CN102324877B - Car permanent magnet synchronous motor control system and method - Google Patents
Car permanent magnet synchronous motor control system and method Download PDFInfo
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- CN102324877B CN102324877B CN2011102734608A CN201110273460A CN102324877B CN 102324877 B CN102324877 B CN 102324877B CN 2011102734608 A CN2011102734608 A CN 2011102734608A CN 201110273460 A CN201110273460 A CN 201110273460A CN 102324877 B CN102324877 B CN 102324877B
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Abstract
The invention provides a brand new permanent magnet synchronous motor control method. A control system applied by the method comprises a torque command input unit, a torque-current lookup unit, a cross decoupling regulation unit, a space vector pulse width modulation unit, an inverter unit, a weak magnetic regulation unit and a permanent magnet synchronous motor unit, wherein the torque-current lookup unit performs analysis according to the output result of current weak magnetic regulation and a torque command and acquires an AC-DC shaft current command through lookup, and the lookup manner is irrelevant to the rotating speed so as to improve the convenience and the accuracy of torque lookup; meanwhile, the cross decoupling regulation unit performs cross PI (Proportional-Integral) regulation on the difference between the AC-DC shaft current command and actual current feedback so as to reduce the influence of cross coupling of the motor per se at high speed and improve the high-speed stability of the motor; and the weak magnetic regulation unit calculates the amplitude of voltage vector according to the current AC-DC shaft voltage reference command, performs PI regulation on the amplitude and the maximum available voltage vector amplitude in the current busbar voltage and automatically outputs a weak magnetic reference current command to conveniently enlarge the motor speed regulation range.
Description
Technical field
The invention belongs to new-energy automobile drive motors system field, be specifically related to the torque control mode of permagnetic synchronous motor, weak magnetic regulative mode and cross decoupling control.
Background technology
For the new-energy automobile drive system, the general permagnetic synchronous motor system with high efficiency and high power density characteristic that adopts drives, and the permanent torque of the low speed of permagnetic synchronous motor simultaneously and high speed constant output characteristic also just in time meet the operation characteristic requirement of automobile.For the velocity interval that satisfies car load operation and the accuracy of control, generally require electric system to adopt the torque control mode, and possess higher speed adjustable range, thereby the control mode of motor has been proposed higher requirement.Current-voltage is regulated the general mode that adopts non-cross decoupling during automobile permanent magnet synchronous motor system control at present.This mode has bigger restriction to the high-speed cruising of motor, is easy to cause system's instability.The present invention is primarily aimed at these relevant issues and proposes a kind of brand-new automobile permanent magnet synchronous motor system control mode, current-voltage is regulated the cross decoupling mode that adopts in this mode, adopt automatic weak-magnetic to regulate control simultaneously, can reduce the control difficulty, improve system high-speed stability and speed adjustable range.
Summary of the invention
For solving the above problem that exists in the prior art, the application discloses a kind of new-energy automobile control system for permanent-magnet synchronous motor.The job requirement that the present invention is directed to the automobile permanent magnet synchronous motor system proposes a kind of permagnetic synchronous motor control mode, and this mode can realize the torque control of electric system, and possesses the ability to work of wide speed regulating range, thereby satisfies the car load need of work.
The present invention is specifically by the following technical solutions:
A kind of automobile permanent magnet synchronous motor control system is characterized in that: described control system comprises torque instruction input unit, torque-current lookup unit, cross decoupling regulon, space vector pulse width modulation unit, weak magnetic regulon and inverter unit;
Described torque instruction input unit links to each other with car load by the CAN bus, inputs to described torque-current lookup unit with the torque instruction signal of car load transmission and after resolving;
The torque instruction signal that contained torque-current lookup unit transmits according to the torque instruction input unit and the weak magnetic reference current instruction of weak magnetic regulon output are tabled look-up and are obtained required friendship/direct-axis current command signal and input to the cross decoupling regulon;
Actual friendship/direct-axis current feedback signal that described cross decoupling regulon is exported according to friendship/constant current instruction and the permagnetic synchronous motor unit of the output of torque-current lookup unit is carried out the cross decoupling adjusting and is obtained friendship/d-axis reference voltage, and described friendship/d-axis reference voltage is inputed to space vector pulse width modulation unit and weak magnetic regulon respectively;
Described weak magnetic regulon calculates weak magnetic reference instruction and inputs to described torque-current lookup unit according to the friendship/d-axis reference voltage of cross decoupling regulon output;
Described space vector pulse width modulation unit carries out space vector pulse width modulation according to the friendship/d-axis reference voltage of cross decoupling regulon output, and the pulse-width signal that obtains is input to described inverter unit, drive permagnetic synchronous motor by inverter unit output three-phase power voltage, the actual friendship/direct-axis current feedback signal of permagnetic synchronous motor feedback output exports the cross decoupling unit to and regulates to carry out the cross decoupling current closed-loop.
When the permagnetic synchronous motor rotating speed when the base speed of current busbar voltage correspondence is following, weak magnetic regulon no-output, when the permagnetic synchronous motor output speed when the base speed of current busbar voltage correspondence is above, the weak magnetic reference current of weak magnetic regulon output instructs as the input of torque-current lookup unit.
When magnetic is regulated control a little less than carrying out, friendship/d-axis the reference voltage of cross decoupling unit output is as the input of weak magnetic regulon, and magnetic adjusting a little less than having only amplitude when friendships/d-axis reference voltage just to carry out during maximum voltage available vector magnitude under greater than current busbar voltage.
The cross decoupling regulon carries out cross decoupling according to the friendship/direct-axis current instruction of torque-current lookup unit output with the difference of the feedback current of permagnetic synchronous motor output to be regulated, when carrying out the cross decoupling adjusting, the result that friendship/direct-axis current is regulated multiply by corresponding coefficient respectively and intersects and be added in each self-regulating output, through output friendship/d-axis reference voltage instruction behind the amplitude limit, need simultaneously according to the direction of current rotating speed the cross decoupling coefficient to be adjusted.
Adopt above-mentioned automobile permanent magnet synchronous motor system control scheme the reduction system to control difficulty, expansion motor speed range of operation, the high stability of raising system, thus can further improve fail safe and the reliability that new-energy automobile is used the permagnetic synchronous motor drive system.
Description of drawings
Fig. 1 automobile permanent magnet synchronous motor control system block diagram;
Fig. 2 cross decoupling unit inner frame figure.
Embodiment
Below in conjunction with accompanying drawing the present invention is further set forth explanation.
In order to realize the requirement of automobile permanent magnet synchronous motor system wide speed regulating range, the present invention has introduced weak magnetic regulon in electric machine control system.Owing to be subjected to the restriction of busbar voltage, when motor speed was higher, inverter unit can't provide operation required voltage magnitude, so in order to satisfy wideer speed adjustable range, need carry out weak magnetic control system to motor, by increasing the amplitude of d-axis negative current, the magnetic that reduces d-axis magnetic field is close.In the weak magnetic regulon of this control mode, by maximum voltage available vector magnitude under the amplitude of ac-dc axis Voltage Reference instruction and the current busbar voltage is compared, whether thereby judging needs to carry out weak magnetic control system under the current rotating speed state, and carries out the output adjusting of degaussing direct-axis current instruction automatically according to the difference of the two.This regulative mode not with rotating speed as input, but judge automatically and regulate with ac-dc axis Voltage Reference instruction and busbar voltage, improved the convenience that weak magnetic adjusting and system control.
For permagnetic synchronous motor, its voltage equation is shown below:
Wherein:
Be direct-axis voltage,
Be quadrature-axis voltage,
Be direct-axis current,
Be the friendship shaft current,
Be stator resistance,
Be a friendship axle inductance,
Be the d-axis inductance,
Be the permanent magnetism magnetic linkage,
Be motor angular velocity.As can be seen from the above equation, when motor speed was higher, the cross term of ac-dc axis inductance was occupied larger specific gravity in the ac-dc axis voltage, so when motor is controlled, regulate if according to traditional approach the ac-dc axis electric current is carried out PI respectively, will bring bigger influence to the stability of motor operation.
At this problem, the present invention proposes a kind of brand-new cross decoupling regulative mode, that is: when the ac-dc axis electric current is regulated, the output result that the ac-dc axis electric current is regulated multiply by and intersects the output of each self tuning regulator that is added to behind the coefficient respectively, and carries out amplitude limiting processing.The cross decoupling coefficient needs to adjust according to the direction of rotating speed simultaneously.Can reduce the influence of cross-couplings item in the electric moter voltage equation greatly by this mode, improve the stability of magneto high-speed cruising.
As shown in Figure 1, the automobile permanent magnet synchronous motor control system mainly comprises: torque instruction input unit, torque-current lookup unit, the cross decoupling regulon, the space vector pulse width modulation unit, inverter unit, weak magnetic regulon and permagnetic synchronous motor unit.
Wherein the torque instruction input unit mainly is that car load is resolved by the torque instruction signal that the CAN communication sends, and obtains the required dtc signal input of torque-current computation of table lookup
For weak magnetic regulon, its embodiment is at first calculated current amplitude with reference to ac-dc axis voltage as shown in Figure 1
, wherein
Be the instruction of d-axis reference voltage,
For handing over the instruction of axle reference voltage.Theory analysis as can be known, space vector control algolithm for permagnetic synchronous motor, the maximum voltage available amplitude of motor is proportional with current busbar voltage, when the voltage magnitude of motor operation surpasses under the current busbar voltage maximum voltage available amplitude, need carrying out weak magnetic, to regulate to satisfy expansion speed required, namely increases the d-axis negative current.So in the weak magnetic regulon, by to
Difference regulate, automatically regulate the weak magnetic reference instruction of output
, if
Less than the voltage available amplitude under the current busbar voltage, then the output result that regulates of the weak magnetic of restriction is zero.
Simultaneously, in order to realize the ride comfort of weak magnetic control system, when regulating, need suitably reduce regulating with reference to maximum available voltage magnitude under the required current busbar voltage weak magnetic.
The output result that the torque-current lookup unit is regulated according to current weak magnetic
And torque instruction
Resolving tables look-up obtains the ac-dc axis current-order.Concrete mode is: at first by adopting the output characteristic MAP that obtains electric system based on a large amount of tests of optimal control algorithm, and just this MAP makes corresponding form.Then when carrying out torque current when tabling look-up, directly carry out computation of table lookup according to the direct-axis current instruction of current torque instruction and the output of weak magnetic regulon, thereby obtain the ac-dc axis current reference instruction under current torque instruction and the rotating speed state.This lookup table mode is insensitive to the rotating speed state, thereby has improved convenience and accuracy that torque is tabled look-up.
For the internal control block diagram of cross decoupling regulon as shown in Figure 2, at first the instruction of ac-dc axis reference current and the difference of actual feedback are regulated respectively, after the output result that direct-axis current is regulated multiply by a coefficient k q then, hand over the instruction of axle reference voltage with output after the output result stack of handing over shaft current to regulate and the restriction amplitude; After the output result who hands over shaft current to regulate be multiply by the output result who regulates with direct-axis current behind the coefficient k d and superpose and limit amplitude, the instruction of output d-axis reference voltage
Wherein cross decoupling coefficient k d and kq be along with the variation of rotary speed direction is adjusted, and considers simultaneously in order to realize that weak magnetic regulates, need to set the instruction of ac-dc axis reference voltage the output violent change value be a bit larger tham maximum voltage available amplitude under the current busbar voltage.
For the space vector pulse width modulation unit, mainly be to adopt the SVPWM algorithm to obtain 6 pulse-width signals to be input to inverter unit, and inverter unit output three-phase power voltage drives permagnetic synchronous motor, and the actual ac-dc axis current signal of permagnetic synchronous motor feedback output regulates for the cross decoupling unit to carry out the cross decoupling current closed-loop.
Claims (5)
1. automobile permanent magnet synchronous motor control system, it is characterized in that: described control system comprises torque instruction input unit, torque-current lookup unit, cross decoupling regulon, space vector pulse width modulation unit, weak magnetic regulon and inverter unit;
Described torque instruction input unit links to each other with car load by the CAN bus, inputs to described torque-current lookup unit after the torque instruction signal of car load transmission is resolved;
The torque instruction signal that described torque-current lookup unit transmits according to the torque instruction input unit and the weak magnetic reference current instruction of weak magnetic regulon output are tabled look-up and are obtained required friendship/direct-axis current command signal and input to the cross decoupling regulon;
Actual friendship/direct-axis current feedback signal that described cross decoupling regulon is exported according to friendship/direct-axis current command signal and the permagnetic synchronous motor unit of the output of torque-current lookup unit is carried out the cross decoupling adjusting and is obtained friendship/d-axis reference voltage, and described friendship/d-axis reference voltage is inputed to space vector pulse width modulation unit and weak magnetic regulon respectively;
Described weak magnetic regulon calculates weak magnetic reference current instruction and inputs to described torque-current lookup unit according to the friendship/d-axis reference voltage of cross decoupling regulon output;
Described space vector pulse width modulation unit carries out space vector pulse width modulation according to the friendship/d-axis reference voltage of cross decoupling regulon output, and the pulse-width signal that obtains is input to described inverter unit, drive permagnetic synchronous motor by inverter unit output three-phase power voltage, the actual friendship/direct-axis current feedback signal of permagnetic synchronous motor feedback output exports the cross decoupling unit to and regulates to carry out the cross decoupling current closed-loop.
2. control system according to claim 1 is characterized in that: when the permagnetic synchronous motor rotating speed when the base speed of current busbar voltage correspondence is following, weak magnetic regulon no-output; When the permagnetic synchronous motor output speed when the base speed of current busbar voltage correspondence is above, the weak magnetic reference current of weak magnetic regulon output instructs as the input of torque-current lookup unit.
3. control system according to claim 2, it is characterized in that: when magnetic is regulated control a little less than carrying out, friendship/d-axis the reference voltage of cross decoupling regulon output is as the input of weak magnetic regulon, and magnetic adjusting a little less than having only amplitude when friendships/d-axis reference voltage just to carry out during maximum voltage available vector magnitude under greater than current busbar voltage.
4. according to claim 1 or 3 described control system, it is characterized in that: the cross decoupling regulon carries out cross decoupling according to the friendship/direct-axis current instruction of torque-current lookup unit output with the difference of the feedback current of permagnetic synchronous motor output to be regulated.
5. control system according to claim 4, it is characterized in that: when carrying out the cross decoupling adjusting, the result that friendship/direct-axis current is regulated multiply by corresponding coefficient respectively and intersects and be added in each self-regulating output, through output friendship/d-axis reference voltage instruction behind the amplitude limit, need simultaneously according to the direction of current rotating speed the cross decoupling coefficient to be adjusted.
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Application publication date: 20120118 Assignee: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. Assignor: Chongqing Changan Automobile Co.,Ltd.|CHONGQING CHANG'AN NEW ENERGY AUTOMOBILE Co.,Ltd. Contract record no.: 2018500000018 Denomination of invention: Car permanent magnet synchronous motor control system and method Granted publication date: 20130807 License type: Exclusive License Record date: 20181121 |
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Effective date of registration: 20190109 Address after: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee after: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. Address before: 400023, No. 260, Jianxin East Road, Jiangbei District, Chongqing Co-patentee before: CHONGQING CHANG'AN NEW ENERGY AUTOMOBILE Co.,Ltd. Patentee before: Chongqing Changan Automobile Co.,Ltd. |
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Address after: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee after: Deep Blue Automotive Technology Co.,Ltd. Address before: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee before: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. |