CN103840732B - Drive motors field weakening control method - Google Patents
Drive motors field weakening control method Download PDFInfo
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- CN103840732B CN103840732B CN201410125144.XA CN201410125144A CN103840732B CN 103840732 B CN103840732 B CN 103840732B CN 201410125144 A CN201410125144 A CN 201410125144A CN 103840732 B CN103840732 B CN 103840732B
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- current vector
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000003313 weakening effect Effects 0.000 title claims abstract description 10
- 230000005291 magnetic effect Effects 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004907 flux Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000005285 magnetism related processes and functions Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention relates to a kind of electric machines control technology, particularly relate to a kind of drive motors field weakening control method be applied on hybrid vehicle or pure electric automobile.The method comprises the steps, step one, in the territory, weak magnetic area under rotor coordinate, builds the Current Vector Control border being positioned at current limitation circle; Step 2, the actual current vector during running of control drive motors is in the current phasor region of Current Vector Control borders.Adopt technical scheme of the present invention, drive motors can be made to run under car load high-speed working condition, and reduce the caloric value of drive motors, control motor operates in and falls power district, improves the motor high speed weak magnetic field operation time, and reduces whole motor loss, extend the motor driven systems life-span, effectively raise hybrid vehicle and pure electric automobile reliability, increase vehicle high-speed and overtake other vehicles the drive motors continuous working period under operating mode, and increase electric automobile continual mileage.
Description
Technical field
The present invention relates to a kind of electric machines control technology, particularly relate to a kind of drive motors field weakening control method be applied on hybrid vehicle or pure electric automobile.
Background technology
The vector control mode that the many employings of drive motors are common, by coordinate transform by the decoupling zero of stator three-phase, realize the vector control to motor speed and torque, Id=0 control or maximum torque per ampere control is carried out below base speed, motor weak magnetics detect is adopted above in base speed, in weak magnetic process, Id, Iq border is run along current limitation circle, along with the raising of motor speed, the Space Rotating speed of armature reacting field is also in continuous improve, when armature voltage reaches the limit values, the rotating speed of motor is restricted, can not improve again, rotating speed is made to continue to raise, will make the back electromotive force of motor internal can not the rated value of superelevation motor, back electromotive force is directly proportional to the product of the air-gap flux of motor internal again, make the long-pending constant of rotating speed and magnetic flux, air gap flux linkage can only be made to reduce thus ensure that rotating speed raises.
In order to improve the application performance of drive motors, in the weak magnetics detect of prior art, time normally by changing weak magnetics detect strategy to enable weak magnetic, voltage is fully used, disclosed in Chinese invention patent application CN102651626A permagnetic synchronous motor field weakening control method in, it obtains direct current instruction by motor speed adjuster, the maximum voltage value that the direct-axis voltage command value exported by motor straight shaft current adjuster and inverter are exported calculates the command value of motor quadrature-axis voltage, ensures that electric moter voltage reaches maximum etc. between weak magnetic area.But, in the vector control that hybrid vehicle and driving motor of pure electric automobile adopt, adopt conventional weak magnetics detect, namely in the speed regulation process more than base speed, motor is under synchronous rotating frame, resultant current vector running boundary is on current limitation circular arc is long, in high speed operation of motor process, torque current reduces, and the weak magnetoelectricity stream of d-axis increases, and resultant current vector magnitude is larger, motor may operate in peak value invariable power district, drive motors system long-time stable is in high speed processes, and electric system caloric value is comparatively large, and dynamical system efficiency is on the low side.
Summary of the invention
For solving the deficiencies in the prior art, the invention provides a kind of drive motors caloric value that can to reduce under high speed of a motor vehicle operating mode to reduce the drive motors field weakening control method of whole motor loss.
For achieving the above object, drive motors field weakening control method of the present invention, comprises the steps:
Step one, in the territory, weak magnetic area under rotor coordinate, builds the Current Vector Control border being positioned at current limitation circle;
Step 2, the actual current vector during running of control drive motors is in the current phasor region of Current Vector Control borders.
By building Current Vector Control border in current limitation circle, when drive motors is operated, actual current vector is controlled in the current phasor region of Current Vector Control borders, reduce the probability that actual current vector under high speed of a motor vehicle operating mode reaches the maximum current limit, reduce the caloric value of drive motors, reduce drive motors overall losses, extend the life-span of drive motors drive system.
As limitation of the invention, the current phasor of described Current Vector Control border corresponding to weak magnetic starting point and the current limitation circular arc between peak speed voltage limit circle and current limitation circle intersection point limits string.By this of Current Vector Control border is specifically arranged, guaranteeing that drive motors has satisfactory rotating speed simultaneously, electric machine phase current is made to be 91% of traditional weak magnetics detect electric current, motor run that efficient district accounts for whole service region about 75%, improve motor operational efficiency, enhance the reliability of drive motors high-speed cruising, ensure that motor useful life.
As limitation of the invention, described step 2 comprises the following steps;
Step a, obtains actual current vector Is and phase angle β;
Step b, compares to the amplitude of the actual current vector Is under the β of phase angle and the amplitude of Current Vector Control borderline bound current vector Is1;
If when the amplitude of actual current vector Is is not more than the amplitude of bound current vector Is1, controls drive motors and operate with actual current vector Is; If when the amplitude of actual current vector Is is greater than the amplitude of bound current vector Is1, controls drive motors and operate with bound current vector Is1.
In sum, adopt technical scheme of the present invention, drive motors can be made to run under car load high-speed working condition, and reduce the caloric value of drive motors, control motor operates in and falls power district, improve the motor high speed weak magnetic field operation time, and reduce whole motor loss, extend the motor driven systems life-span, effectively raise hybrid vehicle and pure electric automobile reliability, increase vehicle high-speed to overtake other vehicles the drive motors continuous working period under operating mode, and increase electric automobile continual mileage.
Accompanying drawing explanation
Do further to describe in detail to the present invention below in conjunction with the drawings and the specific embodiments:
Fig. 1 is embodiment of the present invention weak magnetics detect current locus schematic diagram;
Fig. 2 is embodiment of the present invention method flow diagram.
Embodiment
The present embodiment relates to a kind of drive motors field weakening control method, arrange based on the existing drive motors structure as permagnetic synchronous motor, the method is mainly to the improvement of drive motors when weak magnetics detect, the design philosophy of its entirety mainly comprises two steps: step one, in territory, weak magnetic area under rotor coordinate, build the Current Vector Control border being positioned at current limitation circle; Step 2, the actual current vector during running of control drive motors is in the current phasor region of Current Vector Control borders.
The present invention will be described in order to clearer, following by being described in detail as follows the whole operating mode of drive motors.
Can find out in method flow diagram as shown in Figure 2, before step one as described above, need to judge the need of weak magnetics detect drive motors, this judgement can adopt existing method to realize, as in the present embodiment: first gather rotary transformer rotor angle position signal, the cosine and sine signal of corner converts 16 railway digital signals to by ADI decoding chip, calculates ω=d θ/dt by master chip TC1782, calculates motor angular velocity; Then feedback voltage E is solved, particular by A/D conversion value assignment to measured value E(n), adopt incremental numeral PI to regulate algorithm, obtain Δ E by the deviation of nearest 5 sampled values, wherein, and E(k)=E(k-1)+Δ E.Next carries out weak magnetic judgement, in this deterministic process, compares E(k) and Umax, if E(k)≤Umax, then motor enters power limitation control mode, and then permagnetic synchronous motor starts weak magnetic on the contrary.
Before to the present embodiment weak magnetics detect process prescription, need in the territory, weak magnetic area under rotor coordinate, build the Current Vector Control border being positioned at current limitation circle; In the present embodiment, the current phasor of Current Vector Control border corresponding to weak magnetic starting point and the current limitation circular arc between peak speed voltage limit circle and current limitation circle intersection point limits string.
Specifically, as shown in Figure 1, the ellipse that base speed ω 1 rotating speed is corresponding is that the maximum voltage limit is oval, this maximum voltage limit is oval is weak magnetic starting point with the intersection point A of current limitation circle in ac-dc axis coordinate system second quadrant, this point coordinates can be determined by base speed ω 1 corresponding voltage horicycle equation and current limitation equation of a circle simultaneous, namely passes through x
2+ y
2=Ismax
2solve, in its result, get x be bear, y be positive point is A point, is expressed as (x in the present embodiment
a, y
a).
Peak speed ω 2 corresponding voltage horicycle and the intersection point of current limitation circle in the second quadrant are B, B point coordinates can be obtained by peak speed ω 2 corresponding voltage horicycle equation and current limitation equation of a circle simultaneous solution, this solve result get equally x be bear, y be positive point is B point coordinates, it is expressed as (x
b, y
b).
The current phasor string AB that A point and B point line are formed is Current Vector Control border in the present embodiment, and the chord length equation on this control border is: y-y
a=(y
a-y
b) * (x-x
a)/(x
a-x
b).
By the chord length equation on the above-mentioned control border obtained, when drive motors operates, the actual current vector of drive motors is controlled in the current phasor region of this chord length restriction.
Its concrete steps comprise step a, obtain actual current vector Is and phase angle β, and what it was concrete regulates by speed PI the calculating carrying out current phasor Is, regulate the electrical degree obtaining current phasor advance angle q axle, namely phase angle β by the PI of Voltage loop.
Step b, the amplitude of the actual current vector Is under the β of phase angle and the amplitude of Current Vector Control borderline bound current vector Is1 are compared, it is concrete, for the straight line representing actual current vector Is in Fig. 1, because any time current phasor all passes through initial point, represent that the linear equation of actual current vector Is is: y=ax, wherein, a is negative value.The linear equation of simultaneous actual current vector Is and chord length equation, try to achieve the intersection point (x of actual current vector and chord length
c, y
c
Now, the amplitude of bound current vector Is1 is:
.
The amplitude of actual current vector Is is:
.
If when the amplitude of actual current vector Is is not more than the amplitude of bound current vector Is1, namely in Fig. 1, actual current vector Is is positioned at control borderline region, represent the straight line of actual current vector Is and control border string without intersection point, now, exporting with Id, Iq that actual current vector Is is corresponding; If during the interval that the AB circular arc that actual current vector Is is positioned at control border string AB and current limitation circle surrounds, namely now the amplitude of actual current vector Is is greater than the amplitude of bound current vector Is1, then with (x
c, y
c) corresponding current phasor, namely according to bound current vector Is1, by Id=Is1 × sin β, Iq=Is1 × cos β, rear output is calculated to Id and Iq.
As above be schematically illustrating innovation of the present invention, in the subsequent control that Id, Iq export, by Id and Iq by PI regulating calculation Ud, Uq, and then solve U by park inverse transformation
α, U
β, resolved by SVPWM, finally by six tunnel control impuls, convert busbar voltage to target voltage PWM ripple by IGBT, and then control motor operation.
Proved under Rated motor load by test, current phasor restriction string is adopted to be that the strategy of AB straight line is to control electric machine phase current, for 91% of common weak magnetics detect electric current, motor runs efficient district (more than 80%) and accounts for about 75% of whole service region, improve motor operational efficiency, strengthen high speed operation of motor reliability, ensure that motor useful life.
Claims (2)
1. a drive motors field weakening control method, is characterized in that the method comprises the steps:
Step one, in the territory, weak magnetic area under rotor coordinate, builds the Current Vector Control border being positioned at current limitation circle;
Step 2, the actual current vector during running of control drive motors is in the current phasor region of Current Vector Control borders;
The current phasor of described Current Vector Control border corresponding to weak magnetic starting point and the current limitation circular arc between peak speed voltage limit circle and current limitation circle intersection point limits string.
2. drive motors field weakening control method according to claim 1, is characterized in that: described step 2 comprises the following steps:
Step a, obtains actual current vector Is and phase angle β;
Step b, compares to the amplitude of the actual current vector Is under the β of phase angle and the amplitude of Current Vector Control borderline bound current vector Is1;
If when the amplitude of actual current vector Is is not more than the amplitude of bound current vector Is1, controls drive motors and operate with actual current vector Is; If when the amplitude of actual current vector Is is greater than the amplitude of bound current vector Is1, controls drive motors and operate with bound current vector Is1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410125144.XA CN103840732B (en) | 2014-03-31 | 2014-03-31 | Drive motors field weakening control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410125144.XA CN103840732B (en) | 2014-03-31 | 2014-03-31 | Drive motors field weakening control method |
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| Publication Number | Publication Date |
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| CN103840732A CN103840732A (en) | 2014-06-04 |
| CN103840732B true CN103840732B (en) | 2016-03-02 |
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|---|---|---|---|
| CN201410125144.XA Expired - Fee Related CN103840732B (en) | 2014-03-31 | 2014-03-31 | Drive motors field weakening control method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105450119B (en) | 2014-08-29 | 2018-08-10 | 伊顿公司 | Accelerated method of the induction machine of V/f controls in weak magnetic area |
| CN107472079B (en) * | 2017-08-21 | 2020-04-17 | 奇瑞新能源汽车技术有限公司 | Intelligent control method and system for maximum speed of electric automobile |
| CN112009273B (en) * | 2019-05-29 | 2022-05-06 | 长城汽车股份有限公司 | Power determination method and device and vehicle |
| CN112532140B (en) * | 2020-11-03 | 2022-05-27 | 宁波央腾汽车电子有限公司 | Motor field weakening out-of-control protection method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101567655B (en) * | 2008-04-24 | 2013-02-20 | 迈为电子技术（上海）有限公司 | Control method of IPM electromotor for driving electric motor car |
| JP5576039B2 (en) * | 2008-12-17 | 2014-08-20 | 株式会社日立産機システム | Synchronous motor controller |
| JP5550672B2 (en) * | 2012-03-30 | 2014-07-16 | 株式会社東芝 | Motor control device |
| CN102651626A (en) * | 2012-04-24 | 2012-08-29 | 北京交通大学 | Weak magnetic control method for permanent magnet synchronous motor |
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2014
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Granted publication date: 20160302 |