Permanent magnet synchronous motor parameter identification method and system

Abstract

The invention provides a permanent magnet synchronous motor parameter identification method and system, and relates to the technical field of permanent magnet synchronous motor control, and the method comprises the steps: starting a preset current phase sequence identification strategy, so as to identify whether the current phase sequence of a permanent magnet synchronous motor is correct or not; starting a preset resolver direction identification strategy to identify whether the resolver direction of the permanent magnet synchronous motor is correct or not; when the current phase sequence and the resolver direction are correct, a preset resolver initial angle acquisition strategy is started, and a resolver initial angle of the permanent magnet synchronous motor is acquired; and generating a motor parameter identification result containing the current phase sequence, the resolver direction and the resolver initial angle. According to the method, an automatic calibration process is adopted to replace a traditional mode depending on manual judgment and manual identification, all identification of the current phase sequence, the resolver direction and the resolver initial angle can be completed through one-key starting, and the reliability of identification results of the current phase sequence, the resolver direction and the resolver initial angle is ensured.

Description

Technical Field

[0001] This disclosure belongs to the field of permanent magnet synchronous motor control technology, specifically relating to a method and system for identifying parameters of a permanent magnet synchronous motor. Background Technology

[0002] Before leaving the factory, the initial state of the drive system of a permanent magnet synchronous motor must be determined to ensure the matching of relevant signals between the motor and the motor controller. The initial state of the drive system includes the current phase sequence, resolver direction, and resolver initial angle.

[0003] Currently, the identification of current phase sequence, rotation direction, and initial rotation angle mainly relies on manual calibration, which is time-consuming and requires a high level of operator skill. Incorrect identification of the current phase sequence and resolver direction may cause the motor to fail to start or reverse, resulting in a sudden increase in speed when the accelerator is lightly applied during vehicle operation. Furthermore, incorrect identification of the current phase sequence and resolver direction will affect the identification of the resolver initial angle, leading to excessive rotor position errors, reducing the accuracy of field-oriented control, and causing situations where the vehicle reverses when the accelerator is applied during operation. These situations could potentially lead to serious accidents.

[0004] While related technologies offer separate methods for current phase sequence and resolver direction calibration, as well as separate methods for resolver initial angle calibration, none of these methods can provide an integrated identification of current phase sequence, resolver direction, and resolver initial angle. There is an interrelationship between current phase sequence, resolver direction, and resolver initial angle; in particular, the correctness of the current phase sequence and resolver direction is crucial for accurate resolver initial angle identification. This results in insufficient accuracy and efficiency in the identification of related technologies. Summary of the Invention

[0005] This disclosure provides a method and system for identifying parameters of a permanent magnet synchronous motor, aiming to at least partially solve the technical problems of insufficient accuracy and efficiency in identifying current phase sequence, resolver direction, and resolver initial angle in related technologies.

[0006] At least one embodiment of this disclosure provides a method for identifying parameters of a permanent magnet synchronous motor, applied to a motor controller driving a permanent magnet synchronous motor, including: The preset current phase sequence identification strategy is activated to identify whether the current phase sequence of the permanent magnet synchronous motor is correct. The preset resolver direction identification strategy is activated to identify whether the resolver direction of the permanent magnet synchronous motor is correct; When the current phase sequence and the resolver direction are both correct, a preset resolver initial angle acquisition strategy is activated to acquire the resolver initial angle of the permanent magnet synchronous motor; and, Generate motor parameter identification results that include the current phase sequence, the resolver direction, and the resolver initial angle.

[0007] The above solution offers the following technical advantages: It proposes an automatic identification method for current phase sequence, resolver direction, and resolver initial angle. This method replaces the traditional method relying on manual judgment and identification with an automatic calibration process, enabling one-click start and completion of all identification operations. Throughout the identification process, the user requires no additional operation or intervention; the system automatically completes all steps and immediately outputs accurate identification results for current phase sequence, resolver direction, and resolver initial angle upon completion. Before identifying the resolver initial angle, the method first judges and verifies the correctness of the current phase sequence and resolver direction, thus ensuring the reliability of the final resolver initial angle. This method can complete the integrated identification of current phase, resolver direction, and resolver initial angle in one step, significantly improving the overall efficiency of motor resolver zero-position calibration. It can also quickly and accurately determine the correctness of the current phase sequence and resolver direction, achieving one-click sequential identification and rapid identification functions.

[0008] In at least one embodiment of the method provided in this disclosure, the current phase sequence identification strategy includes: Voltages are injected into the d-axis and q-axis directions of the motor controller respectively to perform the first pre-positioning of the motor rotor; During the first pre-positioning process, the phase current with the largest absolute value and the positive and negative directions of the three-phase currents of the permanent magnet synchronous motor are obtained. Based on the obtained phase current and the positive and negative directions of the three-phase current, determine whether the current phase sequence is correct; and... When the current phase sequence is correct, a first flag bit is generated to characterize that the current phase sequence is correct.

[0009] The above solution has the following technical effects: using the dq axis pre-positioning method, six possible motor phase sequence swapping situations can be identified, thereby achieving accurate identification of the motor phase sequence and correcting problems such as calibration switch errors in software or hardware installation errors.

[0010] In at least one embodiment of the method provided in this disclosure, the step of injecting voltages into the d-axis and q-axis directions of the motor controller to perform a first pre-positioning of the motor rotor includes: A first voltage is injected into the d-axis direction, and the first voltage is gradually increased to perform the first pre-positioning of the d-axis; During the first pre-positioning process of the d-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than the first set threshold, the increase of the first voltage is stopped, and a first control command is generated to obtain the phase current with the largest absolute value among the three-phase currents. After clearing the first voltage, a second voltage is injected in the q-axis direction, and the second voltage is gradually increased to perform the first pre-positioning of the q-axis; and, During the first pre-positioning process of the q-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than the second set threshold, the increase of the second voltage is stopped, and a second control command for obtaining the positive and negative directions of the three-phase current is generated.

[0011] The above scheme has the following technical effects: phase sequence detection is completed by injecting voltage signals twice. Voltages are applied to the software-defined d-axis (0-degree direction) and q-axis (90-degree direction) respectively, and the magnitude and direction of the three-phase current are monitored in real time. Based on the current characteristics, it is automatically determined whether the current phase sequence is reversed.

[0012] In at least one embodiment of the method provided in this disclosure, determining whether the current phase sequence is correct based on the positive and negative directions of the acquired phase current and the three-phase current includes: Determine whether the phase current obtained through the first pre-positioning of the d-axis is the U-phase current and the V-phase current among the three-phase currents obtained through the first pre-positioning of the q-axis is positive; If so, the current phase sequence is determined to be correct; and, If not, the current phase sequence is determined to be incorrect.

[0013] The above scheme has the following technical effect: ensuring the accuracy of the current phase sequence when obtaining the initial angle of the resolver.

[0014] In at least one embodiment of the method provided in this disclosure, the step of determining whether the current phase sequence is correct based on the positive and negative directions of the acquired phase current and the three-phase current further includes: In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the U-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is negative, a first warning is generated to characterize the occurrence of VW commutation of the current phase sequence. In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the V-phase current and the U-phase current obtained through the first pre-positioning of the q-axis is positive, a second warning is generated to characterize the UV-V reversal of the current phase sequence. In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is a V-phase current and the U-phase current obtained through the first pre-positioning of the q-axis is negative, a third early warning is generated to characterize the WUV counterclockwise distribution of the current phase sequence. In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is a W-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is positive, a fourth warning is generated to characterize the occurrence of UW commutation of the current phase sequence; and, In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the W-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is negative, a fifth warning is generated to characterize the current phase sequence as having a VWU counterclockwise distribution.

[0015] The above solution has the following technical advantages: it can be used to make targeted adjustments to the current phase sequence.

[0016] In at least one embodiment of the method provided in this disclosure, the revolute direction identification strategy includes: Voltages are injected into the d-axis and q-axis directions of the motor controller respectively to perform the second pre-positioning of the motor rotor; During the second pre-positioning process, the first pre-positioning angle of the d-axis and the second pre-positioning angle of the q-axis are obtained; Based on the first pre-positioning angle and the second pre-positioning angle, determine whether the rotation direction is correct; and... When the resolver direction is correct, a second flag bit is output to indicate that the resolver direction is correct.

[0017] The above scheme has the following technical effects: the dq axis pre-positioning method can determine whether the rotation direction is correct and can correct errors in the rotation direction.

[0018] In at least one embodiment of the method provided in this disclosure, the second pre-positioning of the motor rotor by injecting voltages into the d-axis and q-axis directions of the motor controller, respectively, includes: A third voltage is injected into the d-axis direction, and the third voltage is gradually increased to perform a second pre-positioning of the d-axis; During the second pre-positioning process of the d-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than a third set threshold, a third control command is generated to obtain the first pre-positioning angle. After clearing the third voltage, a fourth voltage is injected into the q-axis direction, and the fourth voltage is gradually increased to perform a second pre-positioning of the q-axis; and, During the second pre-positioning process of the q-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than a fourth set threshold, a control command for obtaining the second pre-positioning angle is generated, wherein the first pre-positioning angle and the second pre-positioning angle are both resolver angle values.

[0019] The above solution has the following technical effects: the first and second pre-positioning angles obtained can be used to accurately identify the initial angle of the resolver.

[0020] In at least one embodiment of the method provided in this disclosure, determining whether the rotation direction is correct based on the first pre-positioning angle and the second pre-positioning angle includes: In response to the second predetermined positioning angle being greater than the first predetermined positioning angle and the angular deviation between the first predetermined positioning angle and the second predetermined positioning angle being within a first preset range of π / 2, the rotation direction is determined to be correct. In response to the fact that the second predetermined positioning angle is greater than the first predetermined positioning angle and the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle is within the second preset range of 3π / 2, it is determined that the rotation direction is incorrect. In response to the second predetermined positioning angle being less than the first predetermined positioning angle and the sum of the angle deviation between the first and second predetermined positioning angles and 2π falling within the first preset range, the rotation direction is determined to be correct; and, In response to the second predetermined positioning angle being less than the first predetermined positioning angle and the sum of the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle and 2π being within the second preset range, it is determined that the rotation direction is incorrect.

[0021] The above scheme has the following technical effects: It uses d-axis voltage injection to "coarsely learned resolver initial angle" + The current-start "precise resolution initial angle" method is combined to achieve accurate identification of the resolution initial angle.

[0022] In at least one embodiment of the method provided in this disclosure, the resolver direction identification strategy is activated when the current phase sequence is correct, and the resolver initial angle acquisition strategy includes: A fifth voltage is injected into the d-axis direction, and the fifth voltage is gradually increased to perform the third pre-positioning of the d-axis; By performing coarse learning of the initial rotation angle through the third pre-positioning of the d-axis, the original initial rotation angle is obtained; and, Given a q-axis current, after driving the permanent magnet synchronous motor to the target speed, the required current of the current loop in the motor controller is set to zero, and the resolver initial angle is finely learned to obtain the final resolver initial angle. The fine learning is used to correct the original resolver initial angle. The fine learning includes performing forward and reverse rotation identification on the permanent magnet synchronous motor, and taking the average of the forward and reverse rotation identification results as the final resolver initial angle to offset the angle error introduced by angle sampling and wave transmission delay.

[0023] The above scheme has the following technical effects: by identifying and offsetting the angle delay error through forward and reverse rotation, a precise initial angle is finally obtained.

[0024] At least one embodiment of this disclosure also provides a permanent magnet synchronous motor parameter identification system, applied to a motor controller driving a permanent magnet synchronous motor, including: The first processing unit is configured to activate a preset current phase sequence identification strategy to identify whether the current phase sequence of the permanent magnet synchronous motor is correct. The second processing unit is configured to activate a preset resolver direction identification strategy to identify whether the resolver direction of the permanent magnet synchronous motor is correct. The third processing unit is configured to, when the current phase sequence and the resolver direction are both correct, initiate a preset resolver initial angle acquisition strategy to acquire the resolver initial angle of the permanent magnet synchronous motor; and, The result generation unit is configured to generate motor parameter identification results including the current phase sequence, the resolver direction, and the resolver initial angle.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram illustrating all commutation scenarios of the current phase sequence provided in at least one embodiment of this disclosure; Figure 2 A schematic diagram of the rotating coordinate system of a permanent magnet synchronous motor provided in at least one embodiment of this disclosure; Figure 3 A phase-locked loop control schematic diagram provided for at least one embodiment of this disclosure; Figure 4 A schematic diagram of the angular coordinate system of a permanent magnet synchronous motor provided in at least one embodiment of this disclosure; Figure 5 A flowchart of a method for identifying parameters of a permanent magnet synchronous motor provided in at least one embodiment of this disclosure; Figure 6 A flowchart illustrating a current phase sequence identification strategy provided in at least one embodiment of this disclosure; Figure 7 A flowchart illustrating the spinner direction identification strategy provided in at least one embodiment of this disclosure; Figure 8 A flowchart illustrating the spinner initial angle acquisition strategy provided in at least one embodiment of this disclosure; Figure 9A flowchart illustrating an example of a permanent magnet synchronous motor parameter identification method provided in at least one embodiment of this disclosure; Figure 10 A flowchart for determining the current phase sequence provided in at least one embodiment of this disclosure; Figure 11 A structural block diagram of a permanent magnet synchronous motor parameter identification system provided in at least one embodiment of this disclosure; Figure 12 A schematic diagram illustrating the composition of a program product provided for at least one embodiment of this disclosure.

[0028] Figure label: 10- Permanent magnet synchronous motor parameter identification system; 11- First processing unit; 12- Second processing unit; 13- Third processing unit; 14- Result generation unit; 21- Processor; 22- Memory; 23- Input device; 24- Output device; - Phase-locked loop output angle; - Fixed angle difference; - d-axis voltage; - q-axis voltage; - and The vector sum; - Resolver readings; - Motor speed; - Complex frequency variables in the Laplace transform; - Natural oscillation frequency; , - PI control parameters; I max - The maximum absolute value of the three-phase current; - U-phase current; - U-phase current; - W phase current. Detailed Implementation

[0029] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the disclosure. Similarly, the following embodiments are only some, not all, embodiments of the present disclosure, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] The terms "first," "second," and "third" used in the embodiments of this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," and "third" may explicitly or implicitly include at least one of that feature.

[0031] In the description of this disclosure, "multiple" means at least two, such as two or three, unless otherwise expressly and specifically limited.

[0032] In this disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0033] The terms “comprising” and “having”, and any variations thereof, used in this disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to such processes, methods, products, or devices.

[0034] In this disclosure, the term "current phase sequence" refers to the time sequence in which the three-phase current waveforms of a permanent magnet synchronous motor reach their positive peak values. A correct current phase sequence indicates that the phases of the U-direction current, V-direction current, and W-direction current are sequentially delayed by 120 degrees, which is the phase sequence during normal motor operation, i.e., before commutation.

[0035] In the embodiments of this disclosure, the term "resolver direction" refers to the direction in which the resolver is located.

[0036] In the embodiments of this disclosure, the term "resolver initial angle" refers to the angle measured by the resolver at the stator end of the permanent magnet synchronous motor when the rotor is at zero position angle, that is, when the rotor magnetic poles are aligned with the stator winding U.

[0037] In the embodiments of this disclosure, the term "UV commutation" refers to the situation where the U-phase current and the V-phase current commutate.

[0038] In the embodiments of this disclosure, the term "VW commutation" refers to the situation where the V-phase current and the W-phase current commutate.

[0039] In the embodiments of this disclosure, the term "UW commutation" refers to the situation where the U-phase current and the W-phase current commutate.

[0040] In the embodiments of this disclosure, the term "VWU counterclockwise distribution" refers to the situation where the V-phase current, W-phase current, and U-phase current lag by 120° sequentially, and UW commutation and UV commutation exist simultaneously, i.e., UW / UV commutation.

[0041] In the embodiments of this disclosure, the term "WUV counterclockwise distribution" refers to the situation where the W-phase current, U-phase current, and V-phase current lag by 120° sequentially, and both UW commutation and VW commutation exist simultaneously, i.e., UW / VW commutation.

[0042] In the embodiments of this disclosure, the term "resolver angle value" refers to the relative angle between the motor rotor position and the stator magnetic field, which is an important parameter used in motor control to determine the rotor position and perform vector control.

[0043] In this disclosure, the term "Raw value" refers to the current value collected by the current sensor.

[0044] The technical principles involved in this disclosure will be introduced first below.

[0045] (1) Current phase sequence identification Figure 1 This diagram illustrates all commutation scenarios for the current phase sequence provided in at least one embodiment of this disclosure. (See diagram for example.) Figure 1 As shown, the position of the three-phase current coordinate system has the following 6 possible cases: 1. The current phase sequence is UVW phase sequence, such as... Figure 1 As shown in (a), there is no commutation; 2. The current phase sequence is UWV phase sequence, such as... Figure 1 As shown in (b) in the diagram, a VW commutation occurs; 3. The current phase sequence is WVU phase sequence, such as... Figure 1 As shown in (c), a UW commutation occurs; 4. The current phase sequence is VUW phase sequence, such as... Figure 1 As shown in (d) in the diagram, UV reversal occurs; 5. The current phase sequence is VWU phase sequence, such as... Figure 1 As shown in (e), UW / UV commutation occurs, i.e., VWU is distributed counterclockwise; 6. The current phase sequence is WUV phase sequence, such as... Figure 1 As shown in (f), UW / VW commutation occurs, i.e., WUV is distributed counterclockwise.

[0046] When the control angle is fixed at 0 degrees, under the condition that the three-phase current phase sequence is correct, according to the usual definition, the U-axis coincides with the d-axis and α-axis, the V-axis is located at the direction of 120° counterclockwise rotation of the U-axis, the W-axis is located at the direction of 240° counterclockwise rotation of the U-axis, the q-axis is located at the direction of 90° counterclockwise rotation of the d-axis, and the β-axis coincides with the q-axis.

[0047] The first step is to determine the U-phase current when a voltage is applied along the d-axis (0° direction), since the U-phase coincides with the d-axis. The absolute value reaches its maximum. Similarly, when UV commutation is performed, the V phase changes to the position of the U phase, that is, at this time the V axis coincides with the d axis. Before the commutation operation, the V phase current... The absolute value is the largest. The commutation situation in UW is similar and will not be described in detail.

[0048] The second step involves injecting a positive voltage along the q-axis (90° direction). When the motor is not commutating, based on the principle of current decomposition, a positive current can be deduced in the V-phase direction. The angle between the q-axis and the V-axis is 30°, meaning the V-phase current... It is positive. Conversely, after the motor completes VW commutation, based on the current decomposition, such as... Figure 1 As shown in (b), it can be concluded that a negative current is decomposed in the V-phase direction, that is, the V-phase current. It is negative.

[0049] Through the first step U-phase current The absolute value of the maximum and the second step V-phase current The sign of the voltage can be used to determine whether there is no commutation or VW commutation. Other cases can also be determined by the current behavior after these two voltage injection steps, as shown in Table 1.

[0050] Table 1 Current identification for all commutation cases

[0051] Therefore, in actual testing, by injecting dq-axis voltages separately and collecting the three-phase current raw values ​​through current sensors, the program automatically makes corresponding judgments, thus completing the determination of the current phase sequence. Two pre-positioning steps can be used to determine all phase sequence swapping scenarios.

[0052] D-axis and Q-axis voltage injections were performed separately to pre-position the motor rotor. During the pre-positioning process, the maximum absolute value of the three-phase current was monitored in real time. The system detects the positive and negative directions of the three-phase current to determine if the UVW phase sequence is accurate, thus identifying issues such as motor failure to start due to reversed three-phase wires. Upon completion of the determination, the program automatically reports the corresponding flag, warning, or message indicating whether the current phase sequence is reversed, reminding the user whether a phase sequence reversal is necessary.

[0053] (2) Rotation direction identification Voltage injection is performed on the d and q axes respectively to preposition the motor rotor to the designated position. During the prepositioning process, the resolver angle values ​​are latched to obtain the first prepositioning angle of the d axis and the second prepositioning angle of the q axis. The two are compared and calculated to determine whether the resolver direction is correct. After the determination is completed, the program automatically reports the relevant flags, warnings or information on whether the resolver direction is correct. If the direction is incorrect, the motor controller program can automatically invert the corresponding switch quantity so that the resolver initial angle can be self-learned and obtained.

[0054] (3) Obtaining the initial angle of the refractive index like Figure 2 As shown, when there is a fixed angular difference between the resolver position and the rotor coordinate axis... At that time, d-axis voltage q-axis voltage With fixed voltage The relationship is as follows:

[0055] In the formula, This indicates the output angle of the phase-locked loop. express and The vector sum, i.e., the combined voltage along the dq axis.

[0056] Figure 3 This is a schematic diagram of a phase-locked loop (PLL) control principle provided for at least one embodiment of this disclosure. When the PLL outputs an angle... Approximating a fixed angle difference hour, Therefore, As the actual input of the phase-locked loop, according to Figure 3 The closed-loop transfer function of the system can be obtained. as follows:

[0057] In the formula, The complex frequency variable in the Laplace transform is used to describe the dynamic behavior of the system. This represents the natural oscillation frequency, the inherent frequency of the motor controller system, and embodies "inertia". and This represents the PI control parameter.

[0058] The PI control parameters can be obtained as follows:

[0059] like Figure 4As shown, due to the periodic delay in angle sampling and duty cycle waveform generation, the d-axis used by the motor controller software lags or leads the rotor d-axis during normal operation. Therefore, the initial angle identified by the phase-locked loop includes the angle delay portion. The angle delay or lead angle is equal in magnitude and opposite in position relative to the rotor d-axis during forward and reverse rotation. Recognition during forward and reverse rotation can offset the angle delay or compensate for the error. The formula is as follows:

[0060] In the formula, This indicates the identified initial angle of the spin converter. This indicates an angle error without angle compensation. This indicates the identification result of the initial angle of the refractive index during forward rotation. This indicates the identification result of the initial angle of the refractive index during reversal. This indicates the motor speed.

[0061] Figure 5 This is a flowchart illustrating a method for identifying parameters of a permanent magnet synchronous motor according to at least one embodiment of this disclosure. The method is applied to a motor controller that drives the permanent magnet synchronous motor, and the permanent magnet synchronous motor is electrically connected to the motor controller. Figure 1 As shown, the method may include the following steps S10-S40.

[0062] Step S10: Activate the preset current phase sequence identification strategy to identify whether the current phase sequence of the permanent magnet synchronous motor is correct.

[0063] Step S20: Activate the preset resolver direction identification strategy to identify whether the resolver direction of the permanent magnet synchronous motor is correct.

[0064] Step S30: When the current phase sequence and resolver direction are both correct, start the preset resolver initial angle acquisition strategy to acquire the resolver initial angle of the permanent magnet synchronous motor.

[0065] Step S40: Generate motor parameter identification results including current phase sequence, resolver direction and resolver initial angle.

[0066] In the above scheme, this disclosure does not limit the current phase sequence identification strategy in step S10. In practical application scenarios, the current phase sequence identification strategy can be implemented in a variety of ways. For example, in addition to the scheme provided in the following embodiments, a specific sequence of excitation signals can be injected into the permanent magnet synchronous motor, and then the phase relationship can be analyzed by detecting the voltage or current response fed back by the motor to determine whether the current phase sequence is correct.

[0067] When executing step S10, the system accurately determines whether the current phase sequence is correct by comparing the three-phase signals at different times. If the determination result is correct, the system continues to execute subsequent steps; if the determination result is incorrect, the system will issue a corresponding warning message, prompting the operator to check and adjust the motor connection or related parameter settings.

[0068] In the above scheme, this disclosure does not limit the resolver direction identification strategy in step S20. In practical application scenarios, the resolver direction identification strategy can also be implemented in various ways. For example, in addition to the scheme provided in the following embodiments, a specific mode of excitation signal can be input to the permanent magnet synchronous motor, and then the voltage or current signal fed back by the motor can be monitored. The characteristics of these signals can be used to analyze and determine whether the resolver direction is correct.

[0069] When executing step S20, the system will analyze the acquired signals in detail according to the preset resolver direction identification strategy to accurately determine whether the resolver direction is correct. If the judgment result is correct, the system will continue to execute the subsequent steps according to the procedure; if the judgment result is incorrect, the system will immediately issue the corresponding warning message to remind the operator to check and adjust the motor connection status or related parameter settings.

[0070] In the above scheme, this disclosure does not limit the strategy for obtaining the resolver initial angle in step S30. In practical application scenarios, the resolver initial angle acquisition strategy can also be implemented in various ways. For example, professional sensor equipment can be used to accurately measure the relevant physical quantities of the motor in the initial state, and then the value of the resolver initial angle can be calculated through specific mathematical models and calculation methods; or an intelligent algorithm can be used to train and optimize the algorithm with a large amount of experimental data, so that the algorithm can automatically and accurately identify the resolver initial angle based on real-time data during motor operation.

[0071] When the system executes step S30, it will identify the initial resolver angle according to the preset resolver initial angle acquisition strategy, and when the current phase sequence and resolver direction are correct, it will ensure the accuracy and reliability of the acquired resolver initial angle.

[0072] When the system executes step S40, it outputs the correct current phase sequence, the correct resolver direction, and the initial resolver angle obtained under the correct current phase sequence and resolver direction as identification results.

[0073] Through steps S10-S40, the identification of key parameters of the permanent magnet synchronous motor can be completed comprehensively and accurately. In step S10, the system analyzes the current characteristics during motor operation according to preset specific rules and algorithms to accurately determine whether the current phase sequence is correct. If the current phase sequence is incorrect, the system will issue a warning in a timely manner, prompting the operator to make corresponding adjustments to ensure the smooth progress of subsequent processes. In step S20, the system uses professional detection devices and advanced algorithm models to meticulously detect and judge the motor's resolver direction to determine whether it is in the correct state. Step S30, as the core step, after ensuring that the current phase sequence and resolver direction are correct, allows the system to automatically identify and obtain the resolver initial angle. Finally, in step S40, the system integrates the current phase sequence, resolver direction, and resolver initial angle obtained in the previous steps to generate a complete and accurate motor parameter identification result, providing a reliable basis for the stable operation and performance optimization of the permanent magnet synchronous motor.

[0074] Figure 6 A flowchart illustrating a current phase sequence identification strategy provided for at least one embodiment of this disclosure. Figure 1 Based on this, in order to achieve accurate identification of current phase sequence, such as Figure 6 As shown, step S10 is further refined into sub-steps S101-S104.

[0075] Sub-step S101: Inject voltage into the d-axis and q-axis directions of the motor controller respectively to perform the first pre-positioning of the motor rotor.

[0076] Sub-step S102: During the first pre-positioning process, obtain the phase current with the largest absolute value and the positive and negative directions of the three-phase currents of the permanent magnet synchronous motor.

[0077] Sub-step S103: Determine whether the current phase sequence is correct based on the obtained phase current and the positive and negative directions of the three-phase current.

[0078] Sub-step S104: When the current phase sequence is correct, generate a first flag bit to characterize that the current phase sequence is correct.

[0079] It should be noted that the phase current is the U-phase current, V-phase current, or W-phase current. The first flag is used to initiate the resolver direction identification process, or as one of the criteria for initiating the resolver initial angle acquisition strategy. The absolute value of the three-phase current is determined, but is not limited to, by the magnitude of the raw value of the three-phase current, and the positive and negative directions of the three-phase current are determined, but are not limited to, by the positive and negative values ​​of the raw value of the three-phase current.

[0080] The accurate determination of the current phase sequence is achieved through sub-steps S101-S104. The system applies a specific voltage excitation to the motor, causing the motor rotor to rotate to a specific initial position. High-precision sensors are used to collect the magnitude and direction of the three-phase current in real time for current timing determination.

[0081] The above scheme uses the dq axis pre-positioning method to determine six possible motor phase sequence reversal scenarios, see [link to relevant documentation]. Figure 1 By referring to Table 1, accurate identification of the motor phase sequence can be achieved, which can correct calibration switch errors in the software or hardware installation errors. The generation of the first flag bit indicates that the current phase sequence is correct and not reversed. The failure to generate the first flag bit or the generation of other flag bits indicating an error in the current phase sequence indicates that the current phase sequence is reversed. Further information or warnings can be generated to prompt the operator to make adjustments.

[0082] In some embodiments, Figure 6 In order to improve the success rate of identification, step S10 also includes the following sub-steps S105 and S106.

[0083] Sub-step S105: Automatically adjust the current phase sequence when the current phase sequence is incorrect.

[0084] Sub-step S106: Re-identify the adjusted current phase sequence until the current phase sequence of the permanent magnet synchronous motor is correct.

[0085] The system first identifies the specific type of reversed current phase sequence. Then, based on the identified type, it automatically adjusts the wiring sequence of the current phase sequence using an internal control algorithm to ensure that the current flows into the motor in the correct phase sequence. After adjustment, the system executes the current phase sequence identification strategy again to verify whether the current phase sequence has been corrected, and updates or maintains the state of the first flag bit accordingly to ensure the stability and safety of the motor's subsequent operation.

[0086] In some embodiments, Figure 6 Based on this, in order to further achieve accurate identification of current phase sequence, sub-step S101 is further refined into sub-steps S101-S101c.

[0087] Sub-step S101a: Inject a first voltage in the d-axis direction and gradually increase the first voltage to perform the first pre-positioning of the d-axis.

[0088] Sub-step S101b: During the first pre-positioning process of the d-axis, monitor the three-phase current, and when the absolute value of any phase of the three-phase current is greater than the first set threshold, stop increasing the first voltage and generate a first control command to obtain the phase current with the largest absolute value among the three-phase currents.

[0089] Sub-step S101c: After clearing the first voltage, inject a second voltage in the q-axis direction and gradually increase the second voltage to perform the first pre-positioning of the q-axis.

[0090] Sub-step S101c: During the first pre-positioning process of the q-axis, monitor the three-phase current, and when the absolute value of any phase of the three-phase current is greater than the second set threshold, stop increasing the second voltage and generate a second control command for obtaining the positive and negative directions of the three-phase current.

[0091] The first and second set thresholds can be flexibly set according to the specific parameters of the motor and the actual operating conditions to ensure accurate and reliable current phase sequence identification under different circumstances. Through the operations of sub-steps S101a to S101c, a more accurate current phase sequence information basis can be provided for subsequently obtaining the resolver initial angle, which helps improve the accuracy and stability of the entire permanent magnet synchronous motor parameter identification system. This allows the motor to better adapt to various complex operating conditions during operation, improving motor performance and operating efficiency.

[0092] The above scheme completes phase sequence detection through two voltage signal injections. Voltages are applied to the software-defined d-axis (0-degree direction) and q-axis (90-degree direction) respectively, and the maximum value and direction of the three-phase current are monitored in real time. Based on the current characteristics, it automatically determines whether the current phase sequence is reversed.

[0093] In some embodiments, Figure 6 Based on this, in order to further achieve accurate identification of current phase sequence, sub-step S103 can be further refined into sub-steps S103a-S103c.

[0094] Sub-step S103a: Determine whether the phase current obtained through the first pre-positioning of the d-axis is the U-phase current and the V-phase current among the three-phase currents obtained through the first pre-positioning of the q-axis is positive.

[0095] Sub-step S103b: If yes, determine that the current phase sequence is correct.

[0096] Sub-step S103c: If not, determine that the current phase sequence is incorrect.

[0097] In sub-step S103c, if the current phase sequence is determined to be incorrect, a corresponding adjustment command can be generated based on the current characteristics to correct the current phase sequence, ensuring the accuracy of the current phase sequence when acquiring the resolver initial angle. Through the refined operations of sub-steps S103a to S103c, the correctness of the current phase sequence can be determined more accurately, providing a reliable guarantee for acquiring the resolver initial angle. This helps improve the performance and stability of the entire permanent magnet synchronous motor parameter identification system, enabling the motor to maintain good operating conditions under various operating conditions.

[0098] In some embodiments, Figure 6 Based on this, in order to further achieve accurate identification of current phase sequence, sub-step S103 also includes sub-steps S103d-S103h.

[0099] Sub-step S103d: In response to the phase current obtained through the first pre-positioning of the d-axis being the U-phase current and the V-phase current obtained through the first pre-positioning of the q-axis being negative, a first warning is generated to characterize the occurrence of VW commutation in the current phase sequence.

[0100] Sub-step S103e: In response to the phase current obtained through the first pre-positioning of the d-axis being the V-phase current and the U-phase current obtained through the first pre-positioning of the q-axis being positive, a second warning is generated to characterize the UV-current commutation of the current phase sequence.

[0101] Sub-step S103f: In response to the phase current obtained through the first pre-positioning of the d-axis being the V-phase current and the U-phase current obtained through the first pre-positioning of the q-axis being negative, a third warning is generated to characterize the WUV counterclockwise distribution of the current phase sequence.

[0102] Sub-step S103g: In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the W-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is positive, a fourth warning is generated to characterize the UW commutation of the current phase sequence.

[0103] Sub-step S103h: In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the W-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is negative, a fifth warning is generated to characterize the current phase sequence VWU counterclockwise distribution.

[0104] Sub-steps S103d-S103h provide judgments and precise warnings for all possible changes in the current phase sequence, which can be used to make targeted adjustments to the current phase sequence.

[0105] Figure 7 A flowchart illustrating a resolver direction identification strategy provided for at least one embodiment of this disclosure. Figure 5 or Figure 6 Based on this, in order to achieve accurate determination of the rotation direction, such as Figure 7 As shown, step S20 can be further refined into the following sub-steps S201-S204.

[0106] Sub-step S201: Inject voltage into the d-axis and q-axis directions of the motor controller respectively to perform the second pre-positioning of the motor rotor.

[0107] Sub-step S202: During the second pre-positioning process, obtain the first pre-positioning angle of the d-axis and the second pre-positioning angle of the q-axis.

[0108] Sub-step S203: Determine whether the rotation direction is correct based on the first prepositioning angle and the second prepositioning angle.

[0109] Sub-step S204: When the resolver direction is correct, output a second flag bit to indicate that the resolver direction is correct.

[0110] The system achieves accurate determination of the resolver direction through sub-steps S201-S204, laying the foundation for obtaining an accurate resolver initial angle. If the resolver direction is incorrect, a reverse adjustment operation can be performed based on the judgment result, such as changing the direction of the injected voltage or correcting relevant parameters, to ensure the correct resolver direction and thus guarantee the accuracy and reliability of the entire permanent magnet synchronous motor parameter identification system. After determining and ensuring the correct resolver direction, the system can further calculate and obtain the resolver initial angle accurately based on the correct resolver direction information, combined with other relevant parameters and algorithms, thereby completing the resolver initial angle self-learning process.

[0111] The above scheme can determine whether the rotation direction is correct by using the dq axis pre-positioning method, and can correct errors in the rotation direction.

[0112] In some embodiments, Figure 7 In order to improve the success rate of identification, step S20 also includes the following sub-steps S205-S206.

[0113] Sub-step S205: Adjust the direction of the resolver if the direction is incorrect.

[0114] Sub-step S206: Identify the adjusted resolver direction again until the resolver direction of the permanent magnet synchronous motor is correct.

[0115] The iterative operation of sub-steps S205 and S206 ensures that even if the initial resolver direction is incorrect, the system can automatically perform multiple adjustments and identifications until the resolver direction is correct. This process effectively improves the robustness and success rate of the resolver initial angle self-learning process, avoids subsequent calculation deviations caused by incorrect initial direction, and thus guarantees the overall performance of the permanent magnet synchronous motor parameter identification system.

[0116] In some embodiments, Figure 7 Based on this, in order to further achieve accurate determination of the rotation direction, sub-step S201 can be refined into sub-steps S201a-S201d.

[0117] Sub-step S201a: Inject a third voltage in the d-axis direction and gradually increase the third voltage to perform a second pre-positioning of the d-axis.

[0118] Sub-step S201b: During the second pre-positioning process of the d-axis, monitor the three-phase current, and when the absolute value of any phase of the three-phase current is greater than the third set threshold, generate a third control command for obtaining the first pre-positioning angle.

[0119] Sub-step S201c: After clearing the third voltage, inject a fourth voltage in the q-axis direction and gradually increase the fourth voltage to perform the second pre-positioning of the q-axis.

[0120] Sub-step S201d: During the second pre-positioning process of the q-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than the fourth set threshold, a control command for obtaining the second pre-positioning angle is generated, wherein the first pre-positioning angle and the second pre-positioning angle are both resolver angle values.

[0121] Specifically, through sub-steps S201a-S201d, the first and second pre-positioning angles of the resolver can be accurately obtained. Based on these two resolver angle values, further calculations and analyses can be performed. For example, specific algorithms can be used to process these two angle values ​​to more accurately determine the resolver initial angle, providing more reliable data support for the parameter identification of the permanent magnet synchronous motor, thereby improving the performance and accuracy of the entire permanent magnet synchronous motor parameter identification system.

[0122] The above scheme locks two prepositioning angles by injecting voltage along the d-axis and q-axis. It determines whether the resolver direction is correct based on the angle difference between the two prepositioning angles and automatically corrects any directional errors.

[0123] In some embodiments, Figure 7 Based on this, in order to further achieve accurate determination of the rotation direction, sub-step S203 can be refined into sub-steps S203a-S203d.

[0124] Sub-step S203a: In response to the second predetermined positioning angle being greater than the first predetermined positioning angle and the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle being within the first preset range of π / 2, the rotation direction is determined to be correct.

[0125] Sub-step S203b: In response to the second predetermined positioning angle being greater than the first predetermined positioning angle and the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle falling within the second preset range of 3π / 2, the rotation direction is determined to be incorrect.

[0126] Sub-step S203c: In response to the fact that the second pre-positioning angle is less than the first pre-positioning angle and the sum of the angle deviation between the first pre-positioning angle and the second pre-positioning angle and the value of 2π belongs to the first preset range mentioned above, the rotation direction is determined to be correct.

[0127] Sub-step S203d: In response to the fact that the second predetermined positioning angle is less than the first predetermined positioning angle and the sum of the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle and the value of 2π belongs to the above-mentioned second preset range, the rotation direction is determined to be incorrect.

[0128] The first and second preset ranges are pre-defined angle intervals used to determine the resolver direction. These ranges are set based on an in-depth analysis of the motor's operating characteristics and the resolver principle to ensure accurate determination of the resolver direction under various operating conditions. In practical applications, the first and second preset ranges can be flexibly adjusted according to the specific parameters and performance requirements of the motor to adapt to different working environments and needs. Through the judgment logic of sub-steps S203a to S203d, the system can accurately determine the resolver direction, providing a reliable foundation for subsequent acquisition of the initial resolver angle.

[0129] The above scheme pre-positions and latches the angle value of the resolver along the dq axis, and determines the resolver direction based on the angle difference around π / 2 degrees (90°) and 3π / 2 degrees (270°). Users only need to calibrate a single switch input; no further operation is required during the identification of current phase sequence, resolver direction, and initial angle. Users simply need to observe for any abnormalities during the identification process. After identification, the program automatically reports the corresponding flag and provides the resolver initial angle identification result.

[0130] In some embodiments, the first preset range is [π / 2-η, π / 2+η], the second preset range is [3π / 2-η, 3π / 2+η], and η≤π / 4. η can be set according to the calibration conditions. The value of η has a significant impact on the accuracy of the resolver direction determination. When η is set reasonably, the system can more accurately determine the resolver direction based on the angle difference being within the preset range, thus providing an accurate basis for obtaining the initial resolver angle. In actual calibration conditions, technicians will set η based on various factors such as the specific operating conditions of the motor, its performance characteristics, and the working environment.

[0131] In some embodiments, to further improve identification accuracy, the resolver direction identification strategy in step S20 of this method is activated when the current phase sequence in step S10 is correct. There is a specific correspondence between the current phase sequence and the resolver direction. Only when the current phase sequence is accurate can the resolver direction identification strategy accurately determine the motor's resolver direction based on the correct current direction information. This correspondence ensures the logical rigor of the entire identification process, avoids misjudgments of the resolver direction due to incorrect current phase sequence, and thus provides more accurate directional guidance for subsequent resolver initial angle acquisition. In actual operation, the system first rigorously verifies the current phase sequence. After confirming its accuracy, it automatically triggers the resolver direction identification strategy to ensure the accuracy and reliability of the identification results.

[0132] Figure 8 A flowchart illustrating the spinner initial angle acquisition strategy provided in at least one embodiment of this disclosure. Figure 5 , Figure 6 or Figure 7 Based on this, in order to improve the recognition effect, such as Figure 8 As shown, the strategy for obtaining the initial angle of the spin converter includes the following sub-steps S301-S302.

[0133] Sub-step S301: Inject the fifth voltage in the d-axis direction and gradually increase the fifth voltage to perform the third pre-positioning of the d-axis.

[0134] Sub-step S302: Perform coarse learning of the initial rotation angle through the third pre-positioning of the d-axis to obtain the original initial rotation angle.

[0135] Sub-step S303: Given the q-axis current, drive the permanent magnet synchronous motor to the target speed, then set the required current of the current loop in the motor controller to zero, perform fine learning of the resolver initial angle, and obtain the final resolver initial angle. The fine learning is used to correct the original resolver initial angle.

[0136] In sub-step S301, the fifth voltage injected into the d-axis direction needs to gradually increase according to a preset voltage growth rate to ensure the accuracy and stability of the third pre-positioning of the d-axis. This pre-positioning process will continue for a certain period of time until the d-axis reaches the predetermined position. In sub-step S302, the data obtained from the third pre-positioning of the d-axis is analyzed and processed using a specific algorithm to complete the coarse learning of the initial angle of the resolver, thus providing... The current-driven fine-tuning of the resolver's initial angle laid the groundwork. Setting the required current to zero aims to... The convergence to zero and the simple operation of the identification process require only a calibration switch to quickly and accurately verify and determine the necessary initial states required for the normal operation of the motor drive system.

[0137] The above scheme uses d-axis voltage injection to "coarsely learned resolver initial angle" + The current-start "precise learning of resolver initial angle" method is combined to achieve accurate identification of the resolver initial angle. First, the initial angle is obtained through "coarse learning" by pre-positioning the d-axis voltage. Then, after driving the motor to the target speed, "precise learning" is performed using the back EMF signal combined with phase-locked loop technology.

[0138] In some embodiments, Figure 8 Based on this, fine-tuning includes forward and reverse rotation identification of the permanent magnet synchronous motor. The average of the forward and reverse rotation identification results is taken as the final resolver initial angle to compensate for the angle error introduced by angle sampling and transmission delay. Averaging the forward and reverse rotation identification results can offset the effect of not performing angle compensation. The d-axis voltage injection coarse-tuning latches the resolver initial angle value. Initiating forward and reverse rotation for precise learning and angle correction gives the solution the following advantages: First, due to the use of a forward and reverse rotation identification method, it can be applied to situations where angle compensation has not been implemented or is inaccurate; Second, after identification, applying reverse current can effectively shorten the identification time, especially in low-speed, high-torque motor applications, where this advantage is more significant; Third, under the condition that pre-positioning is performed, compared to the I / F starting method, The startup method is simpler, requires less starting current, has higher control precision, and the startup process is smoother.

[0139] The above scheme uses d-axis voltage injection to "coarsely learned resolver initial angle" + By combining forward and reverse rotation methods to accurately identify the initial angle of the resolver, precise identification of the initial angle is achieved. By offsetting angular delay errors through forward and reverse rotation identification, a precise initial angle is ultimately obtained.

[0140] Figure 9 A flowchart illustrating an example of a permanent magnet synchronous motor parameter identification method provided in at least one embodiment of this disclosure. (See flowchart for example.) Figure 9 As shown, the method includes the following steps: 1) With the control angle fixed at 0 degrees, first inject voltage in the 0-degree direction (d-axis direction defined in the motor controller software), increasing the given voltage in certain steps, and monitoring the three-phase current in real time. When the maximum absolute value of the three-phase current exceeds the first set threshold, stop increasing the voltage and start counting. After 4 seconds, clear the voltage value. During the counting period, determine which phase current has the largest absolute value. Then, inject voltage in the 90-degree direction (q-axis direction defined in the software), increasing the given voltage in certain steps, and monitoring the three-phase current in real time. When the maximum absolute value of the three-phase current exceeds the first set threshold, stop increasing the voltage and start counting. After 4 seconds, clear the voltage value. Combining the judgment result from the previous step, determine the sign of the U-phase or V-phase current raw value during the counting period. Through these two steps, determine all possible phase sequence swaps, such as... Figure 10 As shown.

[0141] 2) Assuming the phase sequence is correct, identify the resolver direction by injecting dq-axis voltage. Similar to the steps above, when the maximum absolute value of the three-phase current exceeds the third preset threshold, latch the current resolver angle to obtain the d-axis prepositioning angle. α and q-axis prepositioning angle β When comparing the two, β>α At that time, Δ θ = β - α ,when β<α At that time, Δ θ = β - α +2π, when Δ θ When the direction of the refractive index is considered to be correct near π / 2, when Δ θ When the rotation direction is around 3π / 2, it is considered to be incorrect.

[0142] 3) After the current phase sequence and resolver direction are identified, self-learning of the resolver initial angle is performed. First, a coarse learning is conducted through a d-axis pre-positioning to obtain an initial resolver initial angle, which is then written into the software. Next, the q-axis current is given to start the motor to the target speed. After the required current is cleared, the resolver initial angle is identified using the back EMF method, and then a phase-locked loop is used to... U d Converging to 0, fine learning is performed to obtain the angle correction value, which is the final initial rotation angle. After self-learning, an accurate initial rotation angle can be obtained.

[0143] The above scheme first injects voltage sequentially in the dq direction. The phase sequence of the three-phase current is determined through two pre-positioning steps. Based on the correct phase sequence, two more dq-axis pre-positioning steps are performed, and the resolver angles of the two pre-positioning steps are latched. The resolver direction is determined by angle calculation and comparison. Finally, based on the correct current phase sequence and resolver direction, a positive voltage is injected into the d-axis first, and the voltage value is gradually increased. When the maximum value of the three-phase current exceeds the set current threshold, the resolver angle at the current moment is latched as the initial angle for coarse learning. Then, the motor is started with a given q-axis current, and the initial angle is finely learned in both forward and reverse directions. Utilizing the principle that the back EMF only has a component on the rotor q-axis, a phase-locked loop is designed to make the d-axis voltage component in the software converge to zero, that is, the d-axis in the software coincides with the rotor d-axis. Finally, the initial angle correction result is obtained through fine learning.

[0144] Figure 11 This is a structural block diagram of a permanent magnet synchronous motor parameter identification system provided in at least one embodiment of the present disclosure. The permanent magnet synchronous motor parameter identification system is applied to a motor controller that drives the permanent magnet synchronous motor; the permanent magnet synchronous motor and the motor controller are electrically connected. Figure 11 As shown, the permanent magnet synchronous motor parameter identification system 10 includes a first processing unit 11, a second processing unit 12, a third processing unit 13, and a result generation unit 14.

[0145] The first processing unit 11 is configured to activate a preset current phase sequence identification strategy to identify whether the current phase sequence of the permanent magnet synchronous motor is correct.

[0146] The second processing unit 12 is configured to activate a preset resolver direction identification strategy to identify whether the resolver direction of the permanent magnet synchronous motor is correct.

[0147] The third processing unit 13 is configured to activate a preset resolver initial angle acquisition strategy to acquire the resolver initial angle of the permanent magnet synchronous motor when the current phase sequence and resolver direction are both correct.

[0148] The result generation unit 14 is configured to generate motor parameter identification results including current phase sequence, resolver direction and resolver initial angle.

[0149] The specific execution methods of each unit in the above system embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0150] In some embodiments, Figure 11 Based on this, the third processing unit 13 mainly consists of a prepositioning voltage injection module, a target current and speed setting module, a phase-locked loop estimation module, and an initial angle calculation module.

[0151] In some embodiments, Figure 11Based on this, the first processing unit 11, the second processing unit 12, the third processing unit 13 and the result generation unit 14 can be implemented by a controller or control module with corresponding programs.

[0152] This disclosure also provides a storage medium storing a program or instructions that, when executed by a processor, implement the steps of the method embodiments described above.

[0153] This disclosure also provides a program product, such as... Figure 12 As shown, the program product includes one or more processors 21 and memory 22. Figure 12 Take a processor 21 as an example.

[0154] The controller may also include an input device 23 and an output device 24.

[0155] The processor 21, memory 22, input device 23, and output device 24 can be connected via a bus or other means. Figure 12 Taking the example of a connection between China and Israel via a bus.

[0156] The processor 21 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips. The general-purpose processor can be a microprocessor or any conventional processor.

[0157] The memory 22, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 21 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions, and modules stored in the memory 22, thereby implementing the steps of the above-described method embodiments.

[0158] The memory 22 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the use of the processing device operated by the server. Furthermore, the memory 22 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 22 may optionally include memory remotely located relative to the processor 21, and these remote memories may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0159] Input device 23 can receive input digital or character information, and generate key signal inputs related to driver settings and function control of the server's processing unit. Output device 24 may include display devices such as a display screen.

[0160] One or more modules are stored in memory 22, and when executed by one or more processors 21, they perform actions such as... Figure 1 The method shown.

[0161] Those skilled in the art will understand that all or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory (FM), hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0162] Although embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope defined by the appended claims.

[0163] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for parameter identification of a permanent magnet synchronous motor, applied to a motor controller for driving a permanent magnet synchronous motor, characterized in that, include: The preset current phase sequence identification strategy is activated to identify whether the current phase sequence of the permanent magnet synchronous motor is correct. The preset resolver direction identification strategy is activated to identify whether the resolver direction of the permanent magnet synchronous motor is correct; When the current phase sequence and the resolver direction are both correct, a preset resolver initial angle acquisition strategy is activated to acquire the resolver initial angle of the permanent magnet synchronous motor; and, Generate motor parameter identification results that include the current phase sequence, the resolver direction, and the resolver initial angle.

2. The method of claim 1, wherein, The current phase sequence identification strategy includes: Voltages are injected into the d-axis and q-axis directions of the motor controller respectively to perform the first pre-positioning of the motor rotor; During the first pre-positioning process, the phase current with the largest absolute value and the positive and negative directions of the three-phase currents of the permanent magnet synchronous motor are obtained. Based on the obtained phase current and the positive and negative directions of the three-phase current, determine whether the current phase sequence is correct; and... When the current phase sequence is correct, a first flag bit is generated to characterize that the current phase sequence is correct.

3. The method of claim 2, wherein, The step of injecting voltage into the d-axis and q-axis directions of the motor controller respectively to perform the first pre-positioning of the motor rotor includes: A first voltage is injected into the d-axis direction, and the first voltage is gradually increased to perform the first pre-positioning of the d-axis; During the first pre-positioning process of the d-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than the first set threshold, the increase of the first voltage is stopped, and a first control command is generated to obtain the phase current with the largest absolute value among the three-phase currents. After clearing the first voltage, a second voltage is injected in the q-axis direction, and the second voltage is gradually increased to perform the first pre-positioning of the q-axis; and, During the first pre-positioning process of the q-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than the second set threshold, the increase of the second voltage is stopped, and a second control command for obtaining the positive and negative directions of the three-phase current is generated.

4. The method according to claim 2 or 3, characterized in that, The step of determining whether the current phase sequence is correct based on the acquired phase current and the positive and negative directions of the three-phase current includes: Determine whether the phase current obtained through the first pre-positioning of the d-axis is the U-phase current and the V-phase current among the three-phase currents obtained through the first pre-positioning of the q-axis is positive; If so, the current phase sequence is determined to be correct; and, If not, the current phase sequence is determined to be incorrect.

5. The method of claim 4, wherein, The step of determining whether the current phase sequence is correct based on the obtained phase current and the positive and negative directions of the three-phase current further includes: In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the U-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is negative, a first warning is generated to characterize the occurrence of VW commutation of the current phase sequence. In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the V-phase current and the U-phase current obtained through the first pre-positioning of the q-axis is positive, a second warning is generated to characterize the UV-V reversal of the current phase sequence. In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is a V-phase current and the U-phase current obtained through the first pre-positioning of the q-axis is negative, a third early warning is generated to characterize the WUV counterclockwise distribution of the current phase sequence. In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is a W-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is positive, a fourth warning is generated to characterize the occurrence of UW commutation of the current phase sequence; and, In response to the fact that the phase current obtained through the first pre-positioning of the d-axis is the W-phase current and the V-phase current obtained through the first pre-positioning of the q-axis is negative, a fifth warning is generated to characterize the current phase sequence as having a counterclockwise distribution of VWU.

6. The method according to claim 2 or 3, characterized in that, The rotation direction identification strategy includes: Voltages are injected into the d-axis and q-axis directions of the motor controller respectively to perform the second pre-positioning of the motor rotor; During the second pre-positioning process, the first pre-positioning angle of the d-axis and the second pre-positioning angle of the q-axis are obtained; Based on the first pre-positioning angle and the second pre-positioning angle, determine whether the rotation direction is correct; and... When the resolver direction is correct, a second flag bit is output to indicate that the resolver direction is correct.

7. The method according to claim 6, characterized in that, The step of injecting voltage into the d-axis and q-axis directions of the motor controller to perform the second pre-positioning of the motor rotor includes: A third voltage is injected into the d-axis direction, and the third voltage is gradually increased to perform a second pre-positioning of the d-axis; During the second pre-positioning process of the d-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than the third set threshold, a third control command is generated to obtain the first pre-positioning angle. After clearing the third voltage, a fourth voltage is injected in the q-axis direction, and the fourth voltage is gradually increased to perform a second pre-positioning of the q-axis; and, During the second pre-positioning process of the q-axis, the three-phase current is monitored, and when the absolute value of any phase of the three-phase current is greater than a fourth set threshold, a control command for obtaining the second pre-positioning angle is generated, wherein the first pre-positioning angle and the second pre-positioning angle are both resolver angle values.

8. The method according to claim 6, characterized in that, The step of determining whether the refractive direction is correct based on the first pre-positioning angle and the second pre-positioning angle includes: In response to the second predetermined positioning angle being greater than the first predetermined positioning angle and the angular deviation between the first predetermined positioning angle and the second predetermined positioning angle being within a first preset range of π / 2, the rotation direction is determined to be correct. In response to the fact that the second predetermined positioning angle is greater than the first predetermined positioning angle and the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle is within the second preset range of 3π / 2, it is determined that the rotation direction is incorrect. In response to the second predetermined positioning angle being less than the first predetermined positioning angle and the sum of the angle deviation between the first and second predetermined positioning angles and 2π falling within the first preset range, the rotation direction is determined to be correct; and, In response to the second predetermined positioning angle being less than the first predetermined positioning angle and the sum of the angle deviation between the first predetermined positioning angle and the second predetermined positioning angle and 2π being within the second preset range, it is determined that the rotation direction is incorrect.

9. The method according to claim 6, characterized in that, The resolver direction identification strategy is activated when the current phase sequence is correct, and the resolver initial angle acquisition strategy includes: A fifth voltage is injected into the d-axis direction, and the fifth voltage is gradually increased to perform the third pre-positioning of the d-axis; By performing coarse learning of the initial rotation angle through the third pre-positioning of the d-axis, the original initial rotation angle is obtained; and, Given a q-axis current, after driving the permanent magnet synchronous motor to the target speed, the required current of the current loop in the motor controller is set to zero, and the resolver initial angle is finely learned to obtain the final resolver initial angle. The fine learning is used to correct the original resolver initial angle. The fine learning includes performing forward and reverse rotation identification on the permanent magnet synchronous motor, and taking the average of the forward and reverse rotation identification results as the final resolver initial angle to offset the angle error introduced by angle sampling and wave transmission delay.

10. A parameter identification system for a permanent magnet synchronous motor, applied to a motor controller driving a permanent magnet synchronous motor, characterized in that, include: The first processing unit is configured to activate a preset current phase sequence identification strategy to identify whether the current phase sequence of the permanent magnet synchronous motor is correct. The second processing unit is configured to activate a preset resolver direction identification strategy to identify whether the resolver direction of the permanent magnet synchronous motor is correct. The third processing unit is configured to activate a preset resolver initial angle acquisition strategy to acquire the resolver initial angle of the permanent magnet synchronous motor when the current phase sequence and the resolver direction are both correct. as well as, The result generation unit is configured to generate motor parameter identification results including the current phase sequence, the resolver direction, and the resolver initial angle.

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