CN113676086B - Permanent magnet synchronous motor parameter self-identification device and method - Google Patents
Permanent magnet synchronous motor parameter self-identification device and method Download PDFInfo
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P21/18—Estimation of position or speed
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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
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
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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
- H02P6/28—Arrangements for controlling current
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor parameter self-identification device and a permanent magnet synchronous motor parameter self-identification method, wherein the permanent magnet synchronous motor parameter self-identification device comprises a current acquisition unit, an identification processing calculation unit and a driving wave generation unit, and stator resistance can be obtained by respectively applying voltage to a d axis twice and acquiring corresponding current values under the voltage twice; and applying voltage on the d axis, respectively superposing high-frequency alternating voltage on the d axis and the q axis, collecting current signals of the permanent magnet synchronous motor, and converting the current signals to obtain current fluctuation peak values of the d axis and the q axis respectively, so that the d axis inductance and the q axis inductance can be obtained. The method aims at identifying the stator resistance, the direct axis inductance parameters and the quadrature axis inductance parameters on line without disconnecting a connecting wire between a motor controller and a permanent magnet synchronous motor under the condition of not depending on an external instrument, has simple and easy test process, clear algorithm and accurate result.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a permanent magnet synchronous motor parameter self-identification device and method.
Background
With the development of motor control technology, many high-performance motor control algorithms have emerged, including vector control, decoupling control, dead beat control, and position/speed sensor control, where motor parameters are critical variables.
For a permanent magnet synchronous motor, key motor parameters relate to parameters of stator resistance, alternating/direct axis inductance and rotor flux linkage, wherein the rotor flux linkage is in proportional relation with a counter potential coefficient of the motor, the parameters of electronic resistance and alternating/direct axis inductance are easy to obtain, measurement and identification are relatively complex, off-line measurement is needed by means of a professional instrument such as a bridge, the measurement process is relatively complex, or an on-line identification mode is used, but an identification algorithm is complex, and the method is inconvenient to execute.
Disclosure of Invention
In order to realize the online self-identification of the stator resistance, the direct axis inductance and the quadrature axis inductance of the permanent magnet synchronous motor, the invention provides a parameter self-identification method and a parameter self-identification device of the permanent magnet synchronous motor.
The technical scheme adopted by the invention is as follows: a permanent magnet synchronous motor parameter self-identification method comprises the following steps:
s1: and (3) identifying the resistance of the stator: stabilizing a motor rotor at a fixed position by applying a stabilizing voltage, respectively applying voltage to a d axis twice, and collecting corresponding current values under the voltage twice to obtain a stator resistor;
s2: identification of direct axis and quadrature axis inductance: and applying voltage on the d axis, respectively superposing high-frequency alternating voltage on the d axis and the q axis, collecting current signals of the permanent magnet synchronous motor, and converting the current signals to obtain current fluctuation peak values of the d axis and the q axis respectively, so as to obtain d axis inductance and q axis inductance.
Preferably, the stabilizing voltage applied in the step S1 is that a stabilizing d-axis voltage is applied to generate a d-axis current, and the d-axis current reaches the rated current of the motor; the fixed position in step S1 is the 0 degree position of the motor rotor.
Preferably, the two voltage commands applied to the d-axis are ud_ref1 and ud_ref2, respectively, wherein the voltage value of ud_ref2 is half the voltage value of ud_ref1.
Preferably, the stator resistance Rs is calculated as:
wherein: id1 is a current value acquired under the d-axis voltage command Ud_ref1; id2 is the current value collected under the d-axis voltage command Ud_ref2.
Preferably, the high-frequency alternating voltages superimposed on the d-axis and the q-axis in step S2 are high-frequency pulse voltages, respectively.
Preferably, the calculation formulas of the d-axis inductance Ld and the q-axis inductance Lq are respectively:
wherein: deltat is half of the period of the high frequency pulse voltage; Δu is the peak value of the high frequency alternating voltage; delta Id is the d-axis current fluctuation peak value obtained by current signal conversion; Δiq is the q-axis current ripple peak-to-peak value obtained by converting the current signal.
Preferably, in the step S2, the d axis is always consistent with the rotor flux linkage direction of the permanent magnet synchronous motor through continuous direct current bias voltage; the current collection and the voltage application are carried out in a synchronous mode, the frequency of the collected current is 2 times of the frequency of the high-frequency alternating voltage, and the current collection and the voltage application are triggered at the high-frequency voltage alternating moment.
The parameter self-identification device of the permanent magnet synchronous motor comprises a current acquisition unit, an identification processing calculation unit and a driving wave generation unit;
the current acquisition unit is connected with the permanent magnet synchronous motor and the identification processing calculation unit and is used for carrying out analog-to-digital conversion on the acquired three-phase current signals of the permanent magnet synchronous motor and transmitting the three-phase current signals to the identification processing calculation unit;
the identification processing calculation unit is connected with the driving wave generation unit and is used for sending instruction signals to the driving wave generation unit, receiving and calculating three-phase current signals transmitted by the current acquisition unit, and outputting identification results of the stator resistance and the alternating-direct axis inductance of the permanent magnet synchronous motor to the display device;
the driving wave generating unit is connected with the permanent magnet synchronous motor and used for providing driving voltage for the permanent magnet synchronous motor and converting the command signal sent by the identification processing calculation unit into a driving signal under a three-phase static coordinate system.
Preferably, the driving wave generating unit is connected with the permanent magnet synchronous motor through a voltage type inverter, and sends a driving signal obtained by converting the command signal under a three-phase stationary coordinate system to the voltage type inverter; the identification processing calculation unit sends a command to the driving wave-transmitting unit, wherein the command is a d/q axis voltage command; and simultaneously converting the three-phase current acquired by the received current acquisition unit into a d/q axis current component.
Preferably, the identification processing and calculating unit is connected with a display device, the display device is a display, and the identification processing and calculating unit is connected with the current acquisition unit and the driving wave generating unit through a CAN bus interface or a sci interface; the driving wave generating unit is a PWM driving module.
The invention has the advantages that:
1) The invention applies DC bias voltage on the straight axis and superimposes high frequency pulse wave (square wave) on the straight axis; the direct-current bias voltage is applied to the direct axis, and the high-frequency pulse wave is applied to the quadrature axis, namely the inductance of the quadrature axis and the direct axis can be directly obtained by directly measuring the peak value of the current under each high-frequency pulse of the square wave, the maximum value and the minimum value of the current amplitude are not required to be obtained through multiple times of current waveform calculation, the sampling method is simple, the data is easier to process, and the accuracy influence caused by the acquisition error of the maximum value and the minimum value of the current amplitude is avoided;
2) In the whole identification process, the direct-current bias voltage is continuously applied on the d axis to generate continuous attraction current, so that the sufficient 0-degree voltage and current are ensured, the motor rotor can be always stabilized at the 0-degree position (the position where the d axis coincides with the rotor flux linkage direction and corresponds to the 0 angle in the d/q coordinate system), the problem that the motor rotor is difficult to fix at the 0-degree position due to the influence of cogging torque is avoided, the measurement method is more stable and reliable, and the identified data is more accurate;
3) According to the invention, the current acquisition unit is synchronized with the driving wave, so that the acquired d/q axis current data can be directly subtracted according to the values of two adjacent times to obtain the absolute value of the difference, and the value is the fluctuation peak value delta I and is substituted into a formula to be calculated, thereby simplifying the calculation process;
4) In the identification process, the fundamental wave of the voltage excitation signal (high-frequency pulse wave) is a square wave, and compared with the high-frequency signal of which the fundamental wave is a sine wave, the voltage-type inverter topology commonly used at present is easier to realize.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet synchronous motor parameter self-identification device according to the present invention;
FIG. 2 is a schematic diagram of the relationship between the identification voltage and the current of the stator resistance of the permanent magnet synchronous motor;
FIG. 3 is a schematic diagram of the relationship between the voltage and current identified by the AC/DC axis inductance of the PMSM;
FIG. 4 is a schematic diagram of an identification process.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, a permanent magnet synchronous motor parameter self-identification device comprises a current acquisition unit, an identification processing calculation unit and a driving wave generation unit;
the current acquisition unit is connected with the permanent magnet synchronous motor and the identification processing calculation unit and is used for carrying out analog-to-digital conversion on the acquired three-phase current signals of the permanent magnet synchronous motor and transmitting the three-phase current signals to the identification processing calculation unit; collecting three-phase current signals of the permanent magnet synchronous motor through a current sensor, performing analog-to-digital conversion on the collected three-phase current signals of the permanent magnet synchronous motor, and transmitting the three-phase current signals to an identification processing and calculating unit;
the identification processing calculation unit is connected with the driving wave generation unit and is used for sending instruction signals to the driving wave generation unit, receiving and calculating three-phase current signals transmitted by the current acquisition unit, and outputting identification results of the stator resistance and the alternating-direct axis inductance of the permanent magnet synchronous motor to the display device; transmitting a command to a driving wave-transmitting unit as a d/q axis voltage command; and simultaneously converting the three-phase current acquired by the received current acquisition unit into a d/q axis current component. According to the logic program, an instruction is sent to the driving wave generating unit, and the driving wave generating unit is controlled to generate driving waveforms, so that the voltage type inverter is driven to output specific voltages, and the voltages act on three-phase windings of the permanent magnet synchronous motor to generate corresponding currents; and meanwhile, receiving acquisition data from the current acquisition unit, and carrying out identification calculation through the received data to obtain identification results of the stator resistance and the AC-DC axis inductance of the permanent magnet synchronous motor. The identification processing calculation unit sends an instruction d/q axis voltage instruction to the driving wave-generating unit according to the logic program, receives three-phase current acquisition data of the permanent magnet synchronous motor from the current acquisition unit, converts the three-phase current of the permanent magnet synchronous motor into a d/q axis current component, processes the d/q axis current component, completes identification calculation, and obtains an identification result.
The driving wave generating unit is connected with the permanent magnet synchronous motor and used for providing driving voltage for the permanent magnet synchronous motor and converting the command signal sent by the identification processing calculation unit into a driving signal under a three-phase static coordinate system. The driving wave generating unit is connected with the permanent magnet synchronous motor through a voltage type inverter and sends a driving signal obtained by converting the command signal under a three-phase static coordinate system to the voltage type inverter. And sending out a driving waveform according to the instruction sent out by the identification processing calculation unit, and sending out voltage to the permanent magnet synchronous motor through the voltage type inverter. The drive wave generating unit is used for transmitting an instruction signal under the d/q coordinate system according to the instruction of the identification processing and calculating unit, converting the instruction signal into a drive signal under the three-phase static coordinate system and controlling the voltage type inverter to output instruction voltage.
The current acquisition unit is a current sensor and an acquisition processing circuit thereof, and the acquisition processing circuit is composed of an analog sampling circuit, a control board and an analog-to-digital conversion circuit in a control chip.
The identification processing and calculating unit is connected with the display device, the display device is a display, and the identification processing and calculating unit is connected with the current acquisition unit and the driving wave generating unit through a CAN bus interface or a sci interface.
The driving wave generating unit is a PWM driving module. The current acquisition unit acquires current and drives the wave generation unit to generate driving waveforms, namely the current acquisition unit and the wave generation unit are driven to work simultaneously; the driving wave generating unit is a PWM driving module and adopts a PWM regular sampling mode for modulation.
Example two
Based on the permanent magnet synchronous motor parameter self-identification device, the method for carrying out parameter self-identification mainly comprises the following steps:
s1: and (3) identifying the resistance of the stator: stabilizing a motor rotor at a fixed position by applying a stabilizing voltage, respectively applying voltage to a d axis twice, and collecting corresponding current values under the voltage twice to obtain a stator resistor;
the applied stable voltage is that stable d-axis voltage is applied so as to generate d-axis current, and the d-axis current reaches the rated current value of the motor; the motor rotor is stabilized at a fixed position by applying a stabilizing voltage, the fixed position being a 0 degree position of the motor rotor. It can be understood that in the test method, by continuously applying enough 0-degree voltage and current, the motor rotor can be always ensured to be always stabilized at the 0-degree position, so that the situation that the actual rotor position of the motor rotor is deviated due to the influence of cogging torque or other disturbance is avoided, and the accuracy of parameter identification is improved.
The two voltage commands applied to the d-axis are ud_ref1 and ud_ref2, respectively, wherein the voltage value of ud_ref2 is half the voltage value of ud_ref1. By applying the voltage command to the d axis twice, different current values Id1 and Id2 corresponding to the voltage command twice are collected, and the value of the resistor Rs can be obtained according to the following formula.
The stator resistance Rs is calculated as:
wherein: id1 is a current value acquired under the d-axis voltage command Ud_ref1; id2 is the current value collected under the d-axis voltage command Ud_ref2.
Fig. 2 is a schematic diagram showing the relationship between the identification voltage and the current of the stator resistor of the permanent magnet synchronous motor. In the schematic diagram, the upper part is the voltage command waveform outputted by the identification processing calculation unit when the stator resistance is identified, and the Ud_ref1 and Ud_ref2 are different voltage commands sent in the identification process. The lower part is the three-phase current of the permanent magnet synchronous motor obtained by the current acquisition unit, and the d-axis current data waveform obtained by coordinate transformation is the current analysis data under different voltage instructions.
S2: identification of direct axis and quadrature axis inductance: and applying voltage on the d axis, respectively superposing high-frequency alternating voltage on the d axis and the q axis, collecting current signals of the permanent magnet synchronous motor, and converting the current signals to obtain current fluctuation peak values of the d axis and the q axis respectively, so as to obtain d axis inductance and q axis inductance.
Fig. 3 is a schematic diagram showing the relationship between voltage and current of the ac/dc axis inductor of the permanent magnet synchronous motor. In the process of identifying the AC-DC axis inductance of the permanent magnet synchronous motor, inductance parameters are identified mainly by the current response of alternating pulse voltage on the inductance. In an equivalent circuit of a permanent magnet synchronous motor, if the frequency of the applied pulse voltage is high enough, the inductance impedance is far greater than the resistance, so the high-frequency pulse voltage and the current response thereof can be approximated as an integral relation related to the inductance:
discretizing and converting the obtained product by using an Euler formula to obtain the product:
therefore, by applying high-frequency alternating pulse voltages to the d-axis and the q-axis of the permanent magnet synchronous motor respectively through the formula, d-axis and q-axis inductances can be identified respectively. In the identification process, the d axis is always consistent with the flux linkage direction of the rotor of the permanent magnet synchronous motor, and in the embodiment of the invention, a bias voltage is continuously output on the d axis voltage to generate continuous attraction current so as to ensure that the rotor of the permanent magnet synchronous motor is always positioned at a correct orientation position (O degree position).
And applying voltage on the d axis, and respectively superposing high-frequency alternating voltage on the d axis and the q axis, wherein the high-frequency alternating voltage is high-frequency pulse voltage (square wave), and the period of the high-frequency pulse voltage is 2 delta T, so that current fluctuation peak values of the d axis and the q axis are respectively obtained, namely, in the process of applying the high-frequency pulse voltage on the d axis, d-axis current fluctuation peak values obtained by collecting the time are obtained, and if the application of the high-frequency voltage is synchronous with the current sampling and maintaining, the peak values are considered to be absolute values of differences between two sampling values adjacent to the current, and d-axis inductance and q-axis inductance can be obtained by calculation. It can be understood that the direct current is applied to the direct axis and high-frequency pulse waves (square waves) are superimposed, and the direct axis inductance is measured; and applying direct current on the direct axis, overlapping high-frequency pulses on the quadrature axis, and measuring the quadrature axis inductance. The calculation formulas of the d-axis inductance Ld and the q-axis inductance Lq are respectively as follows:
wherein: deltat is half of the period of the high frequency pulse voltage; Δu is the peak value of the high frequency alternating voltage; delta Id is the d-axis current fluctuation peak value obtained by current signal conversion; Δiq is the q-axis current ripple peak-to-peak value obtained by converting the current signal.
Based on the d-axis voltage command ud_ref1, the high-frequency alternating voltage with the period of 2 delta T is superimposed to form + -delta U, in this embodiment, the high-frequency alternating voltage with the period of 2 delta T is superimposed, but the method is not limited to 2 delta T, and multiple of delta T can be selected according to actual conditions, and d-axis current fluctuation peak value delta Id obtained by converting the current signal of the permanent magnet synchronous motor is collected; and on the basis of a d-axis voltage command Ud_ref1, applying a high-frequency alternating voltage + -delta U with a period of 2 delta T, collecting a q-axis current fluctuation peak value delta Iq obtained by converting a current signal of the permanent magnet synchronous motor, and calculating corresponding direct-axis inductance and quadrature-axis inductance according to the formula.
FIG. 4 is a schematic diagram of the identification process. When identification starts, stable d-axis voltage is sent out first, enough d-axis current is generated, and the permanent magnet motor rotor is dragged to a fixed position. After the permanent magnet motor rotor is stabilized to a fixed position, recording a d-axis voltage command Ud_ref1, and collecting a current value Id1; and then, reducing the d-axis voltage command to Ud_ref2, collecting the current value Id2 again, and obtaining the stator resistance Rs of the permanent magnet motor according to a calculation formula of the stator resistance.
And then, on the basis of a d-axis voltage command Ud_ref1, superposing a high-frequency alternating voltage + -delta U with a period of 2 delta T on a d-axis, collecting a d-axis current fluctuation peak value delta Id obtained by converting a current signal of the permanent magnet synchronous motor, and calculating d-axis inductance Ld of the permanent magnet motor according to a formula.
Then, on the basis of a d-axis voltage command Ud_ref1, applying a high-frequency alternating voltage + -delta U with a period of 2 delta T on a q-axis, collecting a q-axis current fluctuation peak value delta Iq obtained by current signal conversion of the permanent magnet synchronous motor, and calculating the q-axis inductance Lq of the permanent magnet motor according to a formula.
Finally, the parameter identification process of the stator resistance and the alternating-current and direct-current inductances of the whole permanent magnet synchronous motor is completed.
The further technical scheme is that the current collection and the voltage application are performed in a synchronous mode, namely, the voltage output value is synchronously updated at the current sampling moment. The frequency of the collected current is 2 times of the frequency of the high-frequency alternating voltage, and the collected current is triggered at the moment of the high-frequency alternating voltage.
Through the mode, the permanent magnet synchronous motor parameter self-identification device and the permanent magnet synchronous motor parameter self-identification method are executed through a series of specific processes, drive wave generation to output set voltage, collect current waveforms at corresponding moments, identify stator resistance and AC-DC axis inductance parameters of the permanent magnet synchronous motor based on characteristic information of the current waveforms, and are independent of external instruments, and have the advantages of clear identification process, simplicity, convenience and easiness in algorithm and accurate identification data.
The above-described embodiments are preferred embodiments, and it should be noted that the above-described preferred embodiments should not be construed as limiting the invention, and the scope of the invention should be defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (9)
1. The parameter self-identification method of the permanent magnet synchronous motor is characterized by comprising the following steps of:
s1: and (3) identifying the resistance of the stator: stabilizing a motor rotor at a fixed position by applying a stabilizing voltage, respectively applying voltage to a d axis twice, and collecting corresponding current values under the voltage twice to obtain a stator resistor;
s2: identification of direct axis and quadrature axis inductance: continuously applying direct-current bias voltage on the d axis to ensure that the d axis is consistent with the rotor flux linkage direction of the permanent magnet synchronous motor all the time; and respectively superposing high-frequency alternating voltages on the d axis and the q axis, collecting current signals of the permanent magnet synchronous motor, and converting the current signals to obtain current fluctuation peak values of the d axis and the q axis respectively, so as to obtain d axis inductances and q axis inductances; the current collection and the voltage application are carried out in a synchronous mode, the frequency of the collected current is 2 times of the frequency of the high-frequency alternating voltage, and the current collection and the voltage application are triggered at the high-frequency voltage alternating moment.
2. The permanent magnet synchronous motor parameter self-identification method according to claim 1, wherein the method comprises the following steps: the stable voltage applied in the step S1 is that a stable d-axis voltage is applied to generate d-axis current, and the d-axis current reaches the rated current of the motor; the fixed position in step S1 is the 0 degree position of the motor rotor.
3. The permanent magnet synchronous motor parameter self-identification method according to claim 2, wherein: the two voltage commands applied to the d-axis are ud_ref1 and ud_ref2, respectively, wherein the voltage value of ud_ref2 is half the voltage value of ud_ref1.
4. The permanent magnet synchronous motor parameter self-identification method according to claim 3, wherein the method comprises the following steps: the stator resistance Rs is calculated as:
wherein: id1 is a current value acquired under the d-axis voltage command Ud_ref1; id2 is the current value collected under the d-axis voltage command Ud_ref2.
5. The permanent magnet synchronous motor parameter self-identification method according to claim 1, wherein the method comprises the following steps: the high-frequency alternating voltages superimposed on the d-axis and the q-axis in step S2 are high-frequency pulse voltages, respectively.
6. The permanent magnet synchronous motor parameter self-identification method according to claim 5, wherein the method comprises the following steps: the calculation formulas of the d-axis inductance Ld and the q-axis inductance Lq are respectively as follows:
wherein: deltat is half of the period of the high frequency pulse voltage; Δu is the peak value of the high frequency alternating voltage; delta Id is the d-axis current fluctuation peak value obtained by current signal conversion; Δiq is the q-axis current ripple peak-to-peak value obtained by converting the current signal.
7. A permanent magnet synchronous motor parameter self-identification device, which uses the permanent magnet synchronous motor parameter self-identification method according to any one of claims 1-6, and is characterized in that: the device comprises a current acquisition unit, an identification processing calculation unit and a driving wave generation unit;
the current acquisition unit is connected with the permanent magnet synchronous motor and the identification processing calculation unit and is used for carrying out analog-to-digital conversion on the acquired three-phase current signals of the permanent magnet synchronous motor and transmitting the three-phase current signals to the identification processing calculation unit;
the identification processing calculation unit is connected with the driving wave generation unit and is used for sending instruction signals to the driving wave generation unit, receiving and calculating three-phase current signals transmitted by the current acquisition unit, and outputting identification results of the stator resistance and the alternating-direct axis inductance of the permanent magnet synchronous motor to the display device;
the driving wave generating unit is connected with the permanent magnet synchronous motor and used for providing driving voltage for the permanent magnet synchronous motor and converting the command signal sent by the identification processing calculation unit into a driving signal under a three-phase static coordinate system.
8. The permanent magnet synchronous motor parameter self-identification device according to claim 7, wherein: the driving wave generating unit is connected with the permanent magnet synchronous motor through a voltage type inverter and is used for transmitting a driving signal obtained by converting the command signal under a three-phase static coordinate system to the voltage type inverter; the identification processing calculation unit sends a command to the driving wave-transmitting unit, wherein the command is a d/q axis voltage command; and simultaneously converting the three-phase current acquired by the received current acquisition unit into a d/q axis current component.
9. The permanent magnet synchronous motor parameter self-identification device according to claim 7, wherein: the identification processing and calculating unit is connected with the display device, the display device is a display, and the identification processing and calculating unit is connected with the current acquisition unit and the driving wave generating unit through a CAN bus interface or a sci interface; the driving wave generating unit is a PWM driving module.
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| CN114268260B (en) * | 2022-03-02 | 2022-07-19 | 浙江大学 | Motor parameter identification method and device |
| CN117849609A (en) | 2022-09-30 | 2024-04-09 | 台达电子工业股份有限公司 | Method for obtaining synchronous motor parameters |
| TWI814596B (en) * | 2022-09-30 | 2023-09-01 | 台達電子工業股份有限公司 | Method of obtaining parameter of synchronous motor |
| CN117650732B (en) * | 2024-01-29 | 2024-06-11 | 深圳麦格米特电气股份有限公司 | A method and device for detecting inductance of a permanent magnet synchronous motor |
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| CN103427751A (en) * | 2013-07-29 | 2013-12-04 | 李庆松 | Device and method for online identification of static parameters of permanent-magnet synchronous motor |
| CN109921616A (en) * | 2019-03-26 | 2019-06-21 | 北方工业大学 | A measurement and display circuit for the ratio of inductive energy storage to output energy of a Buck converter |
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