CN108173465A - Misalignment angle detection method, device and electronic equipment - Google Patents
Misalignment angle detection method, device and electronic equipment Download PDFInfo
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- CN108173465A CN108173465A CN201810120664.XA CN201810120664A CN108173465A CN 108173465 A CN108173465 A CN 108173465A CN 201810120664 A CN201810120664 A CN 201810120664A CN 108173465 A CN108173465 A CN 108173465A
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Classifications
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
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Abstract
The present embodiments relate to motor control technology field, in particular to a kind of misalignment angle detection method, device and electronic equipment.This method includes：Obtain the three-phase current of magneto and rotor measurement angle, PARK transformation is carried out to three-phase current according to rotor measurement angle, obtain the direct-axis current and quadrature axis current under dq coordinate systems, obtain direct-axis current set-point and quadrature axis current set-point, according to direct-axis current, quadrature axis current, direct-axis current set-point and quadrature axis current set-point obtain direct-axis voltage and quadrature-axis voltage, according to rotor measurement angle, PARK inverse transformations are carried out to direct-axis voltage and quadrature-axis voltage, and the output voltage of inverter is obtained using SVPWM, direct-axis voltage output valve is obtained according to output voltage, judge whether direct-axis voltage output valve is zero, if direct-axis voltage output valve is not zero, it is calculated using misalignment angle updating formula and obtains misalignment angle.This method can improve accuracy, the operability detected to misalignment angle, reduce equipment cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of internet, in particular to a deviation angle detection method and device and electronic equipment.
Background
The rotor position of the permanent magnet motor is very important for motor control, and influences the efficiency, output torque and high-speed control of the motor. The angular deviation of the rotor is 1 degree, which can cause the torque output of the motor to be reduced by 10% under the high-speed working condition. Usually, an encoder is installed on a motor rotor, and along with synchronous rotation of the rotor, a motor controller detects an output signal of the encoder to acquire the position of the rotor in real time so as to control the motor.
The encoder is mounted with mechanical errors so that the measured position obtained by the controller has a fixed offset angle from the actual position of the rotor. Before the motor controller is adapted to the motor, the position deviation angle needs to be detected.
Most of the existing detection methods for the position deviation angle of the motor rotor have low accuracy, poor operability and high equipment cost.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for detecting a deviation angle, and an electronic device, so as to solve the problems of low accuracy, poor operability, and high device cost in detecting a deviation angle in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a deviation angle detection method, where the method includes:
obtaining three-phase current and a rotor measuring angle of the permanent magnet motor;
according to the rotor measurement angle, performing PARK conversion on the three-phase current to obtain direct-axis current and quadrature-axis current under a dq coordinate system;
obtaining a direct-axis current set value and a quadrature-axis current set value, obtaining a direct-axis current difference value according to the direct-axis current set value and the direct-axis current, and obtaining a quadrature-axis current difference value according to the quadrature-axis current set value and the quadrature-axis current; adjusting the direct-axis current difference value and the quadrature-axis current difference value by adopting a first PI adjuster to obtain a direct-axis voltage and a quadrature-axis voltage under a dq coordinate system;
according to the rotor measuring angle, performing PARK inverse transformation on the direct axis voltage and the quadrature axis voltage, and obtaining the output voltage of an inverter by adopting SVPWM;
and obtaining a direct axis voltage output value according to the output voltage under the dq coordinate system, judging whether the direct axis voltage output value is zero, and calculating to obtain a deviation angle by adopting a deviation angle correction formula if the direct axis voltage output value is not zero.
Optionally, the direct-axis voltage output value is Uout-dSaid deviation angle is thetacThe deviation angle correction formula is as follows:
Uout-d＝-ωψq＝-ωψrsin(-θc)
wherein:
omega is the frequency of the permanent magnet motor;
ψqthe stator quadrature axis flux linkage of the permanent magnet motor is provided;
ψris a rotor flux linkage of a permanent magnet motor.
Optionally, the method further comprises:
and if the direct-axis voltage output value is zero, judging that the deviation angle is zero.
Optionally, the method further comprises:
and correcting the rotor measurement angle according to the deviation angle.
Optionally, the step of correcting the measured angle of the rotor according to the deviation angle includes:
and inputting a compensation angle for offsetting the deviation angle to the permanent magnet motor by adopting an angle regulator.
Optionally, the quadrature axis current set point is obtained by:
obtaining a given rotating speed and an actual rotating speed;
calculating to obtain a rotating speed difference value according to the given rotating speed and the actual rotating speed;
and adjusting the rotating speed difference value by adopting a second PI adjuster to obtain a quadrature axis current given value.
The embodiment of the invention also provides a deviation angle detection device, which comprises:
the acquisition module is used for acquiring the three-phase current and the rotor measurement angle of the permanent magnet motor;
the alternating-direct axis current calculation module is used for carrying out PARK conversion on the three-phase current according to the rotor measurement angle to obtain direct axis current and alternating axis current under a dq coordinate system;
the quadrature-direct axis voltage calculation module is used for obtaining a direct axis current given value and a quadrature axis current given value, obtaining a direct axis current difference value according to the direct axis current given value and the direct axis current, and obtaining a quadrature axis current difference value according to the quadrature axis current given value and the quadrature axis current; adjusting the direct-axis current difference value and the quadrature-axis current difference value by adopting a first PI adjuster to obtain a direct-axis voltage and a quadrature-axis voltage under a dq coordinate system;
the output voltage calculation module is used for carrying out PARK inverse transformation on the direct axis voltage and the quadrature axis voltage according to the rotor measurement angle and obtaining the output voltage of the inverter by adopting SVPWM;
and the deviation angle calculation module is used for obtaining a direct axis voltage output value according to the output voltage under the dq coordinate system, judging whether the direct axis voltage output value is zero or not, and calculating to obtain a deviation angle by adopting a deviation angle correction formula if the direct axis voltage output value is not zero.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the above-mentioned deviation angle detection method.
The embodiment of the invention also provides a computer-readable storage medium, which comprises a computer program, and the computer program controls the electronic equipment where the computer-readable storage medium is located to execute the deviation angle detection method when running.
According to the method, the device and the electronic equipment for detecting the deviation angle, the output voltage of the inverter can be obtained through conversion and adjustment according to the relevant parameters of the permanent magnet motor, the direct axis voltage output value is obtained according to the output voltage, the deviation angle is obtained through calculation by using the deviation angle correction formula, the deviation angle can be detected and calculated only through the direct axis voltage output value, the accuracy is high, the position deviation of the rotor of the permanent magnet motor can be rapidly calculated, the operability is high, the direct axis voltage output value is obtained through the output voltage of the inverter, external devices and circuits are not needed, and the equipment cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a block diagram of an electronic device 10 according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for detecting a deviation angle according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of module connection of a method for detecting a deflection angle according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating that a measured angle of a permanent magnet motor lags behind an actual angle according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a permanent magnet motor according to an embodiment of the present invention, in which a measured angle is ahead of an actual angle.
Fig. 6 is a block diagram of a deviation angle detecting apparatus 20 according to an embodiment of the present invention.
Icon: 10-an electronic device; 11-a memory; 12-a processor; 13-a network module; 20-deviation angle detection means; 21-an acquisition module; 22-a quadrature-direct axis current calculation module; 23-a quadrature-direct axis voltage calculation module; 24-an output voltage calculation module; 25-a deviation angle calculation module; 301-permanent magnet machine; 302-a decoding chip; 303-PARK transformation module; 304-a first PI regulator; 305-a second PI regulator; 306-PARK inverse transformation module; 307-SVPWM; 308-an inverter; 309-angle adjuster.
Detailed Description
According to investigation, the existing deviation angle detection methods have the following three types:
(1) a direct current injection method: injecting a direct current into the motor through the controller, attracting the rotor of the motor to a fixed position (for example, 30 degrees), measuring the output position of the encoder at the moment, and subtracting the value by 30 degrees to obtain the position deviation of the rotor. However, due to the existence of cogging torque of the motor and winding off-line errors, the direct current injection method cannot accurately suck the rotor to a fixed position, certain deviation exists, and the direct current injection method is not suitable for occasions with high requirements on the position of the rotor.
(2) High-frequency injection method: the high-frequency voltage is injected into the motor through the controller, the stator of the motor generates high-frequency current, the input high-frequency voltage and the output high-frequency current have phase difference, and the rotor position deviation information can be obtained from the phase difference. The high-frequency injection method is complex to realize, and the measurement result is greatly influenced by motor parameters. Moreover, the high frequency injection current may generate noise, which may affect the user experience.
(3) Zero crossing point measurement: the motor is rotated, the permanent magnet on the rotor induces sinusoidal voltage at the stator end, the stator voltage and the output sinusoidal voltage of the encoder are measured simultaneously by an oscilloscope, the installation position of the encoder is manually adjusted, so that the zero crossing points of the two voltages are superposed, and the position deviation is eliminated. The zero crossing point measurement result has high precision, but needs manual participation. Even if the detection is implemented using circuitry, the cost of the device is increased.
The above prior art solutions have shortcomings which are the results of practical and careful study of the inventor, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention to the above problems should be the contribution of the inventor to the present invention in the course of the present invention.
Based on the above research, embodiments of the present invention provide a method and an apparatus for detecting a deviation angle, and an electronic device, which can solve the problems of low accuracy, poor operability, and high device cost in detecting a deviation angle of a permanent magnet motor in the prior art.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 shows a block diagram of an electronic device 10 according to an embodiment of the present invention. The electronic device 10 in the embodiment of the present invention may be a server with data storage, transmission, and processing functions, as shown in fig. 1, the electronic device 10 includes: memory 11, processor 12, network module 13 and deviation angle detection means 20.
The memory 11, the processor 12 and the network module 13 are electrically connected directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 11 stores a deviation angle detection device 20, the deviation angle detection device 20 includes at least one software functional module which can be stored in the memory 11 in the form of software or firmware (firmware), and the processor 12 executes various functional applications and data processing by running the software programs and modules stored in the memory 11, such as the deviation angle detection device 20 in the embodiment of the present invention, so as to implement the deviation angle detection method in the embodiment of the present invention.
The Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is used for storing a program, and the processor 12 executes the program after receiving an execution instruction.
The processor 12 may be an integrated circuit chip having data processing capabilities. The Processor 12 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps and logic blocks disclosed in embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The network module 13 is used for establishing communication connection between the electronic device 10 and other communication terminal devices through a network, and implementing transceiving operation of network signals and data. The network signal may include a wireless signal or a wired signal.
It will be appreciated that the configuration shown in FIG. 1 is merely illustrative and that electronic device 10 may include more or fewer components than shown in FIG. 1 or may have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
An embodiment of the present invention also provides a computer-readable storage medium, which includes a computer program. The computer program controls the electronic device 10 in which the readable storage medium is located to perform the following method of detecting an angle of deviation when running.
In the present embodiment, the deviation angle detection method is applied to a permanent magnet motor controller, and it can be understood that the execution subject of the method is the permanent magnet motor controller.
Fig. 2 shows a flowchart of a method for detecting a deviation angle according to an embodiment of the present invention. The method steps defined by the method-related flow, as applied to the electronic device 10, may be implemented by the processor 12. The specific process shown in FIG. 2 will be described in detail below:
and step S21, obtaining the three-phase current, the rotor measurement angle and the actual rotating speed of the permanent magnet motor.
Referring to fig. 3, which is a block diagram of a deviation angle detection method according to an embodiment of the present invention, it can be seen that a permanent magnet motor controller detects and obtains a three-phase current of a permanent magnet motor 301, and a decoding chip 302 detects and obtains a measured rotor angle θ and an actual rotation speed s.
The three-phase current, the rotor measurement angle theta and the actual rotating speed s serve as data bases and are used for calculating relevant parameters of the permanent magnet motor.
And step S22, carrying out PARK conversion on the three-phase current to obtain direct-axis current and quadrature-axis current under the dq coordinate system.
Referring to fig. 3, the permanent magnet motor controller performs PARK transformation on the three-phase current by using the PARK transformation module 303 according to the rotor measurement angle θ to obtain the direct-axis current i under the dq coordinate systemdAnd quadrature axis current iq。
Wherein the direct axis current idAnd quadrature axis current iqUsed for calculating the direct axis voltage and the quadrature axis voltage in the dq coordinate system.
And step S23, calculating and obtaining the direct axis voltage and the quadrature axis voltage under the dq coordinate system according to the direct axis current and the quadrature axis current.
With continued reference to fig. 3, the permanent magnet motor controller obtains the specified value of the direct axis currentSum-quadrature current set pointWherein the quadrature axis current is givenCan be calculated by the following steps:
the permanent magnet motor controller obtains a given rotating speed s*Calculating a given rotation speed s*And the actual speed s, and the difference is adjusted by the second PI regulator 305 to obtain the quadrature axis current set value
Further, calculatingAnd idDifference value Δ i ofdCalculatingAnd iqDifference value Δ i ofqTwo first PI regulators 304 are respectively used for Δ idAnd Δ iqAdjusting to obtain a direct axis voltage U under the dq coordinate systemdAnd quadrature axis voltage Uq。
It can be understood that Δ idFor the direct-axis current difference, Δ iqIs the quadrature axis current difference.
And step S24, carrying out PARK inverse transformation on the direct axis voltage and the quadrature axis voltage, and outputting three-phase PWM to the inverter by adopting SVPWM to obtain the output voltage of the inverter.
Continuing with fig. 3, the permanent magnet motor controller uses the PARK inverse transform module 306 to pair UdAnd UqCarrying out PARK inverse transformation to obtain an intermediate variable UαAnd UβAnd will UαAnd UβInputting SVPWM307, outputting three-phase PWM to inverter 308 by SVPWM307, and obtaining output voltage U of inverter 308out
And step S25, obtaining a direct axis voltage output value according to the output voltage, and calculating by adopting a deviation angle correction formula according to the direct axis voltage output value to obtain a deviation angle.
In this embodiment, the output value of the direct-axis voltage is Uout-dDeviation angle of thetacThe deviation angle correction formula is as follows:
Uout-d＝-ωψq＝-ωψrsin(-θc)
wherein,
omega is the frequency of the permanent magnet motor;
ψqthe stator quadrature axis flux linkage of the permanent magnet motor is provided;
ψris a rotor flux linkage of a permanent magnet motor.
It will be appreciated that, according to the above formula, only U need be obtainedout-dCan calculate thetacThe calculation accuracy is high, and the calculation accuracy is high,the operability is strong, and the whole method does not need additional devices and circuits, thereby reducing the equipment cost.
Optionally, by Uout-dCalculating thetacThe principle of (1) is as follows:
fig. 4 is a schematic diagram illustrating that a measured angle of a permanent magnet motor lags behind an actual angle according to an embodiment of the present invention.
As can be seen from FIG. 4, if the measured angle lags the actual angle, UoutProjection on the D-axis being negative, i.e. Uout-dNegative, calculated by the formula:
fig. 5 is a schematic diagram of a permanent magnet motor according to an embodiment of the present invention, in which a measured angle is ahead of an actual angle.
As can be seen from FIG. 4, if the measured angle leads the actual angle, UoutThe projection on the D axis being positive, i.e. Uout-dOn the positive side, θ can be calculated by the above equationc。
Alternatively, in calculating θcThen, the permanent magnet motor controller is according to thetacTheta is corrected. For example, the permanent magnet motor controller uses the angle adjuster 309 to input to the permanent magnet motor to offset θcThe compensation angle of (2). As another example, the compensation angle of the input may be- θcThe method can be used for correcting the rotor position of the permanent magnet motor.
The following describes how to perform the offset angle detection and correction for the permanent magnet motor by way of an example.
First, the permanent magnet motor controller does not correct θ, but rotates the permanent magnet motor through the outer ring of the rotation speed.
When the rotating speed of the permanent magnet motor is stable, the rotating speed outer ring is disconnected, the dq axis current is given as 0, at the moment, the inverter applies 0 torque to the permanent magnet motor, the rotating speed of the permanent magnet motor can be slowly reduced due to inertia, and the rotating speed of the permanent magnet motor can be considered to be constant in a short time.
Because the given current of the permanent magnet motor is 0, the voltage U output by the inverter at the momentoutEqual to the back electromotive force of the permanent magnet motor, if the rotor position of the permanent magnet motor is correct, the U output by the inverterout-dShould be 0, therefore, according to Uout-dAnd obtaining a deviation angle by adopting the deviation angle correction formula, and correcting the position of the rotor of the permanent magnet motor according to the deviation angle.
On the basis of the above, as shown in fig. 6, an embodiment of the present invention provides a deviation angle detecting device 20, where the deviation angle detecting device 20 includes: the device comprises an acquisition module 21, a quadrature-direct axis current calculation module 22, a quadrature-direct axis voltage calculation module 23, an output voltage calculation module 24 and a deviation angle calculation module 25.
And the obtaining module 21 is used for obtaining the three-phase current and the rotor measurement angle of the permanent magnet motor.
Since the obtaining module 21 is similar to the implementation principle of step S21 in fig. 2, it will not be further described here.
And the alternating-direct axis current calculation module 22 is configured to perform PARK transformation on the three-phase current according to the rotor measurement angle to obtain a direct axis current and an alternating axis current in a dq coordinate system.
Since the principle of implementation of the quadrature-direct axis current calculation module 22 is similar to that of step S22 in fig. 2, no further description is provided here.
The quadrature-direct axis voltage calculation module 23 is configured to obtain a direct axis current given value and a quadrature axis current given value, obtain a direct axis current difference value according to the direct axis current given value and the direct axis current, and obtain a quadrature axis current difference value according to the quadrature axis current given value and the quadrature axis current; and adjusting the direct-axis current difference value and the quadrature-axis current difference value by adopting a first PI adjuster to obtain a direct-axis voltage and a quadrature-axis voltage under the dq coordinate system.
Since the quadrature-direct axis voltage calculation module 23 is similar to the implementation principle of step S23 in fig. 2, it will not be further described here.
And the output voltage calculation module 24 is configured to perform PARK inverse transformation on the direct-axis voltage and the quadrature-axis voltage according to the rotor measurement angle, and obtain an output voltage of the inverter by using SVPWM.
Since the output voltage calculation module 24 is similar to the implementation principle of step S24 in fig. 2, it will not be further described here.
And the deviation angle calculation module 25 is configured to obtain a direct-axis voltage output value according to the output voltage in the dq coordinate system, determine whether the direct-axis voltage output value is zero, and calculate a deviation angle by using a deviation angle correction formula if the direct-axis voltage output value is not zero.
Since the principle of implementation of the deviation angle calculation module 25 is similar to that of step S25 in fig. 2, no further description is provided here.
In summary, the deviation angle detection method, the deviation angle detection device and the electronic device provided by the embodiment of the invention can calculate and obtain the deviation angle according to the direct-axis voltage output value output by the inverter and the deviation angle correction formula, and have the advantages of high accuracy, strong operability, no need of additional devices and circuits and low equipment cost.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, an electronic device 10, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of deviation angle detection, the method comprising:
obtaining three-phase current and a rotor measuring angle of the permanent magnet motor;
according to the rotor measurement angle, performing PARK conversion on the three-phase current to obtain direct-axis current and quadrature-axis current under a dq coordinate 307 system;
obtaining a direct-axis current set value and a quadrature-axis current set value, obtaining a direct-axis current difference value according to the direct-axis current set value and the direct-axis current, and obtaining a quadrature-axis current difference value according to the quadrature-axis current set value and the quadrature-axis current; adjusting the direct-axis current difference value and the quadrature-axis current difference value by adopting a first PI adjuster to obtain a direct-axis voltage and a quadrature-axis voltage under a dq coordinate system;
according to the rotor measuring angle, performing PARK inverse transformation on the direct axis voltage and the quadrature axis voltage, and obtaining the output voltage of an inverter by adopting SVPWM;
and obtaining a direct axis voltage output value according to the output voltage under the dq coordinate system, judging whether the direct axis voltage output value is zero, and calculating to obtain a deviation angle by adopting a deviation angle correction formula if the direct axis voltage output value is not zero.
2. The deviation angle detection method according to claim 1, wherein the direct-axis voltage output value is Uout-dSaid deviation angle is thetacThe deviation angle correction formula is as follows:
Uout-d＝-ωψq＝-ωψrsin(-θc)
wherein:
omega is the frequency of the permanent magnet motor;
ψqthe stator quadrature axis flux linkage of the permanent magnet motor is provided;
ψris a rotor flux linkage of a permanent magnet motor.
3. The method of detecting a deviation angle according to claim 1, further comprising:
and if the direct-axis voltage output value is zero, judging that the deviation angle is zero.
4. The method of detecting a deviation angle according to claim 1, further comprising:
and correcting the rotor measurement angle according to the deviation angle.
5. The deviation angle detection method according to claim 4, wherein the step of correcting the rotor measurement angle based on the deviation angle includes:
and inputting a compensation angle for offsetting the deviation angle to the permanent magnet motor by adopting an angle regulator.
6. The deviation angle detection method according to claim 1, wherein the quadrature axis current set point is obtained by:
obtaining a given rotating speed and an actual rotating speed;
calculating to obtain a rotating speed difference value according to the given rotating speed and the actual rotating speed;
and adjusting the rotating speed difference value by adopting a second PI adjuster to obtain a quadrature axis current given value.
7. A deviation angle detecting apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the three-phase current and the rotor measurement angle of the permanent magnet motor;
the alternating-direct axis current calculation module is used for carrying out PARK conversion on the three-phase current according to the rotor measurement angle to obtain direct axis current and alternating axis current under a dq coordinate system;
the quadrature-direct axis voltage calculation module is used for obtaining a direct axis current given value and a quadrature axis current given value, obtaining a direct axis current difference value according to the direct axis current given value and the direct axis current, and obtaining a quadrature axis current difference value according to the quadrature axis current given value and the quadrature axis current; adjusting the direct-axis current difference value and the quadrature-axis current difference value by adopting a first PI adjuster to obtain a direct-axis voltage and a quadrature-axis voltage under a dq coordinate system;
the output voltage calculation module is used for carrying out PARK inverse transformation on the direct axis voltage and the quadrature axis voltage according to the rotor measurement angle and obtaining the output voltage of the inverter by adopting SVPWM;
and the deviation angle calculation module is used for obtaining a direct axis voltage output value according to the output voltage under the dq coordinate system, judging whether the direct axis voltage output value is zero or not, and calculating to obtain a deviation angle by adopting a deviation angle correction formula if the direct axis voltage output value is not zero.
8. The deviation angle detecting apparatus according to claim 7, further comprising a deviation angle correction module;
the deviation angle correction module is used for correcting the rotor measurement angle according to the deviation angle.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of detecting a deviation angle according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, wherein the computer-readable storage medium comprises a computer program, and the computer program controls an electronic device where the computer-readable storage medium is located to execute the deviation angle detection method according to any one of claims 1 to 6 when the computer program runs.
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Application publication date: 20180615 |