CN103338002A - Method for identifying permanent magnet flux and quadrature axis inductance of permanent magnet synchronous motor - Google Patents

Method for identifying permanent magnet flux and quadrature axis inductance of permanent magnet synchronous motor Download PDF

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CN103338002A
CN103338002A CN2013102575691A CN201310257569A CN103338002A CN 103338002 A CN103338002 A CN 103338002A CN 2013102575691 A CN2013102575691 A CN 2013102575691A CN 201310257569 A CN201310257569 A CN 201310257569A CN 103338002 A CN103338002 A CN 103338002A
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permanent
motor
current
permanent magnet
magnetic flux
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朱元
吴志红
陆科
徐雅楠
孙义涵
俞冬冬
刘甜溪
王小静
罗梦
鲍骢鸣
周东东
洪晓君
黄思源
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Tongji University
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Tongji University
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Abstract

The invention discloses a method for identifying permanent magnet flux and quadrature axis inductance of a permanent magnet synchronous motor. The method comprises the steps as follows: designing a filter based on an identification algorithm and calculating identification parameters. The accuracy of the permanent magnet flux and quadrature axis inductance parameters directly influences the control performance of a vector control system of the permanent magnet synchronous motor. But the existence of a saturation effect and the like enables the motor parameters to be non-linearly changed. Therefore, a change curve of the motor parameters is necessarily measured or identified on line. The invention discloses the simple and easy method for identifying the permanent magnet flux and the quadrature axis inductance, and the control performance of the system is improved on the basadopts not increasing the system cost.

Description

The discrimination method of a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic flux and friendship axle inductance
Technical field
The present invention relates to the permagnetic synchronous motor parameter identification method, the identification that is specifically related to the permanent magnet magnetic flux and hands over the axle inductance parameters.
Background technology
Permagnetic synchronous motor is simple in structure with it, volume is little, quality is light, moment of inertia is little, power density is high, be very suitable for limited application scenario, space, its efficient height, power factor height, moment of inertia compare greatly in addition, overload capacity is strong, especially low speed time output torque is big, has therefore obtained to use widely.Vector control system can in full speed range, realize current of electric good response, control efficiency height, adjuster design than be easier to realize, the adjustable range of speed is wide, have good band carries startability.Therefore, the vector control scheme is the preferred option of control system for permanent-magnet synchronous motor.
Inevitably to use the motor body parameter during permanent magnet synchronous motor vector control system design.Wherein, the control parameter of electric current loop usually with d-axis, hand over an inductance L d, L qRelevant; Electric current loop adopts feedback or feedforward decoupling zero control usually, decoupling zero voltage item not only with d-axis, hand over an axle inductance L d, L qRelevant, and with permanent magnet magnetic flux ψ fRelevant; Common and the permanent magnet magnetic flux ψ of the control parameter of speed ring fRelevant.Therefore, the accuracy of motor body parameter measurement directly affects the control performance of system.
But the existence of saturation effect etc. makes motor body parameter generation nonlinear change, so it cannot be used as a fixed value in the practical application.The degree of saturation of magnetic circuit is subjected to the influence of dq shaft current, saturation effect and then cause magnetic linkage and the nonlinear change of inductance.Because the d axle is positioned at the axial location of permanent magnet, and the magnetic permeability of permanent magnet is close to air permeability, so the effective air gap of q axle is littler than d axle effective air gap, so the saturation effect that armature reaction causes mainly is present in the q axle.Therefore, be necessary the permanent magnet magnetic flux ψ bigger to excursion fWith a friendship axle inductance L qCarry out identification.
In the patent CN102386835A that announces Patent Office of the People's Republic of China in March, 2012, people such as Chen Zhenfeng are fully based on dq shaft voltage equation,
Figure BDA00003406118200011
Ignore the influence of stator resistance under the control model, pass through u q≈ ω eψ fTry to achieve permanent magnet magnetic flux ψ f, and further pick out a friendship axle inductance L with d shaft voltage equation qBut the existence of stator resistance and current fluctuation meeting cause evaluated error, reduce identification precision.
In the patent CN102201779A that announces Patent Office of the People's Republic of China in September, 2011, people such as Liao Yong have proposed the relational expression of voltage and magnetic linkage under the dq coordinate system, and then obtain magnetic linkage component ψ under the dq axle by direct Calculation Method d, ψ qFurther do not provide the discrimination method of motor body parameter in this patent, and its magnetic linkage still directly calculates by voltage-magnetic linkage equation, the identification error that division arithmetic in the computational process can cause rotating speed and electric current is amplified, and has reduced the identification precision of magnetic linkage.Should introduce the fluctuation that suitable integration or filtering algorithm suppress to estimate magnetic linkage.
The present invention is based on the more current control method of industrial use is
Figure BDA00003406118200024
Control, this control method is simple, and amount of calculation is little, therefore is widely used.Patent of the present invention with Current control method and vector control are the basis, propose a kind of permanent magnet magnetic flux ψ fWith a friendship axle inductance L qDiscrimination method.
Summary of the invention
The object of the present invention is to provide a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic flux ψ fWith a friendship axle inductance L qDiscrimination method, both be applicable to off-line measurement, also can be used for on-line identification, to improve the permanent magnet synchronous motor vector control system control performance.
Technical scheme of the present invention is as follows:
The discrimination method of a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic flux and friendship axle inductance may further comprise the steps:
Step 1 judges whether motor is in
Figure BDA00003406118200026
Steady operation state under the current control method changes step 2 over to if be in the steady operation state;
Step 2 is determined permagnetic synchronous motor voltage command value u under α β coordinate system respectively α, u β, electric current actual value i α, i β, and with voltage commands u α, u βThrough control inverter drive motors after the Vector Modulation, determine current motor speed ω e
Step 3 is with magnetic-synchro motor voltage command value u under α β coordinate system α, u β, electric current actual value i α, i β, and current motor speed ω eThe input parameter recognition module obtains the magnetic linkage component of motor on α, β axle via the magnetic linkage integral unit
Figure BDA00003406118200021
Figure BDA00003406118200022
Described magnetic linkage component
Figure BDA00003406118200023
Determine the permanent magnet magnetic flux ψ of use via identification unit fWith a friendship axle inductance L q
The stable state judgement may further comprise the steps in the described step 1, judges whether motor is operated in the torque closed loop mode:
(1) if machine operation, judges whether current command value is constant at the torque closed loop mode, when current command value was constant, some current control cycles of delaying time namely were judged to be and are in stable state this moment;
(2) if motor does not work in the torque closed loop mode, judge whether motor is operated in the speed closed loop pattern: if machine operation, judges whether the rotating speed bid value is constant in the speed closed loop pattern, when the rotating speed bid value is constant, some rotating speed control cycles of delaying time namely are judged to be and are in stable state this moment.
Each parameter determines that mode is as follows in the step 2:
Voltage commands u d, u qThrough obtaining the u of permagnetic synchronous motor under α β coordinate system after the Park inverse transformation (Parker inverse transformation) α, u β, u wherein d, u qProduced by current loop controller; u α, u βVoltage equation is:
u α = R s i α + dψ α dt μ β = R s i β + dψ β dt
Three-phase current i A, i B, i CIn be taken to few biphase current and sample after through obtaining i after the Clark conversion α, i β
Obtain current rotor-position by gathering rotor position information, and calculate current motor speed ω e
In the described step 3, the magnetic linkage integral unit may further comprise the steps:
(I) is according to voltage command value u α, u βAnd electric current actual value i α, i βDetermine the magnetic linkage component
Figure BDA00003406118200032
Expression formula;
(II) is according to described magnetic linkage component
Figure BDA00003406118200033
Determine the magnetic linkage component of motor on α, β axle
In the described step (I), at first, determine that the expression formula of back electromotive force is:
e α = u α * - R s i α e β = u β * - R s i β
Pass through back electromotive force e then α, e βCarrying out integration obtains magnetic linkage and is
Figure BDA00003406118200036
Fuzzy expression.
Wherein, in the step (I) in order to eliminate back electromotive force e α, e βCarry out the dc shift that integration causes, with back electromotive force e α, e βUndertaken determining that magnetic linkage is behind the integration by high pass filter
Figure BDA00003406118200037
Expression formula be:
In the step (II), will
Figure BDA00003406118200039
Carry out triangular transformation to obtain the magnetic linkage component of motor on α, β axle
Figure BDA000034061182000310
Expression formula:
Figure BDA000034061182000311
In the described step 3, the magnetic linkage identification unit may further comprise the steps:
(III) determined under the two-phase rotation dq coordinate system
Figure BDA000034061182000312
Expression formula: the magnetic linkage component of motor on α, β axle in the described b step (II) Obtain under the two-phase rotation dq coordinate system via the Park conversion Expression formula:
ψ ^ d = ψ ^ f + L ^ d i d ψ ^ q = L ^ q i q ;
(IV) determines permanent magnet magnetic flux ψ fWith a friendship axle inductance L q: according to the magnetic linkage component in the step (III) Expression formula calculate the permanent magnet magnetic flux
Figure BDA00003406118200045
With a friendship axle inductance Under the current control method, because current response speed is very fast, so In the step (III)
Figure BDA00003406118200049
Expression formula is deformed into:
ψ ^ d = ψ ^ f ψ ^ q = L ^ q i q
By measuring i qThe value of (friendship shaft current) calculates the permanent magnet magnetic flux
Figure BDA000034061182000411
With a friendship axle inductance
Figure BDA000034061182000412
In the described step (IV), get the permanent magnet magnetic flux that calculates in the full current cycle
Figure BDA000034061182000413
With a friendship axle inductance Carry out filtering, the permanent magnet magnetic flux ψ that the filtering result uses when being vector control fWith a friendship axle inductance L q
Owing to take such scheme, the invention has the beneficial effects as follows:
A kind of permanent-magnetism synchronous motor permanent magnetic body magnetic flux ψ shown in the present fWith a friendship axle inductance L qDiscrimination method, with
Figure BDA000034061182000415
Current control method and vector control are the basis, comprise the filter design of identification algorithm, CALCULATION OF PARAMETERS treatment step to be identified, and this discrimination method can off-line or the online change curve that picks out parameter; And this method is simple, is fit to through engineering approaches and realizes.
Description of drawings
Fig. 1 is the structural representation of parameter identification of the present invention system;
Fig. 2 is magnetic linkage integral principle block diagram of the present invention;
Fig. 3 is calculation of parameter theory diagram of the present invention;
Fig. 4 is the magnetic linkage circle identification result schematic diagram based on α β coordinate system;
Fig. 5 (a) is permanent magnet magnetic flux ψ fThe identification result schematic diagram;
Fig. 5 (b) is for handing over the axle inductance L qThe identification result schematic diagram.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawing illustrated embodiment.
The present invention with
Figure BDA00003406118200051
Current control method and vector control are the basis, and a kind of permanent-magnetism synchronous motor permanent magnetic body magnetic flux ψ is provided fWith a friendship axle inductance L qDiscrimination method.This discrimination method can off-line or the online change curve that picks out parameter.Its operation principle specifically may further comprise the steps as shown in Figure 1.
Step 1 judges whether motor is in
Figure BDA00003406118200052
Steady operation state under the current control method changes step 2 over to if be in the steady operation state;
Owing to when motor is in the steady operation state, just can carry out magnetic flux ψ fWith a friendship axle inductance L qIdentification, so in the step 1, confirm at first whether motor is in
Figure BDA00003406118200053
Steady operation state under the current control method confirms that step is as follows, judges whether motor is operated in the torque closed loop mode:
(1) if machine operation, judges whether current command value is constant at the torque closed loop mode: when current command value was constant, some current control cycles of delaying time namely were judged to be and are in stable state this moment;
(2) if motor does not work in the torque closed loop mode, judge whether motor is operated in the speed closed loop pattern.If machine operation, judges whether the rotating speed bid value is constant in the speed closed loop pattern.When the rotating speed bid value was constant, some rotating speed control cycles of delaying time namely were judged to be and are in stable state this moment.
Step 2 when judging that motor has been in stable state, is determined permagnetic synchronous motor voltage command value u under α β coordinate system respectively α, u β, electric current actual value i α, i β, and with voltage commands u α, u βThrough control inverter drive motors after the Vector Modulation, determine current motor speed ω e
As shown in Figure 1, produce voltage commands u by current loop controller d, u qThrough obtaining the u of permagnetic synchronous motor under α β coordinate system after the Park inverse transformation α, u βVoltage equation be:
u α = R s i α + dψ α dt u β = R s i β + dψ β dt （1）
Three-phase current i A, i B, i CIn be taken to after the sampling of few biphase current through obtaining i after the Clark conversion α, i β
Voltage commands u α, u βThrough control inverter drive motors after the Vector Modulation, obtain current rotor-position by gathering rotor position information, and calculate current motor speed ω e
Step 3 is with magnetic-synchro motor voltage command value u under α β coordinate system α, u β, electric current actual value i α, i β, and current motor speed ω eThe permanent magnet magnetic flux ψ that uses when the input parameter recognition module picks out vector control fWith a friendship axle inductance L qThe parameter identification module comprises magnetic linkage integral unit and identification unit, voltage command value u α, u β, electric current actual value i α, i β, and current motor speed ω eInput magnetic linkage integral unit is by obtained the magnetic linkage component of motor on α, β axle by the magnetic linkage integral unit
Figure BDA00003406118200061
The magnetic linkage component
Figure BDA00003406118200062
Determine the permanent magnet magnetic flux ψ of use via the magnetic linkage identification unit fWith a friendship axle inductance L q
As shown in Figure 2, magnetic linkage integral unit of the present invention comprises: back electromotive force calculates chunk, high pass filter chunk, triangular transformation chunk.Concrete computational process is as follows:
(I) is according to voltage command value u α, u βAnd electric current actual value i α, i βDetermine the magnetic linkage component Expression formula;
At first, by the voltage command value u under the two-phase rest frame α, u βElectric current actual value i under the two-phase rest frame that obtains with coordinate transform α, i β, obtain the back electromotive force e under the two-phase rest frame α, e β
e α = u α * - R s i α e β = u β * - R s i β （2）
Then, to back electromotive force e α, e βThe method of carrying out integration obtains the estimated value of magnetic linkage.
In the present embodiment, consider that measurement noise and the integration of measure error in a period of time show as constant DC quantity, thereby cause the magnetic linkage drift; In addition, initial magnetic linkage arranges the whether accurate accuracy that also influences flux observation.In order to eliminate the dc shift that pure integral element causes, use high pass filter to back electromotive force e here α, e βCarry out the filtering integration, with the magnetic linkage that obtains behind the filtering integration be
Figure BDA00003406118200065
Consider e α, e βExist with the form that exchanges at α, β axle, it be expressed as:
Figure BDA00003406118200066
（3）
Through the magnetic linkage that obtains behind the high pass filter be:
Figure BDA00003406118200067
（4）
(II) is with filtered magnetic linkage
Figure BDA00003406118200068
Carry out the conversion of trigonometric function, obtain the magnetic linkage component of motor on α, β axle ψ ^ α , ψ ^ β .
In order to obtain the magnetic linkage component of motor on α, β axle, following formula can be carried out triangular transformation:
Figure BDA00003406118200072
（5）
As shown in Figure 3, magnetic linkage identification unit shown in the present comprises coordinate transform chunk, calculation of parameter chunk and parametric filtering chunk, and concrete steps are as follows:
(III) is with the magnetic linkage component of estimating in the step (II) to obtain
Figure BDA00003406118200073
Expression formula, namely formula (5) obtains magnetic linkage component under the two-phase rotating coordinate system through the Park conversion
Figure BDA00003406118200074
The output valve of magnetic linkage integral algorithm is the magnetic linkage component on α, the β axle, in order to obtain permanent magnet magnetic flux ψ more intuitively fWith a friendship axle inductance L q, it need be transformed under the two-phase rotation dq coordinate system by Park, transformation for mula is:
ψ ^ d ψ ^ q = cos ( θ e ) sin ( θ e ) - sin ( θ e ) cos ( θ e ) ψ ^ α ψ ^ β （6）
Magnetic linkage after the Park conversion can be expressed as again:
ψ ^ d = ψ ^ f + L ^ d i d ψ ^ q = L ^ q i q （7）
(IV) determines permanent magnet magnetic flux ψ fWith a friendship axle inductance L q: according to the magnetic linkage component in the step (III)
Figure BDA00003406118200077
Expression formula be that formula (7) calculates the permanent magnet magnetic flux
Figure BDA00003406118200078
With a friendship axle inductance
Figure BDA00003406118200079
Figure BDA000034061182000710
Under the current control method, because current response speed is very fast, so
Figure BDA000034061182000711
In the formula (7)
Figure BDA000034061182000712
Expression formula is deformed into:
ψ ^ d = ψ ^ f ψ ^ q = L ^ q i q
At this moment, by measuring i qValue can calculate the permanent magnet magnetic flux
Figure BDA000034061182000714
With a friendship axle inductance
Figure BDA000034061182000715
In real electrical machinery control system running, since the existence of dead time effect, voltage command value u α, u βWith actual value deviation to some extent.Yet the summation of the error voltage that dead time effect causes in current cycle of error voltage that α β axle causes is 0.So, in the step (IV), get the permanent magnet magnetic flux that calculates in the full current cycle
Figure BDA00003406118200081
With a friendship axle inductance
Figure BDA00003406118200082
Carry out filtering, the permanent magnet magnetic flux ψ that the filtering result uses when being vector control fWith a friendship axle inductance L q, to reduce the influence of dead zone error voltage.
Fig. 4 and Fig. 5 are permanent-magnetism synchronous motor permanent magnetic body magnetic flux ψ shown in the present fWith a friendship axle inductance L qThe identification effect of discrimination method, wherein, Fig. 4 is based on the magnetic linkage circle identification result of α β coordinate system, by figure as can be seen, comparatively complete sum is level and smooth for the magnetic linkage circle; Fig. 5 (a) is permanent magnet magnetic flux ψ fIdentification result, Fig. 5 (b) hands over an axle inductance L qIdentification result, as can be seen from Figure, waveform is comparatively level and smooth in the identification result, the permanent magnet magnetic flux ψ that obtains by finite element analysis fBe 0.084Wb, a friendship axle inductance L qBe 0.0004H.Identification result precision of the present invention is higher as from the foregoing, can satisfy the requirement that engineering is used.
Permanent-magnetism synchronous motor permanent magnetic body magnetic flux ψ shown in the present fWith a friendship axle inductance L qDiscrimination method identical with pure integral element in amplitude-frequency characteristic, the phase-frequency characteristic at motor synchronous angular frequency place, can't cause the decay of amplitude or the hysteresis of phase place, simultaneously, the DC current gain of this discrimination method is zero, thereby has effectively solved pure integral element because direct current biasing causes the saturated problem of integration.And this discrimination method is simple, and operand is little, is fit to through engineering approaches and realizes.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.

Claims (10)

1. a permanent-magnetism synchronous motor permanent magnetic body magnetic flux and hand over the discrimination method of axle inductance is characterized in that: may further comprise the steps:
Step 1 judges whether motor is in
Figure FDA00003406118100011
Steady operation state under the current control method changes step 2 over to if be in the steady operation state;
Step 2 is determined permagnetic synchronous motor voltage command value u under α β coordinate system respectively α, u β, electric current actual value i α, i β, and with voltage commands u α, u βThrough control inverter drive motors after the Vector Modulation, determine current motor speed ω e
Step 3 is with magnetic-synchro motor voltage command value u under α β coordinate system α, u β, electric current actual value i α, i β, and current motor speed ω eThe input parameter recognition module obtains the magnetic linkage component of motor on α, β axle via the magnetic linkage integral unit
Figure FDA00003406118100013
Described magnetic linkage component Determine the permanent magnet magnetic flux ψ of use via the magnetic linkage identification unit fWith a friendship axle inductance L q
2. motor stable state decision method according to claim 1 is characterized in that: in the described step 1, stable state is judged and may further comprise the steps judge whether motor is operated in the torque closed loop mode:
(1) if machine operation, judges whether current command value is constant at the torque closed loop mode, when current command value was constant, some current control cycles of delaying time namely were judged to be and are in stable state this moment;
(2) if motor does not work in the torque closed loop mode, judge whether motor is operated in the speed closed loop pattern: if machine operation, judges whether the rotating speed bid value is constant in the speed closed loop pattern, when the rotating speed bid value is constant, some rotating speed control cycles of delaying time namely are judged to be and are in stable state this moment.
3. permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 1 and hand over the discrimination method of axle inductance, it is characterized in that: in the step 2, each parameter determines that mode is as follows:
Voltage commands u d, u qThrough obtaining the u of permagnetic synchronous motor under α β coordinate system after the Park inverse transformation α, u β, u wherein d, u qProduced by current loop controller;
Three-phase current i A, i B, i CIn be taken to few biphase current and sample after through obtaining i after the Clark conversion α, i β
Obtain current rotor-position by gathering rotor position information, and calculate current motor speed ω e
4. the discrimination method of permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 3 and friendship axle inductance is characterized in that: voltage commands u α, u βThe voltage equation expression formula is:
u α = R s i α + dψ α dt u β = R s i β + dψ β dt .
5. permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 1 and hand over the discrimination method of axle inductance, it is characterized in that: in the described step 3, the magnetic linkage integral unit may further comprise the steps:
(I) is according to voltage command value u α, u βAnd electric current actual value i α, i βDetermine the magnetic linkage component
Figure FDA00003406118100022
Expression formula;
(II) is according to described magnetic linkage component
Figure FDA00003406118100023
Determine the magnetic linkage component of motor on α, β axle
Figure FDA00003406118100024
6. permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 5 and hand over the discrimination method of axle inductance is characterized in that: in the described step (I), at first, determine that the expression formula of back electromotive force is:
e α = u α * - R s i α e β = u β * - R s i β
Pass through back electromotive force e then α, e βCarrying out integration obtains magnetic linkage and is
Figure FDA00003406118100026
Fuzzy expression.
7. the discrimination method of permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 6 and friendship axle inductance is characterized in that: in order to eliminate back electromotive force e α, e βCarry out the dc shift that integration causes, with back electromotive force e α, e βUndertaken determining that magnetic linkage is behind the integration by high pass filter
Figure FDA00003406118100027
Expression formula be:
Figure FDA00003406118100028
8. the discrimination method of permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 5 and friendship axle inductance is characterized in that: in the step (II), incite somebody to action
Figure FDA00003406118100029
Carry out triangular transformation to obtain the magnetic linkage component of motor on α, β axle
Figure FDA000034061181000210
Expression formula:
Figure FDA000034061181000211
9. permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 1 and hand over the discrimination method of axle inductance, it is characterized in that: in the described step 3, the magnetic linkage identification unit may further comprise the steps:
(III) determined under the two-phase rotation dq coordinate system
Figure FDA00003406118100031
Expression formula: in the described step (II), the magnetic linkage component of motor on α, β axle
Figure FDA00003406118100032
Obtain under the two-phase rotation dq coordinate system via the Park conversion
Figure FDA00003406118100033
Expression formula:
ψ ^ d = ψ ^ f + L ^ d i d ψ ^ q = L ^ q i q ;
(IV) determines permanent magnet magnetic flux ψ fWith a friendship axle inductance L q: according to the magnetic linkage component in the step (III)
Figure FDA00003406118100035
Expression formula calculate the permanent magnet magnetic flux
Figure FDA00003406118100036
With a friendship axle inductance
Figure FDA00003406118100037
Figure FDA00003406118100038
Under the current control method, because current response speed is very fast, so In the step (III)
Figure FDA000034061181000310
Expression formula is deformed into:
ψ ^ d = ψ ^ f ψ ^ q = L ^ q i q
By measuring i qValue calculate the permanent magnet magnetic flux With a friendship axle inductance
Figure FDA000034061181000313
10. the discrimination method of permanent-magnetism synchronous motor permanent magnetic body magnetic flux according to claim 9 and friendship axle inductance is characterized in that: in the described step (IV), get the permanent magnet magnetic flux that calculates in the full current cycle
Figure FDA000034061181000314
With a friendship axle inductance
Figure FDA000034061181000315
Carry out filtering, the permanent magnet magnetic flux ψ that the filtering result uses when being vector control fWith a friendship axle inductance L q
CN2013102575691A 2013-06-25 2013-06-25 Method for identifying permanent magnet flux and quadrature axis inductance of permanent magnet synchronous motor Pending CN103338002A (en)

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CN106602952A (en) * 2016-06-29 2017-04-26 河南工程学院 Flux linkage full-rank identification method for permanent magnet of PMSM
CN106997024A (en) * 2017-04-21 2017-08-01 珠海格力节能环保制冷技术研究中心有限公司 A kind of permagnetic synchronous motor parameter detection device and method
CN107425786A (en) * 2017-07-12 2017-12-01 武汉理工大学 A kind of on-Line Monitor Device of crane permagnetic synchronous motor d-axis and q-axis inductance
CN108683375A (en) * 2018-05-29 2018-10-19 广东威灵电机制造有限公司 The discrimination method and device for identifying of the quadrature axis inductance of salient pole permanent magnet synchronous motor
CN108712122A (en) * 2018-05-29 2018-10-26 广东威灵电机制造有限公司 The discrimination method and device for identifying of the permanent magnet flux linkage of permanent magnet synchronous motor
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CN109167545A (en) * 2018-09-14 2019-01-08 新疆大学 Magneto alternator magnetic linkage on-line identification method and system
CN109873585A (en) * 2019-04-02 2019-06-11 深圳市振邦智能科技股份有限公司 Compressor permanent magnet chain On-line Estimation method, system and storage medium
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CN103701388A (en) * 2013-11-06 2014-04-02 国家电网公司 Selection method for speed identification strategy of permanent magnet direct drive wind power system
CN103701388B (en) * 2013-11-06 2017-01-11 国家电网公司 Selection method for speed identification strategy of permanent magnet direct drive wind power system
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CN109873585A (en) * 2019-04-02 2019-06-11 深圳市振邦智能科技股份有限公司 Compressor permanent magnet chain On-line Estimation method, system and storage medium
CN109873585B (en) * 2019-04-02 2020-12-01 深圳市振邦智能科技股份有限公司 Compressor permanent magnetic linkage on-line estimation method and system and storage medium
CN110048651A (en) * 2019-04-03 2019-07-23 杭州电子科技大学 A kind of drive control method based on electric car NVH optimization
CN110417318A (en) * 2019-06-25 2019-11-05 苏州伟创电气设备技术有限公司 The guard method of AC permanent magnet synchronous motor and device

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