CN117313473A - Calculation method and device for incremental inductance of permanent magnet synchronous motor - Google Patents
Calculation method and device for incremental inductance of permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a computer device of a permanent magnet synchronous motor incremental inductance calculation method, wherein the method comprises the following steps: (1) Establishing a simulation model of a permanent magnet synchronous motor excited by a current source; (2) Acquiring a flux linkage signal of a first stator winding when the simulation model is in a steady state; (3) Superposing a small current signal on a current source of the established simulation model, and then solving again to obtain a second stator winding flux linkage signal of the simulation model in a steady state; (4) And calculating to obtain the incremental inductance of the permanent magnet synchronous motor based on the second stator winding flux linkage signal and the difference value of the first stator winding flux linkage signal and the superposed small current value. The method realizes the rapid and accurate calculation of the increment inductance of the permanent magnet synchronous motor.
Description
Technical Field
The invention relates to the field of simulation calculation of parameters of permanent magnet synchronous motors, in particular to a calculation method and a calculation device of incremental inductance of a permanent magnet synchronous motor.
Background
Compared with other types of motors, the permanent magnet synchronous motor is excited by adopting a permanent magnet, so that the introduction of an additional excitation device is avoided, the structural size of the permanent magnet synchronous motor is reduced, the power density of the permanent magnet synchronous motor is increased, and the permanent magnet synchronous motor is widely applied to the application fields of electric automobiles, household appliances, high-speed spindles and the like. At present, research hotspots of permanent magnet synchronous motors are mainly focused on the fields of body design and drive control. The calculation of the inductance of the permanent magnet synchronous motor is closely related to the prediction and accurate control of the motor performance. In the field of motor design, the permanent magnet synchronous motor inductance generally refers to an alternating-axis inductance, namely a d-q axis inductance, and mainly comprises an apparent inductance and an incremental inductance; the apparent inductance has a larger influence on the calculation of the steady-state electromagnetic performance of the apparent inductance; the incremental inductances are then related to the transient electromagnetic performance of the motor. Therefore, the calculation of the incremental inductance of the permanent magnet synchronous motor has important significance for improving the dynamic corresponding capacity of the motor by improving a control algorithm.
In the electromagnetic design stage of the permanent magnet synchronous motor, the calculation method of the d-q axis increment inductance mainly comprises an analysis method and a finite element method. The analysis method has the advantage of rapid calculation, but has poor calculation accuracy and is difficult to consider the influence of material nonlinearity, and is suitable for motor topological forms with simple structures and application scenes with low requirements on calculation accuracy; the finite element rule has the advantage of high calculation accuracy, can consider the influence of material nonlinearity and the cross coupling effect of an alternating axis and a direct axis on the increment inductance, and is suitable for electromagnetic simulation calculation of various permanent magnet motors with complex structures. In the process of solving motor increment inductance by modeling and calculating motor electromagnetism by adopting a finite element method, the prior art generally adopts a static magnetic field solver to solve under the relative position of a specific stator and a specific rotor, and has the defects that cross coupling effect cannot be considered and cogging effect cannot be considered.
The simulation method for locking the magnetic permeability of the motor under a specific load by adopting the method of freezing the magnetic permeability is a potential technical scheme for solving the core problem. However, the frozen permeability method is complex to execute, requires a finite element solver to have a function of executing frozen permeability or requires a certain degree of modification of the solver, and requires multiple solutions in the calculation process, resulting in an increase in calculation cost and time length. Therefore, in order to solve the above-mentioned problems, it is necessary to search a new fast calculation method of the delta inductance of the permanent magnet synchronous motor, which can consider the saturation effect and the cross coupling effect of the ac and dc axes, aiming at the delta inductance calculation problem of the permanent magnet synchronous motor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method and a device for calculating the increment inductance of a permanent magnet synchronous motor, which are based on a novel motor electromagnetic field finite element calculation method for solving a transient field and considering a saturation effect and a cross coupling effect and corresponding modeling logic, so as to realize the rapid and accurate calculation of the increment inductance of the permanent magnet synchronous motor.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a calculation method of the increment inductance of a permanent magnet synchronous motor comprises the following steps:
(1) Establishing a simulation model of a permanent magnet synchronous motor excited by a current source;
(2) Acquiring a flux linkage signal of a first stator winding when the simulation model is in a steady state;
(3) Superposing a small current signal on a current source of the established simulation model, and then solving again to obtain a second stator winding flux linkage signal of the simulation model in a steady state;
(4) And calculating to obtain the incremental inductance of the permanent magnet synchronous motor based on the second stator winding flux linkage signal and the difference value of the first stator winding flux linkage signal and the superposed small current value.
In the step (1), the established simulation model is as follows: and constructing a time-step finite element model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source under the load condition.
In the step (2), solving the time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source established in the step (1), and obtaining a three-phase stator flux linkage signal psi after the finite element model reaches a steady state A (t)、ψ B (t) and ψ C (t) and linking the three-phase stator flux signals ψ A (t)、ψ B (t) and ψ C (t) transforming into a three-phase stationary coordinate system and transforming into a two-phase rotating coordinate system to obtain d-q axis magnetic linkage, wherein the first stator winding magnetic linkage signal comprises d-axis magnetic linkage psi d (t) and q-axis flux linkage ψ q (t)。
In step (3), for the three-phase current source signal i of the established simulation model A (t)、i B (t) and i C (t) superimposing an incremental small signal delta on the d-axis current and the q-axis current respectively to obtain a modified three-phase current source signal; wherein the corresponding three-phase current source signal superimposed on the d-axis is i Aincrd (t)、i Bincrd (t) and i Cincrd (t) the corresponding three-phase current source signal superimposed on the q-axis is i Aincrq (t)、i Bincrq (t) and i Cincrq (t)；
Solving a time-step finite element simulation model of a permanent magnet synchronous motor electromagnetic field excited by a current source of a modified current source signal, and acquiring a modified d-axis current pair after the finite element model reaches a steady stateThree-phase stator flux linkage signal ψ Aincrd (t)、ψ Bincrd (t) and ψ Cincrd (t) modifying the ψ corresponding to the q-axis current Aincrq (t)、ψ Bincrq (t) and ψ Cincrq (t) transforming the three-phase stationary coordinate system into two-phase rotating coordinate system to obtain first stator winding flux linkage signals, wherein the small d-axis current increment signal delta is considered d Affected d-axis flux linkage ψ dincrq (t) and considering the q-axis current increment small signal delta q Affected q-axis flux linkage ψ dincrq (t)。
In the step (4), the difference value of the second stator winding flux linkage signal and the first stator winding flux linkage signal is divided by the superimposed small current value, and then the incremental inductance of the permanent magnet synchronous motor is obtained through calculation.
Calculating the delta inductance of the permanent magnet synchronous motor comprises calculating d-axis delta inductance and q-axis delta inductance of the permanent magnet synchronous motor respectively.
And taking the increment inductance obtained by averaging the increment inductances of the permanent magnet synchronous motors obtained by simulation calculation in one simulation electrical period as a final increment inductance.
The steady state of the simulation model means that the simulation duration reaches 1-2 simulation electric cycles, wherein the mathematical relationship between the simulation electric cycle T and the established power supply frequency f of the simulation model is T=1/f.
The stator flux linkage signal is obtained from the stator winding counter-induced electromotive force signal e (t).
A calculation device for increment inductance of permanent magnet synchronous motor comprises
The device comprises a simulation module, a flux linkage signal calculation module and an incremental inductance calculation module;
the simulation module is configured to establish a simulation model of the permanent magnet synchronous motor excited by the current source;
the flux linkage signal calculation module is configured to calculate winding flux linkage signals before and after the current sources of the simulation model superimpose small current signals respectively;
the calculation module is configured to calculate the incremental inductance of the permanent magnet synchronous motor based on the winding flux linkage signals before and after the small current signals are overlapped by the calculated simulation model current source and the small current signals.
The invention has the advantages that: the finite element method is adopted to carry out simulation modeling on the electromagnetic field of the permanent magnet synchronous motor, so that the influence of the local saturation effect introduced by material nonlinearity on the incremental inductance of the motor can be effectively and accurately considered; in addition, compared with the existing calculation method for calculating the increment inductance of the permanent magnet synchronous motor by adopting the frozen permeability method, the method does not need to carry out or develop the solver for the second time, so that the method has the function of running frozen permeability; meanwhile, the solving speed is high, and the solution can be carried out under a transient field, so that the influence of stator and rotor tooth slot effect on motor increment inductance can be accurately considered; finally, the invention can effectively consider the cross coupling effect and can respectively and accurately calculate the d-axis increment inductance and the q-axis increment inductance. In conclusion, the invention provides a complete system thought scheme for the rapid and accurate calculation of the incremental inductance of the permanent magnet synchronous motor based on the finite element analysis calculation method.
The mechanism of the conception is as follows: firstly, establishing a time-step finite element simulation model of a permanent magnet synchronous motor electromagnetic field excited by a current source, calculating a three-phase stator flux linkage through simulation calculation, and transforming the three-phase flux linkage into a two-phase rotating coordinate system through a three-phase stationary coordinate system to obtain a d-q axis flux linkage; then, d-q axis current increment small signals are respectively overlapped in current source excitation, and three-phase stator flux linkages and corresponding d-q axis flux linkages considering the influence of the d-q axis current increment small signals are obtained; and finally, respectively obtaining d-q axis flux linkage signal difference values to obtain d-q axis incremental inductances.
Drawings
The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:
FIG. 1 is a schematic flow chart of a method for calculating the incremental inductance of a permanent magnet synchronous motor;
FIG. 2 is a graph showing the three-phase stator flux linkage signal calculated by the model according to the present invention;
FIG. 3 is a graph of d-q axis flux linkage signal calculated by the proposed model of the present invention over time;
FIG. 4 is a graph showing the d-q axis delta inductance over time calculated by the model proposed by the present invention.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.
As shown in FIG. 1, the method for calculating the incremental inductance of the permanent magnet synchronous motor comprises the steps of constructing a time-step finite element model of an electromagnetic field of the permanent magnet synchronous motor excited by a current source under the condition of load, and solving to obtain a stator winding flux linkage signal; superposing small signals in a current source, and solving the flux linkage of the stator winding considering the influence of the small signals again; finally, the incremental inductance of the permanent magnet synchronous motor is calculated according to the difference value of the two flux linkage signals and the difference value of the current signals; the method can effectively consider the influence of the saturation effect and the alternating-direct axis cross coupling effect on the increment inductance of the motor, and can effectively shorten the calculation time, reduce the calculation resources and reduce the development cost under the influence of ensuring the calculation precision.
The method comprises the following specific steps:
(1) Establishing a time-step finite element simulation model of a permanent magnet synchronous motor electromagnetic field excited by a current source, wherein a three-phase current source signal i A (t)、i B (t) and i C The expression of (t) over time t can be expressed as:
wherein: i.e d And i q The direct-axis current and the quadrature-axis current, namely the d-axis current and the q-axis current, are collectively called as d-q-axis current; f is the power supply frequency;
(2) Solving a time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source established in the step (1), and obtaining a three-phase stator flux linkage signal psi after the finite element model reaches a steady state A (t)、ψ B (t) and ψ C (t)；
(3) The three-phase stator flux linkage signal psi obtained in the step (2) is processed A (t)、ψ B (t) and ψ C (t) transforming the three-phase stationary coordinate system into a two-phase rotating coordinate system to obtain a d-q axis magnetic linkage, wherein the d-axis magnetic linkage psi d (t) andq-axis flux linkage ψ q (t) can be expressed as:
wherein: θ is the electrical angle corresponding to the mechanical position of the rotor;
(4) Modifying a three-phase current source signal i of the current source excited permanent magnet synchronous motor electromagnetic field time-step finite element simulation model established in the step (1) A (t)、i B (t) and i C (t) superimposing an incremental small signal delta on its d-axis current d Obtaining a modified three-phase current source signal i Aincrd (t)、i Bincrd (t) and i Cincrd (t) is:
(5) Solving a time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source of the modified current source signal in the step (4), and obtaining a three-phase stator flux linkage signal psi after the finite element model reaches a steady state Aincrd (t)、ψ Bincrd (t) and ψ Cincrd (t)；
(6) According to the transformation formula from the three-phase stationary coordinate system to the two-phase rotating coordinate system in the step (3), the three-phase stator flux linkage signal psi obtained in the step (5) Aincrd (t)、ψ Bincrd (t) and ψ Cincrd (t) transforming the three-phase stationary coordinate system into a two-phase rotating coordinate system to obtain a small signal delta considering the d-axis current increment d Affected d-axis flux linkage ψ dincrd (t) is expressed as:
(7) Based on the d-axis flux linkage ψ determined in the step (3) d (t) and the small signal delta taking into account the d-axis current increment obtained in step (6) d Affected d-axis flux linkage ψ dincrd (t) obtaining d-axis incremental inductanceL incrd (t) is expressed as:
(8) Modifying a three-phase current source signal i of the current source excited permanent magnet synchronous motor electromagnetic field time-step finite element simulation model established in the step (1) A (t)、i B (t) and i C (t) superimposing an incremental small signal delta on its q-axis current q Obtaining a modified three-phase current source signal i Aincrq (t)、i Bincrq (t) and i Cincrq (t) is:
(9) Solving a time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source of the modified current source signal in the step (8), and obtaining a three-phase stator flux linkage signal psi after the finite element model reaches a steady state Aincrq (t)、ψ Bincrq (t) and ψ Cincrq (t)；
(10) According to the transformation formula from the three-phase stationary coordinate system to the two-phase rotating coordinate system in the step (3), the three-phase stator flux linkage signal psi obtained in the step (9) Aincrq (t)、ψ Bincrq (t) and ψ Cincrq (t) transforming the three-phase static coordinate system into a two-phase rotating coordinate system to obtain a small signal delta considering the q-axis current increment q Affected q-axis flux linkage ψ dincrq (t) is expressed as:
(11) Based on the q-axis flux linkage ψ determined in step (3) q (t) and the small signal delta taking into account the q-axis current increment obtained in step (10) q Affected q-axis flux linkage ψ qincrq (t) obtaining the q-axis incremental inductance L incrq (t) is expressed as:
(12) In the simulation model, a plurality of step sizes are simulated in one electric period, namely a plurality of simulations are performed in the simulation model, each simulation corresponds to a d-axis increment inductance and a q-axis increment inductance, and because the rotor rotates a certain angle in one electric period, the inductances of different rotor positions can be changed, and the d-axis increment inductances and the q-axis increment inductances obtained in a plurality of different rotor positions are averaged respectively and then are used as final increment inductance values, so that the simulation model is more reasonable and accurate. Namely, the d-q axis increment inductance L obtained according to the step (7) and the step (11) incrd (t) and L incrq (t) calculating and obtaining the average value L of d-q axis increment inductance incrd,ave And L incrq,ave 。
In a preferred embodiment, in step (1), the d-q axis current i d And i q According to the actual working condition of specific motor, general d-axis current i is selected d Negative value, q-axis current i q Positive values.
In a preferred embodiment, in step (2), step (5) and step (9), the simulation duration for achieving the steady state may be selected according to the actual requirements of the engineering, and is generally 1 to 2 simulation electrical cycles T, where the mathematical relationship between the simulation electrical cycles T and the power supply frequency f is t=1/f.
In a preferred embodiment, in step (4) and in said step (8), the small signal delta is incremented d And delta small signal delta q The value ranges are respectively d-axis current i d And q-axis current i q From 0.5% to 1%.
In a preferred embodiment, in step (2), step (5) and step (9), the stator flux linkage signal ψ (t) may be obtained from the stator winding counter-induced electromotive force signal e (t), which has the expression ψ (t) = ζ 0 t e(t)dt。
The embodiment also provides a device for calculating the increment inductance of the permanent magnet synchronous motor, which comprises
The device comprises a simulation module, a flux linkage signal calculation module and an incremental inductance calculation module;
wherein the simulation module is configured to establish a simulation model of the permanent magnet synchronous motor excited by the current source;
the flux linkage signal calculation module is configured to calculate winding flux linkage signals before and after the current sources of the simulation model superimpose small current signals respectively;
the calculation module is configured to calculate the incremental inductance of the permanent magnet synchronous motor based on the winding flux linkage signals before and after the small current signals are overlapped by the calculated simulation model current source and the small current signals.
The simulation module, the flux linkage signal calculation module, and the incremental inductance calculation module are respectively configured according to steps (1) - (12) in the calculation method in the embodiment.
In order to verify the accuracy and reliability of the calculated incremental inductances of the present solution, a specific simulation embodiment will be provided below to describe the calculation steps in the above solution:
(1) Adopting Altair Flux electromagnetic finite element simulation software to establish a 36-slot 4-pole, 1000rpm permanent magnet synchronous motor time-step finite element simulation model, wherein the solving time is 0 to 0.03s; the model adopts a three-phase current source to supply power, the power supply frequency f is 50Hz, and the d-axis current i d = -20a, q-axis current i q =100deg.A; three-phase current source signal i A (t)、i B (t) and i C The expression of (t) over time t can be expressed as:
(2) Solving a time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source established in the step (1), enabling the model to reach a steady state after the finite element simulation time is 0.01s, and extracting a three-phase stator flux linkage signal psi of 0.01s to 0.03s as shown in figure 2 A (t)、ψ B (t) and ψ C (t) a time-dependent curve;
(3) The three-phase stator flux linkage signal psi obtained in the step (2) is processed A (t)、ψ B (t) and ψ C (t) transforming the three-phase stationary coordinate system into a two-phase rotating coordinate system to obtain a d-q axis magnetic linkage, wherein the d-axis magnetic linkage psi d (t) and q-axis flux linkage ψ q (t) can be expressed as:
wherein: θ is the electrical angle corresponding to the mechanical position of the rotor, d-axis flux linkage ψ d (t) and q-axis flux linkage ψ q (t) signal curves with average values of 0.0411Wb and 0.352Wb, respectively, are shown in FIG. 3;
(4) Modifying a three-phase current source signal i of the current source excited permanent magnet synchronous motor electromagnetic field time-step finite element simulation model established in the step (1) A (t)、i B (t) and i C (t) superimposing an incremental small signal delta on its d-axis current d Modified three-phase current source signal i is obtained by =0.2a Aincrd (t)、i Bincrd (t) and i Cincrd (t) is:
(5) Solving a time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source of the modified current source signal in the step (4), enabling the model to reach a steady state after the finite element simulation time is 0.01s, and extracting a three-phase stator flux linkage signal psi of 0.01s to 0.03s Aincrd (t)、ψ Bincrd (t) and ψ Cincrd (t)；
(6) According to the transformation formula from the three-phase stationary coordinate system to the two-phase rotating coordinate system in the step (3), the three-phase stator flux linkage signal psi obtained in the step (5) Aincrd (t)、ψ Bincrd (t) and ψ Cincrd (t) transforming the three-phase stationary coordinate system into a two-phase rotating coordinate system to obtain a small signal delta considering the d-axis current increment d Affected d-axis flux linkage ψ dincrd (t) is expressed as:
the average value is 0.0413Wb;
(7) Based on the d-axis flux linkage ψ determined in the step (3) d (t) and the small signal delta taking into account the d-axis current increment obtained in step (6) d Affected d-axis flux linkage ψ dincrd (t) obtaining d-axis incremental inductance L incrd (t) is expressed as:
the time-dependent curve is shown in fig. 4;
(8) Modifying a three-phase current source signal i of the current source excited permanent magnet synchronous motor electromagnetic field time-step finite element simulation model established in the step (1) A (t)、i B (t) and i C (t) superimposing an incremental small signal delta on its q-axis current q Modified three-phase current source signal i is obtained by =1a Aincrq (t)、i Bincrq (t) and i Cincrq (t) is:
(9) Solving a time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source of the modified current source signal in the step (8), enabling the model to reach a steady state after the finite element simulation time is 0.01s, and extracting a three-phase stator flux linkage signal psi of 0.01s to 0.03s Aincrq (t)、ψ Bincrq (t) and ψ Cincrq (t)；
(10) According to the transformation formula from the three-phase stationary coordinate system to the two-phase rotating coordinate system in the step (3), the three-phase stator flux linkage signal psi obtained in the step (9) Aincrq (t)、ψ Bincrq (t) and ψ Cincrq (t) transforming the three-phase static coordinate system into a two-phase rotating coordinate system to obtain a small signal delta considering the q-axis current increment q Affected q-axis flux linkage ψ dincrq (t) is expressed as:
the average value is 0.353Wb;
(11) Based on the q-axis flux linkage ψ determined in step (3) q (t) and the small signal delta taking into account the q-axis current increment obtained in step (10) q Affected q-axis flux linkage ψ qincrq (t) obtaining the q-axis incremental inductance L incrq (t) is expressed as:
the time-dependent curve is shown in fig. 4;
(12) Calculating and obtaining the d-q axis increment inductance average value L according to the step (7) and the step (11) incrd,ave 5.55X10 -4 H and L incrq,ave 8.53X 10 -4 H. Table 1 lists d-q axis delta inductances calculated using the proposed method of the present invention and the frozen permeability method; the delta inductance value calculated by the frozen permeability method is taken as a reference, wherein the maximum value of the d-axis delta inductance error is-0.37%, and the maximum value of the q-axis delta inductance error is-3.67%.
TABLE 1
Wherein in step (1), the d-q axis current i d And i q According to the actual working condition of specific motor, general d-axis current i is selected d Negative value, q-axis current i q Positive values. In an embodiment, d-axis current i d = -20a, q-axis current i q ＝100A。
In the step (2), the step (5) and the step (9), the simulation time length reaching the steady state can be selected according to engineering actual requirements, generally 1 to 2 simulation electric periods T, and the mathematical relationship between the simulation electric periods T and the power supply frequency f is t=1/f. In the embodiment, if the power supply frequency f=50 Hz, one simulation electric period is 0.02s, the model reaches a steady state after 0.01s, and the total simulation duration is 0.03s.
Wherein step (4) and said stepIn step (8), the increment small signal delta d And delta small signal delta q The value ranges are respectively d-axis current i d And q-axis current i q From 0.5% to 1%. In an embodiment, d-axis current i d = -20a, q-axis current i q ＝100A；
Wherein in step (2), step (5) and step (9), the stator flux linkage signal ψ (t) can be obtained from the stator winding counter-induced electromotive force signal e (t), and the expression is ψ (t) = ≡ 0 t e(t)dt。
It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.
Claims (10)
1. A calculation method of the increment inductance of a permanent magnet synchronous motor is characterized by comprising the following steps: comprising the following steps:
(1) Establishing a simulation model of a permanent magnet synchronous motor excited by a current source;
(2) Acquiring a flux linkage signal of a first stator winding when the simulation model is in a steady state;
(3) Superposing a small current signal on a current source of the established simulation model, and then solving again to obtain a second stator winding flux linkage signal of the simulation model in a steady state;
(4) And calculating to obtain the incremental inductance of the permanent magnet synchronous motor based on the second stator winding flux linkage signal and the difference value of the first stator winding flux linkage signal and the superposed small current value.
2. The method for calculating the incremental inductance of the permanent magnet synchronous motor according to claim 1, wherein:
in the step (1), the established simulation model is as follows: and constructing a time-step finite element model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source under the load condition.
3. The method for calculating the incremental inductance of the permanent magnet synchronous motor according to claim 1, wherein:
in the step (2), the step (1)) Solving the established time-step finite element simulation model of the electromagnetic field of the permanent magnet synchronous motor excited by the current source, and obtaining the three-phase stator flux linkage signal psi after the finite element model reaches a steady state A (t)、ψ B (t) and ψ C (t) and linking the three-phase stator flux signals ψ A (t)、ψ B (t) and ψ C (t) transforming into a three-phase stationary coordinate system and transforming into a two-phase rotating coordinate system to obtain d-q axis magnetic linkage, wherein the first stator winding magnetic linkage signal comprises d-axis magnetic linkage psi d (t) and q-axis flux linkage ψ q (t)。
4. The method for calculating the incremental inductance of the permanent magnet synchronous motor according to claim 1, wherein:
in step (3), for the three-phase current source signal i of the established simulation model A (t)、i B (t) and i C (t) superimposing an incremental small signal delta on the d-axis current and the q-axis current respectively to obtain a modified three-phase current source signal; wherein the corresponding three-phase current source signal superimposed on the d-axis is i Aincrd (t)、i Bincrd (t) and i Cincrd (t) the corresponding three-phase current source signal superimposed on the q-axis is i Aincrq (t)、i Bincrq (t) and i Cincrq (t)；
Solving a time-step finite element simulation model of a permanent magnet synchronous motor electromagnetic field excited by a current source of a modified current source signal, and obtaining a three-phase stator flux linkage signal psi corresponding to a modified d-axis current after the finite element model reaches a steady state Aincrd (t)、ψ Bincrd (t) and ψ Cincrd (t) modifying the ψ corresponding to the q-axis current Aincrq (t)、ψ Bincrq (t) and ψ Cincrq (t) transforming the three-phase stationary coordinate system into two-phase rotating coordinate system to obtain first stator winding flux linkage signals, wherein the small d-axis current increment signal delta is considered d Affected d-axis flux linkage ψ dincrd (t) and considering the q-axis current increment small signal delta q Affected q-axis flux linkage ψ dincrq (t)。
5. The method for calculating the incremental inductance of the permanent magnet synchronous motor according to claim 1, wherein:
in the step (4), the difference value of the second stator winding flux linkage signal and the first stator winding flux linkage signal is divided by the superimposed small current value, and then the incremental inductance of the permanent magnet synchronous motor is obtained through calculation.
6. A method for calculating incremental inductance of a permanent magnet synchronous motor according to any one of claims 1-5, wherein:
calculating the delta inductance of the permanent magnet synchronous motor comprises calculating d-axis delta inductance and q-axis delta inductance of the permanent magnet synchronous motor respectively.
7. A method for calculating incremental inductance of a permanent magnet synchronous motor according to any one of claims 1-5, wherein:
and taking the increment inductance obtained by averaging the increment inductances of the permanent magnet synchronous motors obtained by simulation calculation in one simulation electrical period as a final increment inductance.
8. The method for calculating the incremental inductance of the permanent magnet synchronous motor according to claim 1, wherein:
the steady state of the simulation model means that the simulation duration reaches 1-2 simulation electric cycles, wherein the mathematical relationship between the simulation electric cycle T and the established power supply frequency f of the simulation model is T=1/f.
9. A method for calculating incremental inductance of a permanent magnet synchronous motor according to any one of claims 1-5, wherein:
the stator flux linkage signal is obtained from the stator winding counter-induced electromotive force signal e (t).
10. The utility model provides a computing arrangement of permanent magnet synchronous motor increment inductance which characterized in that: comprising
The device comprises a simulation module, a flux linkage signal calculation module and an incremental inductance calculation module;
the simulation module is configured to establish a simulation model of the permanent magnet synchronous motor excited by the current source;
the flux linkage signal calculation module is configured to calculate winding flux linkage signals before and after the current sources of the simulation model superimpose small current signals respectively;
the calculation module is configured to calculate the incremental inductance of the permanent magnet synchronous motor based on the winding flux linkage signals before and after the small current signals are overlapped by the calculated simulation model current source and the small current signals.
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| CN117650732B (en) * | 2024-01-29 | 2024-06-11 | 深圳麦格米特电气股份有限公司 | Inductance detection method and device for permanent magnet synchronous motor |
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