WO2023160023A1 - Permanent magnet synchronous motor static initial position estimation method and stator inductance identification method - Google Patents

Permanent magnet synchronous motor static initial position estimation method and stator inductance identification method Download PDF

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WO2023160023A1
WO2023160023A1 PCT/CN2022/131675 CN2022131675W WO2023160023A1 WO 2023160023 A1 WO2023160023 A1 WO 2023160023A1 CN 2022131675 W CN2022131675 W CN 2022131675W WO 2023160023 A1 WO2023160023 A1 WO 2023160023A1
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phase
voltage
pulse voltage
pulse
current
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PCT/CN2022/131675
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French (fr)
Chinese (zh)
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位俊雷
赵振华
胡冰
崔晓光
张利军
邵春伟
赵栋
咸粤飞
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中车青岛四方车辆研究所有限公司
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency

Definitions

  • permanent magnet synchronous motors Compared with asynchronous motors, permanent magnet synchronous motors have the advantages of small size, low inertia, high torque density and good dynamic response characteristics, and are widely used in rail transit, electric vehicles, new energy and other fields.
  • position sensorless control strategies are increasingly used in permanent magnet synchronous motor frequency conversion speed regulation systems.
  • the position sensorless control strategy of permanent magnet synchronous motor includes a variety of control methods, and these methods all need to achieve accurate estimation of the initial rotor position, which is related to the performance of the motor system. If the detection deviation is large, the motor will have problems such as reduced load capacity, out-of-step or even failure to start during the starting phase, which may easily cause safety hazards.
  • high-frequency injection includes high-frequency rotating voltage injection method, pulse vibration voltage injection method, etc.
  • high-frequency signals By injecting high-frequency signals, the current response of the stator winding is measured, and then the current signal is filtered to calculate the rotor position.
  • Chinese application CN113114077A discloses a sensorless permanent magnet synchronous motor initial position detection method, by injecting a high-frequency square wave voltage into the d-axis, and estimating the initial rotor position according to the high-frequency response current signal.
  • the instantaneous pulse position identification method includes look-up table method and inductance matrix method.
  • the rotor position is obtained according to the transient current response by injecting equal-width pulses into the winding.
  • the look-up table method needs a lot of experiments in advance, the operation is more complicated and the accuracy is not high; the calculation of the inductance matrix method is complicated, and due to sampling deviation, inductance matrix conversion and other reasons, the requirements for sampling and signal conditioning circuits are relatively high.
  • the application provides a static initial position estimation method and a stator inductance identification method of a permanent magnet synchronous motor, which are simple and easy to implement and have good operability.
  • the first aspect of the present application provides a method for estimating the static initial position of a permanent magnet synchronous motor, including the following steps:
  • any one of the first mode and the second mode can be selected
  • each phase When each phase is injected with its own rated positive pulse voltage and rated negative pulse voltage, record the response current value of each phase under the rated positive pulse voltage and rated negative pulse voltage, and use the response current value of each phase under the rated negative pulse voltage Subtract the response current value of each phase under the rated positive pulse voltage, and calculate the response current differences ⁇ I ab , ⁇ I bc and ⁇ I ca of the AB phase, BC phase and CA phase in the three-phase static coordinate system;
  • the U1 and U2 correspond to 0° and 180° respectively, and the voltage vector directions of the two are opposite;
  • the U3 and U4 correspond to 60° and 240° respectively, and the voltage vector directions of the two are opposite;
  • U5 and U6 respectively correspond to 120° and 300°, and the voltage vector directions of the two are opposite.
  • the aforementioned estimation method can be used to calculate the rotor initial position angle ⁇ ;
  • U dc is the rated pulse voltage
  • T s is the selected pulse width
  • ⁇ i su is the variation of the AB phase winding current within the unit pulse width
  • ⁇ i sv is the variation of the BC phase winding current within the unit pulse width
  • ⁇ i sw is the CA
  • R is the winding resistance
  • L d is the d-axis inductance
  • L q is the q-axis inductance
  • At least one embodiment of the present application provides a simple and easy method for judging rotor magnetic poles, which can be used to check whether the initial angle of the rotor is judged correctly, to ensure the accuracy of initial angle recognition, and to improve the robustness and anti-interference of the system ability.
  • the present application can conveniently calculate the stator inductance by the formula, avoiding the addition of an inductance detection device or complicated matrix transformation.
  • At least one embodiment of the present application can conveniently calculate the stator inductance by the formula, avoiding the need for additional inductance detection equipment to reduce hardware overhead, and at the same time not requiring complex inductance matrix transformation, reducing the amount of calculation.
  • a set of control strategies can realize multiple functions such as motor rotor initial position identification, rotor polarity verification, and inductance parameter identification, which is beneficial to reduce the overall calculation amount and hardware overhead of the system, and facilitate the integrated design of functions.
  • Figure 1 is a schematic structural diagram of a permanent magnet synchronous motor frequency conversion speed regulation control system
  • Fig. 2 is the flow chart of initial position estimation and stator inductance identification of permanent magnet synchronous motor
  • Fig. 3 is the equivalent principle diagram of initial position estimation and stator inductance identification of permanent magnet synchronous motor
  • Fig. 4 is a schematic diagram of three-phase pulse injection for magnetic pole direction identification.
  • This application provides a static initial position estimation method and inductance identification method for permanent magnet synchronous motors.
  • the overall process can be referred to in Figure 2, which can be used in the sensorless control strategy of permanent magnet synchronous motors to solve the problems of initial rotor position estimation and stator inductance identification. question.
  • the structure of the permanent magnet synchronous motor frequency conversion speed regulation control system is shown in Figure 1. It mainly includes the following parts: machine-side input reactor, machine-side IGBT module, supporting capacitor, grid-side IGBT module, grid-side output reactor, voltage and current sampling Circuits and controllers, this part belongs to the prior art and will not be repeated here.
  • the first embodiment of the present application provides a method for estimating a static initial position of a permanent magnet synchronous motor. Based on the salient pole characteristics of permanent magnet motors, the stator inductance changes with the change of the rotor pole position, and then the rotor position information can be obtained by using this characteristic.
  • the winding in this application mainly refers to the winding of the stator of the motor.
  • a phase, B phase, and C phase all represent single-phase windings, and AB phase, BC phase, and CA phase represent interphase windings, which are well known to those skilled in the art and can also be understood with reference to FIG. 3 .
  • U phase, V phase, and W phase are used to refer to the three-phase electricity, and for the motor winding, it is divided into A phase , B phase and C phase to be distinguished; wherein, those skilled in the art know that U phase is connected with A phase, V phase is connected with B phase, and W phase is connected with C phase; therefore, in some cases, U and A may be mixed, V and B may be mixed, W and C may be mixed.
  • a DC voltage is applied to the bus support capacitor of the permanent magnet generator set, and the two-phase pulse voltage can be applied to the stator winding of the permanent magnet motor by controlling the switching sequence of the inverter module PWM (Pulse width modulation), as shown in Figure 3 shows.
  • the motor winding can be equivalent to an RL circuit (Resistor-inductor circuit), which can be known from the zero state response:
  • U dc is the rated pulse voltage
  • R is the winding resistance
  • i is the pulse response current
  • L is the phase inductance
  • t is the time.
  • the traditional identification method there are two types of technical routes, one is to obtain the inductance matrix of each winding from the current pulse response, and then obtain the rotor position angle through complex calculations; the other is to directly record the current response and the rotor position.
  • the comparison table of rotor position angle and current response law is obtained through a large number of experiments, and then the rotor position angle is obtained by the look-up table method.
  • the solution and conversion of the inductance matrix is quite complicated, and the data accuracy is easy to be lost during the complex conversion and solution process; while the second type of method requires a lot of preparatory work, and due to operation and sampling errors, table lookup The accuracy of method identification is difficult to guarantee.
  • the present application provides a new method of directly obtaining the rotor position angle (initial position angle) from the impulse response current by using the current difference without passing through the inductance matrix.
  • the method for estimating the static initial position of the permanent magnet synchronous motor provided in this embodiment specifically includes the following steps.
  • S1 Sequentially inject their rated positive pulse voltage and rated negative pulse voltage into the windings of AB phase, BC phase and CA phase of the motor respectively, and the rated positive pulse voltage and rated negative pulse voltage are the phase and CA phase) the voltage when the output current reaches the rated current of the motor.
  • the rated pulse voltage can also be obtained by the following method. For example, inject U-phase positive pulse and V-phase negative pulse into the AB phase winding, and record the pulse response current Iu; gradually increase the pulse width until Iu is greater than the rated current value of the motor. At this time, the pulse width is the selected pulse width. At this time, the corresponding The pulse response current is i ab , and the corresponding voltage is the rated positive pulse voltage of the AB phase winding.
  • the range in which Iu is greater than the rated current of the motor may not be too limited, for example, it may be slightly equal to or slightly greater than, greater than 1A, 2A and so on.
  • V-phase positive pulse and U-phase negative pulse into the AB phase winding in a similar way, and gradually increase the pulse width to the selected pulse width, then i ba can be obtained, and the rated negative pulse voltage of the AB phase winding can be determined.
  • V-phase positive pulse and W-phase negative pulse, W-phase positive pulse and V-phase negative pulse into the BC-phase winding respectively, and gradually increasing the pulse width to the selected pulse width, the rated positive pulse of the BC-phase winding can be obtained respectively voltage and rated negative pulse voltage.
  • the method for obtaining the initial rotor position angle ⁇ in this embodiment is simple to operate, and does not need to calculate a complicated intermediate inductance matrix, and the initial rotor position angle ⁇ can be obtained directly from the current pulse response by using the current difference.
  • i ab is the positive pulse response current of AB phase winding
  • i ba is the negative pulse response current of AB phase winding
  • i bc is the positive pulse response current of BC phase winding
  • i cb is the negative pulse response current of BC phase winding
  • i ca is CA Phase winding positive pulse response current
  • i ac is negative pulse response current of CA phase winding
  • Lab and L ba are AB phase winding inductance
  • L bc and L cb are BC phase winding inductance
  • L ca and L ac are CA phase winding inductance
  • U dc is the rated pulse voltage.
  • Lab is the AB phase inductance calculated by injecting rated positive pulse voltage into AB phase
  • L ba is the AB phase inductance calculated by injecting rated negative pulse voltage into AB phase. Due to the structural characteristics of the motor, the injection direction of the pulse voltage is different, and the calculated results of Lab and L ba are different, which contain angle information, which is the salient pole effect of the motor. For L bc and L cb , as well as L ca and L ac should be understood accordingly, and will not be repeated here.
  • the response current difference of each phase is calculated.
  • condition 1 The inductance of the AB phase winding satisfies condition 1:
  • CA phase winding inductance satisfies condition three:
  • l 0 is the constant component of the line inductance
  • l g1 is the amplitude of the first harmonic of the line inductance
  • l g2 is the amplitude of the second harmonic of the line inductance
  • the initial angle of the motor (specifically, the initial rotor position angle ⁇ ) can be obtained directly from the response current difference, without complex inductance calculations. Moreover, the obtained angle only presents a periodic change with the rotor position within one electrical angle period, and the rotor position angle from 0° to 360° can be directly calculated without the NS pole judgment process.
  • the present application also provides a simple method of checking whether the initial position angle ⁇ of the rotor is identified correctly by judging the direction of the NS poles.
  • the rotor magnetic pole direction verification selects the direction of applying three-phase pulses to the A, B, and C phases of the motor stator windings through the calculated value of the initial rotor position angle ⁇ , and then obtains the positive and negative current pulse responses. By comparing the positive and negative current amplitudes The value of the value can determine the direction of the magnetic pole, and then check whether the identification of the initial rotor position angle ⁇ is correct.
  • the schematic diagram of three-phase pulse injection is shown in Fig. 4.
  • the angle range of 0 to 360° is divided into six sectors with an interval of 60° (sector boundaries are 30°, 90°, 150°, 210°, 270°, and 330°, refer to the actual line), the center vectors of each sector are three sets of voltage vectors, namely U1 and U2 (corresponding to 0° and 180° respectively, and their voltage vector directions are opposite), U3 and U4 (corresponding to 60° and 240° respectively, and two The direction of the voltage vector of the other is opposite), U5 and U6 (corresponding to 120° and 300° respectively, the direction of the voltage vector of the two is opposite).
  • a selected set of voltage vectors is determined, and then the injection direction of the three-phase pulse is determined according to the selected voltage vectors.
  • the steps of verifying the rotor magnetic pole direction are as follows:
  • a positive pulse signal or a negative pulse signal is applied to the motor winding according to the rules, and the output current is compared to judge the accuracy of the calculation result of the rotor initial position angle ⁇ .
  • the implementation rules of three-phase pulse injection are sorted out as shown in Table 1. Apply a pulse signal to the motor winding according to the value of the calculated rotor initial position angle ⁇ .
  • the current response speed is accelerated; when the reverse pulse signal is applied to the motor winding, the magnetomotive force formed by the winding group is opposite to the rotor magnetomotive force. At this time, the inductance value increases, and the current response speed slows down. Therefore, if the test result of the impulse response current is consistent with Table 1, it is considered that the detection of the initial position angle ⁇ of the rotor is correct, and the next operation can be carried out; if the test result is inconsistent with Table 1, it is considered that the detection deviation of the initial position angle ⁇ of the rotor is too large, Then it is necessary to re-detect the position angle ⁇ of the rotor. When the rotor initial position angle ⁇ is in other sectors, it is also verified according to Table 1.
  • the second embodiment of the present application further provides a method for identifying stator inductance of a permanent magnet synchronous motor, including the following steps.
  • U dc is the rated pulse voltage
  • T s is the pulse width (that is, the selected pulse width)
  • the average value of the AB phase winding current within the unit pulse width is the average value of the BC phase winding current within the unit pulse width
  • ⁇ i su is the variation of the AB phase winding current within the unit pulse width
  • ⁇ i sv is the variation of the BC phase winding current within the unit pulse width
  • ⁇ i sw is the CA The variation of the phase winding current within the unit pulse width
  • R is the winding resistance
  • L d is the d-axis inductance
  • L q is the q-axis inductance

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  • Control Of Motors That Do Not Use Commutators (AREA)
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Abstract

The present application provides a permanent magnet synchronous motor static initial position estimation method. The permanent magnet synchronous motor static initial position estimation method comprises: sequentially injecting a rated positive pulse voltage and a rated negative pulse voltage into AB phase, BC phase and CA phase windings of a motor, recording response current values of the phases under the rated positive pulse voltage and the rated negative pulse voltage, and calculating to obtain response current difference values ΔIab, ΔIbc, and ΔIca of the AB phase, the BC phase and the CA phase in a three-phase static coordinate system; performing Clark transformation on the response current difference values of the phases to obtain response current difference values ΔIα and ΔIβ in an α-β axis two-phase static coordinate system; and calculating an initial position θ of a rotor on the basis of the ΔIα and ΔIβ.

Description

永磁同步电机静态初始位置估算方法及定子电感辨识方法Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor
本申请要求在2022年02月28日提交中国专利局、申请号为202210187193.0、发明名称为“永磁同步电机静态初始位置估算方法及定子电感辨识方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application submitted to the China Patent Office on February 28, 2022, with the application number 202210187193.0, and the title of the invention is "Method for Estimating Static Initial Position of Permanent Magnet Synchronous Motor and Identification Method for Stator Inductance", the entire content of which Incorporated in this application by reference.
技术领域technical field
本申请属于电机控制技术领域，涉及一种永磁同步电机静态初始位置估算方法及定子电感辨识方法。The application belongs to the technical field of motor control, and relates to a static initial position estimation method of a permanent magnet synchronous motor and a stator inductance identification method.
背景技术Background technique
相较于异步电机，永磁同步电机具有体积小、惯性低、转矩密度大和动态响应特性好等优势，在轨道交通、电动汽车、新能源等领域获得广泛使用。而由于机组体积等因素限制，位置传感器等器件通常难获得充足的安装空间，因而无位置传感器控制策略开始越来越多地应用于永磁同步电机变频调速***中。永磁同步电机无位置传感器控制策略包括多种控制方法，而这些方法均需要实现对转子初始位置进行准确估计，其关系到电机***性能。如果检测偏差较大，电机在起动阶段会出现带载能力下降、失步甚至起动失败等问题，容易造成安全隐患。Compared with asynchronous motors, permanent magnet synchronous motors have the advantages of small size, low inertia, high torque density and good dynamic response characteristics, and are widely used in rail transit, electric vehicles, new energy and other fields. However, due to the limitation of unit volume and other factors, it is usually difficult to obtain sufficient installation space for position sensors and other devices. Therefore, position sensorless control strategies are increasingly used in permanent magnet synchronous motor frequency conversion speed regulation systems. The position sensorless control strategy of permanent magnet synchronous motor includes a variety of control methods, and these methods all need to achieve accurate estimation of the initial rotor position, which is related to the performance of the motor system. If the detection deviation is large, the motor will have problems such as reduced load capacity, out-of-step or even failure to start during the starting phase, which may easily cause safety hazards.
现有技术中，转子初始位置辨识主要采用高频注入和瞬时脉冲两类方法。其中，高频注入包括高频旋转电压注入法、脉振电压注入法等，通过注入高频信号，来测量定子绕组的电流响应，然后对电流信号进行滤波、计算得到转子位置。例如：中国申请CN113114077A公开了一种无传感器永磁同步电机初始位置检测方法，通过向d轴注入高频方波电压，根据高频响应电流信号估计转子初始位置。此类方法理论上可以获得较高的估算精度，但算法较复杂，需要PI控制器进行在线调整或需要滤波器等设备对高频信号进行处理，增加了硬件开销。瞬时脉冲位置辨识方法包括查表法、电感矩阵法，通过向绕组注入等宽脉冲方法，根据瞬态电流响应来获得转子位置。而查表法需要预先进行大量试验，操作较为复杂且精度不高；电感矩阵法则计算复杂，且由于采样偏差、电感矩阵换算等原因，对采样及信号调理电路要求较高。In the prior art, two methods of high-frequency injection and instantaneous pulse are mainly used for identifying the initial position of the rotor. Among them, high-frequency injection includes high-frequency rotating voltage injection method, pulse vibration voltage injection method, etc. By injecting high-frequency signals, the current response of the stator winding is measured, and then the current signal is filtered to calculate the rotor position. For example: Chinese application CN113114077A discloses a sensorless permanent magnet synchronous motor initial position detection method, by injecting a high-frequency square wave voltage into the d-axis, and estimating the initial rotor position according to the high-frequency response current signal. This type of method can theoretically obtain higher estimation accuracy, but the algorithm is more complicated, and requires online adjustment of PI controllers or equipment such as filters to process high-frequency signals, which increases hardware overhead. The instantaneous pulse position identification method includes look-up table method and inductance matrix method. The rotor position is obtained according to the transient current response by injecting equal-width pulses into the winding. The look-up table method needs a lot of experiments in advance, the operation is more complicated and the accuracy is not high; the calculation of the inductance matrix method is complicated, and due to sampling deviation, inductance matrix conversion and other reasons, the requirements for sampling and signal conditioning circuits are relatively high.
发明内容Contents of the invention
本申请提供了一种永磁同步电机静态初始位置估算方法及定子电感辨识方法，其简便易行、操作性好。The application provides a static initial position estimation method and a stator inductance identification method of a permanent magnet synchronous motor, which are simple and easy to implement and have good operability.
本申请第一方面提供了一种永磁同步电机静态初始位置估算方法，包括以下步骤：The first aspect of the present application provides a method for estimating the static initial position of a permanent magnet synchronous motor, including the following steps:
响应电流差值的获取步骤：可选取第一方式和第二方式中的任一种；The step of obtaining the response current difference: any one of the first mode and the second mode can be selected;
第一方式：The first way:
依次向电机AB相、BC相和CA相绕组分别注入各自的额定正脉冲电压和额定负脉冲电压，所述额定正脉冲电压和额定负脉冲电压为使电机各相输出电流达到电机额定电流时的电压；Sequentially inject their respective rated positive pulse voltage and rated negative pulse voltage into the windings of AB phase, BC phase and CA phase of the motor respectively. Voltage;
在各相注入各自额定正脉冲电压和额定负脉冲电压的情况下，记录各相在额定正脉冲电压和额定负脉冲电压下的响应电流值，用各相在额定负脉冲电压下的响应电流值减去各相在额定正脉冲电压下的响应电流值，计算得到三相静止坐标系下AB相、BC相和CA相的响应电流差值ΔI ab、ΔI bc和ΔI ca； When each phase is injected with its own rated positive pulse voltage and rated negative pulse voltage, record the response current value of each phase under the rated positive pulse voltage and rated negative pulse voltage, and use the response current value of each phase under the rated negative pulse voltage Subtract the response current value of each phase under the rated positive pulse voltage, and calculate the response current differences ΔI ab , ΔI bc and ΔI ca of the AB phase, BC phase and CA phase in the three-phase static coordinate system;
第二方式：The second way:
向AB相绕组注入U相正脉冲和V相负脉冲，记录脉冲响应电流Iu；逐渐增加脉冲宽度，直至Iu大于电机额定电流值，此时脉冲宽度即为选取的脉冲宽度；Inject U-phase positive pulse and V-phase negative pulse into the AB phase winding, and record the pulse response current Iu; gradually increase the pulse width until Iu is greater than the rated current value of the motor, and the pulse width at this time is the selected pulse width;
保持所述的选取的脉冲宽度，依次向AB相绕组注入U相正脉冲和V相负脉冲、V相正脉冲和U相负脉冲，分别获得正脉冲响应电流i ab和负脉冲响应电流i ba；向BC相绕组注入V相正脉冲和W相负脉冲、W相正脉冲和V相负脉冲，分别获得正脉冲响应电流i bc和负脉冲响应电流i cb；向CA相绕组注入W相正脉冲和U相负脉冲、U相正脉冲和W相负脉冲，分别获得正脉冲响应电流i ca和负脉冲响应电流i ac；得到三相静止坐标系下AB相、BC相、CA相响应电流差值ΔI ab＝i ba-i ab、ΔI bc＝i cb-i bc和ΔI ca＝i ac-i ca； Keeping the selected pulse width, sequentially inject U-phase positive pulse and V-phase negative pulse, V-phase positive pulse and U-phase negative pulse into the AB phase winding to obtain positive pulse response current i ab and negative pulse response current i ba respectively ; Inject V-phase positive pulse and W-phase negative pulse, W-phase positive pulse and V-phase negative pulse into BC phase winding to obtain positive pulse response current i bc and negative pulse response current icb respectively; inject W-phase positive pulse into CA phase winding Pulse and U-phase negative pulse, U-phase positive pulse and W-phase negative pulse to obtain positive impulse response current i ca and negative impulse response current i ac respectively; obtain phase AB, BC and CA phase response currents in the three-phase stationary coordinate system Differences ΔI ab = i ba - i ab , ΔI bc = i cb - i bc and ΔI ca = i ac - i ca ;
以及，as well as,
转子初始位置角的计算步骤：Calculation steps of rotor initial position angle:
对各相响应电流差值进行Clark变换，得到α-β轴两相静止坐标系下响应电流差值ΔI α和ΔI β； Perform Clark transformation on the response current difference of each phase to obtain the response current difference ΔI α and ΔI β in the α-β axis two-phase stationary coordinate system;
基于ΔI α和ΔI β计算转子初始位置角θ： Calculate the rotor initial position angle θ based on ΔI α and ΔI β :
Figure PCTCN2022131675-appb-000001
Figure PCTCN2022131675-appb-000001
本申请一些实施例中，所述估算方法进一步包括磁极方向校验步骤：In some embodiments of the present application, the estimation method further includes a magnetic pole direction verification step:
当转子初始位置角θ所在扇区为30°～90°，按电压矢量U3向A相B相输入正脉冲电压，C相输入负脉冲电压，测量C相输出电流Ic-；再按电压矢量U4向A相B相输入负脉冲电压，C相输入正脉冲电压，测量C相输出电流Ic+；若Ic-＞Ic+，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 30°～90°, input positive pulse voltage to phase A and phase B according to voltage vector U3, input negative pulse voltage to phase C, and measure output current Ic- of phase C; then press voltage vector U4 Input negative pulse voltage to phase A and phase B, input positive pulse voltage to phase C, and measure the output current Ic+ of phase C; if Ic->Ic+, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为210°～270°，按电压矢量U3向A相B相输入正脉冲电压，C相输入负脉冲电压，测量C相输出电流Ic-；再按电压矢量U4向A相B相输入 负脉冲电压，C相输入正脉冲电压，测量C相输出电流Ic+；若Ic+＞Ic-，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 210°～270°, input positive pulse voltage to phase A and phase B according to the voltage vector U3, input negative pulse voltage to phase C, and measure the output current Ic- of phase C; then press the voltage vector U4 Input negative pulse voltage to Phase A and Phase B, input positive pulse voltage to Phase C, and measure the output current Ic+ of Phase C; if Ic+>Ic-, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为90°～150°，按电压矢量U5向A相C相输入正脉冲电压，B相输入负脉冲电压，测量B相输出电流Ib-；再按电压矢量U6向A相C相输入负脉冲电压，B相输入正脉冲电压，测量B相输出电流Ib+；若Ib-＞Ib+，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 90°～150°, input positive pulse voltage to phase A and phase C according to voltage vector U5, input negative pulse voltage to phase B, and measure output current Ib- of phase B; then press voltage vector U6 Input negative pulse voltage to phase A and phase C, input positive pulse voltage to phase B, and measure the output current Ib+ of phase B; if Ib->Ib+, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为270°～330°，按电压矢量U5向A相C相输入正脉冲电压，B相输入负脉冲电压，测量B相输出电流Ib-；再按电压矢量U6向A相C相输入负脉冲电压，B相输入正脉冲电压，测量B相输出电流Ib+；若Ib+＞Ib-，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 270°～330°, input positive pulse voltage to phase A and phase C according to voltage vector U5, input negative pulse voltage to phase B, and measure output current Ib- of phase B; then press voltage vector U6 Input negative pulse voltage to phase A and phase C, input positive pulse voltage to phase B, and measure the output current Ib+ of phase B; if Ib+>Ib-, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为150°～210°，按电压矢量U2向B相C相输入正脉冲电压，A相输入负脉冲电压，测量A相输出电流Ia-；再按电压矢量U1向B相C相输入负脉冲电压，A相输入正脉冲电压，测量A相输出电流Ia+；若Ia+＞Ia-，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 150°～210°, input positive pulse voltage to phase B and phase C according to voltage vector U2, input negative pulse voltage to phase A, and measure output current Ia- of phase A; then press voltage vector U1 Input negative pulse voltage to Phase B and Phase C, input positive pulse voltage to Phase A, and measure the output current Ia+ of Phase A; if Ia+>Ia-, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为330°～360°或0°～30°，按电压矢量U2向B相C相输入正脉冲电压，A相输入负脉冲电压，测量A相输出电流Ia-；再按电压矢量U1向B相C相输入负脉冲电压，A相输入正脉冲电压，测量A相输出电流Ia+；若Ia-＞Ia+，则判定位置角θ计算值准确。When the sector where the rotor initial position angle θ is located is 330°～360° or 0°～30°, according to the voltage vector U2, input positive pulse voltage to phase B and phase C, input negative pulse voltage to phase A, and measure the output current of phase A Ia- ;According to the voltage vector U1, input negative pulse voltage to Phase B and Phase C, and input positive pulse voltage to Phase A, and measure the output current Ia+ of Phase A; if Ia->Ia+, the calculated value of position angle θ is determined to be accurate.
本申请一些实施例中，所述U1和U2分别对应0°和180°，二者的电压矢量方向相反；所述U3和U4分别对应60°和240°，二者的电压矢量方向相反；所述U5和U6分别对应120°和300°，二者的电压矢量方向相反。In some embodiments of the present application, the U1 and U2 correspond to 0° and 180° respectively, and the voltage vector directions of the two are opposite; the U3 and U4 correspond to 60° and 240° respectively, and the voltage vector directions of the two are opposite; U5 and U6 respectively correspond to 120° and 300°, and the voltage vector directions of the two are opposite.
本申请第二方面提供了一种永磁同步电机定子电感辨识方法，包括以下步骤：The second aspect of the present application provides a permanent magnet synchronous motor stator inductance identification method, including the following steps:
可采用前述的估算方法计算转子初始位置角θ；The aforementioned estimation method can be used to calculate the rotor initial position angle θ;
分别计算AB相绕组电感L ab、BC相绕组电感L bc和CA相绕组电感L ca： Calculate the AB phase winding inductance Lab , the BC phase winding inductance L bc and the CA phase winding inductance L ca :
Figure PCTCN2022131675-appb-000002
Figure PCTCN2022131675-appb-000002
其中：U dc为额定脉冲电压，T s为选取的脉冲宽度，
Figure PCTCN2022131675-appb-000003
为AB相绕组电流在单位脉宽内的平均值、
Figure PCTCN2022131675-appb-000004
为BC相绕组电流在单位脉宽内的平均值、
Figure PCTCN2022131675-appb-000005
为CA相绕组电流在单位脉宽内的平均值，Δi su为AB相绕组电流在单位脉宽内的变化量、Δi sv为BC相绕组电流在单位脉宽内的变化量、Δi sw为CA相绕组电流在单位脉宽内的变化量，R为绕组电阻； Among them: U dc is the rated pulse voltage, T s is the selected pulse width,
Figure PCTCN2022131675-appb-000003
is the average value of the AB phase winding current within the unit pulse width,
Figure PCTCN2022131675-appb-000004
is the average value of the BC phase winding current within the unit pulse width,
Figure PCTCN2022131675-appb-000005
is the average value of the CA phase winding current within the unit pulse width, Δi su is the variation of the AB phase winding current within the unit pulse width, Δi sv is the variation of the BC phase winding current within the unit pulse width, and Δi sw is the CA The variation of the phase winding current within the unit pulse width, R is the winding resistance;
三相线电感与d-q轴电感关系：The relationship between three-phase line inductance and d-q axis inductance:
Figure PCTCN2022131675-appb-000006
Figure PCTCN2022131675-appb-000006
其中：L d为d轴电感，L q为q轴电感； Where: L d is the d-axis inductance, L q is the q-axis inductance;
进一步推算L d、L q为： Further calculation of L d and L q is:
Figure PCTCN2022131675-appb-000007
Figure PCTCN2022131675-appb-000007
本申请提供的方法与现有技术相比，其有益效果在于：Compared with the prior art, the method provided by the application has the beneficial effects of:
本申请的至少一种实施例对瞬时脉冲注入法进行改进，提供了一种直接利用瞬态电流响应差值获得转子位置的检测方法。本方法无需像查表法进行大量的前期试验获取对照表，也无需像电感矩阵法一样进行大量的复杂换算，通过坐标变换并求解，直接由电流脉冲响应得到转子位置，省去了中间换算环节，可以减少数据损失，保证数据精度；同时此种方法仅需使用既有设备，不产生额外的硬件开支，简便易行，具有很高的实用价值。At least one embodiment of the present application improves the transient pulse injection method, and provides a detection method for obtaining the rotor position by directly using the transient current response difference. This method does not require a large number of preliminary tests to obtain a comparison table like the table look-up method, nor does it need to perform a large number of complex conversions like the inductance matrix method. Through coordinate transformation and solution, the rotor position can be obtained directly from the current pulse response, eliminating the need for intermediate conversion links , can reduce data loss and ensure data accuracy; at the same time, this method only needs to use existing equipment, does not generate additional hardware expenses, is simple and easy to implement, and has high practical value.
本申请的至少一种实施例提供了一种简便易行的转子磁极判断方法，可以用于校验转子初始角度是否判断正确，确保初始角度辨识的准确性，提高***的鲁棒性和抗干扰能力。在求得初始位置后，本申请可以方便由公式计算得到定子电感，避免了外加电感检测设备或复杂的矩阵变换。At least one embodiment of the present application provides a simple and easy method for judging rotor magnetic poles, which can be used to check whether the initial angle of the rotor is judged correctly, to ensure the accuracy of initial angle recognition, and to improve the robustness and anti-interference of the system ability. After obtaining the initial position, the present application can conveniently calculate the stator inductance by the formula, avoiding the addition of an inductance detection device or complicated matrix transformation.
在求得初始位置后，本申请的至少一种实施例可以方便由公式计算得到定子电感，避免了外加电感检测设备减少硬件开销，同时不需复杂的电感矩阵变换，减少计算量。同时一套控制策略可以实现电机转子初始位置辨识、转子极性校验、电感参数辨识等多个功能，有利于减少***的整体计算量和硬件开销，便于实现功能的集成化设计。After the initial position is obtained, at least one embodiment of the present application can conveniently calculate the stator inductance by the formula, avoiding the need for additional inductance detection equipment to reduce hardware overhead, and at the same time not requiring complex inductance matrix transformation, reducing the amount of calculation. At the same time, a set of control strategies can realize multiple functions such as motor rotor initial position identification, rotor polarity verification, and inductance parameter identification, which is beneficial to reduce the overall calculation amount and hardware overhead of the system, and facilitate the integrated design of functions.
本申请的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请而了解。本申请的目的和其他优点可通过在说明书以及附图中所指出的结构来实现和获得。Additional features and advantages of the application will be set forth in the description which follows, and, in part, will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure pointed out in the written description as well as the appended drawings.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施 例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.
图1为永磁同步电机变频调速控制***结构示意图；Figure 1 is a schematic structural diagram of a permanent magnet synchronous motor frequency conversion speed regulation control system;
图2为永磁同步电机初始位置估算及定子电感辨识实施流程图；Fig. 2 is the flow chart of initial position estimation and stator inductance identification of permanent magnet synchronous motor;
图3为永磁同步电机初始位置估算及定子电感辨识等效原理图；Fig. 3 is the equivalent principle diagram of initial position estimation and stator inductance identification of permanent magnet synchronous motor;
图4为磁极方向辨识三相脉冲注入示意图。Fig. 4 is a schematic diagram of three-phase pulse injection for magnetic pole direction identification.
具体实施方式Detailed ways
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
本申请提供一种永磁同步电机静态初始位置估算方法和电感辨识方式，整体流程可参考图2，可用于永磁同步电机无位置传感器控制策略，以解决电机转子初始位置估算及定子电感辨识的问题。This application provides a static initial position estimation method and inductance identification method for permanent magnet synchronous motors. The overall process can be referred to in Figure 2, which can be used in the sensorless control strategy of permanent magnet synchronous motors to solve the problems of initial rotor position estimation and stator inductance identification. question.
永磁同步电机变频调速控制***的结构如图1所示，主要包括以下部分：机侧输入电抗器、机侧IGBT模块、支撑电容、网侧IGBT模块、网侧输出电抗器、电压电流采样电路及控制器，该部分属于现有技术，不再赘述。The structure of the permanent magnet synchronous motor frequency conversion speed regulation control system is shown in Figure 1. It mainly includes the following parts: machine-side input reactor, machine-side IGBT module, supporting capacitor, grid-side IGBT module, grid-side output reactor, voltage and current sampling Circuits and controllers, this part belongs to the prior art and will not be repeated here.
本申请第一实施例提供一种永磁同步电机静态初始位置估算方法。基于永磁电机的凸极特性，定子电感随转子磁极位置的变化而发生变化，进而利用此种特性可获得转子位置信息。The first embodiment of the present application provides a method for estimating a static initial position of a permanent magnet synchronous motor. Based on the salient pole characteristics of permanent magnet motors, the stator inductance changes with the change of the rotor pole position, and then the rotor position information can be obtained by using this characteristic.
值得注意的是，本申请中的绕组主要是指电机的定子的绕组。A相、B相、C相均代表单相绕组，AB相、BC相、CA相代表相间绕组，这是本领域技术人员所熟知的，也可参照图3理解。此外，本申请中为了区分电网中的电压和绕组中的电压，对于电网中的电压，分别用U相、V相、W相来指代三相电，而对于电机绕组，分为用A相、B相和C相来予以区分；其中，本领域技术人员熟知的是，U相与A相相连，V相与B相相连，W相与C相相连；因此，在一些情况下，U与A可能混用，V与B可能混用，W与C可能混用。It should be noted that the winding in this application mainly refers to the winding of the stator of the motor. A phase, B phase, and C phase all represent single-phase windings, and AB phase, BC phase, and CA phase represent interphase windings, which are well known to those skilled in the art and can also be understood with reference to FIG. 3 . In addition, in order to distinguish the voltage in the grid and the voltage in the winding in this application, for the voltage in the grid, U phase, V phase, and W phase are used to refer to the three-phase electricity, and for the motor winding, it is divided into A phase , B phase and C phase to be distinguished; wherein, those skilled in the art know that U phase is connected with A phase, V phase is connected with B phase, and W phase is connected with C phase; therefore, in some cases, U and A may be mixed, V and B may be mixed, W and C may be mixed.
首先，介绍进行转子初始位置估算的方法原理。First, the principle of the method for estimating the initial rotor position is introduced.
基于凸极性原理，在永磁发电机组母线支撑电容上外加直流电压，通过控制机组逆变模块PWM(Pulse width modulation)的开关顺序，即可给永磁电机定子绕组施加两相脉冲电压，如图3所示。电机绕组可等效为RL电路(Resistor-inductor circuit)，由零状态响应可知：Based on the principle of salient polarity, a DC voltage is applied to the bus support capacitor of the permanent magnet generator set, and the two-phase pulse voltage can be applied to the stator winding of the permanent magnet motor by controlling the switching sequence of the inverter module PWM (Pulse width modulation), as shown in Figure 3 shows. The motor winding can be equivalent to an RL circuit (Resistor-inductor circuit), which can be known from the zero state response:
Figure PCTCN2022131675-appb-000008
Figure PCTCN2022131675-appb-000008
式中U dc为额定脉冲电压，R为绕组电阻，i为脉冲响应电流，L为相电感，t为时间。 Where U dc is the rated pulse voltage, R is the winding resistance, i is the pulse response current, L is the phase inductance, and t is the time.
由公式(1)可知，通过施加脉冲电压，就可以测得对应绕组的脉冲响应电流，忽略绕组电阻，便可以得到：It can be known from formula (1) that by applying a pulse voltage, the pulse response current of the corresponding winding can be measured, ignoring the winding resistance, we can get:
Figure PCTCN2022131675-appb-000009
Figure PCTCN2022131675-appb-000009
按照传统的辨识方法，有两类技术路线，一类是由电流脉冲响应求得各绕组电感矩阵，然后经过复杂的计算求得转子位置角；另一类则是直接记录电流响应与转子位置的规律，通过大量试验获得转子位置角与电流响应规律对照表，然后由查表法获得转子位置角。对于第一类方法，电感矩阵求解与换算颇为复杂，且在复杂的换算求解过程中容易丢失数据精度；而第二类方法，需要大量的前期准备工作，同时由于操作及采样误差，查表法辨识精度难以保证。According to the traditional identification method, there are two types of technical routes, one is to obtain the inductance matrix of each winding from the current pulse response, and then obtain the rotor position angle through complex calculations; the other is to directly record the current response and the rotor position. According to the law, the comparison table of rotor position angle and current response law is obtained through a large number of experiments, and then the rotor position angle is obtained by the look-up table method. For the first type of method, the solution and conversion of the inductance matrix is quite complicated, and the data accuracy is easy to be lost during the complex conversion and solution process; while the second type of method requires a lot of preparatory work, and due to operation and sampling errors, table lookup The accuracy of method identification is difficult to guarantee.
本申请提供了一种新的不经过电感矩阵，利用电流差值由脉冲响应电流直接获取转子位置角(初始位置角)的方法。本实施例提供的永磁同步电机静态初始位置估算方法具体包括以下步骤。The present application provides a new method of directly obtaining the rotor position angle (initial position angle) from the impulse response current by using the current difference without passing through the inductance matrix. The method for estimating the static initial position of the permanent magnet synchronous motor provided in this embodiment specifically includes the following steps.
S1：依次向电机AB相、BC相和CA相绕组分别注入各自的额定正脉冲电压和额定负脉冲电压，所述额定正脉冲电压和额定负脉冲电压为使各相(即电机AB相、BC相和CA相)输出电流达到电机额定电流时的电压。S1: Sequentially inject their rated positive pulse voltage and rated negative pulse voltage into the windings of AB phase, BC phase and CA phase of the motor respectively, and the rated positive pulse voltage and rated negative pulse voltage are the phase and CA phase) the voltage when the output current reaches the rated current of the motor.
本申请一些实施例中，也可通过如下方法获得额定脉冲电压。例如向AB相绕组注入U相正脉冲和V相负脉冲，记录脉冲响应电流Iu；逐渐增加脉冲宽度，直至Iu大于电机额定电流值，此时脉冲宽度即为选取的脉冲宽度，此时对应的脉冲响应电流为i ab，对应的电压为AB相绕组的额定正脉冲电压。本实施例中，Iu大于电机额定电流值的范围可以不做过多的限制，例如可以略等于或略大于，可以大于1A，2A等等。以相似的方式向AB相绕组注入V相正脉冲和U相负脉冲，逐渐增加脉冲宽度至所选取的脉冲宽度，则可以得到i ba，并确定AB相绕组的额定负脉冲电压。类似地，分别向BC相绕组注入V相正脉冲和W相负脉冲、W相正脉冲和V相负脉冲，逐渐增加脉冲宽度至所选取的脉冲宽度，可以分别得到BC相绕组的额定正脉冲电压和额定负脉冲电压。类似地，分别向CA相绕组注入W相正脉冲和U相负脉冲、U相正脉冲和W相负脉冲，逐渐增加脉冲宽度至所选取的脉冲宽度，可以分别得到CA相绕组的额定正脉冲电压和额定负脉冲电压。可见，在本实施例中，当该选取的脉冲宽度不同时，所得到的同一绕组的额定脉冲电压是不同。但是在同一次的估算方法中，由于均保持了该选取的脉冲宽度，因此各个绕组所选取的脉冲宽 度是相同的。此外，本实施例中仅以AB相为例说明了如何得到了选取的脉冲宽度，也可以对BC相或CA相为基础，而得到选取的脉冲宽度，使得其他绕组使用该选取的脉冲宽度。 In some embodiments of the present application, the rated pulse voltage can also be obtained by the following method. For example, inject U-phase positive pulse and V-phase negative pulse into the AB phase winding, and record the pulse response current Iu; gradually increase the pulse width until Iu is greater than the rated current value of the motor. At this time, the pulse width is the selected pulse width. At this time, the corresponding The pulse response current is i ab , and the corresponding voltage is the rated positive pulse voltage of the AB phase winding. In this embodiment, the range in which Iu is greater than the rated current of the motor may not be too limited, for example, it may be slightly equal to or slightly greater than, greater than 1A, 2A and so on. Inject V-phase positive pulse and U-phase negative pulse into the AB phase winding in a similar way, and gradually increase the pulse width to the selected pulse width, then i ba can be obtained, and the rated negative pulse voltage of the AB phase winding can be determined. Similarly, by injecting V-phase positive pulse and W-phase negative pulse, W-phase positive pulse and V-phase negative pulse into the BC-phase winding respectively, and gradually increasing the pulse width to the selected pulse width, the rated positive pulse of the BC-phase winding can be obtained respectively voltage and rated negative pulse voltage. Similarly, respectively inject W-phase positive pulse and U-phase negative pulse, U-phase positive pulse and W-phase negative pulse into the CA phase winding, and gradually increase the pulse width to the selected pulse width, and the rated positive pulse of the CA phase winding can be respectively obtained voltage and rated negative pulse voltage. It can be seen that in this embodiment, when the selected pulse widths are different, the obtained rated pulse voltages of the same winding are different. However, in the same estimation method, since the selected pulse width is maintained, the selected pulse width of each winding is the same. In addition, in this embodiment, only the AB phase is used as an example to illustrate how to obtain the selected pulse width, and the selected pulse width can also be obtained based on the BC phase or the CA phase, so that other windings use the selected pulse width.
S2：在各相注入各自额定正脉冲电压和额定负脉冲电压的情况下，记录各相在额定正脉冲电压和额定负脉冲电压下的响应电流值，用各相在额定负脉冲电压下的响应电流值减去各相在额定正脉冲电压下的响应电流值，计算得三相静止坐标系下AB相、BC相和CA相的响应电流差值ΔI ab、ΔI bc和ΔI ca。 S2: When each phase is injected with its own rated positive pulse voltage and rated negative pulse voltage, record the response current value of each phase under rated positive pulse voltage and rated negative pulse voltage, and use the response current value of each phase under rated negative pulse voltage Subtract the response current value of each phase under the rated positive pulse voltage from the current value to calculate the response current differences ΔI ab , ΔI bc and ΔI ca of phase AB, BC and CA in the three-phase stationary coordinate system.
换而言之，在获得AB绕组的额定脉冲电压值后，保持所述脉冲宽度(即选取的脉冲宽度)，依次向AB相绕组注入U相正脉冲和V相负脉冲、V相正脉冲和U相负脉冲，分别获得正脉冲响应电流i ab和负脉冲响应电流i ba；向BC相绕组注入V相正脉冲和W相负脉冲、W相正脉冲和V相负脉冲，分别获得正脉冲响应电流i bc和负脉冲响应电流i cb；向CA相绕组注入W相正脉冲和U相负脉冲、U相正脉冲和W相负脉冲，分别获得正脉冲响应电流i ca和负脉冲响应电流i ac；得到三相静止坐标系下AB相、BC相、CA相响应电流差值ΔI ab、ΔI bc和ΔI ca。 In other words, after obtaining the rated pulse voltage value of the AB winding, keep the pulse width (that is, the selected pulse width), and inject U-phase positive pulse and V-phase negative pulse, V-phase positive pulse and U-phase negative pulse, respectively obtain positive pulse response current iab and negative pulse response current iba ; inject V-phase positive pulse and W-phase negative pulse, W-phase positive pulse and V-phase negative pulse into BC phase winding, respectively obtain positive pulse Response current i bc and negative pulse response current i cb ; inject W-phase positive pulse and U-phase negative pulse, U-phase positive pulse and W-phase negative pulse into CA phase winding to obtain positive pulse response current i ca and negative pulse response current i ac ; get the response current differences ΔI ab , ΔI bc and ΔI ca of the AB phase, BC phase, and CA phase in the three-phase stationary coordinate system.
对各相响应电流差值进行Clark变换，得到α-β轴两相静止坐标系下响应电流差值ΔI α和ΔI β； Perform Clark transformation on the response current difference of each phase to obtain the response current difference ΔI α and ΔI β in the α-β axis two-phase stationary coordinate system;
Figure PCTCN2022131675-appb-000010
Figure PCTCN2022131675-appb-000010
基于ΔI α和ΔI β计算转子初始位置角θ： Calculate the rotor initial position angle θ based on ΔI α and ΔI β :
Figure PCTCN2022131675-appb-000011
Figure PCTCN2022131675-appb-000011
本实施例获取转子初始位置角θ的方法操作简单，无须计算复杂的中间电感矩阵，利用电流差值由电流脉冲响应可以直接获取转子初始位置角θ。The method for obtaining the initial rotor position angle θ in this embodiment is simple to operate, and does not need to calculate a complicated intermediate inductance matrix, and the initial rotor position angle θ can be obtained directly from the current pulse response by using the current difference.
以下，将详细阐述采用得到的各脉冲响应电流、额定脉冲电压和电感值等进行转子初始位置角θ的推算过程，即得到公式(4)的具体过程。In the following, the process of calculating the rotor initial position angle θ using the obtained impulse response currents, rated impulse voltages, and inductance values will be described in detail, that is, the specific process of obtaining formula (4).
各相正负向的响应电流差值与相电感存在以下关系There is the following relationship between the positive and negative response current difference of each phase and the phase inductance
Figure PCTCN2022131675-appb-000012
Figure PCTCN2022131675-appb-000012
其中：i ab为AB相绕组正脉冲响应电流，i ba为AB相绕组负脉冲响应电流；i bc为BC相绕组正脉冲响应电流，i cb为BC相绕组负脉冲响应电流；i ca为CA相绕组正脉冲响应电流，i ac为CA相绕组负脉冲响应电流；L ab和L ba为AB相绕组电感；L bc和L cb为BC相绕组电感；L ca和L ac为CA相绕组电感；U dc为额定脉冲电压。本领域技术人员可以理解的是：L ab为由AB相注入额定正脉冲电压所计算得到的AB相电感值；L ba为由AB相注入额定负脉冲电压所计算的AB相电感值。由于电机结构特点，脉冲电压注入方向不同，所计算得到的L ab和L ba结果不同，其中包含角度信息，这便是电机的凸极效应。对于L bc和L cb，以及L ca和L ac应做相应的理解，此处不再赘述。 Among them: i ab is the positive pulse response current of AB phase winding, i ba is the negative pulse response current of AB phase winding; i bc is the positive pulse response current of BC phase winding, i cb is the negative pulse response current of BC phase winding; i ca is CA Phase winding positive pulse response current, i ac is negative pulse response current of CA phase winding; Lab and L ba are AB phase winding inductance; L bc and L cb are BC phase winding inductance; L ca and L ac are CA phase winding inductance ; U dc is the rated pulse voltage. Those skilled in the art can understand that: Lab is the AB phase inductance calculated by injecting rated positive pulse voltage into AB phase; L ba is the AB phase inductance calculated by injecting rated negative pulse voltage into AB phase. Due to the structural characteristics of the motor, the injection direction of the pulse voltage is different, and the calculated results of Lab and L ba are different, which contain angle information, which is the salient pole effect of the motor. For L bc and L cb , as well as L ca and L ac should be understood accordingly, and will not be repeated here.
即，基于额定脉冲电压和各相绕组电感，计算各相响应电流差值。That is, based on the rated pulse voltage and the winding inductance of each phase, the response current difference of each phase is calculated.
其中：进一步有如下关系条件存在：Among them: the following relationship conditions exist further:
AB相绕组电感满足条件一：The inductance of the AB phase winding satisfies condition 1:
Figure PCTCN2022131675-appb-000013
Figure PCTCN2022131675-appb-000013
BC相绕组电感满足条件二：The inductance of the BC phase winding satisfies the second condition:
Figure PCTCN2022131675-appb-000014
Figure PCTCN2022131675-appb-000014
CA相绕组电感满足条件三：CA phase winding inductance satisfies condition three:
Figure PCTCN2022131675-appb-000015
Figure PCTCN2022131675-appb-000015
其中：l 0为线电感恒定分量，l g1为线电感一次谐波幅值，l g2为线电感二次谐波幅值； Among them: l 0 is the constant component of the line inductance, l g1 is the amplitude of the first harmonic of the line inductance, l g2 is the amplitude of the second harmonic of the line inductance;
将公式(6)-(8)代入公式(5)可得：Substitute formulas (6)-(8) into formula (5) to get:
Figure PCTCN2022131675-appb-000016
Figure PCTCN2022131675-appb-000016
Figure PCTCN2022131675-appb-000017
Figure PCTCN2022131675-appb-000017
Figure PCTCN2022131675-appb-000018
Figure PCTCN2022131675-appb-000018
由于公式(9)-(11)中存在以下不等式关系：Since the following inequality relations exist in formulas (9)-(11):
l 0、l g1、l g2满足条件四： l 0 , l g1 , and l g2 satisfy the fourth condition:
Figure PCTCN2022131675-appb-000019
Figure PCTCN2022131675-appb-000019
Figure PCTCN2022131675-appb-000020
Figure PCTCN2022131675-appb-000020
将条件四公式(即公式(12)和(13))带入(9)-(11)，得：Bring the condition four formula (i.e. formula (12) and (13)) into (9)-(11), get:
Figure PCTCN2022131675-appb-000021
Figure PCTCN2022131675-appb-000021
Figure PCTCN2022131675-appb-000022
Figure PCTCN2022131675-appb-000022
Figure PCTCN2022131675-appb-000023
Figure PCTCN2022131675-appb-000023
将公式(14)-(16)整理，可得AB相绕组、BC相绕组、CA相绕组的正负向响应电流差值与转子初始位置角θ的直接关系：Arranging the formulas (14)-(16), the direct relationship between the positive and negative response current difference of the AB phase winding, BC phase winding, and CA phase winding and the initial rotor position angle θ can be obtained:
Figure PCTCN2022131675-appb-000024
Figure PCTCN2022131675-appb-000024
对公式(17)进行Clark变换得：Carrying out Clark transformation on formula (17):
Figure PCTCN2022131675-appb-000025
Figure PCTCN2022131675-appb-000025
进而可获得转子初始位置角θ，即公式(4)：Then the rotor initial position angle θ can be obtained, that is, the formula (4):
Figure PCTCN2022131675-appb-000026
Figure PCTCN2022131675-appb-000026
由公式(4)可知，可以由响应电流差值直接求得电机初始角度(具体为转子初始位置角θ)，而无须进行复杂的电感计算。而且求得的角度在1个电角度的周期内随转子位置仅呈现1次周期性变化，可直接计算出0°～360°的转子位置角，不需要进行NS极判断过程。It can be seen from formula (4) that the initial angle of the motor (specifically, the initial rotor position angle θ) can be obtained directly from the response current difference, without complex inductance calculations. Moreover, the obtained angle only presents a periodic change with the rotor position within one electrical angle period, and the rotor position angle from 0° to 360° can be directly calculated without the NS pole judgment process.
通过上述方法，理论上可以实现转子位置角的准确辨识，但是由于采样偏差、外部干扰等因素影响，实际使用过程中可能会出现偶发检测偏差过大的情况。针对此种情况，本申请还提供了一种简单的通过判断NS极方向来校验转子的初始位置角θ是否辨识正确的方法。Through the above method, the accurate identification of the rotor position angle can be realized in theory, but due to the influence of factors such as sampling deviation and external interference, occasional detection deviations may be too large in actual use. In view of this situation, the present application also provides a simple method of checking whether the initial position angle θ of the rotor is identified correctly by judging the direction of the NS poles.
转子磁极方向校验通过计算的转子初始位置角θ数值，选择向电机定子绕组A、B、C相施加三相脉冲的方向，然后获取正、负向电流脉冲响应，通过比较正负向电流幅值大小，即可判断磁极方向，进而校验转子初始位置角θ辨识是否正确。三相脉冲注入示意图如图4所示。The rotor magnetic pole direction verification selects the direction of applying three-phase pulses to the A, B, and C phases of the motor stator windings through the calculated value of the initial rotor position angle θ, and then obtains the positive and negative current pulse responses. By comparing the positive and negative current amplitudes The value of the value can determine the direction of the magnetic pole, and then check whether the identification of the initial rotor position angle θ is correct. The schematic diagram of three-phase pulse injection is shown in Fig. 4.
图4中将0～360°角度范围分为6个间隔60°的扇区(扇区边界分别为30°、90°、150°、210°、270°、330°，可参考图4中实线)，各扇区的中心矢量为三组电压矢量，即U1和U2(分别对应0°和180°，二者的电压矢量方向相反)、U3和U4(分别对应60°和240°，二者的电压矢量方向相反)、U5和U6(分别对应120°和300°，二者的电压矢量方向相反)。根据转子初始位置角θ在6个扇区中所处的位置，确定选取的一组电压矢量，然后根据选取的电压矢量确定三相脉冲的注入方向。In Figure 4, the angle range of 0 to 360° is divided into six sectors with an interval of 60° (sector boundaries are 30°, 90°, 150°, 210°, 270°, and 330°, refer to the actual line), the center vectors of each sector are three sets of voltage vectors, namely U1 and U2 (corresponding to 0° and 180° respectively, and their voltage vector directions are opposite), U3 and U4 (corresponding to 60° and 240° respectively, and two The direction of the voltage vector of the other is opposite), U5 and U6 (corresponding to 120° and 300° respectively, the direction of the voltage vector of the two is opposite). According to the position of the rotor initial position angle θ in the six sectors, a selected set of voltage vectors is determined, and then the injection direction of the three-phase pulse is determined according to the selected voltage vectors.
本申请一些实施例中，更具体的，转子磁极方向校验步骤如下：In some embodiments of the present application, more specifically, the steps of verifying the rotor magnetic pole direction are as follows:
根据计算获得的转子初始位置角θ所在扇区位置，按规则向电机绕组施加正脉冲信号或负脉冲信号，比较输出电流，以判断转子初始位置角θ计算结果的准确性。根据图4整理三相脉冲注入实施规则如表1所示。根据计算的转子初始位置角θ数值所在区间向电机绕组施加脉冲信号，当绕组的合成磁动势与转子磁动势同向时，向电机绕组施加正向脉冲信号时，此时电感值减小，则电流响应速度加快；向电机绕组施加反向脉冲信号时，则绕 组合成的磁动势与转子磁动势反向，此时电感值增大，则电流响应速度减慢。因此若脉冲响应电流测试结果与表1一致，则认为转子的初始位置角θ检测正确，可以进行下一步操作；若测试结果与表1不一致，则认为转子的初始位置角θ检测偏差过大，则需要重新进行转子的位置角θ检测。当转子初始位置角θ处于其他扇区时，也按照表1进行校验。According to the position of the sector where the rotor initial position angle θ is obtained by calculation, a positive pulse signal or a negative pulse signal is applied to the motor winding according to the rules, and the output current is compared to judge the accuracy of the calculation result of the rotor initial position angle θ. According to Figure 4, the implementation rules of three-phase pulse injection are sorted out as shown in Table 1. Apply a pulse signal to the motor winding according to the value of the calculated rotor initial position angle θ. When the synthetic magnetomotive force of the winding is in the same direction as the rotor magnetomotive force, when a positive pulse signal is applied to the motor winding, the inductance value decreases at this time. , the current response speed is accelerated; when the reverse pulse signal is applied to the motor winding, the magnetomotive force formed by the winding group is opposite to the rotor magnetomotive force. At this time, the inductance value increases, and the current response speed slows down. Therefore, if the test result of the impulse response current is consistent with Table 1, it is considered that the detection of the initial position angle θ of the rotor is correct, and the next operation can be carried out; if the test result is inconsistent with Table 1, it is considered that the detection deviation of the initial position angle θ of the rotor is too large, Then it is necessary to re-detect the position angle θ of the rotor. When the rotor initial position angle θ is in other sectors, it is also verified according to Table 1.
表1：Table 1:
Figure PCTCN2022131675-appb-000027
Figure PCTCN2022131675-appb-000027
具体实施例流程说明如下：The specific embodiment process is described as follows:
当转子初始位置角θ所在扇区为30°～90°，按电压矢量U3向A相B相输入正脉冲电压，C相输入负脉冲电压，测量C相输出电流Ic-；再按电压矢量U4向A相B相输入负脉冲电压，C相输入正脉冲电压，测量C相输出电流Ic+；若Ic-＞Ic+，则判定位置角计算值准确；When the sector where the initial rotor position angle θ is located is 30°～90°, input positive pulse voltage to phase A and phase B according to voltage vector U3, input negative pulse voltage to phase C, and measure output current Ic- of phase C; then press voltage vector U4 Input negative pulse voltage to Phase A and Phase B, input positive pulse voltage to Phase C, and measure the output current Ic+ of Phase C; if Ic->Ic+, it is determined that the calculated value of the position angle is accurate;
当转子初始位置角θ所在扇区为210°～270°，按电压矢量U3向A相B相输入正脉冲电压，C相输入负脉冲电压，测量C相输出电流Ic-；再按电压矢量U4向A相B相输入负脉冲电压，C相输入正脉冲电压，测量C相输出电流Ic+；若Ic+＞Ic-，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 210°～270°, input positive pulse voltage to phase A and phase B according to the voltage vector U3, input negative pulse voltage to phase C, and measure the output current Ic- of phase C; then press the voltage vector U4 Input negative pulse voltage to Phase A and Phase B, input positive pulse voltage to Phase C, and measure the output current Ic+ of Phase C; if Ic+>Ic-, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为90°～150°，按电压矢量U5向A相C相输入正脉冲电压，B相输入负脉冲电压，测量B相输出电流Ib-；再按电压矢量U6向A相C相输入负脉冲电压，B相输入正脉冲电压，测量B相输出电流Ib+；若Ib-＞Ib+，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 90°～150°, input positive pulse voltage to phase A and phase C according to voltage vector U5, input negative pulse voltage to phase B, and measure output current Ib- of phase B; then press voltage vector U6 Input negative pulse voltage to phase A and phase C, input positive pulse voltage to phase B, and measure the output current Ib+ of phase B; if Ib->Ib+, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为270°～330°，按电压矢量U5向A相C相输入正脉冲电压，B相输入负脉冲电压，测量B相输出电流Ib-；再按电压矢量U6向A相C相输入负脉冲电压，B相输入正脉冲电压，测量B相输出电流Ib+；若Ib+＞Ib-，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 270°～330°, input positive pulse voltage to phase A and phase C according to voltage vector U5, input negative pulse voltage to phase B, and measure output current Ib- of phase B; then press voltage vector U6 Input negative pulse voltage to phase A and phase C, input positive pulse voltage to phase B, and measure the output current Ib+ of phase B; if Ib+>Ib-, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角θ所在扇区为150°～210°，按电压矢量U2向B相C相输入正脉冲 电压，A相输入负脉冲电压，测量A相输出电流Ia-；再按电压矢量U1向B相C相输入负脉冲电压，A相输入正脉冲电压，测量A相输出电流Ia+；若Ia+＞Ia-，则判定位置角θ计算值准确；When the sector where the initial rotor position angle θ is located is 150°～210°, input positive pulse voltage to phase B and phase C according to voltage vector U2, input negative pulse voltage to phase A, and measure output current Ia- of phase A; then press voltage vector U1 Input negative pulse voltage to Phase B and Phase C, input positive pulse voltage to Phase A, and measure the output current Ia+ of Phase A; if Ia+>Ia-, it is determined that the calculated value of the position angle θ is accurate;
当转子初始位置角所在扇区为330°～360°或0°～30°，按电压矢量U2向B相C相输入正脉冲电压，A相输入负脉冲电压，测量A相输出电流Ia-；再按电压矢量U1向B相C相输入负脉冲电压，A相输入正脉冲电压，测量A相输出电流Ia+；若Ia-＞Ia+，则判定位置角θ计算值准确。When the sector where the initial position angle of the rotor is located is 330°～360° or 0°～30°, according to the voltage vector U2, input positive pulse voltage to phase B and phase C, input negative pulse voltage to phase A, and measure the output current Ia- of phase A; Then input negative pulse voltage to phase B and phase C according to the voltage vector U1, input positive pulse voltage to phase A, and measure the output current Ia+ of phase A; if Ia->Ia+, it is determined that the calculated value of the position angle θ is accurate.
本申请第二实施例进一步提供了一种永磁同步电机定子电感辨识方法，包括以下步骤。The second embodiment of the present application further provides a method for identifying stator inductance of a permanent magnet synchronous motor, including the following steps.
采用第一实施例公开的方法计算转子初始位置角θ；Using the method disclosed in the first embodiment to calculate the rotor initial position angle θ;
计算AB相绕组电感、BC相绕组电感和CA相绕组电感：Calculate the AB phase winding inductance, BC phase winding inductance and CA phase winding inductance:
Figure PCTCN2022131675-appb-000028
Figure PCTCN2022131675-appb-000028
其中：U dc为额定脉冲电压，T s为脉冲宽度(即选择的脉冲宽度)，
Figure PCTCN2022131675-appb-000029
为AB相绕组电流在单位脉宽内的平均值、
Figure PCTCN2022131675-appb-000030
为BC相绕组电流在单位脉宽内的平均值、
Figure PCTCN2022131675-appb-000031
为CA相绕组电流在单位脉宽内的平均值，Δi su为AB相绕组电流在单位脉宽内的变化量、Δi sv为BC相绕组电流在单位脉宽内的变化量、Δi sw为CA相绕组电流在单位脉宽内的变化量；R为绕组电阻； Among them: U dc is the rated pulse voltage, T s is the pulse width (that is, the selected pulse width),
Figure PCTCN2022131675-appb-000029
is the average value of the AB phase winding current within the unit pulse width,
Figure PCTCN2022131675-appb-000030
is the average value of the BC phase winding current within the unit pulse width,
Figure PCTCN2022131675-appb-000031
is the average value of the CA phase winding current within the unit pulse width, Δi su is the variation of the AB phase winding current within the unit pulse width, Δi sv is the variation of the BC phase winding current within the unit pulse width, and Δi sw is the CA The variation of the phase winding current within the unit pulse width; R is the winding resistance;
所述三相线电感与d-q轴电感关系为：The relationship between the three-phase line inductance and the d-q axis inductance is:
Figure PCTCN2022131675-appb-000032
Figure PCTCN2022131675-appb-000032
其中：L d为d轴电感，L q为q轴电感； Where: L d is the d-axis inductance, L q is the q-axis inductance;
进一步推算L d、L q为： Further calculation of L d and L q is:
Figure PCTCN2022131675-appb-000033
Figure PCTCN2022131675-appb-000033
Figure PCTCN2022131675-appb-000034
Figure PCTCN2022131675-appb-000034
将公式(22)代入公式(23)中，便可以分别得到L d和L q。 Substituting formula (22) into formula (23), L d and L q can be obtained respectively.
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims (4)

  1. 一种永磁同步电机静态初始位置估算方法，其中，包括以下步骤：A method for estimating the static initial position of a permanent magnet synchronous motor, comprising the following steps:
    响应电流差值的获取步骤：其选取以下第一方式和第二方式中的任一种；The step of obtaining the response current difference: selecting any one of the following first and second methods;
    第一方式：The first way:
    依次向电机AB相、BC相和CA相绕组分别注入各自的额定正脉冲电压和额定负脉冲电压，所述额定正脉冲电压和额定负脉冲电压为使电机各相输出电流达到电机额定电流时的电压；Sequentially inject their respective rated positive pulse voltage and rated negative pulse voltage into the windings of AB phase, BC phase and CA phase of the motor respectively. Voltage;
    在各相注入各自额定正脉冲电压和额定负脉冲电压的情况下，记录各相在额定正脉冲电压和额定负脉冲电压下的响应电流值，用各相在额定负脉冲电压下的响应电流值减去各相在额定正脉冲电压下的响应电流值，计算得到三相静止坐标系下AB相、BC相和CA相的响应电流差值ΔI ab、ΔI bc和ΔI ca； When each phase is injected with its own rated positive pulse voltage and rated negative pulse voltage, record the response current value of each phase under the rated positive pulse voltage and rated negative pulse voltage, and use the response current value of each phase under the rated negative pulse voltage Subtract the response current value of each phase under the rated positive pulse voltage, and calculate the response current differences ΔI ab , ΔI bc and ΔI ca of the AB phase, BC phase and CA phase in the three-phase static coordinate system;
    第二方式：The second way:
    向AB相绕组注入U相正脉冲和V相负脉冲，记录脉冲响应电流Iu；逐渐增加脉冲宽度，直至Iu大于电机额定电流值，此时脉冲宽度即为选取的脉冲宽度；Inject U-phase positive pulse and V-phase negative pulse into the AB phase winding, and record the pulse response current Iu; gradually increase the pulse width until Iu is greater than the rated current value of the motor, and the pulse width at this time is the selected pulse width;
    保持所述的选取的脉冲宽度，依次向AB相绕组注入U相正脉冲和V相负脉冲、V相正脉冲和U相负脉冲，分别获得正脉冲响应电流i ab和负脉冲响应电流i ba；向BC相绕组注入V相正脉冲和W相负脉冲、W相正脉冲和V相负脉冲，分别获得正脉冲响应电流i bc和负脉冲响应电流i cb；向CA相绕组注入W相正脉冲和U相负脉冲、U相正脉冲和W相负脉冲，分别获得正脉冲响应电流i ca和负脉冲响应电流i ac；得到三相静止坐标系下AB相、BC相、CA相响应电流差值ΔI ab＝i ba-i ab、ΔI bc＝i cb-i bc和ΔI ca＝i ac-i ca； Keeping the selected pulse width, sequentially inject U-phase positive pulse and V-phase negative pulse, V-phase positive pulse and U-phase negative pulse into the AB phase winding to obtain positive pulse response current i ab and negative pulse response current i ba respectively ; Inject V-phase positive pulse and W-phase negative pulse, W-phase positive pulse and V-phase negative pulse into BC phase winding to obtain positive pulse response current i bc and negative pulse response current icb respectively; inject W-phase positive pulse into CA phase winding Pulse and U-phase negative pulse, U-phase positive pulse and W-phase negative pulse to obtain positive impulse response current i ca and negative impulse response current i ac respectively; obtain phase AB, BC and CA phase response currents in the three-phase stationary coordinate system Differences ΔI ab = i ba - i ab , ΔI bc = i cb - i bc and ΔI ca = i ac - i ca ;
    以及，转子初始位置角的计算步骤：And, the calculation steps of the rotor initial position angle:
    对各相响应电流差值进行Clark变换，得到α-β轴两相静止坐标系下响应电流差值ΔI α和ΔI β； Perform Clark transformation on the response current difference of each phase to obtain the response current difference ΔI α and ΔI β in the α-β axis two-phase stationary coordinate system;
    基于ΔI α和ΔI β计算转子初始位置角θ： Calculate the rotor initial position angle θ based on ΔI α and ΔI β :
    Figure PCTCN2022131675-appb-100001
    Figure PCTCN2022131675-appb-100001
  2. 如权利要求1所述的永磁同步电机静态初始位置估算方法，其中，进一步包括磁极方向校验步骤：The method for estimating the static initial position of a permanent magnet synchronous motor according to claim 1, further comprising a magnetic pole direction verification step:
    当转子初始位置角所在扇区为30°～90°，按电压矢量U3向A相B相输入正脉冲电压，C相输入负脉冲电压，测量C相输出电流Ic-；再按电压矢量U4向A相B相输入负脉冲电压，C相输入正脉冲电压，测量C相输出电流Ic+；若Ic-＞Ic+，则判定位置角计算值准确；When the sector where the initial position angle of the rotor is located is 30°～90°, input positive pulse voltage to phase A and phase B according to voltage vector U3, input negative pulse voltage to phase C, and measure the output current Ic- of phase C; Phase A and phase B input negative pulse voltage, phase C input positive pulse voltage, and measure the output current Ic+ of phase C; if Ic->Ic+, it is determined that the calculated value of the position angle is accurate;
    当转子初始位置角所在扇区为210°～270°，按电压矢量U3向A相B相输入正脉冲电压，C相输入负脉冲电压，测量C相输出电流Ic-；再按电压矢量U4向A相B相输入负脉冲电压，C相输入正脉冲电压，测量C相输出电流Ic+；若Ic+＞Ic-，则判定位置角计算值准确；；When the sector where the initial position angle of the rotor is located is 210°～270°, input positive pulse voltage to phase A and phase B according to the voltage vector U3, input negative pulse voltage to phase C, and measure the output current Ic- of phase C; then press the voltage vector U4 to Phase A and phase B input negative pulse voltage, phase C input positive pulse voltage, and measure the output current Ic+ of phase C; if Ic+>Ic-, the calculated value of the position angle is judged to be accurate;
    当转子初始位置角所在扇区为90°～150°，按电压矢量U5向A相C相输入正脉冲电压，B相输入负脉冲电压，测量B相输出电流Ib-；再按电压矢量U6向A相C相输入负脉冲电压，B相输入正脉冲电压，测量B相输出电流Ib+；若Ib-＞Ib+，则判定位置角计算值准确；When the sector where the initial position angle of the rotor is located is 90°～150°, input positive pulse voltage to phase A and phase C according to voltage vector U5, input negative pulse voltage to phase B, and measure the output current Ib- of phase B; then press voltage vector U6 to Phase A and phase C input negative pulse voltage, phase B input positive pulse voltage, and measure the output current Ib+ of phase B; if Ib->Ib+, it is determined that the calculated value of the position angle is accurate;
    当转子初始位置角所在扇区为270°～330°，按电压矢量U5向A相C相输入正脉冲电压，B相输入负脉冲电压，测量B相输出电流Ib-；再按电压矢量U6向A相C相输入负脉冲电压，B相输入正脉冲电压，测量B相输出电流Ib+；若Ib+＞Ib-，则判定位置角计算值准确；When the sector where the initial position angle of the rotor is located is 270°～330°, input positive pulse voltage to phase A and phase C according to voltage vector U5, input negative pulse voltage to phase B, and measure the output current Ib- of phase B; then press voltage vector U6 to Phase A and phase C input negative pulse voltage, phase B input positive pulse voltage, and measure the output current Ib+ of phase B; if Ib+>Ib-, the calculated value of the position angle is determined to be accurate;
    当转子初始位置角所在扇区为150°～210°，按电压矢量U2向B相C相输入正脉冲电压，A相输入负脉冲电压，测量A相输出电流Ia-；再按电压矢量U1向B相C相输入负脉冲电压，A相输入正脉冲电压，测量A相输出电流Ia+；若Ia+＞Ia-，则判定位置角计算值准确；When the sector where the initial position angle of the rotor is located is 150°～210°, input positive pulse voltage to phase B and phase C according to the voltage vector U2, input negative pulse voltage to phase A, and measure the output current Ia- of phase A; then press the voltage vector U1 to Phase B and phase C input negative pulse voltage, phase A input positive pulse voltage, and measure the output current Ia+ of phase A; if Ia+>Ia-, the calculated value of the position angle is determined to be accurate;
    当转子初始位置角所在扇区为330°～360°或0°～30°，按电压矢量U2向B相C相输入正脉冲电压，A相输入负脉冲电压，测量A相输出电流Ia-；再按电压矢量U1向B相C相输入负脉冲电压，A相输入正脉冲电压，测量A相输出电流Ia+；若Ia-＞Ia+，则判定位置角计算值准确。When the sector where the initial position angle of the rotor is located is 330°～360° or 0°～30°, according to the voltage vector U2, input positive pulse voltage to phase B and phase C, input negative pulse voltage to phase A, and measure the output current Ia- of phase A; Then input negative pulse voltage to Phase B and Phase C according to the voltage vector U1, and input positive pulse voltage to Phase A, and measure the output current Ia+ of Phase A; if Ia->Ia+, the calculated value of the position angle is determined to be accurate.
  3. 如权利要求2所述的永磁同步电机静态初始位置估算方法，其中，所述U1和U2分别对应0°和180°，二者的电压矢量方向相反；所述U3和U4分别对应60°和240°，二者的电压矢量方向相反；所述U5和U6分别对应120°和300°，二者的电压矢量方向相反。The method for estimating the static initial position of a permanent magnet synchronous motor according to claim 2, wherein said U1 and U2 correspond to 0° and 180° respectively, and the voltage vector directions of the two are opposite; said U3 and U4 correspond to 60° and 180° respectively. 240°, the voltage vector directions of the two are opposite; the U5 and U6 correspond to 120° and 300° respectively, and the voltage vector directions of the two are opposite.
  4. 一种永磁同步电机定子电感辨识方法，其中，包括以下步骤：A permanent magnet synchronous motor stator inductance identification method, which includes the following steps:
    采用权利要求1-3中任一项所述的估算方法计算转子初始位置角θ；Using the estimation method described in any one of claims 1-3 to calculate the rotor initial position angle θ;
    计算AB相绕组电感L ab、BC相绕组电感L bc和CA相绕组电感L ca： Calculate the inductance of the AB phase winding L ab , the BC phase winding inductance L bc and the CA phase winding inductance L ca :
    Figure PCTCN2022131675-appb-100002
    Figure PCTCN2022131675-appb-100002
    其中：U dc为额定脉冲电压，T s为选取的脉冲宽度，
    Figure PCTCN2022131675-appb-100003
    为AB相绕组电流在单位脉宽内的平均值、
    Figure PCTCN2022131675-appb-100004
    为BC相绕组电流在单位脉宽内的平均值、
    Figure PCTCN2022131675-appb-100005
    为CA相绕组电流在单位脉宽内的平均值，Δi su为AB相绕组电流在单位脉宽内的变化量、Δi sv为BC相绕组电流在单位脉宽内的变化量、Δi sw为CA相绕组电流在单位脉宽内的变化量；R为绕组电阻；     Among them: U dc is the rated pulse voltage, T s is the selected pulse width,
    Figure PCTCN2022131675-appb-100003
    is the average value of the AB phase winding current within the unit pulse width,
    Figure PCTCN2022131675-appb-100004
    is the average value of the BC phase winding current within the unit pulse width,
    Figure PCTCN2022131675-appb-100005
    is the average value of the CA phase winding current within the unit pulse width, Δi su is the variation of the AB phase winding current within the unit pulse width, Δi sv is the variation of the BC phase winding current within the unit pulse width, and Δi sw is the CA The variation of the phase winding current within the unit pulse width; R is the winding resistance;
    三相线电感与d-q轴电感关系：The relationship between three-phase line inductance and d-q axis inductance:
    Figure PCTCN2022131675-appb-100006
    Figure PCTCN2022131675-appb-100006
    其中：L d为d轴电感，L q为q轴电感； Where: L d is the d-axis inductance, L q is the q-axis inductance;
    进一步推算L d、L q为： Further calculation of L d and L q is:
    Figure PCTCN2022131675-appb-100007
    Figure PCTCN2022131675-appb-100007
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CN108574444A (en) * 2018-05-08 2018-09-25 天津工业大学 One kind being used for initial position detection method for permanent magnet synchronous electric motor rotor
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CN114567222A (en) * 2022-02-28 2022-05-31 中车青岛四方车辆研究所有限公司 Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor

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CN102005996A (en) * 2009-08-28 2011-04-06 株式会社日立产机*** Driving system of permanent magnet synchronous motor
CN108574444A (en) * 2018-05-08 2018-09-25 天津工业大学 One kind being used for initial position detection method for permanent magnet synchronous electric motor rotor
CN108683371A (en) * 2018-05-17 2018-10-19 深圳市伟创电气有限公司 Rotor magnetic pole initial position discrimination method, device, system and motor driving apparatus
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