) integrating three-phase opposite potentials of the permanent magnet synchronous motor A, B, C to obtain a three-phase permanent magnet flux linkage;
(5) calculating to obtain three-phase stator flux linkage by using the three-phase permanent magnet flux linkage and phase current, and synthesizing the three-phase stator flux linkage vector through CLARK transformation to obtain the permanent magnet synchronous motor stator flux linkage;
in the step (2), the method for determining the three-phase terminal voltage of the permanent magnet synchronous motor A, B, C includes: firstly, whether the three-phase full-bridge inverter works in a conduction process or a follow current process is judged, and when the three-phase full-bridge inverter works in the conduction process, the three-phase end voltage of the permanent magnet synchronous motor A, B, C is determined through the state of a power tube: if the upper bridge arm power tube of a certain phase is switched on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is positive, and if the lower bridge arm power tube of a certain phase is switched on, the voltage value of the phase end is 1/2 of the amplitude of the direct current voltage source, and the polarity is negative; when operating in the freewheeling process, the three-phase terminal voltage of the permanent magnet synchronous motor A, B, C is determined by the state of the freewheeling diode: if the freewheeling diode of the upper bridge arm of a certain phase is turned on, the voltage value of the phase end is 1/2 of the amplitude of the direct-current voltage source, and the polarity is positive, and if the freewheeling diode of the lower bridge arm of a certain phase is turned on, the voltage value of the phase end is 1/2 of the amplitude of the direct-current voltage source, and the polarity is negative;
the details of the step (3) are as follows: detecting three-phase currents ia, ib and ic of the permanent magnet synchronous motor A, B, C by using a current sensor, and calculating three-phase opposite potentials ea, eb and ec of the permanent magnet synchronous motor according to a permanent magnet synchronous motor phase voltage balance equation in the following formula by combining A, B, C three-phase voltages ua, ub and uc in the step (2):
wherein, Ra, Rb, Rc are three-phase resistances of the permanent magnet synchronous motor A, B, C, and La, Lb, Lc are three-phase inductances of the permanent magnet synchronous motor A, B, C;
the detailed content of the step (4) is as follows: integrating the three-phase opposite potentials of the permanent magnet synchronous motor obtained in the step (3) by using the following formula to obtain three-phase permanent magnet magnetic chains psi ra, psi rb and psi rc:
the details of the step (5) are as follows: and (3) calculating three-phase stator flux linkages psi sa, psi sb and psi sc by using the three-phase permanent magnet flux linkages psi ra, psi rb and psi rc calculated in the step (4) and the phase currents ia, ib and ic measured in the step (3) according to the following formula:
wherein, La, Lb and Lc are three-phase inductances of the permanent magnet synchronous motor A, B, C respectively;
and synthesizing the three-phase stator flux linkage vectors through CLARK transformation to obtain the stator flux linkages psi s alpha and psi s beta of the permanent magnet synchronous motor.
2. The method for identifying the stator flux linkage of the permanent magnet synchronous motor according to claim 1, wherein the method for judging whether the three-phase full-bridge inverter works in a conducting process or a freewheeling process is as follows: detecting whether the power tubes of the three-phase full-bridge inverter are completely turned off, and when the power tubes of the three-phase full-bridge inverter are not completely turned off, indicating that the three-phase full-bridge inverter is in a conducting process; when the power tubes of the three-phase full-bridge inverter are all turned off, the three-phase full-bridge inverter is indicated to be in a follow current process.
3. The method for identifying the stator flux linkage of the permanent magnet synchronous motor according to claim 1, wherein in the step (2), the method for determining the A, B, C three-phase voltage of the permanent magnet synchronous motor is as follows: the voltage of the neutral point is subtracted from the three-phase end voltage of the permanent magnet synchronous motor A, B, C to obtain the phase voltage of the permanent magnet synchronous motor, and the phase voltage and the end voltage are the same because the voltage of the neutral point is 0.
4. The method for identifying the stator flux linkage of the permanent magnet synchronous motor according to claim 3, wherein the stator flux linkages ψ s α, ψ s β in the step 5 are calculated by the following formula:
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| CN201810387004.8A CN108599638B (en) | 2015-12-02 | 2015-12-02 | Method for identifying stator flux linkage of permanent magnet synchronous motor |
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| CN201510867630.3A CN105471335B (en) | 2015-12-02 | 2015-12-02 | A kind of discrimination method of permanent-magnetic synchronous motor stator magnetic linkage |
| CN201810387004.8A CN108599638B (en) | 2015-12-02 | 2015-12-02 | Method for identifying stator flux linkage of permanent magnet synchronous motor |
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| CN201510867630.3A Division CN105471335B (en) | 2015-12-02 | 2015-12-02 | A kind of discrimination method of permanent-magnetic synchronous motor stator magnetic linkage |
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| CN201510867630.3A Active CN105471335B (en) | 2015-12-02 | 2015-12-02 | A kind of discrimination method of permanent-magnetic synchronous motor stator magnetic linkage |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4016833A1 (en) * | 2020-12-18 | 2022-06-22 | Volvo Truck Corporation | A method for adapting the control parameters of an electric traction machine being a permanent magnetic synchronous motor |
| US12216165B2 (en) | 2020-12-18 | 2025-02-04 | Volvo Truck Corporation | Method for categorizing performance of an electric traction machine being a permanent magnetic synchronous motor |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109167545B (en) * | 2018-09-14 | 2022-02-18 | 新疆大学 | Permanent magnet synchronous generator flux linkage online identification method and system |
| CN110311612B (en) * | 2019-06-28 | 2021-10-15 | 昆明理工大学 | A permanent magnet synchronous motor rotor initial position identification device and identification method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101702607A (en) * | 2009-11-20 | 2010-05-05 | 江苏科技大学 | Stator Flux Given Method for Direct Torque Control of Brushless DC Motor |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Method and system for starting permanent magnet synchronous fan motor for air conditioner |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101066700B1 (en) * | 2006-10-19 | 2011-09-21 | 미쓰비시덴키 가부시키가이샤 | Power converter |
| WO2013153656A1 (en) * | 2012-04-12 | 2013-10-17 | 株式会社 日立製作所 | Electric motor drive device |
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- 2015-12-02 CN CN201810387004.8A patent/CN108599638B/en not_active Withdrawn - After Issue
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101702607A (en) * | 2009-11-20 | 2010-05-05 | 江苏科技大学 | Stator Flux Given Method for Direct Torque Control of Brushless DC Motor |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Method and system for starting permanent magnet synchronous fan motor for air conditioner |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4016833A1 (en) * | 2020-12-18 | 2022-06-22 | Volvo Truck Corporation | A method for adapting the control parameters of an electric traction machine being a permanent magnetic synchronous motor |
| US11870374B2 (en) | 2020-12-18 | 2024-01-09 | Volvo Truck Corporation | Method for adapting the control parameters of an electric traction machine being a permanent magnetic synchronous motor |
| US12216165B2 (en) | 2020-12-18 | 2025-02-04 | Volvo Truck Corporation | Method for categorizing performance of an electric traction machine being a permanent magnetic synchronous motor |
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| CN105471335B (en) | 2018-07-27 |
| CN108599638A (en) | 2018-09-28 |
| CN105471335A (en) | 2016-04-06 |
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Denomination of invention: An identification method of stator flux linkage of permanent magnet synchronous motor Effective date of registration: 20220721 Granted publication date: 20201215 Pledgee: Zhejiang Hecheng Rural Commercial Bank Co.,Ltd. wangjiangjing sub branch Pledgor: Jiaxing City carry forward spray Weaving Co.,Ltd. Registration number: Y2022330001482 |