CN112615579B - Voltage limit circle calibration method and device, terminal and storage medium - Google Patents

Voltage limit circle calibration method and device, terminal and storage medium Download PDF

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Publication number
CN112615579B
CN112615579B CN202011495331.9A CN202011495331A CN112615579B CN 112615579 B CN112615579 B CN 112615579B CN 202011495331 A CN202011495331 A CN 202011495331A CN 112615579 B CN112615579 B CN 112615579B
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target
limit circle
current
rotating speed
determining
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CN112615579A (en
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苗强
韩福强
李军营
徐亚美
***
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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Priority to CN202011495331.9A priority Critical patent/CN112615579B/en
Priority to PCT/CN2021/074289 priority patent/WO2022126838A1/en
Priority to DE112021006480.0T priority patent/DE112021006480T5/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/16—Estimation of constants, e.g. the rotor time constant
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0025—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
    • 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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  • Power Engineering (AREA)
  • Databases & Information Systems (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a method, a device, a terminal and a storage medium for calibrating a voltage limit circle, which relate to the technical field of motor calibration and comprise the following steps: selecting a plurality of target points from points on a calibrated current limit circle of a target motor, and determining a plurality of rotating speeds according to the target points; aiming at each rotating speed, determining a plurality of current vectors corresponding to the rotating speed by adjusting the calibration current vector in the current limit circle for a plurality of times; setting the target motor for multiple times according to the rotating speed and the multiple current vectors, and operating the target motor after each setting; and determining a voltage limit circle corresponding to the rotating speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotating speed. The embodiment of the invention provides a new voltage limit circle calibration mode, and expands the mode of calibrating the voltage limit circle.

Description

Voltage limit circle calibration method and device, terminal and storage medium
Technical Field
The invention relates to the technical field of motor calibration, in particular to a method, a device, a terminal and a storage medium for calibrating a voltage limit circle.
Background
In the permanent magnet synchronous motor control technology, to obtain the maximum system efficiency, the current of the dq axis is distributed according to the maximum torque current ratio (MTPA) principle below a rated rotation speed (base speed), and the current of the dq axis is distributed according to the maximum torque voltage ratio (MTPV) principle above the base speed. In theory, the current limit circle is used for distribution according to the MTPA principle, and the voltage limit circle is used for distribution according to the MTPV principle, so that the current limit circle and the voltage limit circle need to be calibrated when the permanent magnet synchronous motor works.
In the prior art, when a voltage limit circle is calibrated, a d-axis current is randomly generated at first, then a q-axis current is continuously adjusted until the voltage saturation meets the limit, the q-axis current at the moment is recorded, and the current limit circle is gradually approached from 0 according to the d-axis current and the recorded q-axis current.
At present, only the calibration can be performed in the above manner, and the calibration manner is single.
Disclosure of Invention
The invention provides a method, a device, a terminal and a storage medium for calibrating a voltage limit circle, and provides a novel method for calibrating the voltage limit circle.
In a first aspect, a method for calibrating a voltage limit circle provided in an embodiment of the present invention includes:
selecting a plurality of target points from points on a calibrated current limit circle of a target motor, and determining a plurality of rotating speeds according to the target points;
aiming at each rotating speed, determining a plurality of current vectors corresponding to the rotating speed by adjusting the calibration current vectors in the current limit circle for a plurality of times; wherein a modulus of the calibration current vector is a radius of the current limit circle; the direction of the calibrated current vector is the direction of a ray which takes the origin of a d-q coordinate system as a starting point and passes through the intersection point of the equal torque curve and the current limit circle at the rated rotating speed; the current vector is the sum of a q-axis current vector and a d-axis current vector under a d-q coordinate system;
setting the target motor for multiple times according to the rotating speed and the current vectors, and operating the target motor after each setting;
and determining a voltage limit circle corresponding to the rotating speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotating speed.
According to the method, a plurality of current vectors corresponding to each rotating speed can be determined through the intersection point between the calibrated current limit circle of the target motor and the voltage limit circle corresponding to each rotating speed, then the calibrated current vectors in the current limit circle are adjusted, the voltage limit circle of the rotating speed is determined through the current vectors set when the working efficiency of the target motor reaches the preset efficiency when the current vectors operate on the target motor, and thus a new calibration mode of the voltage limit circle is provided, and the mode of calibrating the voltage limit circle is expanded.
In one possible implementation, selecting a plurality of target points from points on a calibrated current limit circle of the target motor includes:
determining interval values between adjacent intersection points between a plurality of voltage limit circles and the current limit circle according to the position relation between the preset voltage limit circle and the preset current limit circle corresponding to a plurality of rotating speeds;
and selecting a plurality of target points by taking the intersection points of the equal torque curve and the current limit circle at the rated rotating speed as starting points and according to the determined interval values between the adjacent intersection points.
According to the method, the interval value between the adjacent intersection points between the voltage limit circles and the current limit circles can be determined in the preset position relation, so that the target points are selected according to the interval value between the adjacent intersection points, and the corresponding intersection points can be found more quickly.
In one possible implementation, the plurality of target points is selected by:
aiming at each target point, determining a target included angle corresponding to the target point according to an interval value between adjacent intersection points by taking the intersection point of the equal torque curve and the current limit circle at a rated rotating speed as a starting point; the target included angle corresponding to the target point is an included angle between a ray passing through the target point and the d axis by taking the origin of the d-q coordinate system as a starting point;
and determining the intersection point of the ray passing through the target point and the current limit circle by taking the origin of the d-q coordinate system as a starting point according to the target included angle.
According to the method, the angle between the ray passing through the target point and the d axis with the origin of the d-q coordinate system as the starting point is determined, the ray passing through the target point with the origin of the d-q coordinate system as the starting point is determined, and then the intersection point of the ray and the current limit circle is used as the target point, so that the determination of the intersection point can be converted into a geometric problem, and the processing process is simplified.
In a possible implementation manner, the determining a plurality of rotation speeds according to the plurality of target points includes:
determining a plurality of adjustment rotating speeds which are larger than the rated rotating speed for each target point;
setting the target motor for multiple times according to the multiple adjusting rotating speeds, the modes of the calibration current vectors and the target included angle, and operating the target motor after each setting;
and taking the adjusting rotating speed set when the working efficiency of the target motor reaches the preset efficiency as the rotating speed corresponding to the target point.
According to the method, the set rotating speed can be used as the rotating speed corresponding to the target point when the working efficiency of the target motor reaches the preset efficiency through the fixed module for calibrating the current vector, the target included angle and the dynamic rotating speed, so that the rotating speed corresponding to the target point can be determined more quickly.
In a possible implementation manner, determining a plurality of current vectors corresponding to the rotation speed by adjusting the calibration current vector in the current limit circle for a plurality of times includes:
determining a plurality of adjustment values for the modes of the calibration current vector in the current limit circle;
aiming at each adjusting numerical value, determining at least one current vector corresponding to the adjusting numerical value according to the adjusting numerical value and the target included angle adjusted for multiple times;
setting the target motor for a plurality of times according to the rotating speed and the plurality of current vectors, and operating the target motor after each setting, comprising:
setting the target motor for multiple times according to the rotating speed and at least one current vector corresponding to the adjusting value, and operating the target motor after each setting;
according to the current vector set when the working efficiency of the target motor reaches the preset efficiency and the target point corresponding to the rotating speed, determining a voltage limit circle corresponding to the rotating speed, wherein the voltage limit circle comprises the following steps:
determining a current vector corresponding to the adjustment value set when the working efficiency of the target motor reaches a preset efficiency;
and determining a voltage limit circle corresponding to the rotating speed according to the current vectors corresponding to the plurality of determined adjusting values and the target point corresponding to the rotating speed.
According to the method, the adjustment value set when the working efficiency of the target motor reaches the preset efficiency can be determined through the modulus adjustment current vector value of the fixed current vector, so that the corresponding current vector is determined, the voltage limit circle corresponding to the rotating speed is determined according to the plurality of determined current vectors, and the processing efficiency is improved.
In one possible implementation, the determining a plurality of adjustment values of a modulus of a calibration current vector in the current limit circle includes:
and determining a plurality of adjustment values of the modulus of the calibration current vector in the current limit circle according to the interval change relation between the preset number corresponding to each voltage limit circle to be calibrated and the adjustment values of the preset number.
According to the method, the preset number of current vectors can be determined through the preset number of voltage limit circles and the interval change relationship between the preset number of adjustment values, so that the problem that the processing speed is reduced due to the fact that all the voltage limit circles are found is solved, and the processing process is simplified.
In one possible implementation, determining that the working efficiency of the target motor reaches a preset efficiency comprises:
detecting the voltage saturation of the target motor in operation;
and if the voltage saturation is within a preset range, determining that the working efficiency of the target motor reaches a preset efficiency.
According to the method, whether the voltage saturation between the rated voltage and the actual voltage is within the preset range or not can be detected, the working efficiency of the target motor is detected to reach the preset efficiency, and therefore the efficiency detection is achieved.
In a second aspect, an embodiment of the present invention provides a calibration apparatus for a voltage limit circle, including:
the selection module is used for selecting a plurality of target points from points on a calibrated current limit circle of the target motor and determining a plurality of rotating speeds according to the target points;
the determining module is used for determining a plurality of current vectors corresponding to each rotating speed by adjusting the calibration current vector in the current limit circle for a plurality of times; wherein, the modulus of the calibration current vector is the radius of the current limit circle; the direction of the calibrated current vector is the direction of a ray which takes the origin of a d-q coordinate system as a starting point and passes through the intersection point of the equal torque curve and the current limit circle at the rated rotating speed; the current vector is the sum of a q-axis current vector and a d-axis current vector under a d-q coordinate system;
the operation module is used for setting the target motor for multiple times according to the rotating speed and the current vectors and operating the target motor after each setting;
and the calibration module is used for determining a voltage limit circle corresponding to the rotating speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotating speed.
In a third aspect, a terminal provided in an embodiment of the present invention includes: a processor and a memory;
the memory is used for storing program codes used when the terminal runs;
the processor is configured to execute the program code to implement the calibration method of the voltage limit circle according to any one of the first aspect.
In a fourth aspect, the present application further provides a storage medium, and when executed by a processor of a terminal, the instructions in the storage medium enable the electronic device to perform the calibration method for the voltage limit circle according to any one of the first aspect.
In addition, for technical effects brought by any one of the implementation manners in the steps of implementing the calibration method of the voltage limit circle in the first aspect when executed by the processing unit in the second aspect to the fourth aspect, reference may be made to technical effects brought by different implementation manners in the first aspect, and details are not described here again.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention and are not to be construed as limiting the invention.
FIG. 1 is a schematic diagram of a current limit circle and a voltage limit circle in a d-q coordinate system according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart of a method for calibrating a voltage limit circle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of determining a target point according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for determining a point on a voltage limit circle provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a calibration apparatus for a voltage limit circle according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Some of the words that appear in the text are explained below:
1. the term "terminal" in the embodiments of the present invention refers to any intelligent terminal capable of operating according to a program and automatically processing a large amount of data at a high speed, and includes a mobile phone, a mobile robot, a computer, a tablet, an intelligent terminal, a multimedia device, a streaming media device, and the like.
The application scenario described in the embodiment of the present invention is for more clearly illustrating the technical solution of the embodiment of the present invention, and does not form a limitation on the technical solution provided in the embodiment of the present invention, and it can be known by a person skilled in the art that with the occurrence of a new application scenario, the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems.
The nouns are explained below:
the permanent magnet synchronous motor is composed of a stator, a rotor, an end cover and the like. The d-axis is the axis where the magnetic poles of the rotor magnetic steel are located, and the direction is from the S pole to the N pole. The q-axis is perpendicular to the d-axis and rotates 90 degrees along the d-axis counterclockwise.
Current i with q-axis of d-q coordinate system q And d-axis current i d A coordinate system of composition.
When the permanent magnet synchronous motor works, the current limit circle and the voltage limit circle of the permanent magnet synchronous motor need to be calibrated.
For the calibration current limit circle:
the current limit circle is contained by the voltage limit ellipse before the rated speed, so that the current limit circle calibration process only considers the limitation of the maximum current. Since different current vectors can output the same torque according to the iso-torque line, but the efficiency is different, how to output the maximum torque with the minimum current is the core of the current limit circle, and mathematically, the circumscribed circle of a certain point of the iso-torque line is the current circle with the current vector as the radius. In other words, a current circle with the origin as the center and the mode of the current vector as the radius can always find one point on the circle, so that the torque output of the point change is maximum. Therefore, in the current limit circle calibration process, after the radius is determined, the angle theta between the current limit circle calibration process and the d axis is continuously adjusted, the maximum torque output by the current limit circle calibration process is explored, and therefore the maximum current circle is determined to be the current limit circle, and the maximum current vector is determined to be the radius of the current limit circle.
During actual calibration, the calibration process of the current limit circle is generally half of the rated rotation speed, for example, the rated rotation speed is 800rpm, and the calibration of the current limit circle is performed when the gantry is fixed at 400 rpm. After the current limit circle is finished, the amplitude of the maximum current vector below the base speed (namely the radius of the current limit circle) is determined, but the voltage saturation Us value at the moment is smaller, the rotating speed of the rack is continuously increased to the rated rotating speed, and then the angle value of the maximum current vector is adjusted (the amplitude is kept unchanged), so that the voltage saturation approaches to the preset range. The current vector at this time is recorded. The intersection point of the iso-torque curve at the rated rotation speed and the current limit circle, i.e., point a, can be considered.
In connection with fig. 1, a current limit circle is shown in a d-q coordinate system, which current limit circle is modulo I of the maximum current vector at maximum torque smax I.e. modulo I of the nominal current vector smax As a circle of radius.
Wherein the modulus I of the current vector is calibrated smax Radius OA of the current limit circle; curve T 0 The direction of the calibration current vector is an equal torque curve T at the rated rotating speed by taking the origin of a d-q coordinate system as a starting point 0 The direction of the ray at the intersection point a with the current limit circle; the current vector is the sum of a q-axis current vector and a d-axis current vector under a d-q coordinate system, and the included angle between the direction of the calibrated current vector and the d axis is a basic angle theta.
For the nominal voltage limit circle: referring again to FIG. 1, since the voltage limit circle and the current limit circle, which are larger than the rated rotation speed, have intersection points, such as the rotation speed ω 1 Corresponding voltage limit circle, ω 2 Corresponding voltage limit circle, ω 3 The invention provides a calibration method of a voltage limit circle, which comprises the steps of firstly determining the intersection points of the voltage limit circle and a current limit circle corresponding to a plurality of rotating speeds, then finding other points on the voltage limit circle corresponding to the rotating speeds from the intersection points, and then drawing the voltage limit circle.
The following method for determining whether the working efficiency of the target motor reaches the preset efficiency is as follows:
detecting the voltage saturation of a target motor in operation;
and if the voltage saturation is within the preset range, determining that the working efficiency of the target motor reaches the preset efficiency.
Since the voltage saturation is the ratio of the rated voltage and the actual voltage, if the ratio of the voltage is close to 1.1, the ultimate working efficiency of the target motor is achieved, and therefore, the working efficiency of the target motor is determined through the voltage saturation.
The predetermined range may be 1.1 annexes, for example, between 0.9 and 1.1.
The following describes the calibration method of the voltage limit circle in detail through the attached drawings.
Referring to fig. 2, an embodiment of the present invention provides a method for calibrating a voltage limit circle, including:
s200: and selecting a plurality of target points from points on a calibrated current limit circle of the target motor, and determining a plurality of rotating speeds according to the target points.
The target point is the intersection point of the current limit circle and the voltage limit circles corresponding to the plurality of rotating speeds.
For the selection of target points, a geometrical problem can be translated. Because the voltage limit circle is composed of current vectors, namely the sum of q-axis current vectors and d-axis voltage vectors, and because the vectors comprise directions and magnitudes, the current vectors have the same magnitude but different directions, and the q-axis current vectors and the d-axis voltage vectors are also different respectively, based on the characteristics, the target point is selected, namely the point with the same modulus but different directions of the calibrated current vectors is selected.
Hereinafter, for each target point, referring to fig. 3, a target included angle θ + Δ θ is determined based on an included angle between the direction of the calibration current vector and the d-axis, where point a is an equal torque curve T at the rated rotation speed 0 And then, according to a target included angle theta + delta theta, taking the original point of the d-q coordinate system as a starting point, and taking the intersection point of the ray passing through the target point and the current limit circle as the target point, namely the point B.
When a plurality of rotating speeds are determined, aiming at each target point, a plurality of adjusting rotating speeds which are larger than the rated rotating speed are determined;
setting a target motor for multiple times according to a plurality of modes for adjusting the rotating speed and calibrating the current vector and a target included angle, and operating the target motor after each setting;
and taking the adjusting rotating speed set when the working efficiency of the target motor reaches the preset efficiency as the rotating speed corresponding to the target point.
In detail, according to the modulus I of the nominal current vector smax And determining a q-axis current vector and a d-axis current vector according to the target included angle theta + delta theta, then operating the target motor according to the q-axis current vector and the d-axis current vector determined by the rated rotating speed, then increasing the rated rotating speed in the target motor, then detecting the current voltage saturation after increasing the rated rotating speed, and if the current voltage saturation reaches a preset range, taking the adjusted rotating speed as the rotating speed corresponding to the target point.
S201: and aiming at each rotating speed, determining a plurality of current vectors corresponding to the rotating speed by adjusting the calibration current vectors in the current limit circle for a plurality of times.
S202: setting the target motor for multiple times according to the rotating speed and the multiple current vectors, and operating the target motor after each setting;
s203: and determining a voltage limit circle corresponding to the rotating speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotating speed.
The embodiment of the invention provides a detailed mode for determining voltage limit circles corresponding to a plurality of rotating speeds, which comprises the following steps:
determining a plurality of adjustment values of a modulus of the calibration current vector in the current limit circle;
aiming at each adjustment value, determining at least one current vector corresponding to the adjustment value according to the adjustment value and the target included angle which is adjusted for multiple times;
setting a target motor for multiple times according to the rotating speed and at least one current vector corresponding to the adjusting value, and operating the target motor after each setting;
determining a current vector corresponding to the adjustment value set when the working efficiency of the target motor reaches a preset efficiency;
and determining a voltage limit circle corresponding to the rotating speed according to the current vectors corresponding to the plurality of determined adjusting values and the target point corresponding to the rotating speed.
In the embodiment of the invention, the calibration of the voltage limit circle can be performed by taking the target point corresponding to the rotating speed as a starting point.
Referring to FIG. 4, since the calibration is performed with the intersection point as the starting point, the modulus I of the calibration current vector is smax On the basis of a stepwise decrease of the value, e.g. by Δ I, the norm of the current vector is I smax Delta I, operating the target motor by the adjusted current vector and the corresponding rotating speed, and then adjusting the angle, namely searching the radius I on the basis of the target included angle theta + delta theta in the operation process smax The point on the circle of Δ I, the voltage saturation is observed, and when the voltage saturation is observed to be around 1.1, the angle at that time, e.g., θ + Δ θ - Δ δ, and the output torque at that time are recorded. This step is repeated until the calibration of the voltage limit circle is completed.
The voltage limit circle is of an ellipse structure, so that the voltage limit circle can be determined by a curve fitting method through a plurality of points on the ellipse in order to reduce the calculation amount.
Because the invention determines the mode of a current vector and the direction of the current vector by fixing the adjusting value and dynamically adjusting the angle, the method can be realized by determining a plurality of adjusting values of the mode of the calibration current vector in the current limit circle for finding the number of points of the ellipse, and the method specifically comprises the following steps:
and determining a plurality of adjustment values of the modulus of the calibration current vector in the current limit circle according to the interval change relation between the preset number corresponding to each voltage limit circle to be calibrated and the adjustment values of the preset number.
The preset number can be obtained according to the number of the points which are minimum required when curve fitting is performed in a curve fitting mode and the size of the corresponding voltage limit circle at the rotating speed.
For example, the curve of the voltage limit circle is smaller as the rotation speed is larger, and therefore, the required number is relatively small when the rotation speed is relatively large.
Therefore, the preset number can be set according to the fact that the larger the rotating speed is, the smaller the number is. For example, ω needs to be determined 1 、ω 2 、ω 3 ，ω 1 Greater than rated speed and less than omega 2 ，ω 2 Less than omega 3 Therefore, when the voltage limit circle corresponding to the corresponding rotational speed is determined, ω similar to the data of the rated rotational speed can be obtained 1 Start, then ω 2 Then is ω 3 . The preset number can be 20, 15 and 10.
Of course, the preset number may also be a fixed value, that is, the number of adjustment values that need to be determined for each voltage limit circle is a fixed value, for example, 10.
The variation relationship of the intervals between the preset number of adjustment values may be set to be smaller and smaller, i.e. smaller and smaller according to the step value, for example, the preset number is 5, and the start is the target point, i.e. the modulus I of the calibration current vector smax Then is I smax -5，I smax -5-4、I smax -5-4-3、I smax -5-4-3-2、I smax -5-4-3-2-1. The step values are 5, 4, 3, 2, 1, respectively.
To sum up, when searching for the voltage limit circles corresponding to the preset number of rotation speeds, the embodiments of the present invention determine the current vector mode based on the current vector calibration mode starting from the intersection point, and determine the current vector direction based on the included angle between the current vector direction and the d-axis.
In order to be able to find the target point more accurately, in some embodiments of the present invention, a plurality of target points may be selected by:
determining interval values between adjacent intersection points between a plurality of voltage limit circles and a plurality of current limit circles according to the preset position relation between the voltage limit circles and the current limit circles corresponding to the plurality of rotating speeds;
and selecting a plurality of target points by taking the intersection points of the equal torque curve and the current limit circle at the rated rotating speed as starting points and according to the determined interval values between the adjacent intersection points.
Wherein the plurality of target points are selected by:
aiming at each target point, determining a target included angle corresponding to the target point according to an interval value between adjacent intersection points by taking the intersection point of the equal torque curve and the current limit circle at the rated rotating speed as a starting point; the target included angle corresponding to the target point is an included angle between a ray passing through the target point and the d axis by taking the original point of the d-q coordinate system as a starting point;
and determining the intersection point of the ray passing through the target point and the current limit circle by taking the origin of the d-q coordinate system as a starting point according to the target included angle.
For example, according to the preset position relationship between the voltage limit circles and the current limit circles corresponding to a plurality of rotation speeds, the number of the voltage limit circles to be determined is 5, then the interval value between the rated current and the voltage limit circle corresponding to the adjacent rotation speed can be determined, and so on, 5 interval values can be determined, the interval value can be the included angle formed between two intersection points, when the rotation speed with the minimum difference value with the rated current is obtained, according to the interval value of the rotation speed with the minimum difference value with the rated current, namely delta theta, then the target included angle is determined to be theta + delta theta, the intersection point of the ray meeting the target included angle theta + delta theta between the ray and the d axis and the current limit circle is used as the target point, then, according to the model of the calibrated current vector and the target included angle, the target motor is operated, the rotation speed is adjusted when the target motor is operated, the rated rotation speed is adjusted from the rated rotation speed to a large degree, and when the voltage saturation is determined to be in the preset range, taking the rotating speed as the rotating speed corresponding to the target point.
An adjustment value, e.g. I, is then obtained on the basis of the modulus of the nominal current vector in the current limit circle smax Δ I, then the rotational speeds and I smax - Δ I operating the target motor, then randomly varying the target angle θ + Δ θ, thereby varying the current vector, determining the angle that varies when the voltage saturation is within a preset range, and applying I smax Obtaining coordinate points on the voltage limit circle by the aid of the delta I and the changed included angle, obtaining the coordinate points on the preset number of voltage limit circles by analogy, and then pairing the coordinate points at the rotating speedAnd fitting the voltage limit circles by taking the corresponding target points as starting points in a curve fitting mode according to coordinate points on the preset number of voltage limit circles.
The embodiment of the present invention further provides a calibration apparatus for a voltage limit circle, which is shown in fig. 5 and includes:
the selection module 500 is configured to select a plurality of target points from points on a calibrated current limit circle of a target motor, and determine a plurality of rotation speeds according to the plurality of target points;
a determining module 501, configured to determine, for each rotation speed, a plurality of current vectors corresponding to the rotation speed by adjusting the calibration current vector in the current limit circle for multiple times; wherein, the modulus of the calibration current vector is the radius of the current limit circle; the direction of the calibrated current vector is the direction of a ray which takes the origin of a d-q coordinate system as a starting point and passes through the intersection point of the equal torque curve and the current limit circle at the rated rotating speed; the current vector is the sum of a q-axis current vector and a d-axis current vector under a d-q coordinate system;
an operation module 502, configured to perform multiple settings on the target motor according to the rotation speed and the multiple current vectors, and operate the target motor after each setting;
and a calibration module 503, configured to determine a voltage limit circle corresponding to the rotation speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotation speed.
Optionally, the selecting module 500 is specifically configured to:
determining interval values between adjacent intersection points between a plurality of voltage limit circles and the current limit circle according to the position relation between the preset voltage limit circle and the preset current limit circle corresponding to a plurality of rotating speeds;
and selecting a plurality of target points by taking the intersection points of the equal torque curve and the current limit circle at the rated rotating speed as starting points and according to the determined interval values between the adjacent intersection points.
Optionally, the selecting module 500 is specifically configured to:
aiming at each target point, determining a target included angle corresponding to the target point according to an interval value between adjacent intersection points by taking the intersection point of the equal torque curve and the current limit circle at the rated rotating speed as a starting point; the target included angle corresponding to the target point is an included angle between a ray passing through the target point and the d axis by taking the origin of the d-q coordinate system as a starting point;
and determining the intersection point of the ray passing through the target point and the current limit circle by taking the origin of the d-q coordinate system as a starting point according to the target included angle.
Optionally, the selecting module 500 is specifically configured to:
determining a plurality of adjustment rotating speeds which are larger than the rated rotating speed for each target point;
setting the target motor for multiple times according to the multiple adjusting rotating speeds, the modes of the calibration current vectors and the target included angle, and operating the target motor after each setting;
and taking the adjusting rotating speed set when the working efficiency of the target motor reaches the preset efficiency as the rotating speed corresponding to the target point.
The determining module 501 is specifically configured to:
determining a plurality of adjustment values for the modes of the calibration current vector in the current limit circle;
aiming at each adjusting numerical value, determining at least one current vector corresponding to the adjusting numerical value according to the adjusting numerical value and the target included angle adjusted for multiple times;
setting the target motor for a plurality of times according to the rotating speed and the plurality of current vectors, and operating the target motor after each setting, comprising:
setting the target motor for multiple times according to the rotating speed and at least one current vector corresponding to the adjusting value, and operating the target motor after each setting;
according to the current vector set when the working efficiency of the target motor reaches the preset efficiency and the target point corresponding to the rotating speed, determining a voltage limit circle corresponding to the rotating speed, wherein the voltage limit circle comprises the following steps:
determining a current vector corresponding to the adjustment value set when the working efficiency of the target motor reaches a preset efficiency;
and determining a voltage limit circle corresponding to the rotating speed according to the current vectors corresponding to the plurality of determined adjusting values and the target point corresponding to the rotating speed.
Optionally, the determining module 501 is further specifically configured to:
and determining a plurality of adjustment values of the modulus of the calibration current vector in the current limit circle according to the interval change relation between the preset number corresponding to each voltage limit circle to be calibrated and the adjustment values of the preset number.
Optionally, the calibration module 503 is further used for
Detecting the voltage saturation of the target motor in operation;
and if the voltage saturation is within a preset range, determining that the working efficiency of the target motor reaches a preset efficiency.
An embodiment of the present invention further provides a terminal, including: a processor and a memory;
the memory is used for storing program codes used when the terminal runs;
the processor is used for executing the program code to realize the calibration method of the voltage limit circle.
The embodiment of the invention also provides a storage medium, and when instructions in the storage medium are executed by a processor of a terminal, the electronic equipment can execute the calibration method of the voltage limit circle.
In an exemplary embodiment, there is also provided a storage medium, such as a memory, including instructions executable by a processor of a terminal to perform the method of calibrating a voltage limit circle described above. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (7)

1. A calibration method of a voltage limit circle is characterized by comprising the following steps:
selecting a plurality of target points from points on a calibrated current limit circle of a target motor, and determining a plurality of rotating speeds according to the target points;
aiming at each rotating speed, determining a plurality of current vectors corresponding to the rotating speed by adjusting the calibration current vector in the current limit circle for a plurality of times; wherein, the modulus of the calibration current vector is the radius of the current limit circle; the direction of the calibrated current vector is the direction of a ray which takes the origin of a d-q coordinate system as a starting point and passes through the intersection point of the equal torque curve and the current limit circle at the rated rotating speed; the current vector is the sum of a q-axis current vector and a d-axis current vector under a d-q coordinate system;
setting the target motor for multiple times according to the rotating speed and the current vectors, and operating the target motor after each setting;
determining a voltage limit circle corresponding to the rotating speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotating speed;
selecting a plurality of target points from points on a calibrated current limit circle of a target motor, including:
determining interval values between adjacent intersection points between a plurality of voltage limit circles and the current limit circle according to the position relation between the preset voltage limit circle and the preset current limit circle corresponding to a plurality of rotating speeds;
selecting a plurality of target points by taking the intersection points of the equal torque curve and the current limit circle at the rated rotating speed as starting points and according to the determined interval values between the adjacent intersection points;
selecting a plurality of target points by:
aiming at each target point, determining a target included angle corresponding to the target point according to an interval value between adjacent intersection points by taking the intersection point of the equal torque curve and the current limit circle at the rated rotating speed as a starting point; the target included angle corresponding to the target point is an included angle between a ray passing through the target point and the d axis by taking the original point of the d-q coordinate system as a starting point;
according to the target included angle, determining an intersection point of a ray passing through the target point and the current limit circle by taking the origin of the d-q coordinate system as a starting point as well as the target point;
the determining a plurality of rotational speeds according to the plurality of target points comprises:
determining a plurality of adjustment rotating speeds which are larger than the rated rotating speed for each target point;
setting the target motor for multiple times according to the multiple adjusting rotating speeds, the modes of the calibration current vectors and the target included angle, and operating the target motor after each setting;
and taking the adjusting rotating speed set when the working efficiency of the target motor reaches the preset efficiency as the rotating speed corresponding to the target point.
2. The method for calibrating the voltage limit circle according to claim 1, wherein the step of determining a plurality of current vectors corresponding to the rotation speed by adjusting the calibration current vector in the current limit circle a plurality of times comprises:
determining a plurality of adjustment values of a modulus of a calibration current vector in the current limit circle;
aiming at each adjustment value, determining at least one current vector corresponding to the adjustment value according to the adjustment value and the target included angle which is adjusted for multiple times;
setting the target motor for a plurality of times according to the rotating speed and the plurality of current vectors, and operating the target motor after each setting, comprising:
setting the target motor for multiple times according to the rotating speed and at least one current vector corresponding to the adjusting value, and operating the target motor after each setting;
according to the current vector set when the working efficiency of the target motor reaches the preset efficiency and the target point corresponding to the rotating speed, determining a voltage limit circle corresponding to the rotating speed, wherein the voltage limit circle comprises the following steps:
determining a current vector corresponding to the adjustment value set when the working efficiency of the target motor reaches a preset efficiency;
and determining a voltage limit circle corresponding to the rotating speed according to the current vectors corresponding to the plurality of determined adjusting values and the target point corresponding to the rotating speed.
3. The method for calibrating a voltage limit circle according to claim 2, wherein the determining a plurality of adjustment values of the modulus of the calibration current vector in the current limit circle comprises:
and determining a plurality of adjustment values of the modulus of the calibration current vector in the current limit circle according to the interval change relation between the preset number corresponding to each voltage limit circle to be calibrated and the adjustment values of the preset number.
4. The method for calibrating the voltage limit circle according to any one of claims 1 to 3, wherein the step of determining that the working efficiency of the target motor reaches the preset efficiency comprises the following steps:
detecting the voltage saturation of the target motor in operation; wherein, the voltage saturation is the ratio of rated voltage and actual voltage;
and if the voltage saturation is within a preset range, determining that the working efficiency of the target motor reaches a preset efficiency.
5. A calibration device for a voltage limit circle is characterized by comprising:
the selection module is used for selecting a plurality of target points from points on a calibrated current limit circle of the target motor and determining a plurality of rotating speeds according to the target points;
the determining module is used for determining a plurality of current vectors corresponding to each rotating speed by adjusting the calibration current vector in the current limit circle for a plurality of times; wherein, the modulus of the calibration current vector is the radius of the current limit circle; the direction of the calibrated current vector is the direction of a ray which takes the origin of a d-q coordinate system as a starting point and passes through the intersection point of the equal torque curve and the current limit circle at the rated rotating speed; the current vector is the sum of a q-axis current vector and a d-axis current vector under a d-q coordinate system;
the operation module is used for setting the target motor for multiple times according to the rotating speed and the current vectors and operating the target motor after each setting;
the calibration module is used for determining a voltage limit circle corresponding to the rotating speed according to a current vector set when the working efficiency of the target motor reaches a preset efficiency and a target point corresponding to the rotating speed;
a selection module specifically configured to:
determining interval values between adjacent intersection points between a plurality of voltage limit circles and the current limit circle according to the position relation between the preset voltage limit circle and the preset current limit circle corresponding to a plurality of rotating speeds;
selecting a plurality of target points by taking the intersection points of the equal torque curve and the current limit circle at the rated rotating speed as starting points and according to the determined interval values between the adjacent intersection points;
selecting a plurality of target points by:
aiming at each target point, determining a target included angle corresponding to the target point according to an interval value between adjacent intersection points by taking the intersection point of the equal torque curve and the current limit circle at the rated rotating speed as a starting point; the target included angle corresponding to the target point is an included angle between a ray passing through the target point and the d axis by taking the origin of the d-q coordinate system as a starting point;
according to the target included angle, determining an intersection point of a ray passing through the target point and the current limit circle by taking the origin of the d-q coordinate system as a starting point as well as the target point;
determining a plurality of adjustment rotating speeds which are larger than the rated rotating speed for each target point;
setting the target motor for multiple times according to the multiple adjusting rotating speeds, the modes of the calibration current vectors and the target included angle, and operating the target motor after each setting;
and taking the adjusting rotating speed set when the working efficiency of the target motor reaches the preset efficiency as the rotating speed corresponding to the target point.
6. A terminal, comprising: a processor and a memory;
the memory is used for storing program codes used when the terminal runs;
the processor is used for executing the program code to realize the calibration method of the voltage limit circle according to any one of claims 1 to 4.
7. A storage medium, characterized in that instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform a calibration method of a voltage limit circle as claimed in any one of claims 1 to 4.
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PCT/CN2021/074289 WO2022126838A1 (en) 2020-12-17 2021-01-29 Calibration method and device for voltage limit ellipse, terminal, and storage medium
DE112021006480.0T DE112021006480T5 (en) 2020-12-17 2021-01-29 CALIBRATION METHOD AND DEVICE FOR VOLTAGE LIMIT ELLIPSE, TERMINAL DEVICE AND STORAGE MEDIUM

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