CN111948537A - Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor - Google Patents

Abstract

The embodiment of the disclosure provides a method for calibrating a maximum torque flux ratio working point of a salient pole permanent magnet synchronous motor, and belongs to the technical field of electric control. The method comprises the following steps: selecting a target flux linkage value from a preset flux linkage value interval; calculating an actual flux linkage value by using a preset flux linkage value calculation formula; adjusting the quadrature axis current instruction value until the actual flux linkage value is equal to the target flux linkage value; measuring the current output torque; judging whether the current output torque is larger than or equal to the reference torque or not; if not, calibrating a working point under the maximum torque flux linkage ratio corresponding to the target flux linkage value according to the direct-axis current instruction value and the quadrature-axis current instruction value corresponding to the reference torque; and if so, taking the output torque as a new reference torque, measuring the new output torque according to the updated direct-axis current command value, and comparing the new output torque with the new reference torque until the new output torque is smaller than the new reference torque. By the scheme, the efficiency and the precision of working point calibration are improved.

Description

Calibration method for maximum torque flux linkage ratio operating point of salient-pole permanent magnet synchronous motor

technical field

The present disclosure relates to the technical field of electronic control, and in particular, to a method for calibrating a working point of a maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor.

Background technique

Salient-pole permanent magnet synchronous motors are widely used in electric vehicle drive and other fields due to their high power density and high energy conversion efficiency. When the salient-pole permanent magnet synchronous motor is running at high speed, the maximum torque capacity it can output is usually limited by the air gap flux linkage. There are differences in the maximum air gap flux linkage that the permanent magnet synchronous motor can achieve at different speeds. Moreover, the same air-gap flux linkage also corresponds to various combinations of stator direct-axis current and quadrature-axis current, and the one with the maximum output torque corresponds to the maximum torque flux linkage ratio. However, the existing salient pole permanent magnet synchronous motor maximum torque flux linkage ratio operating point calibration method pre-sets the sub-current operating point, and then experimentally measures the output torque and air-gap flux linkage corresponding to each operating point, and then passes The maximum torque flux linkage ratio curve is obtained by fitting the later data, and there is a certain error in the data fitting.

It can be seen that the existing method for calibrating the maximum torque flux linkage ratio of the salient pole permanent magnet synchronous motor is difficult to ensure that the air gap flux linkage generated by the preset stator current operating point is consistent, and it is impossible to find the same air gap through simple judgment. The maximum torque operating point under the gap flux linkage has technical problems of poor calculation efficiency and accuracy.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present disclosure provide a method and device for calibrating the operating point of the maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor, and a salient-pole permanent magnet synchronous motor, which at least partially solve the problems existing in the prior art .

In a first aspect, an embodiment of the present disclosure provides a method for calibrating a working point of a maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor, including:

Select the target flux linkage value from the preset flux linkage value range;

Calculate the actual flux linkage value of the salient-pole permanent magnet synchronous motor by using the preset flux linkage value calculation formula;

adjusting the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;

Measure the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user;

Judging whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque;

If the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, the calibration of the the working point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value;

If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as a new reference torque, and a new reference torque is measured according to the updated direct-axis current command value. The new output torque is compared with the new reference torque until the new output torque is less than the new reference torque.

According to a specific implementation manner of the embodiment of the present disclosure, the direct-axis current command value is less than or equal to the maximum short-circuit current of the salient-pole permanent magnet synchronous motor;

The maximum value of the preset flux linkage value interval is the maximum flux linkage value output by the salient-pole permanent magnet synchronous motor at a base speed, wherein the base speed is the output of the salient-pole permanent magnet synchronous motor Maximum speed at maximum torque.

According to a specific implementation manner of the embodiment of the present disclosure, the step of adjusting the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value includes:

Calculate the flux linkage deviation value between the actual flux linkage value and the target flux linkage value;

Perform proportional operation and integral operation on the flux linkage deviation value to obtain the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor.

According to a specific implementation manner of the embodiment of the present disclosure, if the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, the direct-axis current corresponding to the reference torque The command value and the quadrature axis current command value, after the step of calibrating the operating point of the salient-pole permanent magnet synchronous motor at the maximum torque flux linkage ratio corresponding to the target flux linkage value, the method further includes:

updating the direct-axis current command value and the target flux linkage value;

Measure a new output torque according to the updated direct-axis current command value and the target flux linkage value, and compare the new output torque with a new reference torque until the new output torque is reached less than the new reference torque;

The direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque are used to calibrate the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value work point.

According to a specific implementation manner of the embodiment of the present disclosure, the direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque are used to calibrate the salient-pole permanent magnet synchronous motor After the step of the operating point under the maximum torque flux linkage ratio corresponding to the target flux linkage value, the method further includes:

The maximum torque flux linkage ratio curve is formed according to the maximum current operating point corresponding to all the target flux linkage values.

According to a specific implementation manner of the embodiment of the present disclosure, the step of measuring the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user, include:

Inputting the direct-axis current command value and the quadrature-axis current command value into the current controller of the salient-pole permanent magnet synchronous motor, respectively, to obtain the corresponding direct-axis modulation voltage and quadrature-axis modulation voltage;

performing pulse width modulation on the direct-axis modulation voltage and the quadrature-axis modulation voltage to generate a power switch drive signal;

The power switch drive signal is input into the inverter, and the output torque of the salient-pole permanent magnet synchronous motor is measured.

其中，Ψ_g为所述实际磁链值，u^* _ds为直轴调制电压，u^* _qs为交轴调制电压，R_s为定子相电阻，i_dsfbk为直轴电流实际值，i_qsfbk为交轴电流实际值，ω_r为凸极式永磁同步电机旋转角速度。According to a specific implementation manner of the embodiment of the present disclosure, the calculation formula of the flux linkage value is:

Among them, _Ψg is the actual flux linkage value, u ^* _ds is the direct-axis modulation voltage, u ^* _qs is the quadrature-axis modulation voltage, Rs is the stator phase resistance, i _dsfbk is the actual value of the direct-axis current, and i _qsfbk is the _quadrature -axis modulation voltage The actual value of the shaft current, ω _r is the rotational angular velocity of the salient-pole permanent magnet synchronous motor.

In a second aspect, an embodiment of the present disclosure provides a device for calibrating a working point of a maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor, including:

The selection module is used to select the target flux linkage value from the preset flux linkage value interval;

a first calculation module, used for calculating the actual flux linkage value of the salient-pole permanent magnet synchronous motor by using a preset flux linkage value calculation formula;

a second calculation module, configured to adjust the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;

a measurement module, configured to measure the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user;

a judgment module for judging whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque;

Calibration module for,

If the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, the calibration of the the working point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value;

If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as a new reference torque, and a new reference torque is measured according to the updated direct-axis current command value. and compare the new output torque with the new reference torque until the new output torque is less than the new reference torque.

In a third aspect, an embodiment of the present disclosure further provides a salient-pole permanent magnet synchronous motor, the salient-pole permanent magnet synchronous motor includes: a motor body and a processor, and the processor can execute the foregoing first aspect or the first A method for calibrating a working point of a maximum torque flux linkage ratio of a salient pole permanent magnet synchronous motor in any one of the implementations.

The method for calibrating the maximum torque flux linkage ratio working point of a salient-pole permanent magnet synchronous motor in the embodiment of the present disclosure includes: selecting a target flux linkage value from a preset flux linkage value interval; using a preset flux linkage value calculation formula Calculate the actual flux linkage value of the salient-pole permanent magnet synchronous motor; adjust the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value; Direct-axis current command value and the quadrature-axis current command value, measure the current output torque of the salient-pole permanent magnet synchronous motor; determine whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque; if the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, then according to the direct-axis current command value and the quadrature-axis current command value corresponding to the reference torque, Calibrate the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value; if the current output torque of the salient pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as the new reference torque, and the new output torque is measured according to the updated direct-axis current command value, and the new output torque is compared with the new reference torque. Compare until the new output torque is less than the new reference torque. Through the solution of the present disclosure, the maximum torque operating point under the current flux linkage value is measured by using the preselected flux linkage value and the direct-axis current command value, thereby improving the maximum torque flux linkage ratio operation of the salient-pole permanent magnet synchronous motor. Computational efficiency and accuracy of point calibration methods.

Description of drawings

In order to explain the technical solutions of the embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of a method for calibrating a maximum torque flux linkage ratio operating point of a salient pole permanent magnet synchronous motor according to an embodiment of the present disclosure;

2 is a curve of the maximum torque flux linkage ratio involved in a method for calibrating a maximum torque flux linkage ratio working point of a salient pole permanent magnet synchronous motor provided by an embodiment of the present disclosure;

3 is a schematic partial flowchart of a method for calibrating a maximum torque flux linkage ratio operating point of a salient-pole permanent magnet synchronous motor according to an embodiment of the present disclosure;

4 is a schematic block diagram of a flowchart of a control system for a salient-pole permanent magnet synchronous motor provided by an embodiment of the present disclosure;

5 is a schematic structural diagram of a device for calibrating a working point of a maximum torque flux linkage ratio of a salient pole permanent magnet synchronous motor according to an embodiment of the present disclosure.

Detailed ways

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

The embodiments of the present disclosure are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only some, but not all, embodiments of the present disclosure. The present disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other under the condition of no conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

It is noted that various aspects of embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is illustrative only. Based on this disclosure, those skilled in the art should appreciate that an aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method may be practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the drawings provided in the following embodiments are only illustrative of the basic concept of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, one skilled in the art will understand that the described aspects may be practiced without these specific details.

Usually, in engineering applications, an experimental calibration method is used to obtain the maximum torque flux linkage ratio curve. The existing experimental calibration method is as follows: preset discrete stator current operating points within a certain range, and obtain the corresponding output torque and air-gap flux linkage at each operating point through experimental measurement and calculation. Through the later data fitting, the set of stator current operating points corresponding to the same air gap flux linkage can be obtained. Finally, by comparing the output torques at different operating points under the same air gap flux linkage, the maximum torque flux linkage ratio curve can be obtained. However, the air-gap flux linkage generated by the preset stator current operating point is uncontrollable, and it is difficult to obtain a sufficient set of stator current operating points with the same air-gap flux linkage, which can only rely on data fitting. However, the data fitting will introduce a certain error, which affects the accuracy of the maximum torque flux linkage ratio curve, and reduces the maximum output torque of the motor under different air gap flux linkage conditions.

The embodiments of the present disclosure provide a method for calibrating the working point of the maximum torque flux linkage ratio of a salient pole permanent magnet synchronous motor. The method for calibrating the working point of the maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor provided in this embodiment can be executed by a computing device, and the computing device can be implemented as software, or implemented as a combination of software and hardware. The device can be integrated in a server, a terminal device, or the like.

Referring to FIG. 1 , it is a schematic flowchart of a method for calibrating a working point of a maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor according to an embodiment of the present disclosure. As shown in Figure 1, the method mainly includes the following steps:

S101, selecting a target flux linkage value from a preset flux linkage value interval;

The method for calibrating the working point under the maximum torque flux linkage ratio of the salient pole permanent magnet synchronous motor provided by the embodiment of the present disclosure can be applied to the current working point calibration process in the motor running scene.

During the specific implementation, considering that each salient-pole permanent magnet synchronous motor will correspond to the maximum flux linkage value, the maximum value of the preset flux linkage value interval can be set as the maximum value corresponding to the salient-pole permanent magnet synchronous motor. For the flux linkage value, when selecting the target flux linkage value from the preset flux linkage value range, the maximum value can be selected first, and then it can be decremented in subsequent measurements. Select different target flux linkage values within the set flux linkage value range.

S102, using a preset flux linkage value calculation formula to calculate the actual flux linkage value of the salient-pole permanent magnet synchronous motor;

Optionally, the calculation formula of the flux linkage value is:

其中，Ψ_g为所述实际磁链值，u^* _ds为直轴调制电压，u^* _qs为交轴调制电压，R_s为定子相电阻，i_dsfbk为直轴电流实际值，i_qsfbk为交轴电流实际值，ω_r为凸极式永磁同步电机旋转角速度。

Among them, _Ψg is the actual flux linkage value, u ^* _ds is the direct-axis modulation voltage, u ^* _qs is the quadrature-axis modulation voltage, Rs is the stator phase resistance, i _dsfbk is the actual value of the direct-axis current, and i _qsfbk is the _quadrature -axis modulation voltage The actual value of the shaft current, ω _r is the rotational angular velocity of the salient-pole permanent magnet synchronous motor.

During specific implementation, considering that the salient-pole permanent magnet synchronous motor operates under non-ideal conditions, when running according to the selected target flux linkage value, the actual flux linkage value output by the salient-pole permanent magnet synchronous motor There may be deviations from the stated target flux linkage values. The actual flux linkage value of the salient-pole permanent magnet synchronous motor in the running state can be calculated by using the flux linkage calculation formula, so as to perform the subsequent operation process.

S103, adjusting the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;

During specific implementation, according to the actual flux linkage value obtained by the flux linkage value calculation formula and the selected target flux linkage value, the quadrature axis current command value of the salient-pole permanent magnet synchronous motor is further iteratively calculated. .

S104, measure the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user;

During specific implementation, according to the direct-axis current command value and the quadrature-axis current command value, a current equal to the direct-axis current command value is applied to the direct axis of the stator of the salient-pole permanent magnet synchronous motor, and, A current equal to the current command value of the quadrature axis is applied to the quadrature axis of the stator of the salient pole type permanent magnet synchronous motor, and the current output torque of the salient pole type permanent magnet synchronous motor can be measured through a torque sensor.

S105, judging whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque;

The measured current output torque of the salient-pole permanent magnet synchronous motor is compared with the reference torque, so as to determine the next operation. It should be noted that the reference torque usually needs to be reset to 0 each time the target flux linkage value is modified.

If the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, step S106 is executed, according to the direct-axis current command value and the quadrature-axis current command value corresponding to the reference torque , calibrating the operating point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value;

In specific implementation, when the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, it is determined that the operating point composed of the direct-axis current command value and the quadrature-axis current command value is not the same When the salient-pole permanent magnet synchronous motor is at the maximum torque flux linkage ratio operating point corresponding to the target flux linkage value, the direct-axis current command value and the quadrature-axis current command value corresponding to the reference torque , calibrating the operating point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value.

If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, step S107 is executed, the output torque is taken as a new reference torque, and the updated direct-axis current is The command value measures the new output torque and compares the new output torque with the new reference torque until the new output torque is less than the new reference torque.

For example, when the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the direct-axis current command value and the quadrature-axis current command corresponding to the reference torque are determined The value is not the operating point of the salient-pole permanent magnet synchronous motor at the maximum torque flux linkage ratio corresponding to the target flux linkage value. At this time, the current output torque of the salient-pole permanent magnet synchronous motor can be used as a new reference torque, and the direct-axis current command value can be updated to measure the new output torque, and then the new output torque can be converted into The torque is compared with the new reference torque until the new output torque is less than the new reference torque.

The method for calibrating the working point of the maximum torque flux linkage ratio of a salient-pole permanent magnet synchronous motor provided by the embodiment of the present disclosure obtains the current flux linkage value under the current flux linkage value by calibrating the flux linkage command value and the direct-axis current command value selected in advance. The maximum torque working point, the working point corresponding to the maximum torque under the target flux linkage value can be obtained without data fitting in the later stage, which improves the calibration method of the maximum torque flux linkage ratio working point of the salient-pole permanent magnet synchronous motor. Computational efficiency and precision.

On the basis of the above embodiment, the direct-axis current command value is less than or equal to the maximum short-circuit current of the salient-pole permanent magnet synchronous motor;

The maximum value of the preset flux linkage value interval is the maximum flux linkage value output by the salient-pole permanent magnet synchronous motor at a base speed, wherein the base speed is the output of the salient-pole permanent magnet synchronous motor Maximum speed at maximum torque.

During specific implementation, considering that each salient-pole permanent magnet synchronous motor has a corresponding maximum flux linkage value, the maximum rotational speed that the salient-pole permanent magnet synchronous motor can achieve when it outputs the maximum torque is the salient-pole permanent magnet synchronous motor. The base speed of the magnetic synchronous motor, and each of the salient-pole permanent magnet synchronous motors has a corresponding maximum short-circuit current. When the user inputs the direct-axis current command value, the input value of the direct-axis current command value should be less than or equal to the maximum short-circuit current of the salient-pole permanent magnet synchronous motor, and at the same time, the selected target flux linkage The value should also be less than or equal to the maximum flux linkage value. In order to facilitate the detection process, when inputting the direct-axis current command value, the maximum short-circuit current value can be input first, and when selecting the target flux linkage value, the maximum flux linkage value can be selected first, and then gradually reduced until Complete the measurement.

On the basis of the above embodiment, the adjusting of the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor described in step S103 until the actual flux linkage value is equal to the target flux linkage value includes:

Calculate the flux linkage deviation value between the actual flux linkage value and the target flux linkage value;

Perform proportional operation and integral operation on the flux linkage deviation value to obtain the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor.

In specific implementation, a flux linkage controller may be set in the salient-pole permanent magnet synchronous motor, and the flux linkage controller calculates a flux linkage deviation value according to the target flux linkage value and the actual flux linkage value, and then calculates the Proportional operation and integral operation are performed on the flux linkage deviation value, and a quadrature axis current command value that is stable on the target flux linkage value is obtained through iterative calculation.

Further, in step S106, if the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, then according to the direct-axis current command value corresponding to the reference torque and the alternating current Shaft current command value, after calibrating the operating point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value, the method further includes:

updating the direct-axis current command value and the target flux linkage value;

A new target flux linkage value is selected within the preset flux linkage value interval, and at the same time, the direct-axis current command value can be reset to the maximum short-circuit current value of the salient-pole permanent magnet synchronous motor, It is then gradually reduced in subsequent measurements until the current maximum torque at the target flux linkage value is obtained.

Measure a new output torque according to the updated direct-axis current command value and the target flux linkage value, and compare the new output torque with a new reference torque until the new output torque is reached less than the new reference torque;

Measure the new output torque with the updated direct-axis current command value and the target flux linkage value, and compare the new output torque with the new reference torque to determine the next operation flow Whether to calibrate the operating point corresponding to the maximum torque flux linkage ratio or update the direct-axis current command value again.

The direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque are used to calibrate the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value work point.

During specific implementation, when the new output torque of the salient-pole permanent magnet synchronous motor is smaller than the new reference torque, it is determined that the updated direct-axis current command value and the quadrature-axis current command value are composed of The operating point of the salient pole permanent magnet synchronous motor is not the maximum torque flux linkage ratio corresponding to the target flux linkage value, then the direct axis current command value corresponding to the new reference torque and the The quadrature axis current command value is used to demarcate the working point of the salient pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value. If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as a new reference torque, and a new reference torque is measured according to the updated direct-axis current command value. The new output torque is compared with the new reference torque until the new output torque is less than the new reference torque.

Optionally, as shown in FIG. 2 , the direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque are used to calibrate the salient pole permanent magnet synchronous motor at the target. After the step of the operating point under the maximum torque flux linkage ratio corresponding to the flux linkage value, the method further includes:

The maximum torque flux linkage ratio curve is formed according to the maximum current operating point corresponding to all the target flux linkage values.

During specific implementation, different target flux linkage values can be selected within the preset flux linkage value interval as required. Of course, in order to ensure measurement accuracy, more target flux linkage values can be selected, and each target flux linkage value can be obtained by measuring. After the working point corresponding to the maximum output torque on the chain value, the maximum torque flux linkage ratio curve is formed according to all the working points.

On the basis of the above embodiment, as shown in FIG. 3 , in step S104, the current output of the salient-pole permanent magnet synchronous motor is measured according to the direct-axis current command value and the quadrature-axis current command value input by the user. torque, including:

S301, inputting the direct-axis current command value and the quadrature-axis current command value into a current controller of the salient-pole permanent magnet synchronous motor, respectively, to obtain the corresponding direct-axis modulation voltage and quadrature-axis modulation voltage;

For example, in a specific embodiment, the salient-pole permanent magnet synchronous motor can be controlled by a salient-pole permanent-magnet synchronous motor control system, and the structure of the salient-pole permanent-magnet synchronous motor control system is shown in Figure 4 shown. The salient-pole permanent magnet synchronous motor control system may be provided with a current controller. After the obtained quadrature-axis current command value and the direct-axis current command value manually input by the user are input into the current controller, the current controller will The controller generates a direct-axis modulation voltage corresponding to the direct-axis current command value according to the quadrature-axis current command value and the direct-axis current command value, and generates an quadrature-axis modulation voltage corresponding to the quadrature-axis current command value.

S302, performing pulse width modulation on the direct-axis modulation voltage and the quadrature-axis modulation voltage to generate a power switch drive signal;

After pulse width modulation is performed on the direct-axis modulation voltage and the quadrature-axis modulation voltage, a corresponding power switch driving signal is generated.

S303, the pulse width signal is input to the inverter, and the output torque of the salient-pole permanent magnet synchronous motor is measured.

At the same time, the generated power switch drive signal is input into the inverter of the salient-pole permanent magnet synchronous motor, so as to drive the salient-pole permanent magnet synchronous motor to run, and the salient-pole permanent magnet synchronous motor is further measured by a torque sensor. The output torque of the permanent magnet synchronous motor when it is running.

Corresponding to the above method embodiments, referring to FIG. 5 , an embodiment of the present disclosure further provides a device 50 for calibrating the maximum torque flux linkage ratio working point of a salient-pole permanent magnet synchronous motor, including:

A selection module 501 is used to select a target flux linkage value from a preset flux linkage value interval;

The first calculation module 502 is used to calculate the actual flux linkage value of the salient-pole permanent magnet synchronous motor by using a preset flux linkage value calculation formula;

The second calculation module 503 is configured to adjust the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value;

A measurement module 504, configured to measure the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user;

The judgment module 505 is used for judging whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque;

A calibration module 506 for,

If the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, the calibration of the the working point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value;

If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as a new reference torque, and a new reference torque is measured according to the updated direct-axis current command value. and compare the new output torque with the new reference torque until the new output torque is less than the new reference torque.

The apparatus shown in FIG. 5 can correspondingly execute the content in the foregoing method embodiment. For the part not described in detail in this embodiment, reference is made to the content recorded in the foregoing method embodiment, and details are not repeated here.

The embodiment of the present disclosure also provides a salient-pole permanent magnet synchronous motor, and the salient-pole permanent magnet synchronous motor includes:

A motor body and a processor, wherein the processor can execute the method for calibrating the working point of the maximum torque flux linkage ratio of the salient pole permanent magnet synchronous motor in the foregoing method embodiments.

The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited to this. Any person skilled in the art who is familiar with the technical scope of the present disclosure can easily think of changes or substitutions. All should be included within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims (9)

1. a calibration method of a salient pole type permanent magnet synchronous motor maximum torque flux linkage ratio operating point, is characterized in that, comprises: Select the target flux linkage value from the preset flux linkage value range; Calculate the actual flux linkage value of the salient-pole permanent magnet synchronous motor by using the preset flux linkage value calculation formula; adjusting the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value; Measure the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user; Judging whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque; If the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, the calibration of the the working point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value; If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as a new reference torque, and a new reference torque is measured according to the updated direct-axis current command value. The new output torque is compared with the new reference torque until the new output torque is less than the new reference torque. 2. The method according to claim 1, wherein the direct-axis current command value is less than or equal to the maximum short-circuit current of the salient-pole permanent magnet synchronous motor; The maximum value of the preset flux linkage value interval is the maximum flux linkage value output by the salient-pole permanent magnet synchronous motor at a base speed, wherein the base speed is the output of the salient-pole permanent magnet synchronous motor Maximum speed at maximum torque. 3. The method according to claim 1, wherein the step of adjusting the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value ,include: Calculate the flux linkage deviation value between the actual flux linkage value and the target flux linkage value; Perform proportional operation and integral operation on the flux linkage deviation value to obtain the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor. 4 . The method according to claim 1 , wherein, if the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, then according to the reference torque corresponding to the After the direct-axis current command value and the quadrature-axis current command value are used to calibrate the operating point of the salient-pole permanent magnet synchronous motor at the maximum torque flux linkage ratio corresponding to the target flux linkage value, the method Also includes: updating the direct-axis current command value and the target flux linkage value; Measure a new output torque according to the updated direct-axis current command value and the target flux linkage value, and compare the new output torque with a new reference torque until the new output torque is reached less than the new reference torque; The direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque are used to calibrate the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value work point. 5 . The method according to claim 4 , wherein the direct-axis current command value and the quadrature-axis current command value corresponding to the new reference torque are calibrated to calibrate the salient pole permanent magnet. 6 . After the step of the magnetic synchronous motor at the operating point at the maximum torque flux linkage ratio corresponding to the target flux linkage value, the method further includes: The maximum torque flux linkage ratio curve is formed according to the maximum current operating point corresponding to all the target flux linkage values. 6 . The method according to claim 1 , wherein the current output torque of the salient-pole permanent magnet synchronous motor is measured according to the direct-axis current command value and the quadrature-axis current command value input by the user. 7 . steps, including: Inputting the direct-axis current command value and the quadrature-axis current command value into the current controller of the salient-pole permanent magnet synchronous motor, respectively, to obtain the corresponding direct-axis modulation voltage and quadrature-axis modulation voltage; performing pulse width modulation on the direct-axis modulation voltage and the quadrature-axis modulation voltage to generate a power switch drive signal; The power switch drive signal is input into the inverter, and the output torque of the salient-pole permanent magnet synchronous motor is measured. 7. The method according to any one of claims 1 to 6, wherein the calculation formula of the flux linkage value is:

Among them, _Ψg is the actual flux linkage value, u ^* _ds is the direct-axis modulation voltage, u ^* _qs is the quadrature-axis modulation voltage, Rs is the stator phase resistance, i _dsfbk is the actual value of the direct-axis current, and i _qsfbk is the _quadrature -axis modulation voltage The actual value of the shaft current, ω _r is the rotational angular velocity of the salient-pole permanent magnet synchronous motor. 8. A calibration device for a salient pole type permanent magnet synchronous motor maximum torque flux linkage ratio operating point, characterized in that, comprising: The selection module is used to select the target flux linkage value from the preset flux linkage value interval; a first calculation module, used for calculating the actual flux linkage value of the salient-pole permanent magnet synchronous motor by using a preset flux linkage value calculation formula; a second calculation module, configured to adjust the quadrature-axis current command value of the salient-pole permanent magnet synchronous motor until the actual flux linkage value is equal to the target flux linkage value; a measurement module, configured to measure the current output torque of the salient-pole permanent magnet synchronous motor according to the direct-axis current command value and the quadrature-axis current command value input by the user; a judgment module for judging whether the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque; Calibration module for, If the current output torque of the salient-pole permanent magnet synchronous motor is less than the reference torque, the calibration of the the working point of the salient-pole permanent magnet synchronous motor under the maximum torque flux linkage ratio corresponding to the target flux linkage value; If the current output torque of the salient-pole permanent magnet synchronous motor is greater than or equal to the reference torque, the output torque is used as a new reference torque, and a new reference torque is measured according to the updated direct-axis current command value. and compare the new output torque with the new reference torque until the new output torque is less than the new reference torque. 9 . A salient pole type permanent magnet synchronous motor, characterized in that the salient pole type permanent magnet synchronous motor comprises: a motor body and a processor, the processor capable of executing any one of the preceding claims 1-7 The calibration method of the maximum torque flux linkage ratio of the salient pole permanent magnet synchronous motor described above.

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