CN203406821U - A torque parameter measuring apparatus for a permanent magnet synchronous motor - Google Patents
A torque parameter measuring apparatus for a permanent magnet synchronous motor Download PDFInfo
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- CN203406821U CN203406821U CN201320459264.4U CN201320459264U CN203406821U CN 203406821 U CN203406821 U CN 203406821U CN 201320459264 U CN201320459264 U CN 201320459264U CN 203406821 U CN203406821 U CN 203406821U
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Abstract
The utility model relates to a torque parameter measuring apparatus for a permanent magnet synchronous motor (PMSM). The torque parameter measuring apparatus is used for measuring the torque parameter of a PMSM and comprises a DC voltage-stabilizing power supply, an inverter, a driving controller, an encoder, a torquemeter, and a dynamometer. The dynamometer is connected with the output shaft of the PMSM through the torquemeter. A current and rotating speed double closed loop control system is formed between the PMSM and the encoder, and between the driving controller and the inverter. The inverter is connected with the DC voltage-stabilizing power supply. In view of the influence of parametric variation on torque estimation in a motor operating process, using a PMSM vector control algorithm, the torque parameter measuring apparatus decomposes three-phase current on a d axis and a q axis with PARK transformation. The current on the d axis and the q axis is controlled through lookup so as to achieve a purpose of accurately controlling the output torque of the motor. Parameters in a table are obtained by actual measurement so that high control precision is achieved.
Description
Technical field
The utility model relates to permagnetic synchronous motor (permanent magnet synchronous motor, referred to as PMSM), specifically a kind of permagnetic synchronous motor torque parameter measurement mechanism.
Background technology
Along with developing rapidly of pure electric automobile, PMSM Drive System is used more and more extensively, simultaneously also more and more higher to the required precision of the parameter of electric machine.In permagnetic synchronous motor pull-in control system, the output torque that main control object is motor, owing to there is no torque sensor in drive system, so just needs the accurate parameter of electric machine to estimate output torque.
The method of the estimation parameter of electric machine has much at present, and the Chinese invention patent application that for example application number is 201010268861.X discloses a kind of parameter acquiring method of permagnetic synchronous motor.The method, for measuring DC bus-bar voltage, adopts digital stagnant ring-like pulse modulation demodulation control mode, and control inverter is to PMSM output current; And detect line voltage and phase current corresponding with input current in PMSM; And the different electric current of exporting to PMSM according to control inverter, calculate the stator resistance of permagnetic synchronous motor, the magnetic flux density ψ of permanent magnet excitation magnetic linkage
fand/or the inductance value L of d axle
dand the inductance value L of q axle
q, realized above-mentioned three parameter accurate Calculation in PMSM, and effectively raised the control effect of vector control technology to PMSM.The method is comparatively practical in general control system, after the parameter of electric machine is measured, just can calculate output torque according to motor equation.But the defect of this method is also fairly obvious, its defect is exactly that parameter of electric machine precision is not high, thereby it is larger to cause exporting torque error.When permagnetic synchronous motor actual motion, when motor internal parameter should be, become, and the parameter that this method records is a fixed value, is not the curve of a variation.In pure electric automobile trailer system, keep motor motor output torque in service to be estimated accurately, must measure so the change curve of the parameter of electric machine.
The parameter of electric machine relevant with torque estimating is mainly the inductance value L of permanent magnet excitation magnetic linkage, d axle
dand the inductance value L of q axle
q.The change curve that will accurately measure above-mentioned three parameters is more difficult, need the data volume of survey also very huge, but why can be changed by known these three parameters of Principle of Electric Engine, mainly because motor stator electric current changes, so also can reach same effect as long as measure the moment of motor output under different electric currents, the changing factor of the parameter of electric machine is also included.
Summary of the invention
The utility model, for the problems referred to above, provides a kind of permagnetic synchronous motor torque parameter measurement mechanism, and this device can accurately be estimated the output torque of permagnetic synchronous motor.
According to the technical solution of the utility model: a kind of permagnetic synchronous motor torque parameter measurement mechanism, for measuring the torque parameter of permagnetic synchronous motor, described device comprises D.C. regulated power supply, inverter, driving governor, encoder, torquemeter and dynamometer machine, described dynamometer machine is connected with the output shaft of described permagnetic synchronous motor by described torquemeter, between described permagnetic synchronous motor and described encoder, described driving governor and described inverter, be built into electric current, rotating speed double closed-loop control system, described inverter is connected with described D.C. regulated power supply.
Described driving governor comprises der Geschwindigkeitkreis pi regulator, q shaft current ring adjuster, d shaft current ring adjuster, PARK inverse transform module, SVPWM module, PARK conversion module and CLAKE conversion module, described der Geschwindigkeitkreis pi regulator, described q shaft current ring adjuster, described PARK inverse transform module, described SVPWM module, described inverter, described permagnetic synchronous motor and described encoder form described speed closed loop control system, described d shaft current ring adjuster, described PARK inverse transform module, described SVPWM module, described inverter, described CLAKE conversion module and described PARK conversion module form described current close-loop control system.
Described torquemeter is connected with described permagnetic synchronous motor and described dynamometer machine by shaft coupling respectively.
Technique effect of the present utility model is: the utility model considers that in motor operation course, parameter changes the impact that torque estimating is brought, adopt permagnetic synchronous motor vector control algorithm that three-phase current is converted and decomposed on d, q axle by PARK, thereby the electric current of controlling d, q axle by tabling look-up reaches the object of accurate control motor output torque, the parameter of controlling in required form is drawn by actual measurement, so control precision is higher.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the utility model measurement mechanism.
Fig. 2 is the electric current that is built into of the utility model, the structured flowchart of rotating speed double closed-loop control system.
Fig. 3 is the structured flowchart of the moment controlling system that is built into of the utility model.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is further described.
In Fig. 1～Fig. 3, comprise der Geschwindigkeitkreis pi regulator 1, q shaft current ring adjuster 2, d shaft current ring adjuster 3, PARK inverse transform module 4, SVPWM module 5, inverter (Inverter) 6, PARK conversion module 7, CLAKE conversion module 8, encoder (Encoder) 9, permagnetic synchronous motor 10, torque current form 11, D.C. regulated power supply 12, driving governor 13, torquemeter 14, dynamometer machine 15 etc.
As shown in Figure 1, the utility model is a kind of permagnetic synchronous motor torque parameter measurement mechanism, for measuring the torque parameter of permagnetic synchronous motor 10, this device comprises D.C. regulated power supply 12, inverter 6, driving governor 13, encoder 9, torquemeter 14 and dynamometer machine 15, dynamometer machine 15 is connected with the output shaft of permagnetic synchronous motor 10 by torquemeter 14, and torquemeter 14 is connected with permagnetic synchronous motor 10 and dynamometer machine 15 by shaft coupling respectively.Between permagnetic synchronous motor 10 and encoder 9, driving governor 13 and inverter 6, be built into electric current, rotating speed double closed-loop control system, inverter 6 is connected with D.C. regulated power supply 12.
Wherein: der Geschwindigkeitkreis pi regulator 1, for revving up the response time, regulates stable state progress; Electric current loop adjuster 2,3, for accelerating the current response time, regulates stable state progress; PARK inverse transform module 4 is for being transformed into static two-phase reference axis by data from rotation two-phase reference axis; SVPWM module 5 is for computer memory vector PWM; PARK conversion module 7 is for being transformed into rotation two-phase reference axis by data from static two-phase reference axis; CLAKE conversion module 8 is for being transformed into static two-phase reference axis by data from three-phase reference axis.
Power take below as 10kw, and rated current is 100A, and the permagnetic synchronous motor that rated moment is 60N is the detailed process that example explanation is used the utility model to measure, and comprises the following steps:
1) as shown in Figure 2, permagnetic synchronous motor 10, encoder (Encoder) 9, CLAKE conversion module 8, PARK conversion module 7, pi regulator (der Geschwindigkeitkreis pi regulator 1, q shaft current ring adjuster 2, d shaft current ring adjuster 3), PARK inverse transform module 4, SVPWM module 5 and inverter 6 are built into electric current, rotating speed double closed-loop control system, the PI parameter that regulates electric current loop, der Geschwindigkeitkreis, allows the fluctuation of electric current, rotating speed be down to minimum;
2) rotating speed of motor 10 is risen to rated speed, then, with a definite value, for example 5N.m ，Wei unit progressively increases given torque; During each loading, first d shaft current is reduced to 0, now the output torque of motor is that the electromagnetic torque that q shaft current and rotor flux produce there is no reluctance torque, after current stabilization, reduce gradually d shaft current, observe and to be down to hour record d, q shaft current and load torque corresponding thereto now when the resultant current of stator; Employing MTPA(breakdown torque current ratio) mode is guaranteed stator unitary current output torque maximum.
3) according to the d recording, q shaft current parameter, make torque-current form 11 with corresponding load torque, as shown in table 1, write in control program, as shown in Figure 3, when controller is imported in given torque into, directly by tabling look-up, provide d, q shaft current is given, completes the accurate control to permagnetic synchronous motor output torque.
Table 1
| Load torque (N.m) | D shaft current (A) | Q shaft current (A) |
| 5 | -2.5 | 9.8 |
| 10 | -4.5 | 18 |
| 15 | -5.5 | 27 |
| 20 | -9.7 | 34 |
| 25 | -15 | 42 |
| 30 | -20 | 48 |
| 35 | -25 | 57 |
| 40 | -28 | 62 |
| 45 | -35 | 67 |
| 50 | -41 | 73 |
| 55 | -47 | 78 |
| 60 | -52 | 83 |
Table 2(motor speed is when 500r/min)
| Actual measurement | 5N | 10N | 15N | 20N | 25N | 30N | 35N | 40N | 45N | 50N | 55N | 60N |
| Estimation | 5.1N | 10.1N | 14.7N | 19.5N | 25.3N | 30.6N | 36N | 41N | 46.1N | 50.9N | 56N | 60.4N |
Table 3(motor speed is when 1000r/min)
| Actual measurement | 5N | 10N | 15N | 20N | 25N | 30N | 35N | 40N | 45N | 50N | 55N | 60N |
| Estimation | 5.8N | 10.3N | 15.7N | 19.4N | 25.8N | 31.4N | 36.4N | 41.1N | 46N | 51.2N | 56N | 61.6N |
Table 4(motor speed is when 1500r/min)
| Actual measurement | 5N | 10N | 15N | 20N | 25N | 30N | 35N | 40N | 45N | 50N | 55N | 60N |
| Estimation | 6.2N | 10.7N | 15.5N | 20.6N | 25.7N | 31.2N | 36.6N | 41N | 46.2N | 51.3N | 56.6N | 61N |
Data in table 2, table 3, table 4 be motor speed when 500r/min, 1000r/min, 1500r/min, the estimation torque of system with actual measurement torque.In table, can draw: motor estimation torque is consistent with actual loading torque phase, and error is no more than 5%, can meet the torque output requirement of trailer system.
Claims (3)
1. a permagnetic synchronous motor torque parameter measurement mechanism, be used for measuring the torque parameter of permagnetic synchronous motor (10), it is characterized in that: described device comprises D.C. regulated power supply (12), inverter (6), driving governor (13), encoder (9), torquemeter (14) and dynamometer machine (15), described dynamometer machine (15) is connected with the output shaft of described permagnetic synchronous motor (10) by described torquemeter (14), described permagnetic synchronous motor (10) and described encoder (9), between described driving governor (13) and described inverter (6), be built into electric current, rotating speed double closed-loop control system, described inverter (6) is connected with described D.C. regulated power supply (12).
2. according to permagnetic synchronous motor torque parameter measurement mechanism claimed in claim 1, it is characterized in that: described driving governor (13) comprises der Geschwindigkeitkreis pi regulator (1), q shaft current ring adjuster (2), d shaft current ring adjuster (3), PARK inverse transform module (4), SVPWM module (5), PARK conversion module (7) and CLAKE conversion module (8), described der Geschwindigkeitkreis pi regulator (1), described q shaft current ring adjuster (2), described PARK inverse transform module (4), described SVPWM module (5), described inverter (6), described permagnetic synchronous motor (10) forms described speed closed loop control system with described encoder (9), described d shaft current ring adjuster (3), described PARK inverse transform module (4), described SVPWM module (5), described inverter (6), described CLAKE conversion module (8) and described PARK conversion module (7) form described current close-loop control system.
3. according to permagnetic synchronous motor torque parameter measurement mechanism claimed in claim 1, it is characterized in that: described torquemeter (14) is connected with described permagnetic synchronous motor (10) and described dynamometer machine (15) by shaft coupling respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320459264.4U CN203406821U (en) | 2013-07-31 | 2013-07-31 | A torque parameter measuring apparatus for a permanent magnet synchronous motor |
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| CN201320459264.4U CN203406821U (en) | 2013-07-31 | 2013-07-31 | A torque parameter measuring apparatus for a permanent magnet synchronous motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103427752A (en) * | 2013-07-31 | 2013-12-04 | 新誉集团有限公司 | Method and device for measuring torque parameters of permanent-magnet synchronous motor |
| CN105429529A (en) * | 2015-12-16 | 2016-03-23 | 四川长虹电器股份有限公司 | A motor control method and electronic device |
| CN105871265A (en) * | 2016-05-20 | 2016-08-17 | 北京新能源汽车股份有限公司 | Control method and system for maximum torque current ratio of built-in permanent magnet synchronous motor |
| CN108413999A (en) * | 2018-03-09 | 2018-08-17 | 浙江赛安电气科技有限公司 | A kind of permanent magnet synchronous motor magnetic compiles zero detector and its method |
| CN111049447A (en) * | 2019-12-31 | 2020-04-21 | 潍柴动力股份有限公司 | Automatic calibration method, system and storage medium for MTPV (maximum Transmission Voltage) algorithm of permanent magnet synchronous motor |
-
2013
- 2013-07-31 CN CN201320459264.4U patent/CN203406821U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103427752A (en) * | 2013-07-31 | 2013-12-04 | 新誉集团有限公司 | Method and device for measuring torque parameters of permanent-magnet synchronous motor |
| CN105429529A (en) * | 2015-12-16 | 2016-03-23 | 四川长虹电器股份有限公司 | A motor control method and electronic device |
| CN105429529B (en) * | 2015-12-16 | 2018-01-09 | 四川长虹电器股份有限公司 | A kind of motor control method and electronic equipment |
| CN105871265A (en) * | 2016-05-20 | 2016-08-17 | 北京新能源汽车股份有限公司 | Control method and system for maximum torque current ratio of built-in permanent magnet synchronous motor |
| CN108413999A (en) * | 2018-03-09 | 2018-08-17 | 浙江赛安电气科技有限公司 | A kind of permanent magnet synchronous motor magnetic compiles zero detector and its method |
| CN111049447A (en) * | 2019-12-31 | 2020-04-21 | 潍柴动力股份有限公司 | Automatic calibration method, system and storage medium for MTPV (maximum Transmission Voltage) algorithm of permanent magnet synchronous motor |
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Address after: 213164 Jiangsu city of Changzhou province Wujin Fenglin national hi tech Industrial Development Zone, Road No. 199 Patentee after: NEW UNITED GROUP Co.,Ltd. Address before: 213164 Jiangsu city of Changzhou province were Wujin high tech Industrial Development Zone, Road No. 68 Patentee before: NEW UNITED GROUP Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140122 |