CN104702168A - Flux-weakening control method and device - Google Patents
Flux-weakening control method and device Download PDFInfo
- Publication number
- CN104702168A CN104702168A CN201510136825.0A CN201510136825A CN104702168A CN 104702168 A CN104702168 A CN 104702168A CN 201510136825 A CN201510136825 A CN 201510136825A CN 104702168 A CN104702168 A CN 104702168A
- Authority
- CN
- China
- Prior art keywords
- axis component
- value
- electric current
- described motor
- desired value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a flux-weakening control method and device. The method comprises the steps of calculating the difference between the first actual measuring value of a quadrature-axis component of the current currently inputted to the motor and the first target value of the quadrature-axis component of the current; determining a second phase advance angle value according to the difference; calculating the second target value of the quadrature-axis component of the current inputted to the motor and the second target value of the quadrature-axis component according to the second phase advance angle value. According to the method, the second target value of the quadrature-axis component of the current inputted to the motor in a flux-weakening area and the second target value of the quadrature-axis component is calculated during performing flux-weakening control for the motor, rather than using the table look-up scheme; therefore, different second phase advance angle value corresponds to different id value and iq value, rather than the same id value and iq value within one range, and as a result, the fluctuation of the id value and the iq value can be avoided, and the smooth transition is achieved.
Description
Technical field
The application relates to field of automobile control, particularly relates to a kind of field weakening control method and device.
Background technology
Electric power steering (Electric Power Steering, EPS) system, according to the real-time speed of a motor vehicle and steering wheel torque signal, carries out closed-loop current control to motor, exports assist torque, thus driver assistance steering wheel rotation.As the actuator of EPS, the control performance of assist motor determines the performance of EPS to a great extent.For ensureing that motor is when high-speed cruising, can export larger moment of torsion, weak magnetics detect algorithm is usually adopted to control assist motor.
At present, weak magnetics detect algorithm adopts the mode of tabling look-up to realize, namely when motor runs between weak magnetic area, the rotating speed current according to motor and target moment, inquire about two-dimentional form and obtain the direct axis component (id) of current motor electric current and the desired value of quadrature axis component (iq), in bivariate table, the desired value of direct axis component (id) and quadrature axis component (iq) is corresponding with rotating speed, because consider the restriction of memory space, the impossible all rotating speeds of limit record (and/or target moment) of bivariate table, so, in bivariate table, with scope record rotating speed (and/or target moment), namely the corresponding rotating speed (and/or target moment) of the rotating speed within the scope of, such as corresponding id1 and iq1 of rotating speed 101 to 200, corresponding id2 and iq2 of rotating speed 201 to 300.
In the case, prescribe a time limit when rotating speed changes to the lower of the adjacent next scope of scope therewith from the upper limit of a scope just, although the variable quantity of rotating speed is little, but the desired value of direct axis component (id) and quadrature axis component (iq) can have greatly changed, such as, when rotating speed changes to 201 from 200, direct axis component desired value is changed to id2 from id1, quadrature axis component is changed to iq2 from iq1, although rotating speed has almost no change, but the variable quantity of the desired value of direct axis component and quadrature axis component is larger, do not mate with the variable quantity of rotating speed, visible, existing field weakening control method, the fluctuation of the desired value of direct axis component (id) and quadrature axis component (iq) may be caused, and be difficult to realization and seamlessly transit.
Summary of the invention
The embodiment of the present application provides a kind of field weakening control method and device, object is to solve existing field weakening control method, the fluctuation of the desired value of the direct axis component (id) that may cause and quadrature axis component (iq), and be difficult to the problem that realizes seamlessly transitting.
To achieve these goals, the embodiment of the present application provides following technical scheme:
A kind of field weakening control method, comprising:
When motor operates between weak magnetic area, calculate the difference of the first object value of the first measured value of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, the first object value of the quadrature axis component of described electric current is determined according to first phase advance angle;
According to described difference, determine second phase advance angle;
Utilize described second phase advance angle, calculate the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, the second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor.
Alternatively, determine that the method that described motor operates between weak magnetic area comprises:
Judge whether the DC voltage of described motor is greater than default numerical value, if so, then determine that described motor operates between weak magnetic area, described default numerical value is x*u
lim, wherein, u
limfor the limiting value of the DC voltage of described motor, the span of x be (0,1].
Alternatively, the method obtaining the DC voltage of described motor comprises:
Use pid control algorithm, obtain when the first difference level off to zero, the first object value of the quadrature axis component of the DC voltage of described motor, described first difference is the difference of the first object value of the first measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the second difference level off to zero, the first object value of the direct axis component of the DC voltage of described motor, described second difference is the difference of the first object value of the first measured value of the direct axis component of described electric current and the direct axis component of electric current, and the first object value of the direct axis component of described electric current is determined according to described first phase advance angle;
The DC voltage of described motor is the quadratic sum of the first object value of the first object value of the direct-axis voltage component of described DC voltage and the quadrature axis component of described voltage.
Alternatively, describedly utilize described second phase advance angle, the second desired value of quadrature axis component and the second desired value of direct axis component that calculate the electric current of the described motor of input comprise:
Utilize formula i
d *=i
ssin β, calculates the second desired value of the direct axis component of the electric current of the described motor of input, wherein, and i
d *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle;
Utilize formula i
q *=i
scos β, calculates the second desired value of the quadrature axis component of the electric current of the described motor of input, wherein, and i
q *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle.
Alternatively, after second desired value of quadrature axis component and the second desired value of direct axis component of the electric current of the described motor of described calculating input, also comprise:
Use pid control algorithm, obtain when the 3rd difference level off to zero, the second desired value of the quadrature axis component of the DC voltage of described motor, described 3rd difference is the difference of the second desired value of the second measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the 4th difference level off to zero, the second desired value of the direct axis component of the DC voltage of described motor, described 4th difference is the difference of the second desired value of the second measured value of the direct axis component of described electric current and the direct axis component of electric current;
Inputted the mode of described motor by the second desired value of the direct axis component of the second desired value of the quadrature axis component of the DC voltage by described motor and the DC voltage of described motor, described motor is controlled between described weak magnetic area.
A kind of weak magnetics detect device, comprising:
First computing module, for when motor operates between weak magnetic area, calculate the difference of the first object value of the first measured value of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, the first object value of the quadrature axis component of described electric current is determined according to first phase advance angle;
First determination module, for according to described difference, determines second phase advance angle;
Second computing module, for utilizing described second phase advance angle, calculate the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, the second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor.
Alternatively, also comprise:
Second determination module, for judging whether the DC voltage of described motor is greater than default numerical value, if so, then determine that described motor operates between weak magnetic area, described default numerical value is x*u
lim, wherein, u
limfor the limiting value of the DC voltage of described motor, the span of x be (0,1].
Alternatively, described second determination module also for:
Use pid control algorithm, obtain when the first difference level off to zero, the first object value of the quadrature axis component of the DC voltage of described motor, described first difference is the difference of the first object value of the first measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the second difference level off to zero, the first object value of the direct axis component of the DC voltage of described motor, described second difference is the difference of the first object value of the first measured value of the direct axis component of described electric current and the direct axis component of electric current, and the first object value of the direct axis component of described electric current is determined according to described first phase advance angle;
The DC voltage of described motor is the quadratic sum of the first object value of the first object value of the direct-axis voltage component of described DC voltage and the quadrature axis component of described voltage.
Alternatively, described second computing module is used for utilizing described second phase advance angle, calculates the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, comprising:
Described second computing module specifically for, utilize formula i
d *=i
ssin β, calculates the second desired value of the direct axis component of the electric current of the described motor of input, wherein, and i
d *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle, utilizes formula i
q *=i
scos β, calculates the second desired value of the quadrature axis component of the electric current of the described motor of input, wherein, and i
q *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle.
Alternatively, also comprise:
Acquisition module, after second desired value of quadrature axis component of electric current that calculates the described motor of input described and the second desired value of direct axis component, use pid control algorithm, obtain when the 3rd difference level off to zero, the second desired value of the quadrature axis component of the DC voltage of described motor, described 3rd difference is the difference of the second desired value of the second measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the 4th difference level off to zero, the second desired value of the direct axis component of the DC voltage of described motor, described 4th difference is the difference of the second desired value of the second measured value of the direct axis component of described electric current and the direct axis component of electric current;
Inputted the mode of described motor by the second desired value of the direct axis component of the second desired value of the quadrature axis component of the DC voltage by described motor and the DC voltage of described motor, described motor is controlled between described weak magnetic area.
Field weakening control method disclosed in the embodiment of the present application and device, when motor operates between weak magnetic area, calculate the difference of the first object value of the first measured value of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, wherein, the first object value of the quadrature axis component of electric current is determined according to first phase advance angle, again according to described difference determination second phase advance angle, utilize second phase advance angle, calculate the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of input motor, second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor, visible, method described in the embodiment of the present application and device, when carrying out weak magnetics detect to motor, do not recycle look-up table, but according to first phase advance angle and second phase advance angle, calculate the second desired value of the quadrature axis component of the electric current inputting motor between weak magnetic area and the second desired value of direct axis component, thus the weak magnetics detect realized motor, because the second desired value of the second desired value and direct axis component that input the quadrature axis component of the electric current of motor between weak magnetic area is by calculating, so, id and the iq value that different second phase advance angle is corresponding different, and be no longer id and the iq value that a scope is corresponding identical, therefore, the fluctuation of id and iq value can be avoided, thus realize seamlessly transitting.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of electric moter voltage/current limitation Circular test;
The flow chart of Fig. 2 a kind of field weakening control method disclosed in the embodiment of the present application;
Fig. 3 is the flow chart of a kind of implementation of this field weakening control method disclosed in the present application;
The structural representation of Fig. 4 a kind of weak magnetics detect device disclosed in the embodiment of the present application.
Embodiment
The embodiment of the present application discloses a kind of field weakening control method and device, when the motor be applied in EPS operates between weak magnetic area, carries out weak magnetics detect to motor.The key of motor being carried out to weak magnetics detect is, obtain quadrature axis component and the direct axis component of the electric current inputting motor between weak magnetic area, in the embodiment of the present application, both are obtained by phase advance angle.
Motor, in running, need meet voltage equation (such as formula (1) Suo Shi) and current equation (such as formula (2) Suo Shi) simultaneously:
Wherein: I
dfor motor straight shaft current; Iq is motor quadrature axis current; ω
efor motor angular rate; L
0for motor inductances; R is the internal resistance of motor; u
limfor electric moter voltage limiting value; i
limfor motor current limit value.Draw electric moter voltage/current limitation Circular test according to formula (1) and formula (2), as shown in Figure 1, the angle rotating speed that Fig. 1 comprises motor is ω
bunder the voltage limit circle of motor, and the angle rotating speed of motor is ω
lunder motor voltage limit circle, motor current limitation circle with angle rotating speed be ω
bunder the voltage limit circle of motor intersect at A point, the current limitation of motor circle is ω with angle rotating speed
lunder motor voltage limit circle intersect at D point, β is phase advance angle.
Applicant finds in the process of research: when the rotating speed of permagnetic synchronous motor (Permanent MagnetSynchronous Machine, PMSM) is no more than base speed ω
btime, motor can export its maximum electromagnetic torque; When the rotating speed of PMSM is greater than ω
btime, motor torque fan-out capability declines, and controls, when motor speed reaches ω according to id=0
ltime, the maximum output torque of motor will be decreased to about 37%, now for making motor can export moment large as far as possible, need adopt weak magnetics detect algorithm, along curve A D direction controlling current of electric.Therefore, use phase advance angle between weak magnetic area, to input the quadrature axis component of the electric current of motor and the foundation of direct axis component as calculating in the application, and the excursion of β is [-pi/2,0].
That is, in normal control procedure, advance angle equals 0, when the rotating speed of motor is greater than the base speed (w in Fig. 1
b) time, for improving the output torque of motor, leading angle need be calculated by weak magnetic algorithm, increasing motor straight shaft current id along x-axis negative direction.From formula (3): along with direct-axis current id negative sense increases, ω
el
0i
dforward increases, thus the value forward of quadrature axis current iq is increased, thus improves the moment of torsion of motor output.
Below in conjunction with the accompanying drawing in the embodiment of the present application, be clearly and completely described the technical scheme in the embodiment of the present application, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the application's protection.
A kind of field weakening control method disclosed in the embodiment of the present application, as shown in Figure 2, comprising:
S201: when motor operates between weak magnetic area, calculates the difference of the first object value of first measured value of the quadrature axis component iq of the electric current of the described motor of current input and the quadrature axis component id of electric current;
The first object value of the quadrature axis component iq of described electric current is determined according to first phase advance angle β 1.
S202: according to described difference, determines second phase advance angle β 2;
It should be noted that, the phase advance angle that in the present embodiment, β 1 can determine for a upper adjustment cycle, the phase advance angle that β 2 determines for this adjustment cycle, i.e. the phase advance angle that more than phase advance angle of this adjustment cycle one adjustment cycle is determined for according to one of.
S203: utilize described second phase advance angle, calculates the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input.
Wherein, the second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor.
Field weakening control method described in the present embodiment, phase advance angle is used to determine between current weak magnetic area, id and the iq value of input motor, and do not need to re-use the look-up table adopted in prior art, therefore, need not adopt to save memory space id and the iq value that one group of tachometer value is corresponding identical, so, the suppression of the change of rotating speed and the variation tendency of id and iq value can be ensured, thus avoid the fluctuation of id and iq value, realize seamlessly transitting of id and iq value; Further, no longer need special memory space to place form, thus can memory space be saved.
Figure 3 shows that a kind of implementation of field weakening control method disclosed in the present application, comprising:
S301: the difference calculating the first object value iq1* of the first measured value iq1 of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, i.e. the first difference;
S302: use pid control algorithm, obtain when the first difference level off to zero, the first object value uq1 of the quadrature axis component of the DC voltage of described motor;
S303: the difference calculating the first object value id1* of the first measured value id1 of the direct axis component of the electric current of the described motor of current input and the direct axis component of electric current;
S304: use pid control algorithm, obtain when the second difference level off to zero, the first object value ud1 of the direct axis component of the DC voltage of described motor;
In the present embodiment, iq1* and id1* all determines according to described first phase advance angle, i.e. id1*=i
s1sin β 1, iq1*=i
s1cos β 1, wherein, i
s1for the input current of a upper adjustment cycle motor, β 1 is the phase advance angle of a upper adjustment cycle.
S305: calculate
wherein, u
sfor the DC voltage of motor;
S306: judge whether the DC voltage of described motor is greater than default numerical value, if so, performs S307, if not, then terminates weak magnetics detect process;
Wherein, the numerical value preset is x*u
lim, wherein, u
limfor the limiting value of the DC voltage of described motor, the span of x be (0,1], such as x is 0.95.
S307: determine that described motor operates between weak magnetic area;
S308: according to the first difference, determine the second phase advance angle β 2 of this adjustment cycle;
When motor DC side voltage us does not reach capacity, under the effect of electric current loop pi regulator, deviation (i.e. the first difference) iqerr of iq1 and its command value iq1* is no better than zero.But along with the rising of speed, when motor terminal voltage reaches the ceiling voltage that inverter can provide, pi regulator enters saturation condition, and lose the ability regulating electric current, make electric current loop out of hand, iqerr obviously increases.Therefore, using the input of iqerr as motor weak magnetics detect, motor lead angle can be obtained by PI algorithm.
S309: utilize formula id2*=i
s2sin β 2, calculates the second desired value id2* of the direct axis component of the electric current of the described motor of input, utilizes formula iq2*=i
s2cos β 2, calculates the second desired value iq2* of the quadrature axis component of the electric current of the described motor of input, wherein, and i
s2for the current value of the described motor of current input, namely this adjustment cycle inputs the current value of described motor, and β 2 is second phase advance angle;
S310: use pid control algorithm, obtain when the 3rd difference level off to zero, the second desired value uq2 of the quadrature axis component of the DC voltage of described motor;
Wherein, described 3rd difference is the difference of the second desired value iq2* of the second measured value iq2 of the quadrature axis component of described electric current and the quadrature axis component of electric current.
S311: use pid control algorithm, obtain when the 4th difference level off to zero, the second desired value ud2 of the direct axis component of the DC voltage of described motor;
Wherein, described 4th difference is the difference of the second desired value id2* of the second measured value id2 of the direct axis component of described electric current and the direct axis component of electric current.
S312: the mode inputting described motor by the second desired value id2* of the direct axis component of the second desired value iq2* of the quadrature axis component of the DC voltage by described motor and the DC voltage of described motor, controls between described weak magnetic area described motor.
Method described in the present embodiment, utilize the current value of a upper periodical input motor, calculate direct axis component and the quadrature axis component of the electric current of a periodical input motor, and in this, as foundation, determine direct axis component and the quadrature axis component of the electric current of input motor in this adjustment cycle, reach the object of motor being carried out to weak magnetics detect, compared with prior art, except realizing improving except the flatness of adjustment, the accuracy of adjustment can also be improved.
With said method embodiment accordingly, the embodiment of the present application also discloses a kind of weak magnetics detect device, as shown in Figure 4, comprising:
First computing module 401, for when motor operates between weak magnetic area, calculate the difference of the first object value of the first measured value of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, the first object value of the quadrature axis component of described electric current is determined according to first phase advance angle;
First determination module 402, for according to described difference, determines second phase advance angle;
Second computing module 403, for utilizing described second phase advance angle, calculate the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, the second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor.
Alternatively, the device described in the present embodiment can also comprise:
Second determination module 404, for judging whether the DC voltage of described motor is greater than default numerical value, if so, then determine that described motor operates between weak magnetic area, described default numerical value is x*u
lim, wherein, u
limfor the limiting value of the DC voltage of described motor, the span of x be (0,1];
And, acquisition module 405, after second desired value of quadrature axis component of electric current that calculates the described motor of input described and the second desired value of direct axis component, use pid control algorithm, obtain when the 3rd difference level off to zero, the second desired value of the quadrature axis component of the DC voltage of described motor, described 3rd difference is the difference of the second desired value of the second measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the 4th difference level off to zero, the second desired value of the direct axis component of the DC voltage of described motor, described 4th difference is the difference of the second desired value of the second measured value of the direct axis component of described electric current and the direct axis component of electric current;
Inputted the mode of described motor by the second desired value of the direct axis component of the second desired value of the quadrature axis component of the DC voltage by described motor and the DC voltage of described motor, described motor is controlled between described weak magnetic area.
Further, alternatively, second determination module can also be used for: use pid control algorithm, obtain when the first difference level off to zero, the first object value of the quadrature axis component of the DC voltage of described motor, described first difference is the difference of the first object value of the first measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the second difference level off to zero, the first object value of the direct axis component of the DC voltage of described motor, described second difference is the difference of the first object value of the first measured value of the direct axis component of described electric current and the direct axis component of electric current, and the first object value of the direct axis component of described electric current is determined according to described first phase advance angle;
The DC voltage of described motor is the quadratic sum of the first object value of the first object value of the direct-axis voltage component of described DC voltage and the quadrature axis component of described voltage.
Second computing module utilizes described second phase advance angle, and second desired value of quadrature axis component of electric current and the specific implementation of the second desired value of direct axis component that calculate the described motor of input can be: utilize formula i
d *=i
ssin β, calculates the second desired value of the direct axis component of the electric current of the described motor of input, wherein, and i
d *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle, utilizes formula i
q *=i
scos β, calculates the second desired value of the quadrature axis component of the electric current of the described motor of input, wherein, and i
q *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle.
Device described in the present embodiment, except realizing improving except the flatness of adjustment, can also improve the accuracy of adjustment.
If the function described in the embodiment of the present application method using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computing equipment read/write memory medium.Based on such understanding, the part of the part that the embodiment of the present application contributes to prior art or this technical scheme can embody with the form of software product, this software product is stored in a storage medium, comprising some instructions in order to make a computing equipment (can be personal computer, server, mobile computing device or the network equipment etc.) perform all or part of step of method described in each embodiment of the application.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, between each embodiment same or similar part mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the application.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a field weakening control method, is characterized in that, comprising:
When motor operates between weak magnetic area, calculate the difference of the first object value of the first measured value of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, the first object value of the quadrature axis component of described electric current is determined according to first phase advance angle;
According to described difference, determine second phase advance angle;
Utilize described second phase advance angle, calculate the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, the second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor.
2. method according to claim 1, is characterized in that, determines that the method that described motor operates between weak magnetic area comprises:
Judge whether the DC voltage of described motor is greater than default numerical value, if so, then determine that described motor operates between weak magnetic area, described default numerical value is x*u
lim, wherein, u
limfor the limiting value of the DC voltage of described motor, the span of x be (0,1].
3. method according to claim 2, is characterized in that, the method obtaining the DC voltage of described motor comprises:
Use pid control algorithm, obtain when the first difference level off to zero, the first object value of the quadrature axis component of the DC voltage of described motor, described first difference is the difference of the first object value of the first measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the second difference level off to zero, the first object value of the direct axis component of the DC voltage of described motor, described second difference is the difference of the first object value of the first measured value of the direct axis component of described electric current and the direct axis component of electric current, and the first object value of the direct axis component of described electric current is determined according to described first phase advance angle;
The DC voltage of described motor is the quadratic sum of the first object value of the first object value of the direct-axis voltage component of described DC voltage and the quadrature axis component of described voltage.
4. the method according to any one of claims 1 to 3, is characterized in that, describedly utilizes described second phase advance angle, and the second desired value of quadrature axis component and the second desired value of direct axis component that calculate the electric current of the described motor of input comprise:
Utilize formula i
d *=i
ssin β, calculates the second desired value of the direct axis component of the electric current of the described motor of input, wherein, and i
d *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle;
Utilize formula i
q *=i
scos β, calculates the second desired value of the quadrature axis component of the electric current of the described motor of input, wherein, and i
q *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle.
5. method according to claim 4, is characterized in that, after second desired value of quadrature axis component and the second desired value of direct axis component of the electric current of the described motor of described calculating input, also comprises:
Use pid control algorithm, obtain when the 3rd difference level off to zero, the second desired value of the quadrature axis component of the DC voltage of described motor, described 3rd difference is the difference of the second desired value of the second measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the 4th difference level off to zero, the second desired value of the direct axis component of the DC voltage of described motor, described 4th difference is the difference of the second desired value of the second measured value of the direct axis component of described electric current and the direct axis component of electric current;
Inputted the mode of described motor by the second desired value of the direct axis component of the second desired value of the quadrature axis component of the DC voltage by described motor and the DC voltage of described motor, described motor is controlled between described weak magnetic area.
6. a weak magnetics detect device, is characterized in that, comprising:
First computing module, for when motor operates between weak magnetic area, calculate the difference of the first object value of the first measured value of the quadrature axis component of the electric current of the described motor of current input and the quadrature axis component of electric current, the first object value of the quadrature axis component of described electric current is determined according to first phase advance angle;
First determination module, for according to described difference, determines second phase advance angle;
Second computing module, for utilizing described second phase advance angle, calculate the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, the second desired value of the quadrature axis component of described electric current and the second desired value of direct axis component are used for controlling between described weak magnetic area described motor.
7. device according to claim 6, is characterized in that, also comprises:
Second determination module, for judging whether the DC voltage of described motor is greater than default numerical value, if so, then determine that described motor operates between weak magnetic area, described default numerical value is x*u
lim, wherein, u
limfor the limiting value of the DC voltage of described motor, the span of x be (0,1].
8. device according to claim 7, is characterized in that, described second determination module also for:
Use pid control algorithm, obtain when the first difference level off to zero, the first object value of the quadrature axis component of the DC voltage of described motor, described first difference is the difference of the first object value of the first measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the second difference level off to zero, the first object value of the direct axis component of the DC voltage of described motor, described second difference is the difference of the first object value of the first measured value of the direct axis component of described electric current and the direct axis component of electric current, and the first object value of the direct axis component of described electric current is determined according to described first phase advance angle;
The DC voltage of described motor is the quadratic sum of the first object value of the first object value of the direct-axis voltage component of described DC voltage and the quadrature axis component of described voltage.
9. the device according to any one of claim 6 to 8, it is characterized in that, described second computing module is used for utilizing described second phase advance angle, calculates the second desired value of quadrature axis component and second desired value of direct axis component of the electric current of the described motor of input, comprising:
Described second computing module specifically for, utilize formula i
d *=i
ssin β, calculates the second desired value of the direct axis component of the electric current of the described motor of input, wherein, and i
d *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle, utilizes formula i
q *=i
scos β, calculates the second desired value of the quadrature axis component of the electric current of the described motor of input, wherein, and i
q *for inputting the second desired value of the direct axis component of the electric current of described motor, i
sfor the current value of the described motor of current input, β is second phase advance angle.
10. device according to claim 9, is characterized in that, also comprises:
Acquisition module, after second desired value of quadrature axis component of electric current that calculates the described motor of input described and the second desired value of direct axis component, use pid control algorithm, obtain when the 3rd difference level off to zero, the second desired value of the quadrature axis component of the DC voltage of described motor, described 3rd difference is the difference of the second desired value of the second measured value of the quadrature axis component of described electric current and the quadrature axis component of electric current;
Use pid control algorithm, obtain when the 4th difference level off to zero, the second desired value of the direct axis component of the DC voltage of described motor, described 4th difference is the difference of the second desired value of the second measured value of the direct axis component of described electric current and the direct axis component of electric current;
Inputted the mode of described motor by the second desired value of the direct axis component of the second desired value of the quadrature axis component of the DC voltage by described motor and the DC voltage of described motor, described motor is controlled between described weak magnetic area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510136825.0A CN104702168A (en) | 2015-03-26 | 2015-03-26 | Flux-weakening control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510136825.0A CN104702168A (en) | 2015-03-26 | 2015-03-26 | Flux-weakening control method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104702168A true CN104702168A (en) | 2015-06-10 |
Family
ID=53349003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510136825.0A Pending CN104702168A (en) | 2015-03-26 | 2015-03-26 | Flux-weakening control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104702168A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105119480A (en) * | 2015-09-11 | 2015-12-02 | 广东美芝制冷设备有限公司 | Motor control system and method and device for controlling motor-side power factor |
| CN108448977A (en) * | 2018-03-26 | 2018-08-24 | 杭州先途电子有限公司 | A kind of direct current generator field weakening control method and device |
| CN109560737A (en) * | 2019-01-04 | 2019-04-02 | 深圳市福瑞电气有限公司 | Inhibit the method and device of high speed overcurrent in a kind of control of permanent magnet synchronous motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040100220A1 (en) * | 2002-11-25 | 2004-05-27 | Zhenxing Fu | Weighted higher-order proportional-integral current regulator for synchronous machines |
| CN101102089A (en) * | 2006-07-07 | 2008-01-09 | 三洋电机株式会社 | Motor control device |
-
2015
- 2015-03-26 CN CN201510136825.0A patent/CN104702168A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040100220A1 (en) * | 2002-11-25 | 2004-05-27 | Zhenxing Fu | Weighted higher-order proportional-integral current regulator for synchronous machines |
| CN101102089A (en) * | 2006-07-07 | 2008-01-09 | 三洋电机株式会社 | Motor control device |
Non-Patent Citations (1)
| Title |
|---|
| 于家斌等: "一种改进型超前角弱磁控制算法", 《电机与控制学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105119480A (en) * | 2015-09-11 | 2015-12-02 | 广东美芝制冷设备有限公司 | Motor control system and method and device for controlling motor-side power factor |
| CN105119480B (en) * | 2015-09-11 | 2017-12-01 | 广东美芝制冷设备有限公司 | The control method and device of electric machine control system and motor side power factor |
| CN108448977A (en) * | 2018-03-26 | 2018-08-24 | 杭州先途电子有限公司 | A kind of direct current generator field weakening control method and device |
| CN108448977B (en) * | 2018-03-26 | 2020-01-31 | 杭州先途电子有限公司 | direct current motor flux weakening control method and device |
| CN109560737A (en) * | 2019-01-04 | 2019-04-02 | 深圳市福瑞电气有限公司 | Inhibit the method and device of high speed overcurrent in a kind of control of permanent magnet synchronous motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100514826C (en) | Motor drive control apparatus, motor drive control method | |
| CN100583620C (en) | Rotor position presuming method and apparatus, motor control method and compressor | |
| CN100530935C (en) | Vector controller for a permanent magnet synchronous motor | |
| CN102570958B (en) | System and method for controlling torque of induction motor in electric vehicle | |
| CN103178758B (en) | A kind of permanent magnet synchronous motor load parameter discrimination method | |
| CN103875175B (en) | Motor control assembly, motor control method | |
| CN102204082B (en) | Control device for permanent magnet synchronization electric motor | |
| CN110289792B (en) | Calibration method, control method and bench test control system of permanent magnet synchronous motor | |
| CN101931359A (en) | Control device of electric motor | |
| CN107792166B (en) | Steering control device | |
| CN105743414A (en) | Power Convertor, Controller, And Method For Changing Carrier Frequency | |
| CN103010300B (en) | The control system of servo steering system and method | |
| CN103269199B (en) | Electric car induction motor torque current setting device | |
| CN103546084A (en) | System and method for calibrating offset of motor resolver | |
| CN106627251A (en) | Motor control method and device | |
| CN104702168A (en) | Flux-weakening control method and device | |
| CN103812414A (en) | Control Apparatus For Ac Motor | |
| CN108508760A (en) | A kind of independent driving slippage of more wheels turns to the joint simulation method and system of vehicle | |
| CN102403949A (en) | Electric motor control device | |
| EP3598634A1 (en) | Apparatus and method for controlling inverter for driving motor | |
| CN103979009B (en) | Method for service meter | |
| US20130060426A1 (en) | Electric power steering control device | |
| Zang et al. | Electric power steering simulation analyze based on fuzzy PID current tracking control | |
| CN110401392A (en) | A kind of MPC control method of new-energy automobile motor | |
| CN112865639A (en) | Electric automobile permanent magnet synchronous motor control system with road condition reproduction function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150610 |
|
| RJ01 | Rejection of invention patent application after publication |