CN103840733B - A kind of method for controlling permanent magnet synchronous motor - Google Patents
A kind of method for controlling permanent magnet synchronous motor Download PDFInfo
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- CN103840733B CN103840733B CN201410082187.4A CN201410082187A CN103840733B CN 103840733 B CN103840733 B CN 103840733B CN 201410082187 A CN201410082187 A CN 201410082187A CN 103840733 B CN103840733 B CN 103840733B
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Abstract
A kind of method for controlling permanent magnet synchronous motor, by direct voltage output vector, save and rotated two phase coordinate systems to the voltage transformation under static two phase coordinate systems, thereby the part trigonometric function saving wherein calculates, save computing time, dependence to the parameter of electric machine is less, can there is not step-out and more walk at the debugging initial stage, regulate the dynamic property of motor by the length of regulation voltage output vector in debug process, its stability of angular adjustment by regulation output voltage vector is as performances such as power factors. Control motor by an output voltage vector, the size of output voltage vector is constantly adjusted by closed loop, controls effect better, has widely and uses in Motor Control Field.
Description
Technical field
The present invention relates to a kind of motor control method, relate in particular to a kind of method for controlling permanent magnet synchronous motor, belong to motorControl technology field.
Background technology
Permagnetic synchronous motor is extremely important in the status of modernization construction, is widely used in the neighbours such as national defence, industry, building industryTerritory. Traditional method for controlling permanent magnet synchronous motor can not satisfy the demands completely at the aspect such as control performance, efficiency, for tackling thisA little not enough, method for controlling permanent magnet synchronous motor has been launched to new research and development.
Along with the new discovery of ferromagnetic material and the fast development of electric semiconductor, the control performance of magneto has largerRoom for promotion. In identical magneto hardware facility situation, traditional control method exists and too relies on the parameter of electric machine, controlsTopological structure complexity, and there is the situation of actual debug difficulties. Traditional control method exists the debugging initial stage easily to loseStep and more step, because its direct-axis voltage and quadrature-axis voltage strictly obtain according to motor mathematical model or pid algorithm, and its d-axis electricityThere is coupled relation in pressure and stability and the dynamic property of quadrature-axis voltage to Electric Machine Control performance, control performance relies on debugging very muchParameter.
Chinese patent Granted publication number is: CN102386834A, the day for announcing is: the patent of invention public affairs on March 21st, 2012Vector control method and the device of having driven a kind of permagnetic synchronous motor, method comprises: by the d axle electricity being equivalent under rotor coordinateStream and the decoupling zero of q shaft current, regulated and obtained d shaft voltage and q shaft voltage by PI, carries out space vector pulse width modulation, with after modulationSignal controlling traction invertor move with drive motors, as set-point and the q shaft current of the d shaft current of decoupling zero control signalSet-point obtain by the following method: rotor actual angular speed signal and angular velocity signal given in advance are compared, rightComparison signal carries out after PI adjusting, obtains the given torque of rotor; Obtain the initial set-point of d shaft current according to given torque;According to the regulated value of actual angular speed signal acquisition d shaft current, according to the adjusting of the initial set-point of d shaft current and d shaft currentValue obtains the set-point of d shaft current, then obtains the set-point of q shaft current according to the set-point of given torque and d shaft current. ButBe the computational process complexity of this localization method, need to carry out complicated trigonometric function and calculate, amount of calculation is larger, and control performanceDependence to the parameter of electric machine is larger, and as easy as rolling off a log generation step-out of debugging initial stage and more step also need to carry out complicated voltage simultaneously and becomeChange, computing time is longer, controls poor effect.
Summary of the invention
The object of the invention is for existing method for controlling permanent magnet synchronous motor computational process complexity, amount of calculation is larger,Electric Machine Control performance relies on the parameter of electric machine very much, and traditional control method exists as easy as rolling off a log generation step-out of debugging initial stage and more walks, andAnd need to carry out complicated voltage transformation, computing time is longer, control defect and the deficiency of poor effect, now provide a kind of and calculateProcess is simple, by direct voltage output vector, has saved and has rotated two phase coordinate systems and become to the voltage under static two phase coordinate systemsChange, thereby the part trigonometric function saving wherein calculates, and has saved computing time, controls the better a kind of permanent magnet synchronous electric of effectMachine control method.
For achieving the above object, technical solution of the present invention is: a kind of method for controlling permanent magnet synchronous motor, comprise withLower step:
A, obtain the current rotor position information of motor by position sensorAnd rotary speed information, wherein, and gather the three-phase current of motor by current sensor、、, according to the mathematics of permagnetic synchronous motorThe electromagnetic torque that model inference motor is current；
B, obtaining doing difference operation with given speed, torque respectively after the velocity information of motor, moment information, obtainThe Real-time Error of proper front rotating speed, torque is respectively、If motor is carried out to closed-loop control: to velocity error or torqueError is calculated, and obtains a result as the size of output voltage vector，Always be more than or equal to 0; If motor is leftRing ring is controlled, directly given；
C, be known as Vdc according to the dc source voltage of electric machine controller subsequently, to the size of output voltage vectorEnterRow overflows differentiation: ifBe less than 0,; If,; OtherwiseRemain unchanged;
D, the three-phase current that basis collects again、、And the d-axis electricity of motor is calculated in motor mathematical model derivationStream, quadrature axis electric currentWith current phasor size；
E, according to the size of current phasorOr direct-axis currentWith quadrature axis electric currentCalculate, result of calculation is outputVoltage vectorThe offset angle of angle; The rotating speed gathering according to position sensorCalculate, result of calculation is output electricityPress the offset angle of vector Us angleIf the direction of rotation of motor is that counterclockwise the angle of output voltage vector is; If the direction of rotation of motor is that the angle of output voltage vector is clockwise；
F, the angle of output voltage vector is overflowed to differentiation: if，; OtherwiseMaintainConstant;
G, last according to the size of output voltage vectorAnd angle, carry out space vector pulse width modulation; To adjustRipple processed carries out isolation drive device for power switching and then drive motors.
In described a step to gather electric current carry out 32 conversion and park transform operation method as follows:
。
The electromagnetic torque current according to the Derivation of Mathematical Model motor of permagnetic synchronous motor in described a stepMethod asUnder:，，, wherein permanent-magnet synchronousThe parameter of motor: excitation constant is, magnetic pole logarithm is, d-axis inductance is, quadrature axis inductance is，For d-axis magneticChain,For quadrature axis magnetic linkage.
In described b step, after the velocity information of motor, moment information, do with given speed, torque respectively obtainingThe circular of difference operation is:，，, whereinFor rotor givenPosition,For given rotating speed, T is given electromagnetic torque.
The method of calculating current phasor size in described d step is as follows:。
Described position sensor is orthogonal optical photoelectric coder, rotary transformer or selsyn.
Described current sensor is Hall element.
The invention has the beneficial effects as follows:
1, the present invention is by direct voltage output vector, saved and rotated two phase coordinate systems under static two phase coordinate systemsVoltage transformation, thus the part trigonometric function saving wherein calculates, and has saved computing time, to the dependence of the parameter of electric machineLittle, can there is not step-out and more walk at the debugging initial stage.
2, the present invention regulates the dynamic property of motor by the length of regulation voltage output vector in debug process, passes throughIts stability of the angular adjustment of regulation output voltage vector is as performances such as power factors. Control by an output voltage vectorMotor, the size of output voltage vector is constantly adjusted by closed loop, controls effect better, has widely in Motor Control FieldUse.
Brief description of the drawings
Closed loop controlling structure figure when Fig. 1 is given speed of the present invention.
Closed loop controlling structure figure when Fig. 2 is the given torque of the present invention.
Fig. 3 is motor of the present invention output vector angle schematic diagram while being rotated counterclockwise.
Fig. 4 is motor of the present invention output vector angle schematic diagram while turning clockwise.
Detailed description of the invention
Below in conjunction with brief description of the drawings and detailed description of the invention, the present invention is described in further detail.
Referring to Fig. 1 to Fig. 4, a kind of method for controlling permanent magnet synchronous motor of the present invention, comprises the following steps:
A, obtain the current rotor position information of motor by position sensorAnd rotary speed information, wherein, and gather the three-phase current of motor by current sensor、、, according to the mathematics of permagnetic synchronous motorThe electromagnetic torque that model inference motor is current；
B, obtaining doing difference operation with given speed, torque respectively after the velocity information of motor, moment information, obtainThe Real-time Error of proper front rotating speed, torque is respectively、If motor is carried out to closed-loop control: to velocity error or torqueError is calculated, and obtains a result as the size of output voltage vector，Always be more than or equal to 0; If motor is leftRing ring is controlled, directly given；
C, be known as Vdc according to the dc source voltage of electric machine controller subsequently, to the size of output voltage vectorEnterRow overflows differentiation: ifBe less than 0,; If,; OtherwiseRemain unchanged;
D, the three-phase current that basis collects again、、And the d-axis electricity of motor is calculated in motor mathematical model derivationStream, quadrature axis electric currentWith current phasor size；
E, according to the size of current phasorOr direct-axis currentWith quadrature axis electric currentCalculate, result of calculation is outputVoltage vectorThe offset angle of angle; The rotating speed gathering according to position sensorCalculate, result of calculation is output electricityPress the offset angle of vector Us angleIf the direction of rotation of motor is that counterclockwise the angle of output voltage vector is; If the direction of rotation of motor is that the angle of output voltage vector is clockwise；
F, the angle of output voltage vector is overflowed to differentiation: if，; OtherwiseMaintainConstant;
G, last according to the size of output voltage vectorAnd angle, carry out space vector pulse width modulation; To adjustRipple processed carries out isolation drive device for power switching and then drive motors.
In described a step to gather electric current carry out 32 conversion and park transform operation method as follows:
。
The electromagnetic torque current according to the Derivation of Mathematical Model motor of permagnetic synchronous motor in described a stepMethod asUnder:，，, wherein permanent-magnet synchronousThe parameter of motor: excitation constant is, magnetic pole logarithm is, d-axis inductance is, quadrature axis inductance is，For d-axis magneticChain,For quadrature axis magnetic linkage.
In described b step, after the velocity information of motor, moment information, do with given speed, torque respectively obtainingThe circular of difference operation is:，，, whereinFor rotor givenPosition,For given rotating speed, T is given electromagnetic torque.
The method of calculating current phasor size in described d step is as follows:。
Described position sensor is orthogonal optical photoelectric coder, rotary transformer or selsyn.
Described current sensor is Hall element.
The present invention is by obtaining the current rotor position information of motor by position sensorAnd rotary speed information，ForThe angle of motor magnetic linkage and a certain fixing phase of motor is also the angle of d-axis and a certain fixing phase under rotating coordinate system.For electricityAlternating current angular speed in machine rotor coil,To permagnetic synchronous motor rotary speed of rotator relevant with magnetic pole logarithm. PositionPutting sensor is orthogonal optical photoelectric coder, rotary transformer or selsyn. Gather three of motor by current sensor simultaneouslyPhase current、、, current sensor can adopt Hall element, according to the Derivation of Mathematical Model electricity of permagnetic synchronous motorThe electromagnetic torque that machine is currentAnd magnetic linkage. Wherein to gather electric current carry out 32 conversion and park convert obtain：
。
The parameter of known wherein permagnetic synchronous motor: excitation constant is, magnetic pole logarithm is, d-axis inductance is,Quadrature axis inductance is. The electromagnetic torque current according to the Derivation of Mathematical Model motor of permagnetic synchronous motor:
，，。
Obtaining doing difference operation with given speed, torque respectively after the velocity information of motor, moment information, obtainingThe Real-time Error of current rotating speed, torque is respectively、, circular is:，，. IfFunction is classicalAlgorithm. If motor is carried out to position closed loop control: the size of output voltage vector; If motor is carried out to speed closed loop control: the size of output voltage vector; If motor is carried out to torque closed-loop control: the size of output voltage vectorFor classical in this stepAlgorithmParameter.Always be more than or equal to0. If motor is carried out to the control of open loop ring, directly given。
Be known as Vdc according to the dc source voltage of electric machine controller subsequently, to the size of output voltage vectorOverflow differentiation: ifBe less than 0,; If,; OtherwiseMaintain notBecome.
According to the three-phase current collecting、、And the direct-axis current of motor is calculated in motor mathematical model derivation, quadrature axis electric currentWith current phasor size, calculate current phasor size as follows:. According to electricityThe size of flow vectorOr direct-axis currentWith quadrature axis electric currentCalculate, result of calculation is output voltage vectorAngleOffset angle. Calculate output voltage vectorThe offset angle of angle, whereinFor aboutFunction, adjustAccording to circumstances design in examination process; The offset angle of output voltage vector Us angle, whereinFor about'sFunction, according to circumstances design in debug process.
The rotating speed gathering according to position sensorCalculate, result of calculation is the compensation of output voltage vector Us angleAngleIf when the direction of rotation of motor is counter clockwise direction, referring to Fig. 3, the angle of output voltage vector is; If when the direction of rotation of motor is clockwise direction, referring to Fig. 4, the angle of output voltage vectorDegree is。
Then the angle of output voltage vector is overflowed to differentiation: if，; OtherwiseDimensionHold constant. Last according to the size of output voltage vectorAnd angle, carry out space vector pulse width modulation; By modulating waveCarry out isolation drive device for power switching and then drive motors. The size of output voltage vector is constantly adjusted by closed loop, vectorDirection be that relative angle is gathered and processed by position sensor and obtains, wide according to this voltage vector span vector pulseDegree modulation waveform, this waveform determines the break-make of device for power switching, driving power switching device finally drives permanent magnet synchronous electricMachine is to reach control target.
The present invention regulates the dynamic property of motor by the length of regulation voltage output vector regulation output voltage vector,By its stability of angular adjustment of regulation output voltage vector. By direct voltage output vector length, save and revolved simultaneouslyTurn two phase coordinate systems and arrive the voltage transformation under static two phase coordinate systems, thereby the part trigonometric function saving wherein calculates, and savesComputing time, control efficiency is high, in addition, less to the dependence of tuning parameter, and is not easy to occur step-out and step moreSituation, better to the control effect of synchronous motor.
Claims (7)
1. a method for controlling permanent magnet synchronous motor, comprises the following steps:
A, obtain the current rotor position information of motor by position sensorAnd rotary speed information, wherein, andGather the three-phase current of motor by current sensor、、, according to the Derivation of Mathematical Model motor of permagnetic synchronous motorCurrent electromagnetic torque；
B, obtaining doing difference operation with given speed, torque respectively after the velocity information of motor, moment information, obtaining and work asThe Real-time Error of front rotating speed, torque is respectively、If motor is carried out to closed-loop control: to velocity error or torque errorCalculate, obtain a result as the size of output voltage vector，Always be more than or equal to 0; If motor is carried out to open loop ringControl, directly given；
C, be known as Vdc according to the dc source voltage of electric machine controller subsequently, to the size of output voltage vectorOverflowGo out to differentiate: ifBe less than 0,; If,; OtherwiseRemain unchanged;
D, the three-phase current that basis collects again、、And the direct-axis current of motor is calculated in motor mathematical model derivation、Quadrature axis electric currentWith current phasor size；
E, according to the size of current phasorOr direct-axis currentWith quadrature axis electric currentCalculate, result of calculation is output voltageVectorThe offset angle of angle; The rotating speed gathering according to position sensorCalculate, result of calculation is that output voltage is vowedThe offset angle of amount Us angleIf the direction of rotation of motor is that counterclockwise the angle of output voltage vector is; If the direction of rotation of motor is that the angle of output voltage vector is clockwise；
F, the angle of output voltage vector is overflowed to differentiation: if，; OtherwiseMaintain notBecome;
G, last according to the size of output voltage vectorAnd angle, carry out space vector pulse width modulation; By modulating waveCarry out isolation drive device for power switching and then drive motors.
2. a kind of method for controlling permanent magnet synchronous motor according to claim 1, is characterized in that: in described d step to adoptingCollection electric current carry out 32 conversion and park transform operation method as follows:
。
3. a kind of method for controlling permanent magnet synchronous motor according to claim 1, is characterized in that: basis in described a stepThe current electromagnetic torque of Derivation of Mathematical Model motor of permagnetic synchronous motorMethod as follows:，，, the wherein parameter of permagnetic synchronous motor: excitation constant is, magnetic pole logarithm is, d-axis inductance is, quadrature axis inductance is，For d-axis magnetic linkage,For quadrature axis magnetic linkage.
4. a kind of method for controlling permanent magnet synchronous motor according to claim 1, is characterized in that: in described b step, obtainingAfter the velocity information of motor, moment information, with given speed, the circular that difference operation is done in torque be respectively:，，, whereinFor rotor given position,For given rotating speed, T is for givingDetermine electromagnetic torque.
5. a kind of method for controlling permanent magnet synchronous motor according to claim 1, is characterized in that: in described d step, calculateThe method of current phasor size is as follows:。
6. a kind of method for controlling permanent magnet synchronous motor according to claim 1, is characterized in that: described position sensor isOrthogonal optical photoelectric coder, rotary transformer or selsyn.
7. a kind of method for controlling permanent magnet synchronous motor according to claim 1, is characterized in that: described current sensor isHall element.
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| CN106602939B (en) * | 2016-11-30 | 2019-06-18 | 中冶南方（武汉）自动化有限公司 | A kind of permanent magnet synchronous motor method for controlling torque |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102097988A (en) * | 2010-12-17 | 2011-06-15 | 北京和利时电机技术有限公司 | Method and system for measuring position compensation angles of permanent magnet synchronous motor rotor |
| CN102684592A (en) * | 2012-05-10 | 2012-09-19 | 南京航空航天大学 | Torque and flux linkage control method for permanent synchronous motor |
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| JP2008067556A (en) * | 2006-09-11 | 2008-03-21 | Sanyo Electric Co Ltd | Motor controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102097988A (en) * | 2010-12-17 | 2011-06-15 | 北京和利时电机技术有限公司 | Method and system for measuring position compensation angles of permanent magnet synchronous motor rotor |
| CN102684592A (en) * | 2012-05-10 | 2012-09-19 | 南京航空航天大学 | Torque and flux linkage control method for permanent synchronous motor |
Non-Patent Citations (2)
| Title |
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| 一种改进的永磁同步电机直接转矩控制仿真;徐华中等;《武汉理工大学学报.信息与管理工程版》;20080630;第30卷(第3期);第405-407页 * |
| 电动汽车用永磁同步电机直接转矩控制系统设计;石勇等;《电气传动》;20070228;第26卷(第2期);第90-92页 * |
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