CN103684187B - A kind of permagnetic synchronous motor Id=0 current Control Algorithm - Google Patents
A kind of permagnetic synchronous motor Id=0 current Control Algorithm Download PDFInfo
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- CN103684187B CN103684187B CN201310745247.1A CN201310745247A CN103684187B CN 103684187 B CN103684187 B CN 103684187B CN 201310745247 A CN201310745247 A CN 201310745247A CN 103684187 B CN103684187 B CN 103684187B
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Abstract
The invention discloses a kind of permagnetic synchronous motor Id=0 current Control Algorithm for motor control technology field, including: phase detection step, integration phase lead compensation step at maximum phase current；Phase detection step at described maximum phase current, i.e. detects stator phase currents by current sensor, and tries to achieve the maximum of electric current in multiple phase current cycle, simultaneously by calculated corresponding electrical angle during record phase current maximum；Described integration phase lead compensation step, will phase current maximum time the electrical angle that detects subtract each other with 90 ° and obtain phase contrast, then it is added to after this phase contrast being multiplied by gain on phase lead compensation angle value, finally uses this phase lead compensation angle value to realize the Id=0 to motor and control.It has the technical effect that by phase-detection at maximum phase current and integration phase lead compensation, it is achieved that amount of calculation is less and the preferable Id=0 of stability controls, and decreases phase current magnitude required during output equal torque, improves electric efficiency.
Description
Technical field
The invention belongs to motor control technology field, particularly to a kind of Id=0 current Control Algorithm being applied to permagnetic synchronous motor.
Background technology
For the permagnetic synchronous motor of different purposes, the algorithm that current of electric controls is different.Adoptable control algolithm is main
Have: Id=0 control,Control, maximum torque control, weak magnetic control, peak power output control etc..Wherein, Id=0
Control realization is the simplest.In permagnetic synchronous motor, if directly providing control voltage according to motor rotor position, due to armature
The impact of the factors such as reaction, stator phase currents phasorCounter electromotive force of motor phasor will be lagged behindId=0 controls by control
Voltage processed carries out phase lead compensation so thatWithHomophase.For permagnetic synchronous motor, needed for now producing target torque
The stator phase currents wanted is less, so that copper loss declines, electric efficiency improves.General employing alignment phase currentZero crossing andCross
The mode of zero point realizes Id=0 control.But, affected by phase current ripple, accurately detection phase current zero crossing is the most difficult, real
This control law poor stability and inefficient when motor is controlled by border.
Summary of the invention
The invention aims to overcome the deficiency of existing current Control Algorithm, it is provided that a kind of permagnetic synchronous motor Id=0 electric current control
Algorithm processed；The control law amount of calculation that this algorithm realizes is less, and stability is higher, it is possible to reduce phase current magnitude, improves electricity simultaneously
Engine efficiency.
A kind of technical scheme realizing above-mentioned purpose is: a kind of permagnetic synchronous motor Id=0 current Control Algorithm, mutually electric including maximum
Phase detection step, integration phase lead compensation step at stream, it is characterised in that:
Phase detection step at described maximum phase current, i.e. when motor number of pole-pairs is p, detects stator phase by current sensor
Electric current i, and try to achieve the maximum I of electric current in every p phase current cyclem, simultaneously by rotating transformation during record phase current maximum
The rotor mechanical angle θ that device collectsm；Then, mechanical angle is converted into electrical angle θ of motor correspondence phaseem-j；Now, M
For number of motor phases, j (1≤j≤M) represents phase sequence number, and conversion formula is:
θem-j=(pθm-360 ° of (j-1)/M) %360 °
Wherein, % is modulo operation；
Described integration phase lead compensation step, i.e. when controlling phase serial number j (1≤j≤M) of voltage, during by phase current maximum
Electrical angle θ detectedem-jSubtract each other with 90 ° and obtain phase difference θ, after then Δ θ being multiplied by gain k, be added to jth phase
Phase lead compensation angle valueOn, this process is actually an integral process, and its computing formula is as follows:
Pass through integration, it is possible to obtain the phase lead compensation angle value of actually required jth phaseThen use equation below raw
One-tenth motor vector controlled voltage:
Wherein, UmFor controlling voltage magnitude, θe-jFor the jth phase electrical angle calculated by rotor mechanical angle, UjFor finally
The motor vector controlled voltage of the jth phase of output；Use UjAfter motor is carried out vector controlled, stator phase currents phasor?
Will be with counter electromotive force phasor at big valueAlign at maximum, thus realize Id=0 control.
The embodiment of the present invention provides the benefit that, by phase-detection at maximum phase current and integration phase lead compensation, it is achieved that
Amount of calculation is less and the preferable Id=0 of stability controls, and decreases phase current magnitude required during output equal torque, improves electricity
Engine efficiency.
Accompanying drawing explanation
Fig. 1 is the control system general diagram using Id=0 current Control Algorithm.
Detailed description of the invention
The present invention will be further described to use drawings and Examples below, and accompanying drawing described herein is used for providing the present invention's
It is further appreciated by, constitutes the part of the application, be not intended that limitation of the invention.
The control system general diagram using Id=0 current Control Algorithm is shown in accompanying drawing 1, and wherein Id=0 electric current rate-determining steps includes:
Phase detection step, integration phase lead compensation step at big phase current, it is characterised in that:
Phase detection step at described maximum phase current, i.e. when motor number of pole-pairs is 3, detects stator phase by current sensor
Electric current i, and try to achieve the maximum I of electric current in every 3 phase current cyclesm, simultaneously by rotating transformation during record phase current maximum
The rotor mechanical angle θ that device collectsm；Then, mechanical angle is converted into electrical angle θ of motor correspondence phaseem-j；Now,
Number of motor phases is 3 to be that j (1≤j≤3) represents phase sequence number, and conversion formula is:
θem-j=(3θm-90 ° (j-1)) %360 °
Wherein, % is modulo operation；
Described integration phase lead compensation step, i.e. when controlling phase serial number j (1≤j≤3) of voltage, during by phase current maximum
Electrical angle θ detectedem-jSubtract each other with 90 ° and obtain phase difference θ, after then Δ θ being multiplied by gain k, be added to jth phase
Phase lead compensation angle valueOn, this process is actually an integral process, and its computing formula is as follows:
Pass through integration, it is possible to obtain the phase lead compensation angle value of actually required jth phaseThen use equation below raw
One-tenth motor vector controlled voltage:
Wherein, UmFor controlling voltage magnitude, θe-jFor the jth phase electrical angle calculated by rotor mechanical angle, UjFor finally
The motor vector controlled voltage of the jth phase of output；Use UjAfter motor is carried out vector controlled, stator phase currents phasor?
Will be with counter electromotive force phasor at big valueAlign at maximum, thus realize Id=0 control.
The present embodiment permagnetic synchronous motor high efficiency Id=0 current Control Algorithm uses TMS320F2808 chip to realize；
Permagnetic synchronous motor uses three-phase permanent magnet synchronous motor structure, and in rotor, permanent magnet uses surface-pasted Halbach array,
Number of pole-pairs is 3.
Above-described detailed description of the invention, has been carried out the most specifically the purpose of the present invention, technical scheme and beneficial effect
Bright, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, the protection being not intended to limit the present invention
Scope, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in this
Within the protection domain of invention.
Claims (1)
1. a permagnetic synchronous motor Id=0 current Control Algorithm, including phase detection step, integration phase place at maximum phase current
Lead compensation step, it is characterised in that:
Phase detection step at described maximum phase current, i.e. when motor number of pole-pairs is p, detects stator phase by current sensor
Electric current i, and try to achieve the maximum I of electric current in every p phase current cyclem, simultaneously by rotating transformation during record phase current maximum
Rotor mechanical angle angle value θ that device collectsm；Then, mechanical angle angle value is converted into electric angle angle value θ of motor correspondence phaseem-j；
Now, M is number of motor phases, and j (1≤j≤M) represents phase sequence number, and conversion formula is:
θem-j=(p θm-360 (j-1)/M) %360
Wherein, % is modulo operation；
Described integration phase lead compensation step, i.e. when controlling phase serial number j (1≤j≤M) of voltage, during by phase current maximum
Electric angle angle value θ detectedem-jSubtract each other with 90 and obtain phase difference value Δ θ, after then Δ θ being multiplied by gain k, be added to former
The phase lead compensation angle value of j phaseOn, its computing formula is as follows:
WhereinRepresent the phase lead compensation angle value of jth phase actually required after compensating,Represent the phase of former jth phase
Position lead compensation angle value, then use equation below generation motor vector controlled voltage:
Wherein, UmFor controlling voltage magnitude, θe-jFor the jth phase electric angle angle value calculated by rotor mechanical angle, UjFor
The motor vector controlled magnitude of voltage of the jth phase of output eventually；Use UjAfter motor is carried out vector controlled, stator phase currents phasor
Maximum at will be with counter electromotive force phasorAlign at maximum, thus realize Id=0 control.
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| CN201310745247.1A CN103684187B (en) | 2013-12-31 | 2013-12-31 | A kind of permagnetic synchronous motor Id=0 current Control Algorithm |
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| CN201310745247.1A CN103684187B (en) | 2013-12-31 | 2013-12-31 | A kind of permagnetic synchronous motor Id=0 current Control Algorithm |
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| CN103684187A CN103684187A (en) | 2014-03-26 |
| CN103684187B true CN103684187B (en) | 2016-09-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9509240B2 (en) * | 2014-12-30 | 2016-11-29 | Tesla Motors, Inc. | Electric motor using multiple reference frames for flux angle |
| DE102017208093A1 (en) * | 2017-05-15 | 2018-11-15 | Audi Ag | Method for operating an electric machine and electric machine |
| CN112421997B (en) * | 2019-08-23 | 2022-07-12 | 广东美的生活电器制造有限公司 | Torque compensation device, method and system of motor, household appliance and storage medium |
| CN111272055A (en) * | 2020-03-16 | 2020-06-12 | 天津天安起重电器有限公司 | Three-phase motor braking distance detection device and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6396229B1 (en) * | 2000-03-06 | 2002-05-28 | Hitachi, Ltd. | Method of estimating a rotor position of synchronous motor, method of controlling synchronous motor with no position sensor and a controller of synchronous motor |
| EP2037568A1 (en) * | 2003-07-15 | 2009-03-18 | Sauter Feinmechanik GmbH | Method for operating a motorised positioning device and corresponding positioning device |
| CN102111098A (en) * | 2009-12-28 | 2011-06-29 | 三洋电机株式会社 | Motor drive circuit |
| CN102386835A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method for acquiring parameters of permanent magnet synchronous motor (PMSM) |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2916587B1 (en) * | 2007-05-25 | 2009-08-21 | Schneider Toshiba Inverter | METHOD FOR DETECTING THE LOSS OF ONE OR MORE PHASES IN A PERMANENT MAGNET SYNCHRONOUS ELECTRIC MOTOR |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6396229B1 (en) * | 2000-03-06 | 2002-05-28 | Hitachi, Ltd. | Method of estimating a rotor position of synchronous motor, method of controlling synchronous motor with no position sensor and a controller of synchronous motor |
| EP2037568A1 (en) * | 2003-07-15 | 2009-03-18 | Sauter Feinmechanik GmbH | Method for operating a motorised positioning device and corresponding positioning device |
| CN102111098A (en) * | 2009-12-28 | 2011-06-29 | 三洋电机株式会社 | Motor drive circuit |
| CN102386835A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method for acquiring parameters of permanent magnet synchronous motor (PMSM) |
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