CN107707167A - A kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method - Google Patents
A kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method Download PDFInfo
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- CN107707167A CN107707167A CN201711188333.1A CN201711188333A CN107707167A CN 107707167 A CN107707167 A CN 107707167A CN 201711188333 A CN201711188333 A CN 201711188333A CN 107707167 A CN107707167 A CN 107707167A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Measurement Of Resistance Or Impedance (AREA)
Abstract
The invention discloses a kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation to become zero position measuring method, three phase static inductance is measured by electric bridge, the average value of A phase stator winding self-inductions and the amplitude of second harmonic and rotor current location angle are tried to achieve according to three phase static inductance and self-induction, mutual inductance relationships；Calculated by three pole reactor matrix, self-induction and mutual inductance relationships and try to achieve d, q inductance；Rotation change position angle is obtained, rotation change position angle is made the difference with rotor current location angle rotation change zero position angle is calculated.The present invention program converses dq axle static inductances by bridge measurement three phase static inductance, algorithm and operation is simple and reliable；Rotation becomes zero position reads rotation change position angle by host computer can calculate then in conjunction with rotor current location angle, without considering rotor present position and testboard bay demarcation；Obtain static ac-dc axis inductance and when rotation becomes zero position, without the support of electric machine controller and high-tension apparatus, cost is low, without personal security risk.
Description
Technical field
The present invention relates to permagnetic synchronous motor, more particularly to a kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero
Location measurement method.
Background technology
Permagnetic synchronous motor turns into the main flow of pure electric automobile drive system at present, and ac-dc axis inductance and rotation become zero position
Measurement can directly influence the indexs such as performance, the efficiency of permagnetic synchronous motor.The existing measurement to ac-dc axis inductance is mainly led to
Cross Electromagnetic Simulation to obtain, the measurement that rotation becomes zero position obtains basically by Bench calibration or the mode of self study.
Existing to obtain static ac-dc axis inductance by Electromagnetic Simulation, Emulation of Electrical Machinery is more towards ideal situation, actual conditions
It may disagree；Rotation change zero position is obtained by way of Bench calibration to be needed to install in motor and electric machine controller
Testboard bay, stand and related software are then operated to obtain by experimenter, complex procedures are time-consuming, it is impossible to meet do not needing
The situation that rotation becomes zero position is obtained in the case of Bench calibration.The rotation that the mode of self study obtains becomes zero position precision and not enough managed
Think, and need the support of electric machine controller.
The content of the invention
The present invention seeks to：A kind of new algorithm is provided and becomes zero position, the algorithm to measure static ac-dc axis inductance and rotation
Only need then can first ask by algorithm conversion by three phase static inductance during bridge measurement rotor static state current location
Obtain static ac-dc axis inductance and rotor current location angle.Rotation becomes zero position can read rotation change position angle by software host computer
It can be calculated then in conjunction with rotor current location angle.Measuring method is simple and reliable, without considering rotor present position,
And test process does not need high-tension apparatus to support, in the absence of personal safety risk.
The technical scheme is that：
A kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method, including step：
S1, the physical model for establishing permagnetic synchronous motor：Permagnetic synchronous motor is included using star connection, space mutual deviation
120 ° of A, B, C threephase stator winding, establish three phase static inductance and self-induction, the inductance matrix of mutual inductance relationships under rest frame
Model；
S2, three phase static inductance is measured by electric bridge；
S3, the average value for trying to achieve according to three phase static inductance and self-induction, mutual inductance relationships A phase stator winding self-inductions and secondary humorous
The amplitude and rotor current location angle of ripple；
S4, calculated by three pole reactor matrix, self-induction and mutual inductance relationships and try to achieve d, q inductance；
S5, rotation change position angle is read by software host computer, rotation is become into position angle does with rotor current location angle
Difference is calculated rotation and becomes zero position angle.
Preferably, inductance matrix model under rest frame is established in step S 1 is：
L in formula (1)AA、LBB、LCCRespectively A, B, C three-phase self-induction, MAB、MBA、MBC、MCB、MAC、MCAIt is mutual for A, B, C tri-
Sense；
A, the self-induction formula of B, C threephase stator winding is：
L in formula (2)S0For the average value of A phase stator winding self-inductions, LS2For the width of A phase stator winding self-induction second harmonics
Value；
A, the mutual inductance equation below of B, C threephase stator winding is：
M in formula (3)S0For A phases, the absolute value of B phase stator winding mutual inductance average values, MS2For A phases, B phase mutual inductances it is secondary humorous
The amplitude of ripple.
Preferably, in step S2, triple line inductance L is measured when static respectively by electric bridge1, L2, L3, it is as follows so as to obtain
Formula：
Preferably, in step 3, three-phase windings self-induction and mutual inductance formula are substituted into formula (6) to be obtained with abbreviation：
Three formulas in formula (7), which are added, to try to achieve：
Order
Comprehensive above formula can be calculated：
It is so as to try to achieve rotor current location angle：
2 θ=arctan (Lc/Lb) (11)。
Preferably, in step S4, inductance matrix under three-phase static coordinate system is passed through into Clarke and Park conversion and basis
Self-induction, mutual inductance formula (2), (3) abbreviation obtain inductance matrix under dq coordinate systems and are：
It is respectively so as to obtain d, q axle inductance calculation formula：
By LS0And LS2=-Lb/ cos2 θ, which substitute into d, q axle inductance calculation formula (5), can obtain static ac-dc axis inductance value.
Preferably, in step S5, rotation is read by software host computer and becomes position angle, rotation is become into position angle works as with rotor
Front position angle, which makes the difference, is calculated rotation change zero position angle.
Preferably, in step S4, the mode measurement motor to the excitation of rotor special angle, voltage and input current is handed over straight
Axle inductance.
Preferably, in step S5, rotation is obtained by way of accurate survey calculation counter electromotive force of motor and becomes position angle, and
Made the difference with rotor current location angle and show that rotation becomes zero position.
It is an advantage of the invention that：
1. the present invention program converses dq axle static inductances by bridge measurement three phase static inductance, algorithm and simple to operate
Reliably；
2nd, in the present invention program, rotation becomes zero position and reads rotation change position angle then in conjunction with rotor present bit by host computer
Angle setting degree can calculate, without considering rotor present position and testboard bay demarcation；
3rd, in the present invention program, when obtaining static ac-dc axis inductance and rotation change zero position, without electric machine controller and high pressure
The support of equipment, cost is low, without personal security risk.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is AC permanent magnet synchronous motor physical model；
Fig. 2 is the star-like connection figure of permanent-magnetic synchronous motor stator winding；
Fig. 3 is the flow chart that permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method.
Embodiment
As shown in figure 1, being the physical model of permagnetic synchronous motor, inductance matrix is under its A, B, C three-phase static coordinate system：
L in formulaAA、LBB、LCCRespectively A, B, C three-phase self-induction, MAB、MBA、MBC、MCB、MAC、MCAFor A, B, C three-phase mutual inductance.
Because threephase stator winding is in 120 ° of space mutual deviation, shown in the self-induction equation below of A, B, C threephase stator winding.
L in formulaS0For the average value of A phase stator winding self-inductions, LS2For the amplitude of A phase stator winding self-induction second harmonics.
A, shown in the mutual inductance equation below of B, C threephase stator winding.
M in formulaS0For A phases, the absolute value of B phase stator winding mutual inductance average values, MS2For A phases, the second harmonic of B phase mutual inductances
Amplitude.
In the case where not considering to leak self-induction, inductance matrix under three-phase static coordinate system is converted by Clarke and Park
And inductance matrix under dq coordinate systems is obtained according to self-induction, mutual inductance formula (2), (3) abbreviation and is：
It is respectively so as to obtain d, q axle inductance calculation formula：
Permanent-magnetic synchronous motor stator winding is illustrated in fig. 2 shown below using star connection, can be surveyed respectively by electric bridge when static
Obtain triple line inductance L1, L2, L3, so as to obtain equation below：
Three-phase windings self-induction and mutual inductance formula are substituted into formula (6) to obtain with abbreviation：
Three formulas in formula (7), which are added, to try to achieve：
Order
Comprehensive above formula can be calculated：
It is so as to try to achieve rotor current location angle：
2 θ=arctan (Lc/Lb) (11)；
By LS0And LS2=-Lb/ cos2 θ, which substitute into d, q axle inductance calculation formula (5), can obtain static ac-dc axis inductance value.
Rotation change zero position measurement can be carried out after obtaining rotor current location angle, passes through software host computer first and obtains rotation
Become position angle, rotation is then become into position angle and rotor current location angle makes the difference obtain revolving and becomes zero position.The present invention
Permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method it is as shown in Figure 3.
The solution of the present invention is to converse dq axle static inductances by bridge measurement three phase static inductance, it is also contemplated that is given
The mode measurement motor ac-dc axis inductance of rotor special angle, voltage and input current excitation；Rotation becomes zero position this programme
Made the difference and drawn with rotor current location angle by host computer reading rotation change position angle, also it is contemplated that passing through accurate survey calculation
The mode of counter electromotive force of motor obtains.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Present disclosure can be understood and implemented according to this, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical scheme to be done, it should all be included within the scope of the present invention.
Claims (8)
1. a kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method, it is characterised in that including step：
S1, the physical model for establishing permagnetic synchronous motor：Permagnetic synchronous motor is included using star connection, 120 ° of space mutual deviation
A, B, C threephase stator winding, three phase static inductance and self-induction, the inductance matrix model of mutual inductance relationships under rest frame are established；
S2, three phase static inductance is measured by electric bridge；
S3, the average value for trying to achieve according to three phase static inductance and self-induction, mutual inductance relationships A phase stator winding self-inductions and second harmonic
Amplitude and rotor current location angle；
S4, calculated by three pole reactor matrix, self-induction and mutual inductance relationships and try to achieve d, q inductance；
S5, rotation change position angle is obtained, rotation change position angle is made the difference with rotor current location angle rotation change zero-bit is calculated
Angle setting degree.
2. measuring method according to claim 1, it is characterised in that：Inductance matrix under rest frame is established in step S1
Model is：
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L in formula (1)AA、LBB、LCCRespectively A, B, C three-phase self-induction, MAB、MBA、MBC、MCB、MAC、MCAFor A, B, C three-phase mutual inductance；
A, the self-induction formula of B, C threephase stator winding is：
L in formula (2)S0For the average value of A phase stator winding self-inductions, LS2For the amplitude of A phase stator winding self-induction second harmonics；
A, the mutual inductance equation below of B, C threephase stator winding is：
M in formula (3)S0For A phases, the absolute value of B phase stator winding mutual inductance average values, MS2For A phases, the second harmonic of B phase mutual inductances
Amplitude.
3. measuring method according to claim 2, it is characterised in that：In step S2, measured respectively by electric bridge when static
Triple line inductance L1, L2, L3, so as to obtain equation below：
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4. measuring method according to claim 3, it is characterised in that：In step 3, by three-phase windings self-induction and mutual inductance formula
Substituting into formula (6) can be obtained with abbreviation：
Three formulas in formula (7), which are added, to try to achieve：
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Comprehensive above formula can be calculated：
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2 θ=arctan (Lc/Lb) (11)。
5. measuring method according to claim 4, it is characterised in that：In step S4, by inductance under three-phase static coordinate system
Matrix is converted by Clarke and Park and obtains inductance matrix under dq coordinate systems according to self-induction, mutual inductance formula (2), (3) abbreviation
For：
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By LS0And LS2=-Lb/ cos2 θ, which substitute into d, q axle inductance calculation formula (5), can obtain static ac-dc axis inductance value.
6. measuring method according to claim 4, it is characterised in that：In step S5, rotation is read by software host computer and become
Position angle, rotation is become into position angle and rotor current location angle makes the difference and rotation change zero position angle is calculated.
7. measuring method according to claim 1, it is characterised in that：In step S4, to rotor special angle, voltage and
The mode measurement motor ac-dc axis inductance of input current excitation.
8. measuring method according to claim 1, it is characterised in that：It is anti-by accurate survey calculation motor in step S5
The mode of electromotive force obtains rotation and becomes position angle, and is made the difference with rotor current location angle and show that rotation becomes zero position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711188333.1A CN107707167A (en) | 2017-11-24 | 2017-11-24 | A kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711188333.1A CN107707167A (en) | 2017-11-24 | 2017-11-24 | A kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method |
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| Publication Number | Publication Date |
|---|---|
| CN107707167A true CN107707167A (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711188333.1A Pending CN107707167A (en) | 2017-11-24 | 2017-11-24 | A kind of permagnetic synchronous motor static state ac-dc axis inductance and rotation become zero position measuring method |
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| CN114268260A (en) * | 2022-03-02 | 2022-04-01 | 浙江大学 | Motor parameter identification method and device |
| CN117806184A (en) * | 2024-02-26 | 2024-04-02 | 南京新紫峰电子科技有限公司 | Control method, device and medium for rotary simulation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108448995A (en) * | 2018-03-16 | 2018-08-24 | 顺丰科技有限公司 | Unmanned plane motor d-axis and q-axis inductance measurement method, device, equipment and storage medium |
| CN114268260A (en) * | 2022-03-02 | 2022-04-01 | 浙江大学 | Motor parameter identification method and device |
| CN114268260B (en) * | 2022-03-02 | 2022-07-19 | 浙江大学 | Motor parameter identification method and device |
| CN117806184A (en) * | 2024-02-26 | 2024-04-02 | 南京新紫峰电子科技有限公司 | Control method, device and medium for rotary simulation |
| CN117806184B (en) * | 2024-02-26 | 2024-05-14 | 南京新紫峰电子科技有限公司 | Control method, device and medium for rotary simulation |
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