CN104506102B - Method for controlling permanent magnet synchronous motor and device - Google Patents

Method for controlling permanent magnet synchronous motor and device Download PDF

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Publication number
CN104506102B
CN104506102B CN201510019524.XA CN201510019524A CN104506102B CN 104506102 B CN104506102 B CN 104506102B CN 201510019524 A CN201510019524 A CN 201510019524A CN 104506102 B CN104506102 B CN 104506102B
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mtd
torque
mrow
mtr
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CN104506102A (en
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赵艳
罗建
林利
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Shanghai Zhongke Shenjiang Electric Vehicle Co Ltd
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Shanghai Zhongke Shenjiang Electric Vehicle Co Ltd
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Abstract

The present invention, which provides a kind of method for controlling permanent magnet synchronous motor and device, method, to be included：The torque current of the permagnetic synchronous motor is obtained according to the stator current of the permagnetic synchronous motor；The permagnetic synchronous motor operation is controlled according to the torque current.Method for controlling permanent magnet synchronous motor and device provided by the invention, the control accuracy of permagnetic synchronous motor can be effectively improved.

Description

Method for controlling permanent magnet synchronous motor and device
Technical field
The present invention relates to a kind of electric machines control technology, more particularly to a kind of method for controlling permanent magnet synchronous motor and device.
Background technology
Electric automobile can safe and reliable operation, be by permagnetic synchronous motor carry out high accuracy, high reliability control Come what is realized.Electric machine controller in permagnetic synchronous motor is received and performs the torque instruction of entire car controller, and the torque is referred to Torque in order is converted into the electric current in current signal, so as to control permagnetic synchronous motor to run.And between torque and electric current The precision of conversion accuracy, i.e. torque current, directly affect the control accuracy of permagnetic synchronous motor.
Directly permagnetic synchronous motor is controlled to run using the stator current of permagnetic synchronous motor in the prior art, the control Mode occurs that permagnetic synchronous motor torque current calculates the problem of inaccurate, so as to reduce permagnetic synchronous motor control accuracy.
The content of the invention
It is straight in the prior art to solve the embodiments of the invention provide a kind of method for controlling permanent magnet synchronous motor and device Connect and forbidden using stator current to control permagnetic synchronous motor operation to occur that torque current calculates, so as to reduce permanent magnet synchronous electric The problem of machine control accuracy.
One aspect of the present invention provides a kind of method for controlling permanent magnet synchronous motor, including：
The torque current of the permagnetic synchronous motor is obtained according to the stator current of the permagnetic synchronous motor；
The permagnetic synchronous motor operation is controlled according to the torque current.
Another aspect of the present invention also provides a kind of permanent magnet synchronous motor control device, including：
Acquisition module, for obtaining the torque of the permagnetic synchronous motor according to the stator current of the permagnetic synchronous motor Electric current；
Control module, for controlling the permagnetic synchronous motor to run according to the torque current.
Method for controlling permanent magnet synchronous motor and device provided by the invention, pass through the stator according to the permagnetic synchronous motor Electric current obtains the torque current of the permagnetic synchronous motor, controls the permagnetic synchronous motor to run by the torque current, has Improve to effect the control accuracy of permagnetic synchronous motor.
Brief description of the drawings
Fig. 1 is the schematic flow sheet according to the method for controlling permanent magnet synchronous motor of the embodiment of the present invention one；
Fig. 2 is the schematic flow sheet according to the method for controlling permanent magnet synchronous motor of the embodiment of the present invention two；
Fig. 3 is the schematic flow sheet according to the method for controlling permanent magnet synchronous motor of the embodiment of the present invention three；
Fig. 4 is the structural representation according to the permanent magnet synchronous motor control device of the embodiment of the present invention four；
Fig. 5 is the structural representation according to the permanent magnet synchronous motor control device of the embodiment of the present invention five；
Fig. 6 is the structural representation according to the permanent magnet synchronous motor control device of the embodiment of the present invention six.
Embodiment
Embodiment one
The executive agent of the method for controlling permanent magnet synchronous motor of the present embodiment is permanent magnet synchronous motor control device.Fig. 1 is The schematic flow sheet of according to embodiments of the present invention one method for controlling permanent magnet synchronous motor, as shown in figure 1, the permanent magnetism of the present embodiment Synchronous motor control method includes：
Step 101：The torque current of permagnetic synchronous motor is obtained according to the stator current of permagnetic synchronous motor.
The electric current flowed through in the stator coil of permagnetic synchronous motor is stator current.Permanent magnet synchronous motor control device passes through Stator current obtains torque current.
Step 102：Permagnetic synchronous motor operation is controlled according to torque current.
Permanent magnet synchronous motor control device controls permagnetic synchronous motor to run by torque current.
In the present embodiment, by obtaining the torque current of permagnetic synchronous motor according to the stator current of permagnetic synchronous motor, By torque current control permagnetic synchronous motor operation, than controlling permagnetic synchronous motor operation more with stator current in the prior art Accurately, it is effectively improved the control accuracy of permagnetic synchronous motor.
Embodiment two
The present embodiment provides a kind of method for controlling permanent magnet synchronous motor based on embodiment one.Fig. 2 is to be implemented according to the present invention The schematic flow sheet of the method for controlling permanent magnet synchronous motor of example two, as shown in Fig. 2 the method for controlling permanent magnet synchronous motor includes：
Step 201, keep stator current constant, obtain the corresponding pass between torque and the torque current under different rotating speeds System.
Specifically, keeping stator current constant, the direct-axis current of permagnetic synchronous motor is adjusted, by observing permanent magnet synchronous electric The torque change of machine, obtain direct-axis current when torque under different rotating speeds reaches maximum.
According toCalculating torque electric current, obtain the corresponding pass between torque and the torque current under different rotating speeds System, wherein, isFor stator current, idFor direct-axis current, iqFor torque current.
Direct-axis current is exactly current value of the permagnetic synchronous motor along magnetic direction under rotating coordinate system.
Specifically, keeping stator current constant, direct-axis current is adjusted, torque can be observed by dynamometer machine and changed, work as torque When reaching maximum, due to now there is the torque of maximum output, permanent magnet synchronous electric engine efficiency highest can be made, record d-axis now Electric current.
By adjusting direct-axis current, torque is observed by dynamometer machine and changed, record torque reaches d-axis electricity during maximum Stream.Because permagnetic synchronous motor is in the case of rotating speed difference, there may be different torque maximums, so, turn in observation When square changes, it is also contemplated that the change of rotating speed, the size of rotating speed can be obtained directly by dynamometer machine.Can by dynamometer machine observation Obtain the corresponding relation between different rotating speeds, torque and direct-axis current.
After corresponding relation between the torque under obtaining different rotating speeds and direct-axis current, according toIt can calculate Draw torque current iq, it can thus be concluded that to the corresponding relation between the torque under different rotating speeds and torque current.
Step 202, the torque current of permagnetic synchronous motor is obtained according to the stator current of permagnetic synchronous motor.
Obtain the current torque of permagnetic synchronous motor and current rotating speed；
According to the corresponding relation between the torque of the permagnetic synchronous motor under the different rotating speeds pre-set and torque current, Obtain torque current corresponding with current torque and current rotating speed.
Further, if do not have to record in corresponding relation rotating speed be n, torque current of torque when being T, can be by as follows Method obtains torque current：
Obtain be obtained ahead of time rotating speed be n1, torque be T1 when torque current a；Rotating speed be n2, torque be T1 when Torque current be b；Rotating speed be n1, torque be T2 when torque current be c；Rotating speed be n2, torque be T2 when torque Electric current is d；It is expressed in matrix as:
Wherein n1<n<N2, T1<T<T2；
Then rotating speed be n, torque be T1 when torque currentIt is in rotating speed N, torque current when torque is T2Rotating speed be n, torque be T when torque electricity StreamiqValue be rotating speed be n, torque current of torque when being T.
Specifically, how torque current i is determined with instantiation description belowq.It is to be seen by dynamometer machine as shown in Table 1 Corresponding relation between the different rotating speeds, torque and the torque current that measure：
Table one
If the data for observing obtaining by dynamometer machine are less, that is, the torque current used is actually subjected to, does not pass through measurement of power Machine obtains, then can obtain the torque current value to be used by the following method.Assuming that it is 50Nm to need to obtain torque, rotating speed For 1200rpm when torque current.Because 50Nm is between observation data 30Nm and 60Nm, it is therefore desirable to use State the two row data that torque in table one is 30Nm and 60Nm, but due to 1200rpm between observation data 1000rpm and Between 1500rpm, it is therefore desirable to two column datas that rotating speed in above-mentioned table one is 1000rpm and 1500rpm are used, in summary, Final to need to participate in computing to obtain torque to be 50Nm, the data of torque current when rotating speed is 1200rpm are expressed in matrix as：
First, calculating torque 50Nm, torque current when rotating speed is 1000rmp：
Secondly, calculating torque 50Nm, torque current when rotating speed is 1500rmp：
Finally, calculating torque 50Nm, torque current when rotating speed is 1200rmp：
The i being finally calculatedqValue be that torque is 50Nm, torque current when rotating speed is 1200rmp.
In addition to the above methods, can also be according to equation below calculating torque electric current：
iq=-0.00556*T2+2*T；
Wherein, T represents torque value, due to can be seen that from observation data：For different rotating speeds, corresponding torque Current value varies less, and institute's above formula does not consider influence of the rotating speed to torque current, certainly, be able to will also be turned according to actual conditions Influence of the speed to torque current is taken into account, without restriction herein.
Step 203, permagnetic synchronous motor operation is controlled according to torque current.
Permagnetic synchronous motor is controlled to run according to the torque current obtained in step 202.
In the present embodiment, by keeping stator current constant, the direct-axis current of permagnetic synchronous motor is adjusted, torque is obtained and reaches To direct-axis current during maximum, then calculate and obtain torque current, permagnetic synchronous motor operation is controlled according to torque current, had Improve to effect the control accuracy of permagnetic synchronous motor.
Further, step 201 can also be arranged on after the current torque for obtaining permagnetic synchronous motor and current rotating speed, Specifically it will not be repeated here.
Embodiment three
The present embodiment does further supplementary notes to the method for controlling permanent magnet synchronous motor of above-described embodiment, according to Fig. 3 The schematic flow sheet of the method for controlling permanent magnet synchronous motor of the embodiment of the present invention three, as shown in figure 3, the permagnetic synchronous motor controls Method includes：
Step 301, keep stator current constant, obtain the corresponding pass between torque and the torque current under different rotating speeds System.
Specifically, keeping stator current constant, the direct-axis current of permagnetic synchronous motor is adjusted, by observing permanent magnet synchronous electric The torque change of machine, obtain direct-axis current when torque under different rotating speeds reaches maximum.
According toCalculating torque electric current, obtain the corresponding pass between torque and the torque current under different rotating speeds System, wherein, isFor stator current, idFor direct-axis current, iqFor torque current.
Step 302, the torque current of permagnetic synchronous motor is obtained according to the stator current of permagnetic synchronous motor.
Obtain the current torque of permagnetic synchronous motor and current rotating speed；
According to the corresponding relation between the torque of the permagnetic synchronous motor under the different rotating speeds pre-set and torque current, Obtain torque current corresponding with current torque and current rotating speed.
Step 301- steps 302 are specifically consistent with step 201- steps 202, will not be repeated here.
Step 303, according to torque current, torque capacity electric current ratio (the Maximum Torque of permagnetic synchronous motor are passed through Per Ampere, abbreviation MTPA are controlled, and calculate the direct-axis current set-point of permagnetic synchronous motor.
So-called MTPA controls, the also known as minimum control of stator current, the torque that motor exports under unitary current can be made maximum, MTPA controls can reduce the loss of electric machine, operational efficiency be improved, so that the performance of whole system is optimized.
According to torque current, controlled by the MTPA of permagnetic synchronous motor, the d-axis electricity of permagnetic synchronous motor can be calculated Flow set-point.
Step 304, the current shape of permagnetic synchronous motor is calculated according to the terminal voltage of permagnetic synchronous motor and bus voltage value Weak magnetoelectricity stream value needed for state.
Specifically, in the controllable scope of motor, permanent magnet synchronous electric set end voltage meets following relation with busbar voltage：
US≤0.577*Udc
Wherein, USFor terminal voltage, UdcFor busbar voltage.
According to needed for the terminal voltage of permagnetic synchronous motor and bus voltage value can calculate permagnetic synchronous motor current state Weak magnetoelectricity stream value, when weak magnetoelectricity stream value when without weak magnetic speed-up, calculated be 0.Specifically how according to permanent magnet synchronous electric The weak magnetoelectricity stream value that the terminal voltage and bus voltage value of machine can calculate needed for permagnetic synchronous motor current state belongs to existing skill Art, it will not be repeated here.
Step 305, direct-axis current set-point is added with weak magnetoelectricity stream value, obtains reference current id_ref。
By the direct-axis current set-point being calculated in step 303 and the weak magnetoelectricity stream value phase that is calculated in step 304 Add, obtain reference current id_ref。
Step 306, according to torque current and reference current id_refControl permagnetic synchronous motor operation.
Specifically, in three-phase ABC coordinate systems, stator current expression formula is：
Wherein, ia、ibAnd icRespectively by being sampled obtained three-phase electricity to the three-phase current of permagnetic synchronous motor Stream, θ are to carry out sampling acquisition rotation by the rotation change position signalling to permagnetic synchronous motor to become position signalling.
By three-phase current ia、ibAnd icEquivalents are to the static alpha-beta coordinate system of two-phase：
Wherein, ialfaFor α shaft current components, ibetaFor β shaft current components.
By α shaft current components ialfaWith β shaft current components ibetaEquivalents rotate d-q coordinate systems to two-phase：
Wherein, i'dFor d shaft currents component and i'qFor q shaft current components.
Reference current id_refFor d axle reference currents, torque current iqFor q axle reference currents, to d axle reference currents id_refWith D shaft current components i'dDifference signal carry out d phase currents proportion adjustment and integral adjustment (proportional integral, Abbreviation PI) control, generation d axle reference voltages ud_ref, i.e., to id_ref-i'dD phase currents PI controls are carried out, make d shaft current components i'dClose to d axle reference currents id_ref, then obtain the d shaft current components i' after adjustmentdCorresponding d axle reference voltages ud_ref。
Similarly, to q axle reference currents iqWith q shaft current components i'qDifference signal carry out q phase currents PI control, generate q Axle reference voltage uq_ref。
According to d axle reference voltages ud_refWith q axle reference voltages uq_refControl permagnetic synchronous motor operation.
Alternatively, according to d axle reference voltages ud_refWith q axle reference voltages uq_refControl permagnetic synchronous motor operation specific Including：
According to d axle reference voltages ud_refWith q axle reference voltages uq_ref, pass through space vector pulse width modulation (Space Vector Pulse Width Modulation, abbreviation SVPWM) computing, obtain pulsewidth modulation (Pulse Width Modulation, abbreviation PWM) control signal, permagnetic synchronous motor operation is controlled according to pwm control signal.
In the present embodiment, the direct-axis current set-point of permagnetic synchronous motor is calculated according to torque current, it is same according to permanent magnetism The terminal voltage and bus voltage value of step motor calculate the weak magnetoelectricity stream value needed for permagnetic synchronous motor current state, by d-axis electricity Stream set-point is added with weak magnetoelectricity stream value, obtains reference current；According to torque current and reference current control permagnetic synchronous motor Operation, the control accuracy of permagnetic synchronous motor can be effectively improved.
Example IV
The present invention also provides a kind of permanent magnet synchronous motor control device, for performing the permagnetic synchronous motor control of embodiment one Method processed.Fig. 4 is according to the structural representation of the permanent magnet synchronous motor control device of the embodiment of the present invention four, as shown in figure 4, forever Magnetic-synchro motor control assembly includes：Acquisition module 401 and control module 402.
Wherein, acquisition module 401, for obtaining the torque of permagnetic synchronous motor according to the stator current of permagnetic synchronous motor Electric current；Control module 402, for controlling permagnetic synchronous motor operation according to torque current.
The concrete operation method of the permanent magnet synchronous motor control device of the present embodiment is consistent with embodiment one, no longer superfluous herein State.
In the present embodiment, by obtaining the torque current of permagnetic synchronous motor according to the stator current of permagnetic synchronous motor, Run by torque current control permagnetic synchronous motor, be effectively improved the control accuracy of permagnetic synchronous motor.
Embodiment five
The present embodiment does further supplementary notes to the permanent magnet synchronous motor control device of example IV, for performing implementation The method for controlling permanent magnet synchronous motor of example two.
Fig. 5 is the structural representation according to the permanent magnet synchronous motor control device of the embodiment of the present invention five, as shown in figure 5, Wherein, permanent magnet synchronous motor control device includes：Pretreatment module 403, acquisition module 401 and control module 402.
Wherein, pretreatment module 403, for keeping stator current constant, the torque under different rotating speeds and torque electricity are obtained Corresponding relation between stream.
Pretreatment module 403 specifically includes：First pretreatment submodule 4031 and second pre-processes submodule 4032.
Wherein, the first pretreatment submodule 4031, for keeping stator current constant, adjusts the d-axis of permagnetic synchronous motor Electric current, changed by the torque for observing permagnetic synchronous motor, obtain direct-axis current when torque under different rotating speeds reaches maximum.
Second pretreatment submodule 4032, for basisCalculating torque electric current, obtain different rotating speeds, torque Corresponding relation between torque current, wherein, isFor stator current, idFor direct-axis current, iqFor torque current.
Acquisition module 401, for the current torque for obtaining the permagnetic synchronous motor and current rotating speed；According to pre-setting Different rotating speeds under the permagnetic synchronous motor torque and the torque current between corresponding relation, obtain with it is described work as The torque current corresponding to preceding torque and current rotating speed.
Further, if do not have to record in corresponding relation rotating speed be n, torque current of torque when being T, can be by as follows Method obtains torque current：
Obtain be obtained ahead of time rotating speed be n1, torque be T1 when torque current a；Rotating speed be n2, torque be T1 when Torque current be b；Rotating speed be n1, torque be T2 when torque current be c；Rotating speed be n2, torque be T2 when torque Electric current is d；It is expressed in matrix as:
Wherein n1<n<N2, T1<T<T2；
Then rotating speed be n, torque be T1 when torque currentIt is in rotating speed N, torque current when torque is T2Rotating speed be n, torque be T when torque electricity StreamiqValue be rotating speed be n, torque current of torque when being T.
Specifically, how torque current i is determined with instantiation description belowq.It is to be seen by dynamometer machine as shown in Table 1 Corresponding relation between the different rotating speeds, torque and the torque current that measure：
Table one
If the data for observing obtaining by dynamometer machine are less, that is, the torque current used is actually subjected to, does not pass through measurement of power Machine obtains, then can obtain the torque current value to be used by the following method.Assuming that it is 50Nm to need to obtain torque, rotating speed For 1200rpm when torque current.Because 50Nm is between observation data 30Nm and 60Nm, it is therefore desirable to use State the two row data that torque in table one is 30Nm and 60Nm, but due to 1200rpm between observation data 1000rpm and Between 1500rpm, it is therefore desirable to two column datas that rotating speed in above-mentioned table one is 1000rpm and 1500rpm are used, in summary, Final to need to participate in computing to obtain torque to be 50Nm, the data of torque current when rotating speed is 1200rpm are expressed in matrix as：
First, calculating torque 50Nm, torque current when rotating speed is 1000rmp：
Secondly, calculating torque 50Nm, torque current when rotating speed is 1500rmp：
Finally, calculating torque 50Nm, torque current when rotating speed is 1200rmp：
The i being finally calculatedqValue be that torque is 50Nm, torque current when rotating speed is 1200rmp.
In addition to the above methods, can also be according to equation below calculating torque electric current：
iq=-0.00556*T2+2*T；
Wherein, T represents torque value, due to can be seen that from observation data：For different rotating speeds, corresponding torque Current value varies less, and institute's above formula does not consider influence of the rotating speed to torque current, certainly, be able to will also be turned according to actual conditions Influence of the speed to torque current is taken into account, without restriction herein.
The operating method of the present embodiment permanent magnet synchronous motor control device is consistent with embodiment two, will not be repeated here.
In the present embodiment, by keeping stator current constant, the direct-axis current of permagnetic synchronous motor is adjusted, torque is obtained and reaches To direct-axis current during maximum, then calculate and obtain torque current, permagnetic synchronous motor operation is controlled according to torque current, had Improve to effect the control accuracy of permagnetic synchronous motor.
Embodiment six
The present embodiment does further supplementary notes to the permanent magnet synchronous motor control device of above-described embodiment, according to Fig. 6 The structural representation of the permanent magnet synchronous motor control device of the embodiment of the present invention six, as shown in fig. 6, control module 402 includes：The One control submodule 4021, the second control submodule 4022, the 3rd control submodule 4023 and the 4th control submodule 4024.
Wherein, the first control submodule 4021, for according to torque current, passing through the torque capacity electricity of permagnetic synchronous motor Stream controls than MTPA, calculates the direct-axis current set-point of permagnetic synchronous motor；
Second control submodule 4022, permanent magnetism is calculated for the terminal voltage according to permagnetic synchronous motor and bus voltage value Weak magnetoelectricity stream value needed for synchronous motor current state；
3rd control submodule 4023, for direct-axis current set-point to be added with weak magnetoelectricity stream value, obtain reference current id_ref；
4th control submodule 4024, for according to torque current and reference current id_refControl permagnetic synchronous motor fortune OK.Specifically, in three-phase ABC coordinate systems, stator current expression formula is：
Wherein, ia、ibAnd icRespectively by being sampled obtained three-phase electricity to the three-phase current of permagnetic synchronous motor Stream, θ are to carry out sampling acquisition rotation by the rotation change position signalling to permagnetic synchronous motor to become position signalling.
By three-phase current ia、ibAnd icEquivalents are to the static alpha-beta coordinate system of two-phase：
Wherein, ialfaFor α shaft current components, ibetaFor β shaft current components.
By α shaft current components ialfaWith β shaft current components ibetaEquivalents rotate d-q coordinate systems to two-phase：
Wherein, i'dFor d shaft currents component and i'qFor q shaft current components.
Reference current id_refFor d axle reference currents, torque current iqFor q axle reference currents, to d axle reference currents id_refWith D shaft current components i'dDifference signal carry out d phase currents PI control, generation d axle reference voltages ud_ref, i.e., to id_ref-i'dEnter Row d phase currents PI is controlled, and makes d shaft current components i'dClose to d axle reference currents id_ref, then obtain the d shaft currents after adjustment Component i'dCorresponding d axle reference voltages ud_ref。
Similarly, to q axle reference currents iqWith q shaft current components i'qDifference signal carry out q phase currents PI control, generate q Axle reference voltage uq_ref。
According to d axle reference voltages ud_refWith q axle reference voltages uq_refControl permagnetic synchronous motor operation.
Alternatively, according to d axle reference voltages ud_refWith q axle reference voltages uq_refControl permagnetic synchronous motor operation specific Including：
According to d axle reference voltages ud_refWith q axle reference voltages uq_ref, by SVPWM computings, pwm control signal is obtained, Permagnetic synchronous motor operation is controlled according to pwm control signal.
The operating method of the present embodiment permanent magnet synchronous motor control device is consistent with embodiment three, will not be repeated here.
In the present embodiment, the direct-axis current set-point of permagnetic synchronous motor is calculated according to torque current；It is same according to permanent magnetism The terminal voltage and bus voltage value of step motor calculate the weak magnetoelectricity stream value needed for permagnetic synchronous motor current state；By d-axis electricity Stream set-point is added with weak magnetoelectricity stream value, obtains reference current；According to torque current and reference current control permagnetic synchronous motor Operation, the control accuracy of permagnetic synchronous motor can be effectively improved.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (8)

  1. A kind of 1. method for controlling permanent magnet synchronous motor, it is characterised in that including,
    The torque current of the permagnetic synchronous motor is obtained according to the stator current of the permagnetic synchronous motor；
    The permagnetic synchronous motor operation is controlled according to the torque current；
    Wherein, the torque current that the permagnetic synchronous motor is obtained according to the stator current of the permagnetic synchronous motor, tool Body includes：
    Obtain the current torque of the permagnetic synchronous motor and current rotating speed；
    According to corresponding between the torque of the permagnetic synchronous motor under the different rotating speeds pre-set and the torque current Relation, obtain the torque current corresponding with the current torque and current rotating speed；
    Before the torque of the permagnetic synchronous motor and the corresponding relation of torque current that the acquisition basis is pre-set, also Including：
    Keep the stator current constant, adjust the direct-axis current of the permagnetic synchronous motor, by observing the permanent-magnet synchronous The torque change of motor, obtain the direct-axis current when torque under different rotating speeds reaches maximum；
    According toThe torque current is calculated, obtains the torque under the different rotating speeds and the torque current Between corresponding relation, wherein, isFor the stator current, idFor the direct-axis current, iqFor the torque current；
    Wherein, it is described to control the permagnetic synchronous motor operation to specifically include according to the torque current：
    According to the torque current, controlled, calculated described than MTPA by the torque capacity electric current of the permagnetic synchronous motor The direct-axis current set-point of permagnetic synchronous motor；
    The permagnetic synchronous motor current state institute is calculated according to the terminal voltage of the permagnetic synchronous motor and bus voltage value The weak magnetoelectricity stream value needed；
    The direct-axis current set-point is added with the weak magnetoelectricity stream value, obtains reference current id_ref；
    According to the torque current and the reference current id_refThe permagnetic synchronous motor is controlled to run.
  2. 2. according to the method for claim 1, it is characterised in that described according to the torque current and the reference current id_refControl the permagnetic synchronous motor to run, specifically include：
    In three-phase ABC coordinate systems, the stator current expression formula is：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>a</mi> </msub> <mo>=</mo> <msub> <mi>i</mi> <mi>s</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>b</mi> </msub> <mo>=</mo> <msub> <mi>i</mi> <mi>s</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>c</mi> </msub> <mo>=</mo> <msub> <mi>i</mi> <mi>s</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>+</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, ia、ibAnd icRespectively by being sampled obtained described three to the three-phase current of the permagnetic synchronous motor Phase current, θ are to carry out the sampling acquisition rotation by the rotation change position signalling to the permagnetic synchronous motor to become position signalling；
    By the three-phase current ia、ibAnd icEquivalents are to the static alpha-beta coordinate system of two-phase：
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>a</mi> <mi>l</mi> <mi>f</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mi>e</mi> <mi>t</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mi>a</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mi>b</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, ialfaFor α shaft current components, ibetaFor β shaft current components；
    By the α shaft currents component ialfaWith the β shaft currents component ibetaEquivalents rotate d-q coordinate systems to two-phase：
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msubsup> <mi>i</mi> <mi>d</mi> <mo>&amp;prime;</mo> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>i</mi> <mi>q</mi> <mo>&amp;prime;</mo> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>a</mi> <mi>l</mi> <mi>f</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mi>e</mi> <mi>t</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, i'dFor d shaft currents component and i'qFor q shaft current components；
    The reference current id_refFor d axle reference currents, the torque current iqIt is electric to d axles reference for q axle reference currents Flow id_refWith the d shaft currents component i'dDifference signal carry out d phase current proportional integrations PI control, generate d axle reference voltages ud_ref, to the q axles reference current iqWith the q shaft currents component i'qDifference signal carry out q phase currents described in PI control, Generate q axle reference voltages uq_ref；
    According to the d axles reference voltage ud_refWith the q axles reference voltage uq_refThe permagnetic synchronous motor is controlled to run.
  3. 3. according to the method for claim 2, it is characterised in that described according to the d axles reference voltage ud_refWith the q axles Reference voltage uq_refControl the permagnetic synchronous motor to run, specifically include：
    According to the d axles reference voltage ud_refWith the q axles reference voltage uq_ref, transported by space vector pulse width modulation SVPWM Calculate, obtain pulse-width modulation PWM control signal, control the permagnetic synchronous motor to run according to pwm control signal.
  4. 4. according to the method for claim 1, it is characterised in that the stator current according to the permagnetic synchronous motor obtains The torque current of the permagnetic synchronous motor is taken, in addition to：
    If torque current when it is n not have record rotating speed in the corresponding relation, torque is T, is obtained by the following method Obtain the torque current：
    Obtain it is pre-recorded rotating speed be n1, torque be T1 when the torque current a, rotating speed be n2, torque be T1 when The torque current be b, rotating speed be n1, torque be T2 when the torque current be c, and rotating speed be n2, torque For T2 when the torque current be d；
    Wherein n1<n<N2, T1<T<T2；
    Then rotating speed be n, torque be T1 when the torque current
    Rotating speed be n, torque be T2 when the torque current
    Rotating speed be n, torque be T when the torque current
  5. A kind of 5. permanent magnet synchronous motor control device, it is characterised in that including,
    Acquisition module, for obtaining the torque electricity of the permagnetic synchronous motor according to the stator current of the permagnetic synchronous motor Stream；
    Control module, for controlling the permagnetic synchronous motor to run according to the torque current；
    Wherein, the acquisition module is specifically used for,
    Obtain the current torque of the permagnetic synchronous motor and current rotating speed；
    According to corresponding between the torque of the permagnetic synchronous motor under the different rotating speeds pre-set and the torque current Relation, obtain the torque current corresponding with the current torque and current rotating speed；
    The permanent magnet synchronous motor control device, in addition to pretreatment module, the pretreatment module also include：
    First pretreatment submodule, for keeping the stator current constant, adjusts the direct-axis current of the permagnetic synchronous motor, Changed by the torque for observing the permagnetic synchronous motor, obtained described straight when the torque reaches maximum under different rotating speeds Shaft current；
    Second pretreatment submodule, for basisThe torque current is calculated, obtains the institute under the different rotating speeds The corresponding relation between torque and the torque current is stated, wherein, isFor the stator current, idFor the direct-axis current, iqFor The torque current；
    Wherein, the control module specifically includes：
    First control submodule, for according to the torque current, passing through the torque capacity electric current ratio of the permagnetic synchronous motor MTPA is controlled, and calculates the direct-axis current set-point of the permagnetic synchronous motor；
    Second control submodule, the permanent magnetism is calculated for the terminal voltage according to the permagnetic synchronous motor and bus voltage value Weak magnetoelectricity stream value needed for synchronous motor current state；
    3rd control submodule, for the direct-axis current set-point to be added with the weak magnetoelectricity stream value, obtain reference current id_ref；
    4th control submodule, for according to the torque current and the reference current id_refControl the permagnetic synchronous motor Operation.
  6. 6. device according to claim 5, it is characterised in that the 4th control submodule is specifically used for：
    In three-phase ABC coordinate systems, the stator current expression formula is：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>a</mi> </msub> <mo>=</mo> <msub> <mi>i</mi> <mi>s</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>b</mi> </msub> <mo>=</mo> <msub> <mi>i</mi> <mi>s</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>-</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>i</mi> <mi>c</mi> </msub> <mo>=</mo> <msub> <mi>i</mi> <mi>s</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>+</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mi>&amp;pi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, ia、ibAnd icRespectively by being sampled obtained described three to the three-phase current of the permagnetic synchronous motor Phase current, θ are to carry out the sampling acquisition rotation by the rotation change position signalling to the permagnetic synchronous motor to become position signalling；
    By the three-phase current ia、ibAnd icEquivalents to the static alpha-beta coordinate system of two-phase,
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>a</mi> <mi>l</mi> <mi>f</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mi>e</mi> <mi>t</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfrac> <mn>2</mn> <mn>3</mn> </mfrac> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <msqrt> <mn>3</mn> </msqrt> <mn>2</mn> </mfrac> </mrow> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mi>a</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mi>b</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mi>c</mi> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, ialfaFor α shaft current components, ibetaFor β shaft current components；
    By the α shaft currents component ialfaWith the β shaft currents component ibetaEquivalents rotate d-q coordinate systems to two-phase：
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msubsup> <mi>i</mi> <mi>d</mi> <mo>&amp;prime;</mo> </msubsup> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>i</mi> <mi>q</mi> <mo>&amp;prime;</mo> </msubsup> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&amp;theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>a</mi> <mi>l</mi> <mi>f</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>i</mi> <mrow> <mi>b</mi> <mi>e</mi> <mi>t</mi> <mi>a</mi> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, i'dFor d shaft currents component and i'qFor q shaft current components；
    The reference current id_refFor d axle reference currents, the torque current iqIt is electric to d axles reference for q axle reference currents Flow id_refWith the d shaft currents component i'dDifference signal carry out d phase current proportional integrations PI control, generate d axle reference voltages ud_ref, to the q axles reference current iqWith the q shaft currents component i'qDifference signal carry out q phase currents described in PI control, Generate q axle reference voltages uq_ref；
    According to the d axles reference voltage ud_refWith the q axles reference voltage uq_refThe permagnetic synchronous motor is controlled to run.
  7. 7. device according to claim 6, it is characterised in that obtain the d axles reference voltage ud_refReferred to the q axles Voltage uq_refAfterwards, it is described according to the d axles reference voltage ud_refWith the q axles reference voltage uq_reF controls the permanent magnetism same Before walking motor operation, the 4th control submodule is specifically used for：
    According to the d axles reference voltage ud_reThe f and q axles reference voltage uq_ref, transported by space vector pulse width modulation SVPWM Calculate, obtain pulse-width modulation PWM control signal, control the permagnetic synchronous motor to run according to pwm control signal.
  8. 8. device according to claim 5, it is characterised in that the acquisition module is additionally operable to：
    If torque current when it is n not have record rotating speed in the corresponding relation, torque is T, is obtained by the following method Obtain the torque current：
    Obtain pre-recorded rotating speed be n1, the torque current a of torque when being T1,
    Rotating speed be n2, torque be T1 when the torque current be b,
    Rotating speed be n1, torque be T2 when the torque current be c, and
    Rotating speed be n2, torque be T2 when the torque current be d；
    Wherein n1<n<N2, T1<T<T2；
    Then rotating speed be n, torque be T1 when the torque current
    Rotating speed be n, torque be T2 when the torque current
    Rotating speed be n, torque be T when the torque current
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