CN103762922A - Alternating-current servo flux-weakening speed-regulating method - Google Patents

Alternating-current servo flux-weakening speed-regulating method Download PDF

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CN103762922A
CN103762922A CN201410037067.2A CN201410037067A CN103762922A CN 103762922 A CN103762922 A CN 103762922A CN 201410037067 A CN201410037067 A CN 201410037067A CN 103762922 A CN103762922 A CN 103762922A
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torque
speed
motor
current
quadrature
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CN103762922B (en
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孙园园
齐丹丹
徐正华
吴波
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Nanjing Estun Automation Co Ltd
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NANJING ESTUN AUTOMATIC CONTROL TECHNOLOGY Co Ltd
Nanjing Estun Automation Co Ltd
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Abstract

The invention discloses an alternating-current servo flux-weakening speed-regulating method. The method includes the steps that flux linkages corresponding to all motor temperature are measured; direct-axis inductance and quadrature-axis inductance which correspond to different torque are measured at base speed; a voltage limit equation and a torque equation are solved according to a Newton iteration method to obtain given values of a stator direct-axis current and a stator quadrature-axis current, and a torque-rotating speed table in which different temperature, different torque and different rotating speed correspond is formulated; according to the motor temperature, the corresponding temperature section of the torque-rotating speed table is selected, and then the given values of the direct-axis current and the quadrature-axis current are determined according to torque reference values and actual feedback rotating speed. Reference values of the direct-axis current and the quadrature-axis current are obtained at the same time according to requirements of actual working conditions, and the rapid response performance of a system is improved. Meanwhile, due to the fact that changes of the quadrature-axis inductance along with the torque and changes of the flux linkages along with the temperature in a motor are considered for formulating different torque-rotating speed tables, influence of parameter drifts caused by changes of the operation state of the motor is avoided, and the control accuracy of the system is improved.

Description

A kind of method of AC servo weak-magnetic speed-regulating
Technical field
The present invention relates to a kind of method of AC servo weak-magnetic speed-regulating, relate in particular to and consider that the parameter of electric machine changes AC servo is carried out to weak-magnetic speed-regulating with motor operating state, belong to industrial automatic control field.
Background technology
At present, servo system is widely used in the industries such as feeding, robot and injection moulding, and these application scenarios require servo system can below base speed, export constant torque, can more than base speed, carry out permanent power raising speed again.Along with motor speed increases, winding back emf can increase, and will cause stator terminal voltage to be greater than busbar voltage, thereby causes the saturated of current regulator, and in order to obtain wider speed adjustable range, servo system adopts weak magnetic control technology conventionally.
Above-mentioned application scenario, general employing is applicable to the motor that weak magnetic has saliency, and corresponding field weakening control method.Traditional field weakening control method, need derive the relational expression of rotating speed and direct-axis current, according to rotation speed change, adjusts quadrature axis current i q, then according to formula, obtain current direct-axis current i d, do not consider that the parameter of electric machine is as quadrature axis inductance L d, d-axis inductance L qand magnetic linkage ψ fthe problem that occurs drift along with the variation of motor operating state.Therefore, system does not all reach satisfied performance in dynamic response and control precision.
Summary of the invention
The invention discloses a kind of method of AC servo weak-magnetic speed-regulating, the method has been considered the problem that the parameter of electric machine changes with the variation of motor operating state, has improved response performance and the control precision of weak magnetic control system.
For achieving the above object, the technical scheme that the present invention takes is:
A method for AC servo weak-magnetic speed-regulating, comprises the following steps:
The first step: record motor internal temperature corresponding magnetic linkage when different, obtain temperature-magnetic linkage table;
Second step: testing of electric motors corresponding d-axis inductance and quadrature axis inductance when different torque, obtain torque-rectangular axis inductance meter, method of testing is: make motor speed in base speed, test torque is arrived corresponding d-axis inductance and quadrature axis inductance in this interval of maximum zero;
The 3rd step: given motor temperature, rotating speed and torque, its medium speed should be greater than base speed, by searching temperature-magnetic linkage table, obtain magnetic linkage, by searching torque-rectangular axis inductance meter, obtain d-axis inductance and quadrature axis inductance, by the value substitution voltage limit equation (L of rotating speed, torque, magnetic linkage, d-axis inductance and quadrature axis inductance di d+ ψ f) 2+ (L qi q) 2≤ (u smax/ ω r) 2with torque equation T e=P n[ψ fi q+ (L d-L q) i di q] in, wherein, u smaxfor inverter output maximum voltage amplitude, ω rfor rotating speed, T efor torque, ψ ffor magnetic linkage, P nfor motor number of pole-pairs, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis electric current; According to Newton iteration method, solve voltage limit equation and torque equation, draw the set-point of stator direct-axis current and quadrature axis electric current;
The 4th step: repeating step three, solve each temperature value within the scope of motor temperature, rotating speed base speed to each tachometer value in maximum (top) speed interval and torque zero to stator direct-axis current corresponding to each torque value in breakdown torque interval and the set-point of quadrature axis electric current, obtain rotary speed-torque table corresponding to different temperatures;
The 5th step: actual speed and the torque of obtaining motor feedback, according to setting principle, according to current actual speed, judge whether to carry out weak magnetic control system, if need to carry out weak magnetic control system, by rotary speed-torque table, determine the set-point of stator direct-axis current and quadrature axis electric current, use the set-point of this direct-axis current and quadrature axis electric current to carry out weak magnetic control system to motor.
The inventive method is selected the rotary speed-torque table of relevant temperature section according to the motor internal temperature in when operation, then tables look-up in real time and draw the cross, straight shaft current set-point of motor according to torque reference value and actual feedback rotating speed.Because the method can draw cross, straight shaft current reference value according to requirement of actual working condition simultaneously, therefore can effectively improve the fast-response energy of system.Meanwhile, because the variation with motor internal temperature with the variation of torque and magnetic linkage of rectangular axis inductance has been considered in the formulation of different rotating speeds-torque indicator, avoided the variation of motor operating state and caused the impact of parameter drift, having improved the control precision of system.
Accompanying drawing explanation
Fig. 1 is claw pole type motor voltage limit ellipse and current limitation circle schematic diagram.
Fig. 2 is claw pole type motor weak magnetic field operation track.
Fig. 3 is used the inventive method to carry out the system block diagram of weak magnetic control system.
Fig. 4 is stator current vector track.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Because voltage, the electric current of motor and inverter has certain restriction, so during motor operation, its terminal voltage and stator current can not the value of going beyond the limit of u smax, i smax, voltage and current Limiting Equations is respectively shown in formula (1) and formula (2):
(L di d+ψ f) 2+(L qi q) 2≤(u smax/ω r) 2 (1)
i d 2 + i q 2 ≤ i s max 2 - - - ( 2 )
Wherein, ω rfor rotating speed, ψ ffor magnetic linkage, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis electric current, i smax, u smaxfor motor maximum current amplitude and inverter output maximum voltage amplitude.
From formula (1), can find out, for each rotational speed omega rall (center is-ψ a voltage limit ellipse under corresponding rectangular axis electric current dq coordinate system f/ L d, 0), and two oval shaft lengths are along with motor speed ω rincrease and reduce gradually, so voltage limit ellipse is cluster elliptic curve.Track corresponding to formula (2) is under dq coordinate system, to take the circle that initial point is the center of circle, is called current limitation circle, during motor stabilizing operation, within stator current also must drop on current limitation circle track.
Each running status of permagnetic synchronous motor has a stator current vector corresponding with it, and this current phasor is subject to the restriction of voltage limit equation and current limitation equation simultaneously, at i d, i qin coordinate plane this vector can only the common factor in voltage limit track and current limitation track in.From above-mentioned analysis, during the weak magnetic stable operation of motor, stator rectangular axis current i d, i qmust meet voltage limit equation (formula 1), current limitation equation (formula 2) and torque equation (formula 3), for a certain definite rotational speed omega simultaneously r, stator current vector must drop on the torque curve of ABCDEF institute enclosing region in Fig. 1.
T e＝P n[ψ fi q+(L d-L q)i di q] (3)
Wherein, T efor torque, ψ ffor magnetic linkage, P nfor motor number of pole-pairs, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis electric current.
In Fig. 2, for a certain definite rotational speed omega r, torque curve and voltage limit ellipse and current limitation circle respectively have intersection point M, a N, so stator rectangular axis current i d, i qcurrent phasor drops on the curve of MN shown in Fig. 2 and all meets control requirement.Consider that direct-axis current can produce d-axis armature reaction, thereby make permanent magnet demagnetization, in reality, choose the M point of stator current d axle component minimum, be the intersection point of voltage limit ellipse and torque curve, therefore can obtain by solving voltage limit elliptic equation and torque equation the set-point of stator rectangular axis electric current.
Solve voltage limit elliptic equation (1) and torque equation (3), need the parameter of electric machine of first given correspondence, i.e. rotational speed omega r, torque T e, magnetic linkage ψ fand straight, quadrature axis inductance L d, L q.Along with the variation of temperature, permanent magnet magnet steel working point changes, magnetic linkage ψ falong with the rising of temperature diminishes.First, test by experiment to obtain corresponding magnetic linkage ψ under different temperatures f, draw temperature-magnetic linkage table.Because in a certain temperature section, magnetic linkage ψ fvariation may be very little, so can temperature be divided into normal temperature, three temperature sections of middle gentle high temperature according to actual conditions, test respectively the magnetic linkage ψ under different temperatures section f.Directly, quadrature axis inductance L d, L qvalue with the variation of rotating speed, change hardly, but reduce with the increase of torque, thus in the situation that electronics operates in base speed, test torque T ezero, arrive corresponding straight, the quadrature axis inductance L of each torque in torque maximum value interval d, L q.Because when torque changes in a certain scope, corresponding straight, quadrature axis inductance L d, L qmay be almost constant, thus according to actual conditions torque T ebe divided into a plurality of intervals, test draws each interval corresponding straight, quadrature axis inductance L d, L q, draw torque-straight, quadrature axis inductance meter.
After drawing temperature-magnetic linkage table and torque-straight, quadrature axis inductance meter, need to calculate the set-point of the corresponding stator direct-axis current of different temperatures, rotating speed and torque and quadrature axis electric current.First, choose a certain temperature range, by searching temperature-magnetic linkage table, find corresponding magnetic linkage ψ f, by magnetic linkage ψ fthe above-mentioned voltage limit elliptic equation of value substitution (1) and torque equation (3); Then, set rotational speed omega r(in order to apply weak magnetic control system, the rotating speed setting should in base speed and rotating speed maximum range) and torque T e, determine the interval under torque, by searching torque-straight, quadrature axis inductance meter finds this torque corresponding straight, quadrature axis inductance L d, L q, by rotational speed omega r, torque T ewith straight, quadrature axis inductance L d, L qvalue substitution voltage limit elliptic equation (1) and torque equation (3); Finally, adopt Newton iteration method, according to different torque and rotational speed, solve stator rectangular axis given value of current value.Can make like this rotary speed-torque table that (can roughly be divided into normal temperature, three temperature sections of middle gentle high temperature) under different temperatures.
According to the actual speed of motor feedback, judge whether that the judgment principle that need to carry out weak magnetic control system can be described in detail in conjunction with Fig. 4.
In Fig. 4, the implication of each point is as follows:
O point is the origin of coordinates;
G point is the intersection point of current limitation circle and q axle, and G point coordinates is (0, i like this smax), the oval corresponding rotational speed omega of voltage limit of passing through like this G gcan be according to i d=0, i q=i smaxsubstitution voltage limit equation (formula (1)) solves;
H point is voltage limit oval with the current limitation round intersection point tangent with q axle, oval through initial point O with the voltage limit that q axle is tangent, the rotational speed omega of the oval correspondence of voltage limit of ordering through H like this hcan be according to i d=0, i q=0 substitution voltage limit equation (formula (1)) solves;
P point is the voltage limit ellipse tangent with current limitation circle and the intersection point of current limitation round dot, and P point coordinates is (i smax, 0), the oval corresponding rotational speed omega of voltage limit of ordering through P like this pcan be according to i d=-i smax, i q=0 substitution voltage limit equation (formula 1) solves;
Q point is the central point of voltage limit ellipse, and Q point coordinates is (ψ f/ L d, 0).
Setting given rotating speed is ω *, full speed section is divided into four intervals:
Interval 1(ω *≤ ω g): this interval motor speed is fast lower than base, Wei Heng torque district, the control strategy of employing id=0.
Interval 2(ω g< ω *< ω h): when motor runs on this interval, all there is intersection point with q axle in the voltage limit ellipse that corresponding rotating speed is corresponding, therefore can adopt i d=0 controls or carries out weak magnetic control system, selects control mode according to as follows: in voltage limit equation (being formula (1)), to make i d=0, ω r=ω *, solve
Figure BDA0000461773840000041
in torque equation (being formula (3)), make i d=0, solve i qT0=T e/ (p nψ f), if i qT0> i qu0by weak magnetic control mode, move, otherwise press i d=0 mode is controlled.
Interval 3(ω h< ω *< ω p): rotating speed is higher than ω hvoltage limit ellipse during operation without intersection point, can only carry out weak magnetic control system with q axle.
Interval 4(ω *>=ω p): work as ψ f/ L d> i smaxtime, interval 4 do not exist, and at P point, reach maximum speed; Work as ψ f/ L d< i smaxtime, interval 4 exist, and voltage limit ellipse without intersection point, can only carry out weak magnetic control system, i with q axle d, i qalong the oval value of voltage limit, and reach maximum speed at Q point.
According to above analysis, can know that interval 1 for i d=0 controls, and interval 2 can adopt i d=0 controls or carries out weak magnetic control system, and interval 3,4 must adopt weak magnetic control system.
The principle of whether carrying out weak magnetic control system of simplifying can be also: base speed adopts i below d=0 controls, the weak magnetic control system of the above employing of base speed.The theoretical value of base speed is ω hif, adopting the method for simplifying, the base speed of actual selection, according to experiment test adjustment, generally, lower than the theoretical value of calculating, leaves certain surplus.
Use system block diagram that the inventive method carries out weak magnetic control system as shown in Figure 3, mainly comprise that speed pi regulator, control mode judgement and hand-off process module, weak magnetic control module, current PI adjuster, straight/alternation change, 2/3 conversion, Park conversion, Clark conversion, SVPWM.

Claims (1)

1. a method for AC servo weak-magnetic speed-regulating, is characterized in that comprising the following steps:
(1) record motor internal temperature corresponding magnetic linkage when different, obtain temperature-magnetic linkage table;
(2) testing of electric motors corresponding d-axis inductance and quadrature axis inductance when different torque, obtain torque-rectangular axis inductance meter, method of testing is: make motor speed in base speed, test torque is arrived corresponding d-axis inductance and quadrature axis inductance in this interval of maximum zero;
(3) given motor temperature, rotating speed and torque, its medium speed should be greater than base speed, by temperature-magnetic linkage table, determine magnetic linkage, by torque-rectangular axis inductance meter, determine d-axis inductance and quadrature axis inductance, by the value substitution voltage limit equation (L of rotating speed, torque, magnetic linkage, d-axis inductance and quadrature axis inductance di d+ ψ f) 2+ (L qi q) 2≤ (u smax/ ω r) 2with torque equation T e=P n[ψ fi q+ (L d-L q) i di q] in, wherein, u smaxfor inverter output maximum voltage amplitude, ω rfor rotating speed, T efor torque, ψ ffor magnetic linkage, P nfor motor number of pole-pairs, L d, L qfor straight, quadrature axis inductance, i d, i qfor straight, quadrature axis electric current; According to Newton iteration method, solve voltage limit equation and torque equation, draw the set-point of stator direct-axis current and quadrature axis electric current;
(4) repeating step (3), solve each temperature value within the scope of motor temperature, rotating speed base speed to each tachometer value in maximum (top) speed interval and torque zero to stator direct-axis current corresponding to each torque value in breakdown torque interval and the set-point of quadrature axis electric current, obtain rotary speed-torque table corresponding to different temperatures;
(5) obtain actual speed and the torque of motor feedback, according to setting principle, according to current actual speed, judge whether to carry out weak magnetic control system, if need to carry out weak magnetic control system, by rotary speed-torque table, determine the set-point of stator direct-axis current and quadrature axis electric current, use the set-point of this direct-axis current and quadrature axis electric current to carry out weak magnetic control system to motor.
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CN106627251A (en) * 2017-01-22 2017-05-10 北京新能源汽车股份有限公司 Motor control method and device
CN107395085A (en) * 2017-07-14 2017-11-24 阳光电源股份有限公司 The field weakening control method and controller of a kind of permagnetic synchronous motor
CN107482981A (en) * 2017-09-07 2017-12-15 浙江安美德汽车配件有限公司 A kind of BSG motors field weakening control method and system
CN108448996A (en) * 2018-03-26 2018-08-24 浙江德欧电气技术有限公司 A kind of control method of the adjustable servo motor of high-precision
CN109167542A (en) * 2018-09-05 2019-01-08 上海拓为汽车技术有限公司 A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system
CN109660167A (en) * 2019-01-23 2019-04-19 四川虹美智能科技有限公司 A kind of control method and device of motor
CN110154032A (en) * 2019-06-20 2019-08-23 浙江智玲机器人科技有限公司 The control system and mechanical arm of mechanical arm
CN110611471A (en) * 2019-10-31 2019-12-24 中车青岛四方车辆研究所有限公司 Control method and control device for output torque of three-phase asynchronous motor
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CN112003508A (en) * 2020-09-18 2020-11-27 蔚然（南京）动力科技有限公司 Motor position sensorless control method and device
CN112589832A (en) * 2020-12-04 2021-04-02 成都卡诺普自动化控制技术有限公司 Method for determining maximum working torque of robot joint
CN112706623A (en) * 2020-12-22 2021-04-27 广州橙行智动汽车科技有限公司 Motor control method and device and vehicle
CN113437922A (en) * 2021-07-27 2021-09-24 上海莘汭驱动技术有限公司 Driving control method and system for limited-angle torque motor
CN113726241A (en) * 2020-05-26 2021-11-30 苏州汇川联合动力系统有限公司 Method, apparatus and computer readable storage medium for temperature rise compensation of motor torque
CN114407014A (en) * 2022-01-25 2022-04-29 达闼机器人股份有限公司 Control method and device for robot actuator, medium, equipment and robot
WO2022126838A1 (en) * 2020-12-17 2022-06-23 潍柴动力股份有限公司 Calibration method and device for voltage limit ellipse, terminal, and storage medium

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CN107395085A (en) * 2017-07-14 2017-11-24 阳光电源股份有限公司 The field weakening control method and controller of a kind of permagnetic synchronous motor
CN107395085B (en) * 2017-07-14 2020-09-11 阳光电源股份有限公司 Weak magnetic control method and controller of permanent magnet synchronous motor
CN107482981A (en) * 2017-09-07 2017-12-15 浙江安美德汽车配件有限公司 A kind of BSG motors field weakening control method and system
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