CN115411995B - Permanent magnet synchronous motor offline parameter identification method - Google Patents

Permanent magnet synchronous motor offline parameter identification method Download PDF

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Publication number
CN115411995B
CN115411995B CN202210832059.1A CN202210832059A CN115411995B CN 115411995 B CN115411995 B CN 115411995B CN 202210832059 A CN202210832059 A CN 202210832059A CN 115411995 B CN115411995 B CN 115411995B
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current
permanent magnet
pwm
phase
magnet synchronous
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CN115411995A (en
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徐奇伟
张雪锋
王益明
赵一舟
张艺璇
张伟
周鑫宇
张富齐
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Chongqing Xinyichuang Electric Technology Co ltd
Chongqing University
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Chongqing Xinyichuang Electric Technology Co ltd
Chongqing University
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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
    • H02P21/141—Flux estimation
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a permanent magnet synchronous motor offline parameter identification method, which comprises the following steps: 1) Establishing a V/f control system of the permanent magnet synchronous motor, and controlling the permanent magnet synchronous motor to rotate by utilizing the V/f control system; 2) Pre-positioning a rotor of the permanent magnet synchronous motor, and setting a PWM (pulse-Width modulation) switching mode; 3) According to the feedback current, the duty ratio is adjusted, feedback current stable values corresponding to different duty ratios are recorded, and the phase resistance of the motor is calculated; 4) Calculating the actual acting voltage and the phase inductance under the fixed duty ratio; 5) When the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control system until the rotating speed of the rotor of the permanent magnet synchronous motor reaches the rotating speed of flux linkage identification, and the flux linkage of the permanent magnet synchronous motor is calculated. The invention can be widely popularized and applied in the fields of permanent magnet synchronous motor sensorless control parameter identification and the like.

Description

Permanent magnet synchronous motor offline parameter identification method
Technical Field
The invention relates to the field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor offline parameter identification method.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high power density, high torque inertia ratio, high efficiency and the like, and has wide application in the fields of industrial production, aerospace, new energy traffic and the like. Since the position sensor is susceptible to interference, the hardware cost of motor control is increased. Therefore, the control technology without the position sensor is adopted in the control of the permanent magnet synchronous motor, so that the reliability of the motor operation can be improved, the noise interference of the position sensor during the motor operation is avoided, and the cost of the motor controller is reduced.
In sensorless control, motor control performance and motor rotor position observation depend on motor model parameter accuracy, and motor parameters need to be identified. The accurate motor parameters can be obtained through off-line parameter identification, and then the parameter setting of the motor speed loop current loop regulator and the estimation of the motor rotor position can be carried out.
The current parameter identification method is mainly divided into off-line parameter identification and on-line parameter identification. The on-line parameter identification is to identify the motor parameters in real time in the motor operation process, and the identification process is complex and the accuracy is low due to the underrank of the identification model when no position sensor is used for control. The off-line parameter identification is to perform parameter identification under the condition that the motor is in an idle or static state. The off-line parameter identification mainly comprises a finite element method and an experimental inspection method. The finite element method utilizes finite element software to complete flux linkage calculation and electromagnetic parameter calculation, and the method has large calculated amount and long time consumption and is mostly used for the motor design stage. In contrast, the experimental measurement method is simple and convenient, the electromagnetic parameter result is accurate, but the parameter measurement of the resistance and the inductance is easily affected by the dead zone, and the identification of the flux linkage requires the position sensor to provide the angle of the motor.
Disclosure of Invention
The invention aims to provide a permanent magnet synchronous motor offline parameter identification method, which comprises the following steps:
1) Establishing a V/f control system of the permanent magnet synchronous motor, and controlling the permanent magnet synchronous motor to rotate by utilizing the V/f control system;
2) Pre-positioning a rotor of the permanent magnet synchronous motor, and setting a PWM (pulse-Width modulation) switching mode;
3) According to the feedback current, the duty ratio is adjusted, feedback current stable values corresponding to different duty ratios are recorded, and the phase resistance of the motor is calculated;
4) Calculating the actual acting voltage and the phase inductance under the fixed duty ratio;
5) When the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control system until the rotating speed of the rotor of the permanent magnet synchronous motor reaches the rotating speed of flux linkage identification, and the flux linkage of the permanent magnet synchronous motor is calculated.
Further, the step of controlling the rotation of the permanent magnet synchronous motor by using the V/f control system includes:
1) Collecting A-phase stator current i A, B-phase electron current i B and C-phase stator current i C, and performing Clark transformation to obtain alpha-axis current i α and beta-axis current i β under an alpha beta static two-phase coordinate system;
2) Performing Park transformation on the alpha-axis current i α and the beta-axis current i β to obtain a d-axis current i d and a q-axis current i q under the dq rotating coordinate system;
3) Given a d-axis voltage U d = 0, a q-axis voltage U q＝Uqref;
4) Performing inverse Park transformation on the d-axis voltage U d and the q-axis voltage U q to obtain an alpha-axis voltage U α and a beta-axis voltage U β under a static two-phase coordinate;
5) And inputting the alpha-axis voltage u α and the beta-axis voltage u β into the SVPWM module to obtain the duty ratio of the UVW three-phase bridge arm, so as to control the rotation of the permanent magnet synchronous motor.
Further, the Park transform is as follows:
wherein θ i is an angle.
Further, the method for pre-positioning the rotor of the permanent magnet synchronous motor comprises a six-step positioning method.
Further, the step of pre-positioning the permanent magnet synchronous motor rotor includes: six basic voltage vectors with preset amplitude values are sequentially and regularly generated according to the rotation direction of the motor, so that the angle corresponding to the last basic voltage vector is-30 degrees.
Further, the PWM switching mode is set to enable the stator three-phase winding to gate AB two phases and enable the C phase to be suspended, wherein the C phase is configured to enable the upper bridge arm and the lower bridge arm to be non-conductive; the B-phase upper bridge arm is forced to be non-conductive, and the lower bridge arm is forced to be conductive; the A phase upper bridge arm is driven by the comparison logic, and the lower bridge arm is forced to be non-conductive.
Further, the step of adjusting the duty ratio according to the feedback current, recording feedback current stable values corresponding to different duty ratios, and calculating the phase resistance of the motor includes:
1) Initializing the setting: setting the comparison value of PWM as zero, resetting the current filter, and setting the maximum value of the comparison value of PWM and the maximum value of resistance estimation time;
2) Collecting a phase A current i A and a phase B current i B, wherein the phase A current i A＝-iB;
3) Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
4) Judging whether the current i R reaches h1% of the rated current of the motor, if so, entering the step 5), otherwise, increasing the PWM comparison value, and returning to the step 2);
5) Maintaining the current PWM duty ratio T1 time until the current is stable, sampling the current value i sum1 of T periods, and recording the current PWM duty ratio D1;
6) Increasing the comparison value of PWM, and collecting phase A current i A and phase B current i B, wherein phase A current i A＝-iB;
7) Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
8) Judging whether the current i R reaches h2% of the rated current of the motor, if so, entering the step 9), otherwise, increasing the PWM comparison value, and returning to the step 7); h2% > h1% >0;
9) Maintaining the current PWM duty ratio T2 time until the current is stable, sampling the current value i sum2 of T periods, and recording the current PWM duty ratio D2;
10 According to the current i sum1, the current i sum2, the PWM duty cycle D1 and the PWM duty cycle D2, calculating by using the ohm law of difference value to obtain the phase resistance V dc is the voltage.
Further, in the process of recording feedback current stable values corresponding to different duty ratios, if the PWM comparison value reaches a set maximum value, but the current i R does not reach h1% or h2% of the rated current of the motor, the PWM comparison value is restored to 0, PWM is turned off, and the error flag bit is identified.
Further, the step of calculating the actual applied voltage and the phase inductance at the fixed duty ratio includes:
1) Setting the comparison value of PWM as zero, resetting the counter, and standing until the feedback current is stabilized as zero;
2) The duty ratio of the given PWM is D2, the feedback current is read in real time, the counter starts to count until the feedback current reaches 0.632 times of i sum2, the counter stops counting, and the current counting t L of the counter is recorded;
3) The actual applied voltage V D2 at a fixed duty cycle is calculated, namely:
4) Restoring the PWM comparison value to 0, closing PWM, and calculating the phase inductance L of the motor, namely:
L＝(tL-td)*R (3)
The invalid time t d is as follows:
td＝(V'D2-VD2)ts (4)
Wherein t s is a sampling period; voltage V' D2＝D2Vdc.
Further, the step of calculating the flux linkage of the permanent magnet synchronous motor includes:
1) Changing PWM into logic driving mode, controlling the duty ratio of each bridge arm by modifying PWM comparison value to generate different voltage vectors;
2) Given d-axis voltage U d =0, q-axis voltage U q＝Uqref, modifying the angle of inverse Park transformation according to the rotation speed, and increasing the value of voltage U qref in the rotation speed lifting process until the motor reaches the rotation speed identified by the flux linkage, namely the rotation speed of the motor rotor reaches g% of the rated rotation speed;
3) Establishing a dq voltage equation under the condition of motor open loop, namely:
Wherein ω e is the electrical angular velocity; phi f is the permanent magnet flux linkage; l d、Lq is d-axis inductance and q-axis inductance respectively; θ err is the angle difference between the stator magnetic field and the rotor magnetic field;
4) The flux linkage psi f of the permanent magnet synchronous motor is calculated, namely:
Where i q is the current.
The invention provides an off-line permanent magnet synchronous motor parameter identification method without position controller, which mainly comprises motor resistance identification, inductance identification and flux linkage identification. The method can effectively improve the accuracy of identifying the motor parameters of the motor without a position controller.
The resistor and inductance identification method can effectively avoid the influence of the dead zone of the driver on the identification precision. Due to the effect of the preset position, the rotation of the motor can not occur in the resistor inductance identification process, and the accuracy of parameter identification is effectively improved.
The invention does not use a position sensor in the flux linkage identification process, and the synchronous motor adopts an open loop V/f control mode to drag the motor to the rotation speed observed by the flux linkage. And the motor flux linkage is effectively solved by utilizing a voltage equation containing a power angle under the open loop condition.
The invention can be widely popularized and applied in the fields of permanent magnet synchronous motor sensorless control parameter identification and the like.
Drawings
FIG. 1 is a schematic diagram of a six-step reservation process;
FIG. 2 is a schematic diagram of a resistive inductor identification topology;
FIG. 3 is a schematic diagram of the current in the resistor identification;
FIG. 4 is a schematic diagram of a V/f control system.
Detailed Description
The present invention is further described below with reference to examples, but it should not be construed that the scope of the above subject matter of the present invention is limited to the following examples. Various substitutions and alterations are made according to the ordinary skill and familiar means of the art without departing from the technical spirit of the invention, and all such substitutions and alterations are intended to be included in the scope of the invention.
Example 1:
Referring to fig. 1 to 4, a permanent magnet synchronous motor offline parameter identification method includes the following steps:
1) Establishing a V/f control system of the permanent magnet synchronous motor, and controlling the permanent magnet synchronous motor to rotate by utilizing the V/f control system;
The step of controlling the rotation of the permanent magnet synchronous motor by using the V/f control system comprises the following steps:
1) Collecting A-phase stator current i A, B-phase electron current i B and C-phase stator current i C, and performing Clark transformation to obtain alpha-axis current i α and beta-axis current i β under an alpha beta static two-phase coordinate system;
2) Performing Park transformation on the alpha-axis current i α and the beta-axis current i β to obtain a d-axis current i d and a q-axis current i q under the dq rotating coordinate system;
3) Given a d-axis voltage U d = 0, a q-axis voltage U q＝Uqref;
4) Performing inverse Park transformation on the d-axis voltage U d and the q-axis voltage U q to obtain an alpha-axis voltage U α and a beta-axis voltage U β under a static two-phase coordinate;
5) And inputting the alpha-axis voltage u α and the beta-axis voltage u β into the SVPWM module to obtain the duty ratio of the UVW three-phase bridge arm, so as to control the rotation of the permanent magnet synchronous motor.
The Park transform is as follows:
wherein θ i is an angle.
2) Pre-positioning a rotor of the permanent magnet synchronous motor, and setting a PWM (pulse-Width modulation) switching mode;
the method for pre-positioning the rotor of the permanent magnet synchronous motor comprises a six-step positioning method.
The step of pre-positioning the rotor of the permanent magnet synchronous motor comprises the following steps: six basic voltage vectors with preset amplitude values are sequentially and regularly generated according to the rotation direction of the motor, so that the angle corresponding to the last basic voltage vector is-30 degrees.
The PWM switching mode is set as a stator three-phase winding gating AB two phases, and a C phase is suspended, wherein the C phase is configured that both upper and lower bridge arms are not conducted; the B-phase upper bridge arm is forced to be non-conductive, and the lower bridge arm is forced to be conductive; the A phase upper bridge arm is driven by the comparison logic, and the lower bridge arm is forced to be non-conductive.
3) According to the feedback current, the duty ratio is adjusted, feedback current stable values corresponding to different duty ratios are recorded, and the phase resistance of the motor is calculated;
the step of adjusting the duty ratio according to the feedback current, recording feedback current stable values corresponding to different duty ratios, and calculating the phase resistance of the motor comprises the following steps:
3.1 Initializing settings): setting the comparison value of PWM as zero, resetting the current filter, and setting the maximum value of the comparison value of PWM and the maximum value of resistance estimation time;
3.2 A) acquiring a phase current i A and a phase B current i B, wherein the phase a current i A＝-iB;
3.3 Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
3.4 Judging whether the current i R reaches h1% of the rated current of the motor, if so, entering the step 3.5), otherwise, increasing the PWM comparison value, and returning to the step 3.2);
3.5 Maintaining the current PWM duty ratio T1 until the current is stable, sampling the current value i sum1 of T periods, and recording the current PWM duty ratio D1;
3.6 Increasing the comparison value of PWM and collecting phase A current i A and phase B current i B, wherein phase A current i A＝-iB;
3.7 Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
3.8 Judging whether the current i R reaches h2% of the rated current of the motor, if so, entering the step 3.9), otherwise, increasing the PWM comparison value, and returning to the step 3.7); h2% > h1% >0;
3.9 Maintaining the current PWM duty ratio T2 until the current is stable, sampling the current value i sum2 of T periods, and recording the current PWM duty ratio D2;
3.10 According to the current i sum1, the current i sum2, the PWM duty cycle D1 and the PWM duty cycle D2, calculating by using the ohm law of difference value to obtain the phase resistance V dc is the voltage.
In the process of recording feedback current stable values corresponding to different duty ratios, if the PWM comparison value reaches a set maximum value, but the current i R does not reach h1% or h2% of the rated current of the motor, the PWM comparison value is restored to 0, PWM is closed, and an error flag bit is identified.
4) Calculating the actual acting voltage and the phase inductance under the fixed duty ratio;
The step of calculating the actual applied voltage and phase inductance at a fixed duty cycle comprises:
4.1 Setting the comparison value of PWM as zero, resetting the counter, and standing until the feedback current is stabilized as zero;
4.2 The duty ratio of the given PWM is D2, the feedback current is read in real time, the counter starts to time, the counter stops timing when the feedback current reaches 0.632 times of i sum2, and the current timing t L of the counter is recorded;
4.3 Calculating the actual applied voltage V D2 at a fixed duty cycle, namely:
4.4 Restoring the PWM comparison value to 0, closing PWM, and calculating the phase inductance L of the motor, namely:
L＝(tL-td)*R (3)
The invalid time t d is as follows:
td＝(V'D2-VD2)ts (4)
Wherein t s is a sampling period; voltage V' D2＝D2Vdc.
5) When the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control system until the rotating speed of the rotor of the permanent magnet synchronous motor reaches the rotating speed of flux linkage identification, and the flux linkage of the permanent magnet synchronous motor is calculated.
The step of calculating the flux linkage of the permanent magnet synchronous motor comprises the following steps:
5.1 Changing PWM into logic driving mode, controlling the duty ratio of each bridge arm by modifying PWM comparison value to generate different voltage vectors;
5.2 Given d-axis voltage U d =0, q-axis voltage U q＝Uqref, modifying the angle of the inverse Park transformation according to the rotation speed, and increasing the value of voltage U qref in the process of rotation speed lifting until the motor reaches the rotation speed identified by the flux linkage, namely the rotation speed of the motor rotor reaches g% of the rated rotation speed;
5.3 A dq voltage equation under the open loop condition of the motor is established, namely:
Wherein ω e is the electrical angular velocity; phi f is the permanent magnet flux linkage; l d、Lq is d-axis inductance and q-axis inductance respectively; θ err is the angle difference between the stator magnetic field and the rotor magnetic field;
5.4 The expression that can result in a flux linkage in combination with U d = 0 and U q＝Uqref is:
Where i q is the current.
Example 2:
an off-line parameter identification method of a permanent magnet synchronous motor comprises the following steps:
1) Establishing a V/f control system of the permanent magnet synchronous motor, and controlling the permanent magnet synchronous motor to rotate by utilizing the V/f control system;
2) Pre-positioning a rotor of the permanent magnet synchronous motor, and setting a PWM (pulse-Width modulation) switching mode;
3) According to the feedback current, the duty ratio is adjusted, feedback current stable values corresponding to different duty ratios are recorded, and the phase resistance of the motor is calculated;
4) Calculating the actual acting voltage and the phase inductance under the fixed duty ratio;
5) When the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control system until the rotating speed of the rotor of the permanent magnet synchronous motor reaches the rotating speed of flux linkage identification, and the flux linkage of the permanent magnet synchronous motor is calculated.
Example 3:
An off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the following steps in embodiment 2, wherein the step of controlling the rotation of the permanent magnet synchronous motor by utilizing the V/f control system comprises the following steps:
1) Collecting A-phase stator current i A, B-phase electron current i B and C-phase stator current i C, and performing Clark transformation to obtain alpha-axis current i α and beta-axis current i β under an alpha beta static two-phase coordinate system;
2) Performing Park transformation on the alpha-axis current i α and the beta-axis current i β to obtain a d-axis current i d and a q-axis current i q under the dq rotating coordinate system;
3) Given a d-axis voltage U d = 0, a q-axis voltage U q＝Uqref;
4) Performing inverse Park transformation on the d-axis voltage U d and the q-axis voltage U q to obtain an alpha-axis voltage U α and a beta-axis voltage U β under a static two-phase coordinate;
5) And inputting the alpha-axis voltage u α and the beta-axis voltage u β into the SVPWM module to obtain the duty ratio of the UVW three-phase bridge arm, so as to control the rotation of the permanent magnet synchronous motor.
Example 4:
An off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the following steps of embodiment 3, wherein Park transformation is as follows:
wherein θ i is an angle.
Example 5:
An off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the steps of the embodiment 2, wherein the method for pre-positioning a rotor of the permanent magnet synchronous motor comprises a six-step positioning method.
Example 6:
an off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the following steps of embodiment 2, wherein the step of pre-positioning a rotor of the permanent magnet synchronous motor comprises the following steps: six basic voltage vectors with preset amplitude values are sequentially and regularly generated according to the rotation direction of the motor, so that the angle corresponding to the last basic voltage vector is-30 degrees.
Example 7:
An off-line parameter identification method of a permanent magnet synchronous motor mainly comprises the following steps of in embodiment 2, wherein the PWM switching mode is set to be a stator three-phase winding gating AB two phases and C phases are suspended, and the C phases are configured to be non-conductive to an upper bridge arm and a lower bridge arm; the B-phase upper bridge arm is forced to be non-conductive, and the lower bridge arm is forced to be conductive; the A phase upper bridge arm is driven by the comparison logic, and the lower bridge arm is forced to be non-conductive.
Example 8:
An off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the steps of in the embodiment 2, wherein the steps of adjusting duty ratio according to feedback current, recording feedback current stable values corresponding to different duty ratios, and calculating phase resistance of the motor comprise:
1) Initializing the setting: setting the comparison value of PWM as zero, resetting the current filter, and setting the maximum value of the comparison value of PWM and the maximum value of resistance estimation time;
2) Collecting a phase A current i A and a phase B current i B, wherein the phase A current i A＝-iB;
3) Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
4) Judging whether the current i R reaches h1% of the rated current of the motor, if so, entering the step 5), otherwise, increasing the PWM comparison value, and returning to the step 2);
5) Maintaining the current PWM duty ratio T1 time until the current is stable, sampling the current value i sum1 of T periods, and recording the current PWM duty ratio D1;
6) Increasing the comparison value of PWM, and collecting phase A current i A and phase B current i B, wherein phase A current i A＝-iB;
7) Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
8) Judging whether the current i R reaches h2% of the rated current of the motor, if so, entering the step 9), otherwise, increasing the PWM comparison value, and returning to the step 7); h2% > h1% >0;
9) Maintaining the current PWM duty ratio T2 time until the current is stable, sampling the current value i sum2 of T periods, and recording the current PWM duty ratio D2;
10 According to the current i sum1, the current i sum2, the PWM duty cycle D1 and the PWM duty cycle D2, calculating by using the ohm law of difference value to obtain the phase resistance
Example 9:
An off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the steps of in the embodiment 8, in the process of recording feedback current stable values corresponding to different duty ratios, if a PWM comparison value reaches a set maximum value, but the current i R does not reach h1% or h2% of the rated current of the motor, recovering the PWM comparison value to be 0, closing PWM, and positioning and identifying an error flag bit.
Example 10:
An off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the following steps of embodiment 2, wherein the step of calculating the actual acting voltage and the phase inductance under the fixed duty ratio comprises the following steps:
1) Setting the comparison value of PWM as zero, resetting the counter, and standing until the feedback current is stabilized as zero;
2) The duty ratio of the given PWM is D2, the feedback current is read in real time, the counter starts to count until the feedback current reaches 0.632 times of i sum2, the counter stops counting, and the current counting t L of the counter is recorded;
3) The actual applied voltage V D2 at a fixed duty cycle is calculated, namely:
4) Restoring the PWM comparison value to 0, closing PWM, and calculating the phase inductance L of the motor, namely:
L＝(tL-td)*R (3)
The invalid time t d is as follows:
td＝(V'D2-VD2)ts (4)
Wherein t s is a sampling period; voltage V' D2＝D2Vdc.
Example 11:
an off-line parameter identification method for a permanent magnet synchronous motor mainly comprises the following steps of embodiment 2, wherein the step of calculating the flux linkage of the permanent magnet synchronous motor comprises the following steps:
1) Changing PWM into logic driving mode, controlling the duty ratio of each bridge arm by modifying PWM comparison value to generate different voltage vectors;
2) Given d-axis voltage U d =0, q-axis voltage U q＝Uqref, modifying the angle of inverse Park transformation according to the rotation speed, and increasing the value of voltage U qref in the rotation speed lifting process until the motor reaches the rotation speed identified by the flux linkage, namely the rotation speed of the motor rotor reaches g% of the rated rotation speed;
3) Establishing a dq voltage equation under the condition of motor open loop, namely:
Wherein ω e is the electrical angular velocity; phi f is the permanent magnet flux linkage; l d、Lq is d-axis inductance and q-axis inductance respectively; θ err is the angle difference between the stator magnetic field and the rotor magnetic field;
4) Calculating the flux linkage psi f of the permanent magnet synchronous motor, namely;
The expression that can be obtained for the flux linkage in combination of U d =0 and U q＝Uqref is:
Where i q is the current.
Example 12:
an off-line parameter identification method for a permanent magnet synchronous motor comprises the following steps:
1) V/f control system for establishing permanent magnet synchronous motor
2) And positioning the motor rotor to the vicinity of-30 degrees by adopting V/f six-step positioning. And setting a PWM switching mode to gate AB two phases and C phases of the three-phase winding of the stator to be suspended.
3) And (3) adjusting the duty ratio according to the feedback current, and recording feedback current stable values when different duty ratios are performed twice. And calculating the phase resistance of the motor.
4) And according to the duty ratio of the identification resistor and the identification result, settling the actual applied voltage under the fixed duty ratio. The stator three-phase winding gates the AB two phases and the C phase is suspended. Step given a fixed duty cycle, the time for the current to reach 0.632 times the corresponding current is recorded and the inductance value calculated.
5) When the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control method, and the rotor of the permanent magnet synchronous motor is brought to 10% of the rated rotation speed. And calculating the flux linkage of the motor according to the dq axis voltage equation of the motor in an open loop state.
The specific implementation method of the step (1) is as follows:
And (3) carrying out Clark transformation on the acquired A-phase stator current i A, B-phase stator current i B and C-phase stator current i C to obtain alpha-axis current i α and beta-axis current i β under an alpha beta static two-phase coordinate system. The current i α and the current i β are converted into d-axis current i d and q-axis current i q under the dq rotation coordinate system through Park conversion.
V/f control is open loop control, where the d-axis voltage and q-axis voltage are given, U d＝0,Uq＝Uqref. The d-axis voltage and the q-axis voltage are subjected to inverse Park transformation to obtain voltages u α and u β under static two-phase coordinates, the duty ratio of a UVW three-phase bridge arm is obtained through an SVPWM module, and the rotation of the motor is controlled through the output of the inverter.
The specific implementation method of the step (2) comprises the following steps:
The permanent magnet synchronous motor can generate a voltage vector in the direction of-30 degrees after current flows through the phase A and phase B windings, so that the rotation and resistance identification accuracy of the motor are reduced. Therefore, the pre-positioning of the rotor is realized by adopting a six-step point location method before the resistance parameter identification, namely six basic voltage vectors with preset amplitude values are sequentially and regularly generated according to the rotation direction of the motor, and the angle corresponding to the basic voltage vector at the last time is in the direction of 30 degrees.
Modifying the configuration of the PWM module, and configuring the C phase to be non-conductive to both the upper bridge arm and the lower bridge arm; the B-phase upper bridge arm is forced to be non-conductive, and the lower bridge arm is forced to be conductive; the A phase upper bridge arm is driven by the comparison logic, and the lower bridge arm is forced to be non-conductive.
The specific implementation method of the step (3) comprises the following steps:
Firstly, initializing and setting, setting the comparison value of PWM to zero, and resetting the current filter. To prevent the motor current from being excessively large, a maximum value of the PWM comparison value and a maximum value of the resistance estimation time are set.
And secondly, gradually increasing the comparison value of PWM, sampling the phase A current i A and the phase B current i B,iA＝-iB, and filtering out the high-frequency harmonic of the current by a current filter to obtain a current i R, wherein the feedback current is i RF＝(iA-iB)/2. If the current i R does not reach 10% of the rated current of the motor, the comparison value of PWM is increased until the current feedback reaches 10% of the rated current of the motor. The PWM duty cycle at this time is maintained for a while until the current stabilizes, the current value i sum1 for 16 cycles is sampled, and the PWM duty cycle D1 at this time is recorded.
Then, the comparison value of PWM is gradually increased on the basis of the previous step, the A-phase current i A and the B-phase current i B are sampled, and the current i R is obtained after the current high-frequency harmonic wave is filtered by a current filter. If the current i R does not reach 40% of the rated current of the motor, the PWM comparison value is increased until the current feedback reaches 40% of the rated current of the motor. The PWM duty cycle at this time is maintained for a while until the current stabilizes, the current value i sum2 for 16 cycles is sampled, and the PWM duty cycle D2 at this time is recorded.
If the PWM comparison value reaches the set maximum value in the above process, the feedback current still does not reach the set value, or the resistor identification time is too long, the PWM comparison value is restored to 0, the PWM is turned off, and the bit identification error flag bit is set.
And finally, restoring the PWM comparison value to 0, and closing PWM. From the recorded current values i sum1 and i sum2, PWM duty cycles D1 and D2, phase resistance was calculated using the law of difference ohms.
The specific implementation method of the step (4) is as follows:
First, the PWM comparison value is set to zero, the counter is cleared, and a period of time is waited until the feedback current stabilizes at zero.
Then, according to the result of resistor identification, the duty ratio of the given PWM is D2, the feedback current is read in real time, the counter starts timing, and the counter stops timing until the feedback current reaches 0.632 times of i sum2.
And finally, restoring the PWM comparison value to 0, and closing PWM. And (3) calculating the phase inductance of the motor as the time of the counter multiplied by the phase resistance according to the recorded value of the counter and the resistance value in the step (3).
The specific implementation method of the step (5) comprises the following steps:
Firstly, changing PWM into logic driving mode, the duty ratio of each bridge arm can be controlled by modifying the comparison value, and different voltage vectors are generated.
Then, given the d-axis voltage and the q-axis voltage, U d＝0,Uq＝Uqref, the angle of the inverse Park transformation is modified according to the rotational speed, and the value of U qref is gradually increased in the process of gradually increasing the rotational speed until the motor reaches the rotational speed identified by the flux linkage.
Next, according to the dq voltage equation in the case of motor open loop, the following is shown:
The expression that can be obtained for the flux linkage in combination of U d =0 and U q＝Uqref is:
Finally, after the calculation is completed, the PWM comparison value is restored to 0, and the PWM is turned off.
Example 13:
an off-line parameter identification method for a permanent magnet synchronous motor comprises the following steps:
step (1): establishing a V/f control system of the permanent magnet synchronous motor;
And (3) carrying out Clark transformation on the acquired A-phase stator current i A, B-phase electron current i B and C-phase stator current i C to obtain alpha-axis current i α and beta-axis current i β under an alpha beta static two-phase coordinate system. The current i α and the current i β are converted into d-axis current i d and q-axis current i q under the dq rotation coordinate system through Park conversion.
The V/f control is open loop control, i.e. neither current nor angle achieve closed loop control, where the d-axis voltage and q-axis voltage are given, U d＝0,Uq＝Uqref. The d-axis voltage and the q-axis voltage are subjected to inverse Park transformation to obtain voltages u α and u β under static two-phase coordinates, the duty ratio of a UVW three-phase bridge arm is obtained through an SVPWM module, and the rotation of the motor is controlled through the output of the inverter.
The selection of U qref requires a gradual increase in rotation speed given by the open loop to ensure stable motor dragging under no-load conditions.
Step (2): and positioning the motor rotor to the vicinity of-30 degrees by adopting V/f six-step positioning. Setting a PWM switching mode as a stator three-phase winding gating AB two phases and suspending C phases;
the permanent magnet synchronous motor can generate a voltage vector in the direction of-30 degrees after current flows through the phase A and phase B windings, so that the rotation and resistance identification accuracy of the motor are reduced. Therefore, the pre-positioning of the rotor is needed to be realized by adopting a six-step point method before the resistance parameter identification, that is, six basic voltage vectors with preset amplitude values are sequentially and regularly generated according to the rotation direction of the motor, and the angle corresponding to the basic voltage vector at the last time is the direction of-30 degrees, as shown in fig. 1.
Modifying the configuration of the PWM module, and configuring the C phase to be non-conductive to both the upper bridge arm and the lower bridge arm; the B-phase upper bridge arm is forced to be non-conductive, and the lower bridge arm is forced to be conductive; the upper bridge arm of the A phase is driven by the comparison logic, and the lower bridge arm is forced to be non-conductive, as shown in fig. 2.
Step (3): and (3) adjusting the duty ratio according to the feedback current, and recording feedback current stable values when different duty ratios are performed twice. Calculating the phase resistance of the motor;
first, an initialization setting is performed, and the comparison value of PWM is set to zero so that the a-phase duty ratio is 0. And (5) resetting the current filter. To prevent the motor current from being excessively large, a maximum value of the PWM comparison value and a maximum value of the resistance estimation time are set.
And secondly, gradually increasing the comparison value of PWM, sampling the phase A current i A and the phase B current i B,iA＝-iB, and filtering out the high-frequency harmonic of the current by a current filter to obtain a current i R, wherein the feedback current is i RF＝(iA-iB)/2. If the current i R does not reach 10% of the rated current of the motor, the PWM comparison value is continuously increased until the current feedback reaches 10% of the rated current of the motor. The PWM duty ratio at this time is maintained for 300ms, the current is stabilized, the current value i sum1 of 16 cycles is sampled, and the PWM duty ratio D 1 at this time is recorded.
Then, on the basis of D1, the PWM comparison value is gradually increased, the A-phase current i A and the B-phase current i B are sampled, and the current i R is obtained after the current high-frequency harmonic wave is filtered by a current filter. If the current i R does not reach 40% of the rated current of the motor, the PWM comparison value is increased until the current feedback reaches 40% of the rated current of the motor. The PWM duty cycle at this time is maintained for a while until the current is stabilized, the current value i sum2 for 16 cycles is sampled, the PWM duty cycle D 2 at this time is recorded, and the waveforms of the two currents are shown in fig. 3.
If the PWM comparison value reaches the set maximum value in the process of increasing the PWM comparison value, the feedback current still does not reach the set value, or the resistor identification time is too long, the PWM comparison value is restored to 0, the PWM is turned off, and the error flag bit is identified.
And finally, restoring the PWM comparison value to 0, and closing PWM. Based on the recorded current values i sum1 and i sum2, PWM duty cycles D1 and D2, phase resistance is calculated using the law of difference ohms, as follows.
Because the dead zone action time is contained in D 1 and D 2, the phase resistance can be effectively calculated by using the ohm law of difference value.
Step (4): and according to the duty ratio of the identification resistor and the identification result, settling the actual applied voltage under the fixed duty ratio. The stator three-phase winding gates the AB two phases and the C phase is suspended. Step given fixed duty ratio, recording the time when the current reaches 0.632 times of the corresponding current, and calculating the inductance value;
First, the PWM comparison value is set to zero, and the counter is cleared, waiting for a period of time until the feedback current stabilizes at zero.
Then, according to the result of resistor identification, the duty ratio of the given PWM is D 2, the feedback current is read in real time, the counter starts timing, and the counter stops timing until the feedback current reaches 0.632 times of i sum2.
In the quiescent state, the current response at the voltage step input of the RL circuit is:
When t=l/R, the current i≡0.632U/R, i.e. when the current reaches 0.632 times the steady value, the inductance value can be expressed as:
L＝tτ*R
Where t τ is the time for the current to reach 0.632 times the steady value from 0.
Inversely calculating the voltage value of the real action according to the resistance and the current value in the step (3):
The invalidation time is:
td＝(VD1-VD2)ts
Where t s is the sampling period/current loop calculation period.
And finally, restoring the PWM comparison value to 0, and closing PWM. And (3) calculating the phase inductance of the motor as the time of the counter multiplied by the phase resistance according to the recorded value t L of the counter and the resistance value in the step (3).
L＝(tL-td)*R
Step (5): when the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control method, and the rotor of the permanent magnet synchronous motor is brought to 10% of the rated rotation speed. Calculating the flux linkage of the motor according to the dq axis voltage equation of the motor in an open loop state;
Firstly, changing PWM into logic driving mode, the duty ratio of each bridge arm can be controlled by modifying the comparison value, and different voltage vectors are generated.
Then, given the d-axis voltage and the q-axis voltage, U d＝0,Uq＝Uqref, the angle of the inverse Park transformation is modified according to the rotation speed, and the value of U qref is gradually increased in the process of gradually increasing the rotation speed until the motor reaches the rotation speed identified by the flux linkage, and the block diagram of the V/f control system is shown in FIG. 4.
Next, according to the dq voltage equation in the case of motor open loop, the following is shown:
the above deformation can be obtained:
Combining U d =0 and U q＝Uqref and eliminating the power angle, the expression of flux linkage can be obtained as:
Finally, after the calculation is completed, the PWM comparison value is restored to 0, and the PWM is turned off.

Claims (4)

1. The method for identifying the offline parameters of the permanent magnet synchronous motor is characterized by comprising the following steps of:
1) Establishing a V/f control system of the permanent magnet synchronous motor, and controlling the permanent magnet synchronous motor to rotate by utilizing the V/f control system;
2) Pre-positioning a rotor of the permanent magnet synchronous motor, and setting a PWM (pulse-Width modulation) switching mode;
3) According to the feedback current, the duty ratio is adjusted, feedback current stable values corresponding to different duty ratios are recorded, and the phase resistance of the motor is calculated;
4) Calculating the actual acting voltage and the phase inductance under the fixed duty ratio;
5) When the permanent magnet synchronous motor is in idle load, the voltage and the frequency are gradually increased by adopting a V/f control system until the rotating speed of the rotor of the permanent magnet synchronous motor reaches the rotating speed of flux linkage identification, and the flux linkage of the permanent magnet synchronous motor is calculated;
the method for pre-positioning the rotor of the permanent magnet synchronous motor comprises a six-step positioning method;
The step of pre-positioning the rotor of the permanent magnet synchronous motor comprises the following steps: sequentially and regularly generating six basic voltage vectors with preset amplitude values according to the rotation direction of the motor, so that the angle corresponding to the last basic voltage vector is-30 degrees;
The PWM switching mode is set as a stator three-phase winding gating AB two phases, and a C phase is suspended, wherein the C phase is configured that both upper and lower bridge arms are not conducted; the B-phase upper bridge arm is forced to be non-conductive, and the lower bridge arm is forced to be conductive; the A phase upper bridge arm is driven by a comparison logic, and the lower bridge arm is forced to be non-conductive;
the step of adjusting the duty ratio according to the feedback current, recording feedback current stable values corresponding to different duty ratios, and calculating the phase resistance of the motor comprises the following steps:
2.1 Initializing settings): setting the comparison value of PWM as zero, resetting the current filter, and setting the maximum value of the comparison value of PWM and the maximum value of resistance estimation time;
2.2 A) acquiring a phase current i A and a phase B current i B, wherein the phase a current i A＝-iB;
2.3 Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
2.4 Judging whether the current i R reaches h1% of the rated current of the motor, if so, entering the step 2.5), otherwise, increasing the PWM comparison value, and returning to the step 2.2);
2.5 Maintaining the current PWM duty ratio T1 until the current is stable, sampling the current value i sum1 of T periods, and recording the current PWM duty ratio D1;
2.6 Increasing the comparison value of PWM and collecting phase A current i A and phase B current i B, wherein phase A current i A＝-iB;
2.7 Calculating feedback current i RF＝(iA-iB)/2, and filtering high-frequency harmonic waves of the feedback current by using a current filter to obtain current i R;
2.8 Judging whether the current i R reaches h2% of the rated current of the motor, if so, entering the step 2.9), otherwise, increasing the PWM comparison value, and returning to the step 2.7); h2% > h1% >0;
2.9 Maintaining the current PWM duty ratio T2 until the current is stable, sampling the current value i sum2 of T periods, and recording the current PWM duty ratio D2;
2.10 According to the current i sum1, the current i sum2, the PWM duty cycle D1 and the PWM duty cycle D2, calculating by using the ohm law of difference value to obtain the phase resistance V dc is voltage;
The step of calculating the actual applied voltage and phase inductance at a fixed duty cycle comprises:
4.1 Setting the comparison value of PWM as zero, resetting the counter, and standing until the feedback current is stabilized as zero;
4.2 The duty ratio of the given PWM is D2, the feedback current is read in real time, the counter starts to time, the counter stops timing when the feedback current reaches 0.632 times of i sum2, and the current timing t L of the counter is recorded;
4.3 Calculating the actual applied voltage V D2 at a fixed duty cycle, namely:
4.4 Restoring the PWM comparison value to 0, closing PWM, and calculating the phase inductance L of the motor, namely:
L＝(tL-td)*R (3)
The invalid time t d is as follows:
td＝(V′D2-VD2)ts (4)
Wherein t s is a sampling period; voltage V' D2＝D2Vdc;
the step of calculating the flux linkage of the permanent magnet synchronous motor comprises the following steps:
5.1 Changing PWM into logic driving mode, controlling the duty ratio of each bridge arm by modifying PWM comparison value to generate different voltage vectors;
5.2 Given d-axis voltage U d =0, q-axis voltage U q＝Uqref, modifying the angle of the inverse Park transformation according to the rotation speed, and increasing the value of voltage U qref in the process of rotation speed lifting until the motor reaches the rotation speed identified by the flux linkage, namely the rotation speed of the motor rotor reaches g% of the rated rotation speed;
5.3 A dq voltage equation under the open loop condition of the motor is established, namely:
Wherein ω e is the electrical angular velocity; phi f is the permanent magnet flux linkage; l d、Lq is d-axis inductance and q-axis inductance respectively; θ err is the angle difference between the stator magnetic field and the rotor magnetic field;
5.4 Calculating the flux linkage psi f of the permanent magnet synchronous motor, namely;
Where i q is the current.
2. The method for identifying offline parameters of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: the step of controlling the rotation of the permanent magnet synchronous motor by using the V/f control system comprises the following steps:
1) Collecting an A-phase stator current i A, a B-phase stator current i B and a C-phase stator current i C, and performing Clark transformation to obtain an alpha-axis current i α and a beta-axis current i β under an alpha beta stationary two-phase coordinate system;
2) Performing Park transformation on the alpha-axis current i α and the beta-axis current i β to obtain a d-axis current i d and a q-axis current i q under the dq rotating coordinate system;
3) Given a d-axis voltage U d = 0, a q-axis voltage U q＝Uqref;
4) Performing inverse Park transformation on the d-axis voltage U d and the q-axis voltage U q to obtain an alpha-axis voltage U α and a beta-axis voltage U β under a static two-phase coordinate;
5) And inputting the alpha-axis voltage u α and the beta-axis voltage u β into the SVPWM module to obtain the duty ratio of the UVW three-phase bridge arm, so as to control the rotation of the permanent magnet synchronous motor.
3. The method for identifying offline parameters of a permanent magnet synchronous motor according to claim 2, wherein Park transformation is as follows:
wherein θ i is an angle.
4. The method for identifying offline parameters of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: in the process of recording feedback current stable values corresponding to different duty ratios, if the PWM comparison value reaches a set maximum value, but the current i R does not reach h1% or h2% of the rated current of the motor, the PWM comparison value is restored to 0, PWM is closed, and an error flag bit is identified.
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