CN103595328B - A kind of control method of permagnetic synchronous motor and system - Google Patents

A kind of control method of permagnetic synchronous motor and system Download PDF

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CN103595328B
CN103595328B CN201310558138.9A CN201310558138A CN103595328B CN 103595328 B CN103595328 B CN 103595328B CN 201310558138 A CN201310558138 A CN 201310558138A CN 103595328 B CN103595328 B CN 103595328B
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psi
synchronous motor
beta
alpha
stator
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CN103595328A (en
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付明星
林�建
李明成
李静
许本福
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中广核工程有限公司
中国广核集团有限公司
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Abstract

The invention discloses a kind of control method and system of permagnetic synchronous motor, described method comprises the deviation that adopts voltage model and current model to calculate the stator magnetic linkage of permagnetic synchronous motor and calculate stator magnetic linkage; Magnetic linkage, rotor flux that transform matrix calculations between recycling two-phase rest frame and two-phase synchronous rotating frame goes out synchronous motor stator under dq coordinate system, finally utilize the closed loop Phase Lock Technique of rotor q axle magnetic linkage to calculate rotor position angle, the angular speed of permagnetic synchronous motor. Enforcement the invention has the beneficial effects as follows, based on permanent-magnetic synchronous motor rotor magnetic linkage closed-loop phaselocked loop without sensor evaluation method, the technology that has adopted voltage-to-current dual model to compensate stator magnetic linkage deviation, improve the accuracy of estimating algorithm, can realize the effective control in permagnetic synchronous motor full speed range.

Description

A kind of control method of permagnetic synchronous motor and system

Technical field

The present invention relates to the control field of synchronous motor, more particularly, relate to one and be applied to total power windThe control method of the permagnetic synchronous motor of electric converter and system.

Background technology

Direct-driving type wind power generation system is a kind of novel wind generator system, adopts blower fan directly to drive multipoleLow speed permanent magnet synchronous motor (PMSM) generating, the electric energy after then changing by full power convertor is incorporated toElectrical network. Double fed asynchronous machine (DFIG) wind power system relatively, direct-driving type wind power generation system has saved biographySystem gear-box, system effectiveness and operational reliability are high, and have advantages of and more easily realize low-voltage crossing function,So direct-driving type wind power generation system is with a wide range of applications.

Key equipment in full power convertor direct-driving type wind power generation system, should realize electrical network conversion excellentThe function of matter electric energy, controls PMSM again, and wherein the prerequisite of the control of PMSM is to obtainObtain reliable rotor information.

The method of the reliable rotor information of existing acquisition comprises that (1) has sensor technology, adopts photoelectric codeThe mechanical devices such as dish, rotary transformer are measured, and can bring cost increase, installation and maintenance difficulty, external interferenceEtc. problem; (2) counter electromotive force method is in existing wind electric converter, to apply more permagnetic synchronous motor without biographySensor method. But the counter electromotive force of motor is less during due to low speed, adds and affected by external interference factor, difficultyCounter electromotive force accurately to be detected. Therefore, the stable operation of the uncontrollable motor of the method in the time of low speed. WithAnd some other without methods of sensor estimation rotor position angle not only processing method and implementation procedure comparatively multipleValidity assorted, its practical application is still to be tested, and cannot ensure its computational accuracy.

Summary of the invention

The technical problem to be solved in the present invention is, for the above-mentioned defect of prior art, provides a kind of applicationIn control method and the system of the permagnetic synchronous motor of full-power wind power converter.

The technical solution adopted for the present invention to solve the technical problems is: construct a kind of permagnetic synchronous motorControl method, described method comprises:

The threephase stator voltage u of sampling permagnetic synchronous motora、ub、uc, stator current ia、ib、ic, logicalCross from abc three phase static coordinate system transformation to α β two-phase rest frame, calculate the electricity under α β coordinate systemPress uα、uβAnd current iα、iβ

Adopt voltage model to calculate the first stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-uWithψβ-u

ψ α - u = ∫ ( u α - i α · R s - u α - z ) dt ψ β - u = ∫ ( u β - i β · R s - u β - z ) dt ;

In formula, uα-z、uβ-zFor the voltage of compensation; RsFor the electricity of the stator winding of magnetic-synchro motorResistance;

Adopt current model to calculate the second stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-iAnd ψβ-i

ψ α - i = i α · L s + ψ f · cos θ s ψ β - i = i β · L s + ψ f · sin θ s ;

In formula, LsFor the stator inductance of permagnetic synchronous motor; ψfFor the permanent magnet magnetic flux of permagnetic synchronous motorAmount; Sin θs、cosθsFor the permanent-magnetic synchronous motor rotor angle θ of estimationsThe sine, the cosine value that calculate;

Calculate the deviation between the first stator magnetic linkage and the second stator magnetic linkage under permagnetic synchronous motor α β coordinate systemψα-errAnd ψβ-err

ψ α - err = ψ α - u - ψ α - i ψ β - err = ψ β - u - ψ β - i ;

Utilize the transform matrix calculations between two-phase rest frame α β and two-phase synchronous rotating frame dq to go outThe magnetic linkage ψ of permanent-magnetic synchronous motor stator under dq coordinate systemd-sAnd ψq-s

ψ d - s = ψ α - u · cos θ s + ψ β - u · sin θ s ψ q - s = - ψ α - u · sin θ s + ψ β - u · cos θ s ;

Calculate the magnetic linkage ψ of permanent-magnetic synchronous motor rotor q axleq-r

ψq-r=ψq-s-Ls·iq

In formula, iqIt is the q axle component under permanent-magnetic synchronous motor stator electric current dq coordinate system;

Make ψq-r=0, calculate the permanent-magnetic synchronous motor rotor angle θ of estimations, according to described estimation foreverMagnetic-synchro angle of rotor of motor θsControl permanent-magnetic synchronous motor rotor rotates.

In the control method of above-mentioned permagnetic synchronous motor, the voltage u of compensationα-z、uβ-zAdopt PI controlDevice processed regulates, and computing formula is:

ψ α - p = K P - ψ · ψ α - err ψ β - p = K P - ψ · ψ β - err ;

ψ α - i = ψ α - i + K I - ψ · ψ α - err ψ β - i = ψ β - i + K I - ψ · ψ β - err ;

u α - z = ω s · ( ψ α - p + ψ α - i ) u β - z = ω s · ( ψ β - p + ψ β - i ) ;

In formula, KP-ψ、KI-ψThe deviation being respectively between the first stator magnetic linkage and the second stator magnetic linkage adopts PIThe ratio of closed-loop control, the parameter of integral element; ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.

In the control method of above-mentioned permagnetic synchronous motor, the permanent-magnetic synchronous motor rotor angular velocity omega of estimationsComputing formula is as follows:

ω s = - ψ q - r ( K p - θ + K I - θ S ) ;

In formula, Kp-θ、KI-θFor the angle θ of permanent-magnetic synchronous motor rotor of estimationsAdopt closed loop phaselocked loopRatio, the integral parameter controlled.

A kind of control system of permagnetic synchronous motor is also provided, comprises that permagnetic synchronous motor, the first coordinate becomeChange unit, the second coordinate transformation unit, the first control module, the second control module, space vector pulsewidthModulating unit and converter, wherein, described converter is connected with described permagnetic synchronous motor; DescribedOne coordinate transformation unit and the second coordinate transformation unit are connected to described converter and described permanent-magnet synchronous in turnBetween motor; Described the first control module and the second control module respectively with described the second converter unit andDescribed space vector pulse width modulation unit connects, described converter and described space vector pulse width modulation unitConnect;

Described the first coordinate transformation unit is used for the threephase stator current i of permagnetic synchronous motora、ib、icBecomeChange to the stator current i under α β two-phase static coordinate systemα、iβ

Described the second coordinate transformation unit is used for stator current iα、iβTransform to dq synchronous rotating frameUnder stator current id、iq

Described the first control module is for according to reference to stator currentStator current idAnd rotor fieldThe axle d component of the induced electromotive force that rotation produces calculates d axle stator voltage component vd

Described the second control module is for according to reference to stator currentStator current iqAnd revolve rotor fieldThe d axle component of raw induced electromotive force of changing the line of production calculates q axle stator voltage component vq; Described spaceVector pwm unit is used for according to stator voltage vd、vqEmploying spatial vector pulse width modulation algorithm generatesPulse width signal is sent into described converter;

Described converter is for generating three according to the pulse width signal of described space vector pulse width modulation unit outputPhase stator voltage is to drive described permagnetic synchronous motor.

In the control system of above-mentioned permagnetic synchronous motor, under dq axis coordinate system, described first controls listFirst and described the second control module is used for calculating stator voltage component vdAnd vqFormula be:

v d = R s i d + L d di d dt + d ψ f dt - ω s L q i q v q = R s i q + L d di q dt + ω s ( L d i d + ψ f ) ;

In formula, vd、vqRespectively the dq axle component that converter imposes on the voltage on permagnetic synchronous motor,

id、iqIt is respectively the dq axle component of stator current;

Ld、LqRespectively the self-induction of stator dq axle, wherein:

L d = L dm + L σs L q = L qm + L σs ,

Ldm、LqmAnd LσsBe respectively magnetizing inductance and the leakage inductance of stator dq axle;

ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.

In the control system of above-mentioned permagnetic synchronous motor, also comprise be connected to described permagnetic synchronous motor andBetween described the second coordinate transformation unit without sensor control unit, describedly use without sensor control unitIn adopting voltage model to calculate the first stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-uAnd ψβ-u

ψ α - u = ∫ ( u α - i α · R s - u α - z ) dt ψ β - u = ∫ ( u β - i β · R s - u β - z ) dt ;

In formula, uα-z、uβ-zFor the voltage of compensation; RsFor the electricity of the stator winding of permagnetic synchronous motorResistance;

Adopt current model to calculate the second stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-iAnd ψβ-i

ψ α - i = i α · L s + ψ f · cos θ s ψ β - i = i β · L s + ψ f · sin θ s ;

In formula, LsFor the stator inductance of permagnetic synchronous motor; ψfFor the permanent magnet magnetic flux of permagnetic synchronous motorAmount; Sin θs、cosθsFor the permanent-magnetic synchronous motor rotor angle θ of estimationsThe sine, the cosine value that calculate;

Calculate the deviation between the first stator magnetic linkage and the second stator magnetic linkage under permagnetic synchronous motor α β coordinate systemψα-errAnd ψβ-err

ψ α - err = ψ α - u - ψ α - i ψ β - err = ψ β - u - ψ β - i ;

Utilize the transform matrix calculations between two-phase rest frame α β and two-phase synchronous rotating frame dq to go outThe magnetic linkage ψ of permanent-magnetic synchronous motor stator under dq coordinate systemd-sAnd ψq-s

ψ d - s = ψ α - u · cos θ s + ψ β - u · sin θ s ψ q - s = - ψ α - u · sin θ s + ψ β - u · cos θ s ;

Calculate the magnetic linkage ψ of synchronous electric motor rotor q axleq-r

ψq-r=ψq-s-Ls·iq

In formula, iqIt is the q axle component under permanent-magnetic synchronous motor stator electric current dq coordinate system;

Make ψq-r=0, calculate the permanent-magnetic synchronous motor rotor angle θ of estimations, according to described estimation foreverMagnetic-synchro angle of rotor of motor θsControl the operation of permagnetic synchronous motor;

Described without the also voltage for adopting PI controller to regulate calculating to compensate of sensor control unituα-z、uβ-z, computing formula is:

ψ α - p = K P - ψ · ψ α - err ψ β - p = K P - ψ · ψ β - err ;

ψ α - i = ψ α - i + K I - ψ · ψ α - err ψ β - i = ψ β - i + K I - ψ · ψ β - err ;

u α - z = ω s · ( ψ α - p + ψ α - i ) u β - z = ω s · ( ψ β - p + ψ β - i ) ;

In formula, KP-ψ、KI-ψThe deviation being respectively between the first stator magnetic linkage and the second stator magnetic linkage adopts PIThe ratio of closed-loop control, the parameter of integral element; ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.

In the control system of above-mentioned permagnetic synchronous motor, with reference to stator current

Implement method for controlling permanent magnet synchronous motor of the present invention and system, there is following beneficial effect: based onPermanent-magnetic synchronous motor rotor magnetic linkage closed-loop phaselocked loop without sensor evaluation method, adopted voltage-to-current twoModel compensates permanent-magnetic synchronous motor stator magnetic linkage deviation, has improved the accuracy of estimating algorithm, realShow the effective control in permagnetic synchronous motor full speed range.

Brief description of the drawings

Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:

Fig. 1 is permagnetic synchronous motor in the control method of permagnetic synchronous motor provided by the invention and systemReference frame;

Fig. 2 is the flow chart of the control method of permagnetic synchronous motor provided by the invention;

Fig. 3 is the control method rotor magnetic linkage closed-loop phaselocked loop control of permagnetic synchronous motor provided by the inventionBlock diagram processed;

Fig. 4 is the block diagram of the control system of permagnetic synchronous motor provided by the invention.

Detailed description of the invention

Understand for technical characterictic of the present invention, object and effect being had more clearly, now contrast accompanying drawingDescribe the specific embodiment of the present invention in detail.

Fig. 1 is permagnetic synchronous motor in the control method of permagnetic synchronous motor provided by the invention and systemReference frame, the arbitrary phase stator voltage equation of permagnetic synchronous motor in abc three phase static coordinate systemFor:

v s = R s i s + L s di s dt + d dt ( ψ f e jθ s ) ,

In formula, vsBe the arbitrary phase stator voltage of permagnetic synchronous motor, RsFor the resistance of permagnetic synchronous motor, LsForStator inductance, ψfFor permanent magnet magnetic flux, these three parameters are known quantity. vsFor determining of permagnetic synchronous motorSub-terminal voltage vector, isFor stator current vector, θsFor the permanent-magnet synchronous motor rotor position angle of estimation.

Be reference frame by adopting the dq synchronous rotating frame in Fig. 1, d axle positive direction is rotorThe positive direction of magnetic pole d-axis, the positive direction of q axle is ahead of the direction of 90 ° of electrical angles of d axle, and dq axle is along with turningThe rotation of sub-magnetic pole and rotating. Under this dq coordinate system, the stator voltage equation of permagnetic synchronous motor again canBe expressed as:

v d = R s i d + L d di d dt + d ψ f dt - ω s L q i q v q = R s i q + L d di q dt + ω s ( L d i d + ψ f ) ;

In formula, vd、vqRespectively the dq axle component that converter imposes on the voltage on permagnetic synchronous motor,

id、iqIt is respectively the dq axle component of stator current;

Ld、LqRespectively the self-induction of stator dq axle, wherein:

L d = L dm + L σs L q = L qm + L σs ,

Ldm、LqmAnd LσsBe respectively magnetizing inductance and the leakage inductance of stator dq axle;

ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.

Fig. 2 is the flow chart of the control method of permagnetic synchronous motor provided by the invention, concrete steps asUnder: the threephase stator voltage u of sampling permagnetic synchronous motora、ub、uc, stator current ia、ib、ic, logicalCross from abc three phase static coordinate system transformation and to the matrix of α β two-phase rest frame be

T abc / αβ = 2 3 1 - 1 2 - 1 2 0 3 2 - 3 2 ;

Can calculate the voltage u under α β coordinate system by above-mentioned equationα、uβAnd current iα、iβ

Adopt voltage model to calculate the first stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-uWithψβ-u

ψ α - u = ∫ ( u α - i α · R s - u α - z ) dt ψ β - u = ∫ ( u β - i β · R s - u β - z ) dt ;

In formula, uα-z、uβ-zFor the voltage of compensation, can regulate and calculate by PI controller below;RsFor the resistance of the stator winding of magnetic-synchro motor.

Adopt current model to calculate the second stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-iAnd ψβ-i

ψ α - i = i α · L s + ψ f · cos θ s ψ β - i = i β · L s + ψ f · sin θ s ;

In formula, LsFor the stator inductance of permagnetic synchronous motor; ψfFor the permanent magnet magnetic flux of permagnetic synchronous motorAmount; Sin θs、cosθsFor the angle of rotor of motor θ of estimationsThe sine, the cosine value that calculate.

Calculate the deviation between the first stator magnetic linkage and the second stator magnetic linkage under permagnetic synchronous motor α β coordinate system ψα-errAnd ψβ-err

ψ α - err = ψ α - u - ψ α - i ψ β - err = ψ β - u - ψ β - i ;

Adopt PI controller to regulate the voltage u that calculates compensationα-z、uβ-z, computing formula is:

ψ α - p = K P - ψ · ψ α - err ψ β - p = K P - ψ · ψ β - err ;

ψ α - i = ψ α - i + K I - ψ · ψ α - err ψ β - i = ψ β - i + K I - ψ · ψ β - err ;

u α - z = ω s · ( ψ α - p + ψ α - i ) u β - z = ω s · ( ψ β - p + ψ β - i ) ;

In formula, KP-ψ、KI-ψThe deviation being respectively between the first stator magnetic linkage and the second stator magnetic linkage adopts PIThe ratio of closed-loop control, the parameter of integral element; ωsFor the angle speed of permanent-magnetic synchronous motor rotor of estimationDegree.

Utilize the transition matrix between two-phase rest frame α β and two-phase synchronous rotating frame dq:

T αβ → dq = cos θ s sin θ s - sin θ s cos θ s ;

In formula, sin θs、cosθsFor the angle of rotor of motor θ of estimationsThe sine, the cosine value that calculate.

Calculate the magnetic linkage ψ of synchronous motor stator under dq coordinate systemd-sAnd ψq-s

ψ d - s = ψ α - u · cos θ s + ψ β - u · sin θ s ψ q - s = - ψ α - u · sin θ s + ψ β - u · cos θ s ;

Calculate the magnetic linkage ψ of synchronous electric motor rotor q axleq-r

ψq-r=ψq-s-Ls·iq

In formula, iqIt is the q axle component under permanent-magnetic synchronous motor stator electric current dq coordinate system.

Wherein, the angular velocity omega of the synchronous electric motor rotor forever of estimationsComputing formula is as follows:

ω s = - ψ q - r ( K p - θ + K I - θ S ) ;

In formula, Kp-θ、KI-θFor the angle θ of permanent-magnetic synchronous motor rotor of estimationsAdopt the control of closed loop phaselocked loopRatio, integral parameter.

In the time that the permanent-magnet synchronous motor rotor position of estimation is consistent with actual rotor-position, motor permanent magnetThe magnetic linkage producing does not have q axle component, i.e. ψq-r=0. So, utilize PI to regulate closed-loop control to makeψq-r→ 0, thus make the rotor position of estimatingsFollow the tracks of actual rotor position angle. According to this estimationPermanent-magnetic synchronous motor rotor angle θsCalculate the stator voltage component under motor dq coordinate system, to drive foreverThe operation of magnetic-synchro motor. Meanwhile, the angular velocity omega of rotorsCan directly export by PI, as Fig. 3 instituteShow, due to the rotor position to estimationsAdopt the control of closed loop phaselocked loop, had than open loop computational methodsBetter robustness and computational accuracy.

Fig. 4 is the block diagram of the control system of permagnetic synchronous motor provided by the invention, comprises permanent magnetismSynchronous motor (PMSM) 101, the first coordinate transformation unit 102, the second coordinate transformation unit 103,One control module 104, the second control module 105, space vector pulse width modulation unit 106 and converter107. Converter 107 is connected with permagnetic synchronous motor 101, and the first coordinate transformation unit 102 and second is satMark converter unit 103 is connected in turn between converter 107 and permagnetic synchronous motor 101, and first controls listUnit 104 and second control module 105 respectively with the second converter unit 103 and space vector pulse width modulation listUnit 106 connects, and converter 107 is connected with space vector pulse width modulation unit 106.

The first coordinate transformation unit 102 is for by the threephase stator current i of permagnetic synchronous motor 101a、ib、icTransform to the stator current i under α β two-phase static coordinate systemα、iβ, i.e. Clarke conversion, wherein,Can measure by current transformer any two-phase stator current of permagnetic synchronous motor, then calculateThreephase stator electric current, also can measure permagnetic synchronous motor threephase stator electric current by current transformer. SecondCoordinate transformation unit 103 is for by stator current iα、iβTransform to the stator electricity under dq synchronous rotating frameStream id、iq, i.e. Park conversion.

The first control module 104 is for according to reference to stator currentStator current idAnd revolve rotor fieldThe d axle component of raw induced electromotive force of changing the line of production calculates d axle stator voltage component vd. Particularly,First obtain with reference to stator current by comparatorWith stator current idDifference relatively, then control by PIDevice compares difference to it and carries out ratio, integral operation, the induction that the rotor field rotation that superposes again afterwards producesThe d axle component of electromotive force calculates d axle stator voltage component vd, wherein, with reference to stator current

The second control module 105 is for according to reference to stator currentStator current iqAnd revolve rotor fieldThe q axle component of raw induced electromotive force of changing the line of production calculates q axle stator voltage component vq. Particularly, first logicalCrossing comparator obtains with reference to stator currentWith stator current iqDifference relatively, then pass through PI controller to itRelatively difference is carried out ratio, integral operation, the induced electromotive force that the rotor field rotation that superposes again afterwards producesQ axle component calculate q axle stator voltage component vq. Wherein, with reference to stator current* the electricity of being exported by needMachine torque calculation obtains.

Therefore, by the closed-loop control to electric current, under dq axis coordinate system, the first control module 104 HesIt is as follows that the second control module 105 calculates the formula of stator voltage component:

v d = R s i d + L d di d dt + d ψ f dt - ω s L q i q v q = R s i q + L d di q dt + ω s ( L d i d + ψ f ) ;

In formula, vd、vqRespectively the dq axle component that converter imposes on the voltage on permagnetic synchronous motor,

id、iqIt is respectively the dq axle component of stator current;

Ld、LqRespectively the self-induction of stator dq axle, wherein:

L d = L dm + L σs L q = L qm + L σs ,

Ldm、LqmAnd LσsBe respectively magnetizing inductance and the leakage inductance of stator dq axle;

ωsFor passing through the above-mentioned permanent-magnetic synchronous motor rotor angular speed without sensor, method estimation.

According to above-mentioned formula, make actual stator current id、iqFinal tracking above with reference to stator currentAdopt based on stator currentControl mode can reduce the degaussing of permanent magnet, and can be by directly controllingIq processed realizes the control to motor torque, controls simple. And with reference to stator currentBy in wind electric converterMaster control system transmits by communication protocol, according to needing the motor torque size of controlling to calculate. ThisPlace's computing reference stator currentFor prior art, repeat no more.

According to the above-mentioned d axle stator voltage component v calculatingdWith q axle stator voltage component vq, then by vdWithvqAs two input quantities of space vector pulse width modulation unit 106, calculate by space vector pulse width modulationMethod is output as pulse-width control signal Sa、Sb、Sc, this pulse control signal is sent into converter, converter107 pulse-width control signals of exporting according to space vector pulse width modulation unit 106 generate threephase stator voltageWork to drive permagnetic synchronous motor 101.

This control system for permanent-magnet synchronous motor also comprises that being connected to permagnetic synchronous motor 101 and the second coordinate becomesChange between unit 103 without sensor control unit 108, without sensor control unit 108 for according toState synchronous motor and estimate motor rotor position information without sensor control method, be i.e. rotor position angle θsAngular velocity omega with rotors. Concrete, without sensor control unit 108 for adopting voltage model to calculateThe first stator magnetic linkage of permagnetic synchronous motor:

ψ α - u = ∫ ( u α - i α · R s - u α - z ) dt ψ β - u = ∫ ( u β - i β · R s - u β - z ) dt ;

In formula, uα-z、uβ-zFor the voltage of compensation; RsFor the electricity of the stator winding of permagnetic synchronous motorResistance.

Adopt current model to calculate the second stator magnetic linkage of permagnetic synchronous motor:

ψ α - i = i α · L s + ψ f · cos θ s ψ β - i = i β · L s + ψ f · sin θ s ;

In formula, LsFor the stator inductance of permagnetic synchronous motor; ψfFor the permanent magnet magnetic flux of permagnetic synchronous motorAmount; Sin θs、cosθsFor the angle of rotor of motor θ of estimationsThe sine, the cosine value that calculate.

Calculate the deviation between the first stator magnetic linkage and the second stator magnetic linkage:

ψ α - err = ψ α - u - ψ α - i ψ β - err = ψ β - u - ψ β - i ;

Utilize the transition matrix between two-phase rest frame and two-phase synchronous rotating frame:

T αβ → dq = cos θ s sin θ s - sin θ s cos θ s ;

In formula, sin θs、cosθsFor the angle of rotor of motor θ of estimationsThe sine, the cosine value that calculate.

Calculate the magnetic linkage of synchronous motor stator under dq coordinate system:

ψ d - s = ψ α - u · cos θ s + ψ β - u · sin θ s ψ q - s = - ψ α - u · sin θ s + ψ β - u · cos θ s ;

Calculate the magnetic linkage of synchronous electric motor rotor q axle:

ψq-r=ψq-s-Ls·iq

In formula, iqIt is the q axle component under permanent-magnetic synchronous motor stator electric current dq coordinate system.

The voltage u of above-mentioned middle compensationα-z、uβ-zCan regulate and calculate according to PI controller, calculate publicFormula is:

ψ α - p = K P - ψ · ψ α - err ψ β - p = K P - ψ · ψ β - err ;

ψ α - i = ψ α - i + K I - ψ · ψ α - err ψ β - i = ψ β - i + K I - ψ · ψ β - err ;

u α - z = ω s · ( ψ α - p + ψ α - i ) u β - z = ω s · ( ψ β - p + ψ β - i ) ;

In formula, KP-ψ、KI-ψThe deviation being respectively between the first stator magnetic linkage and the second stator magnetic linkage adopts PIThe ratio of closed-loop control, the parameter of integral element; ωsFor the angle speed of permanent-magnetic synchronous motor rotor of estimationDegree.

In the time that the permanent-magnet synchronous motor rotor position of estimation is consistent with actual rotor-position, motor permanent magnetThe magnetic linkage producing does not have q axle component, i.e. ψq-r=0. So, utilize the PI in Fig. 3 to regulate closed-loop controlMake ψq-r→ 0, thus make the rotor position of estimatingsFollow the tracks of actual rotor position angle. And estimate according to thisThe permanent-magnetic synchronous motor rotor angle θ calculatingsCalculate the stator voltage component under motor dq coordinate system, i.e. dAxle stator voltage component vdWith q axle stator voltage component vq, then by vdAnd vqAs space vector pulse width modulationTwo input quantities of unit, are output as pulse-width control signal and are sent into by spatial vector pulse width modulation algorithmConverter, generates threephase stator voltage to drive permagnetic synchronous motor work, thereby effectively same to permanent magnetismStep motor is controlled.

Implement method for controlling permanent magnet synchronous motor provided by the invention and system, by adopting voltage-to-current twoModel calculates the stator magnetic linkage of permagnetic synchronous motor, utilizes the voltage of the magnetic linkage deviation compensation motor calculating,Ensure in full speed range, especially the accuracy of electric moter voltage, flux linkage calculation when low speed; And profitBy rotor q axle magnetic linkage closed-loop PHASE-LOCKED LOOP PLL TECHNIQUE, when the motor rotor position of estimation and actual rotorWhen position consistency, the magnetic linkage that motor permanent magnet produces does not have q axle component, and recycling PI regulates closed-loop controlRotor-position and the angular speed that can directly calculate motor, have better robustness than open loop computational methodsAnd computational accuracy.

In addition the method for controlling permanent magnet synchronous motor that, the present invention proposes and system are to hardware and controller requirementLow, realize simple; Meanwhile, it is workable, can accurately estimate permagnetic synchronous motor in full speedRotor-position within the scope of degree and angular speed, have higher reliability, actual application value and significantCost advantage.

By reference to the accompanying drawings embodiments of the invention are described above, but the present invention is not limited toThe detailed description of the invention of stating, above-mentioned detailed description of the invention is only schematically, instead of restricted, those of ordinary skill in the art, under enlightenment of the present invention, is not departing from aim of the present invention and rightRequire, in the scope situation protected, also can make a lot of forms, these all belong to protection of the present invention itIn.

Claims (5)

1. a control method for permagnetic synchronous motor, is characterized in that, described method comprises:
The threephase stator voltage u of sampling permagnetic synchronous motora、ub、uc, stator current ia、ib、ic, by from abc three phase staticCoordinate system transformation, to α β two-phase rest frame, calculates the voltage u under α β coordinate systemα、uβAnd current iα、iβ
Adopt voltage model to calculate the first stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-uAnd ψβ-u
ψ α - u = ∫ ( u α - i α · R s - u α - z ) d t ψ β - u = ∫ ( u β - i β · R s - u β - z ) d t ;
In formula, uα-z、uβ-zFor the voltage of compensation; RsFor the resistance of the stator winding of permagnetic synchronous motor;
Adopt current model to calculate the second stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-iAnd ψβ-i
ψ α - i = i α · L s + ψ f · c o s θ s ψ β - i = i β · L s + ψ f · sinθ s ;
In formula, LsFor the stator inductance of permagnetic synchronous motor; ψfFor the permanent magnet magnetic flux of permagnetic synchronous motor; Sin θs、cosθsFor the permanent-magnetic synchronous motor rotor angle θ of estimationsThe sine, the cosine value that calculate;
Calculate the deviation ψ between the first stator magnetic linkage and the second stator magnetic linkage under permagnetic synchronous motor α β coordinate systemα-errAnd ψβ-err
ψ α - e r r = ψ α - u - ψ α - i ψ β - e r r = ψ β - u - ψ β - i ;
Utilize transform matrix calculations between two-phase rest frame α β and two-phase synchronous rotating frame dq to go out under dq coordinate system foreverThe magnetic linkage ψ of magnetic-synchro motor statord-sAnd ψq-s
{ ψ d - s = ψ α - u · cosθ s + ψ β - u · sinθ s ψ q - s = ψ α - u · sinθ s + ψ β - u · cosθ s ;
Calculate the magnetic linkage ψ of permanent-magnetic synchronous motor rotor q axleq-r
ψq-r=ψq-s-Ls·iq
In formula, iqIt is the q axle component under permanent-magnetic synchronous motor stator electric current dq coordinate system;
Utilize PI to regulate closed-loop control to make ψq-rTrend towards 0, calculate the permanent-magnetic synchronous motor rotor angle θ of estimations, according to instituteState the permanent-magnetic synchronous motor rotor angle θ of estimationsControl the operation of permagnetic synchronous motor;
Wherein, the voltage u of compensationα-z、uβ-zAdopt PI controller to regulate, computing formula is:
ψ α - p = K P - ψ · ψ α - e r r ψ β - p = K P - ψ · ψ β - e r r ;
ψ α - i = ψ α - i + K I - ψ · ψ α - e r r ψ β - i = ψ β - i + K I - ψ · ψ β - e r r ;
u α - z = ω s · ( ψ α - p + ψ α - i ) u β - z = ω s · ( ψ β - p + ψ β - i ) ;
In formula, KP-ψ、KI-ψBe respectively deviation between the first stator magnetic linkage and the second stator magnetic linkage adopt PI closed-loop control ratio,The parameter of integral element; ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.
2. the control method of permagnetic synchronous motor according to claim 1, is characterized in that, the permagnetic synchronous motor of estimationRotor velocity ωsComputing formula is as follows:
ω s = - ψ q - r ( K p - θ + K I - θ S ) ;
In formula, Kp-θ、KI-θFor the angle θ of permanent-magnetic synchronous motor rotor of estimationsAdopt the ratio, long-pending of closed loop phaselocked loop controlDivide parameter.
3. a control system for permagnetic synchronous motor, is characterized in that, comprise permagnetic synchronous motor, the first coordinate transformation unit,The second coordinate transformation unit, the first control module, the second control module, space vector pulse width modulation unit, converter and companyBe connected between described permagnetic synchronous motor and described the second coordinate transformation unit without sensor control unit, wherein, described conversionDevice is connected with described permagnetic synchronous motor; Described the first coordinate transformation unit and the second coordinate transformation unit are connected to described change in turnBetween parallel operation and described permagnetic synchronous motor; Described the first control module and the second control module are single with described the second conversion respectivelyFirst and described space vector pulse width modulation unit is connected, and described converter is connected with described space vector pulse width modulation unit;
Described the first coordinate transformation unit is used for the threephase stator current i of permagnetic synchronous motora、ib、icTransform to α β two-phase quietThe only stator current i under coordinate systemα、iβ
Described the second coordinate transformation unit is used for stator current iα、iβTransform to the stator current i under dq synchronous rotating framed、iq
Described the first control module is for according to reference to stator current stator current idAnd the induction electric of rotor field rotation generationThe d axle component of gesture calculates d axle stator voltage component vd
Described the second control module is for according to reference to stator current stator current iqAnd the induction electric of rotor field rotation generationThe q axle component of gesture calculates q axle stator voltage component vq
Described space vector pulse width modulation unit is used for according to stator voltage vd、vqAdopt spatial vector pulse width modulation algorithm to generate arteries and veinsBandwidth signals is sent into described converter;
Described converter is for generating threephase stator voltage to drive according to the pulse width signal of described space vector pulse width modulation unit outputMoving described permagnetic synchronous motor;
Described without sensor control unit for adopting voltage model to calculate the first stator magnet under permagnetic synchronous motor α β coordinate systemChain ψα-uAnd ψβ-u
ψ α - u = ∫ ( u α - i α · R s - u α - z ) d t ψ β - u = ∫ ( u β - i β · R s - u β - z ) d t ;
In formula, uα-z、uβ-zFor the voltage of compensation; RsFor the resistance of the stator winding of permagnetic synchronous motor;
Adopt current model to calculate the second stator magnetic linkage ψ under permagnetic synchronous motor α β coordinate systemα-iAnd ψβ-i
ψ α - i = i α · L s + ψ f · cosθ s ψ β - i = i β · L s + ψ f · sinθ s ;
In formula, LsFor the stator inductance of permagnetic synchronous motor; ψfFor the permanent magnet magnetic flux of permagnetic synchronous motor; Sin θs、cosθsFor the permanent-magnetic synchronous motor rotor angle θ of estimationsThe sine, the cosine value that calculate;
Calculate the deviation ψ between the first stator magnetic linkage and the second stator magnetic linkage under permagnetic synchronous motor α β coordinate systemα-errAnd ψβ-err
ψ α - e r r = ψ α - u - ψ α - i ψ β - e r r = ψ β - u - ψ β - i ;
Utilize transform matrix calculations between two-phase rest frame α β and two-phase synchronous rotating frame dq to go out under dq coordinate system foreverThe magnetic linkage ψ d-s of magnetic-synchro motor stator and ψ q-s:
ψ d - s = ψ α - u · cosθ s + ψ β - u · sinθ s ψ q - s = ψ α - u · sinθ s + ψ β - u · cosθ s ;
Calculate the magnetic linkage ψ of synchronous electric motor rotor q axleq-r
ψq-r=ψq-s-Ls·iq
In formula, iqIt is the q axle component under permanent-magnetic synchronous motor stator electric current dq coordinate system;
Utilize PI to regulate closed-loop control to make ψq-rTrend towards 0, calculate the permanent-magnetic synchronous motor rotor angle θ s of estimation, according to instituteState the permanent-magnetic synchronous motor rotor angle θ of estimationsControl the operation of permagnetic synchronous motor;
Described without the also voltage u for adopting PI controller to regulate calculating to compensate of sensor control unitα-z、uβ-z, computing formulaFor:
ψ α - p = K P - ψ · ψ α - e r r ψ β - p = K P - ψ · ψ β - e r r ;
ψ α - i = ψ α - i + K I - ψ · ψ α - e r r ψ β - i = ψ β - i + K I - ψ · ψ β - e r r ;
u α - z = ω s · ( ψ α - p + ψ α - i ) u β - z = ω s · ( ψ β - p + ψ β - i ) ;
In formula, KP-ψ、KI-ψBe respectively deviation between the first stator magnetic linkage and the second stator magnetic linkage adopt PI closed-loop control ratio,The parameter of integral element; ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.
4. the control system of permagnetic synchronous motor according to claim 3, is characterized in that, under dq axis coordinate system,Described the first control module and described the second control module are used for calculating stator voltage component vdAnd vqFormula be:
v d = R s i d + L d di d d t + dψ f d t - ω s L q i q v q = R s i q + L q di q d t + ω s ( L d i d + ψ f ) ; ;
In formula, vd、vqRespectively the dq axle component that converter imposes on the voltage on permagnetic synchronous motor,
id、iqIt is respectively the dq axle component of stator current;
Ld、LqRespectively the self-induction of stator dq axle, wherein:
L d = L d m + L σ s L q = L q m + L σ s ,
Ldm、LqmAnd LσsBe respectively magnetizing inductance and the leakage inductance of stator dq axle;
ωsFor the permanent-magnetic synchronous motor rotor angular speed of estimation.
5. the control system of permagnetic synchronous motor according to claim 4, is characterized in that, with reference to stator current i d * = 0.
CN201310558138.9A 2013-11-11 2013-11-11 A kind of control method of permagnetic synchronous motor and system CN103595328B (en)

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