CN106992728A - Permagnetic synchronous motor torsion compensation process, permagnetic synchronous motor compensation device - Google Patents
Permagnetic synchronous motor torsion compensation process, permagnetic synchronous motor compensation device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention discloses a kind of permagnetic synchronous motor torsion compensation process, permagnetic synchronous motor compensation device, wherein, this method includes：Obtain permagnetic synchronous motor line voltage uVUAnd line voltage uWU；According to line voltage uVU, line voltage uWUCalculate the phase back-emf of permagnetic synchronous motor three；The rotating speed of permagnetic synchronous motor is obtained, the d axle magnetic linkages ψ of permagnetic synchronous motor is determined according to the rotating speed of the phase back-emf of permagnetic synchronous motor three of calculating and acquisitiond, q axle magnetic linkages ψq；According to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψqExtract correspondence harmonic compensation value Δ ud、Δuq；According to the harmonic compensation value Δ u of extractiond、ΔuqHarmonic compensation is carried out to control system for permanent-magnet synchronous motor, to reduce velocity perturbation.The present invention solves the air-gap field for suppressing permagnetic synchronous motor in the prior art with different degrees of phase harmonic processes, and the problem of scheme is complex reduces the complexity for compensating permagnetic synchronous motor control.
Description
Technical field
The present invention relates to technical field of motors, in particular to a kind of permagnetic synchronous motor torsion compensation process, permanent magnetism
Synchronous motor compensation device.
Background technology
Permagnetic synchronous motor has simple in construction, small volume, efficiency high, reliable, speed-regulating range width, static and dynamic performance
Good the advantages of, it is widely used in alternating-current actuating system.And it is to weigh electricity that whether electromagnetic torque is stable during permagnetic synchronous motor work
The key factor of machine performance, torque pulsation can cause vibration and noise, the mechanical wear of expanded motor, make it in high-precision occasion
Application be restricted, meanwhile, the pulsation of torque can cause the pulsation of rotating speed so that motor speed control accuracy decline.
The presence of harmonic wave is the main cause that permagnetic synchronous motor torque pulsation is produced in air-gap flux.In reality
In permagnetic synchronous motor, due to the limitation of rotor permanent magnet manufacturing tolerance, preferably sine air gap flux density is distributed very
Hardly possible is realized.Periodic torque will be produced when the sinusoidal magnetic flux density of undesirable rotor and the interaction of stator rotating excitation field
Pulsation.
The air-gap field of permagnetic synchronous motor carries different degrees of harmonic wave, and harmonic wave can cause current waveform to distort, so that
Increase vibration and the noise of motor, usually, start with from control strategy, by control be added in voltage in motor stator winding or
Current waveform comes torque pulsation inhibited.However, control strategy is to the general use model prediction of current harmonics elimination in existing scheme
Control, the parameter of electric machine is reconstructed so that complicated, parameter regulation becomes highly difficult, and also there is current zero-crossing point
Detection is inaccurate, causes the defect compensated by mistake, and inhibition is poor.
Carried for the air-gap field for suppressing permagnetic synchronous motor in correlation technique in different degrees of phase harmonic processes, scheme
Complex the problem of, not yet propose to efficiently solve scheme at present.
The content of the invention
The invention provides a kind of permagnetic synchronous motor torsion compensation process, permagnetic synchronous motor compensation device, with least
The air-gap field for solving to suppress in the prior art permagnetic synchronous motor is carried in different degrees of phase harmonic processes, and scheme is complex
The problem of.
In order to solve the above technical problems, according to the one side of the embodiment of the present disclosure, the invention provides a kind of permanent magnetism is same
Motor torque compensation method is walked, this method includes：
Obtain VU line voltages u in permagnetic synchronous motor U, V, W three-phaseVUAnd WU line voltages uWU；
According to line voltage uVU, line voltage uWUCalculate the phase back-emf e of permagnetic synchronous motor U, V, W tri-u、ev、ew；
The rotating speed of permagnetic synchronous motor is obtained, according to the phase back-emf e of permagnetic synchronous motor three of calculatingu、ev、ewAnd
The rotating speed of acquisition determines the d axle magnetic linkages ψ of permagnetic synchronous motord, q axle magnetic linkages ψq；
According to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψqExtract correspondence harmonic compensation value Δ ud、Δuq；
According to the harmonic compensation value Δ u of extractiond、ΔuqHarmonic compensation is carried out to control system for permanent-magnet synchronous motor, to reduce
Motor speed is fluctuated.
Further, according to the phase back-emf e of permagnetic synchronous motor three of calculatingu、ev、ewAnd the rotating speed obtained is determined
The d axle magnetic linkages ψ of permagnetic synchronous motord, q axle magnetic linkages ψq, including：
Under two-phase rotating coordinate system, d axle magnetic linkages ψ is determinedd, q axle magnetic linkages ψqIt is as follows：
Wherein, Ld、LqFor the d axles of permagnetic synchronous motor, q axle inductances；id、iqFor by after current sensor measurement by
D, q shaft current value that coordinate transform is obtained；ψfThe fundamental wave magnetic linkage produced for permanent magnet, ψ5、ψ7、ψ11、ψ13Represent 5 times, 7 times, 11
Secondary, 13 subharmonic magnetic linkages；θ is the electrical angle that rotor rotates；
According to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψq, determine the d axle magnetic linkages ψ of 6 subharmonicd, q axle magnetic linkages ψq：
Further, according to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψqExtract correspondence harmonic compensation value Δ ud、Δuq, bag
Include：
Under two-phase rotating coordinate system, determine that voltage equation is as follows：
Wherein, R is the stator internal resistance of motor, and ω is the angular rate that rotor rotates；
According to voltage equation, under two-phase rotating coordinate system, the electromagnetic torque of 6 subharmonic is determined：
Wherein, pnFor motor number of pole-pairs；
Determine that harmonic compensation amount is：
According to the another aspect of the embodiment of the present disclosure there is provided a kind of magnetic-synchro motor compensating device, the device includes：
Test section, the operational factor for detecting permagnetic synchronous motor；
Calculating part, for the operational factor of permagnetic synchronous motor and the category of permagnetic synchronous motor detected according to test section
Property parameter, calculate harmonic compensation amount；
Output section, the harmonic compensation amount for calculating part to be calculated is exported to permagnetic synchronous motor compensation system, so as to forever
Magnetic-synchro motor compensating system is compensated according to harmonic compensation amount.
Further, test section includes：
Two voltage tester probes, are respectively used to measurement permagnetic synchronous motor U, V, W three-phase neutral voltage uVUAnd line electricity
Press uWU；
Velocity sensor, the real-time speed ω for detecting permagnetic synchronous motor；
Current sensor, the phase current i for detecting permagnetic synchronous motorV、iW。
Further, calculating part includes：
Computing circuit, is connected with voltage tester probe, velocity sensor, for the line electricity detected according to voltage tester probe
The real-time speed that pressure and velocity sensor are detected calculates output back-emf signal；
Amplifying circuit, is connected with computing circuit, for the anti-electricity exported by built-in reversed feedback amplifier to counting circuit
Electromotive force signal is amplified, and is back to computing circuit, and the signal that computing circuit is additionally operable to return to amplifying circuit removes magnetic linkage
In fundametal compoment；
A harmonic function!, it is connected with computing circuit, for the fundamental wave point removed in magnetic linkage for exporting computing circuit
Remaining harmonic component carries out the separation of sinusoidal quantity and cosine amount in the signal of amount, determines harmonic compensation value Δ ud、Δuq。
Further, it is characterised in that output section includes：
Two output probes, for distinguishing output harmonic wave offset Δ ud、ΔuqTo permanent magnet synchronous electric drive circuit, with
Just the compensated torque of permagnetic synchronous motor is completed.
Further, the device also includes：
Memory, the property parameters for storing permagnetic synchronous motor, wherein, property parameters include：Inductance LdAnd Lq, base
Ripple magnetic linkage ψf, stator resistance R.
Further, the device also includes：
Current foldback circuit, is connected with current sensor, for the electric current that is detected according to current sensor to permanent-magnet synchronous
Motor harmonic compensation device carries out overcurrent protection.
According to the another aspect of the embodiment of the present disclosure there is provided a kind of computer-readable recording medium, this is computer-readable
Storage medium is stored with one or more program, one or more program can by one or more computing device, with
Realize above-mentioned permagnetic synchronous motor torsion compensation process.
In the present invention there is provided a kind of new compensation scheme applied to permagnetic synchronous motor, pass through d axles magnetic linkage and q
Axle magnetic linkage extracts simple in correspondence harmonic compensation value, this compensation scheme engineering, it is easy to accomplish, efficiently solve prior art
The middle air-gap field for suppressing permagnetic synchronous motor is carried in different degrees of phase harmonic processes, the problem of scheme is complex, reduction
The complexity of control is compensated permagnetic synchronous motor.
Brief description of the drawings
Fig. 1 is a kind of optional flow chart of permagnetic synchronous motor torsion compensation process according to embodiments of the present invention；
Fig. 2 is the permanent-magnet synchronous containing harmonic compensation in permagnetic synchronous motor torsion compensation process according to embodiments of the present invention
Electric system control block diagram；
Fig. 3 is a kind of velocity wave form figure in permagnetic synchronous motor torsion compensation process according to embodiments of the present invention；
Fig. 4 is a kind of fluctuation of speed enlarged drawing in permagnetic synchronous motor torsion compensation process according to embodiments of the present invention；
Fig. 5 is a kind of optional structured flowchart of permagnetic synchronous motor compensation device according to embodiments of the present invention；And
Fig. 6 is another optional structured flowchart of permagnetic synchronous motor compensation device according to embodiments of the present invention.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the present invention.
Embodiment 1
The permagnetic synchronous motor torsion compensation process that the present invention is provided is illustrated below in conjunction with the accompanying drawings.
The permagnetic synchronous motor torsion compensation process that the present invention is provided can be applied in permagnetic synchronous motor compensated torque control
In system processed, when being realized, it can be realized by the way that the hardware unit of its function can be achieved, for example：Provided herein
Permagnetic synchronous motor compensation device, meanwhile, the above method can also be write to one or more programs, store to computer-readable and deposit
On storage media, one or more program can be by one or more computing device.Fig. 1 shows that one kind of the above method can
The flow chart of choosing, as shown in figure 1, the permagnetic synchronous motor torsion compensation process may comprise steps of：
S101, obtains VU line voltages u in permagnetic synchronous motor U, V, W three-phaseVUAnd WU line voltages uWU；
S102, according to line voltage uVU, line voltage uWUCalculate the phase back-emf e of permagnetic synchronous motor U, V, W tri-u、ev、ew；
S103, obtains the rotating speed of permagnetic synchronous motor, according to the phase back-emf e of permagnetic synchronous motor three of calculatingu、ev、ew
And the rotating speed obtained determines the d axle magnetic linkages ψ of permagnetic synchronous motord, q axle magnetic linkages ψq；
S104, according to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψqExtract correspondence harmonic compensation value Δ ud、Δuq；
S105, according to the harmonic compensation value Δ u of extractiond、ΔuqHarmonic compensation is carried out to control system for permanent-magnet synchronous motor,
To reduce motor speed fluctuation.
There is provided a kind of new compensation scheme applied to permagnetic synchronous motor in the above-mentioned embodiment of the present invention,
It is simple in this compensation scheme engineering by d axles magnetic linkage harmonic compensation value corresponding with the extraction of q axles magnetic linkage, it is easy to accomplish, effectively
The air-gap field for suppressing permagnetic synchronous motor in the prior art is solved with different degrees of phase harmonic processes, scheme is more multiple
Miscellaneous the problem of, reduce the complexity that control is compensated permagnetic synchronous motor.
When building the ideal model of permagnetic synchronous motor (PMSM), it is generally recognized that rotor field is preferable in air gap
Sine distribution；But actually due to motor permanent magnet manufacture and technologic limitation, the rotor field harmonic wave that permanent magnet is produced contains
Amount is very big, and actual rotor magnetic field is not ideal sinusoidal distribution.
The specific measuring process of air gap harmonic wave of magnetic field of permanent magnet is determined referring to Fig. 1, motor is placed on testing stand first,
Keep tested permanent-magnetic synchronous motor stator three-phase windings to be off, be grounded U phase windings, popped one's head in survey with partial pressure respectively
VU and WU line voltage is measured, tested permagnetic synchronous motor operation is now dragged, it is preferable that in 1200r/min at the uniform velocity state
Lower operation, then gathers this two-way voltage measuring value with oscillograph.The two-way magnitude of voltage respectively VU that now oscillograph is collected
With WU line voltage.Then three phase back-emfs are conversed according to the two line voltages, will be obtained after counter electromotive force divided by speed
The harmonic value of magnetic linkage.
Under two-phase rotating coordinate system (d-q shaftings), straight, quadrature axis magnetic linkage can be expressed as
In formula, ψd、ψqD-axis (d axles) magnetic linkage and quadrature axis (q axles) magnetic linkage for PMSM；Ld、LqFor PMSM d, q axle inductance；
id、iqTo pass through d, q the shaft current value obtained after current sensor measurement by coordinate transform.ψfThe fundamental wave produced for permanent magnet
Magnetic linkage, ψ5、ψ7Represent 5 times, 7 subharmonic magnetic linkages.θ is the electrical angle that rotor rotates.
Fast Fourier algorithm (FFT) analysis is carried out to magnetic linkage harmonic wave, it is known that harmonic content is mainly 6 subharmonic, and this is
Because 5 times in three-phase static coordinate system, 7 subharmonic are transformed in two-phase rotating coordinate system just into 6 subharmonic.By (1)
Formula is understood, including d, q axle magnetic linkage of 6 subharmonic are
In formula, ψd6、ψq6For high-order magnetic linkage amplitude.
Under two-phase rotating coordinate system, voltage equation is
In formula, R is the stator internal resistance of motor, and ω is the angular rate that rotor rotates.
Under two-phase rotating coordinate system, the electromagnetic torque with 6 subharmonic is
In formula, pnFor motor number of pole-pairs.
According to formula (3), show that the harmonic compensation amount in Fig. 1 is
Coordinate transform in Fig. 2 is tied to two-phase static coordinate (α β coordinates) system including three phase static coordinate (abc coordinates)
Conversion and α β coordinates are tied to the conversion of two-phase rotational coordinates (dq coordinates) system.Wherein, the conversion of α β coordinate systems is tied to by abc coordinates
Converted for Clarke, also referred to as 3s/2s conversion, i.e.,
The Park that is transformed to for being tied to dq coordinate systems by α β coordinates is converted, also referred to as 2s/2r conversion, i.e.,
Formula (6) is corresponding to be inversely transformed into
Formula (7) is corresponding to be inversely transformed into
Fig. 2 shows a kind of PMSM control block diagrams containing harmonic compensation, and according to Fig. 2, simulation block diagram is built with MATLAB,
Velocity wave form is shown in Fig. 3 and Fig. 4, wherein, Fig. 3 is the velocity wave form that harmonic compensation was added at 0.3 second.And can be seen that and add in Fig. 4
Enter after harmonic compensation, velocity perturbation is reduced to 0.75% by original 4.17%, torque arteries and veins can be suppressed by illustrating the method for the present invention
It is dynamic, the fluctuation of speed is reduced, effect is preferable.
According to the another aspect of the present embodiment, there is provided a kind of computer-readable recording medium, the computer-readable storage
Media storage has one or more program, and one or more program can be by one or more computing device, to realize
Above-mentioned permagnetic synchronous motor torsion compensation process.
There is provided a kind of new compensation scheme applied to permagnetic synchronous motor in the above embodiment of the present invention, lead to
Cross simple in d axles magnetic linkage harmonic compensation value corresponding with the extraction of q axles magnetic linkage, this compensation scheme engineering, it is easy to accomplish, effectively solve
The air-gap field for suppressing permagnetic synchronous motor in the prior art determined with different degrees of phase harmonic processes, scheme is complex
The problem of, reduce the complexity that control is compensated permagnetic synchronous motor.
Embodiment 2
Based on the permagnetic synchronous motor torsion compensation process provided in above-described embodiment 1, optional embodiment 2 of the present invention is also
There is provided a kind of permagnetic synchronous motor compensation device, specifically, Fig. 5 shows a kind of optional structured flowchart of the device, such as
Shown in Fig. 5, the device includes：
Test section 50, the operational factor for detecting permagnetic synchronous motor；
Calculating part 51, for the operational factor of permagnetic synchronous motor that is detected according to test section and permagnetic synchronous motor
Property parameters, calculate harmonic compensation amount；
Output section 52, the harmonic compensation amount for calculating part to be calculated is exported to permagnetic synchronous motor compensation system, so as to
Permagnetic synchronous motor compensation system is compensated according to harmonic compensation amount.
There is provided a kind of new compensation scheme applied to permagnetic synchronous motor in the above-mentioned embodiment of the present invention,
It is simple in this compensation scheme engineering by d axles magnetic linkage harmonic compensation value corresponding with the extraction of q axles magnetic linkage, it is easy to accomplish, effectively
The air-gap field for suppressing permagnetic synchronous motor in the prior art is solved with different degrees of phase harmonic processes, scheme is more multiple
Miscellaneous the problem of, reduce the complexity that control is compensated permagnetic synchronous motor.
Further, as shown in fig. 6, test section includes：
Two voltage tester probes 501, are respectively used to measurement permagnetic synchronous motor U, V, W three-phase neutral voltage uVUAnd line
Voltage uWU；
Velocity sensor 502, the real-time speed ω for detecting permagnetic synchronous motor；
Current sensor 503, the phase current i for detecting permagnetic synchronous motorV、iW。
Further, as shown in fig. 6, calculating part 51 includes：
Computing circuit 511, is connected with voltage tester probe, velocity sensor, for what is detected according to voltage tester probe
Line voltage and the real-time speed of velocity sensor detection calculate output back-emf signal；
Amplifying circuit 512, is connected with computing circuit, for by built-in reversed feedback amplifier counting circuit is exported it is anti-
Electromotive force signal is amplified, and is back to computing circuit, and the signal that computing circuit is additionally operable to return to amplifying circuit removes magnetic
Fundametal compoment in chain；
Harmonic function generator 513, is connected with computing circuit, for the fundamental wave removed in magnetic linkage for exporting computing circuit
Remaining harmonic component carries out the separation of sinusoidal quantity and cosine amount in the signal of component, determines harmonic compensation value Δ ud、Δuq。
Further, it is characterised in that output section 52 includes：
Two output probes 521, for distinguishing output harmonic wave offset Δ ud、ΔuqTo permanent magnet synchronous electric drive circuit,
To complete the compensated torque of permagnetic synchronous motor.
Further, the device also includes：
Memory (not shown), the property parameters for storing permagnetic synchronous motor, wherein, property parameters include：
Inductance LdAnd Lq, fundamental wave magnetic linkage ψf, stator resistance R.
Further, as shown in Fig. 2 the device also includes：
Current foldback circuit 530, is connected with current sensor, and the electric current for being detected according to current sensor is same to permanent magnetism
Walk motor harmonic compensation device and carry out overcurrent protection.
Below to said apparatus implement principle carry out it is as described below：
When building the ideal model of permagnetic synchronous motor (PMSM), it is generally recognized that rotor field is preferable in air gap
Sine distribution；But actually due to motor permanent magnet manufacture and technologic limitation, the rotor field harmonic wave that permanent magnet is produced contains
Amount is very big, and actual rotor magnetic field is not ideal sinusoidal distribution.
The specific measuring process of air gap harmonic wave of magnetic field of permanent magnet is determined referring to Fig. 1, motor is placed on testing stand first,
Keep tested permanent-magnetic synchronous motor stator three-phase windings to be off, be grounded U phase windings, popped one's head in survey with partial pressure respectively
VU and WU line voltage is measured, tested permagnetic synchronous motor operation is now dragged, it is preferable that in 1200r/min at the uniform velocity state
Lower operation, then gathers this two-way voltage measuring value with oscillograph.The two-way magnitude of voltage respectively VU that now oscillograph is collected
With WU line voltage.Then three phase back-emfs are conversed according to the two line voltages, will be obtained after counter electromotive force divided by speed
The harmonic value of magnetic linkage.
Under two-phase rotating coordinate system (d-q shaftings), straight, quadrature axis magnetic linkage can be expressed as
In formula, ψd、ψqD-axis (d axles) magnetic linkage and quadrature axis (q axles) magnetic linkage for PMSM；Ld、LqFor PMSM d, q axle inductance；
id、iqTo pass through d, q the shaft current value obtained after current sensor measurement by coordinate transform.ψfThe fundamental wave produced for permanent magnet
Magnetic linkage, ψ5、ψ7Represent 5 times, 7 subharmonic magnetic linkages.θ is the electrical angle that rotor rotates.
Fast Fourier algorithm (FFT) analysis is carried out to magnetic linkage harmonic wave, it is known that harmonic content is mainly 6 subharmonic, and this is
Because 5 times in three-phase static coordinate system, 7 subharmonic are transformed in two-phase rotating coordinate system just into 6 subharmonic.By (1)
Formula is understood, including d, q axle magnetic linkage of 6 subharmonic are
In formula, ψd6、ψq6For high-order magnetic linkage amplitude.
Under two-phase rotating coordinate system, voltage equation is
In formula, R is the stator internal resistance of motor, and ω is the angular rate that rotor rotates.
Under two-phase rotating coordinate system, the electromagnetic torque with 6 subharmonic is
In formula, pnFor motor number of pole-pairs.
According to formula (3), show that the harmonic compensation amount in Fig. 1 is
Coordinate transform in Fig. 2 is tied to two-phase static coordinate (α β coordinates) system including three phase static coordinate (abc coordinates)
Conversion and α β coordinates are tied to the conversion of two-phase rotational coordinates (dq coordinates) system.Wherein, the conversion of α β coordinate systems is tied to by abc coordinates
Converted for Clarke, also referred to as 3s/2s conversion, i.e.,
The Park that is transformed to for being tied to dq coordinate systems by α β coordinates is converted, also referred to as 2s/2r conversion, i.e.,
Formula (6) is corresponding to be inversely transformed into
Formula (7) is corresponding to be inversely transformed into
Fig. 2 shows a kind of PMSM control block diagrams containing harmonic compensation, and according to Fig. 2, simulation block diagram is built with MATLAB,
Velocity wave form is shown in Fig. 3 and Fig. 4, wherein, Fig. 3 is the velocity wave form that harmonic compensation was added at 0.3 second.And can be seen that and add in Fig. 4
Enter after harmonic compensation, velocity perturbation is reduced to 0.75% by original 4.17%, torque arteries and veins can be suppressed by illustrating the method for the present invention
It is dynamic, the fluctuation of speed is reduced, effect is preferable.
It can be seen from the foregoing description that being applied to permagnetic synchronous motor there is provided one kind in an embodiment of the present invention
New compensation scheme, it is simple in this compensation scheme engineering by d axles magnetic linkage harmonic compensation value corresponding with the extraction of q axles magnetic linkage,
It is easily achieved, efficiently solves the air-gap field for suppressing permagnetic synchronous motor in the prior art with different degrees of harmonic wave mistake
Cheng Zhong, the problem of scheme is complex reduces the complexity for compensating permagnetic synchronous motor control.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and the common knowledge in the art do not invented including the present invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (10)
1. a kind of permagnetic synchronous motor torsion compensation process, it is characterised in that including：
Obtain VU line voltages u in permagnetic synchronous motor U, V, W three-phaseVUAnd WU line voltages uWU；
According to the line voltage uVU, line voltage uWUCalculate the phase back-emf e of permagnetic synchronous motor U, V, W tri-u、ev、ew；
The rotating speed of permagnetic synchronous motor is obtained, according to the phase back-emf e of the permagnetic synchronous motor three of calculatingu、ev、ewAnd
The rotating speed obtained determines the d axle magnetic linkages ψ of permagnetic synchronous motord, q axle magnetic linkages ψq；
According to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψqExtract correspondence harmonic compensation value Δ ud、Δuq；
According to the harmonic compensation value Δ u of extractiond、ΔuqHarmonic compensation is carried out to control system for permanent-magnet synchronous motor, to reduce motor
Velocity perturbation.
2. according to the method described in claim 1, it is characterised in that the permagnetic synchronous motor three according to calculating is opposite
Electromotive force eu、ev、ewAnd the rotating speed obtained determines the d axle magnetic linkages ψ of permagnetic synchronous motord, q axle magnetic linkages ψq, including：
Under two-phase rotating coordinate system, d axle magnetic linkages ψ is determinedd, q axle magnetic linkages ψqIt is as follows：
Wherein, Ld、LqFor the d axles of permagnetic synchronous motor, q axle inductances；id、iqFor by becoming after current sensor measurement by coordinate
D, q the shaft current value got in return；ψfThe fundamental wave magnetic linkage produced for permanent magnet, ψ5、ψ7、ψ11、ψ13Represent 5 times, 7 times, 11 times, 13 times
Harmonic wave magnetic linkage；θ is the electrical angle that rotor rotates；
According to the d axle magnetic linkages ψ of determinationd, q axle magnetic linkages ψq, determine the d axle magnetic linkages ψ of 6 subharmonicd, q axle magnetic linkages ψq：
3. according to the method described in claim 1, it is characterised in that the d axle magnetic linkages ψ according to determinationd, q axle magnetic linkages ψqExtract
Correspondence harmonic compensation value Δ ud、Δuq, including：
Under two-phase rotating coordinate system, determine that voltage equation is as follows：
Wherein, R is the stator internal resistance of motor, and ω is the angular rate that rotor rotates；
According to the voltage equation, under two-phase rotating coordinate system, the electromagnetic torque of 6 subharmonic is determined：
Wherein, pnFor motor number of pole-pairs；
Determine that harmonic compensation amount is：
4. a kind of permagnetic synchronous motor compensation device, it is characterised in that including：
Test section, the operational factor for detecting permagnetic synchronous motor；
Calculating part, for the operational factor and the attribute ginseng of permagnetic synchronous motor of the permagnetic synchronous motor detected according to test section
Number, calculates harmonic compensation amount；
Output section, the harmonic compensation amount for the calculating part to be calculated is exported to permagnetic synchronous motor compensation system, with toilet
Permagnetic synchronous motor compensation system is stated to be compensated according to the harmonic compensation amount.
5. device according to claim 4, it is characterised in that the test section includes：
Two voltage tester probes, are respectively used to measurement permagnetic synchronous motor U, V, W three-phase neutral voltage uVUAnd line voltage uWU；
Velocity sensor, the real-time speed ω for detecting permagnetic synchronous motor；
Current sensor, the phase current i for detecting permagnetic synchronous motorV、iW。
6. device according to claim 5, it is characterised in that the calculating part includes：
Computing circuit, is connected with the voltage tester probe, the velocity sensor, for being examined according to the voltage tester probe
The line voltage of survey and the real-time speed of velocity sensor detection calculate output back-emf signal；
Amplifying circuit, is connected with the computing circuit, for what is exported by built-in reversed feedback amplifier to the counting circuit
Back-emf signal is amplified, and is back to the computing circuit, and the computing circuit is additionally operable to return the amplifying circuit
The signal returned removes the fundametal compoment in magnetic linkage；
Harmonic function generator, is connected with the computing circuit, for the base removed in magnetic linkage for exporting the computing circuit
Remaining harmonic component carries out the separation of sinusoidal quantity and cosine amount in the signal of wave component, determines harmonic compensation value Δ ud、Δuq。
7. device according to claim 6, it is characterised in that the output section includes：
Two output probes, for exporting the harmonic compensation value Δ u respectivelyd、ΔuqTo permanent magnet synchronous electric drive circuit, with
Just the compensated torque of permagnetic synchronous motor is completed.
8. device according to claim 4, it is characterised in that also include：
Memory, the property parameters for storing the permagnetic synchronous motor, wherein, the property parameters include：Inductance LdWith
Lq, fundamental wave magnetic linkage ψf, stator resistance R.
9. device according to claim 4, it is characterised in that also include：
Current foldback circuit, is connected with the current sensor, for the electric current that is detected according to the current sensor to described
Permagnetic synchronous motor harmonic compensation device carries out overcurrent protection.
10. a kind of computer-readable recording medium, it is characterised in that the computer-readable recording medium storage have one or
Multiple programs, one or more of programs can be by one or more computing device, to realize in claims 1 to 3
Method described in any one.
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