CN114337431B - Permanent magnet synchronous motor flux linkage identification method, system, medium and terminal - Google Patents
Permanent magnet synchronous motor flux linkage identification method, system, medium and terminal Download PDFInfo
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Abstract
The invention provides a permanent magnet synchronous motor flux linkage identification method, a permanent magnet synchronous motor flux linkage identification system, a permanent magnet synchronous motor flux linkage identification medium and a permanent magnet synchronous motor flux linkage identification terminal; the method comprises the following steps: inputting a direct-axis current instruction with zero corresponding current to the permanent magnet synchronous motor, giving the preset speed of the permanent magnet synchronous motor, and inputting the output of a speed ring of the permanent magnet synchronous motor to the permanent magnet synchronous motor as a quadrature-axis current instruction; when the actual speed of the permanent magnet synchronous motor reaches a preset speed, the speed ring is disconnected; adjusting the quadrature current corresponding to the quadrature current instruction of the permanent magnet synchronous motor to zero so as to acquire the direct-axis voltage, the quadrature voltage and the real-time electric angular velocity of the permanent magnet synchronous motor when the quadrature current of the permanent magnet synchronous motor is reduced to zero; calculating flux linkage of the permanent magnet synchronous motor; the invention reduces the dependence on other motor parameters and the accuracy of the observer in the flux linkage identification process, and improves the accuracy, reliability and accuracy of flux linkage identification.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motors, and particularly relates to a permanent magnet synchronous motor flux linkage identification method, a permanent magnet synchronous motor flux linkage identification system, a permanent magnet synchronous motor flux linkage identification medium and a permanent magnet synchronous motor terminal.
Background
The permanent magnet synchronous motor has the advantages of small volume, high efficiency, high power factor and the like, is widely applied to various electric transmission industries, vector control based on rotor flux orientation is generally adopted at present for exerting high performance of the permanent magnet synchronous motor, rotor position information is required to be known in vector control, current loop control is also required to be carried out, due to the limitation of cost and application environment, rotor position information is more and more obtained by using a position-sensor-free control method, the position-sensor-free control method has strong dependence on motor parameters (including resistance, inductance, flux linkage and the like), the accuracy of the motor parameters directly influences the accuracy of the positions, the motor efficiency and performance are reduced even the motor is out of control due to inaccurate motor parameters, but due to the difference of actual motor production, off-line measurement of the motor parameters after the quantity is large is a huge workload; and some special motors (compressor motor flux linkage cannot be directly measured) cannot directly acquire motor flux linkage parameters, so a method for automatically identifying flux linkage without human participation is urgently needed.
Currently, there are many research methods for identifying flux linkage parameters, and the existing flux linkage identification methods are mainly divided into two types: firstly, off-line identification, calculating flux linkage parameters by collecting steady-state voltage, current and rotating speed based on a motor steady-state voltage equation; and secondly, on-line identification, namely on-line identification of flux linkage parameters in real time in the running process of the motor based on a model reference self-adaptive Kalman filtering state observer and the like.
Both the above methods require the motor to be in a stable running state, and have the following problems: 1. the accurate position of the motor rotor must be known, and for some products, a position sensor cannot be installed, and thus the accurate rotor position cannot be obtained; 2. the method comprises the steps that a position-free control algorithm and a flux linkage estimation method depend on parameters such as resistance and inductance, and the inaccuracy of the parameters themselves leads to large deviation of the flux linkage parameters obtained through estimation; 3. the position estimated by the existing position-sensor-free control algorithm is inevitably in error and even cannot be operated, and the position error can cause large deviation of the flux linkage parameter estimated.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is directed to a method, a system, a medium and a terminal for identifying a flux linkage of a permanent magnet synchronous motor, which are used for solving the problem of large deviation existing in the existing flux linkage identification method of the permanent magnet synchronous motor.
To achieve the above and other related objects, the present invention provides a method for identifying flux linkage of a permanent magnet synchronous motor, comprising the following steps: step one, inputting a direct-axis current instruction to a permanent magnet synchronous motor, giving a preset speed of the permanent magnet synchronous motor, and inputting the output of a speed ring of the permanent magnet synchronous motor to the permanent magnet synchronous motor as a quadrature-axis current instruction; the direct-axis current corresponding to the direct-axis current instruction is zero; step two, disconnecting the speed ring when the actual speed of the permanent magnet synchronous motor reaches the preset speed; step three, obtaining the direct-axis voltage, the quadrature-axis voltage and the real-time electric angular velocity of the permanent magnet synchronous motor when the quadrature-axis current of the permanent magnet synchronous motor is reduced to zero; and step four, calculating the flux linkage of the permanent magnet synchronous motor based on the real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
In an embodiment of the present invention, in the step one, the step of giving the permanent magnet synchronous motor a predetermined speed includes the steps of: and in a first preset time period, setting the speed of the permanent magnet synchronous motor according to a superposition rule until the speed of the permanent magnet synchronous motor reaches the preset speed.
In an embodiment of the invention, before the second step, the method further includes the following steps: acquiring the actual speed of the permanent magnet synchronous motor; judging whether a preset condition is met between the actual speed and the preset speed; if yes, the actual speed of the permanent magnet synchronous motor reaches the preset speed; if the preset speed is not met, the actual speed of the permanent magnet synchronous motor does not reach the preset speed, and the waiting is continued until the preset condition is met.
In an embodiment of the invention, the second step includes the following steps: when the actual speed of the permanent magnet synchronous motor reaches the preset speed, after a second preset time period, disconnecting the speed ring; and/or in the third step, the step of obtaining the direct axis voltage, the quadrature axis voltage and the real-time electric angular velocity of the permanent magnet synchronous motor comprises the following steps: and acquiring the direct-axis voltage, the quadrature-axis voltage and the real-time electric angular velocity in a third preset time period.
In an embodiment of the invention, the method further comprises the steps of: and after the speed ring is disconnected, adjusting the quadrature current corresponding to the quadrature current instruction to zero, and continuing for a fourth preset time period to reduce the quadrature current of the permanent magnet synchronous motor to zero.
In an embodiment of the present invention, in the fourth step, a calculation formula for calculating the flux linkage is:
wherein u' d Representing the direct axis voltage; u's' q Representing the quadrature axis voltage; omega fdb Representing the real-time electrical angular velocity; psi phi type est Representing the flux linkage.
In an embodiment of the invention, the method further comprises the steps of: repeating the first step to the fourth step, and calculating a plurality of groups of flux linkages; calculating the average value of the multiple groups of flux linkages; the average value is used as the flux linkage of the permanent magnet synchronous motor.
The invention provides a permanent magnet synchronous motor flux linkage identification system, which comprises: the device comprises an input module, a disconnection module, an acquisition module and a calculation module; the input module is used for inputting a direct-axis current instruction to the permanent magnet synchronous motor, giving a preset speed to the permanent magnet synchronous motor, and inputting the output of the speed ring of the permanent magnet synchronous motor to the permanent magnet synchronous motor as a quadrature-axis current instruction; the direct-axis current corresponding to the direct-axis current instruction is zero; the disconnecting module is used for disconnecting the speed ring when the actual speed of the permanent magnet synchronous motor reaches the preset speed; the acquisition module is used for acquiring the direct-axis voltage, the quadrature-axis voltage and the real-time electric angular velocity of the permanent magnet synchronous motor when the quadrature-axis current of the permanent magnet synchronous motor is reduced to zero; the calculation module is used for calculating the flux linkage of the permanent magnet synchronous motor based on the real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described permanent magnet synchronous motor flux linkage identification method.
The invention provides a terminal, comprising: a processor and a memory; the memory is used for storing a computer program; the processor is used for executing the computer program stored in the memory so that the terminal executes the permanent magnet synchronous motor flux linkage identification method.
As described above, the permanent magnet synchronous motor flux linkage identification method, system, medium and terminal of the invention have the following beneficial effects:
compared with the prior art, the permanent magnet synchronous motor flux linkage identification method reduces the dependence on other motor parameters and the accuracy of an observer in the flux linkage identification process, and improves the accuracy, reliability and accuracy of flux linkage identification; the invention can improve the flux linkage precision, further improve the position precision of the observer, reduce the current, improve the energy efficiency of the system and realize energy conservation and emission reduction.
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Fig. 1 is a schematic structural diagram of a terminal according to an embodiment of the invention.
Fig. 2 is a flowchart of a flux linkage identification method for a permanent magnet synchronous motor according to an embodiment of the invention.
Fig. 3 is a schematic block diagram of a permanent magnet synchronous motor flux linkage identification method according to the present invention before identification.
Fig. 4 is a schematic block diagram of a permanent magnet synchronous motor flux linkage identification method in the identification process according to the present invention.
Fig. 5 is a schematic diagram of a flux linkage identification system of a permanent magnet synchronous motor according to an embodiment of the invention.
Description of the reference numerals
1. Terminal
11. Processing unit
12. Memory device
121. Random access memory
122. Cache memory
123. Storage system
124. Program/utility tool
1241. Program module
13. Bus line
14. Input/output interface
15. Network adapter
2. External device
3. Display device
51. Input module
52. Disconnect module
53. Acquisition module
54. Calculation module
S1 to S6 steps
Detailed Description
The following specific examples are presented to illustrate the present invention, and those skilled in the art will readily appreciate the additional advantages and capabilities of the present invention as disclosed herein. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Compared with the prior art, the permanent magnet synchronous motor flux linkage identification method, the system, the medium and the terminal provided by the invention have the advantages that the dependence on other motor parameters and the observer precision in the flux linkage identification process is reduced, and the accuracy, reliability and precision of flux linkage identification are improved; the invention can improve the flux linkage precision, further improve the position precision of the observer, reduce the current, improve the energy efficiency of the system and realize energy conservation and emission reduction.
The storage medium of the present invention stores a computer program which, when executed by a processor, implements the permanent magnet synchronous motor flux linkage identification method described below. The storage medium includes: read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disks, U-discs, memory cards, or optical discs, and the like, which can store program codes.
Any combination of one or more storage media may be employed. The storage medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The present invention is described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks (article of manufacture).
The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
The terminal of the invention comprises a processor and a memory.
The memory is used for storing a computer program; preferably, the memory includes: various media capable of storing program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor is connected with the memory and is used for executing the computer program stored in the memory so that the terminal executes the permanent magnet synchronous motor flux linkage identification method.
Preferably, the processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field programmable gate arrays (Field Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Fig. 1 shows a block diagram of an exemplary terminal 1 suitable for use in implementing embodiments of the present invention.
The terminal 1 shown in fig. 1 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.
As shown in fig. 1, the terminal 1 is in the form of a general purpose computing device. The components of the terminal 1 may include, but are not limited to: one or more processors or processing units 11, a memory 12, a bus 13 that connects the various system components, including the memory 12 and the processing unit 11.
The terminal 1 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by the terminal 1 and includes both volatile and nonvolatile media, removable and non-removable media.
Program/utility 124 having a set (at least one) of program modules 1241 may be stored in, for example, memory 12, such program modules 1241 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 1241 generally perform the functions and/or methodologies in the described embodiments of the invention.
The terminal 1 may also communicate with one or more external devices 2 (e.g., keyboard, pointing device, display 3, etc.), one or more devices that enable a user to interact with the terminal 1, and/or any devices (e.g., network card, modem, etc.) that enable the terminal 1 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 14. And, the terminal 1 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the internet, via the network adapter 15. As shown in fig. 1, the network adapter 15 communicates with other modules of the terminal 1 via the bus 13. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in connection with the terminal 1, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
As shown in fig. 2, in an embodiment, the permanent magnet synchronous motor flux linkage identification method of the present invention includes the following steps:
s1, inputting a direct-axis current instruction to a permanent magnet synchronous motor, giving a preset speed to the permanent magnet synchronous motor, and inputting the output of a speed ring of the permanent magnet synchronous motor to the permanent magnet synchronous motor as a quadrature-axis current instruction.
Specifically, a double closed loop operation (speed loop + current loop) control, which is conventional sensorless vector control, is performed first.
The direct-axis current corresponding to the direct-axis current command is zero.
The following is used for inputting a direct-axis current command i to the permanent magnet synchronous motor dref And giving a preset speed n to the permanent magnet synchronous motor ref And the output of the speed ring of the permanent magnet synchronous motor is taken as a quadrature axis current command to be input into the permanent magnet synchronous motor as an example, so as to explain the permanent magnet synchronous motor flux linkage identification method.
As shown in fig. 3, the permanent magnet synchronous motor flux linkage identification method of the inventionA schematic block diagram before identification; in FIG. 3, i dref And i qref Respectively inputting a direct axis and quadrature axis current command (the quadrature axis of the permanent magnet synchronous motor leads the direct axis by 90 degrees) to the permanent magnet synchronous motor; u (u) A 、u B 、u C The three-phase voltage is the three-phase voltage of the permanent magnet synchronous motor; omega fdb 、n fdb Respectively representing the actual electric angular speed and the actual speed of the permanent magnet synchronous motor, wherein the actual electric angular speed and the actual speed are the output of a position observer and a speed observer; θ est The angle used for vector control is also the output of the position and velocity observer.
It should be noted that, the "coordinate transformation 1" in fig. 3 refers to transforming from a two-phase rotating coordinate system to a two-phase stationary coordinate system; "coordinate transformation 2" in fig. 3 refers to transformation from a three-phase stationary coordinate system to a two-phase stationary coordinate system; "coordinate transformation 3" in fig. 3 refers to transformation from a two-phase stationary coordinate system to a two-phase rotating coordinate system; the processes of the "coordinate transformation 1", "coordinate transformation 2", "coordinate transformation 3", and the "current loop", "speed loop" and the "SVPWM" (voltage space vector pulse width modulation) from the "coordinate transformation 1" to the "permanent magnet synchronous motor" in fig. 3 are all conventional technical means in the field, and therefore are not described in detail herein.
As shown in fig. 3, a direct-axis current of zero, i.e. i, is input to the direct axis of the permanent magnet synchronous motor dref The output of the speed loop in fig. 3 is inputted to the permanent magnet synchronous motor as a quadrature current command, and the quadrature current corresponding to the quadrature current command is i qref 。
It should be noted that, the function of this step S1 is to rotate the permanent magnet synchronous motor first.
Further, the preset speed n of the given permanent magnet synchronous motor ref Is a preset speed which does not exceed the rated electrical angular speed of the permanent magnet synchronous motor and cannot be too low.
In one embodiment, the preset speed is set to 20% -60% of the rated electrical angular speed of the permanent magnet synchronous motor.
In an embodiment, in the step S1, the step of giving the permanent magnet synchronous motor a predetermined speed includes the steps of: and in a first preset time period, setting the speed of the permanent magnet synchronous motor according to a superposition rule until the speed of the permanent magnet synchronous motor reaches the preset speed.
It should be noted that, in the first preset period of time, the speed of the permanent magnet synchronous motor is given, and the speed is slowly increased from zero, and finally reaches the preset speed n ref 。
Specifically, given a preset speed of the permanent magnet synchronous motor, a corresponding speed command is first generated by the speed command generating module in fig. 3, and then the speed command is applied to the permanent magnet synchronous motor, so that the speed of the permanent magnet synchronous motor is increased from zero.
It should be noted that the above-mentioned superposition rule is not limited to linear superposition.
And S2, disconnecting the speed ring when the actual speed of the permanent magnet synchronous motor reaches the preset speed.
In one embodiment, the step S2 includes the following steps: and when the actual speed of the permanent magnet synchronous motor reaches the preset speed, disconnecting the speed ring after the second preset time period is continued.
Specifically, after the actual speed of the permanent magnet synchronous motor reaches the preset speed and stabilizes (for a second preset period of time to stabilize the permanent magnet synchronous motor), zero-current closed-loop control is performed, as shown in fig. 4.
FIG. 4 is a schematic block diagram of a permanent magnet synchronous motor flux linkage identification method according to the present invention in the identification process; in FIG. 4, the flux linkage identification part is shown in the dashed line frame, the speed loop is disconnected, and the quadrature current i is adopted qref Control =0.
In an embodiment, after the speed loop is disconnected, the quadrature current corresponding to the quadrature current command is adjusted to zero, for a fourth preset period of time, so that the quadrature current of the permanent magnet synchronous motor is reduced to zero.
After the quadrature current corresponding to the quadrature current command is adjusted to zero, the quadrature current of the permanent magnet synchronous motor does not immediately change to zero, and a transient process (the time cannot be too long) is required.
After the quadrature current of the permanent magnet synchronous motor is reduced to zero, the direct current is zero, so that the phase current of the permanent magnet synchronous motor is zero.
It should be noted that, the method adopted to adjust the quadrature current corresponding to the quadrature current command of the permanent magnet synchronous motor to zero is not a condition for limiting the present invention, and therefore will not be described in detail herein.
In one embodiment, before the step S2, the method further includes the steps of:
and (11) obtaining the actual speed of the permanent magnet synchronous motor.
As shown in fig. 3, the actual speed corresponding to the permanent magnet synchronous motor is output by a position and speed observer based on the voltage and current of the permanent magnet synchronous motor.
It should be noted that, the position and speed observer is a conventional position-sensor-free control algorithm, and uses signals such as voltage and current of the permanent magnet synchronous motor to estimate a speed signal; the position and speed observer corresponds to the actual speed n of the permanent magnet synchronous motor based on the voltage and current output of the permanent magnet synchronous motor fdb The technical means conventional in the field, which method is specifically adopted, and the working principle of the adopted method are not used as conditions for limiting the invention, so the detailed description is omitted.
It should be noted that, the voltage of the permanent magnet synchronous motor includes a first voltage and a second voltage; wherein the first voltage may be the direct axis voltage u in fig. 3 d The corresponding second voltage is the quadrature axis voltage u in FIG. 3 q The method comprises the steps of carrying out a first treatment on the surface of the The first voltage may also be θ -based in FIG. 3 est For u d Voltage u generated by performing coordinate transformation (the coordinate transformation corresponds to coordinate transformation 1 in fig. 3) α The corresponding second voltage is based on θ in FIG. 3 est For u q Voltage u generated by performing coordinate transformation (the coordinate transformation corresponds to coordinate transformation 1 in fig. 3) β The method comprises the steps of carrying out a first treatment on the surface of the The current of the permanent magnet synchronous motor comprises a first feedback current and a second feedback currentA stream; wherein the first feedback current may be i in fig. 3 α_fdb The corresponding second feedback current is i in FIG. 3 β_fdb The method comprises the steps of carrying out a first treatment on the surface of the The first feedback current may also be the direct-axis feedback current i in fig. 3 d_fdb The corresponding second feedback current is the quadrature feedback current i in FIG. 3 q_fdb 。
Further, i α_fdb 、i β_fdb Is to the three-phase current i of the collected permanent magnet synchronous motor A 、i B 、i C A coordinate transformation (the coordinate transformation corresponds to the coordinate transformation 2 in fig. 3); i.e d_fdb 、i q_fdb Is based on theta est Pair i α_fdb 、i β_fdb A coordinate transformation (the coordinate transformation corresponds to the coordinate transformation 3 in fig. 3); therefore, to acquire i α_fdb 、i β_fdb 、i d_fdb 、i q_fdb The three-phase current i of the permanent magnet synchronous motor also needs to be sampled A 、i B 、i C 。
The three-phase current i of the permanent magnet synchronous motor is collected A 、i B 、i C The method is not limited to the specific method, and is not described in detail herein.
In one embodiment, the actual speed in step (11) is an average value of the actual speeds of the permanent magnet synchronous motor over a certain period of time.
And (12) judging whether a preset condition is met between the actual speed and the preset speed.
In one embodiment, the predetermined condition is expressed as formula (1).
|n ref -n fdb |＜ξ (1)
Where ζ represents a preset speed error threshold.
In one embodiment, the actual speed n in equation (1) fdb An average value over a period of time is used.
If the speed is satisfied, the actual speed of the permanent magnet synchronous motor reaches the preset speed; if the preset speed is not met, the actual speed of the permanent magnet synchronous motor does not reach the preset speed, and the waiting is continued until the preset condition is met.
And step S3, obtaining the direct-axis voltage, the quadrature-axis voltage and the real-time electric angular velocity of the permanent magnet synchronous motor when the quadrature-axis current of the permanent magnet synchronous motor is reduced to zero.
In an embodiment, after the quadrature current of the permanent magnet synchronous motor is reduced to zero and the permanent magnet synchronous motor is stabilized for a certain time, the direct-axis voltage, the quadrature voltage and the real-time electrical angular velocity of the permanent magnet synchronous motor are obtained.
In an embodiment, in the step S3, the obtaining the direct axis voltage, the quadrature axis voltage and the real-time electrical angular velocity of the permanent magnet synchronous motor includes the following steps: and acquiring the direct-axis voltage, the quadrature-axis voltage and the real-time electric angular velocity in a third preset time period.
The method is characterized in that a position and speed observer is adopted to obtain the real-time electric angular speed of the permanent magnet synchronous motor, the position and speed observer is a conventional position-sensor-free control algorithm, and signals such as voltage and current of the permanent magnet synchronous motor are used for estimating motor position and electric angular speed signals; the position and speed observer outputs a motor position θ corresponding to the permanent magnet synchronous motor based on a voltage and a current of the permanent magnet synchronous motor est (providing an angle matrix for coordinate transform 1 and coordinate transform 3 in FIG. 3) and real-time electrical angular velocity ω fdb The technical means conventional in the field, which method is specifically adopted, and the working principle of the adopted method are not used as conditions for limiting the invention, so the detailed description is omitted.
In one embodiment, the direct axis voltage in step S3 is u in FIG. 4 d The method comprises the steps of carrying out a first treatment on the surface of the The quadrature axis voltage is u in FIG. 4 q 。
And S4, calculating the flux linkage of the permanent magnet synchronous motor based on the real-time electric angular speed, the direct axis voltage and the quadrature axis voltage.
In one embodiment, the real-time electrical angular velocity, the direct axis voltage and the quadrature axis voltage in step S4 are all average values over a certain period of time.
The principle of the flux linkage identification calculation in step S4 is explained in detail below.
The flux linkage identification is shown in the following formula (2) according to the motor direct axis and quadrature axis voltage equations.
Wherein R is s U is the stator phase resistance of the permanent magnet synchronous motor d And u q The voltages of the direct axis and the quadrature axis, i d And i q Direct and quadrature currents, L d And L q Respectively, direct axis inductance and quadrature axis inductance, ω is the motor electrical angular velocity, ψ f Is a permanent magnet flux linkage.
After the zero-current control is performed, the permanent magnet synchronous motor does not contain current, so the above formula (2) can be expressed as the following formula (3), and the inverter output voltage can be all used for counteracting the counter potential component.
As can be obtained by the formula (3),
it should be noted that, the position estimated by the sensorless control algorithm inevitably has an error, and the direct use of the above formula (4) to estimate the flux linkage will bring a large error, ψ' est Representing the estimated flux linkage.
The above formula (2) is actually formula (5).
Wherein u' d And u' q Estimated position θ for position and velocity observer est The direct axis and quadrature axis voltages under the coordinate system; θ Err Is the position theta est The difference from the actual position θ is shown in equation (6).
θ Err ＝θ-θ est (6)
The flux linkage identification formula is shown as formula (7).
Wherein u' d Represents the direct axis voltage (corresponding to u in fig. 4 d )；u' q Representing the quadrature axis voltage (corresponding to u in FIG. 4 q )；ω fdb Representing the real-time electrical angular velocity (corresponding to ω output by the position and velocity observer in fig. 4) fdb )；ψ est Representing the flux linkage.
In an embodiment, the method for identifying the flux linkage of the permanent magnet synchronous motor further includes the following steps:
and S5, repeating the step S1 to the step S4, and calculating a plurality of groups of flux linkages.
It should be noted that, this step S5 is performed several times, i.e. several sets of flux linkages are calculated, and not as a limitation to the present invention, in practical application, several sets of flux linkages may be calculated according to the specific situation.
And S6, calculating the average value of the multiple groups of flux linkages.
The average value calculated in step S6 is used as the final flux linkage of the permanent magnet synchronous motor.
And through the step S5 and the step S6, the flux linkage of the permanent magnet synchronous motor is calculated in a multi-group average mode, and the flux linkage identification precision is improved.
Furthermore, the permanent magnet synchronous motor flux linkage identification method of the invention not only can be suitable for flux linkage identification without a position sensor, but also can be suitable for flux linkage identification with a position sensor; specifically, when a position sensor is provided, the flux linkage is calculated directly by using the formula (4).
It should be noted that, the protection scope of the permanent magnet synchronous motor flux linkage identification method of the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the schemes implemented by increasing or decreasing the steps and replacing the steps according to the prior art by using the principles of the present invention are included in the protection scope of the present invention.
As shown in fig. 5, in an embodiment, the flux linkage identification system of the permanent magnet synchronous motor of the present invention includes an input module 51, a disconnection module 52, an acquisition module 53 and a calculation module 54.
The input module 51 is configured to input a direct current command to a permanent magnet synchronous motor, set a preset speed of the permanent magnet synchronous motor, and input an output of a speed loop of the permanent magnet synchronous motor as a quadrature current command to the permanent magnet synchronous motor; and the direct-axis current corresponding to the direct-axis current instruction is zero.
The disconnection module 52 is configured to disconnect the speed loop when the actual speed of the permanent magnet synchronous motor reaches the preset speed.
The obtaining module 53 is configured to obtain the direct-axis voltage, the quadrature-axis voltage, and the real-time electrical angular velocity of the permanent-magnet synchronous motor when the quadrature-axis current of the permanent-magnet synchronous motor decreases to zero.
The calculation module 54 is configured to calculate a flux linkage of the permanent magnet synchronous motor based on the real-time electrical angular velocity, the direct axis voltage, and the quadrature axis voltage.
It should be noted that, the working principles of the input module 51, the disconnection module 52, the acquisition module 53, and the calculation module 54 are the same as the working principles of the permanent magnet synchronous motor flux linkage identification method described above, so that the description thereof is omitted here.
It should be noted that, it should be understood that the division of the modules of the above system is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the x module may be a processing element that is set up separately, may be implemented in a chip of the system, or may be stored in a memory of the system in the form of program code, and the function of the x module may be called and executed by a processing element of the system. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more digital signal processors (Digital Signal Processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a System-On-a-Chip (SOC).
It should be noted that, the permanent magnet synchronous motor flux linkage identification system of the present invention can implement the permanent magnet synchronous motor flux linkage identification method of the present invention, but the implementation device of the permanent magnet synchronous motor flux linkage identification method of the present invention includes, but is not limited to, the structure of the permanent magnet synchronous motor flux linkage identification system listed in this embodiment, and all structural modifications and substitutions made according to the principles of the present invention in the prior art are included in the protection scope of the present invention.
In summary, compared with the prior art, the permanent magnet synchronous motor flux linkage identification method, the system, the medium and the terminal provided by the invention have the advantages that the dependence on other motor parameters and the observer precision in the flux linkage identification process is reduced, and the accuracy, reliability and precision of flux linkage identification are improved; the invention can improve the flux linkage precision, further improve the position precision of the observer, reduce the current, improve the energy efficiency of the system and realize energy conservation and emission reduction; therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (9)
1. The permanent magnet synchronous motor flux linkage identification method is characterized by comprising the following steps of:
step one, inputting a direct-axis current instruction to a permanent magnet synchronous motor, giving a preset speed of the permanent magnet synchronous motor, and inputting the output of a speed ring of the permanent magnet synchronous motor to the permanent magnet synchronous motor as a quadrature-axis current instruction; the direct-axis current corresponding to the direct-axis current instruction is zero;
step two, disconnecting the speed ring when the actual speed of the permanent magnet synchronous motor reaches the preset speed; the preset speed is 20% -60% of the rated electric angular speed of the permanent magnet synchronous motor;
step three, when the quadrature axis current of the permanent magnet synchronous motor is reduced to zero, executing zero current closed loop control, and obtaining the direct axis voltage, the quadrature axis voltage and the real-time electric angular velocity of the permanent magnet synchronous motor; estimating a motor position corresponding to the permanent magnet synchronous motor based on the direct-axis voltage command and the quadrature-axis voltage command when the zero-current closed-loop control is executed; the method for acquiring the real-time electric angular velocity of the permanent magnet synchronous motor comprises the following steps of: acquiring the real-time electric angular velocity in a third preset time period;
step four, calculating the flux linkage of the permanent magnet synchronous motor based on the real-time electric angular speed, the direct axis voltage and the quadrature axis voltage; the real-time electric angular velocity is an average value of the real-time electric angular velocity in the third preset time period; in the fourth step, a calculation formula for calculating the flux linkage is as follows:
wherein u' d Representing the direct axis voltage; u's' q Representing the quadrature axis voltage; omega fdb Representing the real-time electrical angular velocity; psi phi type est Representing the flux linkage.
2. The method of claim 1, wherein in the first step, the step of setting a predetermined speed for the permanent magnet synchronous motor comprises the steps of: and in a first preset time period, setting the speed of the permanent magnet synchronous motor according to a superposition rule until the speed of the permanent magnet synchronous motor reaches the preset speed.
3. The method of claim 1, further comprising, prior to the second step, the steps of:
acquiring the actual speed of the permanent magnet synchronous motor;
judging whether a preset condition is met between the actual speed and the preset speed;
if yes, the actual speed of the permanent magnet synchronous motor reaches the preset speed; if the preset speed is not met, the actual speed of the permanent magnet synchronous motor does not reach the preset speed, and the waiting is continued until the preset condition is met.
4. The method for identifying the flux linkage of the permanent magnet synchronous motor according to claim 1, wherein the second step comprises the following steps: when the actual speed of the permanent magnet synchronous motor reaches the preset speed, after a second preset time period, disconnecting the speed ring; and/or
In the third step, the step of obtaining the direct axis voltage and the quadrature axis voltage of the permanent magnet synchronous motor comprises the following steps: and acquiring the direct-axis voltage and the quadrature-axis voltage in a third preset time period.
5. The method of claim 1, further comprising the steps of: and after the speed ring is disconnected, adjusting the quadrature current corresponding to the quadrature current instruction to zero, and continuing for a fourth preset time period to reduce the quadrature current of the permanent magnet synchronous motor to zero.
6. The method of claim 1, further comprising the steps of:
repeating the first step to the fourth step, and calculating a plurality of groups of flux linkages;
calculating the average value of the multiple groups of flux linkages; the average value is used as the flux linkage of the permanent magnet synchronous motor.
7. A permanent magnet synchronous motor flux linkage identification system, comprising: the device comprises an input module, a disconnection module, an acquisition module and a calculation module;
the input module is used for inputting a direct-axis current instruction to the permanent magnet synchronous motor, giving a preset speed to the permanent magnet synchronous motor, and inputting the output of the speed ring of the permanent magnet synchronous motor to the permanent magnet synchronous motor as a quadrature-axis current instruction; the direct-axis current corresponding to the direct-axis current instruction is zero;
the disconnecting module is used for disconnecting the speed ring when the actual speed of the permanent magnet synchronous motor reaches the preset speed; the preset speed is 20% -60% of the rated electric angular speed of the permanent magnet synchronous motor;
the acquisition module is used for executing zero-current closed-loop control when the quadrature axis current of the permanent magnet synchronous motor is reduced to zero, and acquiring the direct axis voltage, the quadrature axis voltage and the real-time electric angular velocity of the permanent magnet synchronous motor; estimating a motor position corresponding to the permanent magnet synchronous motor based on the direct-axis voltage command and the quadrature-axis voltage command when the zero-current closed-loop control is executed; the method for acquiring the real-time electric angular velocity of the permanent magnet synchronous motor comprises the following steps of: acquiring the real-time electric angular velocity in a third preset time period;
the calculation module is used for calculating the flux linkage of the permanent magnet synchronous motor based on the real-time electric angular speed, the direct axis voltage and the quadrature axis voltage; the real-time electric angular velocity is an average value of the real-time electric angular velocity in the third preset time period; the calculation formula for calculating the flux linkage is as follows:
wherein u' d Representing the direct axis voltage; u's' q Representing the quadrature axis voltage; omega fdb Representing the real-time electrical angular velocity; psi phi type est Representing the flux linkage.
8. A storage medium having stored thereon a computer program, which when executed by a processor implements the permanent magnet synchronous motor flux linkage identification method of any one of claims 1 to 6.
9. A terminal, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory, so that the terminal executes the permanent magnet synchronous motor flux linkage identification method according to any one of claims 1 to 6.
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| WO2017024596A1 (en) * | 2015-08-07 | 2017-02-16 | 东北大学 | Intelligent cooperative control system and method for multi-unit permanent magnet synchronous motor |
| CN113691182A (en) * | 2021-08-26 | 2021-11-23 | 上海儒竞智控技术有限公司 | Resistance identification method, system, medium and terminal of permanent magnet synchronous motor |
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| CN108599653B (en) * | 2015-12-02 | 2020-06-19 | 广州开元电子科技有限公司 | Identification method for permanent magnet flux linkage of permanent magnet synchronous motor |
| CN111181459B (en) * | 2018-11-09 | 2021-11-23 | 广东美的白色家电技术创新中心有限公司 | Identification method and device for permanent magnet flux linkage of motor and electrical equipment |
| CN110112975B (en) * | 2019-05-14 | 2022-04-29 | 安徽首智新能源科技有限公司 | Motor parameter online identification method and system |
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| WO2017024596A1 (en) * | 2015-08-07 | 2017-02-16 | 东北大学 | Intelligent cooperative control system and method for multi-unit permanent magnet synchronous motor |
| CN113691182A (en) * | 2021-08-26 | 2021-11-23 | 上海儒竞智控技术有限公司 | Resistance identification method, system, medium and terminal of permanent magnet synchronous motor |
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