CN102386836B - Transmission control method and device of permanent magnet synchronous motor - Google Patents

Transmission control method and device of permanent magnet synchronous motor Download PDF

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Publication number
CN102386836B
CN102386836B CN201010268863.9A CN201010268863A CN102386836B CN 102386836 B CN102386836 B CN 102386836B CN 201010268863 A CN201010268863 A CN 201010268863A CN 102386836 B CN102386836 B CN 102386836B
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given
axle
synchronous motor
control signal
permagnetic synchronous
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CN102386836A (en
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陈振锋
荆跃鹏
梁培志
程卫东
陈振强
段迎洁
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CRRC Yongji Electric Co Ltd
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Yongji Xinshisu Electric Equipment Co Ltd
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Abstract

The invention provides a transmission control method and device of a permanent magnet synchronous motor, which belong to the technical field of automatic control. The method comprises step 1, generating a control signal of a d-axis given current based on a given torque parameter, further generating a control signal of a q-axis given current according to the given torque parameter and the control signal of the d-axis given current and inputting the control signal of the d-axis given current and the control signal of the q-axis given current into a decoupling control module; step 2, outputting a modulation signal into an inverter by means of the decoupling control module; and step 3, driving the permanent magnet synchronous motor to operate by means of the inverter according to the modulation signal. The device comprises a d-axis given current control signal generating module, a q-axis given current control signal generating module, the decoupling control module, a modulating module, the inverter and a torque given module. The permanent magnet synchronous motor obtained by means of the method and the device is stable in torque and good in robustness.

Description

Permagnetic synchronous motor transmission control method and device
Technical field
The present invention relates to a kind of Motor Control technology, relate in particular to a kind of permagnetic synchronous motor transmission control method and device.
Background technology
Volume is little, lightweight, efficiency is high because having for permagnetic synchronous motor, energy savings, speed of service advantages of higher, just day by day obtains applying more and more widely.At present, the mode of controlling permagnetic synchronous motor mainly contains 2 kinds, and a kind of is vector control mode, and another kind is direct torque control mode.
Vector control mode is to be the d axle actual current i under rotor coordinate by actual threephase stator current equivalence sdwith q axle actual current i sq(the rotor permanent magnet first-harmonic excitation field axis of take is d axle, and counterclockwise 90-degree rotation electrical degree is q axle); And give the given total current of driving control system of permagnetic synchronous motor, and by given total current process breakdown torque current ratio (Maximum Torque PerAmpere, MTPA) control and calculate the given electric current of d axle, more given total current and the given current subtraction of d axle are calculated to the given electric current of q axle; Then by the given electric current of d axle
Figure BSA00000251649000011
with d axle actual current i ds, the given electric current of q axle
Figure BSA00000251649000012
with q axle actual current i sqcarry out decoupling zero control, the essence that decoupling zero is controlled is namely regulated and is made by PI
Figure BSA00000251649000013
Figure BSA00000251649000014
when
Figure BSA00000251649000015
Figure BSA00000251649000016
time voltage as d shaft voltage u sdwith q shaft voltage u sq, to the u obtaining sdand u sqmodulate, the switching signal obtaining is converted to three-phase alternating current by inverter is input to permagnetic synchronous motor after modulation, drive permagnetic synchronous motor operation, thereby realize the vector control to permagnetic synchronous motor.
In realizing process of the present invention, inventor finds that in prior art, at least there are the following problems:
Prior art is calculated the given electric current of d axle according to given total current, then given total current and the given current subtraction of d axle are obtained to the given electric current of q axle, but differ and obtain surely the torque of expection according to the given electric current of d axle and the given electric current of q axle, thereby it is unstable to cause exporting torque, poor robustness.
Summary of the invention
The embodiment of the present invention provides a kind of permagnetic synchronous motor transmission control method and device, in order to solve the given complexity of torque in prior art, the defect of poor robustness.
The invention provides a kind of permagnetic synchronous motor transmission control method, to be equivalent to the control signal of the given electric current of d axle under rotor coordinate and the control signal of the given electric current of q axle and be input to the step of decoupling zero control module, the output modulation signal of described decoupling zero control module is to the step of inverter, and inverter drives the step of described permagnetic synchronous motor operation according to described modulation signal; Described the step that is equivalent to the control signal of the given electric current of d axle under rotor coordinate and the control signal of the given electric current of q axle and is input to decoupling zero control module is specifically comprised:
Given torque parameter;
Based on described given torque parameter, produce the control signal of the given electric current of described d axle, and further according to the control signal of described given torque parameter and the given electric current of described d axle, produce the control signal of the given electric current of described q axle;
The control signal of the control signal of the given electric current of described d axle and the given electric current of described q axle is input to described decoupling zero control module.
The invention provides a kind of permagnetic synchronous motor transmission control device, the given current controling signal generation module of d axle, the given current controling signal generation module of q axle, decoupling zero control module, modulation module, the given module of inverter and torque, the given module of torque is for given torque parameter;
The given current controling signal generation module of described q axle, for the given current controling signal of d axle based on the given torque parameter of the given module of described torque and the given current controling signal generation module generation of described d axle, produce the given current controling signal of q axle, and the given current controling signal of q axle of generation and the given current controling signal of d axle are inputed to described decoupling zero control module.
In the present invention, directly give the given torque parameter of permagnetic synchronous motor, then the torque parameter based on given produces and is equivalent to the control signal of the given electric current of d axle under rotor coordinate and the control signal of the given electric current of q axle, because being directly calculates the control signal of the given electric current of d axle and the control signal of the given electric current of q axle based on given torque parameter, therefore by the control signal of the given electric current of d axle and the control signal of the given electric current of q axle, just can obtain the torque of expection, the torque of acquisition not only good stability and also robustness good.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic flow sheet of permagnetic synchronous motor transmission control method embodiment of the present invention;
Fig. 2 is that foot switch signal is processed schematic diagram;
Fig. 3 is permagnetic synchronous motor transmission control device example structure schematic diagram of the present invention.
Embodiment
For making object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
Fig. 1 is the schematic flow sheet of permagnetic synchronous motor transmission control method embodiment of the present invention, and as shown in Figure 1, the method comprises:
Step 101: the DC bus-bar voltage V that detects permagnetic synchronous motor dcwith threephase stator current i a, i band i c;
Step 102: detect the rotor position angle θ of permagnetic synchronous motor, calculate permagnetic synchronous motor rotational speed omega according to this rotor position angle θ r; And according to rotor position angle θ by i a, i band i cbe equivalent to the control signal of electric current under rotor coordinate, i.e. the control signal i of d axle actual current sdcontrol signal i with q axle actual current sq;
In working control, what detect is the threephase stator electric current of permagnetic synchronous motor, need to, by the electric current under threephase stator coordinate through coordinate transform, be equivalent to the control signal of electric current under rotor coordinate.Realize stator coordinate to the conversion of rotor coordinate, must detect in real time the rotor-position of permagnetic synchronous motor, conventional rotor-position is detected by detecting sensors such as incremental optical-electricity encoder, absolute optical encoder or resolvers, and the embodiment of the present invention be take resolver and described as example.
Concrete, adopt formula (1) to calculate permagnetic synchronous motor rotational speed omega r,
ω r = dθ dt - - - ( 1 )
Adopt formula (2) to produce the control signal i of d axle actual current sdcontrol signal i with q axle actual current sq,
i sd i sq = 2 3 cos cos ( θ - 2 3 π ) cos ( θ + 2 3 π ) sin θ sin ( θ - 2 3 π ) sin ( θ + 2 3 π ) · i a i b i c - - - ( 2 )
Step 103: given torque parameter, when permagnetic synchronous motor rotational speed omega rwhile surpassing maximum constraints speed, can also be to permagnetic synchronous motor rotational speed omega rcarry out PI adjusting, permagnetic synchronous motor rotating speed is controlled to maximum constraints speed;
The embodiment of the present invention can be applied in electric automobile, therefore, can foot switch be installed at electric automobile drivers' cab, and driver is by stepping on pedal with the given torque parameter of mode of given voltage.The present invention also can be applied in other control system, corresponding, can give as the case may be the given torque parameter of permagnetic synchronous motor, and the present invention does not limit this.
In practical application, for security consideration, permagnetic synchronous motor rotating speed is the maximum constraints speed that does not allow to be greater than permagnetic synchronous motor, that is to say when electric automobile speed be not allow to be greater than maximum constraints speed.If when permagnetic synchronous motor rotating speed is greater than the maximum constraints speed of permagnetic synchronous motor, or when electric automobile speed is greater than maximum constraints speed, prior art forces given torque to be made as 0, cannot even running when this just causes electric automobile speed to be greater than maximum constraints speed, and may have an accident thus; And the present invention is by the permagnetic synchronous motor rotational speed omega to over maximum constraints speed rcarry out PI adjusting, make permagnetic synchronous motor rotational speed omega rbe reduced to gradually maximum constraints speed, due to permagnetic synchronous motor rotational speed omega rand the linear relationship between given torque, in permagnetic synchronous motor rotational speed omega rwhen reducing, given torque also can be reduced to the load balance with permagnetic synchronous motor gradually, has so not only prevented permagnetic synchronous motor rotational speed omega rsurpass the security incident that maximum constraints rotating speed causes, and make the electric automobile can even running when maximum constraints speed, further improved the fail safe of electric automobile operation.
Driver by stepping on the detailed process of the given torque parameter of pedal is: driver is when driving a car, can judge that current is to increase given torque according to factors such as road conditions, running distance, automobile present speeds, still reduce given torque, and increase and reduce given torque, all by driver, step on pedal and carry out.When electric automobile operates in maximum constraints speed when following, speed control system is open loop, the speed of electric automobile is opened the throttle and is reduced throttle according to factors such as current road conditions, vehicle conditions by driver and controls, when needs strengthen electric automobile speed, driver increases given torque by pedal, namely driver just down steps on pedal, " open the throttle ", when needs reduce electric automobile speed, while namely reducing given torque, driver just up unclamps pedal, " reduces throttle "; When the speed of electric automobile surpasses maximum constraints speed, driver is just inoperative by the given given torque of pedal, this control system is carried out PI adjusting to this maximum constraints speed, the speed of electric automobile is controlled to maximum constraints speed, prevents that car speed is too fast and cause the generation of accident.
In the embodiment of the present invention, the output voltage of pedal is 0～11 volt, and the operating voltage of the control system of permagnetic synchronous motor traction invertor is 5V, can by the voltage transitions of 0～11V, be therefore 0～5V by linear isolation.
Linear isolation can also prevent the interference of external signal to permagnetic synchronous motor traction invertor, improves the antijamming capability of permagnetic synchronous motor traction invertor, guarantees that this isolation is that linear direct ratio changes simultaneously, rather than nonlinear change.
For example, when the output voltage of pedal is 0 volt, the output voltage after linear isolation is also 0 volt; When the output voltage of pedal is 11 volts, output voltage after linear isolation is 5 volts, the output voltage of pedal and the proportionate relationship between the output voltage after linear isolation are 5 volts/11 volts, can release thus, when the output voltage of pedal is 5.5 volts, the output voltage after linear isolation is 5 volts * 5.5 volts/11 volts=2.5 volts.
For the degree (be called for short aperture, being also said in reality is the size of " throttle ") that pedal is opened, carry out quantitative expression, the aperture of pedal can be divided into 1024 equal portions, the umber opening by pedal is to the given torque of permagnetic synchronous motor.Concrete can convert the output voltage after linear isolation to tens word signal through AD, is 0-1023.For example, when driver does not step on pedal, the output voltage of foot switch is 0 volt, and the output voltage after linear isolation is 0 volt, and now AD transformation result is also 0; When driver steps on pedal maximum, the output voltage of foot switch is 11 volts, and the output voltage after linear isolation is 5 volts, and now AD transformation result is 1023.From the above, whole transfer process is all linear, and the breakdown torque that is about to motor has been divided equally into 1024 equal portions.When driver does not step on pedal, represent that given torque is 0, when driver steps on pedal maximum, show that given torque is breakdown torque.
Fig. 2 is that foot switch signal is processed schematic diagram, and as shown in Figure 2, the voltage of 0～11V is converted to 0～5V by circuit linearity insulating circuit, and then 0～5V is changed and is divided into 1024 equal portions by AD.
It should be noted that, at electric automobile resistance one regularly, the relation of torque and permagnetic synchronous motor rotating speed can be expressed as:
dω r dt = p n 1 J [ T e - B ω r p n - T L ] - - - ( 3 )
Formula (3) can illustrate that increasing torque can make permagnetic synchronous motor speed increase; Reduce torque and can make permagnetic synchronous motor Speed Reduction.Wherein, p nfor number of pole-pairs, J is the moment of inertia of motor, and B is coefficient of friction, T lit is load torque.
Step 104: the torque parameter based on given, by MTPA, control and produce by weak magnetic control system the control signal of the given electric current of d axle
Figure BSA00000251649000062
then according to the control signal of the given electric current of d axle
Figure BSA00000251649000063
with given torque parameter produce the given electric current of q axle
Figure BSA00000251649000065
Concrete, given torque parameter is controlled to the control signal that obtains the given electric current of d axle by MTPA a part
Figure BSA00000251649000072
then by weak magnetic control system, obtain Δ i sd, will with Δ i sdbe added and obtain
Figure BSA00000251649000074
the embodiment of the present invention is being controlled acquisition by MTPA
Figure BSA00000251649000075
time, can obtain by tabling look-up
Figure BSA00000251649000076
can improve system arithmetic speed like this.
Concrete, calculate Δ i sdprocess as follows:
A) according to d shaft voltage u sdwith q shaft voltage u sq, calculate output voltage values
Figure BSA00000251649000077
Figure BSA00000251649000078
B) the DC bus-bar voltage V detecting according to step 101 dccalculating voltage limits value is
Figure BSA00000251649000079
? k in Fig. 3 is that the k in figure is a proportionality coefficient, relevant to concrete drive system, is a controlled variable.
C) to output voltage values V 1 *with voltage pole limit value
Figure BSA000002516490000711
regulate and obtain Δ i sd.
It should be noted that, calculate Δ i at every turn sdtime the u that uses sdand u sqthe d shaft voltage u in a upper moment sdwith q shaft voltage u sq.As first calculating Δ i sdtime, can be by d shaft voltage u sdwith q shaft voltage u sqbeing considered as 0 calculates.
Obtain the control signal of the given electric current of d axle afterwards, according to the torque formula (3) of permagnetic synchronous motor, produce the control signal of the given electric current of q axle
Figure BSA000002516490000713
T e * = 3 2 p n [ i sq * ψ f + ( L d - L q ) i sq * i sd * ] - - - ( 4 )
In formula (4), Pn is number of pole-pairs, ψ ffor the magnetic linkage (chain is crossed stator winding) that permanent magnet produces in motor gas-gap, L dfor d axle inductance, L qfor q axle inductance.
Step 105: by the control signal of the given electric current of d axle
Figure BSA000002516490000715
control signal i with d axle actual current sd, the given electric current of q axle control signal
Figure BSA000002516490000716
control signal i with q axle actual current sqcarry out decoupling zero control, obtain d shaft voltage u sdwith q shaft voltage u sq;
Concrete, decoupling zero is controlled namely PI and is regulated, and by PI, is regulated and is made
Figure BSA000002516490000717
Figure BSA000002516490000718
when
Figure BSA000002516490000719
Figure BSA000002516490000720
time voltage as d shaft voltage u sdwith q shaft voltage u sq.If
Figure BSA000002516490000721
Figure BSA000002516490000722
can realize the independent control to d axle and q shaft current control signal, thereby realize vector control.
Step 106: to the u obtaining sdand u sqmodulate, the signal after modulation is converted to three-phase alternating current by inverter and is input to permagnetic synchronous motor, thereby drive permagnetic synchronous motor operation.
Concrete, by the d shaft voltage u obtaining sdwith q shaft voltage u sqbe input to SVPWM unit, SVPWM unit is used for to u sdand u sqmodulate, and the switching signal obtaining after modulation is input to inverter, inverter output three-phase alternating current is to permagnetic synchronous motor, thus the operation of driving permagnetic synchronous motor, and this step belongs to prior art, is not described in detail herein.
The present invention is by the direct given torque parameter of mode of given voltage, torque given simple and convenient, and the control signal of the given electric current of d axle of the torque parameter based on given and generation produces the control signal of the given electric current of q axle.Owing to being that directly the torque parameter based on given produces the control signal of the given electric current of d axle and the control signal of the given electric current of q axle, therefore by the control signal of the given electric current of d axle and the control signal of the given electric current of q axle, just can obtain the torque of expection, the torque of acquisition not only good stability and also robustness good.And in prior art, be to produce the control signal of the given electric current of d axle and the control signal of the given electric current of q axle according to given total current, and the control signal of the given electric current of d axle producing by given total current and the control signal of the given electric current of q axle not necessarily can obtain the torque of expection, may make the torque of acquisition unstable, and poor robustness; And when permagnetic synchronous motor rotating speed surpasses maximum constraints speed, prior art makes torque become 0 pressures to reach control permagnetic synchronous motor rotating speed, permagnetic synchronous motor may be in an unsure state when high-speed cruising, bring potential safety hazard; And in the present invention when the rotating speed of permagnetic synchronous motor surpasses maximum constraints speed, the rotating speed of permagnetic synchronous motor is carried out to PI adjusting, permanent magnet synchronous electric motor speed is controlled to maximum constraints speed, make the permagnetic synchronous motor can even running when high-speed cruising, prevented that permagnetic synchronous motor rotating speed from surpassing the security incident that maximum constraints rotating speed causes; Further, when permagnetic synchronous motor is applied on electric automobile, when car speed surpasses maximum constraints speed, by the rotating speed of permagnetic synchronous motor is carried out to PI adjusting, permanent magnet synchronous electric motor speed is controlled to maximum constraints speed, make the electric automobile can even running when maximum constraints speed, further improved the fail safe of automobilism.
Embodiment 2
Fig. 3 is permagnetic synchronous motor transmission control device example structure schematic diagram of the present invention, as shown in Figure 3, this device comprises: rotor-position angle detector 1, rotating speed computing module 2, actual current control signal generation module 3, the given module 4 of torque, pi regulator 5, the given current controling signal generation module 6 of d axle, the given current controling signal generation module 7 of q axle, decoupling zero control module 8, modulation module 9, inverter 10;
Rotor-position angle detector 1, for detection of rotor position angle θ;
Rotating speed computing module 2, calculates permagnetic synchronous motor rotational speed omega for the rotor position angle detecting according to rotor-position angle detector r;
Actual current control signal generation module 3, for generation of being equivalent to the control signal of the d axle actual current under rotor coordinate and the control signal of q axle actual current;
The given module 4 of torque, for given torque parameter;
The present invention can be applied in electric automobile, and in this case, the given module of torque is specifically for the given torque parameter of mode with given voltage by pedal.
Concrete, the given module 4 of torque comprises:
The first converting unit, for being converted to the operating voltage of inverter described in permanent magnet synchronous electric machine travel by linear isolation by the given voltage of pedal;
The second converting unit, for the operating voltage after the first converting unit conversion is converted to the default umber that pedal opens, the umber opening by pedal is to the given torque of permagnetic synchronous motor.
Pi regulator 5, for when permagnetic synchronous motor rotating speed surpasses maximum constraints speed, is controlled at maximum constraints speed by permagnetic synchronous motor rotating speed;
The given current controling signal generation module 6 of d axle, for controlling based on the given torque parameter of the given module 4 of torque the control signal that produces the given electric current of d axle with weak magnetic control system by MTPA, and the control signal of the given electric current of d axle of generation is inputed to decoupling zero control module 8;
Concrete, the given current controling signal generation module 6 of d axle is controlled the control signal that obtains the given electric current of d axle by MTPA
Figure BSA00000251649000091
a part by weak magnetic control system, calculate Δ i more simultaneously sd, will
Figure BSA00000251649000093
with Δ i sdbe added the control signal that obtains the given electric current of d axle
The given current controling signal generation module 7 of q axle, control signal for the given electric current of d axle based on the given torque parameter of the given module 4 of torque and given current controling signal generation module 6 generations of d axle produces the control signal of the given electric current of q axle, and the control signal of the given electric current of q axle of generation is inputed to decoupling zero control module 8;
Concrete, due to given torque parameter
Figure BSA00000251649000101
and according to
Figure BSA00000251649000102
produced the control signal of the given electric current of d axle
Figure BSA00000251649000103
therefore can calculate by formula (5) control signal of the given electric current of q axle:
T e * = 3 2 p n [ i sq * ψ f + ( L d - L q ) i sq * i sd * ] - - - ( 5 )
Decoupling zero control module 8, for calculating d shaft voltage u according to the control signal of the control signal of the control signal of the control signal of the given electric current of d axle and d axle actual current, the given electric current of q axle and q axle actual current sdwith q shaft voltage u sq, and by the d shaft voltage u obtaining sdwith q shaft voltage u sqinput to modulation module 9;
Modulation module 9, for obtaining d shaft voltage u to decoupling zero control module 8 sdwith q shaft voltage u sqmodulate, the switching signal after modulation is inputed to inverter 10;
Concrete, the modulation module 9 in the present invention can be SVPWM, SVPWM is to d shaft voltage u sdwith q shaft voltage u sqafter modulation, by d shaft voltage u sdwith q shaft voltage u sqbe converted to the switching signal that inverter 10 needs.
Inverter 10, is input to described permagnetic synchronous motor for the switching signal of modulation module 9 inputs is converted to three-phase alternating current, drives described permagnetic synchronous motor operation.
Wherein, actual current control signal generation module 3 comprises: current detector and three-phase-dq principal axis transformation unit;
Current detector, for detection of the three-phase current i of permagnetic synchronous motor a, i band i c;
Three-phase-dq principal axis transformation unit, three-phase current current detector being detected for the rotor position angle detecting according to rotor-position angle detector is equivalent to the control signal i of the d axle actual current under rotor coordinate sdcontrol signal i with q axle actual current sq.
The permagnetic synchronous motor transmission control device that the embodiment of the present invention provides is applied in electric automobile.
The present invention is by the direct given torque parameter of mode of given voltage, torque given simple and convenient, and the control signal of the given electric current of d axle of the torque parameter based on given and generation produces the control signal of the given electric current of q axle.Owing to being that directly the torque parameter based on given produces the control signal of the given electric current of d axle and the control signal of the given electric current of q axle, therefore by the control signal of the given electric current of d axle and the control signal of the given electric current of q axle, just can obtain the torque of expection, the torque of acquisition not only good stability and also robustness good.And in prior art, be to produce the control signal of the given electric current of d axle and the control signal of the given electric current of q axle according to given total current, and the control signal of the given electric current of d axle producing by given total current and the control signal of the given electric current of q axle not necessarily can obtain the torque of expection, may make the torque of acquisition unstable, and poor robustness; And when permagnetic synchronous motor rotating speed surpasses maximum constraints speed, prior art makes torque become 0 pressures to reach control permagnetic synchronous motor rotating speed, permagnetic synchronous motor may be in an unsure state when high-speed cruising, bring potential safety hazard; And in the present invention when the rotating speed of permagnetic synchronous motor surpasses maximum constraints speed, the rotating speed of permagnetic synchronous motor is carried out to PI adjusting, permanent magnet synchronous electric motor speed is controlled to maximum constraints speed, make the permagnetic synchronous motor can even running when high-speed cruising, prevented that permagnetic synchronous motor rotating speed from surpassing the security incident that maximum constraints rotating speed causes; Further, when permagnetic synchronous motor is applied on electric automobile, when car speed surpasses maximum constraints speed, by the rotating speed of permagnetic synchronous motor is carried out to PI adjusting, permanent magnet synchronous electric motor speed is controlled to maximum constraints speed, make the electric automobile can even running when maximum constraints speed, further improved the fail safe of automobilism.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (8)

1. a permagnetic synchronous motor transmission control method, comprise: will be equivalent to the control signal of the given electric current of d axle under rotor coordinate and the control signal of the given electric current of q axle and be input to the step of decoupling zero control module, described decoupling zero control module output modulation signal is to the step of inverter, and inverter drives the step of described permagnetic synchronous motor operation according to described modulation signal; It is characterized in that: described the step that is equivalent to the control signal of the given electric current of d axle under rotor coordinate and the control signal of the given electric current of q axle and is input to decoupling zero control module is specifically comprised:
Given torque parameter;
Based on described given torque parameter, produce the control signal of the given electric current of described d axle, and further according to the control signal of described given torque parameter and the given electric current of described d axle, produce the control signal of the given electric current of described q axle;
The control signal of the control signal of the given electric current of described d axle and the given electric current of described q axle is input to described decoupling zero control module;
Also comprise:
When described permagnetic synchronous motor rotating speed surpasses maximum constraints speed, described permagnetic synchronous motor rotating speed is carried out to PI adjusting, described permagnetic synchronous motor rotating speed is controlled to described maximum constraints speed.
2. permagnetic synchronous motor transmission control method according to claim 1, is characterized in that: given torque parameter, comprising:
The given torque parameter of mode with given voltage.
3. permagnetic synchronous motor transmission control method according to claim 2, is characterized in that: the given torque parameter of mode with given voltage, comprising:
By the given voltage of pedal, and the voltage of pedal output is converted to the operating voltage of inverter described in described permanent magnet synchronous electric machine travel by linear isolation, and the maximum working voltage value after described conversion being converted to the maximum of the degree that described pedal opens, the degree of opening by described pedal is given the given torque of described permagnetic synchronous motor.
4. permagnetic synchronous motor transmission control method according to claim 1, is characterized in that: by following formula, according to the control signal of described given torque parameter and the given electric current of described d axle, produce the control signal of the given electric current of described q axle:
Figure FDA0000400575870000021
Wherein, Pn is number of pole-pairs, ψ ffor the magnetic linkage that permanent magnet produces in motor gas-gap, L dfor d axle inductance, L qfor q axle inductance, for given torque parameter,
Figure FDA0000400575870000023
for the control signal of the given electric current of d axle,
Figure FDA0000400575870000024
control signal for the given electric current of q axle.
5. a permagnetic synchronous motor transmission control device, comprise: the given current controling signal generation module of d axle, the given current controling signal generation module of q axle, decoupling zero control module, modulation module and inverter, it is characterized in that: described device also comprises: the given module of torque, for given torque parameter;
The given current controling signal generation module of described q axle, for the given current controling signal of d axle based on the given torque parameter of the given module of described torque and the given current controling signal generation module generation of described d axle, produce the given current controling signal of q axle, and the given current controling signal of q axle of generation and the given current controling signal of d axle are inputed to described decoupling zero control module;
Also comprise pi regulator, for when described permagnetic synchronous motor rotating speed surpasses maximum constraints speed, described permagnetic synchronous motor rotating speed is controlled to described maximum constraints speed.
6. permagnetic synchronous motor transmission control device according to claim 5, is characterized in that: the given module of described torque, and specifically for the given torque parameter of the mode with given voltage.
7. permagnetic synchronous motor transmission control device according to claim 6, is characterized in that: the given module of described torque comprises:
The first converting unit, for being converted to the operating voltage of inverter described in described permanent magnet synchronous electric machine travel by linear isolation by the given voltage of pedal;
The second converting unit, for the operating voltage after described the first converting unit conversion is converted to the default umber that described pedal opens, the umber opening by described pedal is given the given torque of described permagnetic synchronous motor.
8. permagnetic synchronous motor transmission control device according to claim 7, is characterized in that: the given module of described torque produces the given current controling signal generation module of described q axle by following formula:
Figure FDA0000400575870000031
Wherein, Pn is number of pole-pairs, ψ ffor the magnetic linkage (chain is crossed stator winding) that permanent magnet produces in motor gas-gap, L dfor d axle inductance, L qfor q axle inductance,
Figure FDA0000400575870000032
for given torque parameter, for the control signal of the given electric current of d axle,
Figure FDA0000400575870000034
control signal for the given electric current of q axle.
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