CN116722776A - Method for acquiring magnetic flux angle of rotor of permanent magnet synchronous motor - Google Patents
Method for acquiring magnetic flux angle of rotor of permanent magnet synchronous motor Download PDFInfo
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- CN116722776A CN116722776A CN202310623272.6A CN202310623272A CN116722776A CN 116722776 A CN116722776 A CN 116722776A CN 202310623272 A CN202310623272 A CN 202310623272A CN 116722776 A CN116722776 A CN 116722776A
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- 230000004907 flux Effects 0.000 title claims abstract description 73
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000010354 integration Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
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- 238000013178 mathematical model Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
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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
- H02P21/141—Flux estimation
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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 application discloses a method for acquiring a magnetic flux angle of a rotor of a permanent magnet synchronous motor, which comprises the following steps: step 1: constructing a dynamic voltage equation of the permanent magnet synchronous motor under a d-q coordinate system; step 2: fixing the inductance of the permanent magnet synchronous motor; step 3: calculating the parameter stator resistance and rotor flux linkage; step 4: constructing a rotor flux linkage equation to obtain back electromotive force voltage; step 5: establishing a compensation voltage relation according to the proportional gain coefficient; step 6: adding the integral of the back electromotive force voltage to the compensation voltage to calculate a rotor estimated flux linkage; step 7: and calculating the included angle between the rotor flux linkage and the alpha axis according to the rotor estimated flux linkage. According to the identified parameters, the rotor magnetic flux angle acquisition method and the rotor magnetic flux angle acquisition device establish a model in addition to acquire the rotor magnetic flux angle, and are high in acquisition speed and acquisition accuracy.
Description
Technical Field
The application relates to the technical field of motor parameter acquisition, in particular to a method for acquiring a rotor magnetic flux angle of a permanent magnet synchronous motor.
Background
The motor control technology has the advantages of high reliability and high efficiency, and is widely applied in various directions, especially in the field of new energy electric automobiles. Direct control and vector control of torque are currently two common motor control methods. Identification of motor parameters is necessary in either control mode. Whether the parameters of the motor can be accurately identified can have important influence on the control performance of the weak magnetic control and the sensorless control.
Aiming at the acquisition of the magnetic flux angle of the rotor of the permanent magnet synchronous motor, the mechanical position sensor is mainly adopted for detection, the mechanical position sensor is installed to increase the cost, meanwhile, the signal transmission is also extremely easy to be interfered by the outside such as a magnetic field, and the detected real-time position is inaccurate, so that the normal working performance of the motor is directly influenced. The conventional back electromotive force forward cutting method has the problem that the angle deviation cannot be corrected in real time.
According to the back electromotive force integration (voltage model) method, the application provides the induction motor magnetic flux estimation based on the rotor magnetic flux angle, and the compensation voltage generated by the PI compensator is introduced to improve the identification precision, so that the on-line identification of the rotor magnetic flux angle is realized.
Disclosure of Invention
Aiming at the defects in the prior art, the application provides a method for acquiring the magnetic flux angle of a rotor of a permanent magnet synchronous motor, which aims to solve the technical problems in the prior art.
The application provides a method for acquiring a magnetic flux angle of a rotor of a permanent magnet synchronous motor, which comprises the following steps:
step 1: constructing a dynamic voltage equation of the permanent magnet synchronous motor under a d-q coordinate system;
step 2: fixing the inductance of the permanent magnet synchronous motor;
step 3: calculating the parameter stator resistance and rotor flux linkage;
step 4: constructing a rotor flux linkage equation to obtain back electromotive force voltage;
step 5: establishing a compensation voltage relation according to the proportional gain coefficient;
step 6: adding the integral of the back electromotive force voltage to the compensation voltage to calculate a rotor estimated flux linkage;
step 7: and calculating the included angle between the rotor flux linkage and the alpha axis according to the rotor estimated flux linkage, namely the rotor flux angle.
Further, the dynamic voltage equation of the permanent magnet synchronous motor in the d-q coordinate system in the step 1 is as follows:
in U Sd 、U Sq D-q axis components of the stator voltage, respectively; i.e Sd 、i Sq D-q axis components of the stator current, respectively; r is R S Is the stator resistance; psi phi type r Is rotor flux linkage; omega e For rotor electrical angular velocity; l is the inductance value of the permanent magnet synchronous motor.
Further, the method for calculating the stator resistance and the rotor flux linkage in the step 3 is as follows:
substituting the fixed inductance into a dynamic voltage equation of the permanent magnet synchronous motor under a d-q coordinate system, and solving the unknown quantity to obtain values of stator resistance and rotor flux linkage.
Further, the rotor flux linkage equation constructed in the step 4 is as follows:
in U Sα 、U Sβ Respectively the alpha-beta axis components of the stator voltage; i.e Sα 、i Sβ The alpha-beta axis components of the stator current respectively; psi phi type rα 、ψ rβ The alpha-beta axis components of the rotor flux linkage, respectively; l (L) S Is the mean value of the alpha-beta axis inductance component;
the back emf voltage is:
wherein E is Sα 、E Sβ Is the back emf voltage.
Further, the formula of the compensation voltage in the step 5 is:
wherein E is comp.sα 、E comp.sβ To compensate the voltage; k (K) p Is a proportional gain coefficient;estimating flux linkage for the rotor; />Is a rotor flux linkage reference value.
Further, in step 6, the rotor estimated flux linkage is determined by integration, which is needed to be found in conjunction with the formula of the compensation voltage in step 5:
further, the included angle θ between the flux linkage of the rotor and the α -axis in the step 7 e The method comprises the following steps:
the application has the beneficial effects that:
the application is based on the on-line identification of the model reference system, combines with the real-time update of the electrical parameters, ensures that the identification of the rotor magnetic flux angle is not interfered by the change of the electrical parameters, realizes the multi-parameter nested identification in one system, considers the error of calculating the rotor angle based on the traditional back electromotive force method, establishes correction compensation voltage by utilizing a proportional gain coefficient, and improves the accuracy of rotor angle identification.
According to the identified parameters, the application additionally establishes a model to finish the identification of the rotor magnetic flux angle, and the final result shows that the application has the advantages of high identification speed, high identification degree and more identification parameters and has certain practicability. The application is effectively applicable to motors at different rotating speeds, does not increase a hardware circuit, and has the advantages of wide application range, consideration of motor speed variability and the like.
Drawings
The features and advantages of the present application will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the application in any way, in which:
FIG. 1 is a flow chart of an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
The application will be further elucidated with reference to specific examples. It will be appreciated by those skilled in the art that these examples are intended to illustrate the application and not to limit the scope of the application, and that various equivalent modifications to the application fall within the scope of the application as defined by the appended claims.
As shown in fig. 1, a method for obtaining a magnetic flux angle of a rotor of a permanent magnet synchronous motor according to an embodiment of the present application specifically includes the following steps:
step S1: the PMSM dynamic voltage equation under the d-q coordinate system is constructed as follows:
wherein U is Sd 、U Sq D-q axis components of the stator voltage, respectively; i.e Sd 、i Sq D-q axis components of the stator current, respectively; r is R S Is the resistance of the stator; psi phi type r Is rotor flux linkage; omega e For rotor electrical angular velocity; l is the value of the inductance.
Step S2: the fixed inductance L can be directly obtained from a motor manual;
step S3: calculating the parameter stator resistance R S Rotor flux linkage psi r 。
When R is S 、ψ r As a mathematical model of the permanent magnet synchronous motor in a d-q coordinate system as a reference model, substituting the fixed inductance L in the step S2 as a known quantity into the two-dimensional equation established in the step S1, and solving 2 unknown quantities to obtain a unique solution R S 、ψ r Is a value of (2).
If the current motor fixed inductance L is 1mH, the rated voltage of the motor is 24V, the rated current is 3.3A, the rated torque is 0.18N.M, and the rated power is 60W, the d-q axis component of the stator current is substituted into the two-dimensional equation established in the step S1 through the d-q axis component of the real-time motor stator voltage, and the stator resistance is 0.55Ω and the rotor flux linkage is 0.87Wb.
Step S4: and constructing a counter electromotive force voltage equation of the stator winding.
Simplifying a PMSM stator voltage equation under a two-phase static coordinate system to obtain a rotor flux linkage equation:
wherein U is Sα 、U Sβ Respectively the alpha-beta axis components of the stator voltage; i.e Sα 、i Sβ The alpha-beta axis components of the stator current respectively; psi phi type rα 、ψ rβ The alpha-beta axis components of the rotor flux linkage, respectively; l (L) S Is the mean value of the inductive component of the alpha-beta axis.
The stator winding back electromotive force voltage equation is the same as the rotor flux linkage equation, namely:
wherein E is Sα 、E Sβ Is the counter electromotive force of the stator winding.
Step S5: establishing compensation voltage E according to proportional gain coefficient comp.sα 、E comp.sβ Is a relation of (3).
The compensation voltage is obtained by the calculation formula:
wherein E is comp.sα 、E comp.sβ To compensate the voltage; k (K) p Is a proportional gain coefficient;estimating flux linkage for the rotor; />Is a rotor flux linkage reference value.
Step S6: from back-emf voltage E Sα 、E Sβ Adding compensation voltage E to the integral of (2) comp.sα 、E comp.sβ Determining rotor estimation flux linkage
Determining a rotor estimated flux linkage using integration:
to prove the feasibility of steps S5 to S6, the value E is taken at a certain moment Sα ＝a，K p ＝b，Wherein a, b, c are constants, simultaneous equations:
substituting the value into the resolvable value:
t＝∫[a+b(c-t)]dt
if the system is an unsteady system, it can be expressed asThereby showing +.>
Step S7: estimating flux linkage from the rotor in step S6Determining the included angle theta between the rotor flux linkage and the alpha axis e Rotor estimation flux linkage->Convergence to true rotor flux-linkage ψ during computation rα 、ψ rβ ，
Wherein, the included angle theta between the rotor flux linkage and the alpha axis e Namely, the rotor flux angle is:
although embodiments of the present application have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the application, and such modifications and variations are within the scope of the application as defined by the appended claims.
Claims (7)
1. The method for acquiring the magnetic flux angle of the rotor of the permanent magnet synchronous motor is characterized by comprising the following steps of:
step 1: constructing a dynamic voltage equation of the permanent magnet synchronous motor under a d-q coordinate system;
step 2: fixing the inductance of the permanent magnet synchronous motor;
step 3: calculating the parameter stator resistance and rotor flux linkage;
step 4: constructing a rotor flux linkage equation to obtain back electromotive force voltage;
step 5: establishing a compensation voltage relation according to the proportional gain coefficient;
step 6: adding the integral of the back electromotive force voltage to the compensation voltage to calculate a rotor estimated flux linkage;
step 7: and calculating the included angle between the rotor flux linkage and the alpha axis according to the rotor estimated flux linkage, namely the rotor flux angle.
2. The method for obtaining the magnetic flux angle of the rotor of the permanent magnet synchronous motor according to claim 1, wherein the dynamic voltage equation of the permanent magnet synchronous motor in the d-q coordinate system in the step 1 is:
in U Sd 、U Sq D-q axis components of the stator voltage, respectively; i.e Sd 、i Sq D-q axis components of the stator current, respectively; r is R S Is the stator resistance; psi phi type r Is rotor flux linkage; omega e For rotor electrical angular velocity; l is the inductance value of the permanent magnet synchronous motor.
3. The method for obtaining the rotor magnetic flux angle of the permanent magnet synchronous motor according to claim 1, wherein the method for calculating the stator resistance and the rotor flux linkage in the step 3 is as follows:
substituting the fixed inductance into a dynamic voltage equation of the permanent magnet synchronous motor under a d-q coordinate system, and solving the unknown quantity to obtain values of stator resistance and rotor flux linkage.
4. The method for obtaining the rotor flux angle of the permanent magnet synchronous motor according to claim 1, wherein the rotor flux equation constructed in the step 4 is:
in U Sα 、U Sβ Respectively the alpha-beta axis components of the stator voltage; i.e Sα 、i Sβ The alpha-beta axis components of the stator current respectively; psi phi type rα 、ψ rβ The alpha-beta axis components of the rotor flux linkage, respectively; l (L) S Is the mean value of the alpha-beta axis inductance component;
the back emf voltage is:
wherein E is Sα 、E Sβ Is the back emf voltage.
5. The method for obtaining the rotor magnetic flux angle of the permanent magnet synchronous motor according to claim 4, wherein the formula of the compensation voltage in the step 5 is:
wherein E is comp.sα 、E comp.sβ To compensate the voltage; k (K) p Is a proportional gain coefficient;estimating flux linkage for the rotor;is a rotor flux linkage reference value.
6. The method for obtaining the rotor flux angle of the permanent magnet synchronous motor according to claim 5, wherein the step 6 of determining the rotor estimated flux linkage by integration comprises the following specific formulas: :
7. the method for obtaining the magnetic flux angle of the rotor of the permanent magnet synchronous motor according to claim 6, wherein the included angle θ between the flux linkage of the rotor and the α -axis in the step 7 e The method comprises the following steps:
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310623272.6A CN116722776A (en) | 2023-05-30 | 2023-05-30 | Method for acquiring magnetic flux angle of rotor of permanent magnet synchronous motor |
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| CN202310623272.6A CN116722776A (en) | 2023-05-30 | 2023-05-30 | Method for acquiring magnetic flux angle of rotor of permanent magnet synchronous motor |
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