CN104753419B - Voltage cutting method based control method for open-winding permanent synchronizing motor system - Google Patents

Abstract

The invention discloses a voltage cutting method based control method for an open-winding permanent synchronizing motor system. According to the method, the voltage cutting method is performed, thus the switch loss can be reduced while the active power is outputted as system requirement; the capacitive voltage stability is maintained; compared with the SVPWM switch loss, 1/2 of the loss is reduced, and thus the system efficiency can be greatly to the maximum; an inverter is controlled and adjusted to provide reactive powder and can compensate the harmonic wave caused by low switching frequency of a main inverter; therefore, high-efficiency and high-performance control of an open-winding motor can be achieved.

Description

It is a kind of that winding permanent magnet synchronous motor system control method is opened based on voltage cutting method

Technical field

The invention belongs to motor control technology field, and in particular to a kind of to open winding permanent magnet synchronization based on voltage cutting method Electric system control method.

Background technology

With the aggravation of global environmental pollution and energy crisis, motor is just gradually replacing the traditional fuels such as internal combustion engine machinery Status in transport traction, becomes New type driving system high performance with high efficiency, promotes with electric automobile, ship electricity Push flourishing into, the electric propulsion technology that high-speed railway is representative.

Permagnetic synchronous motor has obtained extensively should with advantages such as its high power density, High Power Factor and high operational efficiency With this largely has benefited from rotor permanent magnet without the need for electrical excitation.Although permagnetic synchronous motor has high below base speed Power factor and efficiency, but back-emf with rotating speed raise and increase, due to being limited by inverter output capacity, it is necessary to lead to The high-speed cruising of weak magnetic control realization permagnetic synchronous motor is crossed, causes torque and efficiency to decline.Therefore the direct current of inverter is improved Busbar voltage is conducive to improving system effectiveness and stability, and it is exactly wherein that twin inverter opens winding permanent magnet synchronous motor topological structure A kind of mode for obtaining high DC bus-bar voltage.

As shown in figure 1, it is on traditional single inverter motor control system basis to open winding permanent magnet synchronous motor system On, do not change the body Electromagnetic Design and frame for movement of original motor, only conventional threephase stator is unfolded into into two ends around class mid point Open winding, concatenates again an inverter (regulation inverter) and is formed in the other end of winding.Consider Cost Problems, part Scholar connects power supply opposite side to a side inverter dc bus and only connects effective Power Supplies Condition combination drive topological structure of electric capacity and Analysis and research are gone.(" the Dual-inverter controlstrategyforhigh- of document 1 speedoperationofEVinductionmotors”,JunhaKimet.al, IEEETransactionsonIndustrialelectronics,2014,51(2):312-320) provide different using main inverter Reactive power during step high speed operation of motor, obtains extremely broad invariable power area.(" the Dual of document 2 InverterStrategyforHighSpeedOperationofHEVPermanentMagnetSynchronous Motor”, JoonSungParket.al,IndustryApplicationsConference,2006,1:488-494.) analyze in theory Torque and power capacity when mixing inverter equally can greatly improve permagnetic synchronous motor high speed, but be not given Emulation or experimental verification.(" the ExtensionoftheOperatingRegion of document 3 ofanIPMMotorUtilizingSeriesCompensation”,DiPanet.al,IEEETransactionson IndustryApplications,2014,50(1):539-548) power system series compensation concept is introduced, inverter will be adjusted It is considered as an entirety with motor to be controlled, has widened motor operating range, increases output torque.Document 4 (“AMethodforSupplyVoltageBoostinginanOpen-EndedInductionMachine UsingaDualInverterSystemWithaFloatingCapacitorBridge”,JeffreyEwanchuk et.al, IEEETransactionsonPowerElectronics,2013,28(3):It is 1348-1357) then that main inverter and regulation is inverse Become device and be considered as two independent inverters, the angle by changing both output voltage vectors is have studied, to reach lifting motor The purpose of end supply voltage.

But above-mentioned document using space vector pulse width modulation (spacevectorpulsewidth modulation, SVPWM) mode is controlled to two inverters.Because under SVPWM control strategies, inverter switching device pipe carries out copped wave action, Switching frequency is high, and loss is big, affects system effectiveness.For this document 5 (“HybridModulationofDualInverterforOpen-EndPermanentMagnet SynchronousMotor”, YongjaeLeeet.al, 2014) proposes six step modulation strategies to reduce switching frequency and the loss of inverter, but due to the tune The lower capacitance voltage to keep motor operation stability requirement higher of system strategy, equally increased loss.Therefore, exploration is needed badly a kind of Capacitance voltage need not be improved, the control method of system loss can be reduced again, with the high-efficient high performance operation for ensureing to open winding electric machine.

The content of the invention

For the above-mentioned technical problem existing for prior art, the invention provides it is a kind of based on voltage cutting method open around Group permagnetic synchronous motor system control method, can holding capacitor voltage stabilization, reduce switching loss be reduced so that being System efficiency is improved.

It is a kind of that winding permanent magnet synchronous motor system control method is opened based on voltage cutting method, comprise the steps：

(1) in acquisition system main inverter DC bus-bar voltage V_dc, adjust inverter DC bus-bar voltage V_cap, electricity The threephase stator electric current i of machine_a～i_cWith rotor position angle θ_r, and then calculate the rotational speed omega of motor；

(2) using rotor position angle θ_rTo threephase stator electric current i_a～i_cPark conversion is carried out, d-q rotating coordinate systems are obtained Under stator current vector I_dq, and calculate stator current vector I_dqRelative to the angle β of d axles；To threephase stator electric current i_a～i_c Clark conversion is carried out, the stator current vector I under alpha-beta rest frame is obtained_αβ, and calculate stator current vector I_αβRelative to The angle theta of α axles_i；

(3) according to given motor speed ω^*With actual motor speed ω, the electric current of motor correspondence d axles and q axles is determined Reference quantity i_d ^*And i_q ^*；

(4) according to stator current vector I_dqAnd current reference amount i_d ^*And i_q ^*, determine the voltage of motor correspondence d axles and q axles Reference quantity V_d ^*And V_q ^*, and then using angle β to Voltage Reference amount V_d ^*And V_q ^*Coordinate transform is carried out, the active voltage of motor is obtained Reference quantity V_active ^*With reactive voltage reference quantity V_reactive ^*；

(5) given capacitance voltage reference quantity V is made_cap ^*Deduct DC bus-bar voltage V_cap, and then carry out PI to subtracting each other result Adjust from obtaining electric capacity charging voltage reference quantity V_CIactive ^*；

(6) according to active voltage reference quantity V_active ^*, electric capacity charging voltage reference quantity V_CIactive ^*And angle theta_i, using voltage Patterning method determines the effective voltage vector and its action time T of main inverter_xAnd output voltage vector V of main inverter_MIαβ；

(7) using the action time T of effective voltage vector_xDetermine the threephase switch signal S of main inverter_1a～S_1c；

(8) according to active voltage reference quantity V_active ^*, reactive voltage reference quantity V_reactive ^*, electric capacity charging voltage reference quantity V_CIactive ^*, output voltage vector V_MIαβAnd angle theta_i, it is determined that adjusting the modulation voltage vector V of inverter_CIαβ, and then pass through The threephase switch signal S of the adjusted inverter of SVPWM technologies_2a～S_2c；

(9) using threephase switch signal S_1a～S_1cAnd S_2a～S_2cJing after driving respectively to main inverter and regulation inverter In device for power switching carry out switch control rule.

Current reference amount i of motor correspondence d axles and q axles is determined in described step (3)_d ^*And i_q ^*, detailed process is as follows：

First, given motor speed ω is made^*Deduct actual motor speed ω and obtain speed error Δ ω, and then to turning Fast error delta ω carries out PI regulations and obtains current reference amplitude I_s ^*；

Then, current reference amplitude I is calculated by following formula than principle according to torque capacity electric current_s ^*MTPA (most Big torque current ratio) angle γ_MTPA：

Wherein：ψ_fFor the permanent magnet flux linkage of motor, L_dAnd L_qThe respectively d-axis inductance and quadrature axis inductance of motor；

Finally, according to described MTPA angles γ_MTPAWith current reference amplitude I_s ^*Current reference is determined by relationship below Amount i_d ^*And i_q ^*：

Voltage Reference amount V of motor correspondence d axles and q axles is determined in described step (4)_d ^*And V_q ^*, detailed process is：

First, current reference amount i is made_d ^*Deduct stator current vector I_dqD axle component i_d, and carry out PI tune to subtracting each other result Section, and then the output result that PI is adjusted adds d shaft voltage compensation rates, that is, obtain Voltage Reference amount V of motor correspondence d axles_d ^*；

Then, current reference amount i is made_q ^*Deduct stator current vector I_dqQ axle component i_q, and carry out PI tune to subtracting each other result Section, and then the output result that PI is adjusted adds q shaft voltage compensation rates, that is, obtain Voltage Reference amount V of motor correspondence q axles_q ^*；

Wherein, d shaft voltages compensation rate=- ω L_qi_q, q shaft voltages compensation rate=ω (ψ_f+L_di_d), ψ_fFor the permanent-magnet magnetic of motor Chain, L_dAnd L_qThe respectively d-axis inductance and quadrature axis inductance of motor.

Utilize angle β according to below equation to Voltage Reference amount V in described step (4)_d ^*And V_q ^*Carry out coordinate transform, Obtain active voltage reference quantity V of motor_active ^*With reactive voltage reference quantity V_reactive ^*；

The effective voltage vector and its action time T of main inverter are determined in described step (6) using voltage cutting method_x And output voltage vector V of main inverter_MIαβ, detailed process is as follows：

6.1 make active voltage reference quantity V_active ^*With electric capacity charging voltage reference quantity V_CIactive ^*Addition obtains main inverter Active voltage parameter V_MIactive ^*；

6.2 utilize angle theta_iThe effective voltage vector of main inverter is determined according to following relation：

If θ_i∈ [- π/6, π/6), then the effective voltage vector=V of main inverter₁(100), the threephase switch corresponding to it Signal is respectively 1,0,0, that is, represent the device for power switching conducting of bridge arm in main inverter A phases, the work(of bridge arm under B phases and C phases Rate switch device conductive；

If θ_i∈ [π/6, pi/2), then the effective voltage vector=V of main inverter₂(110), the threephase switch letter corresponding to it Number 1,1,0 is respectively, that is, represents the device for power switching conducting of bridge arm in main inverter A phases and B phases, the power of bridge arm under C phases Switch device conductive；

If θ_i∈ [pi/2,5 π/6), then the effective voltage vector=V of main inverter₃(010), the threephase switch corresponding to it Signal is respectively 0,1,0, that is, represent the device for power switching conducting of bridge arm in main inverter B phases, the work(of bridge arm under A phases and C phases Rate switch device conductive；

If θ_i∈ [5 π/6,7 π/6), then the effective voltage vector=V of main inverter₄(011), the threephase switch corresponding to it Signal is respectively 0,1,1, that is, represent the device for power switching conducting of bridge arm in main inverter B phases and C phases, the work(of bridge arm under A phases Rate switch device conductive；

If θ_i∈ [7 π/6,3 pi/2s), then the effective voltage vector=V of main inverter₅(001), the threephase switch corresponding to it Signal is respectively 0,0,1, that is, represent the device for power switching conducting of bridge arm in main inverter C phases, the work(of bridge arm under A phases and B phases Rate switch device conductive；

If θ_i∈ [3 pi/2s, 11 π/6), then the effective voltage vector=V of main inverter₆(101), the three-phase corresponding to it is opened OFF signal is respectively 1,0,1, that is, represent the device for power switching conducting of bridge arm in main inverter A phases and C phases, bridge arm under B phases Device for power switching is turned on；

The 6.3 action time T that main inverter effective voltage vector is calculated according to following formula_x：

Wherein：T_sFor the switch periods of device for power switching in main inverter, θ_VMIFor main inverter effective voltage vector Position angle；

6.4 utilize described action time T_xOutput voltage vector V of main inverter is determined according to following relation_MIαβ：

If the effective voltage vector=V of main inverter₁(100), then V_MIα=(2V_dc/3)*(T_x/T_s), V_MIβ=0；

If the effective voltage vector=V of main inverter₂(110), then V_MIα=(V_dc/3)*(T_x/T_s),

If the effective voltage vector=V of main inverter₃(010), then V_MIα=-(V_dc/3)*(T_x/T_s),

If the effective voltage vector=V of main inverter₄(011), then V_MIα=-(2V_dc/3)*(T_x/T_s), V_MIβ=0；

If the effective voltage vector=V of main inverter₅(001), then V_MIα=-(V_dc/3)*(T_x/T_s),

If the effective voltage vector=V of main inverter₆(101), then V_MIα=(V_dc/3)*(T_x/T_s),

Wherein：V_MIαAnd V_MIβRespectively output voltage vector V_MIαβα axles component and β axles under alpha-beta rest frame point Amount.

Main inverter threephase switch signal S is determined in described step (7)_1a～S_1cDetailed process it is as follows：

First, by the threephase switch signal and T corresponding to the effective voltage vector of main inverter_x/ 2 are multiplied, the knot for obtaining Fruit is to should be used as the fiducial value of bridge arm device for power switching in each phase of main inverter；

Then, the fiducial value for making bridge arm device for power switching in the every phase of main inverter is compared with given triangular wave, Described triangular wave is increase and decrease pattern, and maximum amplitude is T_s/ 2, T_sFor the switch periods of device for power switching in main inverter；

When the amplitude of triangular wave is less than fiducial value, then the switching signal for corresponding to bridge arm device for power switching in phase is given as 1, that is, close；When the amplitude of triangular wave is more than fiducial value, then the switching signal for corresponding to bridge arm device for power switching in phase gives It is for 0, i.e., open-minded；S_1a～S_1cCorrespond to the switching signal of bridge arm device for power switching on main inverter ABC three-phases.

The modulation voltage vector V for adjusting inverter is determined in described step (8)_CIαβ, detailed process is as follows：

8.1 Voltage Reference amounts V that motor correspondence α axles and β axles are calculated according to below equation_α ^*And V_β ^*：

8.2 make described Voltage Reference amount V_α ^*And V_β ^*It is individually subtracted output voltage vector V_MIαβα axle component V_MIαWith β axles Component V_MIβ, initial voltage reference quantity V of adjusted inverter_CIα ^*And V_CIβ ^*；

8.3 according to described initial voltage reference quantity V_CIα ^*And V_CIβ ^*The tune for adjusting inverter is calculated by following formula Voltage vector V processed_CIαβ：

Wherein：V_CIαAnd V_CIβRespectively modulation voltage vector V_CIαβα axles component and β axles under alpha-beta rest frame point Amount.

Applied voltage patterning method of the present invention reduces switching loss while active power needed for accurate output system, protects Hold capacitance voltage to stablize；Compare SVPWM switching losses and be reduced to original 1/2, largely improve system effectiveness.Together When, present invention control and regulation inverter also acts as the harmonic wave that compensation main inverter low switching frequency causes while providing idle Effect, realize out winding electric machine high-efficient high performance control.

Description of the drawings

Fig. 1 is out the structural representation of winding permanent magnet synchronous motor system.

Fig. 2 is the system block diagram of control method of the present invention.

Fig. 3 is the idiographic flow block diagram of voltage cutting method computing module of the present invention.

Fig. 4 is the idiographic flow block diagram of main inverter switching signal computing module of the present invention.

Fig. 5 (a) is that winding electric machine is opened under control method of the present invention with 3Nm load runnings in the A phases stator electricity of 500r/min Stream I_aWaveform diagram.

Fig. 5 (b) is that winding electric machine is opened under control method of the present invention with 3Nm load runnings in the torque T of 500r/min_eWaveform Schematic diagram.

Fig. 5 (c) is that winding electric machine band 3Nm load runnings are opened under control method of the present invention in 500r/min system main inverters A phase output voltage V_{MI_A}Waveform diagram.

Fig. 5 (d) is that winding electric machine band 3Nm load runnings are opened under control method of the present invention in 500r/min system fading margin inversions The A phase output voltage V of device_{CI_A}Waveform diagram.

Fig. 5 (e) is that winding electric machine band 3Nm load runnings are opened under control method of the present invention in 500r/min system fading margin inversions The capacitance voltage V of device_capWaveform diagram.

Fig. 5 (f) is that winding electric machine band 3Nm load runnings are opened under control method of the present invention in 500r/min system main inverters Current phasor phase angle θ_iWaveform diagram.

Fig. 5 (g) is that winding electric machine band 3Nm load runnings are opened under control method of the present invention in 500r/min system main inverters Effective vector selection marker V_MI_ Flag waveform diagrams.

Fig. 5 (h) is that winding electric machine band 3Nm load runnings are opened under control method of the present invention in 500r/min system main inverters Effective vector action time T_xWaveform diagram.

Fig. 5 (i) is that winding electric machine is opened under control method of the present invention with 3Nm load runnings in the A of 500r/min system motors Phase stator current I_aFrequency analysis schematic diagram.

Fig. 6 is to open winding electric machine with 3Nm load runnings in the A phase stators of 500r/min system motors under traditional control method Electric current I_aFrequency analysis schematic diagram.

Specific embodiment

In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific embodiment is to technical scheme It is described in detail.

As shown in figure 1, this example electric system by dc source 1, electric capacity of voltage regulation 2, main inverter 3, to open winding permanent magnet same Step motor 4, regulation inverter 5, bulky capacitor 6, photoelectric coded disk 7, three-phase current sensor 8, main inverter DC bus-bar voltage Sensor 9, capacitance voltage sensor 10 and controller 31 etc. are constituted.Controller is generally using DSP (such as TI companies TMS320LF2812 etc.).

As shown in Fig. 2 the present invention opens winding permanent magnet synchronous motor control method based on voltage cutting method, including following step Suddenly：

(1) signals collecting.

The rotor position angle θ of winding permanent magnet synchronous motor 4 is opened using the collection of photoelectric coded disk 7_r, must be turned by differential calculation Fast ω, using the collection of three-phase current sensor 8 the threephase stator current signal i of winding permanent magnet synchronous motor 4 is opened_a、i_b、i_c, using master Inverter DC bus-bar voltage sensor 9 gathers the DC bus-bar voltage V of main inverter 3_dc, adopted using capacitance voltage sensor 10 Collection adjusts the DC bus-bar voltage V of inverter 5_cap。

(2) signal conversion.

The threephase stator electric current that step (1) is collected is obtained in two-phase rotating coordinate system by Park conversion modules 11 Stator current dq axle component i_d、i_q, computing formula is：

By i_d、i_qAngle β of the current phasor relative to d axles is obtained by angle calculation module 12, computing formula is：

By threephase stator electric current by Clark conversion modules 13, the stator current α β axles in two-phase rest frame are obtained Component i_α、i_β, computing formula is：

By i_α、i_βAngle theta of the current phasor relative to α axles is obtained by angle calculation module 12_i, computing formula is：

(3) the given i of dq shaft currents of motor is determined_d ^*、i_q ^*。

A. given rotating speed ω^*Deduct actual speed ω and obtain speed error Δ ω, given electricity is obtained by PI controllers 14 Stream amplitude I_s ^*；

B. by given current amplitude I_s ^*Through MTPA angles computing module 15, correspondence I is obtained_s ^*γ_MTPA, computing formula is：

C. the given value of current i under dq coordinate systems is obtained by polar coordinate transform module 16_d ^*And i_q ^*。

(4) active and idle component V of given voltage is determined_active ^*And V_reactive ^*。

A. by the given electric current i of d axles_d ^*With actual current i_dError delta i_dBy PI controllers 17, its output is plus d axles electricity Pressure compensation rate-ω L_qi_qObtain the given V of voltage on d direction of principal axis_d ^*；By the given electric current i of q axles_q ^*With actual current i_qError delta i_q By PI controllers 18, its output adds q shaft voltage compensation rate ω (ψ_f+L_di_d) obtain the given V of voltage on q direction of principal axis_q ^*；

B. by V_d ^*And V_q ^*, by active reactive voltage transformation module 19, using current phasor relative to d axles angle β, Obtain active and idle component V of given voltage_active ^*And V_reactive ^*, computing formula is：

(5) determine that capacitance voltage charges and give voltage V_CIactive ^*。

By capacitance voltage set-point V_cap ^*With value of feedback V_capBy PI controllers 20, its output is charged as capacitance voltage Given voltage V_CIactive ^*

(6) effective vector and its action time T of main inverter are determined_xWith the α β component V of main inverter output voltage_MIα、 V_MIβ。

By given voltage real component V_active ^*Charge with capacitance voltage and give voltage V_CIactive ^*It is added as main inverter The given V of active voltage component_MIactive ^*；

Realize as shown in figure 3, step is as follows the inside of voltage cutting method computing module 21：

A. according to current phasor relative to α axles angle theta_iMain inverter is selected by effective voltage vector selecting module 26 Effective voltage vector, as shown in table 1：

Table 1

θi	Effective voltage vector	θi	Effective voltage vector
				[-1/6*π,1/6*π)	V1(100)	[5/6*π,7/6*π)	V4(011)
[1/6*π,1/2*π)	V2(110)	[7/6*π.3/2*π)	V5(001)
				[1/2*π,5/6*π)	V3(010)	[3/2*π,11/6*π)	V6(101)

B. it is accurately synthesis active voltage, effective voltage arrow is determined according to effective voltage vector action time computing module 27 The action time T of amount_xComputing formula is：

Wherein：V_dcFor the DC bus-bar voltage of main inverter, T_sFor switch periods, θ_VMIFor main inverter effective voltage arrow Amount position angle, such as V₁(100) angle is 0 °, V₂(110) angle is 60 °, and other voltage vectors can be obtained in the same manner；

C. according to effective acting time T_xThe α of main inverter output voltage is determined by output voltage component computing module 28 β component V_MIα、V_MIβ, as shown in table 2：

Table 2

Effective voltage vector	VMIα	VMIβ
			V1(100)	2/3Vdc*Tx/Ts	0
V2(110)	1/3Vdc*Tx/Ts	√3/3Vdc*Tx/Ts
			V3(010)	-1/3Vdc*Tx/Ts	√3/3Vdc*Tx/Ts

V4(011)	-2/3Vdc*Tx/Ts	0
			V5(001)	-1/3Vdc*Tx/Ts	-√3/3Vdc*Tx/Ts
V6(101)	1/3Vdc*Tx/Ts	-√3/3Vdc*Tx/Ts

(7) switching signal S of main inverter is determined_1a、S_1b、S_1c。

Main inverter switching signal computing module 22 is as shown in figure 4, step is as follows：

A. effective vector action time T is utilized_x, according to three-phase fiducial value computing module 29, obtain three-phase fiducial value.Its algorithm For：By the corresponding threephase switch signal of effective voltage vector and T_xThree-phase fiducial value of/2 multiplications as main inverter.Such as V₁Correspondence Switching signal be 1,0,0, then A, B, C three-phase fiducial value is respectively T_x/2、0、0。V₂Corresponding switching signal is 1,1,0, that A, B, C three-phase fiducial value is respectively T_x/2、T_x/2、0。

B. three-phase fiducial value is obtained into threephase switch signal by switching signal maker 30.Its algorithm is：By fiducial value with Triangle wave obtains switching signal, and triangular wave is increase and decrease pattern, and maximum amplitude is general, the i.e. T of switch periods_s/2.Setting When the amplitude of triangular wave is less than fiducial value, switching signal is given as 1, that is, close；When the amplitude of triangular wave is more than fiducial value, Switching signal is given as 0, that is, open.

(8) switching signal S for adjusting inverter is determined_2a、S_2b、S_2c。

A. by real component V of given voltage_active ^*Charge with capacitance voltage and give voltage V_CIactive ^*Be added, and with nothing Work(component V_reactive ^*Together, coordinate transform is carried out to α β conversion modules 23 using active reactive, by obtaining given voltage α β components V_α ^*、V_β ^*, computing formula is：

B. by given voltage α β component V_α ^*、V_β ^*Deduct the α β component V of the output voltage of main inverter_MIα、V_MIβ, must adjust The initially given voltage α β component V of inverter_CIα'、V_CIβ'：

C. capacitance voltage is charged and gives voltage V_CIactive ^*Coordinate change is carried out using active reactive to α β conversion modules 24 Change, obtain the given voltage α β component V that charge_chargeα ^*、V_chargeβ ^*Computing formula is：

D. the initially given voltage α β component V of inverter will be adjusted_CIα'、V_CIβ' and the given voltage α β components that charge V_chargeα ^*、V_chargeβ ^*It is added, the given modulation voltage α β component V of inverter must be adjusted_CIα ^*、V_CIβ ^*：

E. by V_CIα ^*、V_CIβ ^*By switching signal S of the adjusted inverter of SVPWM modules 25_2a、S_2b、S_2c。

(9) by the switching signal for obtaining to drive main inverter 3 and adjust inverter 5, winding permanent magnet synchronization is opened in control Motor 4.

Hereinafter present embodiment is tested for us, the parameter for driving winding permanent magnet synchronous motor for being adopted such as table 3 It is shown：

Table 3

Stator resistance Rs	1.35Ω	DC bus-bar voltage	125V
				D-axis inductance Ld	7.76e-3H	Capacitance voltage	125V
Quadrature axis inductance Lq	17e-3H	Capacitance	100uF
				Permanent magnet flux linkage ψf	0.1286Wb	Rated current	5A
Number of pole-pairs	4	Mechanical inertia	0.00109Kgm2

Observation Fig. 5 (a)～(b) can see that motor A phase currents are sinusoidal, and output torque is steady, in (- 0.1 ,+0.1) Nm Between fluctuate.Fig. 5 (c)～(e) it is found that main inverter A phase voltages within the half primitive period in copped wave export, separately Zero level is kept in the half primitive period so that the switching loss of main inverter is reduced to 1/2 under SVPWM.Fig. 5 (f)～(h) In, it is very clear that MI selects effective voltage vector to select according to current phasor phase angle.Effectively vector action time T_xInto the cycle Change, this is the effect of voltage cutting method, by this operation, active voltage component needed for motor is accurately met.

Fig. 5 (i) is compared with the traditional control method result of Fig. 6, and both current harmonics sizes are close, shows the control of the present invention Motor operation performance is almost identical with traditional control method under method processed.Thus, motor control method of the present invention can be realized mixing The high performance control that winding permanent magnet synchronous motor is driven under inverter topology is closed, using voltage cutting method, main inverter is controlled One zero vector of an effective voltage vector is only exported in a switch periods, the significantly drop of switching loss is realized It is low, improve the efficiency of system.

Claims (6)

1. it is a kind of that winding permanent magnet synchronous motor system control method is opened based on voltage cutting method, comprise the steps：

(1) in acquisition system main inverter DC bus-bar voltage V_dc, adjust inverter DC bus-bar voltage V_cap, motor Threephase stator electric current i_a～i_cWith rotor position angle θ_r, and then calculate the rotational speed omega of motor；

(2) using rotor position angle θ_rTo threephase stator electric current i_a～i_cPark conversion is carried out, under obtaining d-q rotating coordinate systems Stator current vector I_dq, and calculate stator current vector I_dqRelative to the angle β of d axles；To threephase stator electric current i_a～i_cCarry out Clark is converted, and obtains the stator current vector I under alpha-beta rest frame_αβ, and calculate stator current vector I_αβRelative to α axles Angle theta_i；

(3) according to given motor speed ω^*With actual motor speed ω, the current reference of motor correspondence d axles and q axles is determined Amount i_d ^*And i_q ^*；

(4) according to stator current vector I_dqAnd current reference amount i_d ^*And i_q ^*, determine the Voltage Reference of motor correspondence d axles and q axles Amount V_d ^*And V_q ^*, and then using angle β to Voltage Reference amount V_d ^*And V_q ^*Coordinate transform is carried out, the active voltage reference of motor is obtained Amount V_active ^*With reactive voltage reference quantity V_reactive ^*；

(5) given capacitance voltage reference quantity V is made_cap ^*Deduct DC bus-bar voltage V_cap, and then carry out PI regulations to subtracting each other result From obtaining electric capacity charging voltage reference quantity V_CIactive ^*；

(6) according to active voltage reference quantity V_active ^*, electric capacity charging voltage reference quantity V_CIactive ^*And angle theta_i, using voltage cutting Method determines the effective voltage vector and its action time T of main inverter_xAnd output voltage vector V of main inverter_MIαβ, specifically Process is as follows：

6.1 make active voltage reference quantity V_active ^*With electric capacity charging voltage reference quantity V_CIactive ^*Addition obtains the active of main inverter Voltage parameter V_MIactive ^*；

6.2 utilize angle theta_iThe effective voltage vector of main inverter is determined according to following relation：

If θ_i∈ [- π/6, π/6), then the effective voltage vector=V of main inverter₁(100), the threephase switch signal corresponding to it Respectively 1,0,0, that is, the device for power switching conducting of bridge arm in main inverter A phases is represented, the power of bridge arm is opened under B phases and C phases Close break-over of device；

If θ_i∈ [π/6, pi/2), then the effective voltage vector=V of main inverter₂(110), the threephase switch signal corresponding to it point Not Wei 1,1,0, that is, represent the device for power switching conducting of bridge arm in main inverter A phases and B phases, the power switch of bridge arm under C phases Break-over of device；

If θ_i∈ [pi/2,5 π/6), then the effective voltage vector=V of main inverter₃(010), the threephase switch signal corresponding to it Respectively 0,1,0, that is, the device for power switching conducting of bridge arm in main inverter B phases is represented, the power of bridge arm is opened under A phases and C phases Close break-over of device；

If θ_i∈ [5 π/6,7 π/6), then the effective voltage vector=V of main inverter₄(011), the threephase switch signal corresponding to it Respectively 0,1,1, that is, the device for power switching conducting of bridge arm in main inverter B phases and C phases is represented, the power of bridge arm is opened under A phases Close break-over of device；

If θ_i∈ [7 π/6,3 pi/2s), then the effective voltage vector=V of main inverter₅(001), the threephase switch signal corresponding to it Respectively 0,0,1, that is, the device for power switching conducting of bridge arm in main inverter C phases is represented, the power of bridge arm is opened under A phases and B phases Close break-over of device；

If θ_i∈ [3 pi/2s, 11 π/6), then the effective voltage vector=V of main inverter₆(101), the threephase switch letter corresponding to it Number 1,0,1 is respectively, that is, represents the device for power switching conducting of bridge arm in main inverter A phases and C phases, the power of bridge arm under B phases Switch device conductive；

The 6.3 action time T that main inverter effective voltage vector is calculated according to following formula_x：

$T_x=\frac{V_{MIactive}^{*}}{\frac{2}{3}{V}_{dc}*cos({\mathrm{\θ}}_i-{\mathrm{\θ}}_{VMI})}{T}_s$

Wherein：T_sFor the switch periods of device for power switching in main inverter, θ_VMIFor the position of main inverter effective voltage vector Angle；

6.4 utilize described action time T_xOutput voltage vector V of main inverter is determined according to following relation_MIαβ：

If the effective voltage vector=V of main inverter₁(100), then V_MIα=(2V_dc/3)*(T_x/T_s), V_MIβ=0；

If the effective voltage vector=V of main inverter₂(110), then V_MIα=(V_dc/3)*(T_x/T_s),

If the effective voltage vector=V of main inverter₃(010), then V_MIα=-(V_dc/3)*(T_x/T_s),

If the effective voltage vector=V of main inverter₄(011), then V_MIα=-(2V_dc/3)*(T_x/T_s), V_MIβ=0；

If the effective voltage vector=V of main inverter₅(001), then V_MIα=-(V_dc/3)*(T_x/T_s),

If the effective voltage vector=V of main inverter₆(101), then V_MIα=(V_dc/3)*(T_x/T_s),

Wherein：V_MIαAnd V_MIβRespectively output voltage vector V_MIαβα axles component and beta -axis component under alpha-beta rest frame；

(7) using the action time T of effective voltage vector_xDetermine the threephase switch signal S of main inverter_1a～S_1c；

(8) according to active voltage reference quantity V_active ^*, reactive voltage reference quantity V_reactive ^*, electric capacity charging voltage reference quantity V_CIactive ^*, output voltage vector V_MIαβAnd angle theta_i, it is determined that adjusting the modulation voltage vector V of inverter_CIαβ, and then pass through The threephase switch signal S of the adjusted inverter of SVPWM technologies_2a～S_2c；

(9) using threephase switch signal S_1a～S_1cAnd S_2a～S_2cJing after driving respectively in main inverter and regulation inverter Device for power switching carries out switch control rule.

It is 2. according to claim 1 to open winding permanent magnet synchronous motor system control method, it is characterised in that：Described step (3) current reference amount i of motor correspondence d axles and q axles is determined in_d ^*And i_q ^*, detailed process is as follows：

First, given motor speed ω is made^*Deduct actual motor speed ω and obtain speed error Δ ω, and then rotating speed is missed Difference Δ ω carries out PI regulations and obtains current reference amplitude I_s ^*；

Then, current reference amplitude I is calculated by following formula than principle according to torque capacity electric current_s ^*MTPA angles γ_MTPA：

${\mathrm{\γ}}_{MTPA}=arccos\left(\frac{-{\mathrm{\ψ}}_f+{\[{\mathrm{\ψ}}_f^2+8{(L_d-L_q)}^2{I}_s^{*2}\]}^{1/2}}{4(L_d-L_q)I_s^{*}}\right)$

Wherein：ψ_fFor the permanent magnet flux linkage of motor, L_dAnd L_qThe respectively d-axis inductance and quadrature axis inductance of motor；

Finally, according to described MTPA angles γ_MTPAWith current reference amplitude I_s ^*Current reference amount i is determined by relationship below_d ^* And i_q ^*：

$\left\{\begin{array}{c}{i_d}^{*}=I_s^{*}{\mathrm{cos\γ}}_{MTPA}\\ {i_q}^{*}=I_s*{\mathrm{sin\γ}}_{MTPA}\end{array}\right..$

It is 3. according to claim 1 to open winding permanent magnet synchronous motor system control method, it is characterised in that：Described step (4) Voltage Reference amount V of motor correspondence d axles and q axles is determined in_d ^*And V_q ^*, detailed process is：

First, current reference amount i is made_d ^*Deduct stator current vector I_dqD axle component i_d, and PI regulations are carried out to subtracting each other result, And then the output result for adjusting PI adds d shaft voltage compensation rates, that is, obtain Voltage Reference amount V of motor correspondence d axles_d ^*；

Then, current reference amount i is made_q ^*Deduct stator current vector I_dqQ axle component i_q, and PI regulations are carried out to subtracting each other result, And then the output result for adjusting PI adds q shaft voltage compensation rates, that is, obtain Voltage Reference amount V of motor correspondence q axles_q ^*；

Wherein, d shaft voltages compensation rate=- ω L_qi_q, q shaft voltages compensation rate=ω (ψ_f+L_di_d), ψ_fFor the permanent magnet flux linkage of motor, L_d And L_qThe respectively d-axis inductance and quadrature axis inductance of motor.

It is 4. according to claim 1 to open winding permanent magnet synchronous motor system control method, it is characterised in that：Described step (4) utilize angle β according to below equation to Voltage Reference amount V in_d ^*And V_q ^*Coordinate transform is carried out, the active voltage of motor is obtained Reference quantity V_active ^*With reactive voltage reference quantity V_reactive ^*；

$\left\{\begin{array}{c}{V}_{active}^{*}=V_d^{*}cos\mathrm{\β}+V_q^{*}sin\mathrm{\β}\\ V_{reactive}^{*}=-V_d^{*}sin\mathrm{\β}+V_q^{*}cos\mathrm{\β}\end{array}\right..$

It is 5. according to claim 1 to open winding permanent magnet synchronous motor system control method, it is characterised in that：Described step (7) main inverter threephase switch signal S is determined in_1a～S_1cDetailed process it is as follows：

First, by the threephase switch signal and T corresponding to the effective voltage vector of main inverter_x/ 2 are multiplied, the result correspondence for obtaining As the fiducial value of bridge arm device for power switching in each phase of main inverter；

Then, the fiducial value for making bridge arm device for power switching in the every phase of main inverter is compared with given triangular wave, described Triangular wave be increase and decrease pattern, maximum amplitude is T_s/ 2, T_sFor the switch periods of device for power switching in main inverter；

When the amplitude of triangular wave is less than fiducial value, then the switching signal for corresponding to bridge arm device for power switching in phase is given as 1, i.e., Closure；When the amplitude of triangular wave is more than fiducial value, then the switching signal for corresponding to bridge arm device for power switching in phase is given as 0, It is i.e. open-minded；S_1a～S_1cCorrespond to the switching signal of bridge arm device for power switching on main inverter ABC three-phases.

It is 6. according to claim 1 to open winding permanent magnet synchronous motor system control method, it is characterised in that：Described step (8) the modulation voltage vector V for adjusting inverter is determined in_CIαβ, detailed process is as follows：

8.1 Voltage Reference amounts V that motor correspondence α axles and β axles are calculated according to below equation_α ^*And V_β ^*：

$\left\{\begin{array}{c}{V}_{\mathrm{\α}}^{*}=(V_{active}^{*}+V_{CIactive}^{*}){\mathrm{cos\θ}}_i-V_{reactive}^{*}{\mathrm{sin\θ}}_i\\ V_{\mathrm{\β}}^{*}=(V_{active}^{*}+V_{CIactive}^{*}){\mathrm{sin\θ}}_i+V_{reactive}^{*}{\mathrm{cos\θ}}_i\end{array}\right.$

8.2 make described Voltage Reference amount V_α ^*And V_β ^*It is individually subtracted output voltage vector V_MIαβα axle component V_MIαAnd beta -axis component V_MIβ, initial voltage reference quantity V of adjusted inverter_CIα ^*And V_CIβ ^*；

8.3 according to described initial voltage reference quantity V_CIα ^*And V_CIβ ^*The modulation electricity for adjusting inverter is calculated by following formula Pressure vector V_CIαβ：

$\left\{\begin{array}{c}{V}_{CI\mathrm{\α}}=V_{CI\mathrm{\α}}^{*}+V_{CIactive}^{*}{\mathrm{cos\θ}}_i\\ V_{CI\mathrm{\β}}=V_{CI\mathrm{\β}}^{*}+V_{CIactive}^{*}{\mathrm{sin\θ}}_i\end{array}\right.$

Wherein：V_CIαAnd V_CIβRespectively modulation voltage vector V_CIαβα axles component and beta -axis component under alpha-beta rest frame.