A control method and device for permanent magnet synchronous motor external characteristic calibration

Abstract

The embodiment of the present disclosure provides a control method, device, calibration system, storage medium and electronic equipment for calibrating the external characteristic of a permanent magnet synchronous motor. The control method comprises: setting a voltage angle value as a first set value and gradually increasing a voltage amplitude; judging the positive and negative states of a d-axis current value; in the case that the d-axis current value is in a negative value state, judging whether the voltage amplitude reaches a second set value; in the case that the voltage amplitude reaches the second set value, increasing the voltage angle value; and in the case that the voltage angle value reaches a third set value, determining the external characteristic of the permanent magnet synchronous motor. The embodiment of the present disclosure can simply and reliably calibrate the external characteristic of the permanent magnet synchronous motor in a high speed region without the complicated steps based on MTPA calibration data.

Description

Technical Field

[0001] This disclosure relates to the field of motor calibration technology, and in particular to a control method, device, calibration system, storage medium, and electronic equipment for calibrating the external characteristics of a permanent magnet synchronous motor. Background Technology

[0002] The electromagnetic design of permanent magnet synchronous motors requires bench testing to verify whether the external characteristics of the actually manufactured permanent magnet synchronous motor meet the designed electromagnetic scheme.

[0003] Currently, the bench calibration of permanent magnet synchronous motors is carried out manually. This involves setting an initial current command (Id, Iq) for a given torque point under different operating conditions (different required torque T and motor speed η), then manually observing the measured torque and current values ​​on the bench and the motor efficiency to make judgments. The current command is then continuously adjusted manually to obtain the optimal torque command (Id, Iq) values ​​for the calibration point to match the optimal torque, thereby obtaining the target values ​​of Id and Iq.

[0004] This method introduces reading errors during manual processing; it leads to significant temperature variations in the motor, affecting flux linkage and consequently calibration accuracy; more importantly, it requires a considerable amount of time for calibration and data processing, thus limiting the accuracy and efficiency of motor bench calibration. Manual calibration has a long cycle, requiring the scanning of numerous operating points during bench development testing. The voltage and current at each operating point need to be maintained within defined boundaries, consuming the time of test and calibration engineers on repetitive tasks. The workload of manual calibration is substantial; the higher the torque accuracy requirement and the finer the calibration torque point graduation, the more exponentially the calibration workload increases. Furthermore, the test results require manual editing of calibration data and test reports, and the quality of the reports cannot be guaranteed. Manual calibration heavily relies on the experience of calibration engineers, making it difficult to improve the torque accuracy on actual vehicles. Manual errors result in wasted time, causing repeated delays in the test plan. It also occupies bench resources for an extended period.

[0005] In the process of achieving automatic calibration, under normal conditions, the MTPA data of the permanent magnet synchronous motor needs to be calibrated as the basic data for calibration. Then, the external characteristics of the motor across the entire speed range are calibrated by adjusting the dq-axis current. In the current-range, the external characteristics of the current range are easily obtained by adjusting the dq-axis current. However, when the speed of the permanent magnet synchronous motor is high, it is necessary to adjust the d-axis current for field weakening control to prevent the current controller from malfunctioning. At the same time, care must be taken to ensure that the current amplitude is within the allowable range to avoid overcurrent, which involves a large workload. In addition, the calibration of high-speed permanent magnet synchronous motors generally requires MTPA data, which refers to the maximum torque per ampere (MTPA), as a prerequisite. Calibrating the MTPA torque MAP across the entire current range is time-consuming. Summary of the Invention

[0006] The purpose of this disclosure is to provide a control method, apparatus, calibration system, storage medium, and electronic device for calibrating the external characteristics of a permanent magnet synchronous motor, so as to solve the problems existing in the prior art.

[0007] To solve the above-mentioned technical problems, the embodiments of this disclosure adopt the following technical solutions:

[0008] A control method for calibrating the external characteristics of a permanent magnet synchronous motor, comprising:

[0009] Set the voltage angle value to the first set value and gradually increase the voltage amplitude;

[0010] Determine the positive or negative state of the d-axis current value. If the d-axis current value is negative, determine whether the voltage amplitude reaches a second set value.

[0011] When the voltage amplitude reaches the second set value, the voltage angle value is increased;

[0012] When the voltage angle value reaches the third set value, the external characteristics of the permanent magnet synchronous motor are determined.

[0013] In some embodiments, determining the external characteristics of the permanent magnet synchronous motor includes:

[0014] Obtain the maximum torque value of the permanent magnet synchronous motor;

[0015] The external characteristics of the permanent magnet synchronous motor are determined based on the maximum torque value.

[0016] In some embodiments, after setting the voltage angle value to a first set value and gradually increasing the voltage amplitude, the method further includes:

[0017] Detect motor speed;

[0018] When the motor speed value meets the predetermined conditions, the control and measurement machine switches from follow-up mode to speed control mode.

[0019] In some embodiments, when the motor speed value meets a predetermined condition, controlling the control and measurement computer to switch from follow-up mode to speed control mode includes:

[0020] When the motor speed reaches the fourth set value, the voltage amplitude continues to increase.

[0021] In some embodiments, the method further includes increasing the voltage angle value when the d-axis current value is positive.

[0022] This disclosure also provides a control device for calibrating the external characteristics of a permanent magnet synchronous motor, comprising:

[0023] A voltage amplitude increasing module is used to set the voltage angle value to a first set value and gradually increase the voltage amplitude;

[0024] The judgment module is used to determine the positive or negative state of the d-axis current value. When the d-axis current value is negative, it determines whether the voltage amplitude has reached a second set value.

[0025] A voltage angle value increasing module is used to increase the voltage angle value when the voltage amplitude reaches a second set value;

[0026] The external characteristic determination module is used to determine the external characteristics of the permanent magnet synchronous motor when the voltage angle value reaches a third set value.

[0027] This disclosure also provides a calibration system for the external characteristics of a permanent magnet synchronous motor, which includes a permanent magnet synchronous motor, the control device described in any of the above claims, and a measurement and control machine, wherein the output side of the permanent magnet synchronous motor is connected to the measurement and control machine.

[0028] In some embodiments, the system further includes a host computer on a test bench, a motor controller, and a host controller. The permanent magnet synchronous motor is connected to the host controller via the motor controller, and the host computer on the test bench is connected to the measurement and control computer.

[0029] This disclosure also provides a storage medium storing a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0030] This disclosure also provides an electronic device, including at least a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of any of the methods described above.

[0031] Compared with the prior art, the embodiments of this disclosure utilize open-loop control based on voltage amplitude and voltage angle, obtain the maximum calibration value by observing the test bench torque, thereby obtaining the external characteristics of the permanent magnet synchronous motor, verifying whether the permanent magnet synchronous motor design scheme meets the design requirements, and then correcting the electromagnetic scheme design. Without relying on cumbersome steps such as MTPA calibration data, the external characteristics of the permanent magnet synchronous motor in the high-speed range can be calibrated simply and reliably. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram illustrating the calibration principle of a permanent magnet synchronous motor in an embodiment of this disclosure;

[0034] Figure 2 This is a schematic diagram of the calibration system for a permanent magnet synchronous motor in an embodiment of this disclosure;

[0035] Figure 3 This is a schematic diagram illustrating the change in current value of the permanent magnet synchronous motor in an embodiment of this disclosure;

[0036] Figure 4 This is a schematic diagram illustrating the steps of the control method for calibrating the external characteristics of a permanent magnet synchronous motor in an embodiment of this disclosure;

[0037] Figure 5 This is a schematic diagram illustrating the steps of the control method for calibrating the external characteristics of a permanent magnet synchronous motor in an embodiment of this disclosure;

[0038] Figure 6 This is a schematic diagram illustrating the steps of the control method for calibrating the external characteristics of a permanent magnet synchronous motor in an embodiment of this disclosure. Detailed Implementation

[0039] Various embodiments and features of this disclosure are described herein with reference to the accompanying drawings.

[0040] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this disclosure will be apparent to those skilled in the art.

[0041] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

[0042] These and other features of this disclosure will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0043] It should also be understood that although this disclosure has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this disclosure, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0044] The above and other aspects, features and advantages of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0045] Specific embodiments of this disclosure are described thereafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this disclosure, which may be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure this disclosure. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely to serve as the basis and representative basis for the claims to teach those skilled in the art to use this disclosure in a variety of substantially any suitable detailed structures.

[0046] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in still another embodiment,” all of which may refer to one or more of the same or different embodiments according to this disclosure.

[0047] This disclosure relates to a control method for calibrating a permanent magnet synchronous motor (PMSM), where the PMSM primarily refers to a permanent magnet synchronous motor. In the prior art, under normal conditions, the MTPA data of the PMSM needs to be calibrated as the basic data for calibration. Then, the external characteristics of the motor across the entire speed range are calibrated by adjusting the dq-axis current. In the current-range region, the external characteristics of the current-range region are easily obtained by adjusting the dq-axis current. When the speed of the PMSM is high, field weakening control is required by adjusting the d-axis current to prevent the current controller from malfunctioning. Simultaneously, care must be taken to ensure that the current amplitude is within the allowable range to avoid overcurrent, resulting in a significant workload. Here, field weakening control refers to the PMSM controlling the stator current to counteract the magnetic field generated by the rotor permanent magnets. This reduces the back electromotive force generated by the permanent magnets, thereby increasing the motor speed.

[0048] like Figure 1 As shown, Figure 1The diagram illustrates the principle of calibration for a permanent magnet synchronous motor. A control signal is input to the permanent magnet synchronous motor via a three-phase inverter for calibration. The control signal is formed by transmitting the voltage amplitude Uamp and voltage angle Uagl and then modulating them with a sinusoidal pulse width.

[0049] like Figure 2 As shown, Figure 2 A schematic diagram of a calibration system for calibrating the external characteristics of a permanent magnet synchronous motor is shown. In this calibration system, the output side of the permanent magnet synchronous motor 10 is connected to a measurement and control machine 20. The measurement and control machine 20 is coaxially connected to the permanent magnet synchronous motor 10. The measurement and control machine 20 can be mounted on a test bench and connected to a host computer 30 on the test bench. The permanent magnet synchronous motor 10 is connected to a high-voltage battery simulator 50 and a host controller 60 via a motor controller 40. The host controller 60 can be, for example, a vehicle controller.

[0050] The host computer 30 on the test bench sends control commands to the measurement and control computer 20 and the high-voltage battery simulator 50 via the CAN bus, and the host controller 60 sends control commands to the motor controller 40 via the CAN bus.

[0051] Furthermore, during the calibration process using the calibration system, the measurement and control unit 20 is required to have an anti-backlash function. This anti-backlash function means that before the permanent magnet synchronous motor 10 reaches the set speed value, the measurement and control unit 20 is in a follow-up state; once the speed of the permanent magnet synchronous motor 10 reaches the set speed value, the measurement and control unit 20 switches to a speed control state, ensuring that the permanent magnet synchronous motor remains in an open-loop control state. The external characteristics can be calibrated by observing the maximum torque detected by the observation platform at this time. Figure 3 As shown, in the open-loop control state, the permanent magnet synchronous motor 10 always operates in the second and third quadrants, therefore the d-axis current value of the permanent magnet synchronous motor 10 should always be negative.

[0052] The first embodiment of this disclosure provides a control method for calibrating the external characteristics of a permanent magnet synchronous motor. This embodiment utilizes the voltage amplitude and voltage angle values ​​of the permanent magnet synchronous motor 10 for open-loop control, and obtains the calibrated maximum torque value and external characteristics by detecting the torque on a test bench. Figure 4 As shown, the control method includes:

[0053] S101, set the voltage angle value to the first set value and gradually increase the voltage amplitude.

[0054] In this step, the voltage angle value is set to a first preset value and the voltage amplitude is gradually increased. Specifically, the voltage angle value here refers to the phase angle. The voltage angle value Uagl of the permanent magnet synchronous motor 10 is maintained at the default first preset value while the voltage amplitude Uamp is increased. During this process, it can be detected whether the rotational speed of the permanent magnet synchronous motor 1 continues to increase until the default value is reached. After the rotational speed reaches the default value, the voltage amplitude Uamp continues to be increased.

[0055] After step S101, that is, after setting the voltage angle value to the first set value and gradually increasing the voltage amplitude, as follows: Figure 5 As shown, it also includes:

[0056] S201, detect motor speed value.

[0057] In this step, the motor speed is detected. Specifically, during the increase of the voltage amplitude Uamp, the motor speed of the permanent magnet synchronous motor 10 needs to be detected. Specifically, as the voltage amplitude Uamp increases, the motor speed of the permanent magnet synchronous motor 10 also continuously increases. The detection of the motor speed can be achieved in any existing manner, such as using a Hall effect sensor.

[0058] S202, when the motor speed value meets the predetermined conditions, the control and measurement machine switches from follow-up mode to speed control mode.

[0059] After detecting the motor speed value through step S101 above, in this step, when the motor speed value meets a predetermined condition, the control and measurement machine is controlled to switch from follow-up mode to speed control mode. Specifically, the predetermined condition here may be related to the speed value of the permanent magnet synchronous motor 10. That is, before the speed value of the permanent magnet synchronous motor 10 reaches the predetermined speed value, the operating mode of the control and measurement machine 20 in this embodiment is follow-up mode. When the speed value of the permanent magnet synchronous motor 10 reaches the predetermined speed value, the operating mode of the control and measurement machine 20 is switched, that is, the control and measurement machine 20 is controlled to switch from follow-up mode to speed control mode, that is, the operation of the control and measurement machine 20 is controlled by the speed of the permanent magnet synchronous motor 10.

[0060] Wherein, when the motor speed value meets a predetermined condition, the control and measurement computer switches from follow-up mode to speed control mode, including:

[0061] When the motor speed reaches the fourth preset value, the voltage amplitude continues to increase. Specifically, after the motor speed of the permanent magnet synchronous motor 10 reaches the preset value, the voltage amplitude continues to increase.

[0062] S102, determine the state of the d-axis current value. If the d-axis current value is negative, determine whether the voltage amplitude has reached the second set value.

[0063] In this step, the state of the d-axis current value is determined. If the d-axis current value is negative, it is determined whether the voltage amplitude has reached a second set value. Specifically, the positive or negative state of the d-axis current value is determined here. If the d-axis current value is a reference value... Figure 3 If the value remains negative, further determine whether the voltage amplitude Uamp has reached the second set value.

[0064] In step S102, the method further includes: increasing the voltage angle value when the d-axis current value is positive.

[0065] If, after determining the positive or negative state of the d-axis current value, it is determined that the d-axis current value is already in a positive state, then the voltage amplitude Uamp is considered to have met the requirements, for example, it has been increased to a preset value, and the voltage angle value Uagl is added on this basis.

[0066] S103, when the voltage amplitude reaches the second set value, the voltage angle value is increased.

[0067] After determining the positive or negative state of the d-axis current value through step S102, and determining whether the voltage amplitude has reached a second preset value when the d-axis current value is negative, in this step, if the voltage amplitude has reached the second preset value, the voltage angle value is increased. Specifically, since the voltage amplitude Uamp is continuously increased in step S101, here, when the voltage amplitude Uamp has reached the second preset value, it is considered that the voltage amplitude Uamp has met the predetermined requirements, and the voltage angle value Uagl is further increased from the default first preset value.

[0068] S104, when the voltage angle value reaches the third set value, the external characteristics of the permanent magnet synchronous motor are obtained.

[0069] After increasing the voltage angle value when the voltage amplitude reaches the second set value through step S103, in this step, when the voltage angle value reaches the third set value, the external characteristics of the permanent magnet synchronous motor are obtained. Since the voltage amplitude has already reached the second set value in step S103, which satisfies the requirement, in this step, it is further necessary to determine whether the voltage angle value Uagl meets the predetermined requirement, that is, to determine when the voltage angle value Uagl has reached the third set value. This allows for simultaneous consideration of both the voltage amplitude Uamp and the voltage angle value Uagl reaching their corresponding set values. The maximum torque of the permanent magnet synchronous motor 10 located on the test bench during this process is recorded by the measurement and control computer 20, thereby obtaining the external characteristics of the permanent magnet synchronous motor 10.

[0070] Further, in step S104 above, determining the external characteristics of the permanent magnet synchronous motor, such as... Figure 6 As shown, it includes the following steps:

[0071] S301, Obtain the maximum torque value of the permanent magnet synchronous motor.

[0072] In this step, the maximum torque of the permanent magnet synchronous motor is obtained. Specifically, the maximum torque can be detected and determined by a measurement and control unit 20 connected to the permanent magnet synchronous motor 10.

[0073] In an embodiment for actual testing of the permanent magnet synchronous motor 10, the permanent magnet synchronous motor 10 under test and the locking fixture used in conjunction are mounted on a test bench. The permanent magnet synchronous motor 10 is fixed, for example, by clamps. The locking fixture is mounted on the guide rail of the test bench and located at the shaft end of the permanent magnet synchronous motor 10. The locking fixture moves back and forth along the guide rail, for example, by means of a rocker arm and is locked in position by a cylinder. The locking indexing plate of the locking fixture is connected to the flange at the shaft end of the permanent magnet synchronous motor 10 by a pin. The locking indexing plate is pushed into the locking indexing plate by a blocking block provided on the test bench under the drive of a cylinder to achieve locking. Here, the host computer 30 of the test bench sends a command to the locking fixture to block the motor shaft through the rocker arm and the cylinder.

[0074] The control and power supply harness of the host computer 30 is connected to the motor controller 40. The three-phase power line and resolver harness of the motor controller 40 are connected to the permanent magnet synchronous motor 10 under test and control its operation. The output shaft of the permanent magnet synchronous motor 10 under test is connected to the measurement and control computer 20. The measurement and control computer 20 is equipped with, for example, speed and torque sensors. The output signal of the measurement and control computer 20 is transmitted to the host computer 30.

[0075] Here, the host controller 60 controls the motor controller 40 to send torque commands to drive the permanent magnet synchronous motor 10. At this time, the speed and output torque of the permanent magnet synchronous motor 10 are collected in real time by, for example, the speed and torque sensor in the measurement and control machine 10 and transmitted to the host controller 60 for recording, so as to obtain the maximum output torque as the output torque of the permanent magnet synchronous motor 10.

[0076] S302, determine the external characteristics of the permanent magnet synchronous motor based on the maximum torque value.

[0077] After obtaining the maximum torque value of the permanent magnet synchronous motor through step S301 above, this step determines the external characteristics of the permanent magnet synchronous motor based on the maximum torque value. Specifically, after obtaining the maximum torque value, the external characteristic curve of the permanent magnet synchronous motor can be formed by combining it with the rotational speed of the permanent magnet synchronous motor 10.

[0078] This embodiment utilizes open-loop control based on voltage amplitude and voltage angle, obtains the maximum calibration value by observing the test bench torque, thereby obtaining the external characteristics of the permanent magnet synchronous motor, verifying whether the permanent magnet synchronous motor design scheme meets the design requirements, and then correcting the electromagnetic scheme design. Without relying on cumbersome steps such as MTPA calibration data, it can simply and reliably calibrate the external characteristics of the permanent magnet synchronous motor in the high-speed range.

[0079] The second embodiment of this disclosure relates to a control device for calibrating the external characteristics of a permanent magnet synchronous motor, comprising a voltage amplitude increase module, a judgment module, a voltage angle increase module, and an external characteristic determination module coupled together, wherein:

[0080] The voltage amplitude increasing module is used to set the voltage angle value to a first set value and gradually increase the voltage amplitude.

[0081] The judgment module is used to determine the positive or negative state of the d-axis current value, and when the d-axis current value is negative, to determine whether the voltage amplitude has reached a second set value.

[0082] The voltage angle value increasing module is used to increase the voltage angle value when the voltage amplitude reaches a second set value;

[0083] The external characteristic determination module is used to determine the external characteristics of the permanent magnet synchronous motor when the voltage angle value reaches a third set value.

[0084] It also includes a conversion module, which is used to: detect the motor speed value and, when the motor speed value meets predetermined conditions, control the measuring and control unit to switch from follow-up mode to speed control mode.

[0085] Furthermore, the voltage amplitude increasing module is also used to continue increasing the voltage amplitude when the motor speed value reaches the fourth set value.

[0086] Furthermore, the external characteristic determination module includes:

[0087] The acquisition unit is used to acquire the maximum torque value of the permanent magnet synchronous motor;

[0088] A determining unit is used to determine the external characteristics of the permanent magnet synchronous motor based on the maximum torque value.

[0089] Furthermore, the voltage angle value increasing module is also used to increase the voltage angle value when the d-axis current value is positive.

[0090] This embodiment utilizes open-loop control based on voltage amplitude and voltage angle, obtains the maximum calibration value by observing the test bench torque, thereby obtaining the external characteristics of the permanent magnet synchronous motor, verifying whether the permanent magnet synchronous motor design scheme meets the design requirements, and then correcting the electromagnetic scheme design. Without relying on cumbersome steps such as MTPA calibration data, it can simply and reliably calibrate the external characteristics of the permanent magnet synchronous motor in the high-speed range.

[0091] The third embodiment of this disclosure provides a calibration system for the external characteristics of a permanent magnet synchronous motor, which includes a permanent magnet synchronous motor 10, a control device as described in any of the above embodiments, and a measurement and control machine 20, wherein the output side of the permanent magnet synchronous motor 10 is connected to the measurement and control machine 20.

[0092] Furthermore, the calibration system also includes a test bench computer 30, a motor controller 40, and a host controller 60. The permanent magnet synchronous motor 10 is connected to the host controller 60 through the motor controller 40, and the test bench computer 30 is connected to the measurement and control computer 20.

[0093] This embodiment utilizes open-loop control based on voltage amplitude and voltage angle, obtains the maximum calibration value by observing the test bench torque, thereby obtaining the external characteristics of the permanent magnet synchronous motor, verifying whether the permanent magnet synchronous motor design scheme meets the design requirements, and then correcting the electromagnetic scheme design. Without relying on cumbersome steps such as MTPA calibration data, it can simply and reliably calibrate the external characteristics of the permanent magnet synchronous motor in the high-speed range.

[0094] The fourth embodiment of this disclosure provides a storage medium, which is a computer-readable medium storing a computer program. When executed by a processor, the computer program implements the method provided in the first embodiment of this disclosure, including the following steps S11 to S14:

[0095] S11, Set the voltage angle value to the first set value and gradually increase the voltage amplitude;

[0096] S12, determine the positive or negative state of the d-axis current value; if the d-axis current value is negative, determine whether the voltage amplitude reaches the second set value.

[0097] S13, when the voltage amplitude reaches the second set value, increase the voltage angle value;

[0098] S14, when the voltage angle value reaches the third set value, determine the external characteristics of the permanent magnet synchronous motor.

[0099] Furthermore, when the computer program is executed by the processor, it implements other methods provided in the first embodiment of this disclosure.

[0100] This embodiment utilizes open-loop control based on voltage amplitude and voltage angle, obtains the maximum calibration value by observing the test bench torque, thereby obtaining the external characteristics of the permanent magnet synchronous motor, verifying whether the permanent magnet synchronous motor design scheme meets the design requirements, and then correcting the electromagnetic scheme design. Without relying on cumbersome steps such as MTPA calibration data, it can simply and reliably calibrate the external characteristics of the permanent magnet synchronous motor in the high-speed range.

[0101] The fifth embodiment of this disclosure provides an electronic device, which includes at least a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program in the memory, implements the method provided in any embodiment of this disclosure. Exemplarily, the computer program steps of the electronic device are as follows: S21 to S24:

[0102] S21, set the voltage angle value to the first set value and gradually increase the voltage amplitude;

[0103] S22, determine the positive or negative state of the d-axis current value; if the d-axis current value is negative, determine whether the voltage amplitude reaches the second set value.

[0104] S23, when the voltage amplitude reaches the second set value, increase the voltage angle value;

[0105] S24, when the voltage angle value reaches the third set value, determine the external characteristics of the permanent magnet synchronous motor.

[0106] Furthermore, the processor also executes the computer program described in the fourth embodiment above.

[0107] This embodiment utilizes open-loop control based on voltage amplitude and voltage angle, obtains the maximum calibration value by observing the test bench torque, thereby obtaining the external characteristics of the permanent magnet synchronous motor, verifying whether the permanent magnet synchronous motor design scheme meets the design requirements, and then correcting the electromagnetic scheme design. Without relying on cumbersome steps such as MTPA calibration data, it can simply and reliably calibrate the external characteristics of the permanent magnet synchronous motor in the high-speed range.

[0108] The aforementioned storage medium may be included in the aforementioned electronic device; or it may exist independently and not be assembled into the electronic device.

[0109] The aforementioned storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: acquire at least two Internet Protocol (IP) addresses; send a node evaluation request, including at least two IP addresses, to a node evaluation device, wherein the node evaluation device selects an IP address from the at least two IP addresses and returns it; and receive the IP address returned by the node evaluation device; wherein the acquired IP address indicates an edge node in the content delivery network.

[0110] Alternatively, the storage medium may carry one or more programs that, when executed by the electronic device, cause the electronic device to: receive a node evaluation request including at least two Internet Protocol (IP) addresses; select an IP address from the at least two IP addresses; and return the selected IP address; wherein the received IP address indicates an edge node in the content delivery network.

[0111] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the passenger's computer, partially on the passenger's computer, as a standalone software package, partially on the passenger's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the passenger's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0112] It should be noted that the storage medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any storage medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0113] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0114] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0115] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0116] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0117] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0118] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0119] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

[0120] The foregoing has provided a detailed description of several embodiments of this disclosure. However, this disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications based on the concept of this disclosure, and all such variations and modifications should fall within the scope of protection claimed by this disclosure.

Claims

1. A calibration system for the external characteristics of a permanent magnet synchronous motor, characterized in that, The system includes a permanent magnet synchronous motor, a control device for calibrating the external characteristics of the permanent magnet synchronous motor, and a measurement and control computer. The permanent magnet synchronous motor and a locking fixture used in conjunction with it are mounted on a test bench. The permanent magnet synchronous motor is fixed by clamps. The locking fixture is mounted on the guide rail of the test bench and located at the shaft end of the permanent magnet synchronous motor. The locking fixture moves back and forth along the guide rail by a rocker arm and is locked in position by a cylinder. The locking indexing plate of the locking fixture is connected to the flange at the shaft end of the permanent magnet synchronous motor by a pin. The disk is pushed into the stall indexing disk by a blocking block on the platform under the drive of a cylinder to achieve stall rotation. The host computer on the platform sends a command through the rocker and the cylinder to block the shaft of the permanent magnet synchronous motor using the stall tool. The control and power supply harness of the host computer on the platform is connected to the motor controller. The three-phase power line and resolver harness of the motor controller are connected to the permanent magnet synchronous motor under test and control its operation. The output shaft of the permanent magnet synchronous motor is connected to the measurement and control computer. The measurement and control computer is equipped with a speed and torque sensor. The control device for calibrating the external characteristics of the permanent magnet synchronous motor includes: A voltage amplitude increasing module is used to set the voltage angle value to a first set value and gradually increase the voltage amplitude. The judgment module is used to determine the positive or negative state of the d-axis current value. When the d-axis current value is negative, it determines whether the voltage amplitude has reached a second set value. A voltage angle value increasing module is used to increase the voltage angle value when the voltage amplitude reaches a second set value; An external characteristic determination module is used to determine the external characteristics of the permanent magnet synchronous motor when the voltage angle value reaches a third set value. The external characteristic determination module is also used to collect the speed and output torque of the permanent magnet synchronous motor in real time through the speed and torque sensor in the control unit, and obtain the maximum torque value of the permanent magnet synchronous motor; and determine the external characteristics of the permanent magnet synchronous motor based on the maximum torque value. The judgment module is also used to increase the voltage angle value when the d-axis current value is positive.

2. The calibration system for the external characteristics of a permanent magnet synchronous motor according to claim 1, characterized in that, After setting the voltage angle value to a first preset value and gradually increasing the voltage amplitude, the control device is further configured to: Detect motor speed; When the motor speed value meets the predetermined conditions, the control and measurement machine switches from follow-up mode to speed control mode.

3. The calibration system for the external characteristics of a permanent magnet synchronous motor according to claim 2, characterized in that, The control device is also used to continue increasing the voltage amplitude when the motor speed reaches the fourth set value.

Images