CN117792225A - High-precision real-time prediction method for rotor temperature of permanent magnet synchronous motor - Google Patents
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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Abstract
The invention discloses a high-precision real-time prediction method for the temperature of a permanent magnet synchronous motor rotor, which belongs to the technical field of motor rotor temperature estimation and comprises the following steps: s1, calculating the current power-on time t i Rotor initial temperature T rl Including recording the temperature T of the motor when the motor is powered down in last operation rs Time t of power-down time 0 Ambient temperature T after shutdown 0 Motor off time t stop The method comprises the steps of carrying out a first treatment on the surface of the S2, calculating the current power-on time t i Rotor temperature variation delta T r The method comprises the steps of carrying out a first treatment on the surface of the S3, calculating the next time t i+1 Rotor predicted temperature T r2 By the power-on time t i Rotor initial temperature T rl With rotor temperature change DeltaT r The iterative phase realizes real-time prediction of the rotor temperature; s4, real-time correction and setting of predicted temperature of rotorThis power-up time t i Rotor predicted temperature checking time is calculated, and rotor experience temperature T at the current power-on moment is calculated r_upd Setting an empirical temperature T r_upd And the predicted temperature T r1 A deviation threshold; the invention effectively reduces the accumulated error generated in the iterative calculation process, improves the real-time prediction precision of the rotor temperature, can effectively improve the output performance of the motor and ensures the safe operation of the motor.
Description
Technical Field
The invention relates to the technical field of motor rotor temperature estimation methods, in particular to a high-precision real-time prediction method for the rotor temperature of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency, wide speed regulation range, high reliability and the like, and is widely applied to the fields of electric automobiles, industrial robots and the like. However, when the permanent magnet synchronous motor operates under certain working conditions, the internal temperature can be greatly increased, and when the temperature of the motor is too high, the risks of ageing and burning of a winding insulating layer, permanent demagnetization of the permanent magnet at high temperature and the like can be caused, so that the normal operation of the motor is seriously influenced, and meanwhile, the temperature of a rotor is difficult to directly measure in the application of an electric automobile. Therefore, the real-time prediction of the rotor temperature can effectively ensure the reliable operation of the motor and improve the output stability of the motor.
The current rotor temperature prediction method mainly comprises the following steps: a signal injection method, a permanent magnet temperature estimation method based on model reference fuzzy self-adaptive control, a flux linkage observation method and the like. The signal injection method estimates the temperature of the permanent magnet by injecting a high-frequency pulse current on the d-axis. The method increases electromagnetic loss and has influence on the temperature of the motor. The permanent magnet temperature estimation method based on model reference fuzzy self-adaptive control utilizes the estimated permanent magnet flux linkage to estimate PM temperature, and the method is easy to cause accumulated errors. The flux linkage observation method obtains the temperature of flux linkage in the fundamental wave domain through an accurate flux linkage observer, so that the low-custom temperature estimation error is smaller than 10K. But the model has poor prediction effect in the high-speed working condition of the motor.
In addition, the rotor temperature prediction method has the advantages that the influence of the initial temperature of the rotor on the predicted temperature is less considered, the influence of accumulated errors in the prediction process on the temperature prediction precision is ignored, the prediction result is inaccurate, meanwhile, the prediction instantaneity of the existing prediction method is poor when the motor runs at a high speed, and the practical requirement is difficult to meet.
Disclosure of Invention
In order to solve the technical problems, the invention provides a high-precision real-time prediction method for the rotor temperature of a permanent magnet synchronous motor, which can effectively improve the real-time prediction performance on the premise of ensuring the prediction precision.
In order to achieve the above purpose, the invention adopts the following technical scheme: a high-precision real-time prediction method for the rotor temperature of a permanent magnet synchronous motor comprises the following steps:
s1, calculating the current power-on time t i Rotor initial temperature T rl ；
Different ambient temperatures T are obtained through an ambient temperature test 0 At the different motor shutdown rotor temperature T r_pre A numerical curve of the duration, and the temperature T of the motor when the motor is powered down in the last working process is recorded rs Time t of power-down time 0 Ambient temperature T after shutdown 0 Motor off time t stop The temperature of the motor at the current power-on time is subjected to table lookup interpolation calculation through the data to obtain the current power-on time t i Rotor initial temperature T rl ；
S2, calculating the current power-on time t i Rotor temperature variation delta T r ；
S3, calculating the next time t i+1 Rotor predicted temperature T r2 ；
The current power-on time t i Rotor initial temperature T rl With rotor temperature change DeltaT r Adding to obtain the next time t i+1 Rotor predicted temperature T r2 Repeatedly superposing rotor temperature change values to realize real-time prediction of rotor temperature;
s4, correcting the predicted temperature of the rotor in real time;
setting the current power-on time t i Rotor prediction temperature checking time, and rotor experience temperature T at the current power-on moment is calculated through actual flux linkage of motor r_upd Setting an empirical temperature T r_upd And the predicted temperature T r1 A deviation threshold;
the specific process for real-time correction of the predicted temperature comprises the following steps:
when the system judges that the power is not cut off, and t i -t 0 If the temperature is less than or equal to 10s, the temperature correction is not carried out, and t is used i+1 The rotor predicted temperature at time t i+2 Initial temperature at the time of rotor temperature prediction;
when the system judges that the power is not cut off, and t i -t 0 More than 10s, performing correction judgment;
when correction judgment is carried out, if the deviation threshold value of the initial temperature of the rotor and the empirical temperature is less than or equal to 5 ℃, no operation is carried out, the next rotor temperature prediction iterative computation is carried out, and t is used i+1 The rotor predicted temperature at time t i+2 Initial temperature at the time of rotor temperature prediction;
when the correction judgment is carried out, if the deviation threshold value of the initial temperature of the rotor and the empirical temperature is more than 5 ℃, the empirical temperature is used for replacing the initial temperature of the rotor to be t i+2 Rotor initial temperature predicted by rotor temperature at moment participates in rotor temperature prediction at next moment;
wherein the rotor experience temperature T r_upd Based on the working state of the motor at the current moment, the actual flux linkage at the current moment is calculated through an empirical formula, and then the empirical temperature of the motor rotor at the current moment is calculated through the flux linkage in a reverse direction, wherein the empirical formula is as follows:
wherein, psi is mot Is the actual flux linkage of the motor; e (E) mot Is an effective value of the motor line voltage; n is n mot The motor rotation speed; p (P) n Is the pole pair number of the motor; n is the number of turns of the coil; s is the magnetic flux area; b (B) mtT Is the magnetic induction density.
Further, in the step S2, the current power-up time t is calculated i Rotor temperature variation delta T r The specific method of (2) is as follows: based on the sensor, the stator temperature change value and the change rate are obtained, and the total power P is obtained through experimental calibration d_total And rotor temperature compensation value T var And the stator temperature change rate delta T s A dependence of/Δt; the formula for calculating the rotor temperature change value is as follows:
wherein C is s And M is as follows s Respectively the specific heat capacity and the mass of the stator; c (C) r And M is as follows r The specific heat capacity and the mass of the rotor are respectively.
Further, in the step S2, according to the calculation formula of the rotor temperature change, in the process of calibrating the total power loss and the stator temperature change rate, the predicted rotor temperature change value is compensated based on the error between the predicted rotor temperature value and the actual value, and the total power loss P is adjusted in real time according to the error d_total Rotor temperature compensation value T var The predicted value of the rotor temperature is kept consistent with the actual value.
Further, the specific real-time adjustment method in the calibration process comprises the following steps: when the actual temperature T of the rotor r_mea Above the rotor predicted temperature T r_set When the temperature rise rate of the stator is increased, the corresponding total loss power P d_total Then increase the rotor temperature compensation value T var Until the two are equal;
when the actual temperature T of the rotor r_mea Below the rotor predicted temperature T r_set When the stator temperature rise rate is reduced, the corresponding total power P d_total Then the rotor temperature compensation value T is reduced var Until the two are equal.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a high-precision real-time prediction method for rotor temperature, which aims at solving the problem that the rotor temperature of a permanent magnet synchronous motor for a vehicle is difficult to predict accurately in real time. The method fully considers the influence of the initial temperature of the rotor and the accumulated error in the prediction process on the temperature prediction and the accuracy thereof. The initial temperature of the rotor at the power-on time of the motor is calculated by analyzing the relation among the temperature of the rotor at the power-off time, the power-off time and the ambient temperature, so that the prediction error of the temperature of the rotor caused by different initial temperatures is reduced; then, based on a sensor, a stator temperature change value and a change rate thereof are obtained, a rotor temperature change value is calculated rapidly through a calibration model lookup table, the rotor temperature change value is added with a rotor initial temperature value at the power-on moment to obtain a rotor real-time predicted temperature, and finally, the rotor predicted temperature at the previous moment is corrected through a mathematical model of the relation between the rotor temperature and a magnetic linkage, so that accumulated errors generated in the calculation process of the rotor temperature prediction model are reduced; the method improves the real-time prediction precision of the rotor temperature, can effectively improve the output performance of the motor and ensures the safe operation of the motor.
Drawings
Fig. 1 is a flow chart of the high-precision real-time prediction method for the rotor temperature of the permanent magnet synchronous motor.
Fig. 2 shows the copper and iron losses of the motor at different temperatures.
FIG. 3 is a flow chart of stator temperature change rate versus total dissipated power calibration.
FIG. 4 is a graph of absolute value of temperature difference between predicted temperature and measured temperature of a rotor over time.
FIG. 5 is a graph of simulated predicted temperature versus actual temperature for a stator operating mode rotor.
FIG. 6 is a graph of predicted temperature difference for a stator operating mode rotor.
FIG. 7 is a graph of simulated predicted temperature versus actual temperature for a variable-regime rotor.
FIG. 8 is a graph of predicted temperature differential for a variable operating mode rotor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation. Wherein the drawings are for illustrative purposes only and are not to be construed as limiting the invention; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The invention discloses a high-precision real-time prediction method for the rotor temperature of a permanent magnet synchronous motor.
Referring to fig. 1, the high-precision real-time prediction method for the rotor temperature of the permanent magnet synchronous motor comprises the following steps:
s1, calculating the current power-on time t i Rotor initial temperature T rl ；
Different environments are obtained through an environmental temperature testTemperature T 0 At the different motor shutdown rotor temperature T r_pre A numerical curve of the duration, and the temperature T of the motor when the motor is powered down in the last working process is recorded rs Time t of power-down time 0 Ambient temperature T after shutdown 0 Motor off time t stop The temperature of the motor at the current power-on time is subjected to table lookup interpolation calculation by combining the data to obtain the current power-on time t i Rotor initial temperature T rl 。
S2, calculating the current power-on time t i Rotor temperature variation delta T r ；
Since the copper loss of the stator is taken as a main part of the loss of the motor and is about 70% of the loss of the motor, and meanwhile, the stator is taken as a non-rotating part, a temperature sensor is usually arranged in the motor in the design and installation process of the motor to monitor the temperature of the stator in real time. The amount of loss generated during operation of the motor can thus be indicated by the temperature rise of the stator part. The copper loss and the iron loss of the motor at different temperatures are shown in fig. 2, which are the main causes of the temperature increase. As can be seen from fig. 2, the rate of change of the stator temperature per unit time can effectively reflect the occurrence of internal loss of the motor without changing the thermal conductivity of each main component inside the motor. In addition, interaction with the outside through a cooling system or heat radiation is also a part of motor loss, and the calculation formula is as follows:
Q out ＝Q c +Q s_rad +Q r_rad ；
wherein Q is out Is the total heat lost through the interaction of the cooling system or heat radiation with the outside; q (Q) c Heat taken away by the cooling liquid; q (Q) s_rad And Q r_rad The heat generated by the stator of the motor and the heat dissipated by the rise of the temperature of the rotor are respectively generated.
According to S2, the stator temperature change value and the change rate are obtained based on the sensor, and the total power P is obtained through experimental calibration d_total And rotor temperature compensation value T var And the stator temperature change rate delta T s The calibration flow of the relationship between the stator temperature change rate and the total loss power is shown in FIG. 3.
In the calibration process, the predicted rotor temperature change value is compensated based on the error of the rotor temperature predicted value and the actually measured value, and the total loss power and the rotor temperature compensation value are adjusted in real time according to the error, so that the rotor temperature predicted result is optimized.
The specific calibration method is as follows: the stator temperature change rate is kept unchanged in the calibration process, and the actual temperature T of the current motor rotor is measured through experiments r_mea Setting initial total power P d_total Compensation value T for temperature var Calculating a rotor predicted temperature value T r_est Adjusting the total power loss and the rotor predicted temperature compensation value to ensure that the rotor predicted temperature T r_est And the actual temperature T of the rotor r_mea And keeping consistency, and finally recording the stator temperature change rate, the total loss power and the rotor predicted temperature compensation value at the moment. In the process of adjusting the total loss power and the rotor predicted temperature compensation value, a specific optimization strategy is as follows:
when the actual temperature T of the rotor r_mea Above the rotor predicted temperature T r_est When the temperature rise rate of the stator is increased, the corresponding total loss power P d_total Then increase the rotor temperature compensation value T var Up to the actual temperature T of the rotor r_mea With rotor predicted temperature T r_est The temperature rise rate of the stator and the total power loss are recorded;
when the actual temperature T of the rotor r_mea Below the rotor predicted temperature T r_est When the temperature rise rate of the stator is reduced, the total loss power P corresponding to the temperature rise rate of the stator is reduced d_total Then the rotor temperature compensation value T is reduced var Up to the actual temperature T of the rotor r_mea With rotor predicted temperature T r_est The temperature rise rate of the stator and the total power loss are recorded; the absolute value of the temperature difference between the predicted temperature and the measured temperature of the rotor is shown in fig. 4.
In summary, the formula for calculating the rotor temperature variation value is:
wherein C is s And M is as follows s Respectively the specific heat capacity and the mass of the stator; c (C) r And M is as follows r The specific heat capacity and the mass of the rotor are respectively.
S3, calculating the next time t i+1 Rotor predicted temperature T r2 ；
The method comprises the following specific steps: the current power-on time t i Rotor initial temperature T rl With rotor temperature change DeltaT r Adding to obtain the next time t i+1 Rotor predicted temperature T r2 And repeatedly superposing the rotor temperature change value to realize real-time prediction of the rotor temperature.
S4, correcting the predicted temperature of the rotor in real time; the method comprises the following steps:
setting the current power-on time t i Rotor prediction temperature checking time, and rotor experience temperature T at the current power-on moment is calculated through actual flux linkage of motor r_upd Setting an empirical temperature T r_upd And the predicted temperature T r1 Deviation threshold.
The real-time correction flow of the predicted temperature is as follows: when the system judges that the power is not cut off, and t i -t 0 If the temperature is less than or equal to 10s, the temperature correction is not carried out, and t is used i+1 The rotor predicted temperature at time t i+2 Initial temperature at the time of rotor temperature prediction;
when the system judges that the power is not cut off, and t i -t 0 More than 10s, performing correction judgment;
when correction judgment is carried out, when the deviation threshold value of the initial temperature of the rotor and the empirical temperature is less than or equal to 5 ℃, no operation is carried out, the next rotor temperature prediction iterative computation is carried out, and t is used i+1 The rotor predicted temperature at time t i+2 Initial temperature at the time of rotor temperature prediction;
when the correction judgment is carried out, if the deviation threshold value of the initial temperature of the rotor and the empirical temperature is more than 5 ℃, the empirical temperature is used for replacing the initial temperature of the rotor to be t i+2 The initial temperature of the rotor predicted by the temperature of the rotor at the moment participates in the prediction of the temperature of the rotor at the next moment.
Wherein the rotor experience temperature T r_upd Is based on the current time of dayWorking state, calculating to obtain actual flux linkage at the current moment through an empirical formula, and then reversely calculating the empirical temperature of the motor rotor at the current moment through the flux linkage, wherein the empirical formula is as follows:
wherein, psi is mot Is the actual flux linkage of the motor; e (E) mot Is an effective value of the motor line voltage; n is n mot The motor rotation speed; p (P) n Is the pole pair number of the motor; n is the number of turns of the coil; s is the magnetic flux area; b (B) mtT Is the magnetic induction density.
The method comprises the following steps of carrying out multiple experiments, wherein when the checking time of the rotor predicted temperature is more than 10s, or the deviation threshold value of the empirical temperature and the predicted temperature is more than 5 ℃, the rotor temperature predicted deviation is larger, and the prediction accuracy does not meet the practical requirement; when the checking time of the rotor predicted temperature is less than 10s, or the deviation threshold value of the empirical temperature and the predicted temperature is less than 5 ℃, the calculation load of the motor is increased although the temperature prediction result is relatively accurate, so that the real-time performance of the temperature prediction is reduced, and the practical requirement is not met. Therefore, in order to ensure the practicability of temperature prediction and simultaneously ensure the accuracy and the instantaneity of rotor temperature prediction, multiple simulation and experiments prove that when the checking time of rotor prediction temperature is 10s and the deviation threshold value of experience temperature and prediction temperature is 5 ℃, the prediction method ensures the prediction accuracy and improves the instantaneity of temperature prediction in the actual application process, the motor is in a better working range, the motor control is facilitated, the motor output performance is improved, the safe and stable operation of the motor is ensured, the rotor simulation prediction temperature and test actual temperature curve and the rotor prediction temperature difference curve under the fixed working condition are shown in fig. 5-6, and the rotor simulation prediction temperature and test actual temperature curve and the rotor prediction temperature difference curve under the variable working condition are shown in fig. 7-8.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (4)
1. The high-precision real-time prediction method for the rotor temperature of the permanent magnet synchronous motor is characterized by comprising the following steps of:
s1, calculating the current power-on time t i Rotor initial temperature T rl ；
Different ambient temperatures T are obtained through an ambient temperature test 0 At the different motor shutdown rotor temperature T r_pre A numerical curve of the duration, and the temperature T of the motor when the motor is powered down in the last working process is recorded rs Time t of power-down time 0 Ambient temperature T after shutdown 0 Motor off time t stop The temperature of the motor at the current power-on time is subjected to table lookup interpolation calculation through the data to obtain the current power-on time t i Rotor initial temperature T rl ；
S2, calculating the current power-on time t i Rotor temperature variation delta T r ；
S3, calculating the next time t i+1 Rotor predicted temperature T r2 ；
The current power-on time t i Rotor initial temperature T rl With rotor temperature change DeltaT r Adding to obtain the next time t i+1 Rotor predicted temperature T r2 Repeatedly superposing rotor temperature change values to realize real-time prediction of rotor temperature;
s4, correcting the predicted temperature of the rotor in real time;
setting the current power-on time t i Rotor prediction temperature checking time, and rotor experience temperature T at the current power-on moment is calculated through actual flux linkage of motor r_upd Setting an empirical temperature T r_upd And the predicted temperature T r1 A deviation threshold;
the specific process for real-time correction of the predicted temperature comprises the following steps:
when the system judges that the power is not cut off, and t i -t 0 If the temperature is less than or equal to 10s, the temperature correction is not carried out, and t is used i+1 The rotor predicted temperature at time t i+2 Initial temperature at the time of rotor temperature prediction;
when the system judges that the power is not cut off, and t i -t 0 More than 10s, performing correction judgment;
when correction judgment is carried out, if the deviation threshold value of the initial temperature of the rotor and the empirical temperature is less than or equal to 5 ℃, no operation is carried out, the next rotor temperature prediction iterative computation is carried out, and t is used i+1 The rotor predicted temperature at time t i+2 Initial temperature at the time of rotor temperature prediction;
when the correction judgment is carried out, if the deviation threshold value of the initial temperature of the rotor and the empirical temperature is more than 5 ℃, the empirical temperature is used for replacing the initial temperature of the rotor to be t i+2 Rotor initial temperature predicted by rotor temperature at moment participates in rotor temperature prediction at next moment;
wherein the rotor experience temperature T r_upd Based on the working state of the motor at the current moment, the actual flux linkage at the current moment is calculated through an empirical formula, and then the empirical temperature of the motor rotor at the current moment is calculated through the flux linkage in a reverse direction, wherein the empirical formula is as follows:
wherein, psi is mot Is the actual flux linkage of the motor; e (E) mot Is an effective value of the motor line voltage; n is n mot The motor rotation speed; p (P) n Is the pole pair number of the motor; n is the number of turns of the coil; s is the magnetic flux area; b (B) mtT Is the magnetic induction density.
2. The method for predicting the rotor temperature of the permanent magnet synchronous motor in real time with high precision according to claim 1, wherein the method comprises the following steps: the step S2 calculates the current power-on time t i Rotor temperature variation delta T r The specific method of (2) is as follows: based on the sensor, the stator temperature change value and the change rate are obtained, and the total power P is obtained through experimental calibration d_total And rotor temperature compensation value T var And the stator temperature change rate delta T s /ΔtIs a relationship of (2); the formula for calculating the rotor temperature change value is as follows:
wherein C is s And M is as follows s Respectively the specific heat capacity and the mass of the stator; c (C) r And M is as follows r The specific heat capacity and the mass of the rotor are respectively.
3. The method for predicting the rotor temperature of the permanent magnet synchronous motor in real time with high precision according to claim 2, wherein the method comprises the following steps: in the step S2, according to the calculation formula of the rotor temperature change, in the process of calibrating the total power loss and the stator temperature change rate, the predicted rotor temperature change value is compensated based on the error between the predicted rotor temperature value and the actual value, and the total power loss P is adjusted in real time according to the error d_total Rotor temperature compensation value T var The predicted value of the rotor temperature is kept consistent with the actual value.
4. The method for predicting the rotor temperature of the permanent magnet synchronous motor in real time with high precision according to claim 3, wherein the method comprises the following steps: the specific real-time adjustment method in the calibration process comprises the following steps: when the actual temperature T of the rotor r_mea Above the rotor predicted temperature T r_set When the temperature rise rate of the stator is increased, the corresponding total loss power P d_total Then increase the rotor temperature compensation value T var Until the two are equal;
when the actual temperature T of the rotor r_mea Below the rotor predicted temperature T r_set When the stator temperature rise rate is reduced, the corresponding total power P dtotal Then the rotor temperature compensation value T is reduced var Until the two are equal.
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