CN111245322A - Method for measuring quadrature-direct axis inductance of embedded permanent magnet synchronous motor - Google Patents
Method for measuring quadrature-direct axis inductance of embedded permanent magnet synchronous motor Download PDFInfo
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- CN111245322A CN111245322A CN201811336749.8A CN201811336749A CN111245322A CN 111245322 A CN111245322 A CN 111245322A CN 201811336749 A CN201811336749 A CN 201811336749A CN 111245322 A CN111245322 A CN 111245322A
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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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Abstract
The invention discloses a method for measuring quadrature-direct axis inductance of an embedded permanent magnet synchronous motor, which comprises the following steps: firstly, three-phase current and three-phase voltage of the embedded permanent magnet synchronous motor in different working states are sampled in real time by giving a single pulse; secondly, on the basis of the three-phase current and the three-phase voltage, a numerical value set of alternating-direct axis current and alternating-direct axis voltage is obtained through Park conversion and Clark conversion; thirdly, the alternating current and the direct current are taken as known parameters, and the corresponding alternating current and direct current inductance is solved through a voltage equation of the embedded permanent magnet synchronous motor; and finally, respectively averaging the multiple quadrature-axis inductors and the multiple direct-axis inductors obtained in the third step.
Description
Technical Field
The invention relates to a parameter measuring method of a permanent magnet synchronous motor, in particular to a measuring method of quadrature-axis and direct-axis inductance of an embedded permanent magnet synchronous motor.
Background
One of the three main parts of the new energy automobile core is a motor, and the performance of the motor directly influences the power output of the whole automobile. The permanent magnet synchronous motor has high efficiency and excellent control performance, so that most new energy automobiles adopt the permanent magnet synchronous motor as a power motor. The vehicle-mounted permanent magnet synchronous motor generally adopts a vector control scheme, and the vector control has higher dependence on the parameters of the motor, so that the control performance of the motor is directly influenced by whether the parameters of the motor, particularly the quadrature axis inductance parameters and the direct axis inductance parameters, can be obtained.
The existing measurement for quadrature axis and direct axis inductance has two main types: static measurement method: the method directly uses LCR to measure the three-phase line inductance of the motor, and then calculates the inductance of the quadrature axis and the direct axis according to the position of the rotor; dynamic current method: and loading direct-current voltage to the motor, and calculating the quadrature-axis inductance and the direct-axis inductance according to the relation between the current and the voltage. The scheme is based on a dynamic current method, and the existing motor controller is used for automatically measuring the inductance of the quadrature axis and the direct axis.
In the prior art, a static measurement method using an LCR (inductance-capacitance) measuring instrument can only measure the AC-DC axis inductance of a permanent magnet synchronous motor under a certain small current. The method is suitable for the motor with the inductance not changing along with the current. The permanent magnet synchronous motor for the high-power vehicle generally adopts an embedded structure, and the quadrature axis or direct axis inductance of the permanent magnet synchronous motor is different under different quadrature axis and direct axis currents, so that the permanent magnet synchronous motor is not suitable for adopting a static measurement method. In addition, the dynamic current method can obtain quadrature-axis or direct-axis inductance under different quadrature-axis and direct-axis currents, but the measurement of high-precision inductance values is restricted due to the existence of dead zones, the turn-on and turn-off time of the IGBT, flux linkage parameters and the like. Particularly, the stator phase resistance of the vehicle high-power permanent magnet synchronous motor is very small, and the measurement by using a given quadrature axis or direct axis voltage mode is difficult.
For example, the chinese invention patent "permanent magnet synchronous motor inductance parameter measurement method", application number 201410652082.8, discloses a calculation method of quadrature axis inductance, but since found in actual operation, the accuracy of the calculation method and the detection method is not high, actual deviation is easily generated, and parameter measurement and judgment are affected.
Disclosure of Invention
The invention aims to: the measuring method for the alternating-current and direct-current axis inductance of the embedded permanent magnet synchronous motor is provided, and the problem that in the process of testing the alternating-current and direct-current axis inductance by a dynamic current method, the measuring precision is influenced by factors such as dead zones and parameter restriction is solved.
The technical scheme of the invention is as follows: a method for measuring the quadrature-direct axis inductance of an embedded permanent magnet synchronous motor comprises the following steps:
1) three-phase current and three-phase voltage of the embedded permanent magnet synchronous motor in different working states are sampled in real time by giving a single pulse;
2) on the basis of the three-phase current and the three-phase voltage, a numerical value set of alternating-direct axis current and alternating-direct axis voltage is obtained through Park conversion and Clark conversion; the conversion relation of Park conversion and Clark conversion is as follows:
3) the quadrature-direct axis current and the quadrature-direct axis voltage are known parameters, and the corresponding quadrature-direct axis inductance is solved through a voltage equation of the embedded permanent magnet synchronous motor, wherein the voltage equation is as follows:
it can be simplified as:
wherein u isdIs the direct-axis voltage uqIs quadrature axis voltage, idIs a direct axis current, iqIs quadrature axis current, RsIs phase resistance,. psifIs a permanent magnetic flux linkage psidIs a direct axis flux linkage psiqIn order to form a cross-axis magnetic linkage,omega is the rotational speed, LdIs a direct axis inductor, LqIs a quadrature axis inductor;
according to equation (1), when the rotation speed ω is 0, the equation of the flux linkage:
according to the equation of the magnetic linkage, the quadrature-direct axis inductance L can be obtained by calculationqAnd LdComprises the following steps:
4) and respectively averaging the multiple quadrature axis inductances and the multiple direct axis inductances obtained by the third step.
Preferably, in the third step, the line resistance is measured by a direct current resistance meter, and the phase resistance R is obtained by dividing by 2s。
Preferably, the third step specifically includes:
a. given udIs a constant value, uqThe value is zero until the current of the embedded permanent magnet synchronous motor is stable, and i is measured at the momentdA value;
b. keep udThe value is constant, a maximum u is givenqValue, and continuously applying for one PWM cycle;
c. sampling phase current and phase voltage in the PWM period, and calculating i at the moment according to formula (1), formula (2) and formula (3)dOn the premise of different iqCorresponding Lq；
d. Change udRepeating the steps a, b and c to obtain different LqPerforming surface fitting to obtain LqThe data table of (1);
e. by giving uqIs a constant number udA value of zero, measure iqA value; retainment of uqConstant, given a maximum udValue, continuously applied for one PWM period; referring to steps c and d, finally obtaining LdA data table of (2).
Preferably, the tested embedded permanent magnet synchronous motor is connected with a high-voltage direct-current power supply through a controller.
The invention has the advantages that:
1. based on the existing motor controller, no additional hardware design or measuring equipment is needed;
2. the method is suitable for testing the quadrature-direct axis inductance of the vehicle-mounted high-power permanent magnet synchronous motor, and can measure different quadrature-axis currents iqAnd a direct axis current idLower quadrature axis inductance LqOr straight axis inductance Ld。
3. Only one PWM period of data is needed for one-time effective inductance test, the measurement is fast, and the data processing is simple.
4. The algorithm is completely realized by software, and a large amount of data does not need to be processed manually.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a view of a topology of connection of a motor and a controller;
FIG. 2 gives udAnd uqActual duty cycle waveform and current waveform diagrams;
FIG. 3 is a flow chart of the overall inductance measurement process;
Detailed Description
Example (b):
as shown in fig. 1-3, a preferred embodiment of the present invention is shown:
the inductor belongs to an energy storage element, the current of the inductor cannot change suddenly, and after a direct-current voltage is applied to two ends of the inductor, the relation between the voltage and the current is shown as a formula (7):
where U is the voltage across the inductor, L is the inductance value, and i is the current flowing through the inductor. Therefore, the inductance can be calculated by measuring only the rate of change of the voltage and current across the inductance.
The embedded permanent magnet synchronous motor belongs to an alternating current motor, and due to the complex coupling relation, vector control is usually adopted and is equivalent to independent control of a quadrature axis and a direct axis, so that accurate control of current or torque is realized. Converting the three-phase current and voltage obtained by sampling into a direct-alternating current and voltage, and performing coordinate transformation (Park transformation and Clark transformation) shown in the formulas (2) and (3):
wherein u isa、ub、ucIs a three-phase voltage, ia、ib、icIs a three-phase current of ud、uqFor direct and quadrature axis voltages, id、iqDirect and quadrature currents.
The voltage equation of the permanent magnet synchronous motor is shown in formula (1), and when the rotating speed is zero, the voltage equation can be simplified into formula (5):
it can be simplified as:
wherein u isdIs the direct-axis voltage uqIs quadrature axis voltage, idIs a direct axis current, iqIs quadrature axis current, RsIs phase resistance,. psifIs a permanent magnetic flux linkage psidIs a direct axis flux linkage psiqIs a quadrature axis flux linkage, omega is the rotation speed, LdIs a direct axis inductor, LqIs a quadrature axis inductor.
Therefore, according to the three-phase current and voltage obtained by sampling, the AC-DC axis current and voltage are obtained through coordinate transformation, and then the AC-DC axis inductance can be calculated according to the AC-DC axis current and voltage.
The quadrature-axis inductance and the direct-axis inductance of the embedded permanent magnet synchronous motor are related to the quadrature-axis current and the direct-axis current, so that the quadrature-axis inductance and the direct-axis inductance corresponding to different quadrature-axis currents and different direct-axis currents need to be measured. The general tested embedded permanent magnet synchronous motor is connected with a high-voltage direct-current power supply through a controller, and the controller is connected to an upper computer.
Firstly, measuring line resistance by a direct current resistance meter, and dividing by 2 to obtain phase resistance Rs. Connecting a motor with a controller, wherein the topological structure is shown in fig. 1, blocking a rotor shaft of the motor, and performing specific calculation and operation steps given direct-current voltage as follows:
a. given udIs a constant value, uqThe value is zero until the current of the embedded permanent magnet synchronous motor is stable, and i is measured at the momentdA value;
b. keep udThe value is constant, a maximum u is givenqValue, and continuously applying for one PWM cycle;
c. sampling phase current and phase voltage in the PWM period, and calculating i at the moment according to formula (1), formula (2) and formula (3)dOn the premise of different iqCorresponding Lq；
d. Change udRepeating the steps a, b and c to obtain different LqPerforming surface fitting to obtain LqThe data table of (1);
e. by giving uqIs a constant number udA value of zero, measure iqA value; retainment of uqConstant, given a maximum udThe value is continuously acted on one PWM period, and the direct axis inductance L can be measuredd；
f. Referring to steps c and d, finally obtaining LdThe data table of (1);
g. rotating the rotor of the embedded permanent magnet synchronous motor to be blocked at different positions, and repeating the steps a to f to obtain the L at different positionsqAnd LdAnd to LqAnd LqAnd respectively carrying out average value to obtain the final quadrature-direct axis inductance.
Another preferred embodiment of the present invention:
based on the above method steps and calculation formula, the inductance is calculated based on formula (1) using the rate of change of voltage divided by current. The inductance can also be calculated by a flux linkage equation, and the specific calculation steps are as follows:
according to equation (1), when the rotation speed ω is 0, the equation of the flux linkage:
according to the equation of the magnetic linkage, the quadrature-direct axis inductance L can be obtained by calculationqAnd LdComprises the following steps:
the scheme adopts a dynamic current method, phase voltage and phase current of the motor are sampled in real time by giving a single pulse, and quadrature axis inductance and direct axis inductance are calculated through coordinate transformation. Because the current and the voltage which are actually sampled are adopted, the calculation precision is high, only one pulse is needed to finish one-time measurement, and the measurement speed is high.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed herein be covered by the appended claims.
Claims (7)
1. A method for measuring the quadrature-direct axis inductance of an embedded permanent magnet synchronous motor is characterized by comprising the following steps:
1) three-phase current and three-phase voltage of the embedded permanent magnet synchronous motor in different working states are sampled in real time by giving a single pulse;
2) on the basis of the three-phase current and the three-phase voltage, a numerical value set of alternating-direct axis current and alternating-direct axis voltage is obtained through Park conversion and Clark conversion;
3) the quadrature-direct axis current and the quadrature-direct axis voltage are known parameters, and the corresponding quadrature-direct axis inductance is solved through a voltage equation of the embedded permanent magnet synchronous motor, wherein the voltage equation is as follows:
wherein u isdIs the direct-axis voltage uqIs quadrature axis voltage, idIs a direct axis current, iqIs quadrature axis current, RsIs phase resistance,. psifIs a permanent magnetic flux linkage psidIs a direct axis flux linkage psiqIs a quadrature axis flux linkage, omega is the rotation speed, LdIs a direct axis inductor, LqIs a quadrature axis inductor;
4) and respectively averaging the multiple quadrature axis inductances and the multiple direct axis inductances obtained by the third step.
2. The method for measuring the quadrature-direct axis inductance of the embedded permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: based on the voltage equation in the third step, the quadrature-direct axis inductance can also be calculated by the flux linkage equation: at a rotation speed ω of 0, the equation of the flux linkage:
3. the method for measuring the quadrature-direct axis inductance of the embedded permanent magnet synchronous motor according to claim 1 or 2, wherein the method comprises the following steps: the conversion relation of Park conversion and Clark conversion in the second step is as follows:
4. the method for measuring the quadrature-direct axis inductance of the embedded permanent magnet synchronous motor according to any one of claim 3, wherein the method comprises the following steps: in the third step, the line resistance is measured by a direct current resistance meter, and the phase resistance R can be obtained by dividing by 2s。
5. The method for measuring the quadrature-direct axis inductance of the embedded permanent magnet synchronous motor according to claim 4, wherein the method comprises the following steps: the third step specifically comprises:
a. given udIs a constant value, uqThe value is zero until the current of the embedded permanent magnet synchronous motor is stable, and i is measured at the momentdA value;
b. keep udThe value is constant, a maximum u is givenqValue, and continuously applying for one PWM cycle;
c. sampling phase current and phase voltage in the PWM period, and calculating i at the moment according to formula (1), formula (2) and formula (3)dOn the premise of different iqCorresponding Lq；
d. Change udRepeating the steps a, b and c to obtain different LqPerforming surface fitting to obtain LqThe data table of (1);
e. by giving uqIs a constant number udA value of zero, measure iqA value; retainment of uqConstant, given a maximum udValue, continuously applied for one PWM period; referring to steps c and d, finally obtaining LdA data table of (2).
6. The method for measuring the quadrature-direct axis inductance of the embedded permanent magnet synchronous motor according to claim 5, wherein the method comprises the following steps: the tested embedded permanent magnet synchronous motor is connected with a high-voltage direct-current power supply through a controller.
7. The method for measuring the quadrature-direct axis inductance of the embedded permanent magnet synchronous motor according to claim 2, wherein the method comprises the following steps: according to the equation of the magnetic linkage, the AC and the DC can be calculatedShaft inductance LqAnd LdComprises the following steps:
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117013902A (en) * | 2023-09-27 | 2023-11-07 | 潍柴动力股份有限公司 | Motor inductance parameter calculation method, device and system, motor and power equipment |
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| CN107994828A (en) * | 2017-12-29 | 2018-05-04 | 武汉英弗耐斯电子科技有限公司 | A kind of permanent magnet synchronous motor ac-dc axis inductance measurement method |
| CN108365790A (en) * | 2018-03-16 | 2018-08-03 | 顺丰科技有限公司 | Unmanned plane motor d-axis and q-axis inductance measurement method, device, equipment and storage medium |
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Patent Citations (4)
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| JP2012100369A (en) * | 2010-10-29 | 2012-05-24 | Hitachi Appliances Inc | Refrigerator, and control device for permanent magnet synchronous motors |
| CN103825524A (en) * | 2014-03-14 | 2014-05-28 | 中冶南方（武汉）自动化有限公司 | Offline identification method for basic electric appliance parameters of permanent-magnet synchronous motor |
| CN107994828A (en) * | 2017-12-29 | 2018-05-04 | 武汉英弗耐斯电子科技有限公司 | A kind of permanent magnet synchronous motor ac-dc axis inductance measurement method |
| CN108365790A (en) * | 2018-03-16 | 2018-08-03 | 顺丰科技有限公司 | Unmanned plane motor d-axis and q-axis inductance measurement method, device, equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117013902A (en) * | 2023-09-27 | 2023-11-07 | 潍柴动力股份有限公司 | Motor inductance parameter calculation method, device and system, motor and power equipment |
| CN117013902B (en) * | 2023-09-27 | 2024-01-12 | 潍柴动力股份有限公司 | Motor inductance parameter calculation method, device and system, motor and power equipment |
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Application publication date: 20200605 |