CN105024613A - Obtaining method of motor off-line resistance value, controller and air conditioner - Google Patents

Abstract

The invention discloses an obtaining method of a motor off-line resistance value, a controller and an air conditioner. The obtaining method of the motor off-line resistance value comprises, when a motor is electrified and is not started, according to a plurality of preset reactive currents of a d axis of the motor, determining voltages of the d axis corresponding to the preset reactive currents of the d axis, and, according to a plurality of preset active currents of a q axis of the motor, determining voltages of the q axis corresponding to the preset active currents of the q axis; and, according the preset reactive currents of the d axis, the voltages of the d axis, the preset active currents of the q axis and the voltages of the q axis, obtaining the off-line resistance value of the motor. On the condition that no cost increases, the method can obtain the off-line resistance value at a starting stage of the motor, obtaining time of the off-line resistance value is short, and precision of the off-line resistance value is high.

Description

The acquisition methods of motor off-line resistance value, controller and air conditioner

Technical field

The present invention relates to motor-drive technique field, be specifically related to a kind of acquisition methods of motor off-line resistance value, controller and air conditioner.

Background technology

For adopting the driving of vector control strategy, have extremely strong according to patience to the parameter of electric machine.Therefore, obtain the parameter of electric machine accurately and have vital effect for lifting motor control efficiency, the power consumption of reduction motor.And resistance is as one of motor important parameter, in the process such as calculating, voltage compensation of the design of current loop controller, position-sensor-free, all participates in computing, therefore obtain the parameter of electric machine accurately and just seem necessary.

The general parameter being obtained motor by unloaded or stall experiment at present, but this method is generally by manually having come, and not only add the cost of cost of labor and tester, and test error is larger.

Summary of the invention

For defect of the prior art, the invention provides a kind of acquisition methods of motor off-line resistance value, controller and air conditioner, when not increasing any cost, improve the measuring accuracy of motor off-line resistance.

First aspect, the invention provides a kind of acquisition methods of motor off-line resistance value, comprising:

When motor powers on and does not start, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset;

The voltage of the multiple reactive currents preset according to described d axle, the voltage of described d axle, multiple active current that described q axle is preset and described q axle obtains the off-line resistance value of described motor.

Optionally, multiple reactive currents that the d axle of described motor is preset comprise: the first reactive current, the second reactive current and the 3rd reactive current;

Accordingly, multiple reactive currents that the described d axle according to described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, comprising:

According to described first reactive current, the second reactive current and the 3rd reactive current, determine and the first voltage, the second voltage and tertiary voltage that described first reactive current, the second reactive current and the 3rd reactive current are corresponding in turn to.

Optionally, multiple reactive currents that the q axle of described motor is preset comprise: the first active current, the second active current and the 3rd active current;

Accordingly, multiple active currents that the described q axle according to described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, comprising:

The 4th voltage, the 5th voltage and the 6th voltage that are corresponding in turn to described first active current, the second active current and the 3rd active current is determined according to described first active current, the second active current and the 3rd active current.

Optionally, the voltage of described multiple reactive currents, the voltage of described d axle, multiple active current that described q axle is preset and the described q axle preset according to described d axle obtains the off-line resistance value of described motor, comprising:

The voltage of the multiple reactive current preset according to described d axle and described d axle obtains the off-line resistance value of described d axle, and the multiple active current preset according to described q axle and the voltage of described q axle obtain the off-line resistance value of described q axle;

The off-line resistance value of described motor is obtained according to the off-line resistance value of described d axle and the off-line resistance value of q axle.

Optionally, the voltage of described multiple reactive current of presetting according to described d axle and described d axle obtains the off-line resistance value of described d axle, comprising:

According to obtain the off-line resistance value of a d axle;

According to obtain the off-line resistance value of the 2nd d axle;

According to R _d=(R _d1+ R _d2)/2, obtain the off-line resistance value of described d axle;

Wherein, represent the first reactive current, represent the second reactive current, represent the 3rd reactive current, represent the first voltage, represent the second voltage, represent tertiary voltage, the line impedance that r representative is preset, R _d1represent the off-line resistance value of a d axle, R _d2represent the off-line resistance value of the 2nd d axle, R _drepresent the off-line resistance value of d axle.

Optionally, the voltage of described multiple active current of presetting according to described q axle and described q axle obtains the off-line resistance value of described q axle, comprising:

According to obtain the off-line resistance value of a q axle;

According to obtain the off-line resistance value of the 2nd q axle;

According to R _q=(R _q1+ R _q2)/2, obtain the off-line resistance value of described q axle;

Wherein, represent the first active current, represent the second active current, represent the 3rd active current, represent the 4th voltage, represent the 5th voltage, represent the 6th voltage, r is default line impedance, R _q1represent the off-line resistance value of a q axle, R _q2represent the off-line resistance value of the 2nd q axle, R _qrepresent the off-line resistance value of q axle.

Optionally, multiple reactive currents that the described d axle according to described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, before determining the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, described method also comprises:

Obtain the first environment temperature of current environment, and the second environment temperature before described first environment temperature and the last electrifying startup of described motor is compared;

If described first environment temperature exceeds the value of preset temperature excursion relative to the value of the variations in temperature of described second environment temperature, then perform the step determining the voltage of described d axle and the voltage of described q axle.

Optionally, after the voltage of described multiple reactive currents, the voltage of described d axle, multiple active current that described q axle is preset and the described q axle preset according to described d axle obtains the off-line resistance value of described motor, described method also comprises:

Judge that the off-line resistance value of described motor is whether within the scope of the off-line resistance value preset;

If the off-line resistance value of described motor not in the scope of the off-line resistance value preset, then performs the step determining the voltage of described d axle and the voltage of described q axle.

Second aspect, present invention also offers a kind of controller, comprising:

First determination module, during for powering at motor and not starting, according to multiple reactive currents that the d axle of described motor is preset, determines the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset;

Second determination module, during for powering at motor and not starting, according to multiple active currents that the q axle of described motor is preset, determines the voltage of the described q axle corresponding with multiple active currents that described q axle is preset;

Acquisition module, the multiple active current preset for the voltage of the multiple reactive currents preset according to described d axle, described d axle, described q axle and the voltage of described q axle obtain the off-line resistance value of described motor.

The third aspect, present invention also offers a kind of air conditioner, and comprise motor, temperature sensor and controller as claimed in claim 9, described motor is all connected with described controller with described temperature sensor;

Described controller, during for powering at motor and not starting, obtains the off-line resistance value of described motor;

Described temperature sensor, for detecting the 3rd ambient temperature when described motor powers on and do not start;

Described controller, also for the 4th ambient temperature before described 3rd ambient temperature and the last electrifying startup of described motor is compared the off-line resistance value judging whether again to obtain described motor.

As shown from the above technical solution, the present invention proposes a kind of acquisition methods of motor off-line resistance value, controller and air conditioner, the multiple active currents of the method by inputting default multiple reactive current respectively to d axle and the q axle of motor and preset, determine the voltage of the d axle corresponding with reactive current and the voltage of the q axle corresponding with active current, and according to reactive current, the voltage of d axle, the voltage of active current and q axle obtains the off-line resistance value of this motor, the method is not when increasing any cost, motor startup stage just can obtain off-line resistance value, the time obtaining this off-line resistance value is short and precision is high.

Accompanying drawing explanation

The schematic flow sheet of the acquisition methods of the motor off-line resistance value that Fig. 1 provides for one embodiment of the invention;

The offline parameter self diagnosis control block diagram that Fig. 2 provides for one embodiment of the invention;

The curve chart of multiple reactive currents that the d axle that Fig. 3 A-Fig. 3 C is respectively one embodiment of the invention to be provided is preset, active current that q axle is preset and given motor speed;

The curve chart of a phase current before the electric motor starting that Fig. 4 provides for one embodiment of the invention and when starting;

The structural representation of the controller that Fig. 5 provides for one embodiment of the invention.

Embodiment

Below in conjunction with accompanying drawing, the embodiment of invention is further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.

Fig. 1 shows the schematic flow sheet of the acquisition methods of a kind of motor off-line resistance value that the embodiment of the present invention provides, and as shown in Figure 1, the method comprises the following steps:

101, when motor powers on and do not start, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset.

Will be understood that, when motor powers on and do not start, motor adopts vector control speed wherein to carry out open loop process, and given angular rate is 0, and now the rotor of motor remains static.

The above-mentioned multiple reactive currents preset can be understood as at least two reactive currents, the multiple active currents preset can be understood as at least two active currents, this reactive current and active current are default current value, and this current value is mainly used for calculating the magnitude of voltage corresponding with each current value.

The voltage of the multiple reactive currents 102, preset according to described d axle, the voltage of described d axle, multiple active current that described q axle is preset and described q axle obtains the off-line resistance value of described motor.

The multiple active currents of said method by inputting default multiple reactive current respectively to d axle and the q axle of motor and preset, determine the voltage of the d axle corresponding with reactive current and the voltage of the q axle corresponding with active current, and the off-line resistance value of this motor is obtained according to the voltage of the voltage of reactive current, d axle, active current and q axle, the method is not when increasing any cost, motor startup stage just can obtain off-line resistance value, the time obtaining this off-line resistance value is short and precision is high.

Concrete, in above-mentioned steps 101, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, wherein as shown in Figure 2, the given electric current of d axle is actual current is I _d, after PI regulates, obtain voltage and then will with decoupling zero item RI _d-ω L _qi _qsum obtains the voltage V of d axle _d; In like manner, according to multiple active currents that the q axle of described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, as shown in Figure 2, the given electric current of q axle is actual current is I _q, after PI regulates, obtain voltage and then will with decoupling zero item RI _q+ ω L _di _d+ ω K _esum obtains the voltage V of q axle _qin implementation process, the multiple reactive currents can also preset according to the d axle of described motor according to other modes, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, the present embodiment does not limit its embodiment.

Below by specific embodiment, said method is described in detail.

It should be noted that, be that the off-line resistance calculating permagnetic synchronous motor is described in detail in following embodiment, the present embodiment does not limit the type of this motor, and the motor of other types also can obtain off-line resistance value by the following method.

When calculating off-line resistance in order to avoid the uncertain factor method be then averaged that causes the error of calculation to have employed the resistance by calculating d axle and q axle.Meanwhile, in order to improve computational accuracy, fully take into account the extraneous factors such as the tube voltage drop of resistance, line impedance, Dead Time.Concrete reckoning process is as follows:

To rotate according to rotor synchronous speed the motor vector equation obtained as follows with rotor field-oriented:

$\left[\begin{array}{c}{V}_d\\ V_q\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{pL}}_d& -{\mathrm{\ωL}}_q\\ {\mathrm{\ωL}}_d& R+{\mathrm{pL}}_q\end{array}\right]*\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]+\left[\begin{array}{c}0\\ \mathrm{\ω}{K}_e\end{array}\right]---\left(1\right)$

Wherein, v _drepresent the voltage of d axle, v _qrepresent the voltage of q axle, L _drepresent the inductance of d axle, L _qrepresent the inductance of q axle, I _drepresent the electric current of d axle, I _qrepresent the electric current of q axle, R represents the off-line resistance of motor, and p represents differential term, and ω represents rotor velocity, K _erepresent back emf coefficient.

System stability when considering that rotor stops, when namely rotor velocity ω is 0, above formula (1) can be equivalent to following expression:

$\left[\begin{array}{c}{V}_d\\ V_q\end{array}\right]=\left[\begin{array}{cc}R& 0\\ 0& R\end{array}\right]*\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]---\left(2\right)$

If the pressure drop of the tube voltage drop of resistance and Dead Time equivalence is set to e, line impedance is equivalent to r, and so above formula (2) can be equivalent to as shown in the formula shown in (3):

$\left[\begin{array}{c}{V}_d\\ V_q\end{array}\right]=\left[\begin{array}{cc}{R}_d+r& 0\\ 0& R_q+r\end{array}\right]*\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]+\left[\begin{array}{c}{e}_d\\ e_q\end{array}\right]---\left(3\right)$

Wherein, R _drepresent the resistance of d axle, R _qrepresent the resistance of q axle, e _drepresent the tube voltage drop of resistance and the pressure drop of the Dead Time equivalence component at d axle, e _qrepresent the tube voltage drop of resistance and the pressure drop of the Dead Time equivalence component at q axle.

Known according to formula (3), due to I _dand I _qfor given parameter, v _dand v _qfor by I _dand I _qconfirmable parameter, line impedance r can, for the parameter (the general r=0.1 Ω of result equivalent resistance resistance according to test) obtained by experience, therefore want to calculate R _dand R _q, need to determine e _dand e _q, e _dand e _qare all unknown numbers, two equations therefore must be had could to calculate resistance Rd or Rq.In order to reduce the pressure drop e of therefore equivalence _dand e _qtherefore the error caused is necessary given electric current to arrange relatively.Be described for d axle, get two equatioies as shown in the formula shown in (4):

$\left\{\begin{array}{c}{V}_{d1}=(R_d+r)I_{d1}+e_d\\ V_{d2}=(R_d+r)I_{d2}+e_d\end{array}\right.---\left(4\right)$

Wherein, V _d1represent the first voltage of d axle, V _d2represent the second voltage of d axle, I _d1represent the first electric current of d axle, I _d2represent the second electric current of d axle.

The resistive component of d axle just can be calculated by formula (4):

R _d＝(V _d1-V _d2)/(I _d1-I _d2)-r (5)

In like manner, the resistive component of q axle can be calculated:

R _q＝(V _q1-V _q2)/(I _q1-I _q2)-r (6)

Wherein, V _q1represent the first voltage of q axle, V _q2represent the second voltage of q axle, I _q1represent the first electric current of q axle, I _q2represent the second electric current of q axle.

Just final resistance value can be calculated according to formula (5) and (6):

R＝(R _d+R _q)/2 (7)

By said method, what calculate to make resistance value is more accurate, adopts three reactive currents of given d axle, calculates the resistive component of two d axles, and then the resistance of two the d axles calculated is averaged the resistance calculating d axle in following embodiment; In like manner, adopt three active currents of given q axle, calculate the resistance of two q axles, and then the resistance of two q axles calculated is averaged the resistance calculating q axle, finally the resistance of the resistance of d axle and q axle is averaged and calculates final resistance value.The present embodiment does not limit the number of given reactive current and active current, and this electric current can be independent numerical value, also can be the linear current value increased, be illustrated below to the current value of given linear increase.

Three reactive currents of first given d axle comprise: the first reactive current second reactive current with the 3rd reactive current according to described first reactive current second reactive current with the 3rd reactive current determine and the first reactive current second reactive current with the 3rd reactive current the first voltage be corresponding in turn to second voltage and tertiary voltage three active currents of the q axle of given motor comprise: the first active current second active current with the 3rd active current according to the first active current second active current with the 3rd active current determine and the first active current second active current with the 3rd active current the 4th voltage be corresponding in turn to 5th voltage with the 6th voltage

According to the first reactive current that described d axle is preset second reactive current 3rd reactive current first voltage second voltage and tertiary voltage obtain the off-line resistance value of described d axle.

As shown in Fig. 3 A, Fig. 3 B and Fig. 3 C, interval in the time (0-t1): reactive current and active current are linearly increased to according to given curve respectively with will as the first reactive current, as the first active current, now given motor speed is 0.

Interval in the time (t1-t2): given reactive current and active current maintain with now given motor speed is 0.There is following relational expression:

$\left\{\begin{array}{c}{V}_{d1}^{*}=(R_d+r)I_{d1}^{*}+e_d\\ V_{q1}^{*}=(R_q+r)I_{q1}^{*}+e_q\end{array}\right.---\left(8\right)$

Interval in the time (t2-t3): given reactive current and active current are linearly increased to according to given curve respectively with will as the second reactive current, will as the second active current, now given motor speed is 0.

Interval in the time (t3-t4): given reactive current and active current maintain with now given motor speed is 0.There is following relational expression:

$\left\{\begin{array}{c}{V}_{d2}^{*}=(R_d+r)I_{d2}^{*}+e_d\\ V_{q2}^{*}=(R_q+r)I_{q2}^{*}+e_q\end{array}\right.---\left(9\right)$

Interval in the time (t4-t5): given reactive current and active current are linearly increased to according to given curve with will as the 3rd reactive current, will as the 3rd active current, now given motor speed is 0.

When the time is greater than t5: given reactive current and active current maintain with now given motor speed is 0.There is following relational expression:

$\left\{\begin{array}{c}{V}_{d3}^{*}=(R_d+r)I_{d3}^{*}+e_d\\ V_{q3}^{*}=(R_q+r)I_{q3}^{*}+e_q\end{array}\right.---\left(10\right)$

Wherein the first resistive component R of d axle _d1with the second resistive component R of d axle _d2for: the first reactive current second reactive current 3rd reactive current first voltage second voltage and tertiary voltage obtain the off-line resistance value of described d axle.

According to the first reactive current second reactive current first voltage with the second voltage calculate the off-line resistance value R of a d axle _d1;

$R_{d1}=(V_{d1}^{*}-V_{d2}^{*})/(I_{d1}^{*}-I_{d2}^{*})-r---\left(11\right)$

Wherein r is default line impedance, generally gets r=0.1 Ω;

According to described second reactive current 3rd reactive current second voltage and tertiary voltage calculate the off-line resistance value R of the 2nd d axle _d2;

$R_{d2}=(V_{d3}^{*}-V_{d2}^{*})/(I_{d3}^{*}-I_{d2}^{*})-r---\left(12\right)$

Wherein r is default line impedance, generally gets r=0.1 Ω;

According to the off-line resistance R of a described d axle _d1with the off-line resistance R of the 2nd d axle _d2, calculate the off-line resistance value R of described d axle _d;

R _d＝(R _d1+R _d2)/2 (13)

In like manner according to the first active current second active current 3rd active current 4th voltage 5th voltage with the 6th voltage obtain the off-line resistance value of described q axle.

According to the first active current second active current 4th voltage 5th voltage calculate the off-line resistance value R of a q axle _q1;

$R_{q1}=(V_{q1}^{*}-V_{q2}^{*})/(I_{q1}^{*}-I_{q2}^{*})-r---\left(14\right)$

Wherein r is default line impedance, generally gets r=0.1 Ω;

According to described second active current 3rd active current 5th voltage with the 6th voltage calculate the off-line resistance value R of the 2nd q axle _q2;

$R_{q2}=(V_{q3}^{*}-V_{q2}^{*})/(I_{q3}^{*}-I_{q2}^{*})-r---\left(15\right)$

Wherein r is default line impedance, generally gets r=0.1 Ω;

According to the off-line resistance R of a described q axle _q1with the off-line resistance R of the 2nd q axle _q2, calculate the off-line resistance value R of described q axle _q;

Wherein R _q=(R _q1+ R _q2)/2 (16)

The off-line resistance value of described motor is obtained according to the off-line resistance value of described d axle and the off-line resistance value of q axle.Namely last resistance calculations value is obtained according to formula (13) and formula (16), R=(R as shown in (7) formula _d+ R _q)/2.

Said method has fully taken into account the factors such as line equivalent circuit impedance, tube voltage drop, Dead Time, by given electric current, the unknown quantity of those factors is disappeared, finally calculate resistance value, the method realizes simple, do not need to increase any cost, and result of calculation is comparatively accurate, has good promotional value.

The curve chart of a phase current before Fig. 4 shows the electric motor starting that the embodiment of the present invention provides and when starting, horizontal axis plots time, the longitudinal axis represents the size of electric current, as shown in Figure 4, electric current given in said method includes three platforms, platform 1, platform 2, platform 3 current amplitude are respectively 5A, 6A, 7A, and the time that each platform runs simultaneously is 0.1s, and the electric current after stable so relatively guarantees that the pressure drop e of tube voltage drop and Dead Time equivalence is substantially close.

R=0.1 Ω and relevant parameter are brought into, find the resistance R=1.03 Ω calculated, and producer's set-point is 1.05 Ω, control precision can control within 5%.

Meanwhile, when t=1s, current of electric runs according to certain frequency.As shown in Figure 3, the whole process of off-line resistance obtaining motor only needs the time of 1s, simple to operate operate strong.

Due to resistance as the key parameter of motor to the brighter sense of temperature, if when adopting parameter of dispatching from the factory to carry out computing when operating mode changes, Systematical control will have certain error.Therefore, be necessary again to upgrade parameter.

The present embodiment in above-mentioned steps 101 when motor powers on and does not start, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, before determining the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, described method also comprises unshowned step in Fig. 1:

103, obtain the first environment temperature of current environment, and the second environment temperature before described first environment temperature and the last electrifying startup of described motor is compared;

If 104 described first environment temperature exceed the value of preset temperature excursion relative to the value of the variations in temperature of described second environment temperature, then perform the step determining the voltage of described d axle and the voltage of described q axle, namely according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, determine the step of the voltage of the described q axle corresponding with multiple active currents that described q axle is preset.

For example, if first environment temperature is 50 DEG C, second environment temperature is 30 DEG C, preset temperature excursion is ± 10 DEG C, it is then 50 DEG C in detection first environment temperature, find that with the variations in temperature of the front second environment temperature 30 DEG C stored of motor last time electrifying startup be 20 DEG C, these 20 DEG C are greater than preset temperature excursion and are ± 10 DEG C, therefore, in order to avoid causing resistance calculations inaccurate due to ambient temperature, have influence on Current Control during electric motor starting, velocity estimation, the problems such as the compensation rate of voltage model, need the off-line resistance value being recalculated this motor by said method.

Above-mentioned environmentally variations in temperature and carry out the method for resistance renewal.Meanwhile, by calculating d axle and q axle resistance and being averaged result, last mean value is as the resistance value calculated.The method effectively can avoid the problem causing resistance calculations inaccurate because of uncertain factor.

In addition, after the multiple active current preset at the voltage of the multiple reactive currents preset according to described d axle described in above-mentioned steps 102, described d axle, described q axle and the voltage of described q axle obtain the off-line resistance value of described motor, described method also comprises unshowned step in Fig. 1:

105, judge that the off-line resistance value of described motor is whether within the scope of the off-line resistance value preset;

If the off-line resistance value of 106 described motors is not in the scope of the off-line resistance value preset, then perform the step determining the voltage of described d axle and the voltage of described q axle, namely according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, determine the step of the voltage of the described q axle corresponding with multiple active currents that described q axle is preset.And record Current Temperatures and resistance value stores, use when calculating in order to next time.

Said method judges, if again do not calculated resistance within given range the resistance value after calculating.Effectively prevent because uncertain factor causes the inaccurate problem of resistance calculations.

Fig. 5 shows the structural representation of a kind of controller that one embodiment of the invention provides, and as shown in Figure 5, this controller comprises: the first determination module 51, second determination module 52 and acquisition module 53;

First determination module 51, during for powering at motor and not starting, according to multiple reactive currents that the d axle of described motor is preset, determines the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset;

Second determination module 52, during for powering at motor and not starting, according to multiple reactive currents that the q axle of described motor is preset, determines the voltage of the described q axle corresponding with multiple active currents that described q axle is preset;

First acquisition module 53, the multiple active current preset for the voltage of the multiple reactive currents preset according to described d axle, described d axle, described q axle and the voltage of described q axle obtain the off-line resistance value of described motor.

One of the present embodiment preferred embodiment in, multiple reactive currents that the d axle of described motor is preset comprise: the first reactive current, the second reactive current and the 3rd reactive current;

Accordingly, described first determination module 51, specifically for:

According to described first reactive current, the second reactive current and the 3rd reactive current, determine and the first voltage, the second voltage and tertiary voltage that described first reactive current, the second reactive current and the 3rd reactive current are corresponding in turn to.

For example, according to described first reactive current second reactive current first voltage with the second voltage calculate the off-line resistance value R of a d axle _d1;

Wherein r is default line impedance;

According to described second reactive current 3rd reactive current second voltage and tertiary voltage calculate the off-line resistance value R of the 2nd d axle _d2;

Wherein r is default line impedance;

According to the off-line resistance R of a described d axle _d1with the off-line resistance R of the 2nd d axle _d2, calculate the off-line resistance value R of described d axle _d;

Wherein R _d=(R _d1+ R _d2)/2.

One of the present embodiment preferred embodiment in, multiple active currents that the q axle of described motor is preset comprise: the first active current, the second active current and the 3rd active current;

Accordingly, described second determination module 52, specifically for:

The 4th voltage, the 5th voltage and the 6th voltage that are corresponding in turn to described first active current, the second active current and the 3rd active current is determined according to described first active current, the second active current and the 3rd active current.

For example, according to described first active current second active current 4th voltage 5th voltage calculate the off-line resistance value R of a q axle _q1;

Wherein r is default line impedance;

According to described second active current 3rd active current 5th voltage with the 6th voltage calculate the off-line resistance value R of the 2nd q axle _q2;

Wherein r is default line impedance;

According to the off-line resistance R of a described q axle _q1with the off-line resistance R of the 2nd q axle _q2, calculate the off-line resistance value R of described q axle _q;

Wherein R _q=(R _q1+ R _q2)/2.

One of the present embodiment preferred embodiment in, described first acquisition module 53, specifically for:

The voltage of the multiple reactive current preset according to described d axle and described d axle obtains the off-line resistance value of described d axle, and the multiple active current preset according to described q axle and the voltage of described q axle obtain the off-line resistance value of described q axle;

The off-line resistance value of described motor is obtained according to the off-line resistance value of described d axle and the off-line resistance value of q axle.

In multiple reactive currents that above-mentioned first determination module 51 is preset according to the d axle of described motor, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and second determination module 52 according to the q axle of described motor preset multiple active currents, before determining the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, described controller also comprises not shown module: the second acquisition module 54, comparison module 55;

Second acquisition module 54, for obtaining the first environment temperature of current environment;

Comparison module 55, for comparing the second environment temperature before described first environment temperature and the last electrifying startup of described motor;

First determination module 51, for when described comparison module 55 more described first environment temperature exceeds the value of preset temperature excursion relative to the value of the variations in temperature of described second environment temperature, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and second determination module 52 according to the q axle of described motor preset multiple active currents, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset.

At the first acquisition module 53, after the multiple active current preset for the voltage of the multiple reactive currents preset according to described d axle, described d axle, described q axle and the voltage of described q axle obtain the off-line resistance value of described motor, described controller also comprises not shown module: judge module 56;

Judge module 56, for judging that the off-line resistance value of described motor is whether within the scope of the off-line resistance value preset;

First determination module 51, during for the off-line resistance value at described motor not in the scope of the off-line resistance value preset, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and second determination module 52 according to the q axle of described motor preset multiple active currents, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset.

The acquisition methods of above-mentioned controller and above-mentioned motor off-line resistance value is one to one, and the present embodiment is not described in detail the concrete implementation detail of module each in above-mentioned controller.

The embodiment of the present invention additionally provides a kind of air conditioner, this air conditioner comprises motor, temperature sensor and controller described above, described motor is all connected with described controller with described temperature sensor, and wherein, electrode, temperature sensor and controller can be arranged in the off-premises station of this air conditioner.

Described controller, during for powering at motor and not starting, obtains the off-line resistance value of described motor;

Described temperature sensor, for detecting the 3rd ambient temperature when described motor powers on and do not start;

Described controller, also for the 4th ambient temperature before described 3rd ambient temperature and the last electrifying startup of described motor is compared the off-line resistance value judging whether again to obtain described motor.

Will be understood that, when the variable quantity of the 4th ambient temperature in above-mentioned 3rd ambient temperature and motor once before electrifying startup exceeds preset temperature excursion, then again obtain the off-line resistance value of motor according to the method described above, otherwise, again do not obtain the off-line resistance value of this motor.

The above each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (10)

1. an acquisition methods for motor off-line resistance value, is characterized in that, comprising:

When motor powers on and does not start, according to multiple reactive currents that the d axle of described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset;

The voltage of the multiple reactive currents preset according to described d axle, the voltage of described d axle, multiple active current that described q axle is preset and described q axle obtains the off-line resistance value of described motor.

2. method according to claim 1, is characterized in that, multiple reactive currents that the d axle of described motor is preset comprise: the first reactive current, the second reactive current and the 3rd reactive current;

Accordingly, multiple reactive currents that the described d axle according to described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, comprising:

According to described first reactive current, the second reactive current and the 3rd reactive current, determine and the first voltage, the second voltage and tertiary voltage that described first reactive current, the second reactive current and the 3rd reactive current are corresponding in turn to.

3. method according to claim 2, is characterized in that, multiple reactive currents that the q axle of described motor is preset comprise: the first active current, the second active current and the 3rd active current;

Accordingly, multiple active currents that the described q axle according to described motor is preset, determine the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, comprising:

The 4th voltage, the 5th voltage and the 6th voltage that are corresponding in turn to described first active current, the second active current and the 3rd active current is determined according to described first active current, the second active current and the 3rd active current.

4. method according to claim 3, is characterized in that, the voltage of described multiple reactive currents, the voltage of described d axle, multiple active current that described q axle is preset and the described q axle preset according to described d axle obtains the off-line resistance value of described motor, comprising:

The voltage of the multiple reactive current preset according to described d axle and described d axle obtains the off-line resistance value of described d axle, and the multiple active current preset according to described q axle and the voltage of described q axle obtain the off-line resistance value of described q axle;

The off-line resistance value of described motor is obtained according to the off-line resistance value of described d axle and the off-line resistance value of q axle.

5. method according to claim 4, is characterized in that, the voltage of described multiple reactive current of presetting according to described d axle and described d axle obtains the off-line resistance value of described d axle, comprising:

According to $R_{d1}=(V_{d1}^{*}-V_{d2}^{*})/(I_{d1}^{*}-I_{d2}^{*})-r,$ Obtain the off-line resistance value of a d axle;

According to $R_{d2}=(V_{d3}^{*}-V_{d2}^{*})/(I_{d3}^{*}-I_{d2}^{*})-r,$ Obtain the off-line resistance value of the 2nd d axle;

According to R _d=(R _d1+ R _d2)/2, obtain the off-line resistance value of described d axle;

Wherein, represent the first reactive current, represent the second reactive current, represent the 3rd reactive current, represent the first voltage, represent the second voltage, represent tertiary voltage, the line impedance that r representative is preset, R _d1represent the off-line resistance value of a d axle, R _d2represent the off-line resistance value of the 2nd d axle, R _drepresent the off-line resistance value of d axle.

6. method according to claim 4, is characterized in that, the voltage of described multiple active current of presetting according to described q axle and described q axle obtains the off-line resistance value of described q axle, comprising:

According to $R_{q1}=(V_{q1}^{*}-V_{q2}^{*})/(I_{q1}^{*}-I_{q2}^{*})-r,$ Obtain the off-line resistance value of a q axle;

According to $R_{q2}=(V_{q3}^{*}-V_{q2}^{*})/(I_{q3}^{*}-I_{q2}^{*})-r,$ Obtain the off-line resistance value of the 2nd q axle;

According to R _q=(R _q1+ R _q2)/2, obtain the off-line resistance value of described q axle;

Wherein, represent the first active current, represent the second active current, represent the 3rd active current, represent the 4th voltage, represent the 5th voltage, represent the 6th voltage, r is default line impedance, R _q1represent the off-line resistance value of a q axle, R _q2represent the off-line resistance value of the 2nd q axle, R _qrepresent the off-line resistance value of q axle.

7. the method according to any one of claim 1-6, it is characterized in that, multiple reactive currents that the described d axle according to described motor is preset, determine the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset, and according to multiple active currents that the q axle of described motor is preset, before determining the voltage of the described q axle corresponding with multiple active currents that described q axle is preset, described method also comprises:

Obtain the first environment temperature of current environment, and the second environment temperature before described first environment temperature and the last electrifying startup of described motor is compared;

If described first environment temperature exceeds the value of preset temperature excursion relative to the value of the variations in temperature of described second environment temperature, then perform the step determining the voltage of described d axle and the voltage of described q axle.

8. the method according to any one of claim 1-6, it is characterized in that, after the voltage of described multiple reactive currents, the voltage of described d axle, multiple active current that described q axle is preset and the described q axle preset according to described d axle obtains the off-line resistance value of described motor, described method also comprises:

Judge that the off-line resistance value of described motor is whether within the scope of the off-line resistance value preset;

If the off-line resistance value of described motor not in the scope of the off-line resistance value preset, then performs the step determining the voltage of described d axle and the voltage of described q axle.

9. a controller, is characterized in that, comprising:

First determination module, during for powering at motor and not starting, according to multiple reactive currents that the d axle of described motor is preset, determines the voltage of the described d axle corresponding with multiple reactive currents that described d axle is preset;

Second determination module, during for powering at motor and not starting, according to multiple active currents that the q axle of described motor is preset, determines the voltage of the described q axle corresponding with multiple active currents that described q axle is preset;

Acquisition module, the multiple active current preset for the voltage of the multiple reactive currents preset according to described d axle, described d axle, described q axle and the voltage of described q axle obtain the off-line resistance value of described motor.

10. an air conditioner, is characterized in that, comprise motor, temperature sensor and controller as claimed in claim 9, described motor is all connected with described controller with described temperature sensor;

Described controller, during for powering at motor and not starting, obtains the off-line resistance value of described motor;

Described temperature sensor, for detecting the 3rd ambient temperature when described motor powers on and do not start;

Described controller, also for the 4th ambient temperature before described 3rd ambient temperature and the last electrifying startup of described motor is compared the off-line resistance value judging whether again to obtain described motor.