System and method for automatically calibrating parameters of permanent magnet synchronous motor

Abstract

The invention discloses an automatic parameter calibration system and method for a permanent magnet synchronous motor, and relates to the field of motor calibration, and the system comprises a calibration upper computer which is used for generating an execution instruction based on motor parameters inputted by a user; the motor controller is used for controlling the operation of the permanent magnet synchronous motor according to the execution instruction and feeding back a state signal of the permanent magnet synchronous motor to the calibration upper computer; the dynamometer is used for measuring operation state data of the permanent magnet synchronous motor in real time; the power analyzer obtains a power analysis signal according to the operation state data; and the calibration upper computer is also used for obtaining MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor according to the state signal and the power analysis signal. According to the method, MTPA, LdSubLq and MTPV parameters can be automatically calibrated, and the calibration process is high in efficiency, high in speed, high in precision and good in consistency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor calibration, and in particular to a permanent magnet synchronous motor parameter automatic calibration system and method. BACKGROUND

[0002] The motor calibration process is actually a process of converting torque instructions into motor current signals by a motor controller to form a current control table. The mainstream of existing permanent magnet synchronous motor parameter calibration is to use the current optimal angle calibration method, which needs to calibrate the optimal d-q axis current distribution corresponding to different torques under different voltages one by one, and most of the calibration is manually performed by manpower. The calibration personnel judge the calibration results, and the calibration effect is too dependent on the experience of the calibration personnel and the calibration efficiency is low. The calibration process needs to spend a lot of manpower and material resources. SUMMARY

[0003] To solve the technical problems in the background art, the present application provides a permanent magnet synchronous motor parameter automatic calibration system and method.

[0004] In a first aspect, the present application provides a permanent magnet synchronous motor parameter automatic calibration system, comprising:

[0005] A calibration host computer is configured to generate an execution instruction based on user input motor parameters;

[0006] A motor controller is configured to control the operation of the permanent magnet synchronous motor according to the execution instruction and feed back the state signal of the permanent magnet synchronous motor to the calibration host computer;

[0007] A dynamometer is configured to measure the running state data of the permanent magnet synchronous motor in real time;

[0008] A power analyzer is configured to obtain a power analysis signal according to the running state data;

[0009] The calibration host computer is further configured to obtain the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor according to the state signal and the power analysis signal, so as to realize the automatic calibration of the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor.

[0010] Preferably, the execution instruction includes current instructions and angle instructions for MTPA parameter calibration, Id current instructions and Iq current instructions for LdSubLq parameter calibration, and rotation speed instructions for MTPV parameter calibration;

[0011] The state signal includes motor speed, motor temperature, IGBT module temperature and running state;

[0012] The power analysis signal includes rotation speed, real-time torque, bus voltage, bus current, three-phase voltage and three-phase current.

[0013] Preferably, the automatic calibration process of the MTPA parameter comprises:

[0014] S1, the calibration host computer determines whether to start calibration based on the operation of the user; if yes, the current command and the angle command are generated according to the MTPA calibration parameter input by the user;

[0015] S2, the current command and the angle command are sent to the motor controller; the motor controller controls the permanent magnet synchronous motor to rotate at a fixed rotation speed under rated voltage according to the current command and the angle command, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the running state data of the permanent magnet synchronous motor to be tested, and the power analyzer obtains the power analysis signal according to the running state data and sends the power analysis signal to the calibration host computer;

[0016] S3, the calibration host computer obtains the maximum torque at different angles under each current according to the state signal and the running state data, and obtains the MTPA parameter of the permanent magnet synchronous motor in the motor mode or the generator mode according to the maximum torque at different angles under each current.

[0017] Preferably, the given order of the current in the current command is to increase in turn according to the current step from the initial given current value; wherein, when the torque direction of the permanent magnet synchronous motor is the same as the rotation speed direction, the given order of the angle in the angle command is to increase in turn according to the angle step from the initial given angle value; when the torque direction of the permanent magnet synchronous motor is not the same as the rotation speed direction, the given order of the angle in the angle command is to decrease in turn according to the angle step from the initial given angle value.

[0018] Preferably, wherein, the MTPA calibration parameter comprises a maximum calibration current value Ismax, a maximum calibration angle value Agmax, a minimum calibration angle value Agmin, a current step i, an angle step The, an initial given current value CAL_IsInit, an initial given angle value CAL_AgInitCAL, a motor over-temperature warning value T_Mot_Warm, an IGBT over-temperature warning value CAL_IGBT_Tmax and a maximum limited rotation speed of the motor CAL_Spdmax.

[0019] Preferably, S2 specifically comprises:

[0020] S201, the motor controller sets the given current value Is_ref of the permanent magnet synchronous motor to CAL_IsInit and the given angle value Ag_ref to CAL_AgInit, and enters S202;

[0021] S202, judge whether Is_ref≤Ismax is satisfied; if not, go to S203; if yes, go to S204;

[0022] S203, close the management;

[0023] S204, set the given angle value as Ag_ref=Ag, and go to S205;

[0024] S205, judge whether Ag_ref≤Agmax is satisfied; if yes, go to S206;

[0025] If not, the power analyzer obtains the maximum torque value under the given current value and the given angle value corresponding to the maximum torque value, and saves them; then, go to S212 and S213 respectively;

[0026] S206, set the actual current value Is of the permanent magnet synchronous motor as Is_ref, the actual angle value Ag as Ag_ref, and Ag_ref=Ag_ref+The; after waiting for a preset time, the calibration host computer obtains the maximum torque value under the current time current value and actual angle value through the power analyzer;

[0027] The motor controller judges whether the output closing signal is 1, i.e. u16_Close_Pwm_Flag==1; if yes, go to S203; if not, go to S207;

[0028] S207, judge whether Spd≤CAL_Spdmax is satisfied; if not, go to S203; if yes, go to S208;

[0029] S208, judge whether it is over temperature; when the preset temperature condition is satisfied, it is determined that it is over temperature; wherein, the preset temperature condition is that the temperature of the motor is less than or equal to the motor over temperature warning value and the temperature of the IGBT is less than or equal to the IGBT over temperature warning value; if it is not over temperature, go to S205; if it is over temperature, go to S209;

[0030] S209, reduce the current Is_ref to 0 at a preset current rising speed, and go to S210;

[0031] S210, set Is_ref=0 and Ag=180, and go to S211;

[0032] S211, judge whether the temperature of the motor or the temperature of the IGBT module is less than the safe temperature threshold; wherein, the safe temperature threshold is less than the motor over temperature warning value and less than the IGBT over temperature warning value; if yes, increase the current Is_ref to the Is_ref before over temperature at a preset current rising speed, set the Ag as the actual angle value before over temperature, and go to S205; if not, go to S210;

[0033] S212, let the actual angle value Ag = Ag-5, and enter S204;

[0034] S213, let Is_ref = Is_ref + i, and enter S202.

[0035] Preferably, the automatic calibration process of the LdSubLq parameter comprises:

[0036] S4, the calibration host determines whether to start calibration based on the operation of the user; if yes, the Id current command and the Iq current command are generated according to the LdSubLq calibration parameter input by the user, and the Id current command and the Iq current command are sent to the motor controller;

[0037] S5, the motor controller controls the permanent magnet synchronous motor to rotate at a fixed speed under rated voltage according to the Id current command and the Iq current command, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host; at the same time, the dynamometer measures the operating state data of the permanent magnet synchronous motor to be tested, and the power analyzer obtains the power analysis signal according to the operating state data and sends the power analysis signal to the calibration host;

[0038] S6, the calibration host obtains the maximum torque under different Iq current commands for each Id current command according to the state signal and the operating state data, and obtains the LdSubLq parameter of the permanent magnet synchronous motor in the motoring mode or the generating mode according to the maximum torque under different Iq current commands for each Id current command.

[0039] Preferably, the LdSubLq calibration parameter comprises a maximum Id current value Idmax, a maximum Iq current value Iqmax, a current step i, an initial Id current value CAL_IdInit, an initial Iq current value CAL_IqInit, a motor over-temperature warning value CAL_T_Mot_Warm, an IGBT over-temperature warning value CAL_T_IGBT_Warm, and a maximum limited speed of the motor CAL_Spdmax.

[0040] Specifically, S5 comprises:

[0041] S501, the motor controller sets the given Id current value Id_ref = CAL_IdInit and the given Iq current value Iq_ref = CAL_IqInit, and enters S502;

[0042] S502, determine whether Id_ref≤Idmax is met; if not, enter S503; if yes, enter S504;

[0043] S503, turn off the power;

[0044] S504, determining whether Iq_ref≤Iqmax is satisfied; if not, setting Id_ref=Id_ref+i and Iq_ref=CAL_IqInit, and entering S502; if yes, entering S505;

[0045] S505, determining whether Iq_ref≤Iqmax is satisfied; if not, setting Id_ref=Id_ref+i and Iq_ref=CAL_IqInit, and entering S502; if yes, entering S506;

[0046] S506, setting actual Id current value Id=Id_ref and actual Iq current value Iq=Iq_ref, and Iq_ref=Iq_ref+i; after waiting for a preset time, a power analyzer samples to obtain a maximum torque value under the current actual Id current value and actual Iq current value;

[0047] The motor controller determines whether the output closing signal is 1, i.e. u16_Close_Pwm_Flag==1; if yes, entering S503; if not, entering S507;

[0048] S507, determining whether the speed is less than or equal to the maximum limited speed of the motor, i.e. Spd≤CAL_Spdmax; if not, entering S503; if yes, entering S508;

[0049] S508, determining whether it is over-temperature; when a preset temperature condition is met, it is determined to be over-temperature; wherein the preset temperature condition is that the temperature of the motor is less than or equal to the motor over-temperature warning value and the temperature of the IGBT is less than or equal to the IGBT over-temperature warning value, i.e. T≤T_Mot_Warm and T≤T_IGBT_Warm; if it is not over-temperature, entering S504; if it is over-temperature, entering S509;

[0050] S509, setting Id_ref and Iq_ref to 0 at a preset current rise and fall speed, and entering S510;

[0051] S510, setting Id=0 and Iq=0, and entering S511;

[0052] S511, determining whether the temperature of the motor or the temperature of the IGBT module is less than a safe temperature threshold; wherein the safe temperature threshold is less than the motor over-temperature warning value and less than the IGBT over-temperature warning value; if yes, setting Id_ref and Iq_ref to the current value before over-temperature at a preset current rise and fall speed, and entering S504; if not, entering S510.

[0053] Preferably, in the automatic calibration process of the MTPA, LdSubLq and maximum torque voltage ratio MTPV parameters, the calibration host computer first controls the dynamometer, power analyzer and motor controller to cooperate to complete the automatic calibration of the MTPA and LdSubLq parameters of the permanent magnet synchronous motor; then, the calibrated MTPA and LdSubLq parameters are written into the motor controller, and the calibration host computer controls the dynamometer, power analyzer and motor controller to cooperate to complete the automatic calibration of the MTPV parameter of the permanent magnet synchronous motor.

[0054] Preferably, the automatic calibration process of the MTPV parameter comprises:

[0055] S7, the calibration host computer judges whether to start calibration based on the operation of the user; if yes, a speed command is generated according to the MTPV calibration parameter input by the user;

[0056] S8, the speed command is sent to the motor controller; the motor controller controls the permanent magnet synchronous motor to operate at a rated voltage according to the speed command, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the operating state data of the permanent magnet synchronous motor to be tested, and the power analyzer obtains the power analysis signal according to the operating state data and sends the power analysis signal to the calibration host computer;

[0057] S9, the calibration host computer obtains the maximum torque and the current corresponding to the maximum torque under each speed command according to the state signal and the operating state data, and obtains the MTPV parameter of the permanent magnet synchronous motor in the motoring mode or the generating mode according to the maximum torque and the current corresponding to the maximum torque under each speed command.

[0058] Preferably, the MTPV calibration parameter comprises a maximum Is current value Ismax, a maximum calibration speed Spd_Max, a speed step Spd_Delt, a torque step Trq_Delt and an expected voltage utilization rate;

[0059] S8 comprises:

[0060] S801, the motor controller outputs a calibration speed Spd_Set, a calibration voltage and a torque Trq_Set to the permanent magnet synchronous motor according to the speed command, and enters S802;

[0061] S802, after waiting for a preset time, the power analyzer samples and saves to obtain an actual torque output, and enters S803;

[0062] S803, it is judged whether the preset condition is met; wherein the preset condition is that the actual torque output is no longer increased and the actual voltage utilization rate does not exceed the expected voltage utilization rate; if not, enter S805;

[0063] if yes, enter S804;

[0064] S804, Spd_Set = Spd_Set + Trq_Delt, enter S803;

[0065] S805, record the current maximum torque and current value, and obtain the current MTPV according to the maximum torque and current value at this time, and enter S806;

[0066] S806, judge whether Spd_Set>Spd_Max is met; if yes, the calibration is ended; if not, enter S807;

[0067] S807, Spd_Set = Spd_Set + Trq_Delt, and enter S801.

[0068] In the second aspect, the application further provides a permanent magnet synchronous motor parameter automatic calibration method, applied to the permanent magnet synchronous motor parameter automatic calibration system in any one of the first aspect, comprising:

[0069] The calibration host computer generates an execution instruction based on the motor parameters input by the user, and sends the execution instruction to the motor controller;

[0070] The motor controller controls the permanent magnet synchronous motor to operate according to the execution instruction, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer;

[0071] The dynamometer measures the running state data of the permanent magnet synchronous motor in real time;

[0072] The power analyzer obtains a power analysis signal according to the power running state data;

[0073] The calibration host computer obtains the maximum torque current ratio MTPA or LdSubLq or MTPA, LdSubLq and the maximum torque voltage ratio MTPV parameters according to the state signal and the power analysis signal, so as to realize the automatic calibration of the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor.

[0074] In the application, the permanent magnet synchronous motor parameter automatic calibration system and method can automatically calibrate the MTPA, LdSubLq and MTPV parameters respectively through the cooperation of the host computer, the dynamometer, the power analyzer and the motor controller, the calibration process is efficient, fast, accurate and consistent. The permanent magnet synchronous motor parameter automatic calibration system and method can effectively reduce the calibration difference caused by human factors, improve the parameter reliability of the permanent magnet synchronous motor, and ensure the stable output of the motor performance. BRIEF DESCRIPTION OF DRAWINGS

[0075] Figure 1This is a schematic diagram of the automatic parameter calibration system for a permanent magnet synchronous motor in one embodiment of the present invention.

[0076] Figure 2 This is a flowchart illustrating step S2 in one embodiment of the present invention.

[0077] Figure 3 This is a flowchart illustrating step S5 in one embodiment of the present invention.

[0078] Figure 4 This is a flowchart illustrating step S8 in one embodiment of the present invention. Detailed Implementation

[0079] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0080] Firstly, such as Figure 1 As shown, the present invention proposes an automatic calibration system for permanent magnet synchronous motor parameters, comprising: a calibration host computer, a dynamometer for connecting to the shaft of the permanent magnet synchronous motor under test, a power analyzer for communicating with the dynamometer, and a motor controller for connecting a power supply and the permanent magnet synchronous motor under test. The motor controller and the power analyzer are respectively communicating with the calibration host computer.

[0081] In practice, the calibration host computer is used to generate execution instructions based on the motor parameters input by the user; the motor controller is used to control the operation of the permanent magnet synchronous motor according to the execution instructions and to feed back the status signal of the permanent magnet synchronous motor to the calibration host computer; the dynamometer is used to measure the operating status data of the permanent magnet synchronous motor in real time.

[0082] The power analyzer is used to obtain power analysis signals based on operating status data, such as speed, torque, voltage, current, and power. The calibration host computer is also used to obtain the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor based on the status signals and power analysis signals, so as to realize the automatic calibration of the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor.

[0083] This invention, through the cooperation of a host computer, dynamometer, power analyzer, and motor controller, can automatically calibrate the MTPA, LdSubLq, and MTPV parameters, respectively. This allows the calibrated parameters to be subsequently written into the controller software parameter table, and their effectiveness verified through experimental testing. The automatic parameter calibration method for permanent magnet synchronous motors in this invention effectively reduces calibration discrepancies caused by human factors, improves the reliability of permanent magnet synchronous motor parameters, and ensures stable motor performance output.

[0084] The execution instruction includes current instruction and angle instruction for MTPA parameter calibration, Id current instruction and Iq current instruction for LdSubLq parameter calibration, and rotation speed instruction for MTPV parameter calibration.

[0085] The state signal includes motor rotation speed, motor temperature, IGBT module temperature, and operation state.

[0086] The power analysis signal includes motor rotation speed, torque, voltage, current, and power.

[0087] In the automatic calibration process of MTPA, LdSubLq, and MTPV parameters, the calibration host computer first controls the dynamometer, power analyzer, and motor controller to cooperate to complete the automatic calibration of MTPA and LdSubLq parameters of the permanent magnet synchronous motor; then, the calibrated MTPA and LdSubLq parameters are written into the motor controller, and then the dynamometer and the motor controller are controlled to cooperate to complete the automatic calibration of the MTPV parameter of the permanent magnet synchronous motor.

[0088] The automatic calibration process of the MTPA parameter includes:

[0089] S1, the calibration host computer determines whether to start calibration based on the operation of the user; if yes, the current instruction and the angle instruction are generated according to the MTPA calibration parameter input by the user;

[0090] S2, the current instruction and the angle instruction are sent to the motor controller; the motor controller controls the permanent magnet synchronous motor to rotate at a fixed rotation speed under the rated voltage according to the current instruction and the angle instruction, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the operation state data of the permanent magnet synchronous motor to be tested, and the power analyzer obtains the power analysis signal according to the operation state data and sends the power analysis signal to the calibration host computer;

[0091] S3, the calibration host computer obtains the maximum torque at different angles under each current according to the state signal and the operation state data, and obtains the MTPA parameter of the permanent magnet synchronous motor in the motor mode or the generator mode according to the maximum torque at different angles under each current.

[0092] In one specific embodiment, the fixed rotation speed in S2 is 2000 rpm.

[0093] In other embodiments, the fixed rotation speed in S2 can also be other values, as long as the rotation speed is within the MTPA range.

[0094] Wherein, the MTPA calibration parameters include maximum calibration current value Ismax, maximum calibration angle value Agmax, minimum calibration angle value Agmin, current step i, angle step The, initial given current value CAL IsInit, initial given angle value CAL AgInit, motor over-temperature warning value T Mot Warm, IGBT over-temperature warning value CAL IGBT Tmax and motor maximum limited speed CAL Spdmax.

[0095] It needs to be understood that the motor in the present example has a motoring mode and a generating mode. When the output torque direction and the speed direction are the same, the motor is in the motoring mode. When the output torque direction and the speed direction of the motor are opposite, the motor is in the generating mode.

[0096] In S3, the calibration host computer determines the mode of the motor by the speed and torque obtained by the power analyzer, so as to determine that the obtained MTPA parameters are applicable to the permanent magnet synchronous motor in the motoring mode or the generating mode.

[0097] When the torque direction and the speed direction of the permanent magnet synchronous motor are the same, as shown in Figure 2 S2 specifically includes:

[0098] S201, the motor controller sets the given current value to the initial given current value in the current instruction, and sets the given angle value to the initial angle value in the angle instruction, i.e. Is ref=CAL IsInit, and Ag ref=CAL AgInit, and enters S202;

[0099] S202, it is judged whether the given current value is less than or equal to the maximum calibration current value, i.e. Is ref≤Ismax; if not, it enters S203; if yes, it enters S204;

[0100] S203, turn off the power supply;

[0101] S204, set the given angle value to Ag ref=Ag, and enter S205;

[0102] S205, it is judged whether the given angle value is less than or equal to the maximum calibration angle value, i.e. Ag ref≤Agmax; if yes, it enters S206;

[0103] If not, the power analyzer obtains the maximum torque value under the current and angle, and saves it; then, it enters S212 and S213 respectively;

[0104] S206, set the actual current value Is=Is ref, the actual angle value Ag=Ag ref, and Ag ref=Ag ref+The; after waiting for a preset time, the power analyzer samples to obtain the current maximum torque value;

[0105] And determine whether the output of the closing signal is 1, namely u16_Close_Pwm_Flag == 1; if yes, go to S203; if no, go to S207;

[0106] S207, determine whether the speed is less than or equal to the maximum motor speed, namely Spd <= CAL_Spdmax; if no, go to S203; if yes, go to S208;

[0107] S208, determine whether it is over temperature; when the preset temperature condition is met, it is determined to be over temperature; wherein the preset temperature condition is that the temperature of the motor is less than or equal to the motor over temperature warning value and the temperature of the IGBT is less than or equal to the IGBT over temperature warning value, namely T <= T_Mot_Warm and T <= T_IGBT_Warm; if it is not over temperature, go to S205; if it is over temperature, go to S209;

[0108] S209, reduce the given current value Is_ref to 0 at a preset current rise speed, and go to S210;

[0109] S210, set the given current value Is_ref = 0, Ag = 180, and go to S211;

[0110] S211, determine whether the motor temperature or IGBT module temperature is less than the safe temperature threshold; wherein the safe temperature threshold is less than the motor over temperature warning value and less than the IGBT over temperature warning value; if yes, increase the current value Is_ref to the given current value before over temperature at a preset current rise speed, set the current angle value Ag to the angle value before over temperature, and go to S205; if no, go to S210;

[0111] S212, set the actual angle value Ag = Ag-5, and go to S204;

[0112] S213, set Is_ref = Is_ref + i, and go to S202.

[0113] The safe temperature threshold in the embodiment is 80℃.

[0114] In S206, the sampling frequency is 10Hz and the sampling time is 1s, and the online average value is saved. The preset current rise speed is 10A / cycle.

[0115] The embodiment adopts the calibration method of the host computer combined with voltage closed loop, traverses each combination of current and angle, and can automatically calibrate the motor MTPA parameter at the rated voltage, which can be applied to other voltages without recalibrating the parameter at other voltages, thereby saving 70% of the calibration time.

[0116] It needs to be understood that the flow of step S5 is the same when the permanent magnet synchronous motor is in the motoring mode and the generating mode, but in the automatic calibration of MTPA, the given order of the current in the current command is to increase in turn according to the current step from the initial given current value. Wherein, when the torque direction and the speed direction of the permanent magnet synchronous motor are the same, that is, the motor is in the motoring mode, the given order of the angle in the angle command is to increase in turn according to the angle step from the initial given angle value, for example, Agmin=0, Agmax=360°; when the torque direction and the speed direction of the permanent magnet synchronous motor are not the same, the given order of the angle in the angle command is to decrease in turn according to the angle step from the initial given angle value, for example, Agmax=720°, Agmin=360°.

[0117] Wherein, the automatic calibration process of the LdSubLq parameter includes:

[0118] S4, the calibration host computer judges whether to start calibration based on the operation of the user; if yes, the Id current command and the Iq current command are generated according to the LdSubLq calibration parameter input by the user;

[0119] S5, the Id current command and the Iq current command are sent to the motor controller; the motor controller controls the permanent magnet synchronous motor to rotate at a fixed speed under rated voltage according to the Id current command and the Iq current command, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the operating state data of the permanent magnet synchronous motor to be tested, and the power analyzer obtains the power analysis signal according to the operating state data and sends the power analysis signal to the calibration host computer;

[0120] S6, the calibration host computer obtains the maximum torque under different Iq current commands at each Id current command according to the state signal and the operating state data, and obtains the LdSubLq parameter of the permanent magnet synchronous motor in the motoring mode or the generating mode according to the maximum torque under different Iq current commands at each Id current command.

[0121] Wherein, the LdSubLq calibration parameter includes the maximum Id current value Idmax, the maximum Iq current value Iqmax, the current step i, the initial Id current value CAL_IdInit, the initial Iq current value CAL_IqInit, the motor over-temperature warning value CAL_T_Mot_Warm, the IGBT over-temperature warning value CAL_T_IGBT_Warm, and the maximum limited speed of the motor CAL_Spdmax.

[0122] Wherein, as shown in Figure 3 S5 specifically includes:

[0123] S501, the motor controller sets the given Id current value as the initial given Id current value, and sets the given Iq current value as the initial Iq current value, i.e. Id_ref=CAL_IdInit and Iq_ref=CAL_IqInit, and enters S502;

[0124] S502, it is judged whether the given Id current value is less than or equal to the maximum Id current value, i.e. Id_ref≤Idmax; if not, it enters S503; if yes, it enters S504;

[0125] S503, the gate is closed;

[0126] S504, it is judged whether the given Iq current value is less than or equal to the maximum Iq current value, i.e. Iq_ref≤Iqmax; if yes, it enters S505; if not, it sets Id_ref=Id_ref+i, sets Iq_ref=CAL_IqInit, and enters S502;

[0127] S505, it is judged whether Iq_ref≤(Ismax^2-Id_ref^2)^(1 / 2) is satisfied, i.e. if yes, it enters S506; if not, it sets Id_ref=Id_ref+i, sets Iq_ref=CAL_IqInit, and enters S502;

[0128] S506, it sets the actual Id current value Id=Id_ref, the actual Iq current value Iq=Iq_ref, and Iq_ref=Iq_ref+i; after waiting for a preset time, the power analyzer samples to obtain the current maximum torque value;

[0129] and it is judged whether the output closing signal is 1, i.e. u16_Close_Pwm_Flag==1; if yes, it enters S503; if not, it enters S507;

[0130] S507, it is judged whether the speed is less than or equal to the maximum limited speed of the motor, i.e. Spd≤CAL_Spdmax; if not, it enters S503; if yes, it enters S508;

[0131] S508, it is judged whether the temperature is too high; when the preset temperature condition is met, it is determined that the temperature is too high; wherein, the preset temperature condition is that the temperature of the motor is less than or equal to the motor temperature warning value and the temperature of the IGBT is less than or equal to the IGBT temperature warning value, i.e. T≤T_Mot_Warm and T≤T_IGBT_Warm; if the temperature is not too high, it enters S504; if the temperature is too high, it enters S509;

[0132] S509, it reduces Id_ref and Iq_ref to 0 at a preset current rising speed, and enters S510;

[0133] S510, set Id=0, Iq=0, and enter S511;

[0134] S511, judge whether the motor temperature or the IGBT module temperature is less than a safety temperature threshold value; wherein the safety temperature threshold value is less than a motor over-temperature warning value and less than an IGBT over-temperature warning value; if yes, increase Id_ref and Iq_ref to the current value before over-temperature according to a preset current rising speed, and enter S504; if no, enter S510.

[0135] The embodiment adopts the calibration method of the host computer combined with voltage closed loop, and can automatically calibrate the motor LdSubLq parameter at the rated voltage, and can be applied to other voltages without recalibrating the parameter at other voltages.

[0136] It should be understood that the flow of step S5 is the same when the permanent magnet synchronous motor is in the motor mode and the generator mode.

[0137] The automatic calibration process of the MTPV parameter includes:

[0138] S7, judge whether to start calibration based on the operation of the user of the calibration host computer; if yes, generate a speed command according to the LdSubLq calibration parameter input by the user;

[0139] S8, send the speed command to the motor controller; the motor controller controls the permanent magnet synchronous motor to rotate at the rated voltage according to the speed command, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the operating state data of the permanent magnet synchronous motor to be tested, the power analyzer obtains the power analysis signal according to the operating state data, and sends the power analysis signal to the calibration host computer;

[0140] S9, the calibration host computer obtains the maximum torque and the current corresponding to the maximum torque under each speed command according to the state signal and the operating state data, and obtains the MTPV parameter of the permanent magnet synchronous motor in the motor mode or the generator mode according to the maximum torque and the current corresponding to the maximum torque under each speed command.

[0141] The LdSubLq calibration parameter includes a maximum Is current value Ismax, a maximum calibration speed Spd_Max, a speed step Spd_Delt, a torque step Trq_Delt, and an expected voltage utilization rate.

[0142] As shown in FIG. 8, in a further embodiment, S8 includes: Figure 4

[0143] ​S801, the motor controller outputs a rated speed Spd Set, a rated voltage and a torque Trq Set to the permanent magnet synchronous motor according to a speed instruction, and enters S802;

[0144] S802, after waiting for a preset time, the power analyzer samples and saves to obtain an actual torque output, and enters S803;

[0145] S803, it is judged whether a preset condition is met; wherein the preset condition is that the actual torque output is no longer increased and the actual voltage utilization rate does not exceed an expected voltage utilization rate; if not, enter S805;

[0146] if yes, enter S804;

[0147] S804, Spd Set=Spd Set+Trq Delt, enter S803;

[0148] S805, record the torque instruction and the current instruction at this time, and take them as the MTPV of the current voltage, and enter S806;

[0149] S806, it is judged whether the rated speed is greater than the maximum rated speed, i.e. Spd Set>Spd Max; if yes, the calibration is ended; if not, enter S807;

[0150] S807, Spd Set=Spd Set+Trq Delt, and enter S801.

[0151] It should be understood that the flow of step S8 is the same when the permanent magnet synchronous motor is in the motor mode and the generator mode.

[0152] In a second aspect, the application further provides a permanent magnet synchronous motor parameter automatic calibration method, applied to the permanent magnet synchronous motor parameter automatic calibration system in any one of the first aspect, comprising:

[0153] The calibration host computer generates an execution instruction based on the motor parameters input by the user, and sends the execution instruction to the motor controller;

[0154] The motor controller controls the permanent magnet synchronous motor to run according to the execution instruction, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer;

[0155] The dynamometer measures the running state data of the permanent magnet synchronous motor in real time;

[0156] The power analyzer obtains a power analysis signal according to the power running state data;

[0157] The calibration upper computer obtains the maximum torque current ratio MTPA or LdSubLq or MTPA, LdSubLq and maximum torque voltage ratio MTPV parameters according to the state signal and the power analysis signal, so as to realize automatic calibration of the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor.

[0158] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and the inventive concept of the present application, can make equivalent replacements or changes within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A permanent magnet synchronous motor parameter automatic calibration system, characterized in that, The application relates to a permanent magnet synchronous motor MTPA, LdSubLq and MTPV parameter automatic calibration method and device. The application comprises: a calibration host computer for generating execution instructions based on user-input motor parameters; a motor controller for controlling the permanent magnet synchronous motor to operate according to the execution instructions and feeding back state signals of the permanent magnet synchronous motor to the calibration host computer; a dynamometer for measuring real-time operation state data of the permanent magnet synchronous motor; a power analyzer for obtaining power analysis signals according to the operation state data; 2. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 1, characterized in that, the calibration host computer is further used for obtaining MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor according to the state signals and the power analysis signals, so as to realize automatic calibration of the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor. The execution instructions comprise current instructions and angle instructions for MTPA parameter calibration, Id current instructions and Iq current instructions for LdSubLq parameter calibration and rotating speed instructions for MTPV parameter calibration; the state signals comprise motor rotating speed, motor temperature, IGBT module temperature and operation state; 3. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 1, characterized in that, the power analyzer signals comprise motor rotating speed, torque, voltage, current and power. The automatic calibration process of the MTPA parameters comprises: S1, the calibration host computer judges whether to start calibration based on user operation; if yes, current instructions and angle instructions are generated according to user-input MTPA calibration parameters; S2, the current instructions and the angle instructions are sent to the motor controller; the motor controller controls the permanent magnet synchronous motor to rotate at a fixed rotating speed under rated voltage according to the current instructions and the angle instructions, and feeds back the state signals of the permanent magnet synchronous motor to the calibration host computer; meanwhile, the dynamometer measures operation state data of the permanent magnet synchronous motor to be measured, the power analyzer obtains power analysis signals according to the operation state data and sends the power analysis signals to the calibration host computer; 4. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 3, characterized in that, S3, the calibration host computer obtains the maximum torque at different angles under each current according to the state signals and the operation state data, and obtains the MTPA parameters of the permanent magnet synchronous motor in the motoring mode or the generating mode according to the maximum torque at different angles under each current.

5. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 3, characterized in that, The given sequence of the current in the current instructions is sequentially increased from an initial given current value according to current steps; wherein, when the permanent magnet synchronous motor is in the motoring mode, the given sequence of the angle in the angle instructions is sequentially increased from an initial given angle value according to angle steps; when the torque direction of the permanent magnet synchronous motor is different from the rotating speed direction, the given sequence of the angle in the angle instructions is sequentially decreased from an initial given angle value according to angle steps. The MTPA calibration parameters comprise a maximum calibration current value Ismax, a maximum calibration angle value Agmax, a minimum calibration angle value Agmin, a current step i, an angle step The, an initial given current value CAL_IsInit, an initial given angle value CAL_AgInitCAL, a motor over-temperature warning value T_Mot_Warm, an IGBT over-temperature warning value CAL_IGBT_Tmax and a motor maximum limited rotating speed CAL_Spdmax. S2 specifically comprises: S201, the motor controller sets a given current value Is_ref of the permanent magnet synchronous motor = CAL_IsInit and a given angle value Ag_ref = CAL_AgInit, and enters S202; S202, it is judged whether Is_ref≤Ismax is met; if not, it enters S203; if yes, it enters S204; S203, the gate is closed; S204, the given angle value is set as Ag_ref = actual angle value Ag, and enters S205; S205, it is judged whether Ag_ref≤Agmax is met; if yes, it enters S206; if not, the host computer acquires the maximum torque value under the given current value and the given angle value corresponding to the maximum torque value through the power analyzer, and saves them; then, it enters S212 and S213 respectively; S206, the actual current value Is of the permanent magnet synchronous motor = Is_ref, the actual angle value Ag = Ag_ref, and Ag_ref = Ag_ref + The; after waiting for a preset time, the power analyzer samples to obtain the maximum torque value under the current time current value and actual angle value; The motor controller judges whether the output closing signal is 1, i.e. u16_Close_Pwm_Flag == 1; if yes, it enters S203; if not, it enters S207; S207, it is judged whether the motor speed Spd≤CAL_Spdmax is met; if not, it enters S203; if yes, it enters S208; S208, it is judged whether the temperature is too high; when the preset temperature condition is met, it is determined that the temperature is too high; wherein, the preset temperature condition is that the temperature of the motor is less than or equal to the motor over-temperature warning value and the temperature of the IGBT is less than or equal to the IGBT over-temperature warning value; if the temperature is not too high, it enters S205; if the temperature is too high, it enters S209; S209, the current Is_ref is reduced to 0 at a preset current rising speed, and enters S210; S210, Is_ref = 0, Ag_ref = 180, and enters S211; S211, it is judged whether the temperature of the motor or the temperature of the IGBT module is less than the safe temperature threshold; wherein, the safe temperature threshold is less than the motor over-temperature warning value and less than the IGBT over-temperature warning value; if yes, the Is_ref is increased to the Is_ref before the temperature is too high at a preset current rising speed, the Ag_ref is set as the actual angle value before the temperature is too high, and enters S205; if not, it enters S210; S212, the actual angle value Ag = Ag-5, and enters S204; S213, Is_ref = Is_ref + i, and enters S202.

6. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 1, characterized in that, The automatic calibration process of the LdSubLq parameter comprises: S4, the host computer judges whether to start calibration based on the operation of the user; if yes, it generates Id current instruction and Iq current instruction according to the LdSubLq calibration parameter input by the user, and sends the Id current instruction and Iq current instruction to the motor controller; S5, the motor controller controls the permanent magnet synchronous motor to rotate at a fixed speed under rated voltage according to the Id current instruction and the Iq current instruction, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the operating state data of the permanent magnet synchronous motor to be measured, and the power analyzer obtains the power analysis signal according to the operating state data and sends the power analysis signal to the calibration host computer; S6, the calibration host computer obtains the maximum torque when each Id current instruction is under different Iq current instructions according to the state signal and the operating state data, and obtains the LdSubLq parameter of the permanent magnet synchronous motor in the motor mode or the generator mode according to the maximum torque when each Id current instruction is under different Iq current instructions.

7. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 6, characterized in that, The LdSubLq calibration parameter includes a maximum Id current value Idmax, a maximum Iq current value Iqmax, a current step i, an initial Id current value CAL_IdInit, an initial Iq current value CAL_IqInit, a motor over-temperature warning value CAL_T_Mot_Warm, an IGBT over-temperature warning value CAL_T_IGBT_Warm, and a maximum motor speed limit CAL_Spdmax; Specifically, S5 includes: S501, the motor controller sets the given Id current value Id_ref=CAL_IdInit, and the given Iq current value Iq_ref=CAL_IqInit, and enters S502; S502, determine whether Id_ref≤Idmax is met; if not, enter S503; if yes, enter S504; S503, close the valve; S504, determine whether Iq_ref≤Iqmax is met; if not, set Id_ref=Id_ref+i and Iq_ref=CAL_IqInit, and enter S502; if yes, enter S505; S505, determining whether or not If not, let Id_ref = Id_ref + i, let Iq_ref = CAL_IqInit, and go to S502; if yes, go to S506. S506, set the actual Id current value Id=Id_ref and the actual Iq current value Iq=Iq_ref, and Iq_ref=Iq_ref+i; after waiting for a preset time, the power analyzer samples to obtain the maximum torque value under the current actual Id current value and actual Iq current value; The motor controller determines whether the output off signal is 1, that is, u16_Close_Pwm_Flag==1; if yes, enter S503; if not, enter S507; S507, determine whether the speed is less than or equal to the maximum motor speed limit, that is, Spd≤CAL_Spdmax; if not, enter S503; if yes, enter S508; S508, determine whether it is over-temperature; when the preset temperature condition is met, it is determined that it is over-temperature; wherein, the preset temperature condition is that the temperature of the motor is less than or equal to the motor over-temperature warning value and the temperature of the IGBT is less than or equal to the IGBT over-temperature warning value, that is, T≤T_Mot_Warm and T≤T_IGBT_Warm; if it is not over-temperature, enter S504; if it is over-temperature, enter S509; S509, reduce Id_ref and Iq_ref to 0 at a preset current rising speed, and enter S510; S510, let Id_ref=0, Iq=0, and enter S511; S511, judge whether the motor temperature or IGBT module temperature is less than a safety temperature threshold; wherein the safety temperature threshold is less than a motor over-temperature warning value and less than an IGBT over-temperature warning value; if yes, increase Id_ref and Iq_ref to the current values before over-temperature according to a preset current rising speed, and enter S504; if no, enter S510.

8. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 1, characterized in that, In the automatic calibration process of MTPA, LdSubLq and MTPV parameters, the calibration host computer first controls the dynamometer, power analyzer and motor controller to cooperate to complete the automatic calibration of MTPA and LdSubLq parameters of the permanent magnet synchronous motor; then, writes the calibrated MTPA and LdSubLq parameters into the motor controller, and controls the dynamometer, power analyzer and motor controller to cooperate to complete the automatic calibration of MTPV parameters of the permanent magnet synchronous motor.

9. The system for automatic parameter calibration of permanent magnet synchronous motor according to claim 8, characterized in that, The automatic calibration process of MTPV parameters includes: S7, the calibration host computer judges whether to start calibration based on the operation of the user; if yes, generates a speed command according to the MTPV calibration parameters input by the user; S8, sends the speed command to the motor controller; the motor controller controls the permanent magnet synchronous motor to operate at a rated voltage according to the speed command, and feeds back the state signal of the permanent magnet synchronous motor to the calibration host computer; at the same time, the dynamometer measures the operating state data of the permanent magnet synchronous motor to be tested, and the power analyzer obtains the power analysis signal according to the operating state data and sends the power analysis signal to the calibration host computer; S9, the calibration host computer obtains the maximum torque and the current corresponding to the maximum torque under each speed command according to the state signal and the operating state data, and obtains the MTPV parameters of the permanent magnet synchronous motor in the motoring mode or the generating mode according to the maximum torque and the current corresponding to the maximum torque under each speed command; Preferably, the MTPV calibration parameters include a maximum Is current value Ismax, a maximum calibration speed Spd_Max, a speed step Spd_Delt, a torque step Trq_Delt and an expected voltage utilization rate; S8 includes: S801, the motor controller outputs a calibration speed Spd_Set, a calibration voltage and a torque Trq_Set to the permanent magnet synchronous motor according to the speed command, and enters S802; S802, after waiting for a preset time, the power analyzer samples and saves to obtain the actual torque output, and enters S803; S803, judge whether the preset condition is met; wherein the preset condition is that the actual torque output is no longer increased and the actual voltage utilization rate does not exceed the expected voltage utilization rate; if no, enter S805; if yes, enter S804; S804, let Spd_Set=Spd_Set+Trq_Delt, enter S803; S805, record the current maximum torque and current value, and obtain the current MTPV according to the maximum torque and current value at this time, and enter S806; S806, judging whether Spd_Set>Spd_Max is satisfied; if yes, the calibration ends; if no, entering S807; S807, letting Spd_Set=Spd_Set+Trq_Delt, and entering S801.

10. The method of claim 1, applied to the system of any one of claims 1-9, wherein, The calibration system comprises: a calibration host computer for generating an execution instruction based on motor parameters input by a user and sending the execution instruction to a motor controller; the motor controller for controlling the permanent magnet synchronous motor to operate according to the execution instruction and feeding back a state signal of the permanent magnet synchronous motor to the calibration host computer; a dynamometer for measuring real-time operation state data of the permanent magnet synchronous motor; a power analyzer for obtaining a power analysis signal according to the power operation state data; the calibration host computer for obtaining the maximum torque current ratio MTPA or LdSubLq or MTPA, LdSubLq and the maximum torque voltage ratio MTPV parameter according to the state signal and the power analysis signal, so as to realize automatic calibration of the MTPA or LdSubLq or MTPA, LdSubLq and MTPV parameters of the permanent magnet synchronous motor.

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