CN110165960A - Misalignment angle estimation method, system, computer installation and medium - Google Patents
Misalignment angle estimation method, system, computer installation and medium Download PDFInfo
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- CN110165960A CN110165960A CN201910481681.0A CN201910481681A CN110165960A CN 110165960 A CN110165960 A CN 110165960A CN 201910481681 A CN201910481681 A CN 201910481681A CN 110165960 A CN110165960 A CN 110165960A
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Control Of Ac Motors In General (AREA)
Abstract
The application provides a kind of misalignment angle estimation method, system, computer installation and medium, it include: that practical straight, quadrature axis is determined according to rotor physical location, the steady-state current indicated under actively short circuit with actual DC, quadrature axis current, the parameter of electric machine and revolving speed and the first expression formula are obtained according to synchronous motor voltage equation, it brings the parameter of electric machine into and obtains practical d-axis, quadrature axis current under fixed rotating speed, it is determined according to rotor measurement position and measures straight, quadrature axis, obtained respectively according to active short circuit experiment in measurement d-axis, quadrature axis current；D-axis misalignment angle and quadrature axis misalignment angle are obtained according to the practical d-axis, quadrature axis current, the measurement d-axis, quadrature axis current, and synthesis obtains misalignment angle.Solves the precision that measurement method in the prior art is limited to estimation, and algorithm is more complex, high or precision is required to be influenced by rotary inertia hardware circuit, it is desirable that the problem of starting rotor rotating range and occasion difficulty are realized, so that position deviation detection is simpler, reliable and practical.
Description
Technical field
This application involves a kind of motor position error-detecting fields, more particularly to a kind of misalignment angle estimation method, are
System, computer installation and medium.
Background technique
PMSM (Permanent Magnet Synchronous Motor, permanent magnet synchronous motor) is widely used in a variety of high
Performance driving controls occasion, and the accurate detection of motor rotor position is the premise of its high-precision control.Under normal conditions, rotor position
It sets and is detected by coaxial mounted position sensor, but the installation error of position sensor will lead to depositing for zero drift
, and then cause the error of position detection, it will affect the starting and normal work of PMSM when serious.So must be had using one kind
The method of effect demarcates the error of zero of position sensor, and then improves the precision of position detection, to realize the height of PMSM
Properties Control.
Currently, domestic and foreign scholars have done many significant researchs to the estimation of original position of electric motor's rotator.Detect rotor
Zero drift is frequently with pre-determined bit method and high-frequency signal injection.Pre-determined bit method is first to apply direct current to the stator winding of PMSM or consolidate
The voltage vector for determining direction makes it generate the magnetic field of the direction, and rotor is dragged to predetermined position, is according to the output of sensor
It can determine zero drift.It is easily realized though the localization method is simple, estimated accuracy is by load rotating inertia, initial position of rotor
Etc. factors influence, detection error is larger.High-frequency signal injection uses sensorless strategy method to carry out initial position of rotor
Estimation, while the initial position value of sensor is obtained, to obtain the detection error of position sensor.But based on high-frequency signal
The algorithm operation quantity of injection is larger, and algorithm comparison is complicated, more demanding to hardware circuit, is not suitable for engineer application.
Recklessly appoint etc. will based on electromagnetic torque modal position transducer zeroing Error estimation method with pre-determined bit method in conjunction with, solve
Zero drift estimation problem under loading condition of having determined.But this method is only applicable to motor operation at the uniform velocity and under even acceleration mode,
With certain limitation.Yang Yunwei etc. is estimated using the offset relation of permanent magnet synchronous motor counter electromotive force and rotor magnetic pole position
The deviation of out position sensor, though this method can overcome the influence of system friction torque, this method not only needs multiple groups number
According to sample mean, and it is synchronous to require the sampling of counter electromotive force to read with position, and test process is complex.
Following problem is primarily present to the measurement of PMSM position sensor zero drift at present: based on position-sensor-free
Zero drift measurement method is limited to the precision of position-sensor-free algorithm estimation, and the algorithm is more complex, wants to hardware circuit
Ask higher, the estimated accuracy for being pre-positioned method is affected by load rotating inertia.For requiring starting rotor rotating range small very
To static occasion, this method can not be applicable in.
Summary of the invention
Misalignment angle estimation method, system, computer installation and medium, for solving prior art Position Sensor zero
The measurement method of position deviation is limited to the precision of position-sensor-free algorithm estimation, and the algorithm is more complex, wants to hardware circuit
Ask higher or precision be affected by load rotating inertia, for require the small or even static occasion of starting rotor rotating range compared with
The problem of hardly possible is realized.
In order to achieve the above objects and other related objects, the application provides a kind of misalignment angle estimation method, is applied to three
Phase permanent magnet synchronous motor, the motor includes a rotor, wherein having d-axis and quadrature axis, which comprises according to rotor reality
Position determines practical d-axis and practical quadrature axis, according to synchronous motor voltage equation obtain using under actively short circuit practical direct-axis current,
The steady-state current that practical quadrature axis current, the parameter of electric machine and revolving speed indicate, is brought into the steady-state current for the fixed parameter of electric machine
The first relational expression is obtained, practical d-axis electricity corresponding with practical d-axis is obtained under a fixed rotating speed according to first relational expression
Stream, practical quadrature axis current corresponding with practical quadrature axis；According to rotor measurement position determine measurement d-axis and measurement quadrature axis, according to by
Active short circuit experiment obtain under conditions of the fixed rotating speed with the corresponding measurement direct-axis current of measurement d-axis and with measurement
The corresponding measurement quadrature axis current of quadrature axis；According to the practical direct-axis current, the practical quadrature axis current, the measurement direct-axis current
And measurement quadrature axis current obtains the d-axis misalignment angle obtained by the practical d-axis and the measurement d-axis and by the reality
The quadrature axis misalignment angle that quadrature axis and the measurement quadrature axis obtain, and integrated to obtain misalignment angle.
In the embodiment of the application, the synchronous motor voltage equation are as follows:
Wherein, idAnd iqRespectively practical direct-axis current and practical quadrature axis current, RsFor stator resistance, LdAnd LqIt is respectively real
Border d-axis inductance and practical axis inductor, udAnd uqRespectively practical direct-axis voltage and practical quadrature-axis voltage, ωeFor revolving speed, ψfFor
Permanent magnet flux linkage.
In the embodiment of the application, first relational expression are as follows:
Wherein, A, B are constant；idAnd iqRespectively practical direct-axis current and practical quadrature axis current, ωeFor a fixed rotating speed.
In the embodiment of the application, according to obtaining the measurement d-axis under the fixed rotating speed by active short circuit experiment
Electric current and measurement quadrature axis current, comprising: steady-state current response curve is obtained according to by active short circuit experiment, by the steady-state current
Response curve obtains measurement direct-axis current and measurement quadrature axis current under the fixed rotating speed.
It is straight according to the practical direct-axis current, the practical quadrature axis current, the measurement in the embodiment of the application
Shaft current and measurement quadrature axis current obtain the d-axis misalignment angle obtained by the practical d-axis and the measurement d-axis and by institutes
State the quadrature axis misalignment angle that practical quadrature axis and the measurement quadrature axis obtain, comprising: according to the practical d-axis, the practical friendship
The mathematical relationship of axis, the measurement d-axis and a measurement quadrature axis is obtained to be obtained by the practical d-axis and the measurement d-axis
D-axis misalignment angle and by the practical quadrature axis and the obtained quadrature axis misalignment angle of measurement quadrature axis.
In the embodiment of the application, the mathematical relationship are as follows:
Wherein, the idm、iqm、idAnd iqRespectively measure direct-axis current, measurement quadrature axis current, practical direct-axis current and
Practical quadrature axis current；θdAnd θqRespectively d-axis misalignment angle and quadrature axis misalignment angle.
It in the embodiment of the application, and is integrated to obtain misalignment angle, comprising: by the d-axis angle of deviation
Degree is added with the quadrature axis misalignment angle to carry out average computation again and obtains the misalignment angle.
In order to achieve the above objects and other related objects, the application provides a kind of misalignment angle estimating system, is applied to three
Phase permanent magnet synchronous motor, including a rotor, wherein having d-axis and quadrature axis, the system is used for basis with including: actual current module
Rotor physical location determines practical d-axis and practical quadrature axis, and it is lower with practical straight to obtain actively short circuit according to synchronous motor voltage equation
The fixed parameter of electric machine is brought into described steady by the steady-state current that shaft current, practical quadrature axis current, the parameter of electric machine and revolving speed indicate
State electric current, then obtain under a fixed rotating speed and the corresponding practical direct-axis current of practical d-axis, reality corresponding with practical quadrature axis
Quadrature axis current；Current module is measured, for determining measurement d-axis and measurement quadrature axis according to rotor measurement position, according to by actively short
Road test to obtain under conditions of the fixed rotating speed with the corresponding measurement direct-axis current of measurement d-axis and with measure quadrature axis pair
The measurement quadrature axis current answered；Misalignment angle computing module, for according to the practical direct-axis current, the practical quadrature axis current,
The measurement direct-axis current and measurement quadrature axis current obtain the d-axis deviation obtained by the practical d-axis and the measurement d-axis
Angle and the quadrature axis misalignment angle obtained by the practical quadrature axis and the measurement quadrature axis, and integrated to obtain the angle of deviation
Degree.
In order to achieve the above objects and other related objects, the application provides a kind of computer installation, comprising: one or more are deposited
Reservoir, for storing computer program；One or more processors, for running the computer program, with inclined described in execution
Poor angle estimating method.
In order to achieve the above objects and other related objects, the application provides a kind of computer storage medium, is stored with calculating
Machine program realizes the misalignment angle estimation method when computer program is run.
As described above, misalignment angle estimation method, system, computer installation and the medium of the application, have beneficial below
Effect: the measurement method for solving prior art Position Sensor zero drift is limited to the estimation of position-sensor-free algorithm
Precision, and the algorithm is more complex, or precision more demanding to hardware circuit is affected by load rotating inertia, for requiring to open
The small or even static occasion of the sub- rotating range of turn problem relatively difficult to achieve so that measurement method and result it is simpler, it is reliable and
It is practical.
Detailed description of the invention
Fig. 1 is shown as the flow diagram of the misalignment angle estimation method in one embodiment of the application.
Fig. 2 is shown as co-ordinate system location structure chart in one embodiment of the application.
Fig. 3 is shown as measuring current-responsive curve graph in one embodiment of the application.
Fig. 4 is shown as the structural schematic diagram of the misalignment angle estimating system in one embodiment of the application.
Fig. 5 is shown as the structural schematic diagram of the computer installation in one embodiment of the application.
Component label instructions
41 actual current modules
42 measurement current modules
43 misalignment angle computing modules
50 computer installations
51 memories
52 processors
S11~S13 step
Specific embodiment
Illustrate presently filed embodiment below by way of specific specific example, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the application easily.The application can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit herein.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that with reference to attached drawing, attached drawing describes several embodiments of the application in described below.It should
Understand, other embodiments also can be used, and mechanical group can be carried out without departing substantially from spirit and scope
At, structure, electrical and operational change.Following detailed description should not be considered limiting, and the application
The range of embodiment only limited by the claims for the patent announced.Term used herein is merely to description is specific
Embodiment, and it is not intended to limit the application.The term of space correlation, for example, "upper", "lower", "left", "right", " following ", " under
Side ", " " lower part ", " top ", " top " etc., can use in the text in order to elements or features shown in explanatory diagram with
The relationship of another elements or features.
Furthermore as used in herein, singular " one ", "one" and "the" are intended to also include plural number shape
Formula, unless there is opposite instruction in context.It will be further understood that term "comprising", " comprising " show that there are the spies
Sign, operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, operation, element, group
Presence, appearance or the addition of part, project, type, and/or group.Term "or" and "and/or" used herein are interpreted as including
Property, or mean any one or any combination.Therefore, " A, B or C " or " A, B and/or C " mean " it is following any one:
A；B；C；A and B；A and C；B and C；A, B and C ".Only when the combination of element, functions or operations is inherently mutual under certain modes
When repulsion, it just will appear the exception of this definition.
Be primarily present following problem to the measurement of motor measurement angle deviation at present: the zero-bit based on position-sensor-free is inclined
Difference measurements method is limited to the precision of position-sensor-free algorithm estimation, and the algorithm is more complex, more demanding to hardware circuit,
The estimated accuracy of pre-determined bit method is affected by load rotating inertia.For requiring starting rotor rotating range small or even static
Occasion, this method can not be applicable in.
Therefore, the application provides a kind of misalignment angle estimation method, is applied to three-phase permanent magnet synchronous motor, the motor packet
A rotor is included, wherein having d-axis and quadrature axis, the measurement method for solving prior art Position Sensor zero drift is limited
In the precision of position-sensor-free algorithm estimation, and the algorithm is more complex, or precision more demanding to hardware circuit is turned by load
Dynamic inertia is affected, the problem relatively difficult to achieve for the occasion for requiring starting rotor rotating range small or even static, so that surveying
Amount method and result are simpler, reliable and practical.
The three-phase permanent magnet synchronous motor start and run be by stator winding, rotor cage winding and permanent magnet this three
Person generate magnetic field interaction and formed.When motor is static, it is passed through three-phase symmetrical electric current to stator winding, generates stator
Rotating excitation field, stator rotating excitation field are rotated in cage modle winding relative to rotor and generate electric current, form rotor rotating excitation field, stator
The induction torque that rotating excitation field and the interaction of rotor rotating excitation field generate makes rotor accelerate rotation by static.In this mistake
Cheng Zhong, rotor permanent magnet magnetic field is different from stator rotating excitation field revolving speed, can generate alternating torque.When rotor accelerates to speed close to together
When walking revolving speed, close to equal, stator rotating excitation field speed is slightly larger than for rotor permanent magnet magnetic field and the revolving speed of stator rotating excitation field
Rotor permanent magnet magnetic field, they, which interact, generates torques and leads rotor into synchronous operation state.Under synchronous operation state, turn
Electric current is no longer generated in sub- winding.Only have permanent magnet to generate magnetic field on rotor at this time, it and stator rotating excitation field interact, and produce
Raw driving torque.It is respectively d-axis and quadrature axis that wherein rotor, which has two-phase,.
The described method includes: practical d-axis and practical quadrature axis are determined according to rotor physical location, according to synchronous motor voltage
Equation obtains the lower steady-state current indicated with practical direct-axis current, practical quadrature axis current, the parameter of electric machine and revolving speed of actively short circuit, will
The fixed parameter of electric machine is brought into the steady-state current and obtains the first relational expression, according to first relational expression in a fixed rotating speed
Under obtain and the corresponding practical direct-axis current of practical d-axis, practical quadrature axis current corresponding with practical quadrature axis；According to rotor measurement
Position determine measurement d-axis and measurement quadrature axis, according to by active short circuit experiment obtain under conditions of the fixed rotating speed with survey
Measure the corresponding measurement direct-axis current of d-axis and measurement quadrature axis current corresponding with measurement quadrature axis；According to the practical direct-axis current,
The practical quadrature axis current, the measurement direct-axis current and measurement quadrature axis current obtain straight by the practical d-axis and the measurement
D-axis misalignment angle that axis obtains and the quadrature axis misalignment angle obtained by the practical quadrature axis and the measurement quadrature axis, and by its into
Row synthesis obtains misalignment angle.
It is below reference with attached drawing 1, obtains embodiment for the application and be described in detail, so as to herein described technology neck
The technical staff in domain can easily implement.The application can be embodied with a variety of different shapes, however it is not limited to reality described herein as
Apply example.
As shown in Figure 1, for the flow diagram of one of the embodiment of the present application misalignment angle estimation method.
The described method includes:
Step S11: practical d-axis and practical quadrature axis are determined according to rotor physical location, obtained according to synchronous motor voltage equation
It, will be fixed to the lower steady-state current indicated with practical direct-axis current, practical quadrature axis current, the parameter of electric machine and revolving speed of actively short circuit
The parameter of electric machine is brought into the steady-state current and obtains the first relational expression, is obtained under a fixed rotating speed according to first relational expression
And the corresponding practical direct-axis current of practical d-axis, practical quadrature axis current corresponding with practical quadrature axis.
Optionally, the two-phase comprising practical d-axis and practical quadrature axis is established by the actual position information in rotor to revolve
Turn coordinate system, determine practical d-axis and practical quadrature axis, utilize synchronous motor voltage equation, it is preferred that is same using salient pole type permanent magnetism
Walk electric moter voltage equation；In the case where actively short circuit, the permanent magnet synchronous motor equation be derived by with practical
The steady-state current that direct-axis current is indicated with practical quadrature axis current, the parameter of electric machine and revolving speed；Due to the parameter of electric machine be it is known,
The fixed parameter of electric machine is brought into the steady-state current, then practical direct-axis current and the practical quadrature axis current and revolving speed are at one
Constant relationship is the first relational expression, bring into a fixed rotating speed obtain obtaining reality corresponding with practical d-axis under a fixed rotating speed it is straight
Shaft current, practical quadrature axis current corresponding with practical quadrature axis.It should be noted that the fixed rotating speed can choose at least one
Under the conditions of any amount revolving speed, the selection of more fixed rotating speeds can make error estimate more accurate, the fixed rotating speed
Quantity is not construed as limiting in this application, such as fixed rotating speed is two.
Step S12: measurement d-axis and measurement quadrature axis are determined according to rotor measurement position, obtained according to by active short circuit experiment
The corresponding measurement direct-axis current of under conditions of fixed rotating speed and measurement d-axis and measurement corresponding with measurement quadrature axis are handed over
Shaft current.
Optionally, it is established according to the measurement position information that measurement obtains and is rotated comprising measuring d-axis and measuring the two-phase of quadrature axis
Coordinate system, and determine measurement d-axis and measurement quadrature axis, the experimental data that active short circuit experiment obtains is carried out to motor, according to institute
It states experimental data and obtains measurement direct-axis current response relation corresponding with the measurement d-axis, and is corresponding with the measurement quadrature axis
Measure quadrature axis current response relation；According to the measurement direct-axis current response relation and the measurement quadrature axis current response relation,
Under a fixed rotating speed, the available and described corresponding measurement direct-axis current of measurement d-axis and measurement corresponding with measurement quadrature axis
Quadrature axis current, the electric motor short circuit experimental configuration are set according to condition is asked, for example, experimental configuration is inverter topology knot
Structure.
Step S13: according to the practical direct-axis current, the practical quadrature axis current, the measurement direct-axis current and measurement
Quadrature axis current obtain by the practical d-axis and the obtained d-axis misalignment angle of measurement d-axis and by the practical quadrature axis with
The quadrature axis misalignment angle that the measurement quadrature axis obtains, and integrated to obtain misalignment angle.
Optionally, according to the practical direct-axis current corresponding to practical d-axis under fixed rotating speed, corresponding practical friendship
The practical quadrature axis current of axis, the corresponding measurement direct-axis current of corresponding measurement d-axis and the corresponding survey of corresponding measurement quadrature axis
Amount quadrature axis current obtains the practical d-axis corresponding to the practical direct-axis current and the measurement corresponding to the measurement direct-axis current
The d-axis misalignment angle of d-axis, corresponding to the practical quadrature axis of the practical quadrature axis current and corresponding to the measurement quadrature axis current
The quadrature axis misalignment angle for measuring quadrature axis is integrated the d-axis misalignment angle, the quadrature axis misalignment angle to obtain the reality straight
The misalignment angle of axis and the measurement d-axis or the practical quadrature axis and the measurement quadrature axis.It is wherein it should be noted that described
Practical d-axis, practical quadrature axis, measurement d-axis and measurement quadrature axis are respectively the different coordinates established in a plane, two two-phases
The origin of coordinate system be it is consistent, there are certain angle difference between coordinate system, thus the practical quadrature axis, practical d-axis and institute
It states measurement d-axis and the measurement quadrature axis is the mathematical relationship on a position.
Optionally, practical d-axis and practical quadrature axis are determined according to rotor physical location, is obtained according to synchronous motor voltage equation
It is described same to the lower steady-state current indicated with practical direct-axis current and practical quadrature axis current, the parameter of electric machine and revolving speed of actively short circuit
Walk electric moter voltage equation are as follows:
Wherein, idAnd iqRespectively practical direct-axis current and practical quadrature axis current, RsFor stator resistance, LdAnd LqIt is respectively real
Border d-axis inductance and practical axis inductor, udAnd uqRespectively practical direct-axis voltage and practical quadrature-axis voltage, ωeFor revolving speed, ψfFor
Permanent magnet flux linkage.
Specifically, RsFor stator resistance, LdAnd LqRespectively practical d-axis inductance and practical axis inductor, ψfFor permanent magnet
Magnetic linkage belongs to the parameter of electric machine, in a short-circuit situation, udAnd uqIt is 0, by by the synchronous motor voltage equation, derivation can be with
Obtain the steady-state current indicated with practical direct-axis current and practical quadrature axis current, the parameter of electric machine and revolving speed:
Because of LdLqωe 2> > Rs 2, so steady-state current may be expressed as:
Optionally, first relational expression are as follows:
Wherein, A, B are constant；idAnd iqRespectively practical direct-axis current and practical quadrature axis current, ωeFor a fixed rotating speed.
Optionally, according to the measurement direct-axis current and measurement quadrature axis obtained by active short circuit experiment under the fixed rotating speed
Electric current, comprising: obtain steady-state current response curve according to by active short circuit experiment, obtained by the steady-state current response curve
Measurement direct-axis current and measurement quadrature axis current under the fixed rotating speed.
Optionally, it is handed over according to the practical direct-axis current, the practical quadrature axis current, the measurement direct-axis current and measurement
Shaft current obtains the d-axis misalignment angle obtained by the practical d-axis and the measurement d-axis and by the practical quadrature axis and institute
State the quadrature axis misalignment angle that measurement quadrature axis obtains, comprising:
It is obtained according to the practical d-axis, the practical quadrature axis, the measurement d-axis and the mathematical relationship of a measurement quadrature axis
Obtain the d-axis misalignment angle obtained by the practical d-axis and the measurement d-axis and by the practical quadrature axis and the measurement
The quadrature axis misalignment angle that quadrature axis obtains.
Optionally, the mathematical relationship are as follows:
Wherein, the idm、iqm、idAnd iqRespectively measure direct-axis current, measurement quadrature axis current, practical direct-axis current and
Practical quadrature axis current；θdAnd θqRespectively d-axis misalignment angle and quadrature axis misalignment angle.
Optionally, it and is integrated to obtain misalignment angle, comprising: the d-axis misalignment angle and the quadrature axis is inclined
The addition of declinate degree carries out average computation again and obtains the misalignment angle, specifically, the obtained d-axis misalignment angle is added
Then the quadrature axis misalignment angle is averaged, the average value is misalignment angle.
Embodiment according to the misalignment angle estimation method, in concrete example practical application.
Embodiment 1: two fixed rotating speed points are chosen and carry out misalignment angle estimation；Please refer to Fig. 2
It applies in three-phase permanent magnet synchronous motor, is sat as shown in Fig. 2, the physical location of rotor establishes the rotation of d-q two-phase
Mark system, motor initial position is θ at this time1, salient-pole permanent-magnet synchronous motor voltage equation are as follows:
Wherein, idAnd iqRespectively practical direct-axis current and practical quadrature axis current, RsFor stator resistance, LdAnd LqIt is respectively real
Border d-axis inductance and practical axis inductor, udAnd uqRespectively practical direct-axis voltage and practical quadrature-axis voltage, ωeFor revolving speed, ψfFor
Permanent magnet flux linkage；
When motor has the initiative under short-circuit condition, udAnd uqIt is 0, steady-state current may be expressed as:
First relational expression and the second relational expression are respectively as follows:
Wherein, due to the parameter of electric machine be it is known, A, B be known constant；idAnd iqRespectively practical direct-axis current and reality
Quadrature axis current, ωeFor a fixed rotating speed.
As shown in Fig. 2, establishing dm-qm two-phase rotating coordinate system with the location information that position sensor obtains, assume at this time
Motor initial position θm, under this assumption, short circuit experiment is carried out to motor, obtains the d axis under the coordinate system and the response of q shaft current
Motor is carried out actively short circuit by curve, and such as, but not limited to: the upper bridge arm of IGBT is fully open, and lower bridge arm is all closed.Inverter
Topological structure.Current-responsive curve is shown in Fig. 3.Therefore idm, iqm value that electric current is measured under two fixed rotating speeds are obtained.
Middle d according to fig. 2m-qmThe relationship of electric current under coordinate system and the d-q system of axis,
It obtains A and B is known, and then find out θdAnd θqAnd then find out θ.
Similarly with above-described embodiment principle, the application provides misalignment angle estimating system, and it is same to be applied to three-phase permanent
Motor is walked, the motor includes a rotor, wherein have d-axis and quadrature axis, the system comprises:
Actual current module, for determining practical d-axis and practical quadrature axis according to rotor physical location, according to synchronous motor
Voltage equation obtains the lower stable state electricity indicated with practical direct-axis current, practical quadrature axis current, the parameter of electric machine and revolving speed of actively short circuit
Stream, is brought into the steady-state current for the fixed parameter of electric machine, then obtains reality corresponding with practical d-axis under a fixed rotating speed
Border direct-axis current, practical quadrature axis current corresponding with practical quadrature axis；
Current module is measured, for determining measurement d-axis and measurement quadrature axis according to rotor measurement position, according to by actively short
Road test to obtain under conditions of the fixed rotating speed with the corresponding measurement direct-axis current of measurement d-axis and with measure quadrature axis pair
The measurement quadrature axis current answered；
Misalignment angle computing module, for straight according to the practical direct-axis current, the practical quadrature axis current, the measurement
Shaft current and measurement quadrature axis current obtain the d-axis misalignment angle obtained by the practical d-axis and the measurement d-axis and by institutes
The quadrature axis misalignment angle that practical quadrature axis and the measurement quadrature axis obtain is stated, and is integrated to obtain misalignment angle.
Specific embodiment is provided below in conjunction with attached drawing:
As shown in figure 4, showing the structural schematic diagram of one of the embodiment of the present application misalignment angle estimating system.
It includes practical d-axis and reality that the actual current module 41 is established by the actual position information in rotor
The two-phase rotating coordinate system of quadrature axis determines practical d-axis and practical quadrature axis, utilizes synchronous motor voltage equation, it is preferred that utilizes
Salient-pole permanent-magnet synchronous motor voltage equation；In the case where actively short circuit, the permanent magnet synchronous motor equation is pushed away
It leads to obtain with practical direct-axis current and practical quadrature axis current, the parameter of electric machine and revolving speed the steady-state current indicated；Due to motor
Parameter be it is known, the fixed parameter of electric machine is brought into the steady-state current, then practical direct-axis current and the practical quadrature axis
Electric current and revolving speed bring a fixed rotating speed into and obtain obtaining under a fixed rotating speed and reality at first relational expression of a constant relationship
The corresponding practical direct-axis current of border d-axis, practical quadrature axis current corresponding with practical quadrature axis.
The measurement current module 42 is established according to the measurement position information that measurement obtains and is handed over comprising measurement d-axis and measurement
The two-phase rotating coordinate system of axis, and determine measurement d-axis and measurement quadrature axis, the reality that active short circuit experiment obtains is carried out to motor
Test data, measurement direct-axis current response relation corresponding with the measurement d-axis obtained according to the experimental data, and with it is described
Measure the corresponding measurement quadrature axis current response relation of quadrature axis；According to the measurement direct-axis current response relation and the measurement quadrature axis
Current-responsive relationship, under a fixed rotating speed, available measurement direct-axis current corresponding with the measurement d-axis and with measurement
The corresponding measurement quadrature axis current of quadrature axis, the electric motor short circuit experimental configuration are set according to condition is asked, for example, experimental configuration is
Inverter topology
The misalignment angle computing module 43 is according to the practical d-axis corresponding to practical d-axis under fixed rotating speed
Electric current, the practical quadrature axis current of corresponding practical quadrature axis, the corresponding measurement direct-axis current of corresponding measurement d-axis and correspondence
The corresponding measurement quadrature axis current of measurement quadrature axis obtains the practical d-axis corresponding to the practical direct-axis current and corresponds to the survey
The d-axis misalignment angle for measuring the measurement d-axis of direct-axis current, corresponding to the practical quadrature axis of the practical quadrature axis current and corresponding to institute
The quadrature axis misalignment angle for stating the measurement quadrature axis of measurement quadrature axis current carries out the d-axis misalignment angle, quadrature axis misalignment angle comprehensive
It closes and obtains the misalignment angle of the practical d-axis and the measurement d-axis or the practical quadrature axis and the measurement quadrature axis.Wherein need
It should be noted that the practical d-axis, practical quadrature axis, measurement d-axis and measurement quadrature axis are respectively the difference established in a plane
Coordinate system, the origins of two two phase coordinate systems be it is consistent, there are certain angle difference between coordinate system, thus described practical hand over
Axis, practical d-axis and the measurement d-axis and the measurement quadrature axis are the mathematical relationship on a position.
As shown in figure 5, showing the structural schematic diagram of the computer installation 50 in the embodiment of the present application.
The computer installation 50 includes: memory 51 described in memory 51 and processor 52 for storing computer journey
Sequence；The processor 52 runs computer program and realizes misalignment angle estimation method as described in Figure 1.
Optionally, the quantity of the memory 51 may each be one or more, and the quantity of the processor 52 may each be
One or more, and in Fig. 5 for one.
Optionally, the processor 52 in the computer installation 50 can be according to step as described in Figure 1, will be one or more
It is loaded into memory 51 with the corresponding instruction of the process of application program, and is run and be stored in memory 51 by processor 52
Application program, to realize the various functions in misalignment angle estimation method as described in Figure 1.
Optionally, the memory 51, is possibly including, but not limited to high-speed random access memory, non-volatile memories
Device.Such as one or more disk storage equipments, flash memory device or other non-volatile solid-state memory devices；The processor
52, it is possibly including, but not limited to central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), field programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.
Optionally, the processor 52 can be general processor, including central processing unit (Central Processing
Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The application also provides computer readable storage medium, computer program is stored with, when the computer program is run
Realize misalignment angle estimation method as shown in Figure 1.The computer readable storage medium may include, but be not limited to, floppy disk, light
Disk, CD-ROM (compact disc-ROM), magneto-optic disk, ROM (read-only memory), RAM (random access memory), EPROM (can
Erasable programmable read-only memory (EPROM)), EEPROM (electrically erasable programmable read-only memory), magnetic or optical card, flash memory or be suitable for
Store other kinds of medium/machine readable media of machine-executable instruction.The computer readable storage medium can be
The product for not accessing computer equipment is also possible to access the component that computer equipment uses.
In conclusion the application misalignment angle estimation method, system, computer installation and medium, solve the prior art
The measurement method of Position Sensor zero drift is limited to the precision of position-sensor-free algorithm estimation, and the algorithm is more multiple
Miscellaneous, or precision more demanding to hardware circuit is affected by load rotating inertia, for requiring starting rotor rotating range small
Even static occasion problem relatively difficult to achieve, so that measurement method and result are simpler, reliable and practical.So the application
It effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The principles and effects of the application are only illustrated in above-described embodiment, not for limitation the application.It is any ripe
Know the personage of this technology all can without prejudice to spirit herein and under the scope of, carry out modifications and changes to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from spirit disclosed herein and institute under technical idea such as
At all equivalent modifications or change, should be covered by claims hereof.
Claims (10)
1. a kind of misalignment angle estimation method, which is characterized in that be applied to three-phase permanent magnet synchronous motor, the motor includes one turn
Son, wherein having d-axis and quadrature axis, which comprises
Practical d-axis and practical quadrature axis are determined according to rotor physical location, are obtained under actively short circuit according to synchronous motor voltage equation
The steady-state current indicated with practical direct-axis current, practical quadrature axis current, the parameter of electric machine and revolving speed, the fixed parameter of electric machine is brought into
The first relational expression is obtained to the steady-state current, is obtained under a fixed rotating speed and practical d-axis pair according to first relational expression
The practical direct-axis current answered, practical quadrature axis current corresponding with practical quadrature axis；
Measurement d-axis and measurement quadrature axis are determined according to rotor measurement position, obtain turning in the fixation according to by active short circuit experiment
The corresponding measurement direct-axis current of under conditions of speed and measurement d-axis and measurement quadrature axis current corresponding with measurement quadrature axis；
It is obtained according to the practical direct-axis current, the practical quadrature axis current, the measurement direct-axis current and measurement quadrature axis current
By the practical d-axis and the obtained d-axis misalignment angle of measurement d-axis and by the practical quadrature axis and the measurement quadrature axis
Obtained quadrature axis misalignment angle, and integrated to obtain misalignment angle.
2. misalignment angle estimation method according to claim 1, which is characterized in that the synchronous motor voltage equation are as follows:
Wherein, idAnd iqRespectively practical direct-axis current and practical quadrature axis current, RsFor stator resistance, LdAnd LqIt is respectively practical straight
Axle inductance and practical axis inductor, udAnd uqRespectively practical direct-axis voltage and practical quadrature-axis voltage, ωeFor revolving speed, ψfFor permanent magnetism
Body magnetic linkage.
3. misalignment angle estimation method according to claim 1, which is characterized in that first relational expression are as follows:
Wherein, A, B are constant；idAnd iqRespectively practical direct-axis current and practical quadrature axis current, ωeFor a fixed rotating speed.
4. misalignment angle estimation method according to claim 1, which is characterized in that obtained according to by active short circuit experiment
Measurement direct-axis current and measurement quadrature axis current under the fixed rotating speed, comprising: obtain stable state electricity according to by active short circuit experiment
Response curve is flowed, measurement direct-axis current and measurement quadrature axis under the fixed rotating speed are obtained by the steady-state current response curve
Electric current.
5. misalignment angle estimation method according to claim 1, which is characterized in that according to the practical direct-axis current, institute
Practical quadrature axis current, the measurement direct-axis current and measurement quadrature axis current is stated to obtain by the practical d-axis and the measurement d-axis
Obtained d-axis misalignment angle and the quadrature axis misalignment angle obtained by the practical quadrature axis and the measurement quadrature axis, comprising:
It is obtained according to the mathematical relationship of the practical d-axis, the practical quadrature axis, the measurement d-axis and a measurement quadrature axis by institute
State the d-axis misalignment angle and obtained by the practical quadrature axis and the measurement quadrature axis that practical d-axis and the measurement d-axis obtain
Quadrature axis misalignment angle.
6. misalignment angle estimation method according to claim 5, which is characterized in that the mathematical relationship are as follows:
Wherein, the idm、iqm、idAnd iqRespectively measure direct-axis current, measurement quadrature axis current, practical direct-axis current and reality
Quadrature axis current；θdAnd θqRespectively d-axis misalignment angle and quadrature axis misalignment angle.
7. misalignment angle estimation method according to claim 1, which is characterized in that and integrated to obtain the angle of deviation
Degree, comprising: the d-axis misalignment angle is added with the quadrature axis misalignment angle and carries out average computation again and obtains the angle of deviation
Degree.
8. a kind of misalignment angle estimating system, which is characterized in that it is applied to three-phase permanent magnet synchronous motor, including a rotor, wherein
There are a d-axis and quadrature axis, the system is with including:
Actual current module, for determining practical d-axis and practical quadrature axis according to rotor physical location, according to synchronous motor voltage
Equation obtains the lower steady-state current indicated with practical direct-axis current, practical quadrature axis current, the parameter of electric machine and revolving speed of actively short circuit, will
The fixed parameter of electric machine is brought into the steady-state current, then practical d-axis corresponding with practical d-axis is obtained under a fixed rotating speed
Electric current, practical quadrature axis current corresponding with practical quadrature axis；
Current module is measured, for determining measurement d-axis and measurement quadrature axis according to rotor measurement position, according to real by actively short circuit
Test to obtain the corresponding measurement direct-axis current of under conditions of fixed rotating speed and measurement d-axis and corresponding with quadrature axis is measured
Measure quadrature axis current；
Misalignment angle computing module, for according to the practical direct-axis current, the practical quadrature axis current, measurement d-axis electricity
Stream and measurement quadrature axis current obtain the d-axis misalignment angle obtained by the practical d-axis and the measurement d-axis and by the realities
The quadrature axis misalignment angle that border quadrature axis and the measurement quadrature axis obtain, and integrated to obtain misalignment angle.
9. a kind of computer installation characterized by comprising
One or more memories, for storing computer program；
One or more processors, for running the computer program, to execute as described in any one of claims 1 to 7
Misalignment angle estimation method.
10. a kind of computer storage medium, which is characterized in that it is stored with computer program, it is real when the computer program is run
The now misalignment angle estimation method as described in any one of claims 1 to 7.
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