CN102832874A - System and method for controlling motor - Google Patents

Abstract

The invention discloses a system and a method for controlling a motor, which can determine a flux linkage regulating variable according to stator frequency, base frequency of the motor, a direct current voltage signal of an input inversion unit and a first given flux linkage when the stator frequency is greater than the base frequency of the motor, and determine the flux linkage regulating variable to be zero when the stator frequency is not greater than the base frequency of the motor, so that when the stator frequency is greater than the base frequency of the motor, the first given flux linkage is modified according to the flux linkage regulating variable to obtain a second given flux linkage; a switch control signal is determined according to the second given flux linkage so as to realize flux-weakening modification of a second resonant component, control the moment pulsation directly and restrain the beat frequency phenomenon generated on the motor; moreover, compared with the method for controlling the motor in the prior art, the method provided by the invention does not use an LC (Launch Control) element, so that the problems of large size, heavy quality, great heat productivity, high cost, poor matched parameters and the like caused by using the LC element in the prior art are avoided.

Description

A kind of electric machine control system and method

Technical field

The application relates to electric machines control technology, relates in particular to a kind of electric machine control system and method.

Background technology

Alternating-current actuating system is meant with the alternating current machine to be controlling object, the novel drive system that the output torque and the rotating speed of motor are regulated.Compare with dc drive system, alternating-current actuating system has excellent traction performance, and power factor (PF) is high, and volume is little, and is in light weight, reliable.Alternating-current actuating system just progressively replaces dc drive system, is widely used in the every field of commercial production, national life and national national defence.

The ac-dc-ac inverter modulation technique is widely used in the alternating-current actuating system.Use the alternating-current actuating system of ac-dc-ac inverter modulation technique generally to constitute by control system, major loop and controlling object etc.; Wherein major loop comprises dc bus; Direct current supports electric capacity, and the current transformer of being made up of the power switch semiconductor device (comprising rectification, inversion, copped wave even auxilliary change module); Control system then is based on the microprocessor hardware platform, uses various control algolithms to carry out the real-time control system of four-quadrant rectification, AC Motor Control.Electric Machine Control wherein is through collection and processing to signals such as motor speed, current of electric and DC bus-bar voltage in the drive system; Rotating speed as requested or torque instruction; The break-make of power semiconductor is carried out pulse width modulation (PWM) with amplitude and the frequency of regulating action in the alternating voltage of motor in the control major loop, realizes the control to motor speed or torque.

But; In this alternating-current actuating system, hand at use monophasic pulses if rectification circuit-when directly changing, can produce the mains ripple component that double mains frequency in the intermediate dc link; This flutter component outputs to motor side after the inverter switch element action; Will on motor, produce beat frequency phenomenon, cause current of electric, torque pulsation, motor overheating.Industrial application adopts the LC element to form the mode that the secondary resonant tank carries out DC filtering more, eliminates the secondary voltage flutter component, and volume is big, quality heavy, caloric value is big, cost is high and problem such as the bad proportioning of parameter but required LC element exists.

Summary of the invention

In view of this, the technical problem that the application will solve is, a kind of electric machine control system and method are provided, and can better eliminate the secondary voltage flutter component.

For this reason, the application embodiment adopts following technical scheme:

A kind of electric machine control system comprises:

The motor model computing unit; Be used for calculating a of stator magnetic linkage under the β coordinate system of motor according to the alternating current that feedback control signal, the d. c. voltage signal of input inversion unit, rotating speed of motor, inversion unit are exported; B, the deviate of c three phase components, stator frequency and target torque and actual torque; Said feedback control signal is: the switch controlling signal of electric machine control system output;

Judging unit is used to judge the size of said stator frequency and motor fundamental frequency obtain judged result;

When magnetic linkage computing unit, the judged result that is used for judging unit are stator frequency greater than the fundamental frequency of motor, confirm the first given magnetic linkage according to stator frequency and said deviate; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, confirms that the first given magnetic linkage is first preset value; Magnetic linkage computing unit exports the said first given magnetic linkage to switch control unit;

When secondary resonance processing unit, the judged result that is used for judging unit are stator frequency greater than the fundamental frequency of motor, confirm the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, confirms that the magnetic linkage regulated quantity is 0;

Switch control unit; When the judged result that is used for judging unit is a stator frequency greater than the fundamental frequency of motor; According to a of said stator magnetic linkage under the β coordinate system; B, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity are confirmed switch controlling signal, said switch controlling signal is used for controlling the on off state of inversion unit switch; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, according to a of said stator magnetic linkage under the β coordinate system, and b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity and said deviate are confirmed switch controlling signal.

Said secondary resonance processing unit comprises:

First handles subelement, when the judged result that is used for judging unit is a stator frequency greater than the fundamental frequency of motor, confirms the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit;

Second handles subelement, and the judged result that is used for judging unit is a stator frequency when being not more than the fundamental frequency of motor, confirms that the magnetic linkage regulated quantity is 0.

Said first handles subelement comprises:

The DC filtering module is used for d. c. voltage signal is carried out the single order LPF, obtains the d. c. voltage signal behind the LPF;

The negative input end of first subtracter receives the d. c. voltage signal behind the said LPF; Positive input terminal receives d. c. voltage signal; First subtracter is used for the d. c. voltage signal behind d. c. voltage signal and the LPF is subtracted each other, and will subtract each other the first input end that the signal that obtains exports first divider to;

Second input of first divider receives the direct voltage behind the LPF, and divider is used for subtracting each other the signal that obtains and the direct voltage letter behind the LPF is divided by with said, and the signal that obtains of will being divided by exports the input of secondary filtering module to;

The secondary filtering module is used for the said signal that obtains that is divided by is carried out bandpass filtering, exports the signal behind the bandpass filtering that obtains to the angle compensation unit;

The angle compensation module is used for carrying out angle compensation according to the signal of predetermined angle after to said bandpass filtering, obtains the signal behind the angle compensation;

The first input end of second divider receives the product of stator frequency and motor fundamental frequency, and second input receives (2 π f _e) ², second divider is used for (2 π f _e) ²Be divided by with the product of stator frequency and fundamental frequency, obtain proportionality coefficient;

The first input end of first multiplier receives said proportionality coefficient, and second input receives the signal behind the said angle compensation, and first multiplier is used for the signal multiplication behind said proportionality coefficient and the angle compensation, the signal after obtaining multiplying each other;

The first input end of second multiplier receives the signal after said the multiplying each other, and second input receives the first given magnetic linkage, and second multiplier is used for the signal after said the multiplying each other and the first given magnetic linkage are multiplied each other, and obtains the magnetic linkage regulated quantity.

The motor model computing unit comprises:

Electric current coordinate transform subelement is used for the alternating current of inversion unit output is transformed to α shaft current and the β shaft current that the stator static coordinate is fastened from three-phase current;

The voltage model subelement is used for generating α shaft voltage and the β shaft voltage that the stator static coordinate is fastened according to the feedback control signal of said d. c. voltage signal and the output of switch selected cell;

The Model Calculation subelement is used for calculating rotor flux, actual torque and stator static coordinate according to said α shaft current, β shaft current, α shaft voltage, β shaft voltage and rotating speed of motor and fastens α axle stator magnetic linkage and β axle stator magnetic linkage;

The stator frequency computation subunit is used for calculating stator frequency according to said rotor flux and rotating speed of motor;

Stator magnetic linkage coordinate transform subelement is used for said stator static coordinate is fastened α axle stator magnetic linkage and β axle stator magnetic linkage is transformed to a of stator magnetic linkage under the β coordinate system, b, c three phase components;

The deviate computation subunit is used for the target torque and the said actual torque of preset motor output are subtracted each other, and obtains the deviate of target torque and actual torque; When the judged result of judging unit when being stator frequency greater than the fundamental frequency of motor, export said deviate to magnetic linkage computing unit, when the judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, export said deviate to switch control unit.

The deviate computation subunit comprises:

The negative input end of second subtracter receives actual torque, and positive input terminal receives said target torque, and second subtracter is used for said target torque and actual torque are subtracted each other, and obtains the deviate of said target torque and actual torque;

Single-pole double-throw switch (SPDT), moving contact connect the output of second subtracter, are used to receive said deviate; First fixed contact connects magnetic linkage computing unit one input, and second fixed contact connects switch control unit one input;

Control module, when being used for judged result when judging unit and being stator frequency greater than the fundamental frequency of motor, the moving contact of control switch is connected with first fixed contact; When the judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, the moving contact of control switch is connected with second fixed contact.

Switch control unit comprises:

The first input end of adder receives the said first given magnetic linkage; Second input receives said magnetic linkage regulated quantity; Adder is used for the said first given magnetic linkage and the addition of magnetic linkage regulated quantity; Obtain the second given magnetic linkage, the second given magnetic linkage is exported to the first input end of magnetic linkage adaptive sub unit;

Second input of magnetic linkage adaptive sub unit receives a of said stator magnetic linkage under the β coordinate system; B, c three phase components, magnetic linkage adaptive sub unit is used for: according to a of stator magnetic linkage under the β coordinate system; B, c three phase components and the said second given magnetic linkage are confirmed magnetic linkage switch MQ position;

When moment two point form control sub unit, the judged result that is used for judging unit are stator frequency greater than the fundamental frequency of motor, confirm that torque switch TQ position is a preset value; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, carries out two point form according to said deviate and stagnates chain rate, confirms torque switch TQ position;

Switch chooser unit is used for according to a of said stator magnetic linkage under the β coordinate system, b, and the switch controlling signal to inversion unit output is confirmed in c three phase components, magnetic linkage switch MQ position, torque switch TQ position.

Magnetic linkage adaptive sub unit specifically is used for: according to a of stator magnetic linkage under the β coordinate system; B, c three phase components are judged stator magnetic linkage sector of living in, select a under the β coordinate system corresponding under the respective sectors; B; C three phase components stagnate chain rate with said three phase components and the said second given magnetic linkage selected, output magnetic linkage switch MQ position.

Switch chooser unit specifically is used for: according to a of stator magnetic linkage under the β coordinate system; B; C three phase components are judged stator magnetic linkage sector of living in; Carry out switch list according to magnetic linkage switch MQ position, torque switch TQ position in stator magnetic linkage sector of living in and table look-up, confirm the next on off state of switch in the inversion unit, confirm switch controlling signal to inversion unit output according to the on off state of confirming.

A kind of motor control method comprises:

Alternating current according to feedback control signal, the d. c. voltage signal of importing inversion unit, rotating speed of motor, inversion unit output calculates a of stator magnetic linkage under the β coordinate system of motor; B, the deviate of c three phase components, stator frequency and target torque and actual torque; Said feedback control signal S _AbcFor: the switch controlling signal S of electric machine control system output;

Judge the size of said stator frequency and motor fundamental frequency;

Stator frequency is confirmed the first given magnetic linkage according to stator frequency and said deviate during greater than the fundamental frequency of motor; Confirm the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit; According to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity are confirmed switch controlling signal, shown in switch controlling signal be used for controlling the on off state of inversion unit switch;

When stator frequency is not more than the fundamental frequency of motor, confirm that the first given magnetic linkage is first preset value; Confirm that the magnetic linkage regulated quantity is 0; According to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity and said deviate are confirmed switch controlling signal.

Confirm that according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit the magnetic linkage regulated quantity comprises:

D. c. voltage signal is carried out the single order LPF, obtain the d. c. voltage signal behind the LPF;

D. c. voltage signal behind d. c. voltage signal and the LPF is subtracted each other;

Subtract each other the signal that obtains and the direct voltage letter behind the LPF is divided by with said;

The said signal that obtains that is divided by is carried out bandpass filtering;

Carry out angle compensation according to the signal of predetermined angle after, obtain the signal behind the angle compensation said bandpass filtering;

With (2 π f _e) ²Be divided by with the product of stator frequency and fundamental frequency, obtain proportionality coefficient;

With the signal multiplication behind said proportionality coefficient and the angle compensation, the signal after obtaining multiplying each other;

The signal after said the multiplying each other and the first given magnetic linkage are multiplied each other, obtain the magnetic linkage regulated quantity.

Alternating current according to the switch controlling signal of d. c. voltage signal, the switch selected cell output of input inversion unit, rotating speed of motor, inversion unit output calculates a of stator magnetic linkage under the β coordinate system of motor; B, the deviate of c three phase components, stator frequency and target torque and actual torque comprises:

The alternating current of inversion unit output is transformed to α shaft current and the β shaft current that the stator static coordinate is fastened from three-phase current;

Generate α shaft voltage and the β shaft voltage that the stator static coordinate is fastened according to said d. c. voltage signal and feedback control signal;

Calculate rotor flux, actual torque and stator static coordinate according to said α shaft current, β shaft current, α shaft voltage, β shaft voltage and rotating speed of motor and fasten α axle stator magnetic linkage and β axle stator magnetic linkage;

Calculate stator frequency according to said rotor flux and rotating speed of motor;

Said stator static coordinate is fastened α axle stator magnetic linkage and β axle stator magnetic linkage is transformed to a of stator magnetic linkage under the β coordinate system, b, c three phase components;

The target torque and the said actual torque of preset motor output are subtracted each other, obtain the deviate of target torque and actual torque.

According to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity confirm that switch controlling signal comprises:

With the said first given magnetic linkage and the addition of magnetic linkage regulated quantity, obtain the second given magnetic linkage;

According to a of stator magnetic linkage under the β coordinate system, b, c three phase components and the said second given magnetic linkage are confirmed magnetic linkage switch MQ position;

Confirm that torque switch TQ position is a preset value;

According to a of said stator magnetic linkage under the β coordinate system, b, switch controlling signal is confirmed in c three phase components, magnetic linkage switch MQ position, torque switch TQ position.

According to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity and said deviate confirm that switch controlling signal comprises:

With the said first given magnetic linkage and the addition of magnetic linkage regulated quantity, obtain the second given magnetic linkage;

According to a of stator magnetic linkage under the β coordinate system, b, c three phase components and the said second given magnetic linkage are confirmed magnetic linkage switch MQ position;

Carry out two point form according to said deviate Δ T and stagnate chain rate, confirm torque switch TQ position;

According to a of said stator magnetic linkage under the β coordinate system, b, switch controlling signal is confirmed in c three phase components, magnetic linkage switch MQ position, torque switch TQ position.

Technique effect analysis for technique scheme is following:

When secondary resonance processing unit is a stator frequency greater than the fundamental frequency of motor in the judged result of judging unit, confirm the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit; In the judged result of judging unit is stator frequency when being not more than the fundamental frequency of motor, confirms that the magnetic linkage regulated quantity is 0; Thereby at stator frequency during greater than the fundamental frequency of motor; The first given magnetic linkage through the magnetic linkage regulated quantity is confirmed magnetic linkage computing unit is revised; Obtain the second given magnetic linkage, switch control unit is confirmed switch controlling signal through the second given magnetic linkage, thereby has realized the weak magnetic correction to the secondary harmonic components; Directly control moment pulsation suppresses the beat frequency phenomenon that produces on the motor; And, with respect to motor control method of the prior art, need not to use the LC element, therefore do not have that the volume that uses the LC element to cause in the prior art is big, quality heavy, caloric value is big, cost is high and problem such as the bad proportioning of parameter.

Description of drawings

Fig. 1 is the applied environment sketch map of the application's electric machine control system and method;

Fig. 2 is the application's electric machine control system embodiment one structural representation;

Fig. 3 is the implementation structure sketch map of motor model computing unit in the application's electric machine control system;

Fig. 4 is a deviate computation subunit implementation structure sketch map in the application's motor model computing unit;

Fig. 5 is the first processing subelement implementation structure sketch map in the application's secondary resonance processing unit;

Fig. 6 is a switch control unit implementation structure sketch map in the application's electric machine control system;

Fig. 6 a is the application's electric machine control system embodiment two structural representations

Fig. 7 is the application's motor control method schematic flow sheet;

Fig. 8 is the implementation method sketch map of step 701 in the application's motor control method;

Fig. 9 confirms the method sketch map for magnetic linkage regulated quantity in the application's motor control method;

Figure 10 confirms the method sketch map for the switch controlling signal of the application's motor control method step 703;

Figure 11 confirms the method sketch map for the switch controlling signal of the application's motor control method step 704;

Figure 12 is space vector of voltage and magnetic linkage graph of a relation;

Figure 13 encircles the switch graph of a relation for magnetic linkage stagnates;

Figure 14 encircles the switch graph of a relation for torque stagnates;

Figure 15 is an AC-DC-AC traction convertor structure chart.

Embodiment

For the application's embodiment electric machine control system and method better are described, at first introduce the environment for use of this system and method, as shown in Figure 1, comprising:

Electric machine control system 110, rectification unit 120, inversion unit 130 and motor 140; Wherein, rectification unit 120, inversion unit 130 all belong to the part of major loop in the alternating-current actuating system; D. c. voltage signal u after the rectification unit 120 output rectifications _dTo the input of inversion unit 130, inversion unit 130 carries out inversion to said d. c. voltage signal and handles the output AC electric current I under the control of switch controlling signal to switching device of electric machine control system 110 outputs _AbInput to motor 140.

140 controlling object that belong in the alternating-current actuating system of motor.

Electric machine control system 110 is the electric machine control system among the application, through the switching device in the output switch control signal control inversion unit 130, and then passes through the signal control motor 140 that inversion unit is exported.

Below, be described with reference to the accompanying drawings the realization of the application embodiment electric machine control system and method.

Fig. 2 is the structural representation of the application's electric machine control system first embodiment, and is as shown in Figure 2, and this system comprises:

Motor model computing unit 210 is used for according to feedback control signal S _Abc, the input inversion unit d. c. voltage signal u _d, rotating speed of motor ω _n, inversion unit output alternating current I _AbCalculate a of stator magnetic linkage under the β coordinate system of motor, b, c three phase component ψ _{β abc}, stator frequency ω _s, and target torque T ^*Deviate Δ T with actual torque T; Said feedback control signal S _AbcFor: the switch controlling signal S of electric machine control system output;

Judging unit 220 is used to judge said stator frequency ω _sWith the motor fundamental frequency omega ₀Size, obtain judged result;

Magnetic linkage computing unit 230, the judged result that is used for judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, according to stator frequency ω _sAnd said deviate Δ T confirms the first given magnetic linkage

The judged result of judging unit 220 is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, confirm the first given magnetic linkage

It is first preset value; Magnetic linkage computing unit 230 is with the said first given magnetic linkage

Export switch control unit to;

Secondary resonance processing unit 240, the judged result that is used for judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, according to stator frequency ω _s, motor fundamental frequency omega ₀, the input inversion unit d. c. voltage signal u _dAnd the first given magnetic linkage Confirm magnetic linkage regulated quantity Δ ψ; The judged result of judging unit 220 is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, confirm that magnetic linkage regulated quantity Δ ψ is 0; Secondary resonance processing unit 240 exports said magnetic linkage regulated quantity Δ ψ to switch control unit 250;

Switch control unit 250, the judged result that is used for judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ β _Abc, the said first given magnetic linkage

Said magnetic linkage regulated quantity Δ ψ confirms switch controlling signal S, and said switch controlling signal S is used for controlling the on off state of inversion unit switch; The judged result of judging unit 220 is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, the said first given magnetic linkage

Said magnetic linkage regulated quantity Δ ψ and said deviate Δ T confirm switch controlling signal.

In the electric machine control system shown in Figure 2; When secondary resonance processing unit is a stator frequency greater than the fundamental frequency of motor in the judged result of judging unit, confirm the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit; In the judged result of judging unit is stator frequency when being not more than the fundamental frequency of motor, confirms that the magnetic linkage regulated quantity is 0; Thereby at stator frequency during greater than the fundamental frequency of motor; The first given magnetic linkage through the magnetic linkage regulated quantity is confirmed magnetic linkage computing unit is revised; Obtain the second given magnetic linkage, switch control unit is confirmed switch controlling signal through the second given magnetic linkage, thereby has realized the weak magnetic correction to the secondary harmonic components; Directly control moment pulsation suppresses the beat frequency phenomenon that produces on the motor; And; With respect to motor control method of the prior art; Need not to use the LC element in the alternating-current actuating system; Therefore do not have that the volume that uses the LC element to cause in the prior art is big, quality heavy, caloric value is big, cost is high and problem such as the bad proportioning of parameter, when improving level of integrated system and reliability, still guaranteed the performance of traction electric machine speed governing each side.

Preferably, as shown in Figure 3, motor model computing unit 210 can be realized through following structure:

Electric current coordinate transform subelement 310 is used for the alternating current I with inversion unit output _AbcBe transformed to the α shaft current I that the stator static coordinate is fastened from three-phase current _{S α}With β shaft current I _{S β}

Wherein, can use following formula 1 to generate α shaft current I _{S α}With β shaft current I _{S β}:

$\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\\ 0\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\\ \frac{1}{2}& \frac{1}{2}& \frac{1}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]---\left(1\right)$

Wherein, i _a, i _b, i _cBe alternating current I _AbThree-phase current.

Voltage model subelement 320 is used for according to said d. c. voltage signal u _dFeedback control signal S with the output of switch selected cell _AbcGenerate the α shaft voltage u that the stator static coordinate is fastened _{S α}With β shaft voltage u _{S β}

Model Calculation subelement 330 is used for according to said α shaft current, β shaft current, α shaft voltage, β shaft voltage and rotating speed of motor ω _nCalculate rotor flux ψ _r, actual torque T and stator static coordinate fasten α axle stator magnetic linkage ψ _{μ α}With β axle stator magnetic linkage ψ _{μ β}

Wherein, can use following formula 2 to carry out the calculating of rotor flux, actual moment and stator magnetic linkage.

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{\μ\α}}=\∫(u_{\mathrm{s\α}}-i_{\mathrm{s\α}}{R}_S)\mathrm{dt}\\ {\mathrm{\ψ}}_{\mathrm{\μ\β}}=\∫(u_{\mathrm{s\β}}-i_{\mathrm{s\β}}{R}_S)\mathrm{dt}\\ {\mathrm{\ψ}}_{\mathrm{r\α}}=\∫[\frac{({\mathrm{\Ψ}}_{\mathrm{\μ\α}}-{\mathrm{\Ψ}}_{\mathrm{r\α}})}{{\mathrm{\τ}}_{\mathrm{\σ}}}-{\mathrm{\ω}}_n{\mathrm{\ψ}}_{\mathrm{r\β}}]\mathrm{dt}\\ {\mathrm{\ψ}}_{\mathrm{r\β}}=\∫[\frac{({\mathrm{\ψ}}_{\mathrm{\μ\β}}-{\mathrm{\ψ}}_{\mathrm{r\β}})}{{\mathrm{\τ}}_{\mathrm{\σ}}}+{\mathrm{\ω}}_n{\mathrm{\ψ}}_{\mathrm{r\α}}]\mathrm{dt}\\ T=\frac{3}{2}{P}_n({\mathrm{\ψ}}_{\mathrm{\μ\α}}{i}_{\mathrm{s\β}}-{\mathrm{\ψ}}_{\mathrm{\μ\β}}{i}_{\mathrm{s\α}})\\ {\mathrm{\ψ}}_r=\sqrt{{{\mathrm{\ψ}}_{\mathrm{r\α}}}^2+{{\mathrm{\ψ}}_{\mathrm{r\β}}}^2}\end{array}\right.---\left(2\right)$

Wherein, ψ _{R α}Expression α axle rotor flux; ψ _{R β}Expression β axle rotor flux; R _SThe expression stator resistance; P _nExpression: motor number of pole-pairs; τ _σBe the rotor leakage time constant; ψ _{μ α}Be α axle stator magnetic linkage; ψ _{μ β}Be β axle stator magnetic linkage.

Stator frequency computation subunit 340 is used for according to said rotor flux ψ _rAnd rotating speed of motor ω _nCalculate stator frequency ω _s

Wherein, can use following formula 3 to carry out the calculating of stator frequency:

${\mathrm{\ω}}_s={\mathrm{\ω}}_r+P_n\×{\mathrm{\ω}}_n=\frac{2R_r{T}^{*}}{3P_n{\left|{\mathrm{\ψ}}_r\right|}^2}+P_n\×{\mathrm{\ω}}_n---\left(3\right)$

Wherein, ω _rBe slip frequency; P _nExpression: motor number of pole-pairs; R _rExpression: rotor resistance; T ^*The expression target torque.

Stator magnetic linkage coordinate transform subelement 350 is used for said stator static coordinate is fastened α axle stator magnetic linkage ψ _{μ α}With β axle stator magnetic linkage ψ _{μ β}Be transformed to a of stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}

Wherein, can use formula 4 to carry out the coordinate transform of stator magnetic linkage:

$\left[\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{\β}}\\ {\mathrm{\ψ}}_{\mathrm{\βb}}\\ {\mathrm{\ψ}}_{\mathrm{\βc}}\end{array}\right]=\left(\begin{array}{ccc}0& 1& 0\\ -\frac{\sqrt{3}}{2}& -\frac{1}{2}& 0\\ \frac{\sqrt{3}}{2}& -\frac{1}{2}& 0\end{array}\right)\left[\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{\μ\α}}\\ {\mathrm{\ψ}}_{\mathrm{\μ\β}}\\ 0\end{array}\right]---\left(4\right)$

Wherein, ψ _{β a}, ψ _{β b}, ψ _{β c}Be respectively a of stator magnetic linkage under the β coordinate system, b, c three phase components.

Deviate computation subunit 360 is used for the target torque T with preset motor output ^*Subtract each other with said actual torque T, obtain the deviate Δ T of target torque and actual torque; When the judged result of judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, export said deviate Δ T to magnetic linkage computing unit, when the judged result of judging unit is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, export said deviate Δ T to switch control unit.

As shown in Figure 4, deviate computation subunit 360 can realize through second subtracter 410, single-pole double-throw switch (SPDT) K and control module 420, wherein,

The negative input end of second subtracter 410 receives actual torque T, and positive input terminal receives said target torque T ^*, second subtracter 410 is used for target torque T ^*Subtract each other with said actual torque T, obtain the deviate Δ T of target torque and actual torque; The output of said second subtracter 410 is connected with the moving contact of single-pole double-throw switch (SPDT) K.

Single-pole double-throw switch (SPDT) K, moving contact connect the output of second subtracter, are used to receive said deviate Δ T; First fixed contact connects an input of magnetic linkage computing unit 230, and second fixed contact connects an input of switch control unit 250;

Control module 420 is used for: when the judged result of judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, the moving contact of control single-pole double-throw switch (SPDT) K is connected with first fixed contact, and the judged result of judging unit 220 is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, the moving contact of control single-pole double-throw switch (SPDT) K is connected with second fixed contact.

Preferably, secondary resonance processing unit 240 can comprise:

First handles subelement, and the judged result that is used for judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, according to stator frequency ω _s, motor fundamental frequency omega ₀, the input inversion unit d. c. voltage signal u _dAnd the first given magnetic linkage

Confirm magnetic linkage regulated quantity Δ ψ; Export said magnetic linkage regulated quantity Δ ψ to switch control unit 250;

Second handles subelement, and the judged result that is used for judging unit 220 is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, confirm that magnetic linkage regulated quantity Δ ψ is 0; Export said magnetic linkage regulated quantity Δ ψ to switch control unit 250;

As shown in Figure 5, first handles subelement can realize through following structure:

DC filtering module 510 is used for d. c. voltage signal u _dCarry out the single order LPF, obtain the d. c. voltage signal Ud behind the LPF;

The negative input end of first subtracter 520 receives the d. c. voltage signal Ud behind the said LPF, and positive input terminal receives d. c. voltage signal u _d, first subtracter 520 is used for d. c. voltage signal u _dSubtract each other with the d. c. voltage signal Ud behind the LPF, will subtract each other the signal delta u that obtains _dExport the first input end of first divider 530 to;

Second input of first divider 530 receives the direct voltage Ud behind the LPF, and first divider 530 is used for the said signal delta u that obtains that subtracts each other _dBe divided by with the d. c. voltage signal Ud behind the LPF, the signal U1 that obtains of will being divided by exports the input of secondary filtering module 220 to;

Secondary filtering module 540 is used for the said signal U1 that obtains that is divided by is carried out bandpass filtering, exports the signal U2 behind the bandpass filtering that obtains to angle compensation module 550;

Angle compensation module 550 is used for carrying out angle compensation according to the signal U2 of predetermined angle after to said bandpass filtering, obtains the signal U3 behind the angle compensation;

The first input end of second divider 560 receives the product ω of stator frequency and motor fundamental frequency _s. ω ₀, second input receives (2 π f _e) ², second divider is used for (2 π f _e) ²Product ω with stator frequency and fundamental frequency _s. ω ₀Be divided by, obtain proportionality coefficient

The first input end of first multiplier 570 receives said proportionality coefficient

second input and receives the signal U3 behind the said angle compensation; First multiplier 570 is used for the signal U3 behind said proportionality coefficient and the angle compensation is multiplied each other the signal U4 after obtaining multiplying each other;

The first input end of second multiplier 580 receives the signal U4 after said the multiplying each other; Second input receives the first given magnetic linkage

, second multiplier 580 and is used for signal U4 after said the multiplying each other and the first given magnetic linkage

are multiplied each other, and obtains magnetic linkage regulated quantity Δ ψ.

Handle in the subelement first, the DC filtering module is carried out the single order LPF with direct voltage, and filtering is superimposed upon the secondary resonance alternating current component on the direct voltage; It is poor that the magnitude of voltage of first subtracter after with direct voltage and DC filtering done, and the major part that obtains difference is a secondary resonance alternating current component, through the bandpass filtering of secondary filtering module, but high fdrequency component outside the filtering secondary harmonic components; The secondary harmonic components that the angle compensation module obtains after according to filtering is carried out angle compensation, recovers the original angle of quadratic component according to the secondary filtering parameter on the one hand, on the other hand according to follow-up formula (17) offset angle β.Second divider calculates proportionality coefficient k _φ, multiply by angle compensation secondary harmonic components afterwards, output magnetic linkage regulated quantity Δ ψ is to revise the first given magnetic linkage

Obtain the second given magnetic linkage ψ ^*, this second given magnetic linkage is revised stator magnetic linkage.

As shown in Figure 6, switch control unit 250 can be realized through following structure:

The first input end of adder 610 receives the said first given magnetic linkage

Second input receives said magnetic linkage regulated quantity Δ ψ, and adder 610 is used for the said first given magnetic linkage

With magnetic linkage regulated quantity Δ ψ addition, obtain the second given magnetic linkage ψ ^*, with the second given magnetic linkage ψ ^*Export the first input end of magnetic linkage adaptive sub unit 620 to;

Second input of magnetic linkage adaptive sub unit 620 receives a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, magnetic linkage adaptive sub unit 620 is used for: according to a of stator magnetic linkage under the β coordinate system, and b, c three phase component ψ _{β abc}With the said second given magnetic linkage ψ ^*Confirm magnetic linkage switch MQ position;

Moment two point form control sub unit 630, the judged result that is used for judging unit 220 is stator frequency ω _sFundamental frequency omega greater than motor ₀The time, confirm that torque switch TQ position is a preset value; The judged result of judging unit 220 is stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, carry out two point form according to said deviate Δ T and stagnate chain rate, confirm torque switch TQ position;

Switch chooser unit 640 is used for according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, magnetic linkage switch MQ position, torque switch TQ position, confirm switch controlling signal S.

Preferably, magnetic linkage adaptive sub unit 620 specifically can be used for: according to a of stator magnetic linkage under the β coordinate system, and b, c three phase component ψ _{β abc}Judge stator magnetic linkage sector of living in, select a under the β coordinate system corresponding under the respective sectors, b, c three phase components are with said three phase components and the said second given magnetic linkage ψ that select ^*Stagnate chain rate, output magnetic linkage switch MQ position.

Preferably, switch chooser unit 640 specifically can be used for: according to a of stator magnetic linkage under the β coordinate system, and b, c three phase component ψ _{β abc}Judge stator magnetic linkage sector of living in, carry out switch list according to magnetic linkage switch MQ position, torque switch TQ position in stator magnetic linkage sector of living in and table look-up, confirm the next on off state of switch in the inversion unit, confirm switch controlling signal according to the on off state of confirming.

Fig. 2～electric machine control system shown in Figure 6; Calibration stator coordinate; Need not complicated coordinate transform and decoupling zero process, directly control stator magnetic linkage and output torque, when guaranteeing the electric machine speed regulation performance; Suppressed the beat frequency influence of DC loop secondary resonance potential pulsation, guaranteed availability, stability and the reliability of system motor side.And; Above-mentioned control system can realize through software approach, has solved the problem that needs hardware to solve in the prior art, plays the raising level of integrated system; Reduce cost; Save the effect in space, more help optimizing designing and developing and the working electromagnet environment of product, the product that makes through engineering approaches is had more the market competitiveness.

In addition, this system is the basis with DSC, and control mode is simple, no complex calculation, and response speed is fast, and permanent flux regulator stage itself of DSC and can suppress the influence of secondary resonance automatically;

For the high power AC locomotive; Motor all will be near constant voltage or got into the constant voltage control stage during near

output frequency; This control system will be that purpose is carried out the inhibition of secondary resonance beat frequency with control stator magnetic linkage, output torque, guarantee the key performance in the electric machine speed regulation;

Adopt no secondary resonant tank control system,, can cancel secondary LC loop, space structure design that more helps current transformer and thermal design as far as traction convertor; Internal work electromagnetic environment for current transformer has very big improvement simultaneously.

Adopt the control system of no secondary resonant tank,, saved the space, reduced cost, improve the power output effective rate of utilization, improved level of integrated system and stability, will bring more economic benefits and social effect system.

Fig. 2～Fig. 6 is combined, can form a kind of preferred embodiment of the application's electric machine control system, shown in Fig. 6 a; In order to make this system configuration more clear; Wherein omitted judging unit, the annexation between judging unit and other unit can not given unnecessary details referring to Fig. 2～Fig. 6 here.

Corresponding with said electric machine control system, the application embodiment also provides a kind of motor control method, and is as shown in Figure 7, and this method comprises:

Step 701: according to feedback control signal S _Abc, the input inversion unit d. c. voltage signal u _d, rotating speed of motor ω _n, inversion unit output alternating current I _AbCalculate a of stator magnetic linkage under the β coordinate system of motor, b, c three phase component ψ _{β abc}, stator frequency ω _s, and target torque T ^*Deviate Δ T with actual torque T; Said feedback control signal S _AbcFor: the switch controlling signal S of electric machine control system output;

Step 702: judge said stator frequency ω _sWith the motor fundamental frequency omega ₀Size;

Step 703: stator frequency ω _sFundamental frequency omega greater than motor ₀The time, according to stator frequency ω _sAnd said deviate Δ T confirms the first given magnetic linkage

According to stator frequency ω _s, motor fundamental frequency omega ₀, the input inversion unit d. c. voltage signal u _dAnd the first given magnetic linkage Confirm magnetic linkage regulated quantity Δ ψ; According to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, the said first given magnetic linkage

Said magnetic linkage regulated quantity Δ ψ confirms switch controlling signal S, and said switch controlling signal S is used for controlling the on off state of inversion unit switch;

Step 704: stator frequency ω _sBe not more than the fundamental frequency omega of motor ₀The time, confirm the first given magnetic linkage It is first preset value; Confirm that magnetic linkage regulated quantity Δ ψ is 0; According to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, the said first given magnetic linkage Said magnetic linkage regulated quantity Δ ψ and said deviate Δ T confirm switch controlling signal.

As shown in Figure 8, step 701 can realize through following method:

Step 801: with the alternating current I of inversion unit output _AbBe transformed to the α shaft current I that the stator static coordinate is fastened from three-phase current _{S α}With β shaft current I _{S β}

Step 802: according to said d. c. voltage signal u _dWith feedback control signal S _AbcGenerate the α shaft voltage u that the stator static coordinate is fastened _{S α}With β shaft voltage u _{S β}

Execution sequence between step 801 and the step 802 does not limit.

Step 803: according to said α shaft current, β shaft current, α shaft voltage, β shaft voltage and rotating speed of motor ω _nCalculate rotor flux ψ _r, actual torque T and stator static coordinate fasten α axle stator magnetic linkage ψ _{μ α}With β axle stator magnetic linkage ψ _{μ β}

Step 804: according to said rotor flux ψ _rAnd rotating speed of motor ω _nCalculate stator frequency ω _s

Step 805: said stator static coordinate is fastened α axle stator magnetic linkage ψ _{μ α}With β axle stator magnetic linkage ψ _{μ β}Be transformed to a of stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}

Step 806: with the target torque T of preset motor output ^*Subtract each other with said actual torque T, obtain the deviate Δ T of target torque and actual torque.

Execution sequence between step 804, step 805, the step 806 does not limit.

As shown in Figure 9, described in the step 703 according to stator frequency ω _s, motor fundamental frequency omega ₀, the input inversion unit d. c. voltage signal u _dAnd the first given magnetic linkage

The realization of confirming magnetic linkage regulated quantity Δ ψ can comprise:

Step 901: to d. c. voltage signal u _dCarry out the single order LPF, obtain the d. c. voltage signal Ud behind the LPF;

Step 902: with d. c. voltage signal u _dSubtract each other with the d. c. voltage signal Ud behind the LPF;

Step 903: with the said signal delta u that obtains that subtracts each other _dBe divided by with the d. c. voltage signal Ud behind the LPF;

Step 904: the said signal U1 that obtains that is divided by is carried out bandpass filtering, with the signal U2 behind the bandpass filtering that obtains;

Step 905: the signal U2 after to said bandpass filtering carries out angle compensation according to predetermined angle, obtains the signal U3 behind the angle compensation;

Step 906: with (2 π f _e) ²Product ω with stator frequency and fundamental frequency _s. ω ₀Be divided by, obtain proportionality coefficient

Execution sequence between step 906 and step 901～step 905 does not limit.

Step 907: the signal U3 behind said proportionality coefficient

and the angle compensation is multiplied each other the signal U4 after obtaining multiplying each other;

Step 908: signal U4 after said the multiplying each other and the first given magnetic linkage

are multiplied each other, obtain magnetic linkage regulated quantity Δ ψ.

Shown in figure 10, described in the step 703 according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, the said first given magnetic linkage

Said magnetic linkage regulated quantity Δ ψ confirms that switch controlling signal S comprises:

Step 1001: with the said first given magnetic linkage

With magnetic linkage regulated quantity Δ ψ addition, obtain the second given magnetic linkage ψ ^*

Step 1002: according to a of stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}With the said second given magnetic linkage ψ ^*Confirm magnetic linkage switch MQ position;

Step 1003: confirm that torque switch TQ position is a preset value;

Execution sequence between step 1003 and step 1001～step 1002 does not limit.

Step 1004: according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, magnetic linkage switch MQ position, torque switch TQ position, confirm switch controlling signal S.

Shown in figure 11, described in the step 704 according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, the said first given magnetic linkage

Said magnetic linkage regulated quantity Δ ψ and said deviate Δ T confirm that switch controlling signal can comprise:

Step 1101: with the said first given magnetic linkage

With magnetic linkage regulated quantity Δ ψ addition, obtain the second given magnetic linkage ψ ^*

Step 1102: according to a of stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}With the said second given magnetic linkage ψ ^*Confirm magnetic linkage switch MQ position;

Step 1103: carry out two point form according to said deviate Δ T and stagnate chain rate, confirm torque switch TQ position;

Execution sequence between step 1103 and step 1101～step 1102 does not limit.

Step 1104: according to a of said stator magnetic linkage under the β coordinate system, b, c three phase component ψ _{β abc}, magnetic linkage switch MQ position, torque switch TQ position, confirm switch controlling signal S.

Motor control method shown in Fig. 7～11 gathers, and stator frequency is confirmed the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit during greater than the fundamental frequency of motor; When stator frequency is not more than the fundamental frequency of motor, confirm that the magnetic linkage regulated quantity is 0; Thereby at stator frequency during greater than the fundamental frequency of motor; Through the magnetic linkage regulated quantity the first given magnetic linkage is revised; Obtain the second given magnetic linkage, confirm switch controlling signal, thereby realized weak magnetic correction the secondary harmonic components according to the second given magnetic linkage; Directly control moment pulsation suppresses the beat frequency phenomenon that produces on the motor; And, with respect to motor control method of the prior art, need not to use the LC element, therefore do not have that the volume that uses the LC element to cause in the prior art is big, quality heavy, caloric value is big, cost is high and problem such as the bad proportioning of parameter.

At last, prove the principle that the application's electric machine control system and method can realize the foregoing invention purpose:

In existing DSC direct adaptive control:

The current transformer output voltage is applied directly on the stator of motor, stator magnetic linkage ψ _μWith stator voltage V _sRelation shown in formula 5:

${\stackrel{\→}{\mathrm{\ψ}}}_{\mathrm{\μ}}=L_{\mathrm{\μ}}\·{\stackrel{\→}{i}}_{\mathrm{\μ}}=\∫({\stackrel{\→}{V}}_s-R_s\·{\stackrel{\→}{i}}_s)\mathrm{dt}---\left(5\right)$

Wherein, R _sThe expression stator resistance, i _sThe expression stator current.

If ignore the influence of stator resistance pressure drop, be integral relation between stator magnetic linkage space vector and the stator voltage space vector.The direction of motion of stator magnetic linkage and track will be corresponding to the action directions of space vector of voltage; Shown in figure 12, provide stator voltage space vector

stator magnetic linkage movement locus successively in the suitable moment and will present regular hexagon.Directly utilize six kinds of effective on off states of inverter, simply obtain hexagonal magnetic linkage track, the basic thought of DSC control that Here it is with the control motor.

is for being provided with the stagnant ring gate sill of hexagon magnetic linkage among Figure 12; A, b, the c component of stator magnetic linkage conversion in the β coordinate; Stagnate chain rate through magnetic linkage, generate the respective switch state-change.Shown in figure 13, for stagnating, magnetic linkage encircles the switch graph of a relation.

In normal speed and following range of operation thereof, stator magnetic linkage is constant, under constant magnetic linkage, regulates torque; Then must reduce stator magnetic linkage average speed; So suitable moment insert space zero vector control stator field walk to stop, can play the effect of regulating torque, introduced torque ring (band-band) adjuster that stagnates here; This adjuster remains on torque and sets in the band limit that width is 2 ε m; Prescribe a time limit above the adjuster band when the difference of actual torque and given torque, will change switch command, the adjuster bandwidth is influenced by inverter switching frequency.Shown in figure 14, for stagnating, torque encircles the switch graph of a relation.

AC-DC-AC traction convertor circuit basic structure is shown in figure 15.Traction transformer secondary side voltage, current relationship formula are suc as formula shown in 6:

$\left\{\begin{array}{c}{u}_n\left(t\right)=U\cos \left(2\mathrm{\π}{f}_{e}t\right)\\ i_n\left(t\right)=I\cos (2\mathrm{\π}{f}_{e}t-\θ)\end{array}\right.---\left(6\right)$

Wherein, U is the Circuit Fault on Secondary Transformer voltage magnitude, and I is the Circuit Fault on Secondary Transformer current amplitude, and θ is secondary side electric current and voltage phase angle, and fe is a mains frequency, and in China, mains frequency is 50Hz;

Under the situation of the loss of pulse rectifier, instantaneous input and output power-balance, so formula 7 is arranged:

$u_n\left(t\right)\·i_n\left(t\right)=\frac{1}{2}\mathrm{UI}[\cos (4\mathrm{\π}{f}_{e}t-\mathrm{\θ})+\cos \mathrm{\θ}]=\mathrm{ud}\·\mathrm{id}---\left(7\right)$

Four-quadrant target is to control θ near 0, and promptly power factor is near 1, and direct voltage u _dConstant, so the computing formula 8 of direct voltage id is arranged:

$\mathrm{id}=\frac{1}{2}\mathrm{UI}[\cos (4\mathrm{\π}{f}_{e}t-\mathrm{\θ})+\cos \mathrm{\θ}]/\mathrm{ud}---\left(8\right)$

Direct current id shows as the alternating current component sum of DC quantity and frequency

; The alternating current component support electric capacity of DC loop of flowing through so; To produce the voltage alternating current component of frequency, be DC side secondary voltage flutter component for

.Ripple amplitude has following relational expression.It is thus clear that direct current secondary voltage pulse amplitude is directly proportional with power, with square relation of being inversely proportional to of the direct voltage ud that supports capacitance C and choose.Direct voltage can be represented by formula 9 so:

${\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">k</figure-callout>}}_2=\frac{\mathrm{\&Delta;ud}}{\mathrm{ud}}=\frac{\mathrm{<figure-callout\; id="2"\; label="id"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">id</figure-callout>}}{2\mathrm{\&pi;}\&CenterDot;2f_e\&CenterDot;C}\&CenterDot;\frac{1}{\mathrm{ud}}=\frac{P}{4\mathrm{\&pi;}{f}_e\&CenterDot;C\&CenterDot;\mathrm{<figure-callout\; id="2"\; label="u\; d"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">u</figure-callout>}{d}^{}{}^2}$

Ud＝ud·[1+k ₂cos(4πf _et-θ)] (9)

Wherein, Ud representes actual direct voltage; P representes the power of DC loop; C representes the capacitance of DC loop.

The Fourier series representation of inverter output voltage is shown in formula 10:

$f\left(2\mathrm{\&pi;}{f}_{s}t\right)=a_0+\underset{n=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}[a_n\sin \left(\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">n</figure-callout>}2\mathrm{\&pi;}{f}_{s}t\right)+b_n\cos \left(\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">n</figure-callout>}2\mathrm{\&pi;}{f}_{s}t\right)]---\left(10\right)$

Fs representes the inverter output frequency.

Because in actual through engineering approaches is used, output voltage waveforms keeps half-wave symmetry and 1/4 ripple symmetry, so the DC component in the Fourier series, cosine component is zero with idol time sinusoidal component; And in the occasion of inversion three-phase output, three alternately differ 120 °, so three times sinusoidal components also are zero, so obtain formula 11:

$a_n=\frac{2\mathrm{ud}\left(t\right)}{\mathrm{n\&pi;}}{\&Integral;}_0^{\mathrm{\&pi;}/2}\sin \left(\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">n</figure-callout>}2\mathrm{\&pi;}{f}_s\right)\mathrm{td}\left(\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">n</figure-callout>}2\mathrm{\&pi;}{f}_s\right)t,n=\mathrm{1,5,7,11}...\left(11\right)$

Bring formula (9) (11) into formula (10); Can get Output Voltage Formula (12), the alternating current component of frequency wherein occur for and

.

$u_{\mathrm{agc}}\left(t\right)\&ap;\frac{2}{\mathrm{\&pi;}}\&CenterDot;a_1\&CenterDot;\sin \left(2\mathrm{\&pi;}{f}_{s}t\right)\&CenterDot;\mathrm{ud}\left(t\right)=\frac{2}{\mathrm{\&pi;}}\&CenterDot;a_1\&CenterDot;\sin \left(2\mathrm{\&pi;}{f}_{s}t\right)\&CenterDot;\mathrm{ud}\&CenterDot;(1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\cos 4\mathrm{\&pi;}{f}_{e}t)$

$=\frac{2}{\mathrm{\&pi;}}\&CenterDot;a_1\&CenterDot;\sin \left(2\mathrm{\&pi;}{f}_{s}t\right)\&CenterDot;\mathrm{ud}+\frac{1}{\mathrm{\&pi;}}\&CenterDot;a_1\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\&CenterDot;\mathrm{ud}[\sin \left(2\mathrm{\&pi;}(f_s+2f_e)t\right)+\sin \left(2\mathrm{\&pi;}(f_s-2f_e)t\right)]---\left(12\right)$

So output voltage half-wave weber integration can be suc as formula shown in (13), when the output square wave, the deviation of weber integration will appear in positive and negative half-wave, also will cause electric current the deviation of positive and negative half-wave to occur, still can in like manner know by inference under the multiple-pulse situation.

$\left\{\begin{array}{c}\mathrm{UT}\left(t\right)={\&Integral;}_{\mathrm{tb}}^{\mathrm{ta}}\mathrm{ud}+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\&CenterDot;\mathrm{ud}\cos \left(4\mathrm{\&pi;}{f}_{e}t\right)\mathrm{dt}\\ =\frac{\mathrm{ud}}{2f_s}+{(-1)}^{\mathrm{<figure-callout\; id="2"\; label="N\; k"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">N</figure-callout>}}\frac{k_{}}{}\frac{{}_2\&CenterDot;\mathrm{<figure-callout\; id="2"\; label="ud"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">ud</figure-callout>}}{2\mathrm{\&pi;}{f}_e}\sin \left(\frac{\mathrm{\&pi;}{f}_e}{f_s}\right)\cos (\frac{\mathrm{N\&pi;}(f_s-2f_e)}{f_s}-\frac{\mathrm{\&pi;}{f}_e}{f_s}-\frac{2f_e\mathrm{\&delta;}}{f_s})\\ \mathrm{ta}=\frac{N}{2f_s}+\frac{1}{2f_s}+\frac{\mathrm{\&delta;}}{2\mathrm{\&pi;}{f}_s},N=\mathrm{0,1,2}...\\ \mathrm{tb}=\frac{N}{2f_s}+\frac{\mathrm{\&delta;}}{2\mathrm{\&pi;}{f}_s},N=\mathrm{0,1,2}...\\ \mathrm{\&Delta;UT}=\mathrm{UT}(N+1)-\mathrm{UT}\left(N\right)\end{array}\right.---\left(13\right)$

Wherein, δ representes the half-wave starting point moment and direct current secondary harmonic components zero crossing differential seat angle constantly; Ta representes the terminal point moment of half-wave integration; Tb representes the starting point moment of half-wave integration; UT (t) expression inverter output voltage half-wave weber integration; Δ UT representes the weber integration differential between adjacent positive and negative half-wave.

If control strategy with weber integration as controlled quentity controlled variable, control it when invariable, will eliminate the imbalance of positive and negative half-wave current so automatically, promptly eliminated the beat frequency phenomenon on the output current.

Weber, integration was approximately stator magnetic linkage under the condition of ignoring the stator resistance pressure drop, and can know that according to formula (9) the high more direct current secondary of output frequency resonance is obvious more, and formula (14) is approximate also approaching more.Therefore when controlling under the constant condition of stator magnetic linkage, carry out torque adjusting, the control electric machine speed regulation can effectively suppress beat frequency.

${\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}=L_{\mathrm{\&mu;}}\&CenterDot;{\stackrel{\&RightArrow;}{i}}_{\mathrm{\&mu;}}=\&Integral;({\stackrel{\&RightArrow;}{V}}_s-R_s\&CenterDot;{\stackrel{\&RightArrow;}{i}}_s)\mathrm{dt}\&ap;\&Integral;{\stackrel{\&RightArrow;}{V}}_s\mathrm{dt}---\left(14\right)$

Stator magnetic linkage is carrying out the dynamic adjustments stage, and like the magnetic stage a little less than the constant voltage, or near the optimization adjusted in concert stage of output during constant voltage, stator magnetic linkage will be purpose with the torque, regulate according to the variation of torque.Stator magnetic linkage is no longer constant under these situation, and under situation about not handling, motor side still can receive the influence of secondary resonance potential so.

$T_d=\frac{3}{2}\&CenterDot;\frac{P_n}{L_{\mathrm{\&sigma;}}}\&CenterDot;\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}\right|\&CenterDot;\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_r\right|\&CenterDot;\sin \mathrm{\&theta;}$

$T_d=P/{\mathrm{\&omega;}}_S\&Proportional;{\left|u_s\right|}^2/z^{\&prime;}\&Proportional;{[1+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DEST\_PATH\_HDA00002117780200091.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;})]}^2/z^{\&prime;}$

$\&DoubleRightArrow;T_d=T[1+k_T\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;}-\mathrm{\&alpha;})]$

$\&DoubleRightArrow;\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}\right|={\mathrm{\&psi;}}^{*}[1+k_{\mathrm{\&psi;}}\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;}-\mathrm{\&alpha;})]---\left(15\right)$

Wherein, T _dThe actual output of expression torque; L _σExpression motor leakage inductance; P _nExpression motor number of pole-pairs; k _TBeat frequency content in the actual output of the expression torque; Z ' contains frequency f for output current _s,

With

Equiva lent impedance under the condition;

It is thus clear that also contain in the magnetic linkage of dynamic adjustments according to the torque variation

Flutter component, irrelevant with output frequency, z ' contains frequency f for output current _s, With

Equiva lent impedance under the condition, α is the equiva lent impedance corresponding angle.For eliminating the pulsation in the torque,, increase control item and carry out the inhibition of secondary resonance in the stator magnetic linkage dynamic adjustments stage.

$\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}\right|+\mathrm{\&Delta;}\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}\right|\&ap;{\mathrm{\&psi;}}^{*}[1+k_{\mathrm{\&psi;}}\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;}-\mathrm{\&alpha;})]+{\mathrm{\&psi;}}^{*}\&CenterDot;k_{\mathrm{\&psi;}}\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;}+\mathrm{\&beta;})$

$={\mathrm{\&psi;}}^{*}[1+2k_{\mathrm{\&psi;}}\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;}-\mathrm{\&alpha;}/2+\mathrm{\&beta;}/2)\cos (\mathrm{\&beta;}/2+\mathrm{\&alpha;}/2)]---\left(16\right)$

The torque fluctuation amount disappears when alpha+beta=180 °, and corresponding beat frequency also disappears.This adjustment amount acts on flux linkage set, suc as formula (17) expression, compares with formula (9), and promptly being equivalent to increases ratio k φ on the basis of direct voltage secondary flutter component, and offset angle β.

$\frac{\mathrm{\&Delta;}\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}\right|}{\left|{\stackrel{\&RightArrow;}{\mathrm{\&psi;}}}_{\mathrm{\&mu;}}\right|}=k_{\mathrm{\&phi;}}{k}_2\cos (4\mathrm{\&pi;}{f}_{e}t-\mathrm{\&theta;}+\mathrm{\&beta;})---\left(17\right)$

Stator magnetic linkage is when compensation different angles β, and equiva lent impedance z ' and corresponding angle α thereof be respective change thereupon also, when getting suitable β value, can offset the influence of secondary resonance to torque.For proportionality coefficient k φ, the constant voltage stage is carried out weak magnetic adjusting according to permanent power, according to weak magnetic curve, following expression is arranged, f ₀Be the motor fundamental frequency.

$k_{\mathrm{\&phi;}}=\frac{{\left(2f_e\right)}^2}{{\mathrm{<figure-callout\; id="0"\; label="f"\; filenames="DEST\_PATH\_HDA00002117780200091.png,DEST\_PATH\_HDA00002194364200092.png"\; state="\{\{state\}\}">f</figure-callout>}}_0\&CenterDot;f_s}---\left(18\right)$

Here

is the second harmonic processing unit, the second flip-flop calculated scale factor

The above only is the application's a preferred implementation; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the application's principle; Can also make some improvement and retouching, these improvement and retouching also should be regarded as the application's protection range.

Claims (13)

1. an electric machine control system is characterized in that, comprising:

The motor model computing unit; Be used for calculating a of stator magnetic linkage under the β coordinate system of motor according to the alternating current that feedback control signal, the d. c. voltage signal of input inversion unit, rotating speed of motor, inversion unit are exported; B, the deviate of c three phase components, stator frequency and target torque and actual torque; Said feedback control signal is: the switch controlling signal of electric machine control system output;

Judging unit is used to judge the size of said stator frequency and motor fundamental frequency obtain judged result;

When magnetic linkage computing unit, the judged result that is used for judging unit are stator frequency greater than the fundamental frequency of motor, confirm the first given magnetic linkage according to stator frequency and said deviate; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, confirms that the first given magnetic linkage is first preset value; Magnetic linkage computing unit exports the said first given magnetic linkage to switch control unit;

When secondary resonance processing unit, the judged result that is used for judging unit are stator frequency greater than the fundamental frequency of motor, confirm the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, confirms that the magnetic linkage regulated quantity is 0;

Switch control unit; When the judged result that is used for judging unit is a stator frequency greater than the fundamental frequency of motor; According to a of said stator magnetic linkage under the β coordinate system; B, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity are confirmed switch controlling signal, said switch controlling signal is used for controlling the on off state of inversion unit switch; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, according to a of said stator magnetic linkage under the β coordinate system, and b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity and said deviate are confirmed switch controlling signal.

2. system according to claim 1 is characterized in that, said secondary resonance processing unit comprises:

First handles subelement, when the judged result that is used for judging unit is a stator frequency greater than the fundamental frequency of motor, confirms the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit;

Second handles subelement, and the judged result that is used for judging unit is a stator frequency when being not more than the fundamental frequency of motor, confirms that the magnetic linkage regulated quantity is 0.

3. system according to claim 2 is characterized in that, said first handles subelement comprises:

The DC filtering module is used for d. c. voltage signal is carried out the single order LPF, obtains the d. c. voltage signal behind the LPF;

The negative input end of first subtracter receives the d. c. voltage signal behind the said LPF; Positive input terminal receives d. c. voltage signal; First subtracter is used for the d. c. voltage signal behind d. c. voltage signal and the LPF is subtracted each other, and will subtract each other the first input end that the signal that obtains exports first divider to;

Second input of first divider receives the direct voltage behind the LPF, and divider is used for subtracting each other the signal that obtains and the direct voltage letter behind the LPF is divided by with said, and the signal that obtains of will being divided by exports the input of secondary filtering module to;

The secondary filtering module is used for the said signal that obtains that is divided by is carried out bandpass filtering, exports the signal behind the bandpass filtering that obtains to the angle compensation unit;

The angle compensation module is used for carrying out angle compensation according to the signal of predetermined angle after to said bandpass filtering, obtains the signal behind the angle compensation;

The first input end of second divider receives the product of stator frequency and motor fundamental frequency, and second input receives (2 π f _e) ², second divider is used for (2 π f _e) ²Be divided by with the product of stator frequency and fundamental frequency, obtain proportionality coefficient;

The first input end of first multiplier receives said proportionality coefficient, and second input receives the signal behind the said angle compensation, and first multiplier is used for the signal multiplication behind said proportionality coefficient and the angle compensation, the signal after obtaining multiplying each other;

The first input end of second multiplier receives the signal after said the multiplying each other, and second input receives the first given magnetic linkage, and second multiplier is used for the signal after said the multiplying each other and the first given magnetic linkage are multiplied each other, and obtains the magnetic linkage regulated quantity.

4. according to each described system of claim 1 to 3, it is characterized in that the motor model computing unit comprises:

Electric current coordinate transform subelement is used for the alternating current of inversion unit output is transformed to α shaft current and the β shaft current that the stator static coordinate is fastened from three-phase current;

The voltage model subelement is used for generating α shaft voltage and the β shaft voltage that the stator static coordinate is fastened according to the feedback control signal of said d. c. voltage signal and the output of switch selected cell;

The Model Calculation subelement is used for calculating rotor flux, actual torque and stator static coordinate according to said α shaft current, β shaft current, α shaft voltage, β shaft voltage and rotating speed of motor and fastens α axle stator magnetic linkage and β axle stator magnetic linkage;

The stator frequency computation subunit is used for calculating stator frequency according to said rotor flux and rotating speed of motor;

Stator magnetic linkage coordinate transform subelement is used for said stator static coordinate is fastened α axle stator magnetic linkage and β axle stator magnetic linkage is transformed to a of stator magnetic linkage under the β coordinate system, b, c three phase components;

The deviate computation subunit is used for the target torque and the said actual torque of preset motor output are subtracted each other, and obtains the deviate of target torque and actual torque; When the judged result of judging unit when being stator frequency greater than the fundamental frequency of motor, export said deviate to magnetic linkage computing unit, when the judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, export said deviate to switch control unit.

5. system according to claim 4 is characterized in that, the deviate computation subunit comprises:

The negative input end of second subtracter receives actual torque, and positive input terminal receives said target torque, and second subtracter is used for said target torque and actual torque are subtracted each other, and obtains the deviate of said target torque and actual torque;

Single-pole double-throw switch (SPDT), moving contact connect the output of second subtracter, are used to receive said deviate; First fixed contact connects magnetic linkage computing unit one input, and second fixed contact connects switch control unit one input;

Control module, when being used for judged result when judging unit and being stator frequency greater than the fundamental frequency of motor, the moving contact of control switch is connected with first fixed contact; When the judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, the moving contact of control switch is connected with second fixed contact.

6. according to each said system of claim 1 to 3, it is characterized in that switch control unit comprises:

The first input end of adder receives the said first given magnetic linkage; Second input receives said magnetic linkage regulated quantity; Adder is used for the said first given magnetic linkage and the addition of magnetic linkage regulated quantity; Obtain the second given magnetic linkage, the second given magnetic linkage is exported to the first input end of magnetic linkage adaptive sub unit;

Second input of magnetic linkage adaptive sub unit receives a of said stator magnetic linkage under the β coordinate system; B, c three phase components, magnetic linkage adaptive sub unit is used for: according to a of stator magnetic linkage under the β coordinate system; B, c three phase components and the said second given magnetic linkage are confirmed magnetic linkage switch MQ position;

When moment two point form control sub unit, the judged result that is used for judging unit are stator frequency greater than the fundamental frequency of motor, confirm that torque switch TQ position is a preset value; The judged result of judging unit is a stator frequency when being not more than the fundamental frequency of motor, carries out two point form according to said deviate and stagnates chain rate, confirms torque switch TQ position;

Switch chooser unit is used for according to a of said stator magnetic linkage under the β coordinate system, b, and the switch controlling signal to inversion unit output is confirmed in c three phase components, magnetic linkage switch MQ position, torque switch TQ position.

7. system according to claim 6 is characterized in that, magnetic linkage adaptive sub unit specifically is used for: according to a of stator magnetic linkage under the β coordinate system; B, c three phase components are judged stator magnetic linkage sector of living in, select a under the β coordinate system corresponding under the respective sectors; B; C three phase components stagnate chain rate with said three phase components and the said second given magnetic linkage selected, output magnetic linkage switch MQ position.

8. system according to claim 6; It is characterized in that switch chooser unit specifically is used for: according to a of stator magnetic linkage under the β coordinate system, b; C three phase components are judged stator magnetic linkage sector of living in; Carry out switch list according to magnetic linkage switch MQ position, torque switch TQ position in stator magnetic linkage sector of living in and table look-up, confirm the next on off state of switch in the inversion unit, confirm switch controlling signal to inversion unit output according to the on off state of confirming.

9. a motor control method is characterized in that, comprising:

Alternating current according to feedback control signal, the d. c. voltage signal of importing inversion unit, rotating speed of motor, inversion unit output calculates a of stator magnetic linkage under the β coordinate system of motor; B, the deviate of c three phase components, stator frequency and target torque and actual torque; Said feedback control signal S _AbcFor: the switch controlling signal S of electric machine control system output;

Judge the size of said stator frequency and motor fundamental frequency;

Stator frequency is confirmed the first given magnetic linkage according to stator frequency and said deviate during greater than the fundamental frequency of motor; Confirm the magnetic linkage regulated quantity according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit; According to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity are confirmed switch controlling signal, shown in switch controlling signal be used for controlling the on off state of inversion unit switch;

When stator frequency is not more than the fundamental frequency of motor, confirm that the first given magnetic linkage is first preset value; Confirm that the magnetic linkage regulated quantity is 0; According to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity and said deviate are confirmed switch controlling signal.

10. method according to claim 9 is characterized in that, confirms that according to the fundamental frequency of stator frequency, motor, the d. c. voltage signal and the first given magnetic linkage of input inversion unit the magnetic linkage regulated quantity comprises:

D. c. voltage signal is carried out the single order LPF, obtain the d. c. voltage signal behind the LPF;

D. c. voltage signal behind d. c. voltage signal and the LPF is subtracted each other;

Subtract each other the signal that obtains and the direct voltage letter behind the LPF is divided by with said;

The said signal that obtains that is divided by is carried out bandpass filtering;

Carry out angle compensation according to the signal of predetermined angle after, obtain the signal behind the angle compensation said bandpass filtering;

With (2 π f _e) ²Be divided by with the product of stator frequency and fundamental frequency, obtain proportionality coefficient;

With the signal multiplication behind said proportionality coefficient and the angle compensation, the signal after obtaining multiplying each other;

The signal after said the multiplying each other and the first given magnetic linkage are multiplied each other, obtain the magnetic linkage regulated quantity.

11. according to claim 9 or 10 described methods; It is characterized in that; Alternating current according to the switch controlling signal of d. c. voltage signal, the switch selected cell output of input inversion unit, rotating speed of motor, inversion unit output calculates a of stator magnetic linkage under the β coordinate system of motor; B, the deviate of c three phase components, stator frequency and target torque and actual torque comprises:

The alternating current of inversion unit output is transformed to α shaft current and the β shaft current that the stator static coordinate is fastened from three-phase current;

Generate α shaft voltage and the β shaft voltage that the stator static coordinate is fastened according to said d. c. voltage signal and feedback control signal;

Calculate rotor flux, actual torque and stator static coordinate according to said α shaft current, β shaft current, α shaft voltage, β shaft voltage and rotating speed of motor and fasten α axle stator magnetic linkage and β axle stator magnetic linkage;

Calculate stator frequency according to said rotor flux and rotating speed of motor;

Said stator static coordinate is fastened α axle stator magnetic linkage and β axle stator magnetic linkage is transformed to a of stator magnetic linkage under the β coordinate system, b, c three phase components;

The target torque and the said actual torque of preset motor output are subtracted each other, obtain the deviate of target torque and actual torque.

12. according to claim 9 or 10 described methods, it is characterized in that, according to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity confirm that switch controlling signal comprises:

With the said first given magnetic linkage and the addition of magnetic linkage regulated quantity, obtain the second given magnetic linkage;

According to a of stator magnetic linkage under the β coordinate system, b, c three phase components and the said second given magnetic linkage are confirmed magnetic linkage switch MQ position;

Confirm that torque switch TQ position is a preset value;

According to a of said stator magnetic linkage under the β coordinate system, b, switch controlling signal is confirmed in c three phase components, magnetic linkage switch MQ position, torque switch TQ position.

13. according to claim 9 or 10 described methods, it is characterized in that, according to a of said stator magnetic linkage under the β coordinate system, b, c three phase components, the said first given magnetic linkage, said magnetic linkage regulated quantity and said deviate confirm that switch controlling signal comprises:

With the said first given magnetic linkage and the addition of magnetic linkage regulated quantity, obtain the second given magnetic linkage;

According to a of stator magnetic linkage under the β coordinate system, b, c three phase components and the said second given magnetic linkage are confirmed magnetic linkage switch MQ position;

Carry out two point form according to said deviate Δ T and stagnate chain rate, confirm torque switch TQ position;

According to a of said stator magnetic linkage under the β coordinate system, b, switch controlling signal is confirmed in c three phase components, magnetic linkage switch MQ position, torque switch TQ position.

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