CN106533304A - Permanent magnet synchronous motor and bus voltage detection method and device thereof - Google Patents
Permanent magnet synchronous motor and bus voltage detection method and device thereof Download PDFInfo
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- CN106533304A CN106533304A CN201611077948.2A CN201611077948A CN106533304A CN 106533304 A CN106533304 A CN 106533304A CN 201611077948 A CN201611077948 A CN 201611077948A CN 106533304 A CN106533304 A CN 106533304A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a permanent magnet synchronous motor and a bus voltage detection method and device thereof. The method comprises the following steps: obtaining a preset bus voltage, a preset voltage vector and preset rotor flux linkage; when the permanent magnet synchronous motor stops, injecting constant-angle and constant-amplitude D-axis reference current and Q-axis reference current to a frequency converter to enable a D-axis current loop PI adjuster and a Q-axis current loop PI adjuster to calculate a D-axis voltage and a Q-axis voltage of the permanent magnet synchronous motor according to corresponding current loop vector sampling and feedback; and calculating voltage vector of the permanent magnet synchronous motor according to the D-axis voltage and the Q-axis voltage of the permanent magnet synchronous motor, and calculating the bus voltage obtained when the permanent magnet synchronous motor stops according to the voltage vector of the permanent magnet synchronous motor, the preset bus voltage and the preset voltage vector. The method can calculate the bus voltage without a bus voltage AD sampling link, and thus hardware cost is low.
Description
Technical field
The present invention relates to technical field of motors, the busbar voltage detection method of more particularly to a kind of permagnetic synchronous motor,
Plant the busbar voltage detection device and a kind of permagnetic synchronous motor of permagnetic synchronous motor.
Background technology
In correlation technique, PMSM (Permanent Magnet Synchronous Motor, permagnetic synchronous motor) controls
In need to arrange multiple AD sampling elements, with to electric current, busbar voltage sampling, wherein, busbar voltage can be used for calculate SVPWM
The dutycycle of (Space Vector Pulse Width Modulation, space vector pulse width modulation).In the technology, AD is adopted
The setting of sample link increased the complexity of PMSM control circuits, and hardware cost is high.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
For this purpose, it is an object of the present invention to proposing a kind of busbar voltage detection method of permagnetic synchronous motor, the party
Method can not calculate busbar voltage by busbar voltage AD sampling element, to realize PMSM controls.
Second object of the present invention is the busbar voltage detection device for proposing a kind of permagnetic synchronous motor.
Third object of the present invention is to propose a kind of permagnetic synchronous motor.
For achieving the above object, first aspect present invention embodiment proposes a kind of busbar voltage inspection of permagnetic synchronous motor
Survey method, the method are comprised the following steps：Obtain default busbar voltage Vdc_ref, default voltage vector Vs_ref and pre-
If rotor flux Φ f_ref；When permagnetic synchronous motor is shut down, by injecting constant angle θ _ SET and perseverance to frequency converter
The D axle reference current Id_ref and Q axle reference current Iq_ref of tentering value, so that D shaft current ring PI (Proportional
Integral, proportional integral) adjuster and Q shaft current ring pi regulators calculate institute with feedback according to corresponding current ring vector samples
State the D shaft voltage Vd and Q shaft voltage Vq of permagnetic synchronous motor；According to the D shaft voltage Vd and Q shaft voltages of the permagnetic synchronous motor
The voltage vector Vsnew of the Vq calculating permagnetic synchronous motor, and the voltage vector Vsnew according to the permagnetic synchronous motor,
When default busbar voltage Vdc_ref and the default voltage vector Vs_ref calculate the permagnetic synchronous motor shutdown
Busbar voltage Vdcnew.
The busbar voltage detection method of permagnetic synchronous motor according to embodiments of the present invention, first, obtains default bus
Voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_ref, then, when permagnetic synchronous motor stops
During machine, by injecting the D axle reference current Id_ref and Q axle of constant angle θ _ SET and constant amplitude with reference to electricity to frequency converter
Stream Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulators are according to corresponding current ring vector samples and feedback
The D shaft voltage Vd and Q shaft voltage Vq of permagnetic synchronous motor are calculated, finally, according to the D shaft voltage Vd and Q axles of permagnetic synchronous motor
Voltage Vq calculates the voltage vector Vsnew of permagnetic synchronous motor, and the voltage vector Vsnew according to permagnetic synchronous motor, default
Busbar voltage Vdc_ref and default voltage vector Vs_ref calculate permagnetic synchronous motor shut down when busbar voltage
Vdcnew.The method can not calculate busbar voltage by busbar voltage AD sampling element, to realize PMSM controls.
In addition, the busbar voltage detection method of the permagnetic synchronous motor of proposition according to the above embodiment of the present invention can be with
With following additional technical characteristic：
According to one embodiment of present invention, the bus electricity when permagnetic synchronous motor is shut down is calculated according to below equation
Pressure Vdcnew：
Vdcnew=Vdc_ref*Vsnew/Vs_ref.
According to one embodiment of present invention, when the permagnetic synchronous motor startup optimization, by electric moter voltage equation
Observation obtains the rotor flux Φ fnew of the permagnetic synchronous motor, and according to the rotor flux Φ of the permagnetic synchronous motor
Fnew, default busbar voltage Vdc_ref and the default rotor flux Φ f_ref calculate the permagnetic synchronous motor
Busbar voltage Vdcnew during startup optimization.
Further, the busbar voltage Vdcnew during permagnetic synchronous motor startup optimization is calculated according to below equation：
Vdcnew=Vdc_ref* Φ fnew/ Φ f_ref.
According to one embodiment of present invention, it is described that the permagnetic synchronous motor is obtained by the observation of electric moter voltage equation
Rotor flux Φ fnew, including：The three-phase current of the permagnetic synchronous motor is obtained, and obtains turning for the permagnetic synchronous motor
Speed；The three-phase current of the permagnetic synchronous motor is carried out Coordinate Conversion to obtain the D shaft currents and Q of the permagnetic synchronous motor
Shaft current；Electric current loop is carried out according to the D shaft currents of the given electric current of D axles and the permagnetic synchronous motor to adjust to obtain the permanent magnetism
The Q shaft voltages of synchronous motor, and calculated according to the rotating speed of the Q shaft voltages and the permagnetic synchronous motor of the permagnetic synchronous motor
The rotor flux Φ fnew of the permagnetic synchronous motor.
For achieving the above object, second aspect present invention embodiment proposes a kind of busbar voltage inspection of permagnetic synchronous motor
Device is surveyed, including：Acquisition module, for obtaining default busbar voltage Vdc_ref, default voltage vector Vs_ref and presetting
Rotor flux Φ f_ref；Injection module, for permagnetic synchronous motor shut down by frequency converter injection constant angle θ _
The D axle reference current Id_ref and Q axle reference current Iq_ref of SET and constant amplitude so that D shaft current ring pi regulators and
Q shaft current ring pi regulators calculate the D shaft voltage Vd of the permagnetic synchronous motor according to corresponding current ring vector samples and feedback
With Q shaft voltage Vq；Computing module, for according to the D shaft voltage Vd and Q shaft voltages Vq of the permagnetic synchronous motor calculate described in forever
The voltage vector Vsnew of magnetic-synchro motor, and the voltage vector Vsnew according to the permagnetic synchronous motor, the default mother
Line voltage Vdc_ref and the default voltage vector Vs_ref calculate the busbar voltage when permagnetic synchronous motor is shut down
Vdcnew。
The busbar voltage detection device of permagnetic synchronous motor according to embodiments of the present invention, obtains default by acquisition module
Busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_ref, then, in permanent-magnet synchronous
During motor stopping, the D axle reference current Id_ of constant angle θ _ SET and constant amplitude are injected by injection module to frequency converter
Ref and Q axle reference current Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulators are according to corresponding current ring
Vector samples calculate the D shaft voltage Vd and Q shaft voltage Vq of permagnetic synchronous motor with feedback, finally, by computing module according to forever
The D shaft voltage Vd and Q shaft voltages Vq of magnetic-synchro motor calculates the voltage vector Vsnew of permagnetic synchronous motor, and same according to permanent magnetism
Voltage vector Vsnew, default busbar voltage Vdc_ref and the default voltage vector Vs_ref for walking motor calculates permanent-magnet synchronous
Busbar voltage Vdcnew during motor stopping.The device can not calculate busbar voltage by AD busbar voltage sampling elements,
To realize PMSM controls.
According to one embodiment of present invention, the computing module calculates the permagnetic synchronous motor according to below equation and stops
Busbar voltage Vdcnew during machine：
Vdcnew=Vdc_ref*Vsnew/Vs_ref.
According to one embodiment of present invention, when the permagnetic synchronous motor startup optimization, the computing module passes through
The observation of electric moter voltage equation obtains the rotor flux Φ fnew of the permagnetic synchronous motor, and according to the permagnetic synchronous motor
Described in rotor flux Φ fnew, default busbar voltage Vdc_ref and the default rotor flux Φ f_ref calculating forever
Busbar voltage Vdcnew when magnetic-synchro electric motor starting runs.
Further, the computing module is according to the bus during below equation calculating permagnetic synchronous motor startup optimization
Voltage Vdcnew：
Vdcnew=Vdc_ref* Φ fnew/ Φ f_ref.
According to one embodiment of present invention, to obtain the permanent magnetism same by the observation of electric moter voltage equation for the computing module
During the rotor flux Φ fnew of step motor, it is additionally operable to obtain the three-phase current of the permagnetic synchronous motor, and obtains the permanent magnetism
The rotating speed of synchronous motor, and carry out Coordinate Conversion to obtain the permanent magnetism by the three-phase current to the permagnetic synchronous motor
The D shaft currents and Q shaft currents of synchronous motor, and by D shaft current ring pi regulators to the given electric current of D axles and the permanent-magnet synchronous
The D shaft currents of motor carry out electric current loop and adjust to obtain the Q shaft voltages of the permagnetic synchronous motor, and same according to the permanent magnetism
The rotating speed of the Q shaft voltages and the permagnetic synchronous motor of step motor calculates the rotor flux Φ fnew of the permagnetic synchronous motor.
Additionally, embodiments of the invention also proposed a kind of permagnetic synchronous motor, which includes above-mentioned permagnetic synchronous motor
Busbar voltage detection device.
The permagnetic synchronous motor of the embodiment of the present invention, by above-mentioned busbar voltage detection device, can be not by mother
Line voltage AD sampling element calculates busbar voltage, to realize PMSM controls.
Description of the drawings
Fig. 1 is the flow chart of the busbar voltage detection method of permagnetic synchronous motor according to embodiments of the present invention；
Fig. 2 is the electric operation control circuit figure of permagnetic synchronous motor according to an embodiment of the invention；And
Fig. 3 is the block diagram of the busbar voltage detection device of permagnetic synchronous motor according to embodiments of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the embodiment of the present invention permagnetic synchronous motor and its busbar voltage detection method, turn
Put.
Fig. 1 is the flow chart of the busbar voltage detection method of permagnetic synchronous motor according to embodiments of the present invention.Such as Fig. 1 institutes
Show, the busbar voltage detection method of the permagnetic synchronous motor may include following steps：
S1, obtains default busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_
ref。
Specifically, for a permagnetic synchronous motor and frequency converter, default busbar voltage Vdc_ref, default voltage arrow
Amount Vs_ref and default rotor flux Φ f_ref there is the detection of busbar voltage AD sample states or can be calculated.
Specifically, in having the frequency converter of busbar voltage AD sampling, default busbar voltage Vdc_ref can pass through AD
Sampling unit is obtained.When permagnetic synchronous motor is shut down, the D axles of constant angle θ _ SET and constant amplitude are injected by frequency converter
Reference current Id_ref and Q axle reference current Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulator roots
The D shaft voltage Vd0 and Q shaft voltage Vq0 of permagnetic synchronous motor are calculated according to corresponding current ring vector samples and feedback, and is calculated
Voltage vector, i.e., default voltage vectorWhen PMSM starts, can be calculated and turn
Sub- magnetic linkage, i.e., default rotor flux Φ f_ref=Vq0/Wr, wherein, current rotating speeds of the Wr for permagnetic synchronous motor.Can manage
Solution, as shown in Fig. 2 the D shaft voltage Vd0 and Q shaft voltage Vq0 of permagnetic synchronous motor can be by the two-phase to permagnetic synchronous motor
Voltage V α, V β under rest frame carries out Coordinate Conversion and obtains.
It should be noted that when rotor flux is calculated, negligible resistance pressure drop is without weak magnetic state.
It is appreciated that default busbar voltage Vdc_ref can be with peripheral hardware voltage detection device, such as universal meter, oscillograph
Obtain Deng detection.
Further, in the frequency converter sampled without busbar voltage, can be by the storage of the storage devices such as FLASH or EEPROM
Above-mentioned default busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_ref, in order to
It is follow-up to calculate.
S2, when permagnetic synchronous motor is shut down, by the D that constant angle θ _ SET and constant amplitude are injected to frequency converter
Axle reference current Id_ref and Q axle reference current Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulators
The D shaft voltage Vd and Q shaft voltage Vq of permagnetic synchronous motor are calculated according to corresponding current ring vector samples and feedback.
S3, calculates the voltage vector of permagnetic synchronous motor according to the D shaft voltage Vd and Q shaft voltages Vq of permagnetic synchronous motor
Vsnew, and the voltage vector Vsnew according to permagnetic synchronous motor, default busbar voltage Vdc_ref and default voltage vector
Vs_ref calculates busbar voltage Vdcnew when permagnetic synchronous motor is shut down.
Specifically, the voltage vector Vsnew of permagnetic synchronous motor can be calculated by following formula (1)：
Further, busbar voltage Vdcnew when permagnetic synchronous motor is shut down can be calculated by following formula (2)：
Vdcnew=Vdc_ref*Vsnew/Vs_ref (2)
Now, busbar voltage Vdcnew when can shut down the permagnetic synchronous motor for calculating substitutes into permagnetic synchronous motor fortune
Row starts in calculating.
In one embodiment of the invention, when permagnetic synchronous motor startup optimization, observed by electric moter voltage equation
Obtain the rotor flux Φ fnew of permagnetic synchronous motor, and the rotor flux Φ fnew according to permagnetic synchronous motor, default mother
Line voltage Vdc_ref and default rotor flux Φ f_ref calculate busbar voltage during permagnetic synchronous motor startup optimization
Vdcnew。
Specifically, the rotor flux Φ fnew that the observation of electric moter voltage equation obtains permagnetic synchronous motor can be passed through, including：It is first
First, three-phase current IA, IB and IC of acquisition permagnetic synchronous motor, and the rotating speed Wr ＇ of permagnetic synchronous motor are obtained, then, to forever
Three-phase current IA, IB and IC of magnetic-synchro motor carries out Coordinate Conversion to obtain the D shaft currents Id and Q axles electricity of permagnetic synchronous motor
Stream Iq, finally, carries out electric current loop according to the D shaft currents of the given electric current of D axles and permagnetic synchronous motor and adjusts to obtain permanent-magnet synchronous
The Q shaft voltage Vq ＇ of motor, then the rotor flux Φ fnew of permagnetic synchronous motor can be by formula Φ fnew=Vq ＇/Wr ＇ calculating, its
In, Q shaft voltages when Vq ＇ are permagnetic synchronous motor startup optimization, when Wr ＇ are permagnetic synchronous motor startup optimization, permanent-magnet synchronous
The rotating speed of motor.
Further, busbar voltage Vdcnew during permagnetic synchronous motor startup optimization can be calculated by following formula (3)：
Vdcnew=Vdc_ref* Φ fnew/ Φ f_ref (3)
Now, busbar voltage Vdcnew when calculating permagnetic synchronous motor can be substituted into motor operation to start in calculating.
In sum, the busbar voltage detection method of permagnetic synchronous motor according to embodiments of the present invention, first, obtains pre-
If busbar voltage, default voltage vector and default rotor flux, then, when permagnetic synchronous motor is shut down, by
Frequency converter injects the D axles reference current and Q axle reference currents of constant angle and constant amplitude, so that D shaft current rings PI is adjusted
Device and Q shaft current ring pi regulators calculate the D shaft voltages and Q of permagnetic synchronous motor according to corresponding current ring vector samples and feedback
Shaft voltage, and the D shaft voltages according to permagnetic synchronous motor and Q shaft voltages calculate the voltage vector of permagnetic synchronous motor, Jin Ergen
When calculating permagnetic synchronous motor shutdown according to the voltage vector of permagnetic synchronous motor, default busbar voltage and default voltage vector
Busbar voltage, and when permagnetic synchronous motor startup optimization, permagnetic synchronous motor is obtained by the observation of electric moter voltage equation
Rotor flux, and the rotor flux Φ fnew according to permagnetic synchronous motor, default busbar voltage Vdc_ref and default turn
Sub- magnetic linkage Φ f_ref calculate busbar voltage during permagnetic synchronous motor startup optimization.The method can not pass through AD busbar voltages
Sampling element calculates busbar voltage, and to realize PMSM controls, and hardware cost is low.
Fig. 3 is the block diagram of the busbar voltage detection device of permagnetic synchronous motor according to embodiments of the present invention.Such as
Shown in Fig. 3, the busbar voltage detection device of permagnetic synchronous motor includes：Acquisition module 10, injection module 20 and computing module 30.
Wherein, acquisition module 10 is used to obtaining default busbar voltage Vdc_ref, default voltage vector Vs_ref and pre-
If rotor flux Φ f_ref.Injection module 20 injects constant angle for shutting down by frequency converter in permagnetic synchronous motor
The D axle reference current Id_ref and Q axle reference current Iq_ref of degree θ _ SET and constant amplitude, so that D shaft current rings PI is adjusted
Device and Q shaft current ring pi regulators calculate the D shaft voltage Vd of permagnetic synchronous motor according to corresponding current ring vector samples and feedback
With Q shaft voltage Vq.Computing module 30 is for according to the D shaft voltage Vd and Q shaft voltages Vq of permagnetic synchronous motor calculating permanent-magnet synchronous
The voltage vector Vsnew of motor, and the voltage vector Vsnew according to permagnetic synchronous motor, default busbar voltage Vdc_ref and
Default voltage vector Vs_ref calculates busbar voltage Vdcnew when permagnetic synchronous motor is shut down.
Specifically, for a permagnetic synchronous motor and frequency converter, default busbar voltage Vdc_ref, default voltage arrow
Amount Vs_ref and default rotor flux Φ f_ref there is the detection of busbar voltage AD sample states or can be calculated.
Specifically, in having the frequency converter of busbar voltage AD sampling, default busbar voltage Vdc_ref can pass through AD
Sampling unit is obtained.When permagnetic synchronous motor is shut down, the D of constant angle θ _ SET and constant amplitude can be injected by frequency converter
Axle reference current Id_ref and Q axle reference current Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulators
The D shaft voltage Vd0 and Q shaft voltage Vq0 of permagnetic synchronous motor are calculated according to corresponding current ring vector samples and feedback, and by upper
State formula (1) and be calculated default voltage vector.When PMSM starts, rotor flux can be calculated, i.e., default turn
Sub- magnetic linkage Φ f_ref=Vq0/Wr, wherein, current rotating speeds of the Wr for permagnetic synchronous motor.It is appreciated that as shown in Fig. 2 permanent magnetism
The D shaft voltage Vd0 and Q shaft voltages Vq0 of synchronous motor can be by the electricity under the two-phase rest frame to permagnetic synchronous motor
Pressure V α, V β carry out Coordinate Conversion and obtain.
It should be noted that when rotor flux is calculated, negligible resistance pressure drop is without weak magnetic state.
It is appreciated that default busbar voltage Vdc_ref can be with peripheral hardware voltage detection device, such as universal meter, oscillograph
Obtain Deng detection.
Further, in the frequency converter sampled without busbar voltage, can be by the storage of the storage devices such as FLASH or EEPROM
Above-mentioned default busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_ref, in order to
It is follow-up to calculate.
Specifically, in the frequency converter sampled without busbar voltage AD, default busbar voltage Vdc_ref can be by obtaining
The such as AD sampling units of module 10 are obtained.When permagnetic synchronous motor is shut down, by frequency converter inject constant angle θ _ SET and
The D axle reference current Id_ref and Q axle reference current Iq_ref of constant amplitude, so that D shaft current ring pi regulators and Q shaft currents
Ring pi regulator calculates the D shaft voltage Vd and Q shaft voltage Vq of permagnetic synchronous motor according to corresponding current ring vector samples and feedback.
After the D shaft voltage Vd and Q shaft voltage Vq for obtaining permagnetic synchronous motor, the electricity of permagnetic synchronous motor is calculated by computing module 30
Pressure vector Vsnew, and busbar voltage Vdcnew when permagnetic synchronous motor is shut down is calculated by above-mentioned formula (2).
Now, busbar voltage Vdcnew when can shut down the permagnetic synchronous motor for calculating substitutes into permagnetic synchronous motor fortune
Row starts in calculating.
In one embodiment of the invention, when permagnetic synchronous motor startup optimization, computing module 30 is by motor electricity
Pressure equation observation obtains the rotor flux Φ fnew of permagnetic synchronous motor, and according to the rotor flux Φ of permagnetic synchronous motor
During fnew, default busbar voltage Vdc_ref and default rotor flux Φ f_ref calculating permagnetic synchronous motor startup optimization
Busbar voltage Vdcnew.
Specifically, computing module 30 obtains the rotor flux Φ fnew of permagnetic synchronous motor by the observation of electric moter voltage equation
When, it is additionally operable to obtain three-phase current IA, IB and IC of permagnetic synchronous motor, and obtains the rotating speed Wr ＇ of permagnetic synchronous motor, and
Coordinate Conversion is carried out by three-phase current IA, IB and the IC to permagnetic synchronous motor to obtain the D shaft currents of permagnetic synchronous motor
Id and Q shaft currents Iq, and the D shaft currents of the given electric current of D axles and permagnetic synchronous motor are carried out by D shaft current ring pi regulators
Electric current loop is adjusted to obtain the Q shaft voltage Vq ＇ of permagnetic synchronous motor, then the rotor flux Φ fnew of permagnetic synchronous motor can pass through
Formula Φ fnew=Vq ＇/Wr ＇ are calculated, wherein, Q shaft voltages when Vq ＇ are permagnetic synchronous motor startup optimization, Wr ＇ are permanent-magnet synchronous
When electric motor starting runs, the rotating speed of permagnetic synchronous motor.
Further, computing module 30 can be by bus during above-mentioned formula (3) calculating permagnetic synchronous motor startup optimization
Voltage Vdcnew.
Now, busbar voltage Vdcnew when calculating permagnetic synchronous motor can be substituted into motor operation to start in calculating.
The busbar voltage detection device of permagnetic synchronous motor according to embodiments of the present invention, obtains default by acquisition module
Busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_ref, then, in permanent-magnet synchronous
During motor stopping, the D axle reference current Id_ of constant angle θ _ SET and constant amplitude are injected by injection module to frequency converter
Ref and Q axle reference current Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulators are according to corresponding current ring
Vector samples calculate the D shaft voltage Vd and Q shaft voltage Vq of permagnetic synchronous motor with feedback, finally, by computing module according to forever
The D shaft voltage Vd and Q shaft voltages Vq of magnetic-synchro motor calculates the voltage vector Vsnew of permagnetic synchronous motor, and same according to permanent magnetism
Voltage vector Vsnew, default busbar voltage Vdc_ref and the default voltage vector Vs_ref for walking motor calculates permanent-magnet synchronous
Busbar voltage Vdcnew during motor stopping.The device can remove the situation of busbar voltage detection AD unit in hardware link
Under calculate busbar voltage.
Additionally, embodiments of the invention also proposed a kind of permagnetic synchronous motor, which includes above-mentioned permagnetic synchronous motor
Busbar voltage detection device.
It should be noted that the details not disclosed in the permagnetic synchronous motor of the embodiment of the present invention, refer to the present invention
Details disclosed in the busbar voltage detection device of the permagnetic synchronous motor of embodiment, specifically I will not elaborate.
The permagnetic synchronous motor of the embodiment of the present invention, by above-mentioned busbar voltage detection device, can not be female by AD
Line voltage sampling element calculates busbar voltage, and to realize PMSM controls, and hardware cost is low.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicates or imply that the device or element of indication must
With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or it is integral；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clearly restriction.For one of ordinary skill in the art
For, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with
It is the first and second feature directly contacts, or the first and second features is by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
Example ", or the description of " some examples " etc. mean specific features with reference to the embodiment or example description, structure, material or spy
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments or example described in this specification and different embodiments or example can be tied by art personnel
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (11)
1. a kind of busbar voltage detection method of permagnetic synchronous motor, it is characterised in that comprise the following steps：
Obtain default busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor flux Φ f_ref；
When permagnetic synchronous motor is shut down, by injecting the D axles of constant angle θ _ SET and constant amplitude with reference to electricity to frequency converter
Stream Id_ref and Q axle reference current Iq_ref, so that D shaft current ring pi regulators and Q shaft current ring pi regulators are according to correspondence
Electric current loop vector samples calculate the D shaft voltage Vd and Q shaft voltage Vq of the permagnetic synchronous motor with feedback；
The voltage vector of the permagnetic synchronous motor is calculated according to the D shaft voltage Vd and Q shaft voltages Vq of the permagnetic synchronous motor
Vsnew, and the voltage vector Vsnew according to the permagnetic synchronous motor, default busbar voltage Vdc_ref and described pre-
If voltage vector Vs_ref calculate the busbar voltage Vdcnew when permagnetic synchronous motor is shut down.
2. the busbar voltage detection method of permagnetic synchronous motor as claimed in claim 1, it is characterised in that according to below equation
Calculate the busbar voltage Vdcnew when permagnetic synchronous motor is shut down：
Vdcnew=Vdc_ref*Vsnew/Vs_ref.
3. the busbar voltage detection method of permagnetic synchronous motor as claimed in claim 1 or 2, it is characterised in that when it is described forever
When magnetic-synchro electric motor starting runs, the rotor flux Φ of the permagnetic synchronous motor is obtained by the observation of electric moter voltage equation
Fnew, and the rotor flux Φ fnew according to the permagnetic synchronous motor, default busbar voltage Vdc_ref and described pre-
If rotor flux Φ f_ref calculate the permagnetic synchronous motor startup optimization when busbar voltage Vdcnew.
4. the busbar voltage detection method of permagnetic synchronous motor as claimed in claim 3, it is characterised in that according to below equation
Calculate the busbar voltage Vdcnew during permagnetic synchronous motor startup optimization：
Vdcnew=Vdc_ref* Φ fnew/ Φ f_ref.
5. the busbar voltage detection method of permagnetic synchronous motor as claimed in claim 3, it is characterised in that described by motor
Voltage equation observation obtains the rotor flux Φ fnew of the permagnetic synchronous motor, including：
The three-phase current of the permagnetic synchronous motor is obtained, and obtains the rotating speed of the permagnetic synchronous motor；
Coordinate Conversion is carried out to the three-phase current of the permagnetic synchronous motor with obtain the permagnetic synchronous motor D shaft currents and
Q shaft currents；
Electric current loop is carried out according to the D shaft currents of the given electric current of D axles and the permagnetic synchronous motor and adjusts same to obtain the permanent magnetism
The Q shaft voltages of step motor, and institute is calculated according to the rotating speed of the Q shaft voltages and the permagnetic synchronous motor of the permagnetic synchronous motor
State the rotor flux Φ fnew of permagnetic synchronous motor.
6. the busbar voltage detection device of a kind of permagnetic synchronous motor, it is characterised in that include：
Acquisition module, for obtaining default busbar voltage Vdc_ref, default voltage vector Vs_ref and default rotor magnetic
Chain Φ f_ref；
Injection module, injects constant angle θ _ SET and constant width for shutting down by frequency converter in permagnetic synchronous motor
The D axle reference current Id_ref and Q axle reference current Iq_ref of value, so that D shaft current ring pi regulators and Q shaft current rings PI are adjusted
Section device calculates the D shaft voltage Vd and Q shaft voltage Vq of the permagnetic synchronous motor according to corresponding current ring vector samples and feedback；
Computing module, for calculating the permanent magnet synchronous electric according to the D shaft voltage Vd and Q shaft voltages Vq of the permagnetic synchronous motor
The voltage vector Vsnew of machine, and the voltage vector Vsnew according to the permagnetic synchronous motor, the default busbar voltage
Vdc_ref and the default voltage vector Vs_ref calculate the busbar voltage Vdcnew when permagnetic synchronous motor is shut down.
7. the busbar voltage detection device of permagnetic synchronous motor as claimed in claim 6, it is characterised in that the computing module
Busbar voltage Vdcnew when the permagnetic synchronous motor is shut down is calculated according to below equation：
Vdcnew=Vdc_ref*Vsnew/Vs_ref.
8. the busbar voltage detection device of permagnetic synchronous motor as claimed in claims 6 or 7, it is characterised in that when it is described forever
When magnetic-synchro electric motor starting runs, the computing module obtains turning for the permagnetic synchronous motor by the observation of electric moter voltage equation
Sub- magnetic linkage Φ fnew, and the rotor flux Φ fnew according to the permagnetic synchronous motor, default busbar voltage Vdc_ref
The busbar voltage Vdcnew during permagnetic synchronous motor startup optimization is calculated with the default rotor flux Φ f_ref.
9. the busbar voltage detection device of permagnetic synchronous motor as claimed in claim 8, it is characterised in that the computing module
The busbar voltage Vdcnew during permagnetic synchronous motor startup optimization is calculated according to below equation：
Vdcnew=Vdc_ref* Φ fnew/ Φ f_ref.
10. the busbar voltage detection device of permagnetic synchronous motor as claimed in claim 8, it is characterised in that the calculating mould
When block obtains the rotor flux Φ fnew of the permagnetic synchronous motor by the observation of electric moter voltage equation, it is additionally operable to described in acquisition forever
The three-phase current of magnetic-synchro motor, and the rotating speed of the permagnetic synchronous motor is obtained, and by the permagnetic synchronous motor
Three-phase current carry out Coordinate Conversion to obtain the D shaft currents and Q shaft currents of the permagnetic synchronous motor, and pass through D shaft currents
Ring pi regulator the D shaft currents of the given electric current of D axles and the permagnetic synchronous motor are carried out electric current loop adjust with obtain it is described forever
The Q shaft voltages of magnetic-synchro motor, and the rotating speed of the Q shaft voltages and the permagnetic synchronous motor according to the permagnetic synchronous motor
Calculate the rotor flux Φ fnew of the permagnetic synchronous motor.
11. a kind of permagnetic synchronous motors, it is characterised in that include the permanent magnet synchronous electric as any one of claim 6-10
The busbar voltage detection device of machine.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111669094A (en) * | 2020-06-30 | 2020-09-15 | 深圳市英威腾电气股份有限公司 | Loss-of-field detection method and system for permanent magnet motor and related components |
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| CN102959854A (en) * | 2010-06-21 | 2013-03-06 | 三菱电机株式会社 | Magnetic pole position detection device for synchronous machine |
| US20140111125A1 (en) * | 2012-10-18 | 2014-04-24 | Caterpillar Inc. | Traction Motor Retarding Flux Reference |
| CN104617850A (en) * | 2014-12-31 | 2015-05-13 | 广西科技大学 | Double-closed-loop controller and double-closed-loop control method of permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102959854A (en) * | 2010-06-21 | 2013-03-06 | 三菱电机株式会社 | Magnetic pole position detection device for synchronous machine |
| US20140111125A1 (en) * | 2012-10-18 | 2014-04-24 | Caterpillar Inc. | Traction Motor Retarding Flux Reference |
| CN104617850A (en) * | 2014-12-31 | 2015-05-13 | 广西科技大学 | Double-closed-loop controller and double-closed-loop control method of permanent magnet synchronous motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111669094A (en) * | 2020-06-30 | 2020-09-15 | 深圳市英威腾电气股份有限公司 | Loss-of-field detection method and system for permanent magnet motor and related components |
| CN111669094B (en) * | 2020-06-30 | 2022-08-23 | 深圳市英威腾电气股份有限公司 | Loss-of-field detection method and system for permanent magnet motor and related components |
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