CN114172430B - Parameter detection method for vector control permanent magnet synchronous motor - Google Patents
Parameter detection method for vector control permanent magnet synchronous motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The invention discloses a parameter detection method of a vector control permanent magnet synchronous motor, which comprises the following steps: establishing a voltage equation of the permanent magnet synchronous motor under an actual rotation dq coordinate system; setting positioning current, artificially blocking rotation and opening loop operation without blocking rotation; a positioning current stage, wherein positioning current is generated in a three-phase winding of the motor in the process that the q-axis voltage is gradually increased from 0 until the q-axis current reaches a current preset value, and the stator resistance of the motor is determined; in the artificial locked rotor stage, three-phase sine wave current is generated to form an active rotating magnetic field under the condition of locked rotor of the motor, and d-axis inductance and q-axis inductance of the motor are determined; and in the non-locked-rotor open-loop operation stage, under the condition that the motor is not locked-rotor, the three-phase sine wave current forms an active rotating magnetic field to drive the motor rotor to rotate, and the counter potential coefficient of the motor is determined. The invention provides full parameter identification for vector control of the permanent magnet synchronous motor by setting three stages of positioning current, manual locked-rotor and non-locked-rotor open-loop operation, and has higher practical value.
Description
Technical Field
The invention relates to the field of motor control, in particular to a parameter detection method of a vector control permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high power density and efficiency, wider speed regulation range and the like, and is widely applied to the fields of industrial control and household appliances at present. The vector control permanent magnet synchronous motor without the position sensor can reduce hardware cost and improve system reliability, and has become a very important direction in the fields of motor research and application in recent years, for example, fan pump products are very suitable for the permanent magnet synchronous motor without the position sensor vector control.
The parameter detection of the permanent magnet synchronous motor is an indispensable link in the applications of motor vector control, fault diagnosis and the like, and the motor parameters to be detected in the permanent magnet synchronous motor generally comprise stator resistance, d-axis inductance, q-axis inductance, flux linkage or counter potential coefficient. Most of the literature currently researching parameter detection of permanent magnet synchronous motors focuses on dq coordinate system voltage equations in the following vector control model. However, the amount of voltage and current under the dq coordinate system is substantially constant, and only one parameter can be obtained by using one d-axis or q-axis voltage equation, so that only two motor parameters can be obtained by processing at the same time under the dq coordinate system in a steady state.
Chinese patent CN112468048A discloses a method for detecting parameters of a permanent magnet synchronous motor based on a recursive least square method under an αβ coordinate system, which can obtain four motor parameters, and compared with full parameter detection under a dq coordinate system, full parameter detection under the αβ coordinate system has a faster convergence speed and a shorter calculation time, but the precondition of this method is that the motor has already entered a steady-state operation mode of vector control, and in practice, it is often necessary to detect the motor parameters first and then implement vector control.
Chinese patent CN106997024a discloses a method for detecting parameters of a permanent magnet synchronous motor, in which quadrature-axis excitation voltage and direct-axis excitation voltage are applied to the quadrature-axis and direct-axis of the motor, respectively, and related currents are detected to calculate motor parameters, but the method only detects three parameters of stator resistance, d-axis inductance and q-axis inductance, and does not provide a method for detecting flux linkage or counter potential coefficients.
At the beginning of the position sensorless vector control of the permanent magnet synchronous motor, it is necessary to detect all parameters of the motor.
Disclosure of Invention
The invention aims to provide a parameter detection method for a vector control permanent magnet synchronous motor at the beginning of starting, which is used for overcoming the defect that the counter potential coefficient cannot be detected in the starting stage or the full parameter detection can be carried out only after a steady state operation mode of vector control is entered.
In order to realize the tasks, the invention adopts the following technical scheme:
a parameter detection method of a vector control permanent magnet synchronous motor comprises the following steps:
establishing a voltage equation of the permanent magnet synchronous motor under an actual rotation dq coordinate system;
setting three stages of positioning current, artificial locked-rotor and non-locked-rotor open-loop operation based on the voltage equation, and setting operation conditions of each stage; setting the d-axis voltage of the motor as 0 in the running conditions of the three stages, and setting the q-axis voltage and the frequency of the active rotating magnetic field which are consistent in the artificial locked-rotor stage and the non-locked-rotor open-loop stage;
the positioning current stage is used for generating positioning current in the three-phase winding of the motor in the process that the q-axis voltage is gradually increased from 0 until the q-axis current reaches a current preset value, and determining the stator resistance of the motor;
the artificial locked rotor stage generates three-phase sine wave current to form an active rotating magnetic field under the condition of locked rotor of the motor, and d-axis inductance and q-axis inductance of the motor are determined;
and in the non-locked-rotor open-loop operation stage, under the condition that the motor is not locked-rotor, the three-phase sine wave current forms an active rotating magnetic field to drive the motor rotor to rotate, and the counter potential coefficient of the motor is determined.
Further, in the process that the q-axis voltage is gradually increased from 0, positioning current is generated in the three-phase winding of the motor until the q-axis current reaches a current preset value, and the stator resistance of the motor is determined, including:
when the q-axis current reaches the current preset value i set The q-axis voltage at this time was recorded as V set Stator resistance R s The calculation formula of (2) is as follows:
wherein R is s Is the stator resistance and ζ is the voltage correction coefficient.
Further, the generating three-phase sine wave current to form an active rotating magnetic field under the condition of motor locked rotor, determining d-axis inductance and q-axis inductance of the motor, includes:
measuring three-phase current of motor under active rotating magnetic field and calculating d and q axis current i of motor d1 、i q1 Rotational angular velocity ω 0 ＝2πf 0 ，f 0 For the frequency of the active rotating magnetic field, then:
motor d-axis inductance L d The calculation formula of (2) is as follows:
q-axis inductance L of motor q The calculation formula of (2) is as follows:
wherein V is set For locating the current phase q-axis current to reach the current preset value i set The q-axis voltage, ζ, required at that time is the voltage correction coefficient.
Further, the three-phase sine wave current forms an active rotating magnetic field to drive the motor rotor to rotate under the condition that the motor is not locked, and the counter potential coefficient of the motor is determined, and the method comprises the following steps:
under the condition that the motor is not blocked, measuring three-phase current of the motor at the moment and calculating d and q axis currents of the motor at the moment to be i respectively d2 、i q2 Rotational angular velocity omega 0 ＝2πf 0 ，f 0 Is the frequency of the active rotating magnetic field; the back-emf coefficient of the motor is expressed as:
wherein the counter potential coefficient k e Is the counter potential of the motor corresponding to 1000 revolutions per minute of the motor revolution speed appointed in engineering application, p N Is the pole pair number of the motor, V set For locating the current phase q-axis current to reach the current preset value i set The q-axis voltage, ζ is the voltage correction coefficient, R s Is stator resistance L d Is d-axis inductance, L q Is q-axis inductance.
Further, the value range ζ=0.6 to 0.9 of the voltage correction coefficient ζ.
A vector control permanent magnet synchronous motor, wherein a controller of the permanent magnet synchronous motor is provided with a computer program; and when the computer program is executed by the controller, the method for detecting the parameters of the vector control permanent magnet synchronous motor is realized.
A computer readable storage medium having stored therein a computer program which, when executed by a processor, performs the steps of the method for detecting parameters of a vector controlled permanent magnet synchronous motor.
Compared with the prior art, the invention has the following technical characteristics:
the invention detects the parameters of the permanent magnet synchronous motor through the locked-rotor and non-locked-rotor open-loop operation of the motor at the beginning of starting, overcomes the defect that the counter potential coefficient cannot be detected in the starting stage in the prior art, and simultaneously solves the problem that the full-parameter detection of the permanent magnet synchronous motor can only be carried out after the prior art firstly enters a steady-state operation mode of vector control.
Drawings
FIG. 1 is a block diagram of a sensorless vector control system for a permanent magnet synchronous motor;
the full parameter detection of the prototype of fig. 2 includes three phases of phase current waveforms;
the prototype of fig. 3 i in case of artificial stall d1 、i q1 A current waveform;
the prototype of fig. 4 i under the condition of no locked-rotor open loop operation d2 、i q2 Current waveform.
Detailed Description
Referring to the drawings, the invention discloses a parameter detection method of a vector control permanent magnet synchronous motor, which comprises the following steps:
and step 1, establishing d and q axis voltage equations under a dq coordinate system of actual rotation of the permanent magnet synchronous motor.
Wherein R is s Is a stator resistor; l (L) d 、L q Respectively representing d and q axis inductances; u (u) d 、u q Respectively representing d and q axis voltages of the motor; i.e d 、i q Respectively representing d and q axis currents; e is the back electromotive force of the motor; omega is the rotation angular velocity of the motor; p is a differential operator, p=d/dt.
Wherein in the positioning current phase:
setting the d-axis voltage of the motor to 0, gradually increasing the q-axis voltage from 0, generating positioning current in the motor three-phase winding, measuring the current of the motor at the moment, and calculating d-axis current and q-axis current i of the motor at the moment d0 、i q0 The method comprises the steps of carrying out a first treatment on the surface of the When q-axis current i q0 Reaching the preset current value i set The q-axis voltage at this time was recorded as V set At this time, the space magnetic field generated by the three-phase winding is static, the counter electromotive force e and the rotation angular velocity omega of the motor in the formula (1) are both 0, and the steady-state equations of the d and q-axis voltages are as follows:
thus, the stator resistance R can be obtained s The calculation formula of (2) is as follows:
wherein i is set To preset q-axis current, V set To obtain a preset q-axis current i set The required q-axis voltage, ζ, is the voltage correction coefficient, taking into account dead time effect and tube voltage drop of the vector control driver power tube, the voltage ratio V actually applied to the motor winding set Small, thus need to be specific to V set Correction is carried out, and the value range xi of xi=0.6～0.9。
Step 3, in the artificial locked-rotor stage:
the d-axis voltage of the motor is set to 0, and the q-axis voltage is set to V set The frequency of the active rotating magnetic field is f 0 Under the condition of motor stalling, three-phase sine wave currents are generated to form an active rotating magnetic field, the three-phase currents of the motor at the moment are measured, and d-axis current and q-axis current i of the motor at the moment are calculated d1 、i q1 Rotational angular velocity ω 0 ＝2πf 0 The method comprises the steps of carrying out a first treatment on the surface of the And at this time, the counter electromotive force e of the motor in the formula (1) is 0, and then the steady-state equations of the d and q axis voltages are as follows:
wherein V is set For locating the current phase q-axis current to reach the current preset value i set The q-axis voltage, ζ, required at that time is the voltage correction coefficient.
From (3) and (4), the d-axis inductance L of the motor can be obtained d The calculation formula of (2) is as follows:
the motor q-axis inductance L can also be derived from (3) and (4) as well q The calculation formula of (2) is as follows:
the d-axis voltage of the motor is still set to 0, and the q-axis voltage is set to V set The frequency of the active rotating magnetic field is f 0 Under the condition that the motor is not locked, three-phase sine wave currents form an active rotating magnetic field to drive the motor rotor to rotate, the three-phase currents of the motor at the moment are measured, and d-axis currents and q-axis currents of the motor at the moment are calculated to be i respectively d2 、i q2 Rotational angular velocity omega 0 ＝2πf 0 The method comprises the steps of carrying out a first treatment on the surface of the But the motor rotatesWhen the sub-follower active rotating magnetic field performs open-loop synchronous operation, the actual dq axis and the dq axis defined in the step 1 generate an angle offset theta, and the d and q axis voltage steady equation can be written as:
wherein V is set To obtain a preset q-axis current i set The required q-axis voltage, ζ is the voltage correction coefficient, θ is the angular offset of the actual dq-axis, e is the rotational angular velocity ω 0 Corresponding motor back emf.
The calculation formula of the back electromotive force e of the motor can be obtained from (7) as follows:
and further calculating the counter potential coefficient of the motor:
wherein the counter potential coefficient k e Is the counter potential of the motor corresponding to 1000 revolutions per minute of the motor revolution speed appointed in engineering application, p N Is the pole pair number, f of the motor 0 For actively rotating the frequency of the magnetic field, f 0 The corresponding motor speed is
Rotational angular velocity omega 0 ＝2πf 0 Stator resistance R s D-axis inductance L d Inductance L of q axis q Are given by equations (3), (5) and (6), respectively.
Examples:
the principle of the invention is verified by adopting a low-voltage outer rotor permanent magnet synchronous motor experiment for a fan system, wherein the parameters of the permanent magnet synchronous motor are as follows: rated power 300W, rated voltage DC 32V, pole pair number p n =4, minimum operating speedn set_min =800 rpm, maximum operating speed n set_max =4000 rpm, vector control PWM frequency is 15KHz.
In the embodiment of the invention, a permanent magnet synchronous motor fan system adopts position-sensor-free vector control, as shown in fig. 1, which is a system control block diagram, and comprises a double-resistance sampling circuit, clarke and PARK conversion, a maximum torque current ratio control (MTPA) module, a speed regulation PID module, a dq axis current PID module, a PARK inverse transformation P module, a rotor position estimation module, a SVPWM calculation module, a three-phase PWM inverter and the like.
Fig. 2 shows three phase current real beat waveforms of a prototype in the full parameter detection process according to an embodiment of the present invention, including three phases of positioning current, rotor locked rotor main magnetic rotating magnetic field action, and non-locked rotor open loop operation. The relevant voltage and current values are measured in three stages, and the motor parameters are calculated according to the method of parameter detection.
The unit of applied voltage in the practice of the present invention is not volt (V) but is the FOC system voltage variable unit, 1v= 1651.6 system voltage variable unit; the unit of measured current is not ampere (a) but is the FOC system current variable unit, 1a= 327.68 system current variable unit.
Setting the d-axis voltage as u in the stage of generating the positioning current d1 =0, preset value i set =2850 system current variable units, q-axis voltage gradually increases from 0, when q-axis current i q0 Reaching a preset value i set The q-axis voltage at this time was recorded as V set =1600 system voltage variable units, taking the voltage correction coefficient ζ=0.9 vs V set Correcting, and calculating the stator resistance according to the formula (3)
The stator resistance of the motor is measured to be 0.086Ω by the bridge method, and the detection result of the invention is close to the measurement value by the bridge method.
In the rotor locked rotor main magnetic rotating magnetic field action stage, the d-axis voltage is u d1 =0, q-axis voltage u q1 ＝V set 1600 system voltage variable unit, active rotating magnetic field frequency f 0 ＝6.9Hz, as shown in FIG. 3, is the waveform of the d and q axis currents in the rotor stalling stage, the d and q axis currents also have harmonics due to the harmonic wave in the air gap field, in the invention, the d and q axis currents need to be subjected to low pass filtering, and the low pass filtering values of the d and q axis currents are measured as i respectively d1 System current variable unit =330, i q1 System current variable unit=2580.
Calculating according to formula (5) to obtain d-axis inductance
Calculating according to formula (6) to obtain q-axis inductance
The d and q axis inductances of the motor are measured to be 0.22mH and 0.26mH by the special inductance meter, and the detection result of the invention is close to the measured value of the inductance meter.
In the non-locked-rotor open-loop operation stage, the d-axis voltage is u d2 =0, q-axis voltage u q2 ＝V set 1600 system voltage variable unit, active rotating magnetic field frequency f 0 =6.9 Hz, and the rotor rotates in synchronization with the active rotating magnetic field, so that back emf information can be measured. As shown in FIG. 4, the waveforms of the currents of the d and q axes in the non-locked open loop operation stage are respectively i d2 =1080 system current variable units, i q2 System current variable unit=2334.
Calculated by the formula (9) to obtain the counter potential coefficient
ξV set -R s i d2 +ω 0 L q i q2
＝0.9*(1600/1651.6)-0.1002*(1080/327.68)+43.35*0.000295*(2334/327.68)
＝0.6328
ξV set -R s i q2 -ω 0 L d i d2
＝0.9*(1600/1651.6)-0.1002*(2334/327.68)-43.35*0.000242*(1080/327.68)
＝0.1232
Wherein:
R s ＝0.1002Ω、L d ＝0.000242H、L q ＝0.000295H、ω 0 ＝2πf 0 ＝43.35rad/s
in general, the counter potential measuring method of the motor is to open a winding of the motor, drag a motor rotor to a certain rotating speed by other machines to measure the counter potential of the winding, and the counter potential coefficient of a measuring model machine is 5.78V/krpm by using the method.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (7)
1. The parameter detection method of the vector control permanent magnet synchronous motor is characterized by comprising the following steps of:
establishing a voltage equation of the permanent magnet synchronous motor under an actual rotation dq coordinate system:
wherein R is s Is a stator resistor; l (L) d 、L q Respectively representing d and q axis inductances; u (u) d 、u q Respectively representing d and q axis voltages of the motor; i.e d 、i q Respectively representing d and q axis currents; e is the back electromotive force of the motor; omega is the rotation angular velocity of the motor; p is a differential operator, p=d/dt;
setting three stages of positioning current, artificial locked-rotor and non-locked-rotor open-loop operation based on the voltage equation, and setting operation conditions of each stage; setting the d-axis voltage of the motor as 0 in the running conditions of the three stages, and setting the q-axis voltage and the frequency of the active rotating magnetic field which are consistent in the artificial locked-rotor stage and the non-locked-rotor open-loop stage;
the positioning current stage is used for generating positioning current in the three-phase winding of the motor in the process that the q-axis voltage is gradually increased from 0 until the q-axis current reaches a current preset value, and determining the stator resistance of the motor;
the artificial locked rotor stage generates three-phase sine wave current to form an active rotating magnetic field under the condition of locked rotor of the motor, and d-axis inductance and q-axis inductance of the motor are determined;
and in the non-locked-rotor open-loop operation stage, under the condition that the motor is not locked-rotor, the three-phase sine wave current forms an active rotating magnetic field to drive the motor rotor to rotate, and the counter potential coefficient of the motor is determined.
2. The method for detecting parameters of a vector controlled permanent magnet synchronous motor according to claim 1, wherein the step of generating a positioning current in the three-phase winding of the motor until the q-axis current reaches a current preset value in the process of gradually increasing the q-axis voltage from 0, determining the stator resistance of the motor comprises:
when the q-axis current reaches the current preset value i set The q-axis voltage at this time was recorded as V set Stator resistance R s The calculation formula of (2) is as follows:
wherein R is s Is the stator resistance and ζ is the voltage correction coefficient.
3. The method for detecting parameters of a vector control permanent magnet synchronous motor according to claim 1, wherein the generating three-phase sine wave current to form an active rotating magnetic field in case of motor stall, determining d-axis inductance and q-axis inductance of the motor, comprises:
measuring three-phase current of motor under active rotating magnetic field and calculating d and q axis current i of motor d1 、i q1 Rotational angular velocity ω 0 ＝2πf 0 ，f 0 For the frequency of the active rotating magnetic field, then:
motor d-axis inductance L d The calculation formula of (2) is as follows:
q-axis inductance L of motor q The calculation formula of (2) is as follows:
wherein V is set For locating the current phase q-axis current to reach the current preset value i set The q-axis voltage, ζ, required at that time is the voltage correction coefficient.
4. The method for detecting parameters of a vector control permanent magnet synchronous motor according to claim 1, wherein the three-phase sine wave current forms an active rotating magnetic field to drive a motor rotor to rotate under the condition that the motor is not locked, and determining the counter potential coefficient of the motor comprises:
under the condition that the motor is not blocked, measuring three-phase current of the motor at the moment and calculating d and q axis currents of the motor at the moment to be i respectively d2 、i q2 Rotational angular velocity omega 0 ＝2πf 0 ，f 0 Is the frequency of the active rotating magnetic field; the back-emf coefficient of the motor is expressed as:
wherein the counter potential coefficient k e Is the counter potential of the motor corresponding to 1000 revolutions per minute of the motor revolution speed appointed in engineering application, p N Is the pole pair number of the motor, V set For locating the current phase q-axis current to reach the current preset value i set The q-axis voltage, ζ is the voltage correction coefficient, R s Is stator resistance L d Is d-axis inductance, L q Is q-axis inductance.
5. A method for detecting parameters of a vector controlled permanent magnet synchronous motor according to claim 2, 3 or 4, wherein the value range ζ=0.6-0.9 of the voltage correction coefficient ζ.
6. A vector control permanent magnet synchronous motor, wherein a controller of the permanent magnet synchronous motor is provided with a computer program; the method for detecting parameters of the vector-controlled permanent magnet synchronous motor according to any one of claims 1 to 5 is characterized in that the computer program, when executed by the controller, implements the steps of the method for detecting parameters of the vector-controlled permanent magnet synchronous motor.
7. A computer readable storage medium having a computer program stored therein, characterized in that the computer program, when executed by a processor, implements the steps of the method for detecting parameters of a vector controlled permanent magnet synchronous motor according to any one of claims 1 to 5.
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| JP2010045914A (en) * | 2008-08-12 | 2010-02-25 | Sinfonia Technology Co Ltd | Synchronous motor drive control device |
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