CN111490714A - Temperature detection method of permanent magnet synchronous motor - Google Patents
Temperature detection method of permanent magnet synchronous motor Download PDFInfo
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- CN111490714A CN111490714A CN202010304371.4A CN202010304371A CN111490714A CN 111490714 A CN111490714 A CN 111490714A CN 202010304371 A CN202010304371 A CN 202010304371A CN 111490714 A CN111490714 A CN 111490714A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 238000004804 winding Methods 0.000 claims abstract description 37
- 239000004576 sand Substances 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 25
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000010606 normalization Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- NTSBMKIZRSBFTA-AIDOXSFESA-N Digoxigenin bisdigitoxoside Chemical compound C1[C@H](O)[C@H](O)[C@@H](C)O[C@H]1O[C@@H]1[C@@H](C)O[C@@H](O[C@@H]2C[C@@H]3[C@]([C@@H]4[C@H]([C@]5(CC[C@@H]([C@@]5(C)[C@H](O)C4)C=4COC(=O)C=4)O)CC3)(C)CC2)C[C@@H]1O NTSBMKIZRSBFTA-AIDOXSFESA-N 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000036314 physical performance Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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- Engineering & Computer Science (AREA)
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a temperature detection method of a permanent magnet synchronous motor, which comprises the following steps: injecting an alternating current signal into the reference current of the d axis to enable the a-phase current iaSum line voltage UabThen a direct current component is generated, and then a-phase current i is obtainedaAverage value of (1)a dc(ii) a Calculating the average value U of the three-phase line voltage by combining the conditions of the dead zone, the tube voltage drop and the switch time delayab dc(ii) a Combined mean value Ia dcAnd Uab dcCalculating the resistance value R of the stator windingsAnd according to the stator winding resistance value RsCalculating the current temperature T of the motor according to the relation with the temperatures. According to the temperature detection method of the permanent magnet synchronous motor, only the alternating current signal needs to be injected into the reference current of the d axis, so that the disturbance of the motor torque is avoided, and the temperature monitoring of the permanent magnet motor is more accurate.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a temperature detection method of a permanent magnet synchronous motor.
Background
When a Permanent Magnet Synchronous Motor (PMSM) operates, temperature rise can cause demagnetization of a Permanent magnet, damage insulation of a winding, and directly affect reliable operation and service life of the motor. The temperature rise of the motor is accurately detected, so that not only can the safe operation of the motor be ensured, but also the service life of the motor can be prolonged. Therefore, the temperature detection of the permanent magnet synchronous motor has important practical significance.
Several methods have been proposed to estimate the temperature of the motor so far, 1) simplifying the formula: the method can only estimate the temperature of the whole iron core or the average temperature rise of the winding, so the calculation result is rough and the method is applied to temperature detection with poor feasibility; 2) equivalent thermal circuit method: the average temperature rise of part of windings and iron cores can be calculated; 3) numerical calculation method: the method has high calculation accuracy, but depends on the structural parameters of the motor and the physical performance parameters of the used materials, and is more suitable for manufacturing the motor; 4) a parameter identification method comprises the following steps: the method has the characteristics of simplicity and practicality, but can only give the temperature of the normal steady-state operation winding of the motor; 5) thermal modeling method: the method has high calculation accuracy, but the change of the thermal parameters of the motor can cause the failure of the estimation of the temperature of the thermal model; 6) resistance method: it is also increasingly favored to estimate the temperature of the motor indirectly by estimating the motor resistance, which is simple and not affected by the variation of the motor parameters, among which the stator resistance estimation method based on the dc injection method is most popular. However, the current injection method causes pulsation of the motor rotation speed (or torque), which affects the accuracy of calculation.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a temperature detection method of a permanent magnet synchronous motor.
The invention provides a temperature detection method of a permanent magnet synchronous motor, which comprises the following steps:
s1, injecting AC signal into the reference current of d axis to make a phase i currentaSum line voltage UabThen a direct current component is generated, and then a-phase current i is obtainedaAverage value of (1)a dc；
S2, calculating the average value U of the three-phase line voltage by combining the dead zone, the tube voltage drop and the switch time delayab dc；
S3 combination average value Ia dcAnd Uab dcCalculating the resistance value R of the stator windingsAnd according to the stator winding resistance value RsCalculating the current temperature T of the motor according to the relation with the temperatures。
Preferably, the current a is in phase i in step S1aSum line voltage UabAfter the direct current component is generated, the duty ratio of the PWM signal and the direct current bus voltage U are recordeddc(ii) a Step S2 specifically includes: calculating the average value U of the three-phase voltage by using the duty ratio of the PWM signal and the DC bus voltage according to the conditions of the dead zone, the tube voltage drop and the switch time delayab dc。
Preferably, in step S2, the average value U of the three-phase voltages is calculated using the duty ratio of the PWM signal and the dc bus voltageab dcThe method comprises the following steps: firstly, the DC bus voltage U is combineddcCalculating the average value of each phase voltage in 1 PWM signal period based on the duty ratio of the PWM signal, the dead time normalized based on the PWM signal period, the time difference of the turn-on and turn-off delay of the IGBT normalized based on the PWM signal period, the tube voltage drop of the IGBT, the tube voltage drop of the diode and each phase current; calculating the line voltage by the average value to obtain an average value Uab dc。
Preferably, the calculation model of the average value of each phase voltage in 1 PWM signal period is as follows:
in the formula: i.e. iaIs the current of the a-phase stator winding, ibIs the current of the stator winding of phase b, icIs the current of the c-phase stator winding; u shapeaNIs the average value of the a-phase voltage over 1 PWM signal period, UbNIs the average value, U, of the b-phase voltage over 1 PWM signal periodcNIs the average value of the c-phase voltage in 1 PWM signal period; daIs the duty cycle of the a-phase PWM signal, DbIs the duty cycle of the b-phase PWM signal, DcIs the duty cycle of the c-phase PWM signal;
Udcis the DC bus voltage, DdtIs based on the dead time, U, of the PWM signal after period normalizationIGBTAnd UdiodeTube voltage drop of IGBT and diode, respectively, DdlyThe time difference of turn-on and turn-off delay of the IGBT is based on the PWM signal period normalization.
Preferably, in step S3, the average value I is combineda dcAnd Uab dcCalculating the resistance value R of the stator windingsThe calculation model of (a) is:
preferably, in step S3, the resistance value R of the stator winding is substitutedsSubstituting into a preset resistance temperature model to calculate the current temperature T of the motors；
The resistance temperature model is:
wherein R is0Is the temperature T0Resistance value of time winding, RsIs that the test temperature is at TsResistance value of the time winding, k1Is a constant determined by the winding material.
Preferably, k is1Is the temperature coefficient of resistance.
According to the temperature detection method of the permanent magnet synchronous motor, only the alternating current signal needs to be injected into the reference current of the d axis, so that the disturbance of the motor torque is avoided, and the temperature monitoring of the permanent magnet motor is more accurate.
Meanwhile, when the temperature of the motor is calculated by the method, additional sensors and equipment are not needed, the cost is low, the reliability is high, the calculation is simple, and the accuracy is high.
Drawings
Fig. 1 is a flowchart of a temperature detection method for a permanent magnet synchronous motor according to the present invention.
Detailed Description
Referring to fig. 1, the method for detecting the temperature of the permanent magnet synchronous motor according to the present invention includes the following steps.
S1, injecting AC signal into the reference current of d axis to make a phase i currentaSum line voltage UabThen a direct current component is generated, and then a-phase current i is obtainedaAverage value of (1)a dc. In specific implementation, the duty ratio of the PWM signal and the DC bus voltage U are also recordeddc。
S2, calculating the average value U of the three-phase line voltage by combining the dead zone, the tube voltage drop and the switch time delayab dc。
Specifically, in the step, the average value U of the three-phase voltage is calculated by using the duty ratio of the PWM signal and the dc bus voltage in combination with the dead zone, the tube voltage drop, and the switching delayab dc。
S3 combination average value Ia dcAnd Uab dcCalculating the resistance value R of the stator windingsAnd according to the stator winding resistance value RsCalculating the current temperature T of the motor according to the relation with the temperatures. Specifically, in this step, the resistance value R of the stator winding is adjustedsSubstituting into a preset calculation model to calculate the current temperature T of the motors。
The invention is further explained below with reference to a specific embodiment.
In this embodiment, the method specifically includes the following steps.
The first step is as follows: firstly, the motor current is performed abc/dq conversion, and then an alternating current signal is injected into the reference current of the d axis to enable the a-phase current iaSum line voltage UabGenerating a direct current component; re-recording a-phase current iaAverage value of (1)a dcDuty ratio of PWM signal and DC bus voltage Udc。
The second step is that: and calculating the average value U of the three-phase voltage by using the duty ratio of the PWM signal and the voltage of the direct-current bus in combination with the conditions of the dead zone, the tube voltage drop and the switch time delayab dc。
Specifically, in this step, the dc bus voltage U is first combineddcDuty ratio of PWM signal, dead time normalized based on PWM signal period, P-basedAnd calculating the average value of each phase voltage in 1 PWM signal period by the time difference of the IGBT turn-on and turn-off delay, the tube voltage drop of the IGBT, the tube voltage drop of the diode and each phase current after the WM signal period is normalized.
In this embodiment, a calculation model of an average value of each phase voltage in 1 PWM signal period is as follows:
in the formula: i.e. iaIs the current of the a-phase stator winding, ibIs the current of the stator winding of phase b, icIs the current of the c-phase stator winding; u shapeaNIs the average value of the a-phase voltage over 1 PWM signal period, UbNIs the average value, U, of the b-phase voltage over 1 PWM signal periodcNIs the average value of the c-phase voltage in 1 PWM signal period; daIs the duty cycle of the a-phase PWM signal, DbIs the duty cycle of the b-phase PWM signal, DcIs the duty cycle of the c-phase PWM signal; u shapedcIs the DC bus voltage, DdtIs based on the dead time, U, of the PWM signal after period normalizationIGBTAnd UdiodeTube voltage drop of IGBT and diode, respectively, DdlyThe time difference of turn-on and turn-off delay of the IGBT is based on the PWM signal period normalization.
Then combined with the average UaN、UbNAnd UcNCalculating line voltage to obtain average value Uab dc。
The third step: combined mean value Ia dcAnd Uab dcCalculating the resistance value R of the stator windingsThen, the resistance value R of the stator winding is substitutedsSubstituting into a preset resistance temperature model to calculate the current temperature T of the motors。
In particular, the method comprises the following steps of,
wherein R is0Is the temperature T0Resistance value of time winding, RsIs that the test temperature is at TsOf time windingsResistance value, k1Is a constant determined by the winding material. Specifically, k1For temperature coefficient of resistance, k is when the winding material is copper1＝0.00393。
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (7)
1. A temperature detection method of a permanent magnet synchronous motor is characterized by comprising the following steps:
s1, injecting AC signal into the reference current of d axis to make a phase i currentaSum line voltage UabThen a direct current component is generated, and then a-phase current i is obtainedaAverage value of (1)a dc；
S2, calculating the average value U of the three-phase line voltage by combining the dead zone, the tube voltage drop and the switch time delayab dc；
S3 combination average value Ia dcAnd Uab dcCalculating the resistance value R of the stator windingsAnd according to the stator winding resistance value RsCalculating the current temperature T of the motor according to the relation with the temperatures。
2. The method for detecting the temperature of a permanent magnet synchronous motor according to claim 1, wherein the current a is phase i in step S1aSum line voltage UabAfter the direct current component is generated, the duty ratio of the PWM signal and the direct current bus voltage U are recordeddc(ii) a Step S2 specifically includes: calculating the average value U of the three-phase voltage by using the duty ratio of the PWM signal and the DC bus voltage according to the conditions of the dead zone, the tube voltage drop and the switch time delayab dc。
3. The method for detecting the temperature of a permanent magnet synchronous motor according to claim 1, characterized by the steps ofIn S2, the average value U of the three-phase voltages is calculated using the duty ratio of the PWM signal and the dc bus voltageab dcThe method comprises the following steps: firstly, the DC bus voltage U is combineddcCalculating the average value of each phase voltage in 1 PWM signal period based on the duty ratio of the PWM signal, the dead time normalized based on the PWM signal period, the time difference of the turn-on and turn-off delay of the IGBT normalized based on the PWM signal period, the tube voltage drop of the IGBT, the tube voltage drop of the diode and each phase current; calculating the line voltage by the average value to obtain an average value Uab dc。
4. The method of claim 1, wherein the calculation model of the average value of each phase voltage in 1 PWM signal period is as follows:
in the formula: i.e. iaIs the current of the a-phase stator winding, ibIs the current of the stator winding of phase b, icIs the current of the c-phase stator winding; u shapeaNIs the average value of the a-phase voltage over 1 PWM signal period, UbNIs the average value, U, of the b-phase voltage over 1 PWM signal periodcNIs the average value of the c-phase voltage in 1 PWM signal period; daIs the duty cycle of the a-phase PWM signal, DbIs the duty cycle of the b-phase PWM signal, DcIs the duty cycle of the c-phase PWM signal;
Udcis the DC bus voltage, DdtIs based on the dead time, U, of the PWM signal after period normalizationIGBTAnd UdiodeTube voltage drop of IGBT and diode, respectively, DdlyThe time difference of turn-on and turn-off delay of the IGBT is based on the PWM signal period normalization.
5. The method for detecting the temperature of a permanent magnet synchronous motor according to claim 1, wherein the average value I is combined in step S3a dcAnd Uab dcCalculating stator winding electricityResistance value RsThe calculation model of (a) is:
6. the method for detecting the temperature of a permanent magnet synchronous motor according to claim 1, wherein in step S3, the resistance value R of the stator winding is substitutedsSubstituting into a preset resistance temperature model to calculate the current temperature T of the motors；
The resistance temperature model is:
wherein R is0Is the temperature T0Resistance value of time winding, RsIs that the test temperature is at TsResistance value of the time winding, k1Is a constant determined by the winding material.
7. The method of claim 6, wherein k is a temperature of the PMSM1Is the temperature coefficient of resistance.
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| WO2022056980A1 (en) * | 2020-09-21 | 2022-03-24 | 瑞声声学科技(深圳)有限公司 | Method for obtaining static impedance of motor, motor monitoring system and device, and medium |
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