CN118054735A - Motor rotor temperature estimation method, device, equipment and readable storage medium - Google Patents
Motor rotor temperature estimation method, device, equipment and readable storage medium Download PDFInfo
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Abstract
The invention discloses a motor rotor temperature estimation method, a device, equipment and a readable storage medium, which relate to the technical field of motor temperature control and comprise the following steps: step S10, acquiring an electric angle of the motor, and calculating to obtain the electric angular speed of the motor according to the electric angle of the motor; step S20, a voltage equation and a sliding mode observer of the motor are established, and an expanded back electromotive force is obtained through calculation according to the voltage equation and the sliding mode observer of the motor; step S30, calculating to obtain a permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor; and S40, calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature. According to the invention, a temperature sensor is not required to be pre-buried in the motor stator coil, so that the hardware cost can be reduced, the structural integrity of the motor stator can be ensured, and the assembly complexity of the motor stator can be reduced.
Description
Technical Field
The present invention relates to the field of motor temperature control technologies, and in particular, to a method, an apparatus, a device, and a readable storage medium for estimating a motor rotor temperature.
Background
The current new energy automobile is favored by more and more consumers by virtue of the advantages of silence and comfort, drivability, energy conservation, environmental protection and the like. The power actuating mechanism of the new energy automobile is a permanent magnet synchronous motor, and the temperature change of the power actuating mechanism can influence the flux linkage of the permanent magnet, so that the problems of reduced output flux linkage, magnetization loss or thermal expansion of the motor and the like can be caused. Loss of magnetization (loss of magnetization) can cause the following hazards: power drop, unstable operation, reduced life. In summary, the magnetization loss of the permanent magnet synchronous motor can have negative effects on aspects of power, running stability, service life and the like of the motor, so that accurate estimation of the temperature of the permanent magnet synchronous motor has very important effects on maintaining the magnetic field intensity and stability of the permanent magnet.
Most of the existing schemes adopt a method of embedding a temperature sensor in a motor stator coil, and the scheme can increase the hardware (the temperature sensor and a corresponding hardware conditioning circuit) cost, increase the fault risk and increase the complexity of the stator structure and the assembly complexity.
Disclosure of Invention
The embodiment of the invention provides a motor rotor temperature estimation method, a device, equipment and a readable storage medium, which can solve the technical problems that in the prior art, a temperature sensor is required to be embedded in a motor stator coil, the hardware cost is increased, and the fault risk and the complexity of a stator structure are increased.
In a first aspect, a method for estimating a temperature of a rotor of an electric machine is provided, comprising the steps of:
Acquiring an electric angle of the motor, and calculating to obtain the electric angular speed of the motor according to the electric angle of the motor;
Establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor;
calculating to obtain a permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
and calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
In some embodiments, the step of establishing a voltage equation and a sliding mode observer of the motor includes:
the voltage equation of the motor is established as follows:
Establishing a sliding mode observer comprises the following steps:
Wherein i α is the α -axis stator current; i β is the β -axis stator current; u α is the alpha-axis stator voltage; u β is the beta-axis stator voltage; e α is alpha-axis extended back EMF; e β is beta-axis extended back EMF; w e is the electrical angular velocity of the motor; l d is the d-axis stator inductance; l q is q-axis stator inductance; an alpha-axis stator current estimate for a sliding mode observer; /(I) A beta-axis stator current estimate for a sliding mode observer; v α is the alpha-axis extended back emf observed by the sliding mode observer; v β is the beta-axis extended back emf observed by the sliding mode observer.
In some embodiments, the step of calculating the extended back emf according to the voltage equation of the motor and the sliding mode observer includes:
According to the formula The alpha and beta axes observed extend back emf v α and v β and take the resulting v α and v β as E α and E β.
Wherein,For the alpha-axis stator current observing error,/> The error is observed for the beta-axis stator current,Sign is a sign function; h is the sliding mode observer gain.
In some embodiments, the step of calculating the permanent magnet flux linkage according to the extended back electromotive force, the electrical angle of the motor and the electrical angular velocity of the motor includes:
According to the formula Or/>Calculating to obtain the permanent magnet flux linkage;
Wherein, psi f is permanent magnet flux linkage, and theta e is the electrical angle of the motor.
In some embodiments, the formula is based onOr/>The step of calculating the flux linkage of the permanent magnet comprises the following steps:
Taking the absolute value of sin theta e or cos theta e to be not less than 0.5.
In some embodiments, before the step of calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relationship between the permanent magnet flux linkage and the rotor temperature, the method includes:
and establishing a mapping relation between the permanent magnet flux linkage and the rotor temperature through experiments or simulation.
In some embodiments, the step of obtaining the electrical angle of the motor and calculating the electrical angular velocity of the motor according to the electrical angle of the motor includes:
The electrical angle of the motor is obtained using a resolver.
In a second aspect, there is provided a motor rotor temperature estimation device comprising:
The acquisition unit is used for acquiring the electrical angle of the motor and calculating the electrical angular speed of the motor according to the electrical angle of the motor;
The first calculation unit is used for establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor;
The second calculation unit is used for calculating to obtain permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
and the third calculation unit is used for calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
In a third aspect, there is provided a computer device comprising: the motor rotor temperature estimation method comprises a memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize the motor rotor temperature estimation method.
In a fourth aspect, a computer readable storage medium is provided, the computer readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the aforementioned motor rotor temperature estimation method.
The technical scheme provided by the invention has the beneficial effects that:
The embodiment of the invention provides a method, a device, equipment and a readable storage medium for estimating the temperature of a motor rotor, wherein the method comprises the steps of firstly obtaining the electrical angle of a motor, and calculating the electrical angular velocity of the motor according to the electrical angle of the motor; then, establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor; then calculating to obtain the permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor; and finally, calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature. According to the invention, a temperature sensor is not required to be pre-buried in the motor stator coil, so that the hardware cost can be reduced, the structural integrity of the motor stator can be ensured, and the assembly complexity of the motor stator can be reduced. The invention has the thinking of reversely using the sliding mode observer, and the error between the obtained flux linkage and the actual parameter is smaller. In addition, by means of strong robustness of the sliding mode observer, parameters are easy to debug, the technical scheme is simple and feasible, a large amount of research and development investment is avoided, the universality is strong, and the popularization is convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for estimating a temperature of a motor rotor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an extended back emf obtained by implementing step S20 according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a permanent magnet flux linkage obtained by implementing step S20 according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor rotor temperature estimation device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a motor rotor temperature estimation method, which can solve the technical problems that a temperature sensor is required to be embedded in a motor stator coil in the prior art, the hardware cost is increased, the fault risk is increased, and the complexity of a stator structure is increased.
Referring to fig. 1, an embodiment of the present invention provides a method for estimating a temperature of a rotor of an electric motor, including the steps of:
Step S10, obtaining the electric angle of the motor, and calculating the electric angular speed of the motor according to the electric angle of the motor.
Specifically, the step of obtaining the electrical angle of the motor and calculating the electrical angular velocity of the motor according to the electrical angle of the motor includes:
The electrical angle of the motor is obtained using a resolver. The rotary transformer is also referred to as a rotary transformer, and is a signal element whose output voltage varies with the rotation angle of the rotor. And the electrical angle is equal to the mechanical angle of the rotor multiplied by the pole pair number of the motor, so that the rotary transformer can output the electrical angle of the motor in cooperation with a special rotary transformer decoding chip. Further, the electric angular velocity of the motor can be calculated by the change of the electric angle under the condition that the electric angle of the motor is known.
And step S20, establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an extended back electromotive force according to the voltage equation and the sliding mode observer of the motor.
The step of establishing a voltage equation and a sliding mode observer of the motor comprises the following steps:
the voltage equation of the motor is established as follows:
Establishing a sliding mode observer comprises the following steps:
Wherein i α is the α -axis stator current; i β is the β -axis stator current; u α is the alpha-axis stator voltage; u β is the beta-axis stator voltage; e α is alpha-axis extended back EMF; e β is beta-axis extended back EMF; w e is the electrical angular velocity of the motor; l d is the d-axis stator inductance; l q is q-axis stator inductance; an alpha-axis stator current estimate for a sliding mode observer; /(I) A beta-axis stator current estimate for a sliding mode observer; v α is the alpha-axis extended back emf observed by the sliding mode observer; v β is the beta-axis extended back emf observed by the sliding mode observer.
Wherein, i α and i β can be obtained by collecting three-phase current i a、ib、ic of the motor and then performing CLARK transformation, and u α and u β can be obtained by collecting three-phase voltage u a、ub、uc of the motor and then performing CLARK transformation.
The step of calculating the extended back electromotive force according to the voltage equation of the motor and the sliding mode observer comprises the following steps:
According to the formula The alpha and beta axes observed extend back emf v α and v β and take the resulting v α and v β as E α and E β.
Wherein,For the alpha-axis stator current observing error,/> The error is observed for the beta-axis stator current,Sign is a sign function; h is the sliding mode observer gain.
Subtracting the voltage equation of the sliding mode observer and the motor can obtain the following formula:
When (when) When equal to 0, v α＝Eα、vβ＝Eβ can be considered. According to the slip film control principle, the slip film gain h should satisfy the following formula:
Since v α and v β output by the sliding mode observer can only be +h or-h according to the positive and negative of the current observation error, the problem of output jitter is caused, a saturation function can be used for replacing a sign function, when the current observation error is in a certain range, the gain of the gain sliding film is multiplied by the corresponding proportion to be output by the sliding mode observer, the waveforms of v α and v β are close to sine waves, and the waveforms are more close to sine waves after passing through the low-pass filter. Fig. 2 is a schematic diagram of an extended back emf obtained according to an embodiment of the invention.
Step S30, calculating to obtain a permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
specifically, the step of calculating the permanent magnet flux linkage according to the extended back electromotive force, the electrical angle of the motor and the electrical angular velocity of the motor comprises the following steps:
According to the formula Or/>Calculating to obtain the permanent magnet flux linkage;
Wherein, psi f is permanent magnet flux linkage, and theta e is the electrical angle of the motor.
Specifically, the equation for extending back emf generally is:
when the motor is a surface-mounted permanent magnet synchronous motor, it can be considered that And then can obtainOr/>Under the aforementioned conditions of θ e、we、Eα and E β, the permanent magnet flux linkage ψ f can be obtained. Fig. 3 is a schematic diagram of a permanent magnet flux linkage according to an embodiment of the present invention.
Further, according to the formulaOr/>The step of calculating the flux linkage of the permanent magnet comprises the following steps: taking the absolute value of sin theta e or cos theta e to be not less than 0.5. If sin theta e is small, the flux linkage fluctuation is large, so the flux linkage is calculated in the range of more than 0.5 or less than-0.5, and the flux linkage fluctuation can be effectively reduced.
And S40, calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
Specifically, before the step of calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relationship between the permanent magnet flux linkage and the rotor temperature, the method comprises the following steps:
and establishing a mapping relation between the permanent magnet flux linkage and the rotor temperature through experiments or simulation.
Voltage equation of permanent magnet synchronous motor under synchronous rotation coordinate system:
Ud＝Rsid+Ldpid-wrLqiq；
Uq＝Rsiq+Lqpiq+wrLdid+wrψf;
Where p is the differential operator, R s is the motor stator resistance, w r is the motor mechanical angular velocity, U d、Uq is the motor d, q axis voltage, i d、iq is i α and i β, respectively, obtained by PARK transformation.
The experimental bench uses a motor with a temperature sensor therein and a water pump capable of setting the temperature of the motor coolant to control i d =0. When the rotation speed of the motor is stable, the voltage equation is as follows:
Uq＝Rsiq+wrψf；
The motor speed is set at 1000rpm, the torque is 50N, the temperature of the cooling liquid is set at every 5 ℃ within the range of 60-150 ℃, i q at the temperature is recorded after the temperature of the temperature sensor is stable, and meanwhile, the FOC control output U q can replace U q in the voltage equation.
According to the flux linkage formulaAnd calculating the flux linkage, so as to form a mapping relation between the temperature and the flux linkage.
According to the motor rotor temperature estimation method, firstly, the electric angle of a motor is obtained, and the electric angular speed of the motor is obtained through calculation according to the electric angle of the motor; then, establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor; then calculating to obtain the permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor; and finally, calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature. According to the invention, a temperature sensor is not required to be pre-buried in the motor stator coil, so that the hardware cost can be reduced, the structural integrity of the motor stator can be ensured, and the assembly complexity of the motor stator can be reduced. The invention has the thinking of reversely using the sliding mode observer, and the error between the obtained flux linkage and the actual parameter is smaller. In addition, by means of strong robustness of the sliding mode observer, parameters are easy to debug, the technical scheme is simple and feasible, a large amount of research and development investment is avoided, the universality is strong, and the popularization is convenient.
Referring to fig. 4, an embodiment of the present invention further provides a device for estimating a temperature of a rotor of an electric machine, including: an acquisition unit, a first calculation unit, a second calculation unit, and a third calculation unit.
The acquisition unit is used for acquiring the electric angle of the motor and calculating to obtain the electric angular speed of the motor according to the electric angle of the motor;
The first calculation unit is used for establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded counter electromotive force according to the voltage equation and the sliding mode observer of the motor;
The second calculation unit is used for calculating to obtain a permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
the third calculation unit is used for calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
The motor rotor temperature estimation device in the embodiment of the invention firstly obtains the electrical angle of the motor, and calculates the electrical angular velocity of the motor according to the electrical angle of the motor; then, establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor; then calculating to obtain the permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor; and finally, calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature. According to the invention, a temperature sensor is not required to be pre-buried in the motor stator coil, so that the hardware cost can be reduced, the structural integrity of the motor stator can be ensured, and the assembly complexity of the motor stator can be reduced. The invention has the thinking of reversely using the sliding mode observer, and the error between the obtained flux linkage and the actual parameter is smaller. In addition, by means of strong robustness of the sliding mode observer, parameters are easy to debug, the technical scheme is simple and feasible, a large amount of research and development investment is avoided, the universality is strong, and the popularization is convenient.
The embodiment of the invention also provides computer equipment, which comprises: the system comprises a memory, a processor and a network interface which are connected through a system bus, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize all or part of the steps of the motor rotor temperature estimation method.
Wherein the network interface is used for network communication, such as sending assigned tasks, etc. It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The Processor may be a CPU, but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device discrete hardware components, or the like. A general purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like, that is a control center for a computer device, with various interfaces and lines connecting various parts of the entire computer device.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function (such as a video playing function, an image playing function, etc.), and the like; the storage data area may store data (such as video data, image data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid state storage device.
Wherein in one embodiment the processor is configured to run a computer program stored in the memory to implement the steps of:
step S10, acquiring an electric angle of the motor, and calculating to obtain the electric angular speed of the motor according to the electric angle of the motor;
Step S20, a voltage equation and a sliding mode observer of the motor are established, and an expanded back electromotive force is obtained through calculation according to the voltage equation and the sliding mode observer of the motor;
step S30, calculating to obtain a permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
And S40, calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
As an alternative implementation manner, in an embodiment of the present invention, the step of establishing a voltage equation and a sliding mode observer of the motor includes:
the voltage equation of the motor is established as follows:
Establishing a sliding mode observer comprises the following steps:
Wherein i α is the α -axis stator current; i β is the β -axis stator current; u α is the alpha-axis stator voltage; u β is the beta-axis stator voltage; e α is alpha-axis extended back EMF; e β is beta-axis extended back EMF; w e is the electrical angular velocity of the motor; l d is the d-axis stator inductance; l q is q-axis stator inductance; an alpha-axis stator current estimate for a sliding mode observer; /(I) A beta-axis stator current estimate for a sliding mode observer; v α is the alpha-axis extended back emf observed by the sliding mode observer; v β is the beta-axis extended back emf observed by the sliding mode observer.
As an optional implementation manner, in an embodiment of the present invention, the step of calculating the extended back electromotive force according to a voltage equation of the motor and a sliding mode observer includes:
According to the formula The alpha and beta axes observed extend back emf v α and v β and take the resulting v α and v β as E α and E β.
Wherein,For the alpha-axis stator current observing error,/> The error is observed for the beta-axis stator current,Sign is a sign function; h is the sliding mode observer gain.
As an optional implementation manner, in an embodiment of the present invention, the step of calculating the permanent magnet flux linkage according to the extended back electromotive force, the electrical angle of the motor, and the electrical angular velocity of the motor includes:
According to the formula Or/>Calculating to obtain the permanent magnet flux linkage;
Wherein, psi f is permanent magnet flux linkage, and theta e is the electrical angle of the motor.
As an alternative implementation, in an embodiment of the invention, the method is according to the formulaOr (b)The step of calculating the flux linkage of the permanent magnet comprises the following steps:
Taking the absolute value of sin theta e or cos theta e to be not less than 0.5.
As an optional implementation manner, in an embodiment of the present invention, before the step of calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relationship between the permanent magnet flux linkage and the rotor temperature, the method includes:
and establishing a mapping relation between the permanent magnet flux linkage and the rotor temperature through experiments or simulation.
In an embodiment of the present invention, the step of obtaining the electrical angle of the motor and calculating the electrical angular velocity of the motor according to the electrical angle of the motor includes:
The electrical angle of the motor is obtained using a resolver.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements all or part of the steps of the aforementioned motor rotor temperature estimation method.
The foregoing embodiments of the present invention may be implemented in whole or in part by computer program instructions for implementing the relevant hardware, and the computer program may be stored in a computer readable storage medium, where the computer program when executed by a processor may implement the steps of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a Read-Only memory (ROM), a random access memory (Random Access memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above numbers in the embodiments of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for estimating the temperature of a rotor of an electric machine, comprising the steps of:
Acquiring an electric angle of the motor, and calculating to obtain the electric angular speed of the motor according to the electric angle of the motor;
Establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor;
calculating to obtain a permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
and calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
2. The method of claim 1, wherein the step of establishing a voltage equation and a sliding mode observer of the motor comprises:
the voltage equation of the motor is established as follows:
Establishing a sliding mode observer comprises the following steps:
Wherein i α is the α -axis stator current; i β is the β -axis stator current; u α is the alpha-axis stator voltage; u β is the beta-axis stator voltage; e α is alpha-axis extended back EMF; e β is beta-axis extended back EMF; w e is the electrical angular velocity of the motor; l d is the d-axis stator inductance; l q is q-axis stator inductance; an alpha-axis stator current estimate for a sliding mode observer; /(I) A beta-axis stator current estimate for a sliding mode observer; v α is the alpha-axis extended back emf observed by the sliding mode observer; v β is the beta-axis extended back emf observed by the sliding mode observer.
3. The method of estimating a rotor temperature of an electric machine according to claim 2, wherein the step of calculating an extended back emf from a voltage equation of the electric machine and a sliding mode observer comprises:
According to the formula The alpha and beta axes observed extend back emf v α and v β and take the resulting v α and v β as E α and E β.
Wherein,For the alpha-axis stator current observing error,/> For beta-axis stator current observation error,/>Sign is a sign function; h is the sliding mode observer gain.
4. The method of estimating a rotor temperature of an electric motor according to claim 2, wherein the step of calculating a permanent magnet flux linkage from the extended back emf, the electrical angle of the electric motor, and the electrical angular velocity of the electric motor comprises:
According to the formula Or/>Calculating to obtain the permanent magnet flux linkage;
Wherein, psi f is permanent magnet flux linkage, and theta e is the electrical angle of the motor.
5. The method of estimating a rotor temperature of an electric machine according to claim 4, wherein the equation is based onOr/>The step of calculating the flux linkage of the permanent magnet comprises the following steps:
Taking the absolute value of sin theta e or cos theta e to be not less than 0.5.
6. The method of claim 1, wherein before the step of calculating the rotor temperature from the calculated permanent magnet flux linkage and the mapping relationship between the permanent magnet flux linkage and the rotor temperature, the method comprises:
and establishing a mapping relation between the permanent magnet flux linkage and the rotor temperature through experiments or simulation.
7. The method of claim 1, wherein the step of obtaining the electrical angle of the motor and calculating the electrical angular velocity of the motor based on the electrical angle of the motor comprises:
The electrical angle of the motor is obtained using a resolver.
8. An electric motor rotor temperature estimation device, comprising:
The acquisition unit is used for acquiring the electrical angle of the motor and calculating the electrical angular speed of the motor according to the electrical angle of the motor;
The first calculation unit is used for establishing a voltage equation and a sliding mode observer of the motor, and calculating to obtain an expanded back electromotive force according to the voltage equation and the sliding mode observer of the motor;
The second calculation unit is used for calculating to obtain permanent magnet flux linkage according to the expanded counter electromotive force, the electric angle of the motor and the electric angular speed of the motor;
and the third calculation unit is used for calculating the rotor temperature according to the calculated permanent magnet flux linkage and the mapping relation between the permanent magnet flux linkage and the rotor temperature.
9. A computer device, comprising: a memory and a processor, the memory having stored therein at least one instruction that is loaded and executed by the processor to implement the motor rotor temperature estimation method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized by: the computer-readable storage medium stores computer instructions that, when executed by a computer, cause the computer to perform the motor rotor temperature estimation method of any one of claims 1 to 7.
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