CN107294454B - Permanent magnet synchronous motor stator flux linkage observation method, flux linkage observer and storage medium - Google Patents
Permanent magnet synchronous motor stator flux linkage observation method, flux linkage observer and storage medium Download PDFInfo
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- H—ELECTRICITY
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- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
The invention discloses a permanent magnet synchronous motor stator flux linkage observation method, a flux linkage observer and a storage medium. In the embodiment, the current direct axis angle of the rotor of the permanent magnet synchronous motor is obtained, the standard voltage vector closest to the current direct axis angle is determined, the voltage vector direction corresponding to the determined standard voltage vector is taken as the coordinate transformation angle, the linear region of each mapping curve in the mapping curve set is searched, resistance identification is carried out based on the linear region and the coordinate transformation angle, the stator resistance of the permanent magnet synchronous motor is obtained, the current temperature value of a switching device on a motor frequency converter is obtained, determining corresponding current delay time difference by adopting a mapping curve set according to the current temperature value, correcting the instruction voltage according to the current delay time difference, and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage, so that the adopted stator resistance and the command voltage are more accurate, and the stator flux linkage is more accurate.
Description
Technical Field
The invention relates to the technical field of flux linkage observation, in particular to a permanent magnet synchronous motor stator flux linkage observation method, a flux linkage observer and a storage medium.
Background
The permanent magnet synchronous motor has the advantages of high efficiency, high power density, small torque pulsation, wide speed regulation range and the like, and is widely applied to the fields of household appliances, electric automobiles, high-speed rails, aerospace and the like at present.
The common permanent magnet synchronous motor variable frequency speed control system usually performs speed closed-loop control according to a speed given signal and a speed feedback signal, so that a speed sensor is required to acquire speed information. However, the installation of the speed sensor not only increases the cost, but also the speed sensor is easy to malfunction and fail under certain severe working conditions, so that the reliability of the motor speed regulating system is reduced. For the above reasons, in recent years, a speed sensorless control method, which can estimate speed information from a motor mathematical model alone without installing a speed sensor, has become a hot spot of academic research. Specifically, the angle of the rotor flux linkage is first calculated from the stator flux linkage, and then the position information and the speed information of the rotor are further calculated. Therefore, the accuracy of stator flux linkage observation directly determines the accuracy of the position and speed information of the motor rotor, and finally influences the accuracy of motor control.
The conventional permanent magnet synchronous motor stator flux linkage observation methods comprise a method for calculating a stator flux linkage based on a mathematical model under a two-phase synchronous rotating coordinate system (called a d-q coordinate system for short) according to an actually measured current and a rotor position angle, a method for calculating a stator flux linkage based on a mathematical model under a two-phase static coordinate system (called a α - β coordinate system for short) according to the actually measured voltage and current, and a method for calculating a stator flux linkage based on a voltage model.
The voltage model has three input quantities, namely phase voltage, phase current and stator resistance, and only if the three input quantities are accurate, the output stator flux linkage is accurate. In practical applications, the phase currents of the motor are usually easily detected, while the phase voltages and the stator resistance are usually difficult to detect. Since adding a phase voltage detection circuit increases cost and decreases reliability, the phase voltage is not usually detected in engineering, but the command value using the phase voltage is approximately equivalent. The resistance of the stator changes along with the temperature change in the operation process of the motor, and generally needs real-time online identification or periodic offline identification.
However, in practical applications, the output voltage of the inverter may be affected by the non-linearity of the switch, and thus has a certain deviation. Because the prior art does not consider the influence of nonlinear factors of the switch, the command value and the actual value of the phase voltage have deviation, and the resistance identification result also has deviation. Therefore, the prior art does not calculate the stator flux linkage accurately.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a permanent magnet synchronous motor stator resistance identification method, a motor driver and a storage medium, and aims to solve the technical problem that resistance identification errors are large in the prior art.
In order to achieve the above object, the present invention provides a method for observing flux linkage of a stator of a permanent magnet synchronous motor, the method comprising the steps of:
acquiring the current straight shaft angle of a rotor of the permanent magnet synchronous motor;
determining a standard voltage vector closest to the current straight-axis angle, and taking a voltage vector direction corresponding to the determined standard voltage vector as a coordinate transformation angle;
searching a linear area of each mapping curve in the mapping curve set, wherein the mapping curve set comprises mapping curves at different temperature values, and the mapping curves are curves reflecting the corresponding relation between the delay time difference and the current value;
performing resistance identification based on the linear region and the coordinate transformation angle to obtain the stator resistance of the permanent magnet synchronous motor;
acquiring a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by adopting a mapping curve set according to the current temperature value;
correcting the command voltage according to the current delay time difference;
and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage.
Preferably, the correcting the command voltage according to the current delay time difference specifically includes:
calculating a terminal voltage error according to the current delay time difference;
carrying out coordinate transformation on the terminal voltage error to obtain a voltage compensation value under an α - β coordinate system;
and correcting the command voltage according to the voltage compensation value in the α - β coordinate system.
Preferably, the stator flux linkage of the permanent magnet synchronous motor is calculated by the following formula according to the stator resistance and the corrected command voltage,
wherein psiα_estAnd psiβ_estIs the stator flux linkage, V, of the PMSMαAnd VβFor corrected command voltage value, RsIs stator resistance, iαCurrent value of α axis, iβThe current value of the axis β.
Preferably, the obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by using a mapping curve set according to the current temperature value specifically includes:
the method comprises the steps of obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference according to the current temperature value by adopting a mapping relation, wherein the mapping relation is a corresponding relation between the delay time difference and the temperature value, and is generated on the basis of a mapping curve set.
Preferably, before obtaining a current temperature value of a switching device on a motor frequency converter and determining a corresponding current delay time difference according to the current temperature value by using a mapping relationship, the method further includes:
determining a preset current value in a linear region of each mapping curve in the mapping curve set, and searching the delay time difference of each mapping curve corresponding to the preset current value from the mapping curve set;
and respectively associating the searched delay time differences with the temperature values corresponding to the mapping curves to which the delay time differences belong so as to form the mapping relation.
Preferably, the determining the corresponding current delay time difference according to the current temperature value by using a mapping relationship specifically includes:
and selecting two reference points from the mapping relation, acquiring a reference temperature value and a reference delay time difference of each reference point, and determining the current delay time difference according to the current temperature value, the reference temperature value and the reference delay time difference of each reference point.
Preferably, the searching for the linear region of each mapping curve in the mapping curve set specifically includes:
and respectively obtaining the tangent slope of each point on each mapping curve in the mapping curve set, and determining the linear region of each mapping curve according to the tangent slope.
Preferably, the determining the linear region of each mapping curve according to the slope of the tangent specifically includes:
traversing the mapping curves in the mapping curve set, and taking the points of the traversed current mapping curve where the tangent slope is equal to the preset slope as segmentation points;
dividing the current mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope, and taking the partition area without the point with the tangent slope larger than the preset slope as a linear area of the current mapping curve.
Further, to achieve the above object, the present invention also provides a flux linkage observer including: the permanent magnet synchronous motor stator flux linkage observation program is stored on the memory and can run on the processor, and the permanent magnet synchronous motor stator flux linkage observation program is configured to realize the steps of the permanent magnet synchronous motor stator flux linkage observation method.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, in which a permanent magnet synchronous motor stator flux linkage observation program is stored, and the permanent magnet synchronous motor stator flux linkage observation program, when executed by a processor, implements the steps of the permanent magnet synchronous motor stator flux linkage observation method.
The invention determines the standard voltage vector closest to the current direct axis angle by obtaining the current direct axis angle of the rotor of the permanent magnet synchronous motor, takes the voltage vector direction corresponding to the determined standard voltage vector as the coordinate transformation angle, searches the linear area of each mapping curve in the mapping curve set, identifies the resistance based on the linear area and the coordinate transformation angle to obtain the stator resistance of the permanent magnet synchronous motor and obtain the current temperature value of the switching device on the motor frequency converter, determining corresponding current delay time difference by adopting a mapping curve set according to the current temperature value, correcting the instruction voltage according to the current delay time difference, and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage, so that the adopted stator resistance and the command voltage are more accurate, and the stator flux linkage is more accurate.
Drawings
FIG. 1 is a schematic diagram of a flux linkage observer of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for observing flux linkage of a permanent magnet synchronous motor according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of voltage vectors in an embodiment of the present invention;
FIG. 4 is a waveform diagram of current and voltage during resistor identification according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a stator flux linkage observation method of a permanent magnet synchronous motor according to a second embodiment of the present invention;
FIG. 6 is a schematic flow chart of a method for observing flux linkage of a permanent magnet synchronous motor according to a third embodiment of the present invention;
fig. 7 is a schematic diagram illustrating the variation of the delay time difference with the current and the temperature according to the embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a flux linkage observer of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the flux linkage observer may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, and a memory 1004. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The memory 1004 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1004 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the flux linkage observer structure shown in FIG. 1 does not constitute a limitation of the flux linkage observer and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, the memory 1004, which is a kind of computer storage medium, may include therein an operating system, a user interface module, and a permanent magnet synchronous motor stator flux linkage observation program.
In the flux linkage observer shown in fig. 1, the flux linkage observer calls a permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004 by the processor 1001, and performs the following operations:
acquiring the current straight shaft angle of a rotor of the permanent magnet synchronous motor;
determining a standard voltage vector closest to the current straight-axis angle, and taking a voltage vector direction corresponding to the determined standard voltage vector as a coordinate transformation angle;
searching a linear area of each mapping curve in the mapping curve set, wherein the mapping curve set comprises mapping curves at different temperature values, and the mapping curves are curves reflecting the corresponding relation between the delay time difference and the current value;
performing resistance identification based on the linear region and the coordinate transformation angle to obtain the stator resistance of the permanent magnet synchronous motor;
acquiring a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by adopting a mapping curve set according to the current temperature value;
correcting the command voltage according to the current delay time difference;
and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
calculating a terminal voltage error according to the current delay time difference;
carrying out coordinate transformation on the terminal voltage error to obtain a voltage compensation value under an α - β coordinate system;
and correcting the command voltage according to the voltage compensation value in the α - β coordinate system.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage through the following formula,
wherein psiα_estAnd psiβ_estIs the stator flux linkage, V, of the PMSMαAnd VβFor corrected command voltage value, RsIs stator resistance, iαCurrent value of α axis, iβThe current value of the axis β.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
the method comprises the steps of obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference according to the current temperature value by adopting a mapping relation, wherein the mapping relation is a corresponding relation between the delay time difference and the temperature value, and is generated on the basis of a mapping curve set.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
determining a preset current value in a linear region of each mapping curve in the mapping curve set, and searching the delay time difference of each mapping curve corresponding to the preset current value from the mapping curve set;
and respectively associating the searched delay time differences with the temperature values corresponding to the mapping curves to which the delay time differences belong so as to form the mapping relation.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
and selecting two reference points from the mapping relation, acquiring a reference temperature value and a reference delay time difference of each reference point, and determining the current delay time difference according to the current temperature value, the reference temperature value and the reference delay time difference of each reference point.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
and respectively obtaining the tangent slope of each point on each mapping curve in the mapping curve set, and determining the linear region of each mapping curve according to the tangent slope.
Further, the processor 1001 may call the permanent magnet synchronous motor stator flux linkage observation program stored in the memory 1004, and further perform the following operations:
traversing the mapping curves in the mapping curve set, and taking the points of the traversed current mapping curve where the tangent slope is equal to the preset slope as segmentation points;
dividing the current mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope, and taking the partition area without the point with the tangent slope larger than the preset slope as a linear area of the current mapping curve.
According to the scheme, the current direct axis angle of the rotor of the permanent magnet synchronous motor is obtained, the standard voltage vector closest to the current direct axis angle is determined, the voltage vector direction corresponding to the determined standard voltage vector is used as the coordinate transformation angle, the linear area of each mapping curve in the mapping curve set is searched, resistance identification is carried out based on the linear area and the coordinate transformation angle, the stator resistance of the permanent magnet synchronous motor is obtained, the current temperature value of a switching device on a motor frequency converter is obtained, the corresponding current delay time difference is determined by adopting the mapping curve set according to the current temperature value, the command voltage is corrected according to the current delay time difference, the stator flux linkage of the permanent magnet synchronous motor is calculated according to the stator resistance and the corrected command voltage, and the adopted stator resistance and the command voltage are more accurate, thereby making the stator flux linkage more accurate.
Based on the hardware structure, the embodiment of the permanent magnet synchronous motor stator flux linkage observation method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a permanent magnet synchronous motor stator flux linkage observation method according to a first embodiment of the present invention.
In a first embodiment, the method for observing the flux linkage of the stator of the permanent magnet synchronous motor comprises the following steps:
s10: acquiring the current straight shaft angle of a rotor of the permanent magnet synchronous motor;
it should be noted that, for a permanent magnet synchronous motor, a quadrature axis is also called a q axis, a direct axis is also called a d axis, the quadrature axis and the direct axis are coordinate axes in nature, and are not actual rotating shafts, in the control of the permanent magnet synchronous motor, in order to obtain control characteristics similar to a direct current motor, a coordinate system is established on a motor rotor, the coordinate system rotates synchronously with the rotor, the direction of a rotor magnetic field is taken as the d axis, and the direction perpendicular to the rotor magnetic field is taken as the q axis, and a mathematical model of the motor is converted into the coordinate system, so that decoupling of the d axis and the q axis can be realized, and good control characteristics can be obtained.
It is understood that the current straight shaft angle is the angle at which the rotor of the permanent magnet synchronous motor is at the straight shaft at the current moment.
S20: determining a standard voltage vector closest to the current straight-axis angle, and taking a voltage vector direction corresponding to the determined standard voltage vector as a coordinate transformation angle;
referring to fig. 3, the standard voltage vectors are generally 8, and are: u shape0(0 0 0)、U1(1 00)、U2(1 1 0)、U3(0 1 0)、U4(0 1 1)、U5(0 0 1)、U6(101) And U7(1 1 1)。
In a specific implementation, "d" in fig. 3 is the current straight-axis angle.
It can be understood that the common included angle can reflect the approximation degree between two vectors, in order to determine the standard voltage vector closest to the current direct-axis angle, the included angle between the current direct-axis angle and each standard voltage vector can be calculated, the standard voltage vector closest to the current direct-axis angle is determined according to the calculated included angle, and the voltage vector direction corresponding to the determined standard voltage vector is used as the coordinate transformation angle.
To further facilitate determining the standard voltage vector closest to the current straight-axis angle, in this embodiment, when the standard voltage vector closest to the current straight-axis angle is determined according to the calculated included angle, the calculated included angle may be compared, and the standard voltage vector with the smallest included angle is determined as the standard voltage vector closest to the current straight-axis angle.
Referring to FIG. 3, θ1、θ2Respectively the included angle between the position of the motor rotor and the adjacent standard voltage vector in theta1Less than theta2For example, at this timeCan convert voltage vector U1(100) As the standard voltage vector closest to the current straight-axis angle, the determined standard voltage vector U can be determined1(100) The corresponding voltage vector direction is 0 degrees as the coordinate transformation angle.
It should be noted that, in order to facilitate taking the voltage vector direction corresponding to the determined standard voltage vector as the coordinate transformation angle, in this embodiment, the voltage vector direction corresponding to the determined standard voltage vector may be searched first, and the searched voltage vector direction is taken as the coordinate transformation angle.
In order to facilitate the search for the voltage vector direction, a mapping relationship may be established in advance, where the mapping relationship includes a correspondence between the standard voltage vector and the voltage vector direction, and therefore, the voltage vector direction corresponding to the determined standard voltage vector may be searched for in the mapping relationship.
S30: searching a linear area of each mapping curve in the mapping curve set, wherein the mapping curve set comprises mapping curves at different temperature values, and the mapping curves are curves reflecting the corresponding relation between the delay time difference and the current value;
in a specific implementation, a plurality of test tests may be performed to obtain a mapping curve set, where the mapping curve set includes mapping curves at different temperature values, and the mapping curves are curves reflecting a corresponding relationship between a delay time difference and a current value, but since a non-linear region with a relatively fast change range may exist in each mapping curve, if a selected current value is in the non-linear region, an identified resistance error is too large due to a too large delay time difference, and therefore, a linear region with a relatively small change range in each mapping curve may be searched in this embodiment.
It should be noted that the delay time difference is a difference between the turn-off delay time and the turn-on delay time, and the calculation formula may adopt Δ tdelay＝tturn_off_delay-tturn_on_delayWherein, Δ tdelayFor a delay time difference, tturn_off_delayFor turn-off delay time, tturn_on_delayThe delay time is turned on.
It should be noted that, because the linear region usually has a slow variation range, the slope of the tangent line thereof is usually small, and in order to facilitate finding the linear region of each mapping curve in the mapping curve set, in this embodiment, the slope of the tangent line at each point on each mapping curve in the mapping curve set may be respectively obtained, and the linear region of each mapping curve is determined according to the slope of the tangent line.
In order to realize fast search of the linear region, in this embodiment, the mapping curve in the mapping curve set may be traversed, and a point where a slope of a tangent in the traversed current mapping curve is equal to a preset slope is taken as a dividing point; dividing the current mapping curve according to the dividing points to obtain at least two dividing areas; and judging whether each partition area has a point with a tangent slope larger than a preset slope, and taking the partition area without the point with the tangent slope larger than the preset slope as a linear area of the current mapping curve.
It should be noted that, a large current value may exist in the linear region determined in step S30, and if an excessively large current value is selected, the permanent magnet synchronous motor may be damaged, or a component connected to the permanent magnet synchronous motor may be damaged, and in order to prevent this problem, in this embodiment, a preset current threshold may be set, and the region exceeding the preset current threshold in the linear region may be deleted.
It can be understood that, the preset current threshold may be set empirically or according to a plurality of tests, but considering that different permanent magnet synchronous motors may have different current-withstanding characteristics, in this embodiment, the preset current threshold may be set as the smaller of the maximum allowable current of the permanent magnet synchronous motor and the maximum allowable current of the frequency converter connected to the permanent magnet synchronous motor.
S40: performing resistance identification based on the linear region and the coordinate transformation angle to obtain the stator resistance of the permanent magnet synchronous motor;
in order to facilitate the resistance identification, in this embodiment, a current value may be selected in the linear region; taking the selected current value as a direct-axis current value injected into the permanent magnet synchronous motor, and detecting a direct-axis voltage value corresponding to the direct-axis current value; and calculating the stator resistance of the permanent magnet synchronous motor according to the direct-axis current value and the corresponding direct-axis voltage value.
It should be noted that since the linear region is usually small in variation, selecting the current value in the linear region can prevent the identified resistance error from being too large.
It is understood that the current value can be selected in the linear region by a random selection method, which is not limited in this embodiment.
It should be noted that, for a permanent magnet synchronous motor, a quadrature axis is also called a q axis, a direct axis is also called a d axis, the quadrature axis and the direct axis are coordinate axes in nature, and are not actual rotating shafts, in the control of the permanent magnet synchronous motor, in order to obtain control characteristics similar to a direct current motor, a coordinate system is established on a motor rotor, the coordinate system rotates synchronously with the rotor, the direction of a rotor magnetic field is taken as the d axis, and the direction perpendicular to the rotor magnetic field is taken as the q axis, and a mathematical model of the motor is converted into the coordinate system, so that decoupling of the d axis and the q axis can be realized, and good control characteristics can be obtained.
It can be understood that, in order to offset the effect of the delay time difference, two times of injecting current values are required, and therefore, in the present embodiment, two different current values are selected in the linear region, and in order to distinguish the selected current values, the selected current values can be divided into a first current value and a second current value.
Correspondingly, the detecting a direct-axis voltage value corresponding to the direct-axis current value by using the selected current value as the direct-axis current value injected into the permanent magnet synchronous motor may specifically include:
setting the coordinate transformation angle as a given electrical angle, taking a selected first current value as a first straight-axis current value, performing closed-loop control on the first straight-axis current value, obtaining a direct-current voltage value when a feedback straight-axis current value of the closed-loop control is consistent with the first straight-axis current value, and taking the obtained direct-current voltage value as a first straight-axis voltage value corresponding to the first straight-axis current value;
setting the coordinate transformation angle as a given electrical angle, taking the selected second current value as a second straight-axis current value, performing closed-loop control on the second straight-axis current value, obtaining a direct-current voltage value when the feedback straight-axis current value of the closed-loop control is consistent with the second straight-axis current value, and taking the obtained direct-current voltage value as the second straight-axis voltage value corresponding to the second straight-axis current value.
It can be understood that, because the closed-loop control is usually implemented by a feedback comparison method, it usually requires a certain time to make the set value (i.e. the first direct current value or the second direct current value) and the feedback value (i.e. the feedback direct current value) consistent, but if the set value and the feedback value are not consistent yet, i.e. the dc voltage value is collected, the identified resistance error is too large, and therefore, in this embodiment, the dc voltage value is obtained only when the set value and the feedback value are consistent.
In a specific implementation, in order to improve the calculation efficiency, in this embodiment, the stator resistance of the permanent magnet synchronous motor may be calculated according to the direct-axis current value and the corresponding direct-axis voltage value by the following formula,
wherein R issIs the stator resistance, V, of the PMSMd1Is a first direct-axis voltage value, Vd2Is the second direct axis voltage value, id1Is a first direct current value, id2The second direct current value.
Specifically, in the resistance identification, the waveform diagrams of the current and the voltage can be referred to fig. 4, where i1The corresponding point can be understood as the above-mentioned division point, imaxIs the above-mentioned predetermined current threshold.
S50: acquiring a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by adopting a mapping curve set according to the current temperature value;
it should be noted that the current temperature value is a temperature value of a switching tube on a bridge arm of the motor frequency converter at the current moment.
It will be appreciated that the current temperature value may be obtained in a number of ways, for example: the current value may be obtained by using a temperature sensor, or the current temperature value may be obtained by using an infrared thermometer, which is not limited in this embodiment.
S60: correcting the command voltage according to the current delay time difference;
s70: and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage.
In the embodiment, the current direct axis angle of the rotor of the permanent magnet synchronous motor is obtained, the standard voltage vector closest to the current direct axis angle is determined, the voltage vector direction corresponding to the determined standard voltage vector is taken as the coordinate transformation angle, the linear region of each mapping curve in the mapping curve set is searched, resistance identification is carried out based on the linear region and the coordinate transformation angle, the stator resistance of the permanent magnet synchronous motor is obtained, the current temperature value of a switching device on a motor frequency converter is obtained, determining corresponding current delay time difference by adopting a mapping curve set according to the current temperature value, correcting the instruction voltage according to the current delay time difference, and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage, so that the adopted stator resistance and the command voltage are more accurate, and the stator flux linkage is more accurate.
Further, as shown in fig. 5, a second embodiment of the method for observing the stator flux linkage of the permanent magnet synchronous motor according to the present invention is proposed based on the first embodiment.
In this embodiment, step S60 specifically includes:
s61: calculating a terminal voltage error according to the current delay time difference;
it can be understood that, because the motor in this embodiment is a three-phase variable frequency motor, and each phase of a frequency converter of the three-phase variable frequency motor has a bridge arm, and each bridge arm has an upper switching tube and a lower switching tube, respectively, the bridge arms on each phase have current values, and the current values of each phase are independent from each other and do not interfere with each other, so that the current values of each phase can calculate corresponding current delay time differences according to the current values of each phase by using the above formula, and therefore, according to the principle that the volt-second product in one switching period is equal, the delay time error can be converted into a terminal voltage error, specifically referring to the following formula:
wherein,
iais the current value of the a phase, ibCurrent value of b phase, icFor the current value of the c-phase, Δ tdelay(ia) Is iaCorresponding current delay time difference, Δ tdelay(ib) Is ibCorresponding current delay time difference, Δ tdelay(ic) Is icCorresponding current delay time difference, tsIs the switching period, V, of the three-phase variable frequency motordcFor dc bus voltage, Δ vAN_delay(ia) Terminal voltage error of a phase, Δ vBN_delay(ib) Terminal voltage error of b-phase, Δ vCN_delay(ic) Is the terminal voltage error of the c-phase.
S62, carrying out coordinate transformation on the terminal voltage error to obtain a voltage compensation value under a α - β coordinate system;
in a specific implementation, the coordinate transformation can be performed by the following formula,
wherein, Vα_compVoltage compensation value of α axis, Vβ_compIs a voltage offset of the β axis.
And S63, correcting the command voltage according to the voltage compensation value under the α - β coordinate system.
It can be understood that after the voltage compensation value is obtained, the command voltage can be corrected according to the voltage compensation value, which is not described herein again.
To facilitate the calculation of the stator flux linkage, in step S70, the stator flux linkage of the permanent magnet synchronous motor may be calculated according to the stator resistance and the corrected command voltage by the following equation,
wherein psiα_estAnd psiβ_estIs the stator flux linkage, V, of the PMSMαAnd VβFor corrected command voltage value, RsIs stator resistance, iαCurrent value of α axis, iβThe current value of the axis β.
Further, as shown in fig. 6, a third embodiment of the method for observing a stator flux linkage of a permanent magnet synchronous motor according to the present invention is proposed based on the first embodiment or the second embodiment, and fig. 6 takes the embodiment based on fig. 2 as an example.
In this embodiment, step S50 specifically includes:
s50': the method comprises the steps of obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference according to the current temperature value by adopting a mapping relation, wherein the mapping relation is a corresponding relation between the delay time difference and the temperature value, and is generated on the basis of a mapping curve set.
It should be noted that, in order to determine the corresponding current delay time difference, in this embodiment, a mapping relationship may be pre-established, where the mapping relationship is a corresponding relationship between the delay time difference and the temperature value, and therefore, the present embodiment may determine the corresponding current delay time difference by using the mapping relationship according to the current temperature value.
In order to obtain the mapping relationship, in this embodiment, a plurality of test tests may be performed to obtain a mapping relationship set, the mapping curve set comprises mapping curves under different temperature values, the mapping curves are curves reflecting the corresponding relation between the delay time difference and the current value, since the mapping curve has a non-linear region with a fast variation range, if the non-linear region is used to determine the mapping relationship, the current delay time difference obtained cannot ensure the accuracy, and therefore, in this embodiment, a preset current value can be determined in a linear region of each mapping curve in the mapping curve set (it can be understood that the preset current value can be set as required, and of course, a random selection mode can also be adopted, which is not limited in this embodiment), and the delay time difference of each mapping curve corresponding to the preset current value is searched from the mapping curve set; and respectively associating the searched delay time differences with the temperature values corresponding to the mapping curves to which the delay time differences belong so as to form the mapping relation.
Of course, in a specific implementation, the current delay time difference corresponding to the current temperature value may be searched in the mapping relationship, but considering that the temperature value in the mapping relationship is limited, there may be a case that the current delay time difference corresponding to the current temperature value cannot be searched in the mapping relationship.
According to the experimental test result, the delay time difference can be calculated, the rule of the delay time difference along with the change of the current and the temperature is shown as a solid line in fig. 7 according to the calculation result, the abscissa in the figure is the current value, and the ordinate is the delay time difference. According to the rule in fig. 7, to simplify the calculation, the effect of the current change can be ignored, and only the effect of the temperature change is considered. The square portion in fig. 7 is a linear region of the mapping curve, and thus, a preset current value i may be selected in the linear region0Thereby establishing the mapping relationship.
Accordingly, in this embodiment, the current delay time difference can be determined according to the current temperature value, the reference temperature value of each reference point, and the reference delay time difference by the following formula,
where T is the current temperature value, Δ Tdelay(T) is the current delay time difference,(i0,T1) Is a reference temperature value T1Corresponding reference delay time difference, t (i)0,T2) Is a reference temperature value T2Corresponding reference delay time difference, i0Is a preset current value.
It should be noted that the dotted line in fig. 7 is a delay time difference obtained by respectively calculating each temperature value in the block according to the above formula, and it can be understood that the current temperature value needs to be in the linear region to accurately calculate the current delay time difference by using the above formula, and if the current temperature value is not in the linear region, the current delay time difference needs to be determined by using other methods, for example: the determination is performed by directly performing corresponding lookup from the mapping curve, and other manners may also be adopted, which is not limited in this embodiment.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a permanent magnet synchronous motor stator flux linkage observation program is stored on the computer-readable storage medium, and when executed by a processor, the permanent magnet synchronous motor stator flux linkage observation program implements the following operations:
acquiring the current straight shaft angle of a rotor of the permanent magnet synchronous motor;
determining a standard voltage vector closest to the current straight-axis angle, and taking a voltage vector direction corresponding to the determined standard voltage vector as a coordinate transformation angle;
searching a linear area of each mapping curve in the mapping curve set, wherein the mapping curve set comprises mapping curves at different temperature values, and the mapping curves are curves reflecting the corresponding relation between the delay time difference and the current value;
performing resistance identification based on the linear region and the coordinate transformation angle to obtain the stator resistance of the permanent magnet synchronous motor;
acquiring a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by adopting a mapping curve set according to the current temperature value;
correcting the command voltage according to the current delay time difference;
and calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
calculating a terminal voltage error according to the current delay time difference;
carrying out coordinate transformation on the terminal voltage error to obtain a voltage compensation value under an α - β coordinate system;
and correcting the command voltage according to the voltage compensation value in the α - β coordinate system.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
calculating the stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage through the following formula,
wherein psiα_estAnd psiβ_estIs the stator flux linkage, V, of the PMSMαAnd VβFor corrected command voltage value, RsIs stator resistance, iαCurrent value of α axis, iβThe current value of the axis β.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
the method comprises the steps of obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference according to the current temperature value by adopting a mapping relation, wherein the mapping relation is a corresponding relation between the delay time difference and the temperature value, and is generated on the basis of a mapping curve set.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
determining a preset current value in a linear region of each mapping curve in the mapping curve set, and searching the delay time difference of each mapping curve corresponding to the preset current value from the mapping curve set;
and respectively associating the searched delay time differences with the temperature values corresponding to the mapping curves to which the delay time differences belong so as to form the mapping relation.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
and selecting two reference points from the mapping relation, acquiring a reference temperature value and a reference delay time difference of each reference point, and determining the current delay time difference according to the current temperature value, the reference temperature value and the reference delay time difference of each reference point.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
and respectively obtaining the tangent slope of each point on each mapping curve in the mapping curve set, and determining the linear region of each mapping curve according to the tangent slope.
Further, the permanent magnet synchronous motor stator flux linkage observation program further realizes the following operations when executed by the processor:
traversing the mapping curves in the mapping curve set, and taking the points of the traversed current mapping curve where the tangent slope is equal to the preset slope as segmentation points;
dividing the current mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope, and taking the partition area without the point with the tangent slope larger than the preset slope as a linear area of the current mapping curve.
According to the scheme, the current direct axis angle of the rotor of the permanent magnet synchronous motor is obtained, the standard voltage vector closest to the current direct axis angle is determined, the voltage vector direction corresponding to the determined standard voltage vector is used as the coordinate transformation angle, the linear area of each mapping curve in the mapping curve set is searched, resistance identification is carried out based on the linear area and the coordinate transformation angle, the stator resistance of the permanent magnet synchronous motor is obtained, the current temperature value of a switching device on a motor frequency converter is obtained, the corresponding current delay time difference is determined by adopting the mapping curve set according to the current temperature value, the command voltage is corrected according to the current delay time difference, the stator flux linkage of the permanent magnet synchronous motor is calculated according to the stator resistance and the corrected command voltage, and the adopted stator resistance and the command voltage are more accurate, thereby making the stator flux linkage more accurate.
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 an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A permanent magnet synchronous motor stator flux linkage observation method is characterized by comprising the following steps:
acquiring the current straight shaft angle of a rotor of the permanent magnet synchronous motor;
determining a standard voltage vector closest to the current straight-axis angle, and taking a voltage vector direction corresponding to the determined standard voltage vector as a coordinate transformation angle;
searching a linear area of each mapping curve in a mapping curve set, wherein the mapping curve set comprises mapping curves at different temperature values, and the mapping curves are curves reflecting the corresponding relation between the delay time difference and the current value;
performing resistance identification based on the linear region and the coordinate transformation angle to obtain the stator resistance of the permanent magnet synchronous motor;
acquiring a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by adopting a mapping curve set according to the current temperature value;
correcting the command voltage according to the current delay time difference;
calculating a stator flux linkage of the permanent magnet synchronous motor according to the stator resistance and the corrected command voltage;
and the delay time difference is the difference value between the turn-off delay time and the turn-on delay time of a switching device on the motor frequency converter.
2. The method of claim 1, wherein the correcting the command voltage according to the current delay time difference comprises:
calculating a terminal voltage error according to the current delay time difference;
carrying out coordinate transformation on the terminal voltage error to obtain a voltage compensation value under an α - β coordinate system;
and correcting the command voltage according to the voltage compensation value in the α - β coordinate system.
3. The method of claim 2, wherein the stator flux linkage of the permanent magnet synchronous machine is calculated based on the stator resistance and the corrected command voltage by the following equation,
wherein psiα_estAnd psiβ_estIs the stator flux linkage, V, of the PMSMαAnd VβFor corrected command voltage value, RsIs stator resistance, iαCurrent value of α axis, iβThe current value of the axis β.
4. The method according to any one of claims 1 to 3, wherein the obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference by using a mapping curve set according to the current temperature value specifically comprises:
the method comprises the steps of obtaining a current temperature value of a switching device on a motor frequency converter, and determining a corresponding current delay time difference according to the current temperature value by adopting a mapping relation, wherein the mapping relation is a corresponding relation between the delay time difference and the temperature value, and is generated on the basis of a mapping curve set.
5. The method of claim 4, wherein before obtaining a current temperature value of a switching device on the motor inverter and determining a corresponding current delay time difference using the mapping relationship according to the current temperature value, the method further comprises:
searching a linear region of each mapping curve in the mapping curve set, determining a preset current value in the linear region of each mapping curve in the mapping curve set, and searching a delay time difference of each mapping curve corresponding to the preset current value from the mapping curve set;
and respectively associating the searched delay time differences with the temperature values corresponding to the mapping curves to which the delay time differences belong so as to form the mapping relation.
6. The method according to claim 4, wherein the determining the corresponding current delay time difference according to the current temperature value by using a mapping relationship specifically includes:
and selecting two reference points from the mapping relation, acquiring a reference temperature value and a reference delay time difference of each reference point, and determining the current delay time difference according to the current temperature value, the reference temperature value and the reference delay time difference of each reference point.
7. The method according to claim 5, wherein the finding a linear region of each mapping curve in the set of mapping curves specifically comprises:
and respectively obtaining the tangent slope of each point on each mapping curve in the mapping curve set, and determining the linear region of each mapping curve according to the tangent slope.
8. The method according to claim 7, wherein determining the linear region of each mapping curve according to the slope of the tangent line comprises:
traversing the mapping curves in the mapping curve set, and taking the points of the traversed current mapping curve where the tangent slope is equal to the preset slope as segmentation points;
dividing the current mapping curve according to the dividing points to obtain at least two dividing areas;
and judging whether each partition area has a point with a tangent slope larger than a preset slope, and taking the partition area without the point with the tangent slope larger than the preset slope as a linear area of the current mapping curve.
9. A flux linkage observer, characterized in that the flux linkage observer comprises: a memory, a processor and a permanent magnet synchronous motor stator flux linkage observation program stored on the memory and executable on the processor, the permanent magnet synchronous motor stator flux linkage observation program being configured to implement the steps of the permanent magnet synchronous motor stator flux linkage observation method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a permanent magnet synchronous motor stator flux linkage observation program that, when executed by a processor, implements the steps of the permanent magnet synchronous motor stator flux linkage observation method according to any one of claims 1 to 8.
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