CN109245650A - The parameter identification method of permanent magnet synchronous motor and the control system of permanent magnet synchronous motor - Google Patents
The parameter identification method of permanent magnet synchronous motor and the control system of permanent magnet synchronous motor Download PDFInfo
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- CN109245650A CN109245650A CN201811161809.7A CN201811161809A CN109245650A CN 109245650 A CN109245650 A CN 109245650A CN 201811161809 A CN201811161809 A CN 201811161809A CN 109245650 A CN109245650 A CN 109245650A
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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
- 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
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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
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention discloses a kind of parameter identification methods of permanent magnet synchronous motor, include the following steps, one) stator resistance identification step, two) stator d-axis inductance axis inductor identification step, 21) high frequency voltage of given amplitude is injected to motor d-axis direction, 22) after electric current reaches stable state, acquire the instantaneous value of three-phase current, the maximum amplitude and minimum amplitude of resultant current vector are calculated according to current instantaneous value, then calculate the d-axis inductance of motor, axis inductor value.Parameter identification method identification process of the invention is simple, strong applicability, is easily achieved, and can effectively pick out the stator resistance, d-axis inductance and axis inductor value of motor, has very high accuracy compared with the parameter value that producer provides.
Description
Technical field
The invention belongs to magneto technical fields, and in particular to the parameter identification method of a kind of permanent magnet synchronous motor and forever
The control system of magnetic-synchro motor.
Background technique
Permanent magnet synchronous motor has many advantages, such as high-efficient, small in size, reliable for operation, is widely used in Industry Control, the energy
The fields such as traffic.The control effect of permanent magnet synchronous motor is accurate dependent on the parameter of electric machine (stator resistance, ac-dc axis inductance value)
Degree, however fail to provide these parameters when some Motor Production Tests, therefore the design that carry out electric machine control system must just carry out
Parameter of electric machine identification.
Meanwhile the control system of existing permanent magnet synchronous motor, it needs to charge to bus capacitor in first starting, is
Current limliting is carried out when carrying out effective protection charging to it to prevent overcurrent, structure is complicated and inconvenient for present current limiting measures,
Meanwhile in electric machine control system, the power supply and storage of human-computer interaction setting are insufficient there is also stability or constructions cost is high
The problems such as.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of parameter identification sides of permanent magnet synchronous motor
Method, the parameter identification method test result show that the algorithm identification process is simple, strong applicability, are easily achieved, can be effective
The stator resistance, d-axis inductance and axis inductor value for picking out motor have very high compared with the parameter value that producer provides
Accuracy.
It is a further object of the invention to provide a kind of control systems of permanent magnet synchronous motor, carry out overcurrent using circuit
Control, it is highly-safe.
The present invention is achieved by the following technical solutions:
In the above-mentioned technical solutions,
A kind of parameter identification method of permanent magnet synchronous motor, includes the following steps,
One) stator resistance identification step,
11) to inject sufficiently large zero degree voltage vector make rotor-position return to zero, and makes the mechanical zero and inverter of rotor
Electrical zero point is overlapped,
12) applying direct current to stator and measure electric current can be obtained stator resistance；
Two) stator d-axis inductance axis inductor identification step,
21) high frequency voltage of given amplitude is injected to motor d-axis direction,
22) after electric current reaches stable state, the instantaneous value of three-phase current is acquired, resultant current arrow is calculated according to current instantaneous value
The maximum amplitude and minimum amplitude of amount, then calculate the d-axis inductance of motor, axis inductor value, calculation formula are as follows:
Wherein, uhfFor voltage value, the ω for injecting high frequency voltagehfFor the frequency values for injecting high frequency voltage.
In the step 12), the duty ratio that control inverter keeps certain when resistance parameter recognizes is equivalent straight to generate
Galvanic electricity pressure.
Duty ratio d different twice is given in step 12)1、d2, measure two primary current I1、I2, to eliminate switching tube pressure
Drop and dead time bring measurement error, and the method by filtering and multiple repairing weld is averaged reduces current sample error
Influence, calculation formula are as follows:
It averages again after calculated value repeatedly adds up in the step 22) just to obtain the d-axis electricity of height-precision
Feel, the identifier of axis inductor.
A kind of control system to realize the permanent magnet synchronous motor of the parameter identification method, including it is rectifier bridge, inverse
Become bridge, control panel, the bus capacitor between two output ends of the rectifier bridge is set, and prevents from charging to bus capacitor
When overcurrent pre-charge circuit, the pre-charge circuit include the charging resistor that cathode rectifier output end is set,
DC transformating power and anti-overflow D.C. contactor, wherein the input terminal of the DC transformating power and rectifier bridge it is defeated
It is connected out, the relay coil of the anti-overflow D.C. contactor is serially connected in the outlet side of DC transformating power, described
A pair of of normally opened contact of anti-overflow anti-overflow D.C. contactor is arranged in parallel with the charging resistor.
DC power supply including input termination alternating current, the output end of the DC power supply also and are connected to more
A DC power supplier is the control panel, current detection circuit and voltage detecting circuit and the power supply of PWM drive module.
The control panel be DSP control panel, further include with the DSP control panel communication connection display device, it is described
Display device be LCD display device, communicated in a manner of RS232 with the DSP control panel.
It further include the storage chip communicated with the DSP control panel, the DSP passes through communication chip and described
LCD display device connection.
Fuse is provided on the electrode input end of the inverter.
It further include input side D.C. contactor, three pairs of contacts of the input side D.C. contactor are corresponding to be concatenated into described
Rectifier bridge input phase on, the output end of the protection circuit is connect with input side D.C. contactor.
It further include current detection circuit and voltage detecting circuit, and by sample rate current and sample circuit compared with setting value
Circuit is protected to carry out the detection of breakdown judge, the output of the protection circuit is connected to PWM drive module；The protection
It is connected to input side D.C. contactor after the inverted device of the output of circuit and is connected to input side, described inputs the another of side contactor
The 24V of one termination Switching Power Supply.
The advantages and benefits of the present invention are:
Parameter identification method identification process of the invention is simple, strong applicability, is easily achieved, and can effectively pick out electricity
Stator resistance, d-axis inductance and the axis inductor value of machine have very high accuracy compared with the parameter value that producer provides.
The present invention, which is controlled with the DC voltage source control contactor for being connected in parallel on bus capacitor two sides instead of original DSP, to be believed
Number, if diode rectifier output DC voltage reach certain value, can automatic pick, charging resistor is shorted, nothing
Need DSP control.
Detailed description of the invention
Fig. 1 is control system for permanent-magnet synchronous motor structure chart；
Fig. 2 provides 5V circuit diagram for DC power supply；
Fig. 3 provides the circuit diagram of+15V He -15V for DC power supply；
Fig. 4 provides 3.3V circuit diagram for DC power supply；
Fig. 5 is storage and LCD display input figure；
Fig. 6 is detection protection circuit diagram.
Fig. 7 is permanent magnet synchronous motor pulsating high frequency signal injection Identification of parameter flow chart.
In figure:
1, three-phase alternating-current supply 2, diode rectifier
3, three phase inverter bridge 4, permanent magnet synchronous motor
5, bus capacitor 6, DSP control panel
7, PWM drive modules 8, detection protection circuit
9, DC power supply circuit 10, LCD display input
11, storage unit 12, the contact of anti-overflow D.C. contactor
13, anti-overflow D.C. contactor 14, charging resistor
15, relay coil 16, DC transformating power
17, fuse 18, the first DC Module
19, the second DC Module 20, third DC Module
21, storage chip 22, communication chip
23, first comparator 24, the second comparator
25 or door 26, phase inverter
27, input side D.C. contactor
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, combined with specific embodiments below furtherly
Bright technical solution of the present invention.
Embodiment one
A kind of control system of permanent magnet synchronous motor of the invention, including rectifier bridge 2, inverter bridge 3, control panel 6, setting exist
Bus capacitor 5 between two output ends of the rectifier bridge, and prevent the preliminary filling of overcurrent when to bus capacitor charging
Circuit, the pre-charge circuit include the charging resistor 14 that cathode rectifier output end is arranged in, DC transformating power 16
And anti-overflow D.C. contactor 15, wherein the input terminal of DC transformating power 16 is connected with the output end of rectifier bridge
Connect, i.e., input terminal respectively with rectifier bridge anode output and cathode output connection, the anti-overflow D.C. contactor 15 after
Electric apparatus coil concatenate DC transformating power outlet side, a pair of of normally opened contact 13 of the anti-overflow D.C. contactor with it is described
Charging resistor 14 be arranged in parallel.
Wherein, the output of the DC transformating power is 24V direct current, and the anti-overflow D.C. contactor is 24V
Anti-overflow D.C. contactor.The DC voltage of rectifier bridge output of the invention is the input voltage of DC transformating power, and direct current becomes
It changing power supply and is equivalent to voltage dropping power supply, carried out charging initial stage to bus capacitor, the input terminal voltage of DC transformating power is smaller,
When bus capacitor tends to saturation, the input terminal voltage of DC transformating power is incrementally increased, only the direct current when rectifier bridge output
When voltage reaches 480V or so, the output voltage of DC transformating power can be only achieved 24V, and only 24V voltage could allow anti-mistake
It flows D.C. contactor to be attracted, charging resistor is shorted.When three-phase is electrically disconnected or rectifier bridge failure, the direct current of rectifier bridge output
Pressure constantly decline, when being lower than 480V, DC transformating power can not export 24V direct current, and anti-overflow D.C. contactor just disconnects,
Charging resistor is connected in series in circuit again, and the electric discharge safety of bus capacitor is effectively ensured, and whole process is controlled without external signal,
It is simple and reliable, depend entirely on bus capacitor and whether reach relevant voltage value, control stablize it is high, with being connected in parallel on bus capacitor two sides
DC voltage source control contactor instead of original dsp control signal, as long as the DC voltage of diode rectifier output
Reach certain value, can automatic pick, charging resistor is shorted, without DSP control.
Meanwhile fuse is provided on the electrode input end of the inverter.System is replaced using fuse in main circuit
Dynamic resistance, braking contactor are protected, and it is also to reduce control that direct fusing mechanism, which carries out protection, improve control stability.
Embodiment two
It on the basis of the above embodiments, include the direct current of input termination alternating current described in the second embodiment of the present invention
Power supply, the DC power supply include the direct current redundant module with U, V phase in three-phase input power supply as input,
With the output end of the direct current redundant module and multiple DC power suppliers for connecing, the DC power supplier is respectively institute
Control panel, detection protection circuit and the voltage detecting circuit stated and the power supply of PWM drive module.
Specifically as shown, DC power supply 9 is that DSP control panel 6 and LCD display input 10 provide power supply, wherein directly
The direct current redundancy mould DR-RDN20 of bright latitude power supply can be selected in stream redundant module, which uses Redundancy Design, utilize three-phase input
U, V phase in power supply can guarantee control electricity just as input, U, V phase mutual backup, generation+24V direct current to greatest extent
Often.Bright latitude Switching Power Supply, which can also be used, in certain DC power supply 9 becomes 24V direct current for mains AC, and 24V direct current passes through again
The DC power supplier (model IB2405LS-1W, WRA2415S-3W and K7803-500R2) of Jin Shengyang company respectively will
24V is converted to as+5V, ± 15V and+3.3V, and specific connection type is as follows:
Direct current redundancy mould or+24 signals of Switching Power Supply respectively with the anode of capacitor DVC1, DVC2 and the first direct current mould
The Vin of block 18 is connected, and the cathode of capacitor DVC1, DVC2 are connected with the GND of GND, the first DC Module 18 ,+5V signal, electricity
Hold the anode of DVC3, one end of DVR1 is connect with the Vout of the first DC Module 18, the cathode of capacitor DVC3 and DVR1's is another
End is connect with the 0V of the first DC Module 18.
Direct current redundancy mould or+24 signals of Switching Power Supply respectively with the anode of capacitor DVC4, DVC5 and the second direct current mould
The Vin of block 19 is connected, and the cathode of capacitor DVC4, DVC5 are connected with the GND of GND, the second DC Module 19 ,+15V signal,
The anode of capacitor DVC6, DVC7 are connect with the V+ of the second DC Module 19, the cathode of capacitor DVC6, DVC7 and the second DC Module
19 0V connection.The anode of capacitor DVC8, VC9 are connect with the 0V of the second DC Module 19, -15V signal, capacitor DVC8, DVC9
Cathode connect with the V- of DC Module 19.
Direct current redundancy mould or+24 signals of Switching Power Supply respectively with the anode of capacitor DVC10, DVC11 and third direct current
The Vin of module 20 is connected, and the cathode of capacitor DVC10, DVC11 are connected with the GND of GND, third DC Module 20 ,+3.3V
Signal, the positive of capacitor DVC12 connect with the Vout of third DC Module 20, and the cathode of capacitor DVC12 is connect with GND.
Embodiment three
The control panel is DSP control panel, further includes and the DSP control panel communication connection display device.Specifically
Ground, the display device are LCD display device, and LCD display input 10 is integrated with liquid crystal display, communication, key-press input etc.
Unit is communicated in a manner of RS232 with the DSP control panel.
It wherein, further include the storage chip communicated with the DSP control panel, the DSP passes through communication chip and institute
The LCD display device connection stated, specifically, the end A0, A1, A2, VSS and WP of the storage chip 21 is connect with GND,
The end VCC is connect with+5V, and the end SCL, SDA is connected with GPIO33, GPIO32 pin of DSP control panel respectively, DSP control panel 6
GPIO14, GPIO13 are connected with the end SCITX, SCIRX of communication chip 22 respectively, Tx+, Tx- of communication chip 22, Rx+,
The end Rx- is connected with the corresponding pin of LCD display device respectively.
LCD display device is integrated with single-chip microcontroller, communication chip, LCD display module, and DSP is passed data by communication chip
It is defeated by LCD display device, after LCD display device receives data, data are shown on LCD by built-in single-chip microcontroller.Together
Sample LCD display device is sent to DSP after the external world is also input to the data processing of LCD.Doing so mainly has following benefit:
1, it saves the I/O mouth 2 of DSP, be a more complex journey using RS232 communication increases certain transmission range 3, LCD is shown
Sequence does so the expense for having saved DSP, DSP is made to be absorbed in motor control.
Example IV
On the basis of the above embodiments, electric machine control system of the invention further includes current detection circuit and voltage detecting
Circuit, and circuit is protected into the detection that sample rate current and sample circuit and normal value are compared to breakdown judge, it is described
Protection circuit output be connected to PWM drive module, wherein current detection circuit and voltage detecting circuit and protection circuit with
The prior art is similar, herein not reinflated description,
It further include input side D.C. contactor meanwhile to improve whole control effect, the input side D.C. contactor
The corresponding three-phase alternating-current supply 1 for concatenating the rectifier bridge in three pairs of contacts input phase on, the protection circuit it is defeated
Outlet is connect with input side D.C. contactor.
Specifically, the detection protection circuit includes the cathode difference current detection circuit and voltage detecting electricity
The voltage detection signal of road output or the first comparator 19 of output, the second comparator 20 of current detection signal, described the
The anode of one comparator and the second comparator connect with reference voltage respectively, two input terminals and the first comparator 19, the
The output of two comparators 20 connects or door 21, described or door 21 output are connected to PWM driving after light emitting diode D11
Module, fault alarm can be carried out by then stopping PEM drive module when occurring abnormal by light emitting diode D11, meanwhile, it is described
Or the output end of door 21 is controllably connect with input side D.C. contactor, three pairs of contacts of the input side D.C. contactor are corresponding
In the input phase for concatenating the rectifier bridge.Specifically, it is connected to after the inverted device 26 of output of the protection circuit defeated
Enter the control coil of side D.C. contactor 27, while being connected to input side, another termination switch of the input side contactor
The 24V of power supply.Meanwhile the coil of the input side contactor also and is connected to sustained diode 12, the freewheeling diode
The anode of D12 meets 24V, and cathode connects the output end of phase inverter, when the controlled stopping of PWM drive module, controls the inverted device of signal
After input side D.C. contactor coil is connected, the electric current for completing front end disconnects, and realizes whole control.
Embodiment five
A kind of parameter identification method of the permanent magnet synchronous motor, includes the following steps,
One) stator resistance identification step,
11) to inject sufficiently large zero degree voltage vector make rotor-position return to zero, and makes the mechanical zero and inverter of rotor
Electrical zero point is overlapped,
Wherein, zero degree voltage vector is applied by DSP control inverter, according to space vector pulse width modulation and vector
Principle synthesizes the voltage vector that electric angle is zero direction by inverter, does not need any peripheral auxiliary device, directly passes through
Inverter applies.Armature spindle is attracted to 0 degree of position by the magnetic field that the zero degree voltage vector generates, to complete motor rotor position
Zeroing.Wherein, it is 20% or so of rated current of motor that sufficiently large voltage, which refers generally to the electric current of voltage generation,.
12) applying direct current to stator and measure electric current can be obtained stator resistance；After completion rotor initially returns to zero, thus
Rotor not can rotate, if measurement current feedback values can calculate resistance value, by equivalent circuit diagram it follows that
Simultaneously as inverter can not give a Constant Direct Current source, it is practical that high-frequency voltage signal is inputted using inverter,
Equivalent DC voltage can be obtained in the duty ratio being kept fixed.
Two) stator d-axis inductance axis inductor identification step,
Wherein, mathematical model of the permanent magnet synchronous motor in alpha-beta shafting are as follows:
I in formulaα,iβ----stator α axis, β shaft current；
ψα,ψβ----stator α axis, β axis magnetic linkage；
Ld,Lq----stator d-axis, axis inductor；
ψf----rotor flux；
θ ----rotor position angle；
When to permanent magnet synchronous motor injection high frequency voltage uhfAfterwards, since select injection is d-axis direction, and direct-axis voltage
Excitation effect is only served, therefore the rotor of motor can be stationary, therefore rotor position angle θ is constant.It, can when frequency is higher
To ignore the pressure drop on stator resistance.Therefore the integral term of formula (2) right side of the equal sign is 0, and bringing formula (2) into formula (1) can obtain:
I in formulaαhf,ihfThe high-frequency current of ----stator α axis, β axis；
θhfThe voltage vector phase of ----high frequency injection.
It can be obtained after being integrated to above formula:
The current phasor maximum value and minimum value of the synthesis of α, β axis high-frequency current can be obtained after arranging to above formula are as follows:
Due in upper two formula, wherein uhfFor voltage value, the ω for injecting high frequency voltagehfFor the frequency for injecting high frequency voltage
Value, as setting value.As long as calculating the maximum amplitude and minimum amplitude of three-phase current, d-axis, axis inductor can be calculated
Value, calculation formula are as follows:
Therefore measurement motor d-axis, detailed process is as follows for axis inductor:
21) high frequency voltage of given amplitude is injected to motor d-axis direction,
22) after electric current reaches stable state, the instantaneous value of three-phase current is acquired, resultant current arrow is calculated according to current instantaneous value
The maximum amplitude and minimum amplitude of amount, then the d-axis inductance of motor, axis inductor value are calculated,
Simultaneously to improve measurement accuracy, d-axis inductance, quadrature axis can be obtained by averaging again after calculated value is repeatedly added up
The identifier of inductance.
The high-frequency signal of input is DSP according to according to space vector pulse width modulation and vector principle, inverse by controlling
Become what device generated, duty ratio is the high frequency voltage for being automatically generated, and be not fixed, but being generated by space vector pulse width modulation
Amplitude remains unchanged.
In specific implementation, software programming is carried out using DSP28335 control panel, pulsating high-frequency electrical is completed using C language
Pressure offline parameter identification algorithm writes work, and has carried out parameter of electric machine identification test, and test result shows that the algorithm recognizes
Process is simple, strong applicability, is easily achieved, and can effectively pick out the stator resistance, d-axis inductance and axis inductor of motor
Value has very high accuracy compared with the parameter value that producer provides.
Additionally due to there are dead time, switch tube voltage drops and sampling error etc. to influence for inverter, lead to the electricity of measurement
It is very big to hinder error, it is therefore necessary to these factor bring errors need to be overcome.Duty ratios different twice is given in step 12)
d1、d2, measure two primary current I1、I2, to eliminate switch tube voltage drop and dead time bring measurement error, and by filtering and
The method that multiple repairing weld is averaged reduces the influence of current sample error, calculation formula are as follows:
Resistance value is repeatedly calculated according to above formula and obtains final resistance identifier after averaging.
Wherein, the progress of buttworth step low-pass digital filter can be used in filtering.The direction of high frequency signal injection has very
More, if being all the voltage injected from d-axis direction, in terms of difference is treatment of details, the voltage magnitude size of injection is protected
The electric current that card generates is that Rated motor is worth 60% or so, and high-frequency current is after second order buttworth filter filtering, then uses
Limit filtration method rejects biggish impulse disturbances, then asks its minimum and maximum using the filter method that counts collected current data
Value.To further increase precision, several groups of data can be adopted more and be averaged.
It should be noted that parameter identification of the invention is not that each starting will recognize, as long as once being recognized,
The numerical value is recorded after identification, has detected that storage can be recognized no longer after starting later, it certainly if needed can also be on-demand
It carries out again, as progress parameter is distinguished when all carrying out parameter identification or the number of starts before every starting or restarting after the operation predetermined time
Know, the purpose of identification is accurate acquisition motor relevant parameter, improves the control precision of motor.
As specific control, Fig. 7 is permanent magnet synchronous motor pulsating high frequency signal injection Identification of parameter flow chart, control
Algorithm is programmed in DSP control panel 6 using C language and is run, and (a) is main program flow chart in Fig. 7, is (b) timer interruption
Program flow diagram, timer interrupt sub routine execute in main program, main to complete pulsating high frequency signal injection identification algorithm, turn
Fast current double-ring vector controlled scheduling algorithm, specific embodiment are as follows:
Main program specific embodiment is as follows:
(I) start
Program starts, from main program entrance, S1；
(II) it initializes
The initialization of DSP is carried out, DSP peripheral clock, house dog, I/O port (input and output) and interrupt vector table are completed
Initial work, S2；
(III) configuration register
Configure timer, PWM register, SCI register and interrupt register, and enabled related interrupts function, S3；
(IV) initializers parameter
The relevant parameters such as initialization timer, PWM duty cycle, delay time, RS232 communication software, S4；
(V) circulation waits
Into major cycle, waiting timer, which interrupts, to be occurred, S5；
(VI) it executes interrupt routine and returns
Timer interrupt sub routine is executed, returns to main program after the completion, circulation waits, S6.
Timer interrupt sub routine specific embodiment is as follows:
(I) it interrupts and starts
Interruption occurs, into timer interrupt program, S7；
(II) whether parameter identification is completed
Judge whether to complete parameter of electric machine identification, if completing, directly executes speed and current double closed loop vector control algorithm, it is no
Then execute Identification of parameter, S8；
(III) Stator resistance identification
Stator resistance identification algorithm is executed, progress motor rotor position zeroing first, then accounted for respectively to motor injection difference
The high frequency voltage of empty ratio acquires current of electric and calculates resistance value, is averaging after calculated value is added up and obtains distinguishing for stator resistance
Knowledge value, S9；
(IV) pulsating high frequency signal injection
Pulsating high frequency signal injection identification algorithm is executed, injects high frequency voltage, the width of high frequency voltage to motor d-axis direction
Value is gradually increased to given amplitude, after reaching given amplitude, is continued for some time, when high frequency is after electric current reaches stable state, acquisition
The instantaneous value of three-phase current simultaneously saves data, is gradually reduced the amplitude of high frequency voltage after the completion until zero, S10；
(V) d-axis and q-axis inductance is calculated
Three-phase current data are handled, the maximum value and minimum of the current phasor of each current cycle synthesis are calculated
Value calculates d-axis inductance, axis inductor value, then is averaging after the calculated value in each period is added up, and can obtain d-axis electricity
Feel, the identifier of axis inductor, S11；
(VI) start switching control
After completing parameter identification, vector coordinate transform, actuating motor startup program are carried out according to sampled value, and judge whether
Control mode switching is completed, if switching is completed, speed current control is directly carried out, otherwise executes changeover program, S12；
(VII) speed and current controls
Speed ring is completed according to the revolving speed of motor, current feedback values, the PI of electric current loop is controlled to adjust, progress park inversion
It changes, calculates voltage reference value, S13；
(VIII) PWM Algorithm
The voltage reference value of output is adjusted according to speed and current, executes PWM Algorithm, calculates duty ratio and exports PWM
Signal, control three phase inverter bridge driving motor operation, S14；
(Ⅸ) it interrupts and completes to return to main program
The offline parameter identification and speed and current double-loop control for completing motor, interrupt and complete to return to main program, S15.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (11)
1. a kind of parameter identification method of permanent magnet synchronous motor, it is characterised in that: include the following steps,
One) stator resistance identification step,
11) injecting sufficiently large zero degree voltage vector makes rotor-position return to zero, make rotor mechanical zero and inverter it is electrical
Zero point is overlapped,
12) applying direct current to stator and measure electric current can be obtained stator resistance；
Two) stator d-axis inductance axis inductor identification step,
21) high frequency voltage of given amplitude is injected to motor d-axis direction,
22) after electric current reaches stable state, the instantaneous value of three-phase current is acquired, resultant current vector is calculated according to current instantaneous value
Maximum amplitude and minimum amplitude, then calculate the d-axis inductance of motor, axis inductor value, calculation formula are as follows:
Wherein, uhfFor voltage value, the ω for injecting high frequency voltagehfFor the frequency values for injecting high frequency voltage.
2. parameter identification method as described in claim 1, which is characterized in that in the step 12), when resistance parameter recognizes
Control inverter keeps certain duty ratio to generate Equivalent DC voltage.
3. parameter identification method as described in claim 1, which is characterized in that give duties different twice in step 12)
Compare d1、d2, measure two primary current I1、I2, to eliminate switch tube voltage drop and dead time bring measurement error, and pass through filtering
Reduce the influence of current sample error, calculation formula with the method that multiple repairing weld is averaged are as follows:
4. parameter identification method as described in claim 1, which is characterized in that repeatedly tire out calculated value in the step 22)
It averages again after adding just to obtain the d-axis inductance of height-precision, the identifier of axis inductor.
5. a kind of control system to realize the permanent magnet synchronous motor of the described in any item parameter identification methods of 1-4,
It is characterized by comprising rectifier bridge, inverter bridge, control panel, the bus electricity between two output ends of the rectifier bridge is set
The pre-charge circuit of overcurrent when holding, and preventing from charging to bus capacitor, the pre-charge circuit include being arranged whole
Flow charging resistor, DC transformating power and the anti-overflow D.C. contactor of bridge cathode output end, wherein the DC converting
The input terminal of power supply is connected with the output of rectifier bridge, and the relay coil of the anti-overflow D.C. contactor is serially connected in direct current
The outlet side of converting power source, a pair of of normally opened contact of the anti-overflow anti-overflow D.C. contactor and the charging resistor are simultaneously
Connection setting.
6. a kind of control system of permanent magnet synchronous motor according to claim 5, it is characterised in that: further include input termination
The DC power supply of alternating current, the output end of the DC power supply also and are connected to multiple DC power suppliers as institute
Control panel, current detection circuit and voltage detecting circuit and PWM the drive module power supply stated.
7. a kind of control system of permanent magnet synchronous motor according to claim 5, it is characterised in that: the control panel is
DSP control panel further includes filling with the DSP control panel communication connection display device, the display device for LCD display
It sets, is communicated in a manner of RS232 with the DSP control panel.
8. a kind of control system of permanent magnet synchronous motor according to claim 7, it is characterised in that: further include with it is described
The storage chip of DSP control panel communication, the DSP are connect by communication chip with the LCD display device.
9. a kind of control system of permanent magnet synchronous motor according to claim 5, it is characterised in that: the inverter
Fuse is provided on electrode input end.
10. a kind of control system of permanent magnet synchronous motor according to claim 5, it is characterised in that: further include input side
D.C. contactor, three pairs of contacts of the input side D.C. contactor correspond in the input phase for concatenating the rectifier bridge,
The output end of the protection circuit is connect with input side D.C. contactor.
11. a kind of control system of permanent magnet synchronous motor according to claim 10, it is characterised in that: further include electric current inspection
Slowdown monitoring circuit and voltage detecting circuit, and sample rate current and sample circuit and setting value are compared to the detection of breakdown judge
Circuit is protected, the output of the protection circuit is connected to PWM drive module；After the inverted device of output of the protection circuit
It is connected to input side D.C. contactor and is connected to input side, the 24V of another termination Switching Power Supply of the input side contactor.
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