CN111398812A - Motor carrier frequency calibration system, method and device - Google Patents
Motor carrier frequency calibration system, method and device Download PDFInfo
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The application relates to a motor carrier frequency calibration system, a motor carrier frequency calibration method and a motor carrier frequency calibration device. The system comprises a dynamometer, computer equipment, a noise detection device and a power analysis device; the computer equipment is used for sending a carrier frequency value to the motor controller and sending a given rotating speed value to the dynamometer; the dynamometer is used for controlling the rotating speed of the motor to be calibrated according to a given rotating speed value and returning an actual torque value and an actual rotating speed value of the motor to be calibrated to the computer equipment; the noise detection device and the power analysis device are respectively used for acquiring and transmitting a motor noise value and an input power value to the computer equipment; the computer equipment is also used for determining a system efficiency value according to the actual torque value, the actual rotating speed value and the input power value, and calibrating a target carrier frequency value corresponding to the given rotating speed value according to the carrier frequency value and the motor noise value. By adopting the system, the calibration efficiency and the calibration result accuracy can be improved.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a motor carrier frequency calibration system, method and device.
Background
The efficiency requirement of the new energy automobile on the driving system is very high. The efficiency of the electric drive system of the new energy automobile consists of two parts, namely motor efficiency and controller efficiency. In order to meet the requirements of users, under the condition that the torque and the rotating speed generated by the motor are constant, the carrier frequency of PWM (Pulse width modulation) controlled by the motor has great influence on the system efficiency. For the controller, the larger the PWM carrier frequency is, the more the controller is switched on and off, the larger the switching loss is, and the lower the controller efficiency is; for the motor, the larger the PWM carrier frequency is, the less harmonic components of the three-phase alternating current are, the smaller the harmonic loss is, and the higher the motor efficiency is. The efficiency of the system can be improved by adopting a proper carrier frequency and considering both the harmonic loss of the motor and the switching loss of the controller.
The selection of the appropriate carrier frequency is mainly performed by two modes, namely simulation and manual measurement. The simulation mode is that a simulation model of the motor and the controller is established, different carrier frequencies are given virtually, and the carrier frequency with the optimal system efficiency is found. And the manual measurement mode has large measurement workload and long time consumption, so that the carrier frequency calibration efficiency is low.
Disclosure of Invention
Therefore, it is necessary to provide a system, a method and a device for calibrating a carrier frequency of a motor, which can improve calibration efficiency and accuracy of calibration results, in view of the above technical problems.
In a first aspect, a motor carrier frequency calibration system is provided, which comprises a dynamometer, a computer device, a noise detection device and a power analysis device; the computer equipment is respectively connected with the dynamometer, the noise detection device and the power analysis device;
the computer equipment is used for sending a carrier frequency instruction to a motor controller for driving a motor to be calibrated and sending a rotating speed instruction to the dynamometer, and the carrier frequency instruction is used for giving a carrier frequency value of the motor controller;
the dynamometer is used for controlling the rotating speed of the motor to be calibrated according to a given rotating speed value carried by the rotating speed instruction and returning an actual torque value and an actual rotating speed value of the motor to be calibrated to the computer equipment;
the noise detection device is arranged around the motor to be calibrated and used for detecting the motor noise value of the motor to be calibrated and transmitting the motor noise value to the computer equipment;
the power analysis device is used for acquiring the input power value of the motor controller and transmitting the input power value to the computer equipment;
and the computer equipment is also used for determining a system efficiency value according to the actual torque value, the actual rotating speed value and the input power value, and calibrating a target carrier frequency value corresponding to the given rotating speed value according to the system efficiency value and the motor noise value.
With reference to the first aspect, in a possible implementation manner of the first aspect, the computer device is further configured to send a current instruction to the motor controller, where the current instruction is used for giving a control current value of the motor controller; the computer equipment changes the carrier frequency value under the fixed control current value, determines the system efficiency value corresponding to each carrier frequency value according to the actual torque value, the actual rotating speed value and the input power value corresponding to each carrier frequency value, and calibrates the target carrier frequency value corresponding to the given rotating speed value according to the system efficiency value corresponding to each carrier frequency value and the motor noise value corresponding to each carrier frequency value.
With reference to the first aspect or some possible implementation manners described above, the noise detection apparatus is configured to detect noise values of a plurality of test points of the motor to be calibrated, and use a maximum value of the noise values of the plurality of test points as a motor noise value.
With reference to the first aspect or some of the foregoing possible implementation manners, in a possible implementation manner of the first aspect, the target carrier frequency value is a carrier frequency value at which the motor noise value meets a preset condition and the system efficiency value is maximum.
With reference to the first aspect or some of the foregoing possible implementations, in a possible implementation of the first aspect, the motor noise value meeting the preset condition means that the motor noise value is smaller than a preset noise threshold.
With reference to the first aspect or some of the foregoing possible implementations, in a possible implementation of the first aspect, the computer device is further configured to change the magnitude of the given rotation speed value to calibrate the target carrier frequency values corresponding to different given rotation speed values.
With reference to the first aspect or some of the foregoing possible implementation manners, in a possible implementation manner of the first aspect, the computer device is further configured to determine a mapping relationship between the given rotation speed value and the target carrier frequency value according to target carrier frequency values corresponding to different given rotation speed values, where the mapping relationship is used to control the carrier frequency value of the motor to be calibrated.
With reference to the first aspect or some possible implementations of the foregoing, in a possible implementation of the first aspect, the system further includes a motor controller, where the motor controller is connected to the motor to be calibrated through a three-phase line, and the motor controller is further connected to a resolver of the motor to be calibrated.
With reference to the first aspect or some of the foregoing possible implementations, in one possible implementation of the first aspect, the system further includes a power supply device, where the power supply device is configured to be connected to the motor controller, and configured to provide the motor controller with a voltage required to drive the motor to be calibrated.
With reference to the first aspect or some of the foregoing possible implementations, in one possible implementation of the first aspect, the motor to be calibrated is a permanent magnet synchronous motor.
In a second aspect, a method for calibrating a carrier frequency of a motor is provided, and the method includes:
giving a given rotating speed value for controlling the rotating speed of the motor to be calibrated, and changing the carrier frequency value of the motor controller under the control current value of the fixed motor controller;
acquiring a system efficiency value and a motor noise value corresponding to each carrier frequency value, wherein the system efficiency value is the total efficiency value of a motor to be calibrated and a motor controller;
and calibrating a target carrier frequency value corresponding to the given rotating speed value of the motor to be calibrated according to the efficiency value of each system and the noise value of each motor.
With reference to the second aspect, in a possible implementation manner of the second aspect, the obtaining a system efficiency value and a motor noise value corresponding to each carrier frequency value includes:
when the motor controller is given with each carrier frequency value, respectively acquiring an input power value of the motor controller, an actual rotating speed value of the motor to be calibrated and an actual torque value of the motor to be calibrated;
respectively determining each output power value of the motor to be calibrated according to each actual rotating speed value and each actual torque value;
respectively determining system efficiency values corresponding to the carrier frequency values according to the input power values and the output power values;
and/or
Acquiring a noise value detected by a noise detection device arranged near a motor to be calibrated;
and determining the noise value of the motor according to the noise value detected by the noise detection device.
With reference to the second aspect or some of the foregoing possible implementations, in one possible implementation of the second aspect, the foregoing given rotational speed value for controlling the rotational speed of the motor to be calibrated includes:
sending a rotating speed instruction to a dynamometer coaxially connected with the motor to be calibrated, wherein the rotating speed instruction is used for indicating the dynamometer to drive the motor to be calibrated to rotate according to a given rotating speed value carried by the rotating speed instruction;
the method further comprises the following steps: and acquiring each actual rotating speed value and each actual torque value of the motor to be calibrated, which are returned by the dynamometer.
With reference to the second aspect or some of the foregoing possible implementation manners, in a possible implementation manner of the second aspect, the noise value of the motor is determined according to noise values of a plurality of test points of the motor to be calibrated, and the noise values of the plurality of test points are detected by a noise detection device disposed around the motor to be calibrated.
With reference to the second aspect or some of the foregoing possible implementations, in one possible implementation of the second aspect, a maximum value of the noise values of the plurality of test points is used as a motor noise value.
With reference to the second aspect or some of the foregoing possible implementation manners, in a possible implementation manner of the second aspect, the target carrier frequency value is a carrier frequency value at which the motor noise value meets a preset condition and the system efficiency value is maximum.
With reference to the second aspect or some of the foregoing possible implementation manners, in a possible implementation manner of the second aspect, the motor noise value satisfying the preset condition value means that the motor noise value is smaller than the preset noise threshold value.
With reference to the second aspect or some of the foregoing possible implementations, in one possible implementation of the second aspect, the foregoing method further includes: and changing the given rotating speed value to calibrate the target carrier frequency values corresponding to different given rotating speed values.
With reference to the second aspect or some of the foregoing possible implementations, in one possible implementation of the second aspect, the foregoing method further includes: and determining a mapping relation between the given rotating speed value and the target carrier frequency value according to the target carrier frequency values corresponding to different given rotating speed values, wherein the mapping relation is used for controlling the carrier frequency value of the motor to be calibrated.
With reference to the second aspect or some of the foregoing possible implementations, in one possible implementation of the second aspect, the motor to be calibrated is a permanent magnet synchronous motor.
In a third aspect, a motor carrier frequency calibration apparatus is provided, which includes:
the parameter control module is used for giving a given rotating speed value for controlling the rotating speed of the motor to be calibrated and changing the carrier frequency value given by a motor controller for driving the motor to be calibrated;
the data acquisition module is used for acquiring system efficiency values and motor noise values corresponding to the carrier frequency values, wherein the system efficiency values are total efficiency values of the motor to be calibrated and the motor controller;
and the frequency calibration module is used for calibrating a target carrier frequency value corresponding to the given rotating speed value of the motor to be calibrated according to the system efficiency values and the motor noise values.
The motor carrier frequency calibration system, the motor carrier frequency calibration method and the motor carrier frequency calibration device have the advantages that the target carrier frequency value of the motor to be calibrated is considered both in terms of motor noise and system efficiency, and the carrier frequency value, namely the target carrier frequency value, with the system efficiency meeting corresponding requirements (such as the maximum system efficiency value) can be found when the corresponding given rotating speed value is obtained on the premise that the motor noise meets corresponding requirements. Because the system efficiency value and the motor noise value are obtained according to the actual relevant parameters of the motor and the controller, and because the computer equipment is adopted to give the motor rotating speed value and the carrier frequency value, the computer equipment can record various required data, thereby simplifying the working condition, improving the calibration efficiency and improving the accuracy of the calibration result.
Drawings
FIG. 1 is a block diagram of a carrier frequency calibration system of a motor according to an embodiment;
FIG. 2 is a block diagram of an embodiment of a dynamometer;
FIG. 3 is a block diagram of a computer device in one embodiment;
FIG. 4 is a schematic flow chart illustrating a method for calibrating carrier frequency of a motor according to an embodiment;
FIG. 5 is a schematic flow chart illustrating a system efficiency rate obtaining step in one embodiment;
FIG. 6 is a schematic flow chart of the motor noise value obtaining step in one embodiment;
fig. 7 is a block diagram of a structure of a carrier frequency calibration apparatus of a motor in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a motor carrier frequency calibration system is provided, in fig. 1, a dynamometer 11, a computer device 12, a noise detection device 13, a power analysis device 14, a motor controller 15 and a power supply 16 are included in the system, and a motor 10 to be calibrated is further shown, so as to demonstrate the connection relationship between the motor carrier frequency calibration system and the motor 10 to be calibrated.
The dynamometer 11 may also be called a dynamometer bench and is coaxially connected with the motor 10 to be calibrated, and the dynamometer 11 drives the motor 10 to be calibrated to rotate. The dynamometer 11 is further connected to the computer device 12, and the dynamometer 11 may receive corresponding commands (such as a torque command and a rotation speed command) sent by the computer device 12 and feed back corresponding collected data (such as a torque value and a rotation speed value of the motor 10 to be calibrated) to the computer device 12. As shown in FIG. 2, the dynamometer 11 may include a dynamometer motor 21, a frequency conversion cabinet 22, a torque sensor 23 and a rotation speed sensor 24; the dynamometer motor 21 is connected with a frequency conversion cabinet 22, a torque sensor 23 and a rotating speed sensor 24 respectively. The frequency conversion cabinet 22 is used for dragging the dynamometer motor 21, the dynamometer motor 21 is provided with or connected with a transmission shaft, a torque sensor 23 and a rotating speed sensor 24 are arranged on the transmission shaft, the torque sensor 23 is used for collecting an actual torque value of the motor 10 to be calibrated, and the rotating speed sensor 24 is used for collecting an actual rotating speed value of the motor 10 to be calibrated. It should be noted that fig. 2 is a block diagram of only a part of the structure related to the solution of the present application, and does not constitute a limitation to the dynamometer of the embodiment of the present application, and the dynamometer may include more or less components than those shown in fig. 2, or combine some components, or have different component arrangements.
And the motor controller 15 is connected with the computer equipment 12 and receives the carrier frequency command and the current command sent by the computer equipment 12. The motor controller 15 is also connected to a power supply 16 to obtain the voltage required to drive the motor 10 to be calibrated. The motor controller 15 is further connected to a resolver of the motor 10 to be calibrated, and the resolver is used to obtain the rotor position of the motor 10 to be calibrated. The motor controller 15 is further connected to three-phase lines of the motor 10 to be calibrated, provides three-phase currents required for driving the motor 10 to be calibrated, and measures three-phase current values of the motor 10 to be calibrated.
And the motor to be calibrated 10 is coaxially connected with the dynamometer 11, and the rotation of the dynamometer 11 drives the motor to be calibrated 10 to rotate. The motor 10 to be calibrated is also connected with a three-phase line of the motor controller 15 and receives three-phase current output by the motor controller.
And the computer device 12 is connected with the dynamometer 11, and the computer device 12 sends a rotating speed instruction to the dynamometer 11 to control the rotation of the dynamometer 11. The computer device 12 also receives the actual torque value and the actual rotation speed value outputted from the dynamometer 11, which are the detection values of the torque sensor 23 and the rotation speed sensor 24, respectively, and calculates the power, which is expressed as the output power value P, based on the actual torque value and the actual rotation speed valuemIn particular, may be according to PmCalculating output power P (T n/9550)mWherein P ismT and n represent the output power value, the actual torque value and the actual rotational speed value, respectively. The computer device 12 is also connected to the motor controller 15 and sends a carrier frequency command and a current command to the motor controller 15. The computer device 12 is also connected to the power analyzing means 14 and receives the power value sent by the power analyzing means 14.
The computer device 12 may be a host computer, and its internal structure diagram may be as shown in fig. 3. The computer device 12 includes a processor, memory, network interface, display screen, and input means connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like. Those skilled in the art will appreciate that the configuration shown in fig. 3 is a block diagram of only a portion of the configuration associated with aspects of the present invention and is not intended to limit the computing devices to which aspects of the present invention may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
A power supply 16, comprising a battery pack, is connected to the motor controller 15, and is used for supplying the motor controller 15 with the voltage required for driving the motor 10 to be calibrated. Wherein the power supply 16 is removable from the motor carrier frequency calibration system so that the motor carrier frequency calibration system can be used with different battery packs.
And the noise detection device 13 is placed around the motor 10 to be calibrated and used for testing the noise of the motor 10 to be calibrated. Different test surfaces can be selected according to the difference between the height of the shaft center of the motor 10 to be calibrated and the length of the motor 10 to be calibrated. Specific installation requirements can be seen in GB/T10069.1-2006. Take the case of an axial center of 225 mm or less or a length of less than 1 m. The testing surface adopts a hemispherical testing surface, the testing radius is 1 meter, and the testing point is five points. The motor 10 to be calibrated is arranged in four mutually vertical directions of front, back, left and right and above the motor center of the motor 10 to be calibrated, the height of the peripheral measuring points is 0.25 meter, and the height of the upper measuring points is 1 meter from the reflection ground.
The power analysis device 14, which includes a power analyzer, is connected to the power supply 16 and collects the voltage and current values of the positive and negative buses. The voltage and current values collected by the power analyzer are used to calculate the power, which is recorded as the input power value PnCan be according to PnCalculating the output power, wherein PnU and I represent input power value, bus voltage value and bus current value, respectively.
It should be noted that fig. 1 is a schematic structural diagram of a preferred example of a motor carrier frequency calibration system, and according to different considerations, when the motor carrier frequency calibration system of the present invention is implemented, all of the components shown in fig. 1 may be included, or only a part of the components shown in fig. 1 may be included, and the following detailed description is provided for specific embodiments of several of the motor carrier frequency calibration systems.
In one embodiment, a motor carrier frequency calibration system is provided, which may include the dynamometer 11, the computer device 12, the noise detection device 13 and the power analysis device 14 in fig. 1; the computer device 12 is connected to the dynamometer 11, the noise detection means 13, and the power analysis means 14, respectively. Wherein, the computer device 12 can be connected with the dynamometer 11, the noise detection device 12 and the power analysis device 14 in a wired or wireless manner.
The computer device 12 is configured to send a carrier frequency instruction to a motor controller 15 that drives the motor 10 to be calibrated, where the carrier frequency instruction is used to give a carrier frequency value of the motor controller 15, and the motor 10 to be calibrated may be a permanent magnet synchronous motor or another motor that adopts a PWM control algorithm. The computer device 12 is further configured to send a rotation speed instruction to the dynamometer 11, and the dynamometer 11 is configured to control the rotation speed of the motor to be calibrated according to the given rotation speed value carried by the rotation speed instruction, and return the actual torque value and the actual rotation speed value of the motor 10 to be calibrated to the computer device 12. The noise detection device 13 is disposed around the motor to be calibrated, and is configured to detect a motor noise value of the motor 10 to be calibrated, and transmit the motor noise value to the computer device 12. The power analyzing device 14 is configured to obtain an input power value of the motor controller 15 and transmit the input power value to the computer device 12.
The computer device 12 is further configured to determine a system efficiency value according to the actual torque value, the actual rotation speed value, and the input power value, and calibrate a target carrier frequency value corresponding to the given rotation speed value according to the system efficiency value and the motor noise value.
In one of the embodiments, the computer device 12 may also be used to send a current command to the motor controller, the current command being for a given control current value of the motor controller 15; the computer equipment can change the carrier frequency value under the fixed control current value, determine the system efficiency value corresponding to each carrier frequency value according to the actual torque value, the actual rotating speed value and the input power value corresponding to each carrier frequency value, and calibrate the target carrier frequency value corresponding to the given rotating speed value according to the system efficiency value corresponding to each carrier frequency value and the motor noise value corresponding to each carrier frequency value.
Specifically, the control current value and the given rotation speed value may be first fixed, and the carrier frequency values may be increased or decreased one by one according to a first fixed step length to give different carrier frequency values, so that an actual torque value, an actual rotation speed value, an input power value, and a motor noise value corresponding to each carrier frequency value may be obtained. The carrier frequency value is limited by the motor 10 to be calibrated and the motor controller 15, an upper limit value and a lower limit value exist in the carrier frequency value, the upper limit value is required not to exceed the maximum carrier frequency value which can be borne by the motor controller 15, the lower limit value is required to ensure that the motor controller 15 can be normally started, the lower limit value can also be 0, and the carrier frequency value needs to be changed between the upper limit value and the lower limit value. It should be noted that the carrier frequency value may not be increased or decreased by a fixed step length, or the carrier frequency value is not limited to be changed in a gradually increasing or gradually decreasing manner, and the size of the first fixed step length may be set according to actual needs, and may be a fixed value or an adjustable value. Secondly, can be according to Pmi＝Ti*ni/9550 calculating output power, determining output power value corresponding to each carrier frequency value, wherein Pmi、TiAnd niAre respectively referred to asiThe output power value, the actual torque value and the actual rotation speed value corresponding to each carrier frequency value, i is 1, 2, 3, …, m refers to the total number of the carrier frequency values, and can be determined according to ηi＝Pmi/Pni100%, determining system efficiency values corresponding to the carrier frequency values, wherein ηiAnd PniRespectively representiA system efficiency value and an input power value corresponding to each carrier frequency value. And finally, screening out a target carrier frequency value according to the system efficiency value and the motor noise value corresponding to each carrier frequency value, and marking the target carrier frequency value as the carrier frequency value corresponding to the current given rotating speed value.
In one embodiment, the target carrier frequency value is a carrier frequency value with a motor noise value satisfying a preset condition and a maximum system efficiency value, specifically, each carrier frequency value with a motor noise value satisfying the preset condition may be selected according to a motor noise value corresponding to each carrier frequency value, a carrier frequency value corresponding to the maximum system efficiency value may be determined from the selected carrier frequency values according to a system efficiency value corresponding to each carrier frequency value, and finally, the carrier frequency value corresponding to the maximum system efficiency value is taken as the target carrier frequency value corresponding to the given rotation speed value. The motor noise value meeting the preset condition generally means that the motor noise value is smaller than a preset noise threshold value. The magnitude of the preset noise threshold may be determined according to a corresponding standard (e.g., a national standard or an enterprise standard), for example, the preset noise threshold may be 91dB (decibel), but the magnitude of the preset noise threshold is not limited thereto.
In the motor carrier frequency calibration system of the embodiment, because the efficiency values and the noise values of the motors are obtained according to the actual relevant parameters of the motors and the controller, and because the rotating speed values and the carrier frequency values of the motors are given by the computer equipment, the computer equipment can record various data, thereby simplifying the working condition, improving the calibration efficiency and improving the accuracy of the calibration result. Meanwhile, because the target carrier frequency value is calibrated for the motor to be calibrated considering both the motor noise and the system efficiency, the carrier frequency value, namely the target carrier frequency value, of which the system efficiency meets the corresponding requirements (for example, the system efficiency value is maximum) can be found when the corresponding given rotating speed value is obtained on the premise of ensuring that the motor noise meets the corresponding requirements.
In one embodiment, the noise detection device 13 may detect noise values of a plurality of test points of the motor 10 to be calibrated, and use a maximum value of the noise values of the plurality of test points as a motor noise value. Specifically, the noise values of the plurality of test points under the same condition may be detected simultaneously or not, where the same condition may mean that a given rotation speed value, a given carrier frequency value, a given control current value, and the like are the same. The plurality of test points refer to a plurality of different points around the motor 10 to be calibrated for testing motor noise.
The noise detection device 13 may be a decibel tester, which may be a sound level meter, a frequency analyzer, a real-time analyzer, a sound intensity analyzer, a noise level analyzer, a noise dosimeter, or an automatic recorder. Different test surfaces can be selected according to the shaft height center of the motor 10 to be calibrated and the length of the motor 10 to be calibrated, and the plurality of test points are different position points on the test surface. Specific installation requirements can be seen in GB/T10069.1-2006. Take the case of a shaft center height of 225 mm or less or a length of less than 1 meter. The testing surface can adopt a hemispherical testing surface, and the testing radius is 1 meter and the testing point is five points. The permanent magnet synchronous motor is arranged in four mutually vertical directions of front, back, left and right and above the center of the permanent magnet synchronous motor, the height of the peripheral measuring points is 0.25 m, and the height of the upper measuring points is 1 m according to the reflection ground. The magnitude of the preset noise threshold may be determined according to GB/T10069.3-2006.
In one embodiment, the computer device 12 may be further configured to change the magnitude of the given rotation speed value to calibrate the target carrier frequency value corresponding to different given rotation speed values.
Specifically, the computer device 12 may increase or decrease the given rotation speed value one by one according to the second fixed step size, and in the case of each given rotation speed value, determine the corresponding target carrier frequency value according to the manner described in the above embodiment, so that the target carrier frequency values corresponding to different given rotation speed values may be calibrated. It should be noted that the increase or decrease of the given rotation speed value may not be fixed, the magnitude of the given rotation speed value is not limited to be changed by a gradual increase or gradual decrease, and the magnitude of the second fixed step may be set according to actual conditions, and may be a fixed value or an adjustable value.
Further, the computer device 12 may also determine a mapping relationship between the given rotation speed value and the target carrier frequency value according to target carrier frequency values corresponding to different given rotation speed values, where the mapping relationship is used to control the carrier frequency value of the motor 10 to be calibrated. The mapping relationship may be a correspondence relationship between discrete data, and may also be a more detailed correspondence relationship by means of interpolation.
Specifically, the computer device 12 performs the rotation speed setting for the dynamometer 11, and changes the set rotation speed value one by one in a certain step (e.g., a second fixed step), for example, gradually decreasing from the highest rotation speed until the rotation speed is zero. When the dynamometer 11 works at a given rotation speed value, the computer device 12 gives a carrier frequency value to the carrier frequency of the motor controller 15, and reduces the given carrier frequency value one by one from the highest carrier frequency value to the set lowest frequency value according to a certain step length (e.g. a first fixed step length), and records the system efficiency value and the motor noise value corresponding to each carrier frequency value under the given rotation speed value, and finds the carrier frequency value with the highest system efficiency value under the given rotation speed value, i.e. the target carrier frequency value, on the premise of ensuring that the motor noise value meets the national standard or the enterprise standard, so as to obtain the target carrier frequency value corresponding to each given rotation speed value, and further obtain the mapping relationship between the given rotation speed value and the target carrier frequency value.
In the scheme of this embodiment, by calibrating the carrier frequency values at different given rotation speed values, variable control of the motor 10 to be calibrated can be realized through the obtained mapping relationship, and extra loss caused by using a single carrier frequency at all rotation speed values can be avoided.
In one embodiment, as shown in fig. 1, the motor carrier frequency calibration system includes not only the dynamometer 11, the computer device 12, the noise detection device 13 and the power analysis device 14, but also includes a motor controller 15, where the motor controller 15 is further connected to the resolver of the motor 10 to be calibrated, and the motor controller is further connected to the three-phase line of the motor 10 to be calibrated. The motor controller 15 is configured to provide three-phase currents required by the motor 10 to be calibrated, and measure three-phase current values of the motor 10 to be calibrated. The resolver acquires rotor position information of the motor 10 to be calibrated, the motor controller 15 calculates signals of the resolver to acquire the rotor position information, and the rotor position information is used for the motor controller 15 to acquire a rotating speed and a given fixed current. Wherein the motor controller 15 is detachable from the motor carrier frequency calibration system so that the motor carrier frequency calibration system can be used with different motor controllers.
In one embodiment, as shown in fig. 1, the motor carrier frequency calibration system may further include a power supply device 16, and the power supply device 16 is configured to be connected to the motor controller 15 and configured to provide the motor controller 15 with a voltage required for driving the motor 10 to be calibrated. The power analysis device 14 is connected to the power supply device 16 to collect voltage values and current values of the positive and negative buses, so as to obtain the input power value. The power supply device 16 may include a battery pack and the power supply 16 may be removable from the motor carrier frequency calibration system so that the motor carrier frequency calibration system may be used with different battery packs.
In one embodiment, as shown in fig. 4, a method for calibrating a carrier frequency of a motor is provided, which is described by taking the method as an example applied to the computer device in fig. 3, and includes the following steps:
step 402, a given rotating speed value used for controlling the rotating speed of the motor to be calibrated is given, and the carrier frequency value of the motor controller is changed under the control current value of the fixed motor controller.
And 404, acquiring a system efficiency value and a motor noise value corresponding to each carrier frequency value, wherein the system efficiency value is the total efficiency value of the motor to be calibrated and the motor controller.
And 406, calibrating a target carrier frequency value corresponding to the given rotating speed value of the motor to be calibrated according to the efficiency value of each system and the noise value of each motor.
Here, the target carrier frequency value is generally selected as a carrier frequency at which the motor noise value satisfies a preset condition and the system efficiency value is maximum. Wherein, the motor noise value meeting the preset condition value generally means that the motor noise value is smaller than the preset noise threshold value.
In the motor carrier frequency calibration method of the embodiment, because the efficiency values of each system and the noise values of each motor are obtained according to the actual relevant parameters of the motor and the controller, and because the motor rotating speed value and the carrier frequency value are given by the computer equipment, the computer equipment can record various data, thereby simplifying the working condition, improving the calibration efficiency and improving the accuracy of the calibration result. Meanwhile, because the target carrier frequency value is calibrated for the motor to be calibrated considering both the motor noise and the system efficiency, the carrier frequency value, namely the target carrier frequency value, of which the system efficiency meets the corresponding requirements (for example, the system efficiency value is maximum) can be found when the corresponding given rotating speed value is obtained on the premise of ensuring that the motor noise meets the corresponding requirements.
In one embodiment, as shown in fig. 5, the step of obtaining the system efficiency value corresponding to each carrier frequency value may include the following steps:
step 502, respectively obtaining an input power value of a motor controller, an actual rotating speed value of a motor to be calibrated and an actual torque value of the motor to be calibrated when the motor controller is given each carrier frequency value;
in one embodiment, the above-mentioned given rotation speed value for controlling the rotation speed of the motor to be calibrated may include the steps of: sending a rotating speed instruction to a dynamometer coaxially connected with the motor to be calibrated, wherein the rotating speed instruction is used for indicating the dynamometer to drive the motor to be calibrated to rotate according to a given rotating speed value carried by the rotating speed instruction; the motor carrier frequency calibration method can also comprise the following steps: and acquiring each actual rotating speed value and each actual torque value of the motor to be calibrated, which are returned by the motor to be calibrated.
Step 504, determining each output power value of the motor to be calibrated respectively according to each actual rotating speed value and each actual torque value;
in particular, may be according to Pmi＝Ti*niAnd/9550 calculating output power and determining the output power value corresponding to each carrier frequency value.
Step 506, respectively determining a system efficiency value corresponding to each carrier frequency value according to each input power value and each output power value.
In particular, may be according to ηi＝Pmi/PniAnd 100%, determining system efficiency values corresponding to the carrier frequency values.
In one embodiment, as shown in fig. 6, the step of obtaining the motor noise value corresponding to each carrier frequency value may include the following steps:
step 602, acquiring a noise value detected by a noise detection device arranged near a motor to be calibrated;
and step 604, determining a motor noise value according to the noise value detected by the noise detection device.
In one embodiment, the motor noise value may be determined according to noise values of a plurality of test points of the motor to be calibrated, which are detected by a noise detection device disposed around the motor to be calibrated. Generally, the maximum value among the noise values of the plurality of test points is taken as the motor noise value.
Therefore, the motor noise value can be ensured to meet corresponding requirements as much as possible, and the accuracy of the determined target carrier frequency value is further improved.
In one embodiment, the method for calibrating the carrier frequency of the motor may further include the steps of: and changing the given rotating speed value to calibrate the target carrier frequency values corresponding to different given rotating speed values. Further, the motor carrier frequency calibration method can further comprise the following steps: and determining a mapping relation between the given rotating speed value and the target carrier frequency value according to the target carrier frequency values corresponding to different given rotating speed values, wherein the mapping relation is used for controlling the carrier frequency value of the motor to be calibrated.
For specific limitations of the motor carrier frequency calibration method, reference may be made to the above limitations of the motor carrier frequency calibration system, and details thereof are not repeated here.
In one embodiment, the motor to be calibrated is a permanent magnet synchronous motor, but this does not limit the present application.
Step 1: installing equipment according to a system connection diagram;
1.1, a permanent magnet synchronous motor is arranged, and a rotating shaft of the permanent magnet synchronous motor is coaxially connected with a transmission shaft of the dynamometer 11. The dynamometer is controlled to rotate by the computer device 12 to drive the permanent magnet synchronous motor to rotate.
1.2 the three-phase line of the permanent magnet synchronous motor is connected with the three-phase line of the motor controller 15, and the signal line of the rotary transformer is connected with the motor controller 15. The rotor position acquired by the resolver is transmitted to the motor controller 15 through a resolver signal line.
1.3 the motor controller 15 is connected with the permanent magnet synchronous motor through three phase lines. The motor controller 15 is connected to positive and negative buses of a power supply to obtain high voltage required for driving the permanent magnet synchronous motor. The motor controller 15 is also connected to a signal line of the resolver, and receives a position signal of the rotor of the permanent magnet synchronous motor collected by the resolver. The motor Controller 15 is connected to the computer device 12 through a CAN (Controller Area Network) line, and receives a carrier frequency command and a current command from the computer device 12.
And 1.4, positive and negative buses of the power supply are connected with positive and negative buses of the motor controller 15, so that high voltage required by the motor controller 15 for driving the permanent magnet synchronous motor is provided.
1.5 the power analysis device 14 is connected to the positive and negative busbars of the motor pack. And collecting the voltage and current of the positive bus and the negative bus of the battery pack, and calculating the power through the voltage value and the current value collected by the power analysis device 14. And the power value is connected with an upper computer, and the calculated power value is transmitted to the upper computer.
1.6 the host computer is connected the dynamometer rack, and the host computer sends rotational speed instruction to the dynamometer rack, and the host computer receives actual torque value and rotational speed value that the dynamometer rack sent. And the upper computer sends a current instruction and a carrier frequency instruction to the motor controller. The power analyzer 14 is connected to receive the power value calculated by the power analyzer 14.
1.7 the noise detection device is placed near the permanent magnet synchronous motor according to the requirements of national standards. Different test surfaces can be selected according to the difference between the center height of the permanent magnet synchronous motor shaft and the length of the permanent magnet synchronous motor. Specific installation requirements can be seen in GB/T10069.1-2006.
Step 2: and equally dividing the rotating speed of the permanent magnet synchronous motor into a plurality of equal parts according to the highest rotating speed of the permanent magnet synchronous motor.
In this embodiment, for example, the maximum rotation speed is 5000 rotations, and the rotation speed is 10 equal parts, the first rotation speed point is 500 rotations, the second rotation speed point is 1000 rotations, the third rotation speed point is 1000 rotations, and so on.
And step 3: the carrier frequency is equally divided into several equal parts according to the highest carrier frequency.
In this embodiment, for example, the highest carrier frequency is 10k, and the carrier frequencies are equally divided into 10 parts, the first carrier frequency point is 10k, the second carrier frequency point is 9k, the third carrier frequency point is 8k, and so on.
And 4, step 4: and starting the dynamometer 11 to drive the permanent magnet synchronous motor to rotate, and setting the rotating speed according to the first equally divided rotating speed point.
And 5: id and Iq are given to the motor controller 15 by the computer device 12. (Id and Iq are control currents given to the motor, and in this embodiment, current values corresponding to external characteristic torques at respective rotational speeds according to the external characteristics of the permanent magnet synchronous motor). The computer device 12 starts to give the highest carrier frequency value to the motor controller 15, the computer device 12 calculates the motor system efficiency corresponding to the carrier frequency value (the detailed calculation steps are as in 5.1-5.3), then reduces the carrier frequency value according to the set step length, and then calculates the system efficiency value corresponding to the carrier frequency value until the lowest carrier frequency value is given. Further, the computer device 12 also acquires the motor noise value obtained by the noise detection means during the period from the start of the giving to the motor controller 15 with the highest carrier frequency value until the lowest carrier frequency value is given. The computer device 12 selects a carrier frequency value at the highest system efficiency value within the rotation speed point, and if the motor noise value corresponding to the carrier frequency value is smaller than a preset noise threshold value, recording and storing the carrier frequency point (carrier frequency value) and the rotation speed point (given rotation speed value) corresponding to the highest system efficiency value, otherwise, judging whether the motor noise value corresponding to the next highest system efficiency value (the highest system efficiency value except the highest system efficiency value) is less than the preset noise threshold value, if so, and recording and storing a carrier frequency point (carrier frequency value) and a rotating speed point (given rotating speed value) corresponding to the second-highest system efficiency value, if not, continuously judging whether a motor noise value corresponding to a third-highest system efficiency value (the highest system efficiency value except the highest system efficiency value and the second-highest system efficiency value) is smaller than a preset noise threshold value, and so on. Meanwhile, the noise threshold should meet national standards or enterprise standards, for example, in this embodiment, the noise threshold is 91dB, but is not limited to this value.
5.1 the bus voltage value and the bus current value collected by the power analysis device 14 are used for calculating power through the power analysis device 14 and transmitting the calculated data to the computer device 12. The power is expressed as the input power PnThe calculation formula is as follows: pn＝U*I。
5.2 the dynamometer 11 transmits the torque value collected by the torque sensor and the rotating speed value collected by the rotating speed sensor to the computer device 12. The computer device 12 calculates the actual output power according to a formula. The calculation formula is as follows: pm＝T*n/9550。
5.3 the computer device 12 calculates the system efficiency value by using the power value sent by the received power analysis device 14 and the power value calculated by the computer device 12, the system efficiency value is recorded as η, and the calculation formula is that η is equal to Pm/Pn100%. And finally, determining a carrier frequency value with the motor noise value meeting a preset condition and the maximum system efficiency value, and establishing a corresponding relation between the carrier frequency value and the current given rotating speed value.
Step 6 the computer device 12 decreases the given rotation speed value of the dynamometer 11 by one rotation speed step and repeats step 5 until the rotation speed is zero.
It should be understood that although the various steps in the flow charts of fig. 4-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 4-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, there is provided a motor carrier frequency calibration apparatus, including: a parameter control module 702, a data acquisition module 704, and a frequency calibration module 706, wherein:
a parameter control module 702, configured to give a given rotation speed value for controlling a rotation speed of the motor to be calibrated, and change a carrier frequency value given by a motor controller for driving the motor to be calibrated;
the data acquisition module 704 is configured to acquire a system efficiency value and a motor noise value corresponding to each carrier frequency value, where the system efficiency value is a total efficiency value of a motor to be calibrated and a motor controller;
and the frequency calibration module 706 is configured to calibrate a target carrier frequency value corresponding to a given rotation speed value of the motor to be calibrated according to each system efficiency value and each motor noise value.
In one embodiment, the data obtaining module 704 obtains an input power value of the motor controller, an actual rotation speed value of the motor to be calibrated, and an actual torque value of the motor to be calibrated, when the motor controller is given with each carrier frequency value, respectively, determines each output power value of the motor to be calibrated according to each actual rotation speed value and each actual torque value, and determines a system efficiency value corresponding to each carrier frequency value according to each input power value and each output power value, respectively; and/or acquiring a noise value detected by a noise detection device arranged near the motor to be calibrated, and determining the noise value of the motor according to the noise value detected by the noise detection device.
In one embodiment, the parameter control module 702 may send a rotation speed instruction to a dynamometer coaxially connected to a motor to be calibrated, where the rotation speed instruction is used to instruct the dynamometer to drive the motor to be calibrated to rotate according to a given rotation speed value carried by the rotation speed instruction; the data acquisition module 704 may acquire actual rotational speed values and actual torque values of the motor to be calibrated, which are returned by the dynamometer.
In one embodiment, the motor noise value is determined according to noise values of a plurality of test points of the motor to be calibrated, and the noise values of the plurality of test points are detected by a noise detection device arranged around the motor to be calibrated.
In one embodiment, the maximum value of the noise values of the plurality of test points is used as the motor noise value.
In one embodiment, the target carrier frequency value is a carrier frequency value at which the motor noise value satisfies a predetermined condition and the system efficiency value is maximum.
In one embodiment, the motor noise value satisfying the preset condition value means that the motor noise value is smaller than a preset noise threshold value;
in one embodiment, the motor to be calibrated is a permanent magnet synchronous motor.
In one embodiment, the parameter control module 702 is further configured to change the magnitude of the given rotation speed value to calibrate the target carrier frequency value corresponding to different given rotation speed values.
In one embodiment, the frequency calibration module 706 is further configured to determine a mapping relationship between the given rotation speed value and the target carrier frequency value according to target carrier frequency values corresponding to different given rotation speed values, where the mapping relationship is used to control the carrier frequency value of the motor to be calibrated.
For specific limitations of the motor carrier frequency calibration device, reference may be made to the above limitations of the motor carrier frequency calibration method, which are not described herein again. The various modules in the motor carrier frequency calibration device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, as shown in fig. 3, the computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the motor carrier frequency calibration method of any one of the above embodiments are implemented.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the motor carrier frequency calibration method of any of the above embodiments.
It will be understood by those of ordinary skill in the art that all or a portion of the processes of the methods of the embodiments described above may be implemented by a computer program that may be stored on a non-volatile computer-readable storage medium, which when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A motor carrier frequency calibration system is characterized by comprising a dynamometer, computer equipment, a noise detection device and a power analysis device; the computer equipment is respectively connected with the dynamometer, the noise detection device and the power analysis device;
the computer equipment is used for sending a carrier frequency instruction to a motor controller for driving a motor to be calibrated and sending a rotating speed instruction to the dynamometer, and the carrier frequency instruction is used for giving a carrier frequency value of the motor controller;
the dynamometer is used for controlling the rotating speed of the motor to be calibrated according to a given rotating speed value carried by the rotating speed instruction, and returning an actual torque value and an actual rotating speed value of the motor to be calibrated to the computer equipment;
the noise detection device is arranged around the motor to be calibrated and used for detecting the motor noise value of the motor to be calibrated and transmitting the motor noise value to the computer equipment;
the power analysis device is used for acquiring an input power value of the motor controller and transmitting the input power value to the computer equipment;
and the computer equipment is also used for determining a system efficiency value according to the actual torque value, the actual rotating speed value, the input power value and calibrating a target carrier frequency value corresponding to the given rotating speed value according to the system efficiency value and the motor noise value.
2. The system of claim 1, wherein the computer device is further configured to send a current command to the motor controller, the current command being configured to give a control current value for the motor controller; the computer equipment changes the magnitude of the carrier frequency value under the condition of fixing the control current value, determines the system efficiency value corresponding to each carrier frequency value according to the actual torque value, the actual rotating speed value and the input power value corresponding to each carrier frequency value, and calibrates the target carrier frequency value corresponding to the given rotating speed value according to the system efficiency value corresponding to each carrier frequency value and the motor noise value corresponding to each carrier frequency value;
preferably, the noise detection device is configured to detect noise values of a plurality of test points of the motor to be calibrated, and use a maximum value of the noise values of the plurality of test points as the noise value of the motor;
preferably, the target carrier frequency value is a carrier frequency value with a motor noise value meeting a preset condition and a maximum system efficiency value;
preferably, the motor noise value meeting the preset condition means that the motor noise value is smaller than a preset noise threshold.
3. The system of claim 2, wherein the computer device is further configured to vary the magnitude of the given rotation speed value to calibrate target carrier frequency values corresponding to different given rotation speed values;
preferably, the computer device is further configured to determine a mapping relationship between the given rotation speed value and the target carrier frequency value according to target carrier frequency values corresponding to different given rotation speed values, where the mapping relationship is used to control the carrier frequency value of the motor to be calibrated.
4. The system according to any one of claims 1 to 3, further comprising the motor controller, wherein the motor controller is connected with the motor to be calibrated through a three-phase line, and the motor controller is further connected with a rotary transformer of the motor to be calibrated;
preferably, the system further comprises a power supply device, wherein the power supply device is connected with the motor controller and used for providing the motor controller with voltage required for driving the motor to be calibrated;
preferably, the motor to be calibrated is a permanent magnet synchronous motor.
5. A motor carrier frequency calibration method is characterized by comprising the following steps:
giving a given rotating speed value for controlling the rotating speed of a motor to be calibrated, and changing the carrier frequency value of a motor controller under the control current value of a fixed motor controller;
acquiring a system efficiency value and a motor noise value corresponding to each carrier frequency value, wherein the system efficiency value is the total efficiency value of the motor to be calibrated and the motor controller;
and calibrating a target carrier frequency value corresponding to the given rotating speed value of the motor to be calibrated according to each system efficiency value and each motor noise value.
6. The method of claim 5, wherein said obtaining a system efficiency value and a motor noise value for each of said carrier frequency values comprises:
when the motor controller is given with each carrier frequency value, acquiring an input power value of the motor controller, an actual rotating speed value of the motor to be calibrated and an actual torque value of the motor to be calibrated;
according to each actual rotating speed value and each actual torque value, determining each output power value of the motor to be calibrated respectively;
respectively determining system efficiency values corresponding to the carrier frequency values according to the input power values and the output power values;
and/or
Acquiring a noise value detected by a noise detection device arranged near the motor to be calibrated;
and determining the motor noise value according to the noise value detected by the noise detection device.
7. The method of claim 6, wherein said giving a given rotation speed value for controlling the rotation speed of the motor to be calibrated comprises:
sending a rotating speed instruction to a dynamometer coaxially connected with the motor to be calibrated, wherein the rotating speed instruction is used for indicating the dynamometer to drive the motor to be calibrated to rotate according to the given rotating speed value carried by the rotating speed instruction;
the method further comprises the following steps: and acquiring each actual rotating speed value and each actual torque value of the motor to be calibrated, which are returned by the dynamometer.
8. The method according to any one of claims 5 to 7, characterized in that the motor noise value is determined according to noise values of a plurality of test points of the motor to be calibrated, which are detected by noise detection devices arranged around the motor to be calibrated; preferably, the maximum value of the noise values of the plurality of test points is used as the motor noise value;
preferably, the target carrier frequency value is a carrier frequency value with a motor noise value meeting a preset condition and a maximum system efficiency value;
preferably, the motor noise value meeting the preset condition value means that the motor noise value is smaller than a preset noise threshold value;
preferably, the motor to be calibrated is a permanent magnet synchronous motor.
9. The method of claim 8, further comprising: changing the size of the given rotating speed value to calibrate target carrier frequency values corresponding to different given rotating speed values;
preferably, the method further comprises: and determining a mapping relation between the given rotating speed value and the target carrier frequency value according to target carrier frequency values corresponding to different given rotating speed values, wherein the mapping relation is used for controlling the carrier frequency value of the motor to be calibrated.
10. An apparatus for calibrating carrier frequency of a motor, the apparatus comprising:
the parameter control module is used for giving a given rotating speed value for controlling the rotating speed of the motor to be calibrated and changing the carrier frequency value given by a motor controller for driving the motor to be calibrated;
the data acquisition module is used for acquiring a system efficiency value and a motor noise value corresponding to each carrier frequency value, wherein the system efficiency value is the total efficiency value of the motor to be calibrated and the motor controller;
and the frequency calibration module is used for calibrating a target carrier frequency value corresponding to the given rotating speed value of the motor to be calibrated according to each system efficiency value and each motor noise value.
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