CN104734593B - The control system and Stator resistance identification method of permagnetic synchronous motor - Google Patents
The control system and Stator resistance identification method of permagnetic synchronous motor Download PDFInfo
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Abstract
The present invention proposes a kind of control system of permagnetic synchronous motor, including：Current sample module, the N number of three-phase current I for permagnetic synchronous motor of samplingUi、IVi、IWi；First coordinate transferring, when given electrical angle is 0 to N number of three-phase current IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi；Current correction module, according to d-axis reference current IdrefTo N number of IdiCurrent correction is carried out to obtain N number of direct-axis voltage Vdi；Compensating module, to N number of VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi；Stator resistance identification module, according to N number of VcomiWith N number of IdiObtain the resistance of the stator resistance of permagnetic synchronous motor.According to the control system of the present invention, the influence of noise can be effectively slackened, the identification precision of stator resistance is improved.The present invention also proposes a kind of Stator resistance identification method of permagnetic synchronous motor.
Description
Technical field
The present invention relates to household electrical appliance technical field, the control system and one kind of more particularly to a kind of permagnetic synchronous motor
The Stator resistance identification method of permagnetic synchronous motor.
Background technology
In the governing system of permagnetic synchronous motor, because position sensor can increase the cost of system, reduction system
Reliability, and be difficult with rugged environment, so, the control mode of position-sensor-free has obtained significant hair
Exhibition.And in control system without position sensor, position estimation accuracy is to weigh the important indicator of systematic function.Wherein, stator
The identification precision of resistance directly affects the precision of location estimation.And in most of civilian control systems, examined based on cost
Consider, dc source is often obtained by the direct rectification of mains supply, and therefore, this dc source inevitably has certain electricity
Pressure fluctuation.In addition, flow measurement sensor is as analog device, there is also temperature drift, defect is easily disturbed etc., therefore measurement electric current must
So it there is random noise.
To solve the above problems, proposing the discrimination method of following several stator resistances in correlation technique.One is using straight
Connect voltammetry, but this method is not although it is contemplated that the tube voltage drop of dead band pressure drop, IGBT and diode, flow measurement is accounted for but and is made an uproar
Sound and direct current power source voltage fluctuation, therefore contain random noise in the identification result of stator resistance；Two be by injecting twice not
With the direct current of value, obtained Current Voltage value is subtracted each other, so that the pressure drop of IGBT and diode is offset, so as to weaken device
Dependence, but still exist can not Removing Random No the problem of；Three be to propose a kind of online resistance estimator, but its
Algorithm is relative complex, is difficult to meet requirement of engineering.Therefore, the stator electricity of the control system of the permagnetic synchronous motor in correlation technique
Resistance identification needs are improved.
The content of the invention
The purpose of the present invention is intended at least solve above-mentioned technological deficiency to a certain extent.
Therefore, it is an object of the present invention to propose a kind of control system of permagnetic synchronous motor, can effectively slacken
The fluctuation of direct current power source voltage and the influence of the random noise of measurement electric current, so as to improve the identification precision of stator resistance.
It is another object of the present invention to a kind of Stator resistance identification method for proposing permagnetic synchronous motor.
To reach above-mentioned purpose, the embodiment of one aspect of the present invention proposes a kind of control system of permagnetic synchronous motor,
Including：Current sample module, N number of three-phase current I for the permagnetic synchronous motor of samplingUi、IVi、IWi, wherein, i be more than
Positive integer equal to 1 and less than or equal to N, sampling number N is the positive integer more than 1；First coordinate transferring, for given
Electrical angle be 0 when to N number of three-phase current IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of direct-axis current IdiWith N number of quadrature axis
Electric current Iqi；Current correction module, for according to d-axis reference current IdrefWith quadrature axis reference current IqrefRespectively to N number of described straight
Shaft current IdiWith N number of quadrature axis current IqiCurrent correction is carried out to obtain N number of direct-axis voltage VdiWith N number of quadrature-axis voltage Vqi；Mend
Module is repaid, for N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi；Stator resistance
Module is recognized, according to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current IdiObtain the permanent magnet synchronous electric
The resistance of the stator resistance of machine.
Further, the control system of described permagnetic synchronous motor also includes：Second coordinate transferring, for
Determine when electrical angle is 0 to the direct-axis voltage V after N number of compensationcomiWith N number of quadrature-axis voltage VqiCoordinate Conversion is carried out to obtain
Obtain N number of three-phase reference voltage Vai、Vbi、Vci；Inversion module, for by N number of three-phase reference voltage Vai、Vbi、VciCarry out work(
Rate amplifies to obtain N number of UVW three-phase voltages U of the permagnetic synchronous motorai、Ubi、Uci；DC power supplier, for be described
Inversion module is powered.
In one embodiment of the invention, the Stator resistance identification module also includes：After N number of compensation
Direct-axis voltage VcomiWith N number of direct-axis current Idi, and obtain the stator resistance using least-squares linear regression algorithm
Resistance.So, the fluctuation for effectively slackening direct current power source voltage and the influence for the random noise for measuring electric current are so as to improve stator
The identification precision of resistance.
Specifically, the resistance R of the stator resistance is obtained according to below equation：
Wherein, VcomiFor the direct-axis voltage and I after the compensationdiFor the direct-axis current.
In one particular embodiment of the present invention, according to below equation to the direct-axis voltage VdiCompensate：
Vcomi=Vdi+Vdead+VIGBT
Wherein, VcomiFor the direct-axis voltage after the compensation, VdiFor the direct-axis voltage, VdeadFor the inversion module
Dead band pressure drop, VIGBTFor the pressure drop in the inversion module between insulated gate bipolar transistor IGBT drain electrode and source electrode, VIGBTAccording to
The VA characteristic curve of the IGBT and the electric current acquisition for flowing through the IGBT.
Thus, it is contemplated that the non-linear change tendencies of the pressure drop and electric current between IGBT drain electrodes and source electrode, improve stator resistance and distinguish
Know precision.
In a preferred embodiment of the invention, the direct-axis current IdiAccording to described the three of the permagnetic synchronous motor
U phase currents I in phaseUiObtain；The direct-axis voltage VdiIt is alternate according to U phases and V in the three-phase of the permagnetic synchronous motor
Phase voltage VUViTo obtain；The direct-axis voltage VdiFor the phase voltage V between the U phases and V phases of the permagnetic synchronous motorUVi's
1.5 times, the direct-axis current IdiFor the electric current I of the U phases of the permagnetic synchronous motorai；The Stator resistance identification module according to
N number of U phases phase voltage V alternate with VUViWith N number of U phase currents IaiObtain the resistance of the stator resistance.
The control system of the permagnetic synchronous motor proposed according to embodiments of the present invention, passes through current sample module samples permanent magnetism
N number of three-phase current I of synchronous motorUi、IVi、IWi, when given electrical angle is 0, the first coordinate transferring is to N number of three-phase electricity
Flow IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi, afterwards, current correction module
According to d-axis reference current IdrefWith quadrature axis reference current IqrefRespectively to N number of direct-axis current IdiWith N number of quadrature axis current IqiCarry out
Current correction is to obtain N number of direct-axis voltage VdiWith N number of quadrature-axis voltage Vqi, also, compensating module is to N number of direct-axis voltage VdiCarry out
Compensate to obtain the direct-axis voltage V after N number of compensationcomi, Stator resistance identification module 5 is according to the direct-axis voltage V after N number of compensationcomi
With N number of direct-axis current IdiObtain the resistance of stator resistance.Thus, the control system energy of the permagnetic synchronous motor of the embodiment of the present invention
Stator resistance identification precision is enough improved, also, the resistance of stator resistance is obtained by least-squares linear regression, to measurement electric current
Random noise and direct current power source voltage there is good vulnerability to jamming.
To reach above-mentioned purpose, the embodiment of one aspect of the present invention proposes a kind of stator resistance of permagnetic synchronous motor and distinguished
Knowledge method, comprises the following steps：S1, the N number of three-phase current I for the permagnetic synchronous motor of samplingUi、IVi、IWi, wherein, i is big
In the positive integer equal to 1 and less than or equal to N, sampling number N is the positive integer more than or equal to 1；S2, when given electrical angle is 0,
To N number of three-phase current IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi；S3,
According to d-axis reference current IdrefWith quadrature axis reference current IqrefRespectively to N number of direct-axis current IdiWith N number of quadrature axis electricity
Flow IqiCurrent correction is carried out to obtain N number of direct-axis voltage VdiWith N number of quadrature-axis voltage Vqi；S4, to N number of direct-axis voltage VdiEnter
Row compensates to obtain the direct-axis voltage V after N number of compensationcomi；S5, according to the direct-axis voltage V after N number of compensationcomiWith N number of institute
State direct-axis current IdiObtain the resistance of the stator resistance of the permagnetic synchronous motor.
Further, also include after the step S5：When given electrical angle is 0, to straight after N number of compensation
Shaft voltage VcomiWith N number of quadrature-axis voltage VqiCoordinate Conversion is carried out to obtain N number of three-phase reference voltage Vai、Vbi、Vci；Will be N number of
The three-phase reference voltage Vai、Vbi、VciPower amplification is carried out to obtain N number of three-phase voltage U of the permagnetic synchronous motori、Vi、
Wi。
In one embodiment of the invention, the step S5 is additionally operable to：According to the direct-axis voltage after N number of compensation
VcomiWith N number of direct-axis current Idi, and utilize the resistance of the least-squares linear regression algorithm acquisition stator resistance.This
Sample, the fluctuation for effectively slackening direct current power source voltage and the influence for the random noise for measuring electric current, so as to improve stator resistance
Identification precision.
Specifically, the resistance R of the stator resistance is obtained according to below equation：
Wherein, VcomiFor the direct-axis voltage after the compensation, IdiFor the direct-axis current.
In one particular embodiment of the present invention, according to below equation to the direct-axis voltage VdiCompensate：
Vcomi=Vdi+Vdead+VIGBT
Wherein, VcomiFor the direct-axis voltage after compensation, VdiFor the direct-axis voltage, VdeadFor the dead band of inversion module
Pressure drop, VIGBTFor in inversion module insulated gate bipolar transistor IGBT drain electrode source electrode between pressure drop, according to the IGBT's
VA characteristic curve and the electric current acquisition for flowing through the IGBT.
Thus, it is contemplated that the non-linear change tendencies of the pressure drop and electric current between IGBT drain electrodes and source electrode, improve stator resistance and distinguish
Know precision.
In a preferred embodiment of the invention, U phase currents I in the three-phase of the permagnetic synchronous motor is measuredUi
To obtain the direct-axis current Idi；Measure the U phases phase voltage V alternate with V in the three-phase of the permagnetic synchronous motorUViWith
Obtain the direct-axis voltage Vdi；The direct-axis voltage VdiFor the phase voltage V between the U phases and V phases of the permagnetic synchronous motorUVi
1.5 times, the direct-axis current IdiFor the electric current I of the U phases of the permagnetic synchronous motorai；It is alternate according to N number of U phases and V
Phase voltage VUViWith N number of U phase currents IaiObtain the resistance of the stator resistance.
The Stator resistance identification method of the permagnetic synchronous motor proposed according to embodiments of the present invention, passes through permanent-magnet synchronous of sampling
N number of three-phase current I of motorUi、IVi、IWi, when given electrical angle is 0, to N number of three-phase current IUi、IVi、IWiCoordinate is carried out to turn
Change to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi, afterwards, according to d-axis reference current IdrefWith quadrature axis reference current
IqrefRespectively to N number of direct-axis current IdiWith N number of quadrature axis current IqiCurrent correction is carried out to obtain N number of direct-axis voltage VdiHanded over N number of
Shaft voltage Vqi, also, to N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi, mended according to N number of
Direct-axis voltage V after repayingcomiWith N number of direct-axis current IdiObtain the resistance of stator resistance.Thus, the permanent magnetism of the embodiment of the present invention is same
The Stator resistance identification method of step motor can improve Stator resistance identification precision, also, be obtained by least-squares linear regression
The resistance of stator resistance is taken, there is good vulnerability to jamming to the random noise and direct current power source voltage for measuring electric current.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
Fig. 1 is the principle schematic of the control system of the permagnetic synchronous motor according to the embodiment of the present invention；
Fig. 2 is the square frame of Stator resistance identification module in the control system according to the permagnetic synchronous motor of the embodiment of the present invention
Schematic diagram；
Fig. 3 is the waveform of direct-axis voltage in the control system according to the permagnetic synchronous motor of a specific embodiment of the invention
Schematic diagram；
Fig. 4 is the waveform diagram of direct-axis current in the control system according to the permagnetic synchronous motor of the embodiment of the present invention；
Fig. 5 is the flow chart of the Stator resistance identification method of the permagnetic synchronous motor according to invention one embodiment；And
Fig. 6 is the flow chart of the Stator resistance identification method according to the permagnetic synchronous motor for inventing another embodiment.
Reference：
Current sample module 1, the first coordinate transferring 2, current correction module 3, compensating module 4, Stator resistance identification
Module 5, the second coordinate transferring 6, inversion module 7 and DC power supplier 8.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only merely illustrative, and
Purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This
Outside, the invention provides various specific techniques and material example, but those of ordinary skill in the art can be appreciated that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
" on " structure can include the first and second features and be formed as the embodiment that directly contacts, other feature shape can also be included
Into the embodiment between the first and second features, such first and second feature may not be direct contact.
In the description of the invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection or the connection of two element internals, can
To be to be joined directly together, it can also be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions
In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent the implementation for implementing the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
The control system and permanent magnet synchronous electric of the permagnetic synchronous motor proposed according to embodiments of the present invention in description below
Before the Stator resistance identification method of machine, the general principle that the embodiment of the present invention is used simply is introduced first.
It can be seen from electrotechnics principle：
R=U/I
Wherein, U is the voltage for being applied to resistance two ends, and I is the electric current for flowing through resistance.
If the voltage U for being applied to resistance two ends changes n times, N number of DC current values I can be measured.If voltage U is regarded as
Dependent variable, regard electric current I as independents variable, it is clear that this N number of voltage for being applied to resistance two ends and the electric current of N number of measurement meet line
Sexual intercourse, you can to apply linear regression algorithm.Thus, according to the principle based on least-squares linear regression algorithm, you can with
Pick out corresponding resistance value.
General principle based on more than, the embodiment of the present invention proposes a kind of control system and one of permagnetic synchronous motor
Plant the Stator resistance identification method of permagnetic synchronous motor.
The control system of permagnetic synchronous motor that proposes according to embodiments of the present invention and forever described with reference to the accompanying drawings
The Stator resistance identification method of magnetic-synchro motor.
Fig. 1 is the principle schematic of the control system of the permagnetic synchronous motor according to the embodiment of the present invention.As shown in figure 1,
The control system of permagnetic synchronous motor includes：Current sample module 1, the first coordinate transferring 2, current correction module 3, compensation
Module 4 and Stator resistance identification module 5.
N number of three-phase current I of the current sample module 1 for permagnetic synchronous motor 10 of samplingUi、IVi、IWi, wherein, i is big
In the positive integer equal to 1 and less than or equal to N, sampling number N is the positive integer more than 1.Specifically, current sample module 1 can
With with the N number of three-phase current I of predeterminated frequency continuous samplingUi、IVi、IWi。
First coordinate transferring 2 is used in given electrical angle θrFor 0 when, to N number of three-phase current IUi、IVi、IWiSat
Mark is changed to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi.That is, the first coordinate transferring 2 is used for three
Phase static coordinate is transformed into two cordic phase rotators, wherein, give electrical angle θrIt is 0 always, keeps permagnetic synchronous motor static not
It is dynamic.
Current correction module 3 is used for according to d-axis reference current IdrefTo N number of direct-axis current IdiCurrent correction is carried out to obtain
Obtain N number of direct-axis voltage Vdi.Specifically, current correction module 3 can be proportional and integral controller, d-axis reference current IdrefWith it is straight
Shaft current IdiDifference direct-axis voltage V is obtained after proportional and integral controllerdi.It is understood that given electrical angle θrAlways
For 0, permagnetic synchronous motor transfixion is kept, then N number of direct-axis voltage VdiWith N number of direct-axis current IdiBetween have approximate line
Sexual intercourse.
Compensating module 4 is used for N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi。
Stator resistance identification module 5 is according to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current IdiObtain permanent magnetism same
Walk the resistance R of the stator resistance of motor 10.
Further, as shown in figure 1, the control system of permagnetic synchronous motor also includes：It is second coordinate transferring 6, inverse
Become module 7 and DC power supplier 8.
Wherein, the second coordinate transferring 6 is used for when given electrical angle is 0 to the direct-axis voltage V after N number of compensationcomi
With N number of quadrature-axis voltage VqiCoordinate Conversion is carried out to obtain N number of three-phase reference voltage Vai、Vbi、Vci, that is to say, that the second coordinate turns
Mold changing block 6 is used to two cordic phase rotators being transformed into three phase static coordinate, N number of quadrature-axis voltage VqiCan be 0.
Inversion module 7 is used for N number of three-phase reference voltage Vai、Vbi、VciPower amplification is carried out to obtain permagnetic synchronous motor
10 N number of three-phase voltage Ui、Vi、Wi, specifically, inversion module 7 can use IPM modules（Intelligent Power
Module, SPM）.
DC power supplier 8 is used to power for inversion module 7, and specifically, DC power supplier 8 is by alternating current through two poles
Pipe or diode bridge rectification, and using direct current is obtained after filter filtering, so as to be powered for inversion module 7.
In embodiments of the present invention, in system operation, electrical angle θ is givenrIt is 0 always, keeps permagnetic synchronous motor 10
Transfixion, N number of direct-axis voltage VdiWith N number of direct-axis current IdiBetween there is approximate linear relationship, and in engineer applied
In, the three-phase voltage for being applied to permagnetic synchronous motor 10 is obtained by inversion module 7, and inversion module 7 has dead band in itself
Pressure drop and power tube voltage drop, so, using compensating module 4 to N number of direct-axis voltage VdiAfter compensating, the d-axis after N number of compensation
Voltage VcomiWith N number of direct-axis current IdiBetween relation be closer to linearly.So, you can utilize least-squares linear regression
Algorithm obtains the resistance R of stator resistance.
Further, as depicted in figs. 1 and 2, Stator resistance identification module 5 is additionally operable to according to the d-axis electricity after N number of compensation
Press VcomiWith N number of direct-axis current Idi, and utilize the resistance of least-squares linear regression algorithm acquisition stator resistance.
Specifically, the resistance R of stator resistance can be obtained according to below equation：
Wherein, VcomiFor the direct-axis voltage after compensation, IdiFor direct-axis current.
In an embodiment of the invention, d-axis reference current IdrefIt can be slope current, thus, pass through current correction
N number of direct-axis voltage V that module 3 is obtaineddiFor ramp voltage, injecting voltage is referred to as, also, according to the three-phase current of sampling
IUi、IVi、IWiThe N number of direct-axis current I obtaineddiAlso it is slope current, is referred to as measuring electric current, then, compensating module 4 is to N
Individual direct-axis voltage VdiCompensate, N number of direct-axis current IdiWith the direct-axis voltage V after N number of compensationcomiInput Stator resistance identification mould
Block 5, Stator resistance identification module 5 can pick out the resistance R of stator resistance according to least-squares linear regression algorithm.
Specifically, can be according to below equation to the direct-axis voltage VdiCompensate：
Vcomi=Vdi+Vdead+VIGBT
Wherein, VcomiFor the direct-axis voltage after compensation, VdiFor direct-axis voltage, VdeadFor the dead band pressure drop of inversion module 7,
VIGBTThe pressure drop between drain electrode and source electrode for insulated gate bipolar transistor IGBT in inversion module 7, VIGBTAccording to IGBT volt-ampere
Characteristic curve and the electric current acquisition for flowing through IGBT.
In general, dead band pressure drop VdeadOne is set, and will not change in system operation, therefore VdeadCan be normal for one
Amount.And VIGBTIt is change before saturation is entered, therefore, when electric current is smaller, VIGBTIt can not simply be regarded as saturation voltage drop
Value, therefore, it can set up form by model IGBT used VA characteristic curve, is tabled look-up further according to specific size of current,
Obtain the pressure drop between the IGBT of respective model drain electrode and source electrode.
In one particular embodiment of the present invention, permagnetic synchronous motor 10 can be a kind of built-in type permanent magnet synchronous electric
Machine, and the line resistance R of permagnetic synchronous motor 10 is 1.09 Ω, and d axle inductances Ld is 8.8mH, and q axle inductances Lq is 14.4mH,
Back emf coefficient Ke is 17.2V/krpm, and number of pole-pairs poles is 2, and rotary inertia is 6.85*10-4kg.m2。
Meanwhile, d-axis reference current IdrefFor 0~5A slope current, slope is 0.02A, so, according to as shown in Figure 1
Permagnetic synchronous motor control system, with 100Hz frequency sampling three-phase current IUi、IVi、IWi, so that in the regular hour
It is interior, obtain N number of direct-axis voltage VdiWith N number of direct-axis current Idi, respectively as shown in Figure 3 and Figure 4, abscissa is sampling number N, is indulged
Coordinate unit is respectively V and A.
To N number of direct-axis voltage VdiCompensate, according to N number of direct-axis current IdiWith the direct-axis voltage Vcomi after N number of compensation,
Stator resistance identification module 5 is 0.507 based on the resistance R that least-squares linear regression algorithm can pick out stator resistance, fixed
The resistance R of sub- resistance is the resistance of phase resistance.And in the present embodiment, what the nameplate information of permagnetic synchronous motor 10 was provided is between line
Resistance, line resistance is converted to phase resistance Rs=1.09/2=0.5045 of phase resistance, i.e. nameplate information, comparison stator resistance
Resistance R and nameplate information phase resistance Rs, it is clear that be sufficiently close to.
Although it follows that N number of direct-axis voltage V in Fig. 3diContain N number of direct-axis current I in much noise, and Fig. 4di
Also noise is contained, but the resistance R of stator resistance that Stator resistance identification module 5 according to embodiments of the present invention is obtained still has
Excellent precision, i.e., fluctuating and measure current noise to direct current power source voltage has good vulnerability to jamming, is distinguished with higher
Know precision.
In a preferred embodiment of the invention, direct-axis current IdiAccording to U phases electricity in the three-phase of permagnetic synchronous motor 10
Flow IUiObtain；Direct-axis voltage VdiAccording to the phase voltage V alternate with V of U phases in the three-phase of permagnetic synchronous motor 10UViTo obtain.Its
In, direct-axis voltage VdiFor the phase voltage V between the U phases and V phases of permagnetic synchronous motor 10UVi1.5 times, direct-axis current IdiFor forever
The electric current I of the U phases of magnetic-synchro motor 10ai.Thus, Stator resistance identification module 5 is according to N number of U phases phase voltage V alternate with VUVi
With N number of U phase currents IaiObtain the resistance R of stator resistance.
That is, due to giving electrical angle θrFor 0, therefore, direct-axis voltage VdiCan be by monitoring permagnetic synchronous motor 10
UV two-phases phase voltage, and be phase voltage V by LPFUVi1.5 times obtain, and direct-axis current IdiIt can then pass through
The phase current of monitoring U phases is obtained.
The control system of the permagnetic synchronous motor proposed according to embodiments of the present invention, passes through current sample module samples permanent magnetism
N number of three-phase current I of synchronous motorUi、IVi、IWi, when given electrical angle is 0, the first coordinate transferring is to N number of three-phase electricity
Flow IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi, afterwards, current correction module
According to d-axis reference current IdrefWith quadrature axis reference current IqrefRespectively to N number of direct-axis current IdiWith N number of quadrature axis current IqiCarry out
Current correction is to obtain N number of direct-axis voltage VdiWith N number of quadrature-axis voltage Vqi, also, compensating module is to N number of direct-axis voltage VdiCarry out
Compensate to obtain the direct-axis voltage V after N number of compensationcomi, Stator resistance identification module 5 is according to the direct-axis voltage V after N number of compensationcomi
With N number of direct-axis current IdiObtain the resistance of stator resistance.Thus, the control system energy of the permagnetic synchronous motor of the embodiment of the present invention
Stator resistance identification precision is enough improved, also, the resistance of stator resistance is obtained by least-squares linear regression, to measurement electric current
Random noise and direct current power source voltage there is good vulnerability to jamming.
Fig. 5 is the flow chart of the Stator resistance identification method of the permagnetic synchronous motor according to one embodiment of the invention.Such as
Shown in Fig. 5, the Stator resistance identification method of permagnetic synchronous motor comprises the following steps：
S1, the N number of three-phase current I for permagnetic synchronous motor of samplingUi、IVi、IWi, wherein, i is more than or equal to 1 and is less than or equal to
N positive integer, sampling number N is the positive integer more than or equal to 1.
Specifically, can be with the N number of three-phase current I of predeterminated frequency continuous samplingUi、IVi、IWi。
S2, when given electrical angle is 0, to N number of three-phase current IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of d-axis
Electric current IdiWith N number of quadrature axis current Iqi。
That is, by three phase static Coordinate Conversion to two cordic phase rotators, wherein, it is 0 to give electrical angle.
S3, according to d-axis reference current IdrefTo N number of direct-axis current IdiCurrent correction is carried out to obtain N number of direct-axis voltage
Vdi。
Specifically, d-axis reference current IdrefWith direct-axis current IdiDifference obtained after proportional and integral controller d-axis electricity
Press Vdi.In system operation, electrical angle θ is givenrIt is 0 always, keeps permagnetic synchronous motor transfixion, then N number of direct-axis voltage
VdiWith N number of direct-axis current IdiBetween have approximate linear relationship.
S4, to N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi。
Specifically, can be according to below equation to direct-axis voltage VdiCompensate：
Vcomi=Vdi+Vdead+VIGBT
Wherein, VcomiFor the direct-axis voltage after compensation, VdiFor direct-axis voltage, VdeadFor the dead band pressure drop of inversion module, VIGBT
For the pressure drop in inversion module between insulated gate bipolar transistor IGBT drain electrode and source electrode, according to IGBT VA characteristic curve and
The electric current for flowing through IGBT is obtained.
In general, dead band pressure drop VdeadOne is set, and will not change in system operation, therefore VdeadCan be normal for one
Amount.And VIGBTIt is change before saturation is entered, therefore, when electric current is smaller, VIGBTIt can not simply be regarded as saturation voltage drop
Value, therefore, it can set up form by model IGBT used VA characteristic curve, is tabled look-up further according to specific size of current,
Obtain the pressure drop between the IGBT of respective model drain electrode and source electrode.
S5, according to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current IdiObtain the stator electricity of permagnetic synchronous motor
The resistance of resistance.
Further, as shown in fig. 6, also including after step s 5：
S6, when given electrical angle is 0, to the direct-axis voltage V after N number of compensationcomiWith N number of quadrature-axis voltage VqiCarry out coordinate
Change to obtain N number of three-phase reference voltage Vai、Vbi、Vci。
That is, two cordic phase rotators are transformed into three phase static coordinate, wherein, it is 0, N number of quadrature axis to give electrical angle
Voltage VqiCan be 0.
S7, by N number of three-phase reference voltage Vai、Vbi、VciPower amplification is carried out to obtain the N number of of the permagnetic synchronous motor
Three-phase voltage Ui、Vi、Wi。
Specifically, by inversion module by N number of three-phase reference voltage Vai、Vbi、VciCarry out power amplification same to obtain permanent magnetism
Walk N number of three-phase voltage U of motor 10i、Vi、Wi。
In embodiments of the present invention, in system operation, electrical angle θ is givenrIt is 0 always, keeps permagnetic synchronous motor quiet
It is only motionless, N number of direct-axis voltage VdiWith N number of direct-axis current IdiBetween there is approximate linear relationship, and in engineer applied,
The three-phase voltage for being applied to permagnetic synchronous motor is obtained by inversion module, and inversion module has dead band pressure drop and work(in itself
Rate tube voltage drop, so, to N number of direct-axis voltage VdiAfter compensating, the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current
IdiBetween relation be closer to linearly.So, you can the resistance of stator resistance is obtained using least-squares linear regression algorithm
Value R.
Specifically, step S5 also includes：According to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current Idi, and utilize
Least-squares linear regression algorithm obtains the resistance of stator resistance.
Specifically, the resistance R of stator resistance can be obtained according to below equation：
Wherein, VcomiFor the direct-axis voltage after compensation, IdiFor direct-axis current.
In an embodiment of the invention, d-axis reference current IdrefCan be slope current, thus, N number of direct-axis voltage
VdiFor ramp voltage, injecting voltage is referred to as, also, according to the three-phase current I of samplingUi、IVi、IWiThe N number of d-axis obtained
Electric current IdiAlso it is slope current, is referred to as measuring electric current, then, to N number of direct-axis voltage VdiCompensate, according to N number of straight
Shaft current IdiWith the direct-axis voltage V after N number of compensationcomi, and stator electricity can be picked out based on least-squares linear regression algorithm
The resistance R of resistance.
In a preferred embodiment of the invention, the Stator resistance identification method of permagnetic synchronous motor also includes：Survey
Measure U phase currents I in the three-phase of permagnetic synchronous motorUiTo obtain the direct-axis current Idi；In the three-phase for measuring permagnetic synchronous motor
The U phases phase voltage V alternate with VUViTo obtain direct-axis voltage Vdi.Wherein, direct-axis voltage VdiFor the U phases and V of permagnetic synchronous motor
Phase voltage V between phaseUVi1.5 times, direct-axis current IdiFor the electric current I of the U phases of permagnetic synchronous motorai.So, according to N number of U
The phase phase voltage V alternate with VUViWith N number of U phase currents IaiObtain the resistance of stator resistance.
That is, due to giving electrical angle θrFor 0, therefore, direct-axis voltage VdiCan be by monitoring permagnetic synchronous motor 10
UV two-phases phase voltage, and be phase voltage V by LPFUVi1.5 times obtain, and direct-axis current IdiIt can then pass through
The phase current of monitoring U phases is obtained.
The Stator resistance identification method of the permagnetic synchronous motor proposed according to embodiments of the present invention, passes through permanent-magnet synchronous of sampling
N number of three-phase current I of motorUi、IVi、IWi, when given electrical angle is 0, to N number of three-phase current IUi、IVi、IWiCoordinate is carried out to turn
Change to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi, afterwards, according to d-axis reference current IdrefWith quadrature axis reference current
IqrefRespectively to N number of direct-axis current IdiWith N number of quadrature axis current IqiCurrent correction is carried out to obtain N number of direct-axis voltage VdiHanded over N number of
Shaft voltage Vqi, also, to N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi, mended according to N number of
Direct-axis voltage V after repayingcomiWith N number of direct-axis current IdiObtain the resistance of stator resistance.Thus, the permanent magnetism of the embodiment of the present invention is same
The Stator resistance identification method of step motor can improve Stator resistance identification precision, also, be obtained by least-squares linear regression
The resistance of stator resistance is taken, there is good vulnerability to jamming to the random noise and direct current power source voltage for measuring electric current.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, fragment or the portion of the code of one or more executable instructions for the step of realizing specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list for the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment（As computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction）Use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress for combining these instruction execution systems, device or equipment and using
Put.The more specifically example of computer-readable medium（Non-exhaustive list）Including following：Electricity with one or more wirings
Connecting portion（Electronic installation）, portable computer diskette box（Magnetic device）, random access memory（RAM）, read-only storage
（ROM）, erasable edit read-only storage（EPROM or flash memory）, fiber device, and portable optic disk is read-only deposits
Reservoir（CDROM）.In addition, can even is that can be in the paper of printing described program thereon or other are suitable for computer-readable medium
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array（PGA）, scene
Programmable gate array（FPGA）Deng.
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
Rapid to can be by program to instruct the hardware of correlation to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is realized using in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (9)
1. a kind of control system of permagnetic synchronous motor, it is characterised in that including：
Current sample module, N number of three-phase current I for the permagnetic synchronous motor of samplingUi、IVi、IWi, wherein, i be more than
Positive integer equal to 1 and less than or equal to N, sampling number N is the positive integer more than 1；
First coordinate transferring, for given electrical angle be 0 when to N number of three-phase current IUi、IVi、IWiCarry out coordinate
Change to obtain N number of direct-axis current IdiWith N number of quadrature axis current Iqi；
Current correction module, for according to d-axis reference current IdrefTo N number of direct-axis current IdiCurrent correction is carried out to obtain
Obtain N number of direct-axis voltage Vdi；
Compensating module, for N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi；
Stator resistance identification module, according to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current IdiObtain institute
State the resistance of the stator resistance of permagnetic synchronous motor；
Wherein, the control system of described permagnetic synchronous motor, in addition to：
Second coordinate transferring, for given electrical angle be 0 when to the direct-axis voltage V after N number of compensationcomiHanded over N number of
Shaft voltage VqiCoordinate Conversion is carried out to obtain N number of three-phase reference voltage Vai、Vbi、Vci；
Inversion module, for by N number of three-phase reference voltage Vai、Vbi、VciPower amplification is carried out to obtain the permanent-magnet synchronous
N number of three-phase voltage U of motori、Vi、Wi；
DC power supplier, for being powered for the inversion module；
Wherein, according to below equation to the direct-axis voltage VdiCompensate：
Vcomi=Vdi+Vdead+VIGBT
Wherein, VcomiFor the direct-axis voltage after the compensation, VdiFor the direct-axis voltage, VdeadFor the dead band of the inversion module
Pressure drop, VIGBTThe pressure drop between drain electrode and source electrode for insulated gate bipolar transistor IGBT in the inversion module, VIGBTAccording to institute
State IGBT VA characteristic curve and flow through the electric current acquisition of the IGBT.
2. the control system of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the Stator resistance identification module
It is additionally operable to：
According to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current Idi, and utilize least-squares linear regression
Algorithm obtains the resistance of the stator resistance.
3. the control system of permagnetic synchronous motor as claimed in claim 2, it is characterised in that according to being obtained below equation
The resistance R of stator resistance：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msub>
<mi>I</mi>
<mrow>
<mi>d</mi>
<mi>i</mi>
</mrow>
</msub>
<msub>
<mi>V</mi>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>m</mi>
<mi>i</mi>
</mrow>
</msub>
</mrow>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msubsup>
<mi>I</mi>
<mrow>
<mi>d</mi>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
</mrow>
</mfrac>
</mrow>
Wherein, VcomiFor the direct-axis voltage and I after the compensationdiFor the direct-axis current.
4. the control system of permagnetic synchronous motor as claimed in claim 1, it is characterised in that wherein,
The direct-axis current IdiAccording to U phase currents I in the three-phase of the permagnetic synchronous motorUiObtain；
The direct-axis voltage VdiAccording to the phase voltage V alternate with V of U phases in the three-phase of the permagnetic synchronous motorUViTo obtain
Take；
The direct-axis voltage VdiFor the phase voltage V between the U phases and V phases of the permagnetic synchronous motorUVi1.5 times, the d-axis
Electric current IdiFor the electric current I of the U phases of the permagnetic synchronous motorai；
The Stator resistance identification module is according to N number of U phases phase voltage V alternate with VUViWith N number of U phase currents IaiObtain
Obtain the resistance of the stator resistance.
5. a kind of Stator resistance identification method of permagnetic synchronous motor, it is characterised in that comprise the following steps：
S1, the N number of three-phase current I for the permagnetic synchronous motor of samplingUi、IVi、IWi, wherein, i is more than or equal to 1 and is less than or equal to
N positive integer, sampling number N is the positive integer more than or equal to 1；
S2, when given electrical angle is 0, to N number of three-phase current IUi、IVi、IWiCoordinate Conversion is carried out to obtain N number of d-axis
Electric current IdiWith N number of quadrature axis current Iqi；
S3, according to d-axis reference current IdrefTo N number of direct-axis current IdiCurrent correction is carried out to obtain N number of direct-axis voltage
Vdi；
S4, to N number of direct-axis voltage VdiCompensate to obtain the direct-axis voltage V after N number of compensationcomi；
S5, according to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current IdiObtain the permagnetic synchronous motor
Stator resistance resistance；
Wherein, according to below equation to the direct-axis voltage VdiCompensate：
Vcomi=Vdi+Vdead+VIGBT
Wherein, VcomiFor the direct-axis voltage after compensation, VdiFor the direct-axis voltage, VdeadFor the dead band pressure drop of inversion module,
VIGBTDrained and the pressure drop between source electrode for insulated gate bipolar transistor IGBT in inversion module, according to the volt-ampere of IGBT spy
Linearity curve and the electric current acquisition for flowing through the IGBT.
6. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 5, it is characterised in that in the step S5
Also include afterwards：
When given electrical angle is 0, to the direct-axis voltage V after N number of compensationcomiWith N number of quadrature-axis voltage VqiCoordinate is carried out to turn
Change to obtain N number of three-phase reference voltage Vai、Vbi、Vci；
By N number of three-phase reference voltage Vai、Vbi、VciPower amplification is carried out to obtain N number of three-phase of the permagnetic synchronous motor
Voltage Ui、Vi、Wi。
7. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 5, it is characterised in that the step S5 is also
Including：
According to the direct-axis voltage V after N number of compensationcomiWith N number of direct-axis current Idi, and utilize least-squares linear regression
Algorithm obtains the resistance of the stator resistance.
8. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 7, it is characterised in that according to below equation
Obtain the resistance R of the stator resistance：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>e</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msub>
<mi>I</mi>
<mrow>
<mi>d</mi>
<mi>i</mi>
</mrow>
</msub>
<msub>
<mi>V</mi>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>m</mi>
<mi>i</mi>
</mrow>
</msub>
</mrow>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msubsup>
<mi>I</mi>
<mrow>
<mi>d</mi>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
</mrow>
</mfrac>
</mrow>
Wherein, VcomiFor the direct-axis voltage after the compensation, IdiFor the direct-axis current.
9. the Stator resistance identification method of permagnetic synchronous motor as claimed in claim 6, it is characterised in that wherein,
Measure U phase currents I in the three-phase of the permagnetic synchronous motorUiTo obtain the direct-axis current Idi；
Measure the U phases phase voltage V alternate with V in the three-phase of the permagnetic synchronous motorUViTo obtain the direct-axis voltage
Vdi；
The direct-axis voltage VdiFor the phase voltage V between the U phases and V phases of the permagnetic synchronous motorUVi1.5 times, the d-axis
Electric current IdiFor the electric current I of the U phases of the permagnetic synchronous motorai；
According to N number of U phases phase voltage V alternate with VUViWith N number of U phase currents IaiObtain the resistance of the stator resistance.
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| CN105356807B (en) * | 2015-10-28 | 2018-02-06 | 广东美的制冷设备有限公司 | A kind of resistance on-line identification method and system of permagnetic synchronous motor |
| CN106026825B (en) * | 2016-07-28 | 2019-01-29 | 北方工业大学 | A kind of method of permanent magnet synchronous motor parameter identification |
| CN106788056B (en) * | 2016-11-21 | 2019-12-06 | 广东威灵电机制造有限公司 | Online identification method and device for motor stator resistance and motor control system |
| CN106505924B (en) * | 2016-11-21 | 2019-05-24 | 广东威灵电机制造有限公司 | The on-line identification method, apparatus and electric machine control system of motor stator resistance |
| CN111162709A (en) * | 2020-01-19 | 2020-05-15 | 珠海格力电器股份有限公司 | Motor drive control method, device and system and household appliance |
| CN113691182B (en) * | 2021-08-26 | 2023-10-13 | 上海儒竞智控技术有限公司 | Resistance identification method, system, medium and terminal of permanent magnet synchronous motor |
| CN114337430B (en) * | 2021-12-28 | 2023-11-14 | 江苏国传电气有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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