Calibration method and device for salient pole type permanent magnet synchronous motor

Abstract

The invention discloses a calibration method and device for a salient pole type permanent magnet synchronous motor. The calibration method comprises the following steps: determining a plurality of to-be-calibrated rotating speeds of a to-be-calibrated motor; determining a calibration table corresponding to the rotating speed to be calibrated, wherein the calibration table comprises a calibration starting point; and according to the calibration sequence and the calibration table of the plurality of to-be-calibrated rotating speeds, calibrating the to-be-calibrated rotating speeds in sequence, and determining an optimal calibration result. Compared with the prior art, the problems of low calibration efficiency, long calibration time and more redundant data in the traditional motor calibration process are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motors, and in particular to a calibration method and device for a salient-pole permanent magnet synchronous motor. Background Art

[0002] With the steady advancement of electrification in the vehicle field, the application of motors is becoming more and more extensive. Salient-pole permanent magnet synchronous motors have the advantages of small size, light weight, and high power density, and are increasingly widely used in new energy vehicles. In order to allow the motor to fully release its performance and have a better motor control effect, the salient-pole permanent magnet synchronous motor needs to be calibrated. At present, in order to ensure that the salient-pole permanent magnet synchronous motor can operate safely and smoothly throughout its entire operating range, a test bench is usually used to accurately calibrate the current of the motor at the specified working point within the entire speed and torque range.

[0003] During the traditional motor calibration process, it is necessary to find the current and angle under each set of drive current to achieve the maximum torque output of the motor, which is a time-consuming process. During high-speed operation of the motor, the motor heats up very quickly, which can easily cause the motor to overheat. Frequent temperature rise exceeds the limit, and repeated tests are often required, and the data actually required is only a small part of it. During the calibration process, it is necessary to frequently increase the demagnetization current on the d-axis. The current on the d-axis may not be accurate every time. If the current added to the d-axis is inaccurate, current recoil and torque mutation may occur, causing the controller to burn out or the test bench to be damaged.

[0004] Therefore, in the traditional motor calibration process, there are problems such as low calibration efficiency, long calibration time, much redundant data and low security. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a calibration method and device for a salient-pole permanent magnet synchronous motor, which can solve the problems of low calibration efficiency, long calibration time, much redundant data and low safety in the traditional motor calibration process.

[0006] In order to solve the above problems, the present invention is implemented according to the following scheme:

[0007] A calibration method for a salient-pole permanent magnet synchronous motor is provided, comprising:

[0008] Determine a plurality of to-be-calibrated speeds of the to-be-calibrated motor;

[0009] Determine a calibration table corresponding to the rotation speed to be calibrated, wherein the calibration table includes a calibration starting point;

[0010] According to the calibration order of the plurality of speeds to be calibrated and the calibration table, the speeds to be calibrated are calibrated in sequence to determine the optimal calibration result;

[0011] The calibration point corresponding to the optimal calibration result is used as the calibration starting point in the calibration table corresponding to the next rotation speed calibration to be calibrated.

[0012] Compared with the prior art, the calibration method of a salient-pole permanent magnet synchronous motor provided by the present invention has the following beneficial effects: by determining multiple speeds to be calibrated in the speed range to be calibrated of the motor to be calibrated, the speed data to be calibrated is reduced, and when calibrating based on the calibration table, there is no need to calculate target quantities such as magnetic flux and magnetic flux, which effectively reduces the amount of calculation, improves the calibration efficiency and reduces the calibration time; and the calibration point corresponding to the optimal calibration result is used as the calibration starting point in the calibration table corresponding to the next speed to be calibrated, so that most of the data obtained are valid data, reducing redundant data, and solving the problems of low calibration efficiency, long calibration time and much redundant data in the traditional motor calibration process.

[0013] Optionally, the expression for determining a plurality of rotational speeds to be calibrated of the motor to be calibrated is as follows:

[0014]

[0015] Among them, N i is the i-th speed to be calibrated, N min is the minimum speed for calibration, N max is the maximum speed to be calibrated, k is the number of speeds to be calibrated, and α is an adjustable parameter.

[0016] Optionally, the step of determining a calibration table corresponding to the rotation speed to be calibrated includes:

[0017] Determine current interval, current gradient, phase angle interval and phase angle gradient;

[0018] Determining a current set to be calibrated according to the current interval and the current gradient;

[0019] Determining a set of phase angles to be calibrated according to the phase angle interval and the phase angle gradient;

[0020] The calibration table is determined according to the set of currents to be calibrated and the set of phase angles to be calibrated.

[0021] Optionally, the set of currents to be calibrated includes multiple currents to be calibrated, and the set of phase angles to be calibrated includes multiple phase angles to be calibrated;

[0022] The step of determining the calibration table according to the current set to be calibrated and the phase angle set to be calibrated includes:

[0023] For each current to be calibrated, respectively calculate the shaft current combination corresponding to the plurality of phase angles to be calibrated, until shaft current calculations are completed for all currents to be calibrated and all phase angles to be calibrated, wherein the shaft current combination includes a first shaft current and a second shaft current;

[0024] The set of currents to be calibrated, the set of phase angles to be calibrated, and the axis current combination constitute the calibration table.

[0025] Optionally, calibrating the rotational speeds to be calibrated in sequence according to the calibration sequence among the plurality of rotational speeds to be calibrated and the calibration table to determine the optimal calibration result includes:

[0026] The arrangement order of the multiple rotation speeds to be calibrated is used as the calibration order;

[0027] According to the calibration sequence, the calibration results of the rotation speed to be calibrated under different shaft current combinations are determined in sequence;

[0028] Based on the interpolation method and the calibration results, an optimal calibration result is determined.

[0029] Optionally, the calibration result with the maximum motor torque value is used as the target calibration result, and the calibration point corresponding to the target calibration result is the calibration starting point in the calibration table corresponding to the next current calibration to be calibrated.

[0030] A calibration device for a salient-pole permanent-magnet synchronous motor is also provided, which is applied to the calibration method for the salient-pole permanent-magnet synchronous motor, and comprises:

[0031] A computer device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the calibration method;

[0032] Dynamometer, used to install the motor to be calibrated;

[0033] The controller is used to control the motor to be calibrated and obtain the operating status.

[0034] Optionally, the operating state includes voltage utilization, and the expression of the voltage utilization is as follows:

[0035]

[0036] Among them, V a is the actual voltage of the motor to be calibrated, V q is the voltage of the motor to be calibrated on the q axis, V d is the voltage on the d-axis of the motor to be calibrated.

[0037] Optionally, the controller is further used to control the motor to be calibrated according to the operating state, including:

[0038] When the motor to be calibrated is in a high-speed weak magnetic field area and the voltage utilization rate is greater than a first preset value, controlling the motor to be calibrated to stop running;

[0039] When the motor to be calibrated is in a reverse-drag state and the voltage utilization rate is greater than a second preset value, the motor to be calibrated is controlled to stop running.

[0040] Optionally, a regulated DC power supply is also included to provide working power. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The process of the present invention Figure 1 ;

[0042] Figure 2 This is a structural diagram of the calibration device of the present invention;

[0043] Figure 3 The process of the present invention Figure 2 ;

[0044] Figure 4 The process of the present invention Figure 3 . DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0046] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0047] See also Figure 1 As shown, the present invention provides a calibration method for a salient-pole permanent magnet synchronous motor, comprising:

[0048] S1: Determine multiple speeds to be calibrated of the motor to be calibrated, and the expression is as follows:

[0049]

[0050] Among them, N i is the i-th speed to be calibrated, N min is the minimum speed for calibration, N max is to calibrate the maximum speed, k is the number of speeds to be calibrated, and α is an adjustable parameter, which can be adjusted according to the motor characteristics.

[0051] The above expression can be used to obtain multiple speeds to be calibrated within the speed range to be calibrated (the speed range consisting of the calibrated minimum speed and the calibrated maximum speed), which can greatly reduce the number of speeds to be calibrated in the traditional calibration process using a fixed change gradient. The calibrated maximum speed in the above expression should be less than or equal to the maximum speed of the motor, otherwise it will cause damage to the motor.

[0052] S2: Determine the calibration table corresponding to the speed to be calibrated. The calibration table includes the calibration starting point, including:

[0053] First, determine the current range, current gradient, phase angle range and phase angle gradient. Here, the current range is 0 to the current peak, and the current peak is the upper limit of the bus current allowed by the motor, and the current gradient adopts a fixed span with a value of 5; the phase angle range is 0 to the phase angle peak, and the phase angle peak is the maximum phase angle allowed by the motor. The phase angle peak here is 90 degrees, that is, the phase angle range is 0 to 90 degrees, and the phase angle gradient adopts a fixed span with a value of 5.

[0054] After determining the current interval, current gradient, phase angle interval and phase angle gradient, determine the current set to be calibrated and the phase angle set to be calibrated required for calibration; according to the current interval and current gradient, determine the current set to be calibrated, the current set to be calibrated includes multiple currents to be calibrated, and the calculation formula of the current to be calibrated is as follows:

[0055] I s =I smin +kΔI s (k=0,1,2…M)

[0056] Among them, I s is the current to be calibrated, I smin is the lower limit of the current range, here it is 0, k is the number of currents to be calibrated, M is the total number of currents to be calibrated, ΔI s is the current gradient, which is 5 here; when the Mth current to be calibrated is greater than the upper limit of the current interval, that is, greater than the current peak value, the calculation is suspended, and only the current value belonging to the current interval is used as the current to be calibrated.

[0057] According to the phase angle interval and the phase angle gradient, a phase angle set to be calibrated is determined. The phase angle set to be calibrated includes multiple phase angles to be calibrated. The calculation formula of the phase angle to be calibrated is as follows:

[0058] θ=θ min +kΔθ(k=0,1,2…N)

[0059] Among them, θ is the phase angle to be calibrated, θ min is the lower limit of the phase angle interval, which is 0 here, k is the number of phase angles to be calibrated, N is the total number of phase angles to be calibrated, Δθ is the phase angle gradient, which is 5 here; when the Nth phase angle to be calibrated is greater than the upper limit of the phase angle interval, that is, greater than the phase angle peak value, the calculation is suspended, and only the phase angles belonging to the phase angle interval are used as the phase angles to be calibrated.

[0060] Finally, the calibration table is determined according to the set of currents to be calibrated and the set of phase angles to be calibrated. Specifically, for each current to be calibrated, the axis current combination corresponding to multiple phase angles to be calibrated is calculated respectively until the axis current calculation is completed for all currents to be calibrated and all phase angles to be calibrated. The axis current combination includes the first axis current and the second axis current, wherein the first axis current is the d-axis current, and the second axis current is the q-axis current; the set of currents to be calibrated, the set of phase angles to be calibrated, and the axis current combination constitute the calibration table.

[0061] Referring to Table 1, the determination of the calibration table is described in detail in conjunction with a specific embodiment:

[0062]

[0063] Table 1

[0064] I1, I2, ..., I in Table 1 M are all currents to be calibrated, θ1, θ2, ..., θ N are all phase angles to be calibrated. For each current to be calibrated, calculate the shaft current combination corresponding to multiple phase angles to be calibrated, until all currents to be calibrated and all phase angles to be calibrated have completed the shaft current calculation. That is, first calculate the first current to be calibrated in the table with N phase angles to be calibrated θ1, θ2, ..., θ N Calculate the shaft current and obtain N shaft current combinations (I d11 , I q11 ), (I d12 , I q12 ),...,(I d1N , I q1N ), wherein the second current to be calibrated is then respectively compared with N phase angles to be calibrated θ1, θ2, ..., θ N Calculate the shaft current and obtain N shaft current combinations (I d21 , I q21 ), (I d22 , I q22 ),...,(I d2N , I q2N) until the shaft current calculations are completed for the M currents to be calibrated and the N phase angles to be calibrated, and the final calibration table includes M*N shaft current combinations.

[0065] The calculation formula of the first axis current (d-axis current) is as follows:

[0066]

[0067] Among them, I d is the first axis current (d axis current), I s is the current to be calibrated, and θ is the phase angle to be calibrated.

[0068] The calculation formula of the second axis current (q axis current) is as follows:

[0069]

[0070] Among them, I q is the second axis current (q axis current), I s is the current to be calibrated, and θ is the phase angle to be calibrated.

[0071] S3: According to the arrangement order of the multiple speed intervals and the calibration table, the speeds to be calibrated are calibrated in turn to determine the optimal calibration result, including:

[0072] First, the arrangement order between multiple speed intervals is used as the calibration order of the speed to be calibrated, so that the calibration result of each speed to be calibrated is determined according to the arrangement order during calibration; then, according to the calibration order, the calibration results of the speed to be calibrated under different shaft current combinations are determined in turn, and the calibration result is the motor torque when the motor is running; then the calibration result with the largest motor torque value is used as the target calibration result, and the calibration point corresponding to the target calibration result is the calibration starting point in the calibration table corresponding to the next current to be calibrated, that is, at the same speed to be calibrated, this current I to be calibrated is s The first axis current Id and the second axis current Iq corresponding to the maximum output are used as the next current to be calibrated I s Measure the starting points of the first axis current Id and the second axis current Iq; after obtaining the calibration results at all the speeds to be calibrated, determine the optimal calibration result based on the interpolation method and the calibration results.

[0073] Generally, the final calibration result is the torque corresponding to a certain first-axis current Id and second-axis current Iq. Because it is an actual measurement value, the torque is generally a fragmented number with decimals. In order to facilitate subsequent use, it is generally necessary to use the interpolation method to convert the first-axis current Id and second-axis current Iq corresponding to the fragmented decimal torque into an integer value torque and its corresponding first-axis current Id and second-axis current Iq. For example, torque 8.1N / M, first-axis current Id=-0.3, second-axis current Iq=10.1 and torque 19.3N / M, first-axis current Id=-1.4, second-axis current Iq=20 can be converted into torque 10N / M, first-axis current Id=-0.267, second-axis current Iq=8.928 through interpolation. At this time, the torque is converted from fragmented numbers with decimals to integer values, and its corresponding first-axis current Id and second-axis current Iq are also calculated.

[0074] Repeat the above steps to convert all torques at each speed to be calibrated into the required integers, and then draw a two-dimensional line graph for the first axis current Id and the second axis current Iq at all speeds to be calibrated. It can be seen that the first axis current Id and the second axis current Iq at each speed to be calibrated are drawn into a curve respectively; generally speaking, the points in the non-weak magnetic interval will be gathered together regardless of the speed to form a line, and the points at each speed in the weak magnetic interval will be gathered together, that is, each speed to be calibrated corresponds to its own curve. These curves may not be very smooth, for example, some points are too far away from other points, and we need a smooth curve. At this time, we need to manually adjust some points, and lower or raise some points according to the curvature of the entire curve. There is no fixed method for manual adjustment, and the smoothness of the curve is the adjustment standard. Finally, the smooth curves of the first axis current Id and the second axis current Iq corresponding to the integer torque are obtained, and these smooth curves are the final optimal calibration results.

[0075] The following describes step S3 in detail with reference to a specific embodiment:

[0076] Assuming that there are k speeds to be calibrated, the calibration results of the speeds to be calibrated under different shaft current combinations are determined in sequence according to the calibration order, that is, the first speed to be calibrated is calibrated first, and the calibration is performed based on the shaft current combination shown in Table 1 to determine the calibration results. The motor torque of the current to be calibrated under the shaft current combination is calculated in sequence, and the motor torque corresponding to the shaft current combination currently calculated is less than the motor torque corresponding to the previous shaft current combination. If the motor torque corresponding to the shaft current combination currently calculated is less than the motor torque corresponding to the previous shaft current combination, the motor torque corresponding to the previous shaft current combination is determined as the calibration result with the largest value, and the motor torque does not need to be calculated for the remaining shaft current combinations. During the calibration process, the operating status needs to be obtained, where the operating status includes bus current, motor temperature, controller temperature and voltage utilization. The voltage utilization is the efficiency of the controller's use of voltage. The expression of the voltage utilization is as follows:

[0077]

[0078] Among them, V a is the actual voltage of the motor to be calibrated, V q is the voltage of the motor to be calibrated on the q axis, V d is the voltage of the motor to be calibrated on the d-axis. During the calibration process, the voltage utilization rate V s The goal is to make it as close as possible to and equal to the target value, i.e. 96%, while ensuring that it does not exceed the second limit value, i.e. 100%.

[0079] The first calibration is the non-weak magnetic interval. When the first voltage utilization factor V s When the value reaches 96% (target value), it can be used as a sign of entering the weak magnetic range; once entering the weak magnetic range, the condition for finding the required phase angle changes from the previous maximum torque to the voltage utilization rate V s The value is equal to the phase angle corresponding to 96%. If the voltage utilization rate V s If the value exceeds 100% (preset value), the machine needs to be shut down immediately; finally, the optimal calibration result is determined based on the interpolation method and the calibration result with the largest value; the optimal calibration result is that one current to be calibrated corresponds to one optimal calibration result, that is, based on M currents to be calibrated, there are M optimal calibration results for each speed to be calibrated.

[0080] Assume that the phase angle to be calibrated corresponding to the optimal calibration result of the first speed to be calibrated is θ2, that is, the calibration point corresponding to the optimal calibration result is θ2. At this time, the calibration point corresponding to the optimal calibration result is used as the calibration starting point in the calibration table corresponding to the next speed to be calibrated, as shown in Table 2, which is the calibration table for calibrating the second speed to be calibrated.

[0081]

[0082] Table 2

[0083] Table 2 is a calibration table for calibrating the second speed to be calibrated, including M*(N-1) shaft current combinations. Compared with the calibration table for calibrating the first speed to be calibrated shown in Table 1, including M*N shaft current combinations, when calibrating the second speed to be calibrated, the amount of calibration data is reduced, thereby improving the calibration efficiency, reducing the calibration time, and reducing the amount of redundant data; at the same time, the motor torque corresponding to the currently calculated shaft current combination is less than the motor torque corresponding to the previous shaft current combination. If the motor torque corresponding to the currently calculated shaft current combination is less than the motor torque corresponding to the previous shaft current combination, the motor torque corresponding to the previous shaft current combination is determined as the calibration result with the largest value. Therefore, the remaining shaft current combinations do not need to calculate the motor torque, thereby reducing the amount of motor torque calculation.

[0084] Therefore, the speeds to be calibrated are calibrated in sequence according to the calibration order. The calibration point corresponding to the optimal calibration result of the previous speed to be calibrated can be used as the calibration starting point of the next speed to be calibrated. The calculation amount of calibration can be gradually reduced, thereby improving the calibration efficiency and reducing the calibration time and the amount of redundant data.

[0085] See also Figure 2 As shown, the present invention also provides a calibration device for a salient-pole permanent magnet synchronous motor, including a computer device, a dynamometer, a controller, a regulated DC power supply, a frequency converter, a torque sensor, and a temperature sensor; the computer device is connected to the temperature sensor, the controller, the regulated DC power supply, the torque sensor, and the frequency converter, the frequency converter is connected to the dynamometer, the motor to be calibrated is connected to the temperature sensor and the controller, and the controller is connected to the regulated DC power supply.

[0086] The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned calibration method.

[0087] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0088] The memory can be used to store the computer program or module, and the processor implements various functions of the calibration method by running or executing the computer program or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0089] The dynamometer is used to install the motor to be calibrated, which is a salient-pole permanent magnet synchronous motor; the controller is used to control the voltage and current of the motor to be calibrated and obtain the operating status; the regulated DC power supply is used to provide the working power supply; the frequency converter is used to control the speed of the motor to be calibrated, that is, to control the motor to be calibrated to run at a certain speed to be calibrated; the torque sensor is used to feed back data such as the motor torque and idling load of the motor to be calibrated to the computer device; the temperature sensor is used to monitor the temperature of the motor to be calibrated in real time and transmit the data to the computer device.

[0090] The operating status includes bus current, motor temperature, controller temperature and voltage utilization. The voltage utilization is the efficiency of the controller in utilizing the voltage. The expression of voltage utilization is as follows:

[0091]

[0092] Among them, V a is the actual voltage of the motor to be calibrated, V q is the voltage of the motor to be calibrated on the q axis, V d is the voltage of the motor to be calibrated on the d-axis. During the calibration process, V s The goal is to make it as close as possible to and equal to the target value, i.e. 96%, while ensuring that it does not exceed the second limit value, i.e. 100%.

[0093] When the motor to be calibrated is executing the calibration method, if any data in the running state exceeds a preset value, in order to protect the motor to be calibrated from being damaged, the motor to be calibrated needs to be stopped.

[0094] Figure 3 This is the calibration flow chart when the motor is in the non-weakening magnetic range. Figure 4This is the calibration flow chart of the motor in the weak magnetic range. Figure 3 and Figure 4 , the application of the calibration device to the calibration method is described in detail:

[0095] The calibration process of the motor in the non-weakening range:

[0096] The frequency converter controls the speed of the motor to be calibrated according to the calibration sequence between the speeds to be calibrated, and the controller obtains the operating status in real time, that is, the bus current, motor temperature, controller temperature and voltage utilization rate in real time. When any data in the operating status exceeds the preset value (greater than the upper limit), the motor to be calibrated is controlled to stop. When all data in the operating status are less than the upper limit, the current interval and phase angle interval are input into the computer device, and the current gradient and phase angle gradient are adjusted; the computer device obtains multiple shaft current combinations according to the current interval, current gradient, phase angle interval and phase angle gradient, that is, after determining the calibration table, the shaft current combination is input into the controller in sequence, so that the controller controls the motor to be calibrated to run based on the shaft current combination, and collects the motor torque in real time; if the current motor torque is less than the motor torque at the previous moment, the speed, phase angle, d-axis current, q-axis current and motor torque at the previous moment are output and recorded, and the current phase angle is used as the starting angle of the next round (calibration starting point).

[0097] Then determine whether the current current to be calibrated exceeds the current range (whether it is greater than the upper limit of the current range). If it does not exceed the current range, calibrate the next current to be calibrated, and use the current phase angle as the starting angle of the next current to be calibrated (calibration starting point); if it exceeds the current range, determine whether the current speed is greater than or equal to the maximum speed allowed by the motor to be calibrated; if the current speed is greater than or equal to the maximum speed allowed by the motor to be calibrated, end the calibration and output the calibration result; if the current speed is less than the maximum speed allowed by the motor to be calibrated, calibrate the next speed to be calibrated, that is, the frequency converter controls the motor to be calibrated to run at the next speed to be calibrated.

[0098] The calibration process of the motor in the weak magnetic range:

[0099] The frequency converter controls the speed of the motor to be calibrated according to the calibration sequence between the speeds to be calibrated, and the controller obtains the operating status in real time, that is, the bus current, motor temperature, controller temperature and voltage utilization rate in real time. When any data in the operating status exceeds the preset value (greater than the upper limit), the motor to be calibrated is controlled to stop. When all data in the operating status are less than the upper limit, the current interval and phase angle interval are input into the computer device, and the current gradient and phase angle gradient are adjusted; the computer device obtains multiple shaft current combinations according to the current interval, current gradient, phase angle interval and phase angle gradient; if the current voltage utilization rate is greater than or equal to the preset value (100%), the motor to be calibrated is controlled to stop; after obtaining multiple shaft current combinations, that is, after determining the calibration table, the shaft current combinations are input into the controller in sequence, so that the controller controls the motor to be calibrated to run based on the shaft current combination and collects the motor torque in real time.

[0100] Then determine whether the current voltage utilization rate is equal to the target value (96%). If not, readjust the phase angle interval and phase angle gradient; if equal, output and record the speed, phase angle, d-axis current, q-axis current and motor torque of the assassin, and then determine whether the current current to be calibrated exceeds the current interval (whether it is greater than the upper limit of the current interval). If it does not exceed the current interval, calibrate the next current to be calibrated, and use the current phase angle as the starting angle (calibration starting point) of the next current to be calibrated; if it exceeds the current interval, determine whether the current speed is greater than or equal to the maximum speed allowed by the motor to be calibrated; if the current speed is greater than or equal to the maximum speed allowed by the motor to be calibrated, end the calibration and output the calibration result; if the current speed is less than the maximum speed allowed by the motor to be calibrated, calibrate the next speed to be calibrated, that is, the frequency converter controls the motor to be calibrated to run at the next speed to be calibrated.

[0101] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A calibration method for a salient-pole permanent magnet synchronous motor, characterized in that: include: Determine a plurality of to-be-calibrated speeds of the to-be-calibrated motor; Determine a calibration table corresponding to the rotation speed to be calibrated, wherein the calibration table includes a calibration starting point; According to the calibration sequence among the plurality of rotational speeds to be calibrated and the calibration table, the rotational speeds to be calibrated are calibrated in sequence to determine the optimal calibration result.

2. The calibration method of a salient-pole permanent magnet synchronous motor according to claim 1, characterized in that: The expression for determining a plurality of rotation speeds to be calibrated of the motor to be calibrated is as follows: Among them, N i is the i-th speed to be calibrated, N min is the minimum speed for calibration, N max is the maximum speed to be calibrated, k is the number of speeds to be calibrated, and α is an adjustable parameter.

3. The calibration method of a salient-pole permanent magnet synchronous motor according to claim 1, characterized in that: The step of determining the calibration table corresponding to the rotation speed to be calibrated includes: Determine current interval, current gradient, phase angle interval and phase angle gradient; Determining a current set to be calibrated according to the current interval and the current gradient; Determining a set of phase angles to be calibrated according to the phase angle interval and the phase angle gradient; The calibration table is determined according to the set of currents to be calibrated and the set of phase angles to be calibrated.

4. The calibration method of a salient-pole permanent magnet synchronous motor according to claim 3, characterized in that: The current set to be calibrated includes a plurality of currents to be calibrated, and the phase angle set to be calibrated includes a plurality of phase angles to be calibrated; The step of determining the calibration table according to the current set to be calibrated and the phase angle set to be calibrated includes: For each current to be calibrated, respectively calculate the shaft current combination corresponding to the plurality of phase angles to be calibrated, until shaft current calculations are completed for all currents to be calibrated and all phase angles to be calibrated, wherein the shaft current combination includes a first shaft current and a second shaft current; The set of currents to be calibrated, the set of phase angles to be calibrated, and the axis current combination constitute the calibration table.

5. The calibration method of a salient-pole permanent magnet synchronous motor according to claim 4, characterized in that: The step of calibrating the rotational speeds to be calibrated in sequence according to the calibration sequence of the plurality of rotational speeds to be calibrated and the calibration table to determine the optimal calibration result includes: The arrangement order of the multiple rotation speeds to be calibrated is used as the calibration order; According to the calibration sequence, the calibration results of the rotation speed to be calibrated under different shaft current combinations are determined in sequence; Based on the interpolation method and the calibration results, an optimal calibration result is determined.

6. The calibration method of a salient-pole permanent magnet synchronous motor according to claim 5, characterized in that: The calibration result with the maximum motor torque value is taken as the target calibration result, and the calibration point corresponding to the target calibration result is the calibration starting point in the calibration table corresponding to the next current calibration to be calibrated.

7. A calibration device for a salient-pole permanent-magnet synchronous motor, applied to the calibration method for a salient-pole permanent-magnet synchronous motor according to claims 1 to 6, characterized in that: include: A computer device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the calibration method according to any one of claims 1 to 6; Dynamometer, used to install the motor to be calibrated; The controller is used to control the motor to be calibrated and obtain the operating status.

8. The calibration device for a salient-pole permanent magnet synchronous motor according to claim 7, characterized in that: The operating state includes voltage utilization, and the expression of the voltage utilization is as follows: Among them, V a is the actual voltage of the motor to be calibrated, V q is the voltage of the motor to be calibrated on the q axis, V d is the voltage of the motor to be calibrated on the d-axis.

9. The calibration device for a salient-pole permanent magnet synchronous motor according to claim 8, characterized in that: The controller is also used to control the motor to be calibrated according to the operating state, including: When the motor to be calibrated is in a high-speed weak magnetic field area and the voltage utilization rate is greater than a first preset value, controlling the motor to be calibrated to stop running; When the motor to be calibrated is in a reverse-drag state and the voltage utilization rate is greater than a second preset value, the motor to be calibrated is controlled to stop running.

10. The calibration device for a salient-pole permanent magnet synchronous motor according to claim 8, characterized in that: It also includes a regulated DC power supply for providing working power.

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