CN104201960B - A kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor - Google Patents
A kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor Download PDFInfo
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Abstract
The invention discloses a kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor, including the present speed and current flow of collection motor, current increment is calculated according to speed difference of the present speed with target velocity, current flow is adjusted using the current increment, SVPWM controls are carried out to motor；When current flow is adjusted, the first inductance according to current flow correcting motor, and using the inductance and described current increment after correction, d shaft currents increment and q shaft current increments are calculated based on maximum torque per ampere control method, corresponding component in current flow are adjusted using described d shaft currents increment and q shaft currents increment.Q axle inductance and d axle inductance of the present invention according to the electric current real-time adjustment motor of motor, it is ensured that the synchronicity of electric current and inductance, substantially increase the control accuracy of motor, and are conducive to reducing motor to load disturbance or the response speed of target velocity change.
Description
Technical field
The present invention relates to motor control technology field, and in particular to a kind of torque capacity electric current of permanent-magnet synchronous reluctance motor
Compare control method.
Background technology
Traditional elevator is driven mainly using asynchronous machine as traction motor, coordinates asynchronous frequency changer to complete to drive, but
This type of drive volume is big, and inefficiency, noise are big, and needs corresponding deceleration device etc. to coordinate.At present, permanent magnetism is same
Step motor adds the type of drive of converter just progressively replacing traditional type of drive, the power density of permagnetic synchronous motor, efficiency
It is all very high, and structure is also relatively easy, is good energy-saving electric machine.In recent years, with Power Electronic Technique, New-type electric machine control
The theoretical fast development with rare earth permanent-magnetic material of system, permasyn morot are able to rapid popularization and application.However as rare earth
Permanent magnet material price is increased rapidly, and is existed than larger floating, improves the cost of permagnetic synchronous motor so as to which development is received
Limit.In this context, extensive concern is gradually received based on the application of permanent-magnet synchronous reluctance motor.
Vector control technology is conventional method for controlling permanent magnet synchronous motor, such as promulgated by the State Council in Publication No. 102386834A
Bright patent application discloses a kind of vector control method of permagnetic synchronous motor：Will be equivalent to the d shaft currents under rotor coordinate
Decouple with q shaft currents, adjusted by PI and obtain d shaft voltages and q shaft voltages, carry out space vector pulse width modulation, after modulation
Signal is controlled traction invertor and is run with motor；As the set-point and q shaft currents of the d shaft currents of uneoupled control signal
Set-point is obtained by the following method：Rotor actual angular speed signal is compared with previously given angular velocity signal, is contrasted
Carry out after PI regulations compared with signal, obtain the given torque of rotor；The initial set-point of d shaft currents is obtained according to given torque；Root
Factually border angular velocity signal obtains the regulated value of d shaft currents；According to the regulated value of the initial set-point and d shaft currents of d shaft currents
Obtain the set-point of d shaft currents；The set-point of q shaft currents is obtained according to the set-point of given torque and d shaft currents；Using obtaining
D shaft currents and the set-point of q shaft currents decoupled, adjusted by PI and obtain d shaft voltages and q shaft voltages, then carry out sky
Between Vector Pulse Width Modulation, using after modulation pwm signal control traction invertor drive permagnetic synchronous motor to run.
In permanent-magnet synchronous reluctance motor, as magnetic circuit saturation can produce impact to the inductance of motor, and in current of electric
In the case of difference, the degree of saturation of magnetic circuit is also differed, when the electric current of permanent-magnet synchronous reluctance motor is different, its q axle inductance
Can be different with d axle inductances.But the change of inductance is not considered in existing permanent-magnet synchronous reluctance motor control method, is controlled
During the size of inductance that uses immobilize, this can directly influence the accuracy of control algolithm, and can also reduce motor
Response speed to load disturbance.
The content of the invention
For the deficiencies in the prior art, the invention provides a kind of torque capacity electric current of permanent-magnet synchronous reluctance motor is than control
Method processed.
A kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor, including collection motor present speed and
Current flow, is calculated current increment according to speed difference of the present speed with target velocity, is adjusted using the current increment
Current flow, to carry out SVPWM controls to motor；The method of adjustment current flow is as follows：
According to the inductance of current flow correcting motor, and using the inductance and described current increment after correction, based on most
Big torque current is calculated d shaft currents increment and q shaft current increments than control methods, using described d shaft currents increment and q axles
Current increment is adjusted to corresponding component in current flow.
Speed difference in the present invention according to the present speed of motor and target velocity, and the parameter of electric machine, are adjusted using PID
Section device and maximum torque per ampere control module, are calculated current increment.
The inductance of the current flow correcting motor of motor is utilized in the maximum torque per ampere control method of the present invention, can
According to the inductance of the size of current real-time adjustment motor of motor, it is to avoid the electricity in existing maximum torque per ampere control method
Inductance value fixes the problem that control accuracy caused by institute declines, and substantially increases control accuracy, and is conducive to reducing motor to loading
The response speed that disturbance or target velocity (control targe) change.
The electric current that current flow is actually the stator of motor is gathered in the present invention, during collection, needs collection three-phase currently electric
Stream, the three-phase current flow to collecting carry out clark＆park conversion, obtain q shaft currents component and d axles in current flow
Current component.Only need to use a phase current flow inductance timing is carried out using current flow, from the three-phase for collecting
An optional phase.
Q shaft currents increment and d shaft current increments are calculated by following steps：
(1) according to formula：
Calculating current distributes angle φ, wherein, Lq、LdQ axle inductances and d axle inductances after respectively correcting, ψfFor magnetic linkage, Δ
isFor current increment；
(2) distribute angle φ and current increment Δ i according to electric currentsCalculate q shaft currents increment and d shaft current increments.
The electric current distribution angle φ of motor is the angle of stator current (i.e. current flow) and q shaft currents, according to above formula
Calculated q shaft currents increment Delta iqWith d shaft current increment Deltas idWith positive negativity.
The method of the inductance of correcting motor is as follows：
The inductance of motor includes the q axle inductances and d axle inductances of motor, obtains the q axle inductances and d axle inductances and electric current of motor
Interval corresponding relation, using described interval corresponding relation, the corresponding q axles of current flow are determined according to the size of current flow
Inductance and d axle inductances, respectively as q axle inductances and d axle inductances after correction.
In motor operation course, q axle inductances and d axle inductances and the electric current of motor of motor exist certain interval corresponding
Relation.Therefore, the interval corresponding relation using the electric current of motor under normal circumstances and inductance is used as reference, to complete the school to inductance
Just.
Described interval corresponding relation is obtained by the following method：
Electric current-inductance relation curve of the electric current of motor in the range of the curent change of setting is obtained, and it is big according to inductance
It is little, curent change scope is divided into into several electric currents intervals, it is interval for each electric current, respectively according to the interval correspondence of the electric current
Q axle inductances and the maximum and minima of d axle inductances determine the interval corresponding q axle inductances of the electric current and d axle inductances, that is, obtain
Described interval corresponding relation.
It is interval for each electric current in the present invention, can directly with the maximum of the corresponding q axle inductances in electric current interval or most
Little value is used as the interval corresponding q axle inductances of the electric current, it would however also be possible to employ the half of the sum of maximum and minima is used as the electric current
Interval corresponding q axle inductances.In the same manner, it may be determined that the interval corresponding d axle inductances of each electric current.To ensure control accuracy, each
The difference of the maxima and minima of the interval corresponding q axle inductances of electric current or d axle inductances can not be excessive.Preferably, each is electric
The difference for flowing the maxima and minima of interval corresponding q axle inductances or d axle inductances is 0.01～0.05mH.
In the present invention, curent change scope is usually set to the 2～3 of rated current according to the power and rated current of motor
Times.
Described interval corresponding relation is obtained in the present invention by the following method can also：
The electric current of motor is divided into into several electric currents intervals according to size, in each electric current is interval, an electric current is set
Value, the q axle inductances and d axle inductances when the electric current for obtaining motor is the current value, and as the interval corresponding q axle inductances of the electric current
With d axle inductances.
As inductance changes less with the fluctuation of electric current, consequently, to facilitate test improves testing efficiency, directly by setting
Curent change scope is divided into several electric currents intervals, the corresponding q axle inductances of each electric current one current value of interval only test and d
Axle inductance.The interval corresponding relation for so obtaining constitutes two square-wave signals and represents, transverse axis is electric current, and it is electric that the longitudinal axis is respectively q axles
Sense and d axle inductances.The interval of the interval current value of each electric current can be set according to practical situation.And it is interval for each electric current,
If corresponding inductance change greatly (difference of maxima and minima more than given threshold, in the present invention threshold value be 0.01～
0.05mH), further electric current interval is finely divided, for the galvanic areas obtained after subdivision retest corresponding q axles electricity
Sense and d axle inductances.By the subdivision to galvanic areas, the q axle inductances that can be obtained with correction for reduction and d axle inductances and actual value
Difference, improves correction accuracy, and then improves control accuracy.
After obtaining interval corresponding relation, q axle inductances and d axle inductances after correction are determined by the following method：
Electric current according to residing for the size of current flow determines current flow is interval, obtains the electricity according to interval corresponding relation
Interval corresponding q axle inductances and d axle inductances are flowed, and as the q axle inductances and d axle inductances after correction.
By the summation of the d shaft currents in current flow and d shaft current increments, as the d shaft currents after adjustment；Will current electricity
The summation of q shaft currents and q shaft current increments in stream, as the q shaft currents after adjustment.
D shaft currents increment should be retained during summation and d shaft current increments have positive negativity, using the q shaft currents after adjustment
Frequency conversion control is carried out with d shaft currents.Actually when Frequency conversion control is carried out, in addition it is also necessary to be input into the electrical angle of motor
Changing value.
Present invention also offers a kind of maximum torque per ampere control system of permanent-magnet synchronous reluctance motor, including：
Speed sampling module, for gathering the present speed of permanent-magnet synchronous reluctance motor；
Current sample module, for gathering the current flow of permanent-magnet synchronous reluctance motor；
Maximum torque per ampere control module, for the present speed according to motor and the speed of the target velocity of setting
Difference, is calculated q shaft currents increment and d shaft current increments using the inductance of motor, is additionally operable to using calculated q shaft currents
Increment and d shaft currents increment are adjusted to corresponding component in current flow；
SVPWM control modules, for exporting corresponding SVPWM according to the q shaft currents increment after adjustment and d shaft currents increment
Pulse signal；
Converter, for controlling the operation of permanent-magnet synchronous reluctance motor according to SVPWM pulse signals；Also include：
Inductance correction module, the current flow for being collected according to current sample module carry out school to the inductance of motor
Just；Corresponding maximum torque per ampere control module is calculated q shaft currents increment and d axles using the inductance of the motor after correction
Current increment.
Compared with q axle inductances fixed used in existing maximum torque per ampere control method and d axle inductances, this
In the maximum torque per ampere control method and system of bright permanent-magnet synchronous reluctance motor, according to the electric current real-time adjustment electricity of motor
The q axle inductances and d axle inductances of machine, it is ensured that the synchronicity of electric current and inductance, substantially increases the control accuracy of motor, and favorably
In the response speed that reduction motor changes to load disturbance or target velocity (control targe).
Specific embodiment
Schematic diagrams of the Fig. 1 for the maximum torque per ampere control method of the permanent-magnet synchronous reluctance motor of the present embodiment；
Relation curves of the Fig. 2 for the electric current and inductance of the permanent-magnet synchronous reluctance motor of the present embodiment；
Fig. 3 is id=0 controls, the maximum torque per ampere control for not carrying out inductance correction, the torque capacity of inductance amendment
Under electric current ratio three kinds of modes of control, the curent change curve of permanent-magnet synchronous reluctance motor during different loads.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The maximum torque per ampere control method of the permanent-magnet synchronous reluctance motor of the present embodiment, as shown in figure 1, including as follows
Step：
(S1) present speed of motor is gathered by speed sampling；The current flow of motor is gathered by current sample.
The stator current that motor is gathered by current sensor in the present embodiment is used as current flow.Adopt in the present embodiment
Present speed of the rotating speed of the rotor of encoder collection motor as motor.Need collection three-phase currently electric during collection current flow
Stream, the three-phase current flow to collecting carry out clark and park conversion, obtain the q shaft currents component and d axles in current flow
Current component.Only need to use a phase current flow inductance timing is carried out using current flow, from the three-phase for collecting
An optional phase.
(S2) based on maximum torque per ampere control method, calculated according to speed difference of the present speed with target velocity
To current increment；
According to the inductance of present speed correcting motor, according to the inductance after correction, using the current electricity of current increment adjustment
Stream, to carry out SVPWM controls to motor.
The concrete grammar of SVPWM controlled motors be according to adjustment after q shaft currents increment and the output of d shaft currents increment it is corresponding
SVPWM pulse signals, (the present embodiment is IGBT power models or IPM inversions to control converter using the SVPWM pulse signals
Device), and then controlled motor (i.e. permanent-magnet synchronous reluctance motor) operation.
In the present embodiment, the inductance of motor includes q axle inductances and d axle inductances, as follows the inductance of correcting motor：
A () obtains electric current-inductance relation curve of the electric current of motor in the range of the curent change of setting as shown in the figure.Root
According to inductance size, curent change scope is divided into into several electric currents intervals, it is interval for each electric current, it is interval according to the electric current
The maximum and minima of corresponding q axle inductances determines the interval corresponding q axle inductances of the electric current, corresponding according to the electric current interval
The maximum and minima of d axle inductances determines the interval corresponding d axle inductances of the electric current, that is, obtain the interval correspondence of electric current-inductance
Relation.
The curent change scope set in the present embodiment is as 0～80A, interval for each electric current, corresponding with the interval
Maximum q axle inductances as the interval corresponding q axle inductances of the electric current, using maximum d axle inductances as the interval corresponding d of the electric current
Axle inductance.
When curent change scope is divided into several electric currents intervals, divide according to inductance size, make each electric current interval
The difference of the maxima and minima of corresponding q axle inductances or d axle inductances is 0.01～0.05mH (the present embodiment is 0.05mH).
The interval corresponding relation of the q axle inductances and d axle inductances of (b) using motor and electric current, according to the size of current flow
Determine that the electric current residing for current flow is interval, made with the interval corresponding q axle inductances of the electric current in interval corresponding relation and d axle inductances
For q axle inductances and d axle inductances after correction.
According to the q axle inductances and d axle inductances after correction in the present embodiment, the side of current flow is adjusted using the current increment
Method is as follows：
D shaft currents increment and q shaft current increments are calculated based on maximum torque per ampere control method, including following step
Suddenly：
(1) according to formula：
Calculate the electric current distribution angle φ (i of motorsWith iqAngle), wherein, Lq、LdRespectively correct after q axle inductances and
D axle inductances, ψfFor magnetic linkage, Δ isFor current increment；
(2) distribute angle φ and current increment Δ i according to electric currentsCalculate q shaft currents increment and d shaft current increments：
Δid=-Δ is×sinφ
Δiq=Δ is×cosφ
Calculate q shaft current increment Deltas iqWith d shaft current increment Deltas id。
Using the corresponding component being calculated in q shaft currents increment and d shaft currents increment regulation current flow：
By the summation of the q shaft currents in current flow and q shaft current increments, as the q shaft currents after adjustment；Will current electricity
The summation of d shaft currents component and d shaft current increments in stream, as the d shaft currents after adjustment.
Fig. 3 is respectively the maximum that id=0 controlled, do not carried out the maximum torque per ampere control and the present embodiment of inductance correction
Under torque current ratio three kinds of modes of control, the curent change curve of permanent-magnet synchronous reluctance motor during different loads.Can be with from figure
Find out, the current difference under different loads, under three kinds of control modes.From the torque capacity for carrying out inductance correction of the present embodiment
Electric current can be obvious than the curve for controlling electric current corresponding with the maximum torque per ampere control for not carrying out inductance correction with load
Find out, the current value under the maximum torque per ampere control method for carrying out inductance correction of the present embodiment is less than and does not carry out inductance school
Current value under positive maximum torque per ampere control method, curve front end difference proportion are larger (due to electric current phase itself
To less, but difference is bigger than curve end with the ratio of current value), due to becoming big with electric current, q axle inductance value changes become
In stable, thus before the correction of curve end inductance with correct after current differential tend towards stability.
Above-described specific embodiment has been described in detail to technical scheme and beneficial effect, Ying Li
Solution is to the foregoing is only presently most preferred embodiment of the invention, is not limited to the present invention, all principle models in the present invention
Interior done any modification, supplement and equivalent etc. are enclosed, be should be included within the scope of the present invention.
Claims (7)
1. a kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor, including collection motor present speed and work as
Front electric current, is calculated current increment according to speed difference of the present speed with target velocity, is worked as using the current increment adjustment
Front electric current, to carry out SVPWM controls to motor；Characterized in that, the method for adjustment current flow is as follows：
According to the inductance of current flow correcting motor, and using the inductance and described current increment after correction, turned based on maximum
Square electric current is calculated d shaft currents increment and q shaft current increments than control methods, using described d shaft currents increment and q shaft currents
Increment is adjusted to corresponding component in current flow；
Q shaft currents increment and d shaft current increments are calculated by following steps：
(1) according to formula：
Calculating current distributes angle φ, wherein, Lq、LdQ axle inductances and d axle inductances after respectively correcting, ψfFor magnetic linkage, △ isFor electricity
Stream increment；
(2) distribute angle φ and current increment △ i according to electric currentsCalculate q shaft currents increment and d shaft current increments.
2. the maximum torque per ampere control method of permanent-magnet synchronous reluctance motor as claimed in claim 1, it is characterised in that institute
State in step (2) according to formula：
△id=-△ is×sinφ
△iq=△ is×cosφ
Calculate q shaft current increment △ iqWith d shaft current increment △ id。
3. the maximum torque per ampere control method of permanent-magnet synchronous reluctance motor as claimed in claim 1 or 2, its feature exist
In the method for the inductance of correcting motor is as follows：
The inductance of motor includes the q axle inductances and d axle inductances of motor, obtains the q axle inductances and d axle inductances of motor and the area of electric current
Between corresponding relation, using described interval corresponding relation, the corresponding q axle inductances of current flow are determined according to the size of current flow
With d axle inductances, respectively as q axle inductances and d axle inductances after correction.
4. the maximum torque per ampere control method of permanent-magnet synchronous reluctance motor as claimed in claim 3, it is characterised in that logical
Cross following methods and obtain described interval corresponding relation：
Electric current-inductance relation curve of the electric current of motor in the range of the curent change of setting is obtained, and according to inductance size, will
Curent change scope is divided into several electric currents intervals, interval for each electric current, respectively according to the interval corresponding q axles of the electric current
The maximum and minima of inductance and d axle inductances determines the interval corresponding q axle inductances of the electric current and d axle inductances, that is, obtain described
Interval corresponding relation.
5. the maximum torque per ampere control method of permanent-magnet synchronous reluctance motor as claimed in claim 4, it is characterised in that every
The difference of the maxima and minima of the interval corresponding q axle inductances of individual electric current or d axle inductances is 0.01～0.05mH.
6. the maximum torque per ampere control method of permanent-magnet synchronous reluctance motor as claimed in claim 4, it is characterised in that logical
Cross following methods and determine q axle inductances and d axle inductances after correction：
Electric current according to residing for the size of current flow determines current flow is interval, obtains the Current Zone according to interval corresponding relation
Between corresponding q axle inductances and d axle inductances, and as correction after q axle inductances and d axle inductances.
7. the maximum torque per ampere control method of permanent-magnet synchronous reluctance motor as claimed in claim 6, it is characterised in that will
The summation of d shaft currents and d shaft current increments in current flow, as the d shaft currents after adjustment；
By the summation of the q shaft currents in current flow and q shaft current increments, as the q shaft currents after adjustment.
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| CN201410377874.9A CN104201960B (en) | 2014-08-01 | 2014-08-01 | A kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105553369A (en) * | 2015-12-16 | 2016-05-04 | 四川长虹电器股份有限公司 | Motor control method and motor |
| CN107222145B (en) * | 2017-07-27 | 2019-09-06 | 广东美芝制冷设备有限公司 | Control method, system and the machine readable storage medium of permanent magnet synchronous motor |
| CN108988726A (en) * | 2018-08-31 | 2018-12-11 | 中科芯集成电路股份有限公司 | A kind of MTPA control method of permanent magnet synchronous motor |
| CN110957953B (en) * | 2018-09-25 | 2022-12-20 | 欧姆龙(上海)有限公司 | Control device and control method for alternating current motor |
| CN112054729B (en) * | 2020-09-11 | 2022-11-22 | 洛阳中重自动化工程有限责任公司 | Permanent magnet motor control method suitable for low-speed direct-drive elevator |
| CN112713829A (en) * | 2020-12-15 | 2021-04-27 | 中车永济电机有限公司 | Rail transit permanent magnet traction system based on safety guiding |
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| CN101396976A (en) * | 2007-09-25 | 2009-04-01 | 奇瑞汽车股份有限公司 | Electric machine control method and device in hybrid motor |
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