CN101359892B - Method and system for control permanent magnet motor - Google Patents

Abstract

The invention provides a method and a system for controlling a driving system of a permanent magnet motor. The method comprises the steps: producing a first regulating current by responding to a first voltage error to adjust a first current instruction, producing a second regulating current by responding to a second voltage error for adjusting a second current instruction, limiting the first regulating current and the second regulating current within the maximum current, converting the first regulating current into a first electric potential, converting the second current instruction into a second electric potential, and providing the first electric potential and the second electric potential to the permanent magnet motor. The first voltage error is obtained from the second current instruction, and the second voltage error is acquired from the first current instruction.

Description

Be used to control the method and system of permanent magnet motor

Technical field

The present invention is broadly directed to control and exchanges (AC) motor, relates to be used to control the system and method for synchronous permanent-magnet motor more specifically.

Background technology

Alternating current motor is used in the various application occasions, comprising vehicle, and wishes that induction alternating current (AC) motor has simple, firm structure, and needs easy care and save cost.The alternating current motor that uses in vehicle is controlled (for example, passing through voltage source converter) usually, so that described motor phase current is a sine curve.Provide sine-shaped, sinusoidal input current can produce the highest average torque usually to described alternating current motor, and can not produce extra low-frequency harmonics, this low-frequency harmonics can be the torque pulsation source in the described alternating current motor.

In motor vehicle (EV)/fuel cell electric vehicle (FCEV)/hybrid electric vehicle (HEV) power set, wherein a kind of design can farthest utilize effective dc bus voltage.Utilization is implemented six grades of handover operations so that utilize dc bus voltage at the high-speed range run duration usually based on the power set drive system of induction machine.(slip) (just, between rotor frequency and the stator frequency poor) therefore utilizes induction machine to realize that these six grades of operations are very simple usually owing to exist to slide.For example, can control this slip by the phase place of controlling described stator voltage.

Some alternating current motors are the permanent magnet motors with sine-shaped, sinusoidal anti-electromagnetic field (EMF) waveform.Synchronous permanent-magnet motor (SPMM) has high power density and higher efficiency usually, and therefore is suitable for EV/FCEV/HEV power set occasion.The notion of sliding is not suitable for the SPMM drive system, and this is because SPMM lacks the slip that can survey.In addition, the amplitude of described rotor current is subject to the influence with respect to the absolute stator voltage phase place of rotor angle, therefore realizes that six grades of controls of SPMM are complicated.Six grades of control algolithms have the transition algorithm that is in the complexity between conventional vector control algolithm and the described six grades of control algolithms usually.These transition algorithms have further increased the complexity of six grades of controls of SPMM.

Therefore, need provide a kind of method of controlling permanent magnet motor.More particularly, need provide a kind of method that is used to control the SPMM drive system, the described dc bus voltage of this drive system optimal, the control that keeps stator current simultaneously.In addition, need provide a kind of control system that is used for permanent magnet motor.And in conjunction with the accompanying drawings with the content of aforementioned technical field and background technology part, other required feature of the present invention and characteristic will become more obvious from detailed subsequently description and appended claim.

Summary of the invention

Be provided for controlling the method and system of permanent magnet motor.In one exemplary embodiment, provide a kind of method to control permanent magnet motor, this method comprises in response to voltage error regulates first current-order, thereby produce first step of regulating electric current, with each described first regulate electric current and second current-order be limited in step below the lowest high-current value, will the described first adjusting current conversion become first electromotive force step, convert described second current-order step of second electromotive force to, and provide the step of described first and second electromotive forces to described permanent magnet motor.This voltage error obtains from second current-order during described permanent magnet motor voltage saturation.

In another exemplary embodiment, a kind of method that is used to control permanent magnet motor is provided, this method comprises in response to first voltage error regulates first current-order, thereby produce first step of regulating electric current, regulate described second current-order in response to second voltage error, thereby produce second step of regulating electric current, each described first is regulated electric current and described second current-order and be limited in step below the lowest high-current value, regulate the step that current conversion becomes first electromotive force with described first, regulate current conversion with described second and become the step of second electromotive force, and the step of described first and second electromotive forces to described permanent magnet motor is provided.This first voltage error obtains from second current-order during described permanent magnet motor voltage saturation.This second voltage error obtains from first current-order during described permanent magnet motor voltage saturation.

A kind of control system is provided, is used to adjust the input voltage of permanent magnet motor with saturation current.This controller comprises the first current compensation module, second current compensation module and the modular converter.This first current compensation module is configured to deduct first error from first current-order, regulates electric current thereby produce first, and the described first adjusting electric current is restricted to first maximum current, thereby produces the first restriction electric current.The described second current compensation module is configured to second current-order is restricted to second maximum current, thereby produces the second restriction electric current.Described second maximum current obtains from described first maximum current and described saturation current.This modular converter is coupled to the described first and second current compensation modules, becomes first input voltage to be used for limiting current conversion with described first, and is used for the described second restriction current conversion is become second input voltage.When being become described second input voltage, the described second restriction current conversion produces described first error.

Description of drawings

The present invention will be described in conjunction with the accompanying drawings, and wherein identical mark is represented components identical, and

Fig. 1 is the block diagram according to the control system of the permanent magnet motor of one exemplary embodiment of the present invention;

Fig. 2 is the block diagram according to the control system of the permanent magnet motor of another exemplary embodiment of the present invention;

Fig. 3 is the curve chart of peak torque that is used to illustrate the operation of control system of the present invention;

Fig. 4 is the curve chart of peak power that is used to illustrate the operation of control system of the present invention;

Fig. 5 is the curve chart that is used to illustrate the operated system efficient of control system of the present invention; And

Fig. 6 is the flow chart according to the method for one exemplary embodiment of the present invention control permanent magnet motor.

Embodiment

Following embodiment part only is exemplary in essence, and is not used for limiting the present invention or application of the present invention and use.And, any statement mentioned in the technical field before not being subjected to, background technology, summary of the invention or the following embodiment or the constraint of implicit principle.

The present invention is a kind of control system and is used to control method based on the drive system of permanent magnet motor.Usually, this control system comprises d shaft current compensating module, q shaft current compensating module and the modular converter that is coupled to above-mentioned two current compensation modules.This d shaft current compensating module changes d shaft current benchmark so that voltage saturation error minimum, and this changes is partly based on the voltage limit that is applied to described q axle reference system voltage instruction.This q shaft current compensating module can also be configured to change described q shaft current benchmark, thereby makes described voltage saturation error minimum, and this change part is based on the voltage limit that is applied to described d axle reference system voltage instruction.In addition, this current reference (for example, d-axle and q-axle) is subjected to the restriction of each current compensation module, thereby the amplitude that prevents current reference surpasses predetermined maximum current amplitude.This modular converter converts reformed current reference to the corresponding voltage benchmark that offers permanent magnet motor.

The voltage equation of synchronous permanent-magnet motor (SPMM) is as follows:

$v_{\mathrm{ds}}^r=R_s{i}_{\mathrm{ds}}^r+L_d\frac{{\mathrm{di}}_{\mathrm{ds}}^r}{\mathrm{dt}}-{\mathrm{\ω}}_r{L}_q{i}_{\mathrm{qs}}^r$

$v_{\mathrm{qs}}^r=R_s{i}_{\mathrm{qs}}^r+L_q\frac{{\mathrm{di}}_{\mathrm{qs}}^r}{\mathrm{dt}}+{\mathrm{\ω}}_r(L_d{i}_{\mathrm{ds}}^r+{\mathrm{\λ}}_f),---\left(1\right)$

Wherein, R _sBe the resistance of the every phase of SPMM, L _dBe d axle inductance, ω _rBe the rotor speed of SPMM, L _qBe q axle inductance, λ _fBe the magnetic linkage of permanent magnet, i is an electric current, and v is a voltage.Subscript and last target implication are as follows:

-subscript a, b and c: a mutually, b and c amount separately;

-subscript d and q:d-are with reference to unifying q-referential amount separately;

-subscript s: the amount of stator winding

-subscript s: the amount of stationary reference frame;

-subscript r: the amount of synchronous (rotation) reference system; And

-subscript *: the amount of instruction.

Suppose that actual d-axle and q-shaft current follow the trail of described command value, the voltage error (v that produces so during voltage saturation _Ds ^r, v _Qs ^r) can be expressed as

$\mathrm{\Δ}{v}_{\mathrm{ds}}^r=-{\mathrm{\ω}}_r{L}_q{i}_{\mathrm{qs}}^r-v_{\mathrm{ds},\mathrm{Limit}}^r$

$\mathrm{\Δ}{v}_{\mathrm{qs}}^r={\mathrm{\ω}}_r(L_d{i}_{\mathrm{ds}}^r+{\mathrm{\λ}}_f)-v_{\mathrm{qs},\mathrm{Limit}}^r.---\left(2\right)$

The error function of gradient descending method is defined as

$J=\frac{1}{2}(\mathrm{\Δ}{v_{\mathrm{ds}}^r}^2+\mathrm{\Δ}{v_{\mathrm{qs}}^r}^2)$

$=\frac{1}{2}({(-{\mathrm{\ω}}_r{L}_q{i}_{\mathrm{qs}}^r-v_{\mathrm{ds},\mathrm{Limit}}^r)}^2+{({\mathrm{\ω}}_r(L_d{i}_{\mathrm{ds}}^r+{\mathrm{\λ}}_f)-v_{\mathrm{qs},\mathrm{Limit}}^r)}^2),---\left(3\right)$

Utilize described gradient descending method, be used to make this d-axle of described error function minimum and q-shaft current to determine according to the error function that part derives

$\▿J=\left[\begin{array}{c}\frac{1}{2}\frac{\∂{({\mathrm{\ω}}_r(L_d{i}_{\mathrm{ds}}^r+{\mathrm{\λ}}_f)-v_{\mathrm{qs},\mathrm{Limit}}^r)}^2}{\∂i_{\mathrm{ds}}^r}\\ \frac{1}{2}\frac{{\∂(-{\mathrm{\ω}}_r{L}_q{i}_{\mathrm{qs}}^r-v_{\mathrm{ds},\mathrm{Limit}}^r)}^2}{{\∂i}_{\mathrm{qs}}^r}\end{array}\right]---\left(4\right)$

$=\left[\begin{array}{c}{\mathrm{\ω}}_r{L}_d({\mathrm{\ω}}_r(L_d{i}_{\mathrm{ds}}^r+{\mathrm{\λ}}_f)-v_{\mathrm{qs},\mathrm{Limit}}^r)\\ -{\mathrm{\ω}}_r{L}_q({\mathrm{\ω}}_r{L}_q{i}_{\mathrm{qs}}^r-v_{\mathrm{ds},\mathrm{Limit}}^r)\end{array}\right]=\left[\begin{array}{c}{\mathrm{\ω}}_r{L}_d\mathrm{\Δ}{v}_{\mathrm{qs}}^r\\ -{\mathrm{\ω}}_r{L}_q\mathrm{\Δ}{v}_{\mathrm{ds}}^r\end{array}\right]$

$\frac{d}{\mathrm{dt}}\left[\begin{array}{c}{i}_{\mathrm{ds}\_\mathrm{controller}}^r\\ i_{\mathrm{qs}\_\mathrm{controller}}^r\end{array}\right]=-\mathrm{\α}\▿J---\left(5\right)$

$\left[\begin{array}{c}{i}_{\mathrm{ds}\_\mathrm{controller}}^r\\ i_{\mathrm{qs}\_\mathrm{controller}}^r\end{array}\right]=\frac{\mathrm{\α}}{s}\left[\begin{array}{c}-{\mathrm{\ω}}_r{L}_d{\mathrm{\Δv}}_{\mathrm{qs}}^r\\ {\mathrm{\ω}}_r{L}_q{\mathrm{\Δv}}_{\mathrm{ds}}^r\end{array}\right]---\left(6\right)$

Wherein α is the ride gain that is used for determining convergence rate.

For fear of the offset error effect, integrator is substituted by low pass filter and band pass filter.

$\left[\begin{array}{c}{i}_{\mathrm{ds}\_\mathrm{controller}}^r\\ i_{\mathrm{qs}\_\mathrm{controller}}^r\end{array}\right]=\mathrm{\α}\left[\begin{array}{c}\frac{\mathrm{\ω}}{s+\mathrm{\ω}}(-{\mathrm{\ω}}_r{L}_d\mathrm{\Δ}{v}_{\mathrm{qs}}^r)\\ \frac{{\mathrm{\ω}}_L}{s+{\mathrm{\ω}}_L}\frac{s}{s+{\mathrm{\ω}}_H}\left({\mathrm{\ω}}_r{L}_q\mathrm{\Δ}{v}_{\mathrm{ds}}^r\right)\end{array}\right]---\left(7\right)$

The control input of described d-axle and q-axle reference system is as follows:

$i_{\mathrm{ds}\_\mathrm{controller}}^r=\frac{\mathrm{\α}{\mathrm{\ω}}_L}{s+{\mathrm{\ω}}_L}(-{\mathrm{\ω}}_r{L}_s{\mathrm{\Δv}}_{\mathrm{qs}}^r)---\left(8\right)$

$i_{\mathrm{qs}\_\mathrm{controller}}^r=\frac{s{\mathrm{\ω}}_L}{s+{\mathrm{\ω}}_L}\frac{\mathrm{\α}}{s+{\mathrm{\ω}}_H}\left({\mathrm{\ω}}_r{L}_s{\mathrm{\Δv}}_{\mathrm{ds}}^r\right)---\left(9\right)$

This d-and q-shaft current benchmark be changed into

${i_{\mathrm{ds}\_m}^r}^{*}={i_{\mathrm{ds}}^r}^{*}+i_{\mathrm{ds}\_\mathrm{controller}}^r={i_{\mathrm{ds}}^r}^{*}-\frac{\mathrm{\α\ω}}{s+\mathrm{\ω}}\left({\mathrm{\ω}}_r{L}_s\mathrm{\Δ}{v}_{\mathrm{qs}}^r\right)---\left(10\right)$

${i_{\mathrm{qs}\_m}^r}^{*}={i_{\mathrm{qs}}^r}^{*}+i_{\mathrm{qs}\_\mathrm{controller}}^r={i_{\mathrm{qs}}^r}^{*}+\frac{s{\mathrm{\ω}}_L}{s+{\mathrm{\ω}}_L}\frac{\mathrm{\α}}{s+{\mathrm{\ω}}_H}\left({\mathrm{\ω}}_r{L}_s\mathrm{\Δ}{v}_{\mathrm{ds}}^r\right)---\left(11\right)$

Except the algorithm of this controller, during the operating process of control system or algorithm, the current amplitude of described q-shaft current is limited in the maximum.This function makes electric current utilization rate maximum, and is no more than the rated value of converter and motor.

In order to prevent that current amplitude from surpassing predetermined maximum current amplitude, I _{S_max}, the limits value of q-shaft current is:

$i_{\mathrm{qs}\_\mathrm{limited}}^{r^{*}}=\±\sqrt{I_{s\_\max }^2-{\left(i_{\mathrm{ds}\_m}^{r^{*}}\right)}^2}.---\left(12\right)$

With reference to figure 1,, show the control system 10 of permanent magnet motor (not shown) according to one exemplary embodiment of the present invention.Control system 10 receives the synchronous reference frame current-order

And comprise first adder 12, be coupled to first flow restricter 14 of described adder 12, second flow restricter 16, be coupled to the second adder 18 of described second flow restricter 16, be coupled to the 3rd adder 20 of described first flow restricter 14, be coupled to the 4th adder 22 of adder 18, be coupled to first and second synchronous proportional integral (PI) current regulators 24 and 26 of described third and fourth adder 20 and 22 respectively, be coupled to the 5th and the 6th adder 28 and 30 of described PI current regulator 24 and 26 respectively, be coupled to the static reference system conversion block 32 that is synchronized to of the described the 5th and the 6th adder 28 and 30, be coupled to the voltage limiter 34 of conversion block 32, be coupled to the static of voltage limiter 34 to synchronous reference frame conversion block 36, low pass filter 42, input is coupled to described band pass filter 42 and is exported the gain module 38 that is coupled to described adder 12, band pass filter 44, and input is coupled to described band pass filter 44 and is exported the gain module 46 that is coupled to described adder 18.One or more parts of described control system 10 can be realized by software, firmware or hardware, for example carry out the application-specific integrated circuit (ASIC) (ASIC), electronic circuit, processor (shared, proprietary or in groups) of one or more softwares or firmware program and memory, combinational logic circuit, and/or other components and parts that are fit to, or their combination.

Described adder 12 and 20, gain module 38, low pass filter 42 and flow restricter 14 form d-shaft current compensating module together.According to employed here, term " module " refers to carry out the ASIC, electronic circuit, processor (shared, special-purpose or in groups) of one or more softwares or firmware program and memory, combinational logic circuit, and/or other suitable parts that described function is provided.Described low pass filter 42 filtering signals,

Q-axle synchronous reference frame voltage instruction wherein

Be from described adder 30 sampling gained, and tested q-axle synchronous reference frame voltage (v ^r _Qs) be from conversion block 36 sampling gained.Described ride gain (α) is applied to the filtering signal at gain module 38 places subsequently, thereby produces offset current, and described adder 12 changes described d-shaft current with reference to (i by this offset current ^* _Ds).This flow restricter 14 is limited in minimum d-shaft current with the current amplitude that obtains

And between zero, thereby mutagenic d-shaft current benchmark

The d-shaft current benchmark of these adder 20 more described changes

With tested d-shaft current (i ^r _Ds), be the error signal of PI current regulator 24 synchronously thereby generation offers described.

Flow restricter 16, adder 18 and 22, gain module 46 and band pass filter 44 form described q-shaft current compensating module together.These band pass filter 44 filtering signals,

Wherein the d-axle rotates the reference system voltage instruction synchronously

Be from described adder block 28 sampling gained, and tested d-axle rotate reference system voltage instruction (v synchronously ^R* _Ds) be from conversion block 36 sampling gained.Described ride gain (α) is applied to the filtering signal at gain module 46 places subsequently, thereby produces offset current, and described adder 18 changes described q-current reference (i by this offset current ^* _Qs).This flow restricter 16 is limited in maximum q-shaft current with the current amplitude that obtains

In, thereby mutagenic q-shaft current benchmark

The q-shaft current benchmark of these adder 22 more described changes

With tested q-shaft current (i ^r _Qs), thereby produce error signal.

This PI current regulator 24,26, adder 28 and 30, conversion block 32 and 36, and voltage limiter 34 forms described modular converter together.Should be offered described PI current regulator 24,26 respectively from the error signal of described integrator 20 and 22, and described adder 28 and 30 is with feed-forward voltage benchmark (v ^r _{Ds_ff}, v ^r _{Qs_ff}) addition, thereby produce the d-axle respectively and the q-axle rotates the reference system voltage instruction synchronously

This conversion block 32 is with described synchronous rotation reference system voltage instruction

Convert the static reference system voltage instruction that offers described voltage limiter 34 to.Described voltage limiter 34 can be at static reference system voltage instruction

Last enforcement multiple voltage control technology (for example, pulse-width modulation (PWM)), and export the static reference system voltage (v that measures respectively ^r _Ds, v ^r _Qs).Described conversion block 36 is surveyed static reference system voltage (v with institute ^s _Ds, v ^s _Qs) convert the synchronous reference frame voltage (v that surveys respectively to ^r _Ds, v ^r _Qs).2 to 3 modular converter (not shown) can be used for two-phase component of voltage (for example, v ^s _Ds, v ^s _Qs) convert the three-phase voltage component to.

Fig. 2 is the block diagram according to the control system 50 of the permanent magnet motor of another exemplary embodiment of the present invention.In this exemplary embodiment, described d-shaft current compensating module comprises adder 12 and 20, flow restricter 14, adder 56, be coupled to the spinner velocity module 52 of described adder 56, be coupled to the low pass filter 54 of spinner velocity module 52, and gain module 38.This q-shaft current is limited in maximum q-shaft current

In, but can't help described q-shaft current compensating module (for example, passes through signal

Change.

According to the control system shown in Fig. 1 10, described q-axle rotates the reference system voltage instruction synchronously

From described adder block 30 sampling, and described tested q-axle rotates reference system voltage (v synchronously ^r _Qs) from described transducer 36 sampling.Described adder 56 relatively q-axle is rotated the reference system voltage instruction synchronously

Rotate reference system voltage (v synchronously with described tested q-axle ^r _Qs), thereby produce voltage error.Described spinner velocity module 52 is with spinner velocity (ω _r) be applied to this voltage error, this this voltage error of low pass filter 54 filtering, and described gain module 38 is applied to described signal through filtering with 0 this ride gain (α), thus produce offset current.

Fig. 3 is the curve chart of peak torque curve that is respectively applied for the operation of the control system 10,50 shown in key diagram 1 and Fig. 2.Fig. 4 is the curve chart of peak power curve that the operation of the control system 10,50 shown in Fig. 1 and Fig. 2 is shown respectively.Fig. 5 is the curve chart of efficiency curve that the operation of the control system 10,50 shown in Fig. 1 and Fig. 2 is shown respectively.Utilize 25kW axial magnetic flux SPMM wheel hub electric motor test the present invention's (" method of proposition ") control system, and compare with following control method: " method 1 ", Control current rise to range of linearity restriction; " method 2 ", Control current rise to 97% of about six step voltages restriction; And six grades of operations (" six grades ").Method 1 and 2 is utilized has the anti-conventional synchronization current regulator that twines.In method 1 and 2, field weakening control break current reference is respectively 90% and 97% of six step voltages restriction thereby limit described voltage magnitude.As shown in Figure 3, the peak torque that is produced by control system of the present invention and six stage control methods all is similar under all test speed situations almost.As shown in Figure 4, the peak power that is produced by control system of the present invention is greater than utilizing method 1 and 2 peak powers that produced.In addition, similar with the peak power of utilizing six stage control methods to produce basically by the peak power that control system of the present invention produced.As shown in Figure 5, the system effectiveness of control system of the present invention is similar to six stage control methods substantially.Under higher speed, to compare with six stage control methods, the system effectiveness that control system of the present invention obtains is slightly high, represents that the low harmonic loss of control system of the present invention is lower.Therefore, control system of the present invention provides a kind of and six stage control method similar performance grades, the advantage that has the vector type control method simultaneously, for example high system effectiveness, under operational circumstances, keep Current Control, do not have transition algorithm, fast conversion performance, produce low space harmonic wave, low audio frequency noise and implement simple.

Fig. 6 is the flow chart of method 100 that is used to control permanent magnet motor according to one exemplary embodiment of the present invention.In step 105, (for example, in response to first voltage error

) (for example, regulate first current-order

), transferred electric current thereby produce first.Described first voltage error during the permanent magnet motor voltage saturation from second current-order (for example,

) obtain.In one exemplary embodiment, described permanent magnet motor has the voltage limit that the DC line voltage because of the transducer operated with permanent magnet motor is caused.Before step 105, produce described first voltage instruction from described second current-order, and determine described first voltage error according to described first voltage instruction and maximum voltage.In another exemplary embodiment, correction coefficient

Be determined, described correction coefficient is low pass filtering, thereby produces filter value, with the predetermined control gain application in this filter value, thereby produce the Current Regulation amount, and from described first current-order, deduct described Current Regulation amount and obtain described first and regulate electric current.In step 110, (for example, in response to second voltage error

) regulate described second current-order, regulate electric current thereby produce second.Described second voltage error obtains from first current-order during the voltage saturation of described permanent magnet motor.In one exemplary embodiment, correction coefficient Be determined, described correction coefficient is by bandpass filtering, thus the generation filter value, with the predetermined control gain application in this filter value, thereby produce the Current Regulation amount, and from described second current-order, deduct described Current Regulation amount, regulate electric current thereby produce described second.In another exemplary embodiment, saved step 110.In step 115, each first adjusting electric current and second is regulated electric current and all is limited in below the maximum current.For example, the described first adjusting electric current (for example, is being limited in the first predetermined minimum current

) and between zero, thereby produce the first restriction current reference

And second regulates electric current is limited in

With Between, I wherein _{S_max}It is maximum current.In step 120, described first regulates electric current is converted into first electromotive force (for example, v ^s _Ds).In step 125, described second regulates electric current is converted into second electromotive force (for example, v ^s _Qs).In step 130, described first and second electromotive forces are provided for permanent magnet motor.This method can also comprise that regulating current conversion with described first becomes first voltage with reference to instruction (for example,

), regulate current conversion with described second and become second voltage (for example, with reference to instruction

), and each described first and second voltage is limited in the maximum voltage of permanent magnet motor with reference to instruction.

At least one embodiment is being described in detail before, should be appreciated that also to have many kinds of modification.It is also understood that exemplary embodiment or a plurality of exemplary embodiment only are examples, in any case can not limit the scope of the invention, application or structure.In addition, detailed description before will provide the fast way of implementing this exemplary embodiment or a plurality of exemplary embodiments to those skilled in the art.Should be appreciated that the function of element and being provided with to have multiple variation, and can not break away from the scope of the present invention that claims and legal equivalents thereof limit.

Claims (20)

1. method that is used to control permanent magnet motor, the method comprising the steps of:

Regulate first current-order in response to voltage error, regulate electric current thereby produce first, this voltage error obtains from second current-order during the voltage saturation of described permanent magnet motor;

Each described first adjusting electric current and described second current-order are limited in below the maximum current;

Regulate current conversion with described first and become first electromotive force;

Convert described second current-order to second electromotive force; And

Provide described first and second electromotive forces to described permanent magnet motor.

2. method according to claim 1, wherein said conditioning step comprises:

Regulating electric current with described first is limited in below the restriction of first electric current; And

Described second current-order is limited in below the restriction of second electric current, and described second electric current restriction obtains from described first adjusting electric current and described maximum current.

3. method according to claim 1, wherein said conditioning step comprises:

Regulate electric current with described first and be restricted to the first predetermined maximum current, to produce the first restriction electric current; And

Described second electric current is limited in

With Between, I wherein _{S_max}Be maximum stator current, and

It is the first restriction electric current.

4. method according to claim 1, wherein said permanent magnet motor has voltage limit, and its step of stating described first current-order of adjusting comprises:

Determine correction coefficient

The described correction coefficient of low-pass filtering is to produce filter value;

The predetermined control gain application is arrived described filter value to produce the Current Regulation amount; And

From described first current-order, deduct described Current Regulation amount, regulate electric current to produce described first;

ω wherein _rBe the rotor speed of permanent magnet motor, L _sBe the inductance of the every phase of motor,

Be the q-axle reference voltage instruction that obtains from described second current-order, and v ^r _QsBe by described voltage limit is applied to

And the q-axle reference voltage that obtains.

5. method according to claim 1, wherein said permanent magnet motor has voltage limit, and the step that electric current is regulated in wherein said conversion described first comprises:

Regulate current conversion with described first and become first voltage instruction; And

Described first voltage instruction is limited in below the maximum electrical potential, to produce described first electromotive force.

6. method according to claim 1, wherein said permanent magnet motor has voltage limit, and the step of described second current-order of wherein said conversion comprises:

Convert described second current-order to second voltage instruction; And

Described second voltage instruction is limited in below the maximum electrical potential, to produce described second electromotive force.

7. method according to claim 6, wherein said regulating step comprise, determine voltage error according to the difference between described second voltage instruction and described second electromotive force.

8. method that is used to control permanent magnet motor, described method comprises step:

Regulate first current-order in response to first voltage error, regulate electric current thereby produce first, this first voltage error obtains from second current-order during the voltage saturation of described permanent magnet motor;

Regulate second current-order in response to second voltage error, regulate electric current thereby produce second, this second voltage error obtains from first current-order during the voltage saturation of described permanent magnet motor;

Each described first adjusting electric current and described second is regulated current-order to be limited in below the maximum current;

Regulate current conversion with described first and become first electromotive force;

Convert described second current-order to second electromotive force; And

Provide described first and second electromotive forces to described permanent magnet motor.

9. method according to claim 8, wherein said conditioning step comprises:

Regulating electric current with described first is limited in below the restriction of first electric current; And

Described second current-order is limited in below the restriction of second electric current, and described second electric current restriction obtains from described first adjusting electric current and described maximum current.

10. method according to claim 8, wherein said conditioning step comprises:

Regulate electric current with described first and be limited in below the first predetermined maximum current, to produce the first restriction current reference; And

Regulating electric current with described second is limited in

With

Between, I wherein _{S_max}Be maximum stator current, and It is the first restriction current reference.

11. method according to claim 8, wherein said permanent magnet motor has voltage limit, and wherein this method also is included in before the step of described first current-order of described adjusting:

Produce first voltage instruction from described second current-order; And

Determine described first voltage error according to described first voltage instruction and maximum voltage.

12. method according to claim 8, wherein said permanent magnet motor has maximum voltage, and the step of described first current-order of wherein said adjusting comprises:

Determine correction coefficient

The described correction coefficient of low-pass filtering is to produce filter value;

The predetermined control gain application is arrived described filter value to produce the Current Regulation amount; And

From described first current-order, deduct described Current Regulation amount, regulate electric current to produce described first;

ω wherein _rBe the rotor speed of permanent magnet motor, L _sBe the inductance of the every phase of motor,

Be the q-axle reference voltage instruction that obtains from described second current-order, and v ^r _QsBe from maximum voltage and The q-axle reference voltage that obtains.

13. method according to claim 8, wherein said permanent magnet motor has maximum voltage, and the step of described second current-order of wherein said adjusting comprises:

Produce second voltage instruction from described first current-order; And

Determine described second voltage error according to described second voltage instruction and described maximum voltage.

14. method according to claim 8, wherein said permanent magnet motor has maximum voltage, and the step of described second current-order of wherein said adjusting comprises:

Determine correction coefficient

The described correction coefficient of bandpass filtering is to produce filter value;

The predetermined control gain application is arrived described filter value to produce the Current Regulation amount; And

From described second current-order, deduct described Current Regulation amount, regulate electric current to produce described second;

ω wherein _rBe the rotor speed of permanent magnet motor, L _sBe the inductance of the every phase of motor,

Be the d-axle reference voltage instruction that obtains from described second current-order, and v ^r _DsBe from maximum voltage and

The d-axle reference voltage that obtains.

15. method according to claim 8, wherein said permanent magnet motor has voltage limit, and wherein this method also comprises:

Regulating current conversion with described first becomes first voltage with reference to instruction;

Regulating current conversion with described second becomes second voltage with reference to instruction; And

Each described first and second voltage is restricted to maximum voltage with reference to instruction.

16. a control system is used to regulate the input voltage of the permanent magnet motor with saturation current, this controller comprises:

The first current compensation module, it is configured to:

From first current-order, deduct first error, regulate electric current to produce first; And

Regulate electric current with described first and be restricted to first maximum current, thereby produce the first restriction electric current;

The second current compensation module, it is configured to:

Second current-order is restricted to second maximum current, thereby produces the second restriction electric current, described second maximum current obtains from described first maximum current and described saturation current; And

Be coupled to the modular converter of the described first and second current compensation modules, to be used for that the described first restriction current conversion is become first input voltage, and be used for the described second restriction current conversion is become second input voltage, when will be described second limit and produce described first error when current conversion becomes described second input voltage.

17. control system according to claim 16, the wherein said first current compensation module comprises:

Low pass filter is used to receive described error and produces filtering signal;

Be coupled to the gain module of described low pass filter, be used for ride gain is applied to described filtering signal; And

Be coupled to the adder of amplifier, be used for more described first current-order and described first error.

18. control system according to claim 16, the wherein said second current compensation module comprises the adder that is used for described second restriction electric current and the second error addition, produces described second error when current conversion becomes described first input voltage when limiting described first.

19. control system according to claim 18, the wherein said second current compensation module also comprises:

Band pass filter is used to receive described second error and produces filtering signal; And

Be coupled to the gain module of described band pass filter, be used for ride gain is applied to described filtering signal.

20. control system according to claim 18, wherein said modular converter comprises the voltage limit module, and it is configured to:

Receive first and second voltage instructions, described first voltage instruction obtains from the described first restriction electric current, and described second voltage instruction obtains from the described second restriction electric current;

Limit described first voltage instruction producing described first input voltage, described second error is poor between described first voltage instruction and described first input voltage; And

Limit described second voltage instruction, producing described second input voltage, described first error is poor between described second voltage instruction and described second input voltage.

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