CN104852658B - Permagnetic synchronous motor decoupling vector control apparatus and method under two-phase rest frame - Google Patents
Permagnetic synchronous motor decoupling vector control apparatus and method under two-phase rest frame Download PDFInfo
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- CN104852658B CN104852658B CN201510281847.6A CN201510281847A CN104852658B CN 104852658 B CN104852658 B CN 104852658B CN 201510281847 A CN201510281847 A CN 201510281847A CN 104852658 B CN104852658 B CN 104852658B
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Abstract
The invention provides permagnetic synchronous motor decoupling vector control apparatus and method under a kind of two-phase rest frame, after rotary speed setting value and speed feedback value are made difference processing by rotary speed comparator, the instruction of current phasor amplitude is produced through rotational speed governor, α axles and β axle instruction currents are produced with reference to rotor position angle and permagnetic synchronous motor control strategy, two current controllers form closed-loop control to α axles and β axles instruction current respectively, α axles and β shaft voltage controlled quentity controlled variables are produced, permagnetic synchronous motor is controlled via SVPWM modules and control voltage source inventer；A, B two-phase-current transformation of permagnetic synchronous motor are α axles and β shaft current components by Clark conversion modules；Position sensor detects permanent-magnet synchronous motor rotor position in real time, isSynthesizer and SVPWM modules provide rotor position information, while by position derivative module, obtain the speed feedback value of motor.The present invention can substantially reduce the performance requirement to controller, so as to further reduce frequency converter cost.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor vector control apparatus and method.
Background technology
Permagnetic synchronous motor has small volume, in light weight, power factor is high, efficiency high, electromagnetic torque fluctuation are small, rotating speed is put down
Surely, magnetic flux density is high, dynamic response is fast, overload capacity is strong, reliability is high, structure diversification, the advantage such as have a wide range of application, in mesh
Under the overall background that preceding economize on electricity, environmental consciousness increasingly strengthen, a piece of light of development prospect.
It is well known that be effective control to electromagnetic torque to effective control key of motor, permagnetic synchronous motor servo
System is a multivariable, non-linear, close coupling nonlinear system, and its electromagnetic torque is not as direct current generator like that and armature
Electric current is directly proportional, and control is relatively complicated.The seventies in last century, Siemens engineer F.Blaschke proposed asynchronous machine first
Vector control theory solves the problems, such as alternating current generator direct torque, after be applied to by expansion on permagnetic synchronous motor.It is substantially former
Reason is that the stator current vector of ac motor is decomposed into the current component (exciting current) for producing magnetic field and generation torque
Current component (torque current) is simultaneously controlled by respectively, while controls the amplitude and phase between two components, that is, controls stator current
Vector, so claiming this control mode to be referred to as vector control mode.Briefly, vector controlled is exactly by magnetic linkage and torque solution
Coupling, be advantageous to separately design both adjusters, to realize the high-performance speed governing to alternating current generator.Thus can be by a friendship
Stream motor is equivalent to direct current generator to control, thus obtains quiet, the dynamic property same with Direct Current Governor System.Vector controlled is calculated
Method has been widely used on the frequency converter of the internationalization such as Siemens, ABB, Allen-Bradley, GE, Fuji major company.
But vector controlled needs to carry out rotating coordinate transformation and inverse transformation, to realize excitation current component and torque electricity
The uneoupled control of flow component, this causes control system to become complicated to a certain extent, so that in some inexpensive controllers
On be difficult to so that high-performance transducer cost remains high always.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides permagnetic synchronous motor under a kind of two-phase rest frame and decoupled
Vector control apparatus and method, the performance requirement to controller can be substantially reduced, so as to further reduce frequency converter cost.
The technical solution adopted for the present invention to solve the technical problems is：Permanent magnet synchronous electric under a kind of two-phase rest frame
Machine decouple vector control apparatus, including rotary speed comparator, rotational speed governor,Synthesizer, β shaft currents comparator, α shaft currents
Comparator, iβCurrent controller, iαCurrent controller, SVPWM modules, voltage source inverter, permagnetic synchronous motor (PMSM), position
Put sensor, Clark conversion and position derivative module.
Described rotary speed comparator is by rotary speed setting valueWith speed feedback value ωrAfter making difference processing, through rotational speed governor
Produce the instruction of current phasor amplitude In synthesizer,With reference to rotor position angle and permagnetic synchronous motor control plan
Slightly produce α axles and β axle instruction currentsWithiαCurrent controller and iβCurrent controller is respectively to α axles and β axle instruction currentsWithClosed-loop control is formed, and produces α axles and β shaft voltage controlled quentity controlled variables u respectivelyαAnd uβ, via SVPWM modules and control voltage
Source inventer controls the operating of permagnetic synchronous motor；Described Clark conversion modules are by A, B biphase current of permagnetic synchronous motor
It is transformed to α axles and β shaft current components iαAnd iβ；Described position sensor detects permanent-magnet synchronous motor rotor position in real time, isSynthesizer and SVPWM modules provide rotor position information, while by position derivative module, the rotating speed for obtaining motor is anti-
Feedback value.
The present invention also provides permagnetic synchronous motor under a kind of two-phase rest frame and decouples vector control method, including following
Step：
The first step：Controller reads rotary speed instruction information
Second step：Controller reading position sensing data θr, and derivation operation is carried out through derivative module, obtain actual turn
Fast information ωr；
3rd step：By rotary speed instruction informationWith actual speed information ωrIt is poor to make through rotary speed comparator；
4th step：The result of previous step is sent into rotational speed governor, the amplitude instruction of generation current phasor
5th step：According toRotor position angle θrAnd permagnetic synchronous motor type,Synthesizer calculates generation α axles
With β axle instruction currentsWith
6th step：Controller reads A, B biphase current and is transformed to α axles and β shaft current components i through ClarkαAnd iβ；
7th step：5th step is obtainedThe i obtained with the 6th stepα、iβRespectively through α shaft currents comparator and β axles
Current comparator, produce the error signal of each variable；
8th step：The error signal that 7th step obtains is respectively via iαCurrent controller and iβAfter current controller, α is produced
Axle and β axle control voltage components uαAnd uβ；
9th step：Based on component of voltage uα、uβWith rotor position angle θr, SVPWM modules produce 6 road PWM ripples, for controlling
Voltage source inverter, and then control the operating of permagnetic synchronous motor.
The beneficial effects of the invention are as follows：
1) structure of traditional permanent magnet synchronous motor vector control system is simplified, reduces amount of calculation；
2) permagnetic synchronous motor vector controlled is caused to be realized on the controller of more low performance low cost, can be from totality
Upper reduction frequency converter cost, is advantageous to the extensive popularization and application of Vector Controlled Variable Frequency Variable Speed PMSM System system.
Brief description of the drawings
Fig. 1 is that permagnetic synchronous motor decouples vector controlled structured flowchart under two-phase rest frame.
In figure, 1-rotary speed comparator, 2-rotational speed governor, 3-Synthesizer, 4-β shaft current comparators, 5-α
Shaft current comparator, 6-iβCurrent controller, 7-iαCurrent controller, 8-SVPWM modules, 9-voltage source inverter
(VSI), 10-permagnetic synchronous motor (PMSM), 11-position sensor, 12-Clark conversion, 13-position derivative module.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
As shown in figure 1, system include rotary speed comparator 1, rotational speed governor 2,Synthesizer 3, β shaft currents comparator 4,
α shaft currents comparator 5, iβCurrent controller 6, iαCurrent controller 7, SVPWM modules 8, voltage source inverter (VSI) 9, permanent magnetism
Synchronous motor (PMSM) 10, position sensor 11, Clark conversion 12, position derivative module 13.
Rotary speed setting valueWith speed feedback value ωrAfter making difference processing by rotary speed comparator 1, produced through rotational speed governor 2
Current phasor amplitude instructsWith reference to rotor position angle θrα axles and the instruction of β axles are produced with permagnetic synchronous motor control strategy
Electric currentWithThen respectively through iαCurrent controller 7 and iβCurrent controller 6 forms closed-loop control to the two variables, and
α axles and β shaft voltage controlled quentity controlled variables u are produced respectivelyαAnd uβ, via SVPWM modules 8, control voltage source inventer (VSI) 9, and then control
The operating of permagnetic synchronous motor (PMSM) 10 processed, realize that permagnetic synchronous motor decouples vector controlled under two-phase rest frame.
Above-mentioned Clark converts 12 modules and is used to motor A, B two-phase-current transformation be α axles and β shaft current components：iαWith
iβ。
Above-mentioned position sensor 11 is used to detect permagnetic synchronous motor (PMSM) rotor-position in real time, isSynthesizer
Rotor position information is provided with SVPWM modules 8, while by the module of position differential 13, obtains rotor rotary speed information, is used for
Form speed closed loop control.
Said system can realize control to face mounted permagnetic synchronous motor and internal permanent magnet synchronous motor, and its difference isGenerated in synthesizer 3WithThe difference of algorithm.Face mounted permagnetic synchronous motor typically willLocus is defined on super
Preceding rotor angular position thetarAt 90 degree of electrical angles.Internal permanent magnet synchronous motor need to be according to current torque size and current rotor position
Angle setting θrOptimize estimation, generally higher than 90 degree of electrical angles.
Above-mentioned voltage source inverter (VSI) 9 typically uses three phase full bridge structure.
Above-mentioned rotational speed governor 2 uses PI controllers, can also use the controller of other forms.
Above-mentioned iβCurrent controller 6 uses PI controllers, can also use the controller of other forms.
Above-mentioned iαCurrent controller 7 uses PI controllers, can also use the controller of other forms.
Above-mentioned position sensor 11 uses photoelectric encoder, can also use the position such as rotary transformer, magnetic coder to pass
Sensor.
Above-mentioned SVPWM modules 8, voltage source inverter (VSI) 9, permagnetic synchronous motor (PMSM) 10, position sensor
11st, Clark conversion 12, position derivative module 13 are identical with traditional permagnetic synchronous motor vector control method.
The technical solution adopted for the present invention to solve the technical problems is：Permanent magnet synchronous electric under a kind of two-phase rest frame
Machine decouples vector control method, comprises the following steps：
The first step：Controller reads rotary speed instruction information
Second step：The data θ of controller reading position sensor 11r, and derivation operation is carried out through the module of differential 13, obtain real
Border rotary speed information ωr；
3rd step：By rotary speed instruction informationWith actual speed information ωrMake difference through rotary speed comparator 1；
4th step：The result of previous step is sent into rotational speed governor 2, the amplitude instruction of generation current phasor
5th step：According toRotor position angle θrAnd permagnetic synchronous motor type,Synthesizer 3 calculates generation α
Axle and β axle instruction currentsWith
6th step：Controller reads A, B biphase current and is transformed to α axles and β shaft current components through Clark conversion 12：iα
And iβ；
7th step：5th step is obtainedThe i obtained with the 6th stepα、iβRespectively through α shaft currents comparator 5 and β
Shaft current comparator 4, produce the error signal of each variable；
8th step：The error signal that 7th step obtains is respectively via iαCurrent controller 7 and iβAfter current controller 6, produce
α axles and β axle control voltage components uαAnd uβ；
9th step：Based on component of voltage uα、uβWith rotor position angle θr, SVPWM modules 8 produce 6 road PWM ripples, for controlling
Voltage source inverter (VSI) 9, and then control the operating of permagnetic synchronous motor (PMSM) 10.
Claims (2)
1. permagnetic synchronous motor decouples vector control apparatus, including rotary speed comparator, rotating speed control under a kind of two-phase rest frame
Device processed,Synthesizer, β shaft currents comparator, α shaft currents comparator, iβCurrent controller, iαCurrent controller, SVPWM moulds
Block, voltage source inverter, permagnetic synchronous motor (PMSM), position sensor, Clark conversion and position derivative module, its feature
It is：Described rotary speed comparator is by rotary speed setting valueWith speed feedback value ωrAfter making difference processing, produced through rotational speed governor
Current phasor amplitude instructs In synthesizer,Produced with reference to rotor position angle and permagnetic synchronous motor control strategy
Raw α axles and β axle instruction currentsWithiαCurrent controller and iβCurrent controller is respectively to α axles and β axle instruction currentsWithClosed-loop control is formed, and produces α axles and β shaft voltage controlled quentity controlled variables u respectivelyαAnd uβ, it is inverse via SVPWM modules and control voltage source
Become the operating of device control permagnetic synchronous motor；Described Clark conversion modules are by A, B two-phase-current transformation of permagnetic synchronous motor
For α axles and β shaft current components iαAnd iβ；Described position sensor detects permanent-magnet synchronous motor rotor position in real time, is
Synthesizer and SVPWM modules provide rotor position information, while by position derivative module, obtain the speed feedback value of motor.
2. permagnetic synchronous motor decouples vector controlled side under a kind of two-phase rest frame using claim 1 described device
Method, it is characterised in that comprise the steps：
The first step：Controller reads rotary speed instruction information
Second step：Controller reading position sensing data θr, and derivation operation is carried out through derivative module, obtain actual speed letter
Cease ωr；
3rd step：By rotary speed instruction informationWith actual speed information ωrIt is poor to make through rotary speed comparator；
4th step：The result of previous step is sent into rotational speed governor, the amplitude instruction of generation current phasor
5th step：According toRotor position angle θrAnd permagnetic synchronous motor type,Synthesizer calculates generation α axles and β
Axle instruction currentWith
6th step：Controller reads A, B biphase current and is transformed to α axles and β shaft current components i through ClarkαAnd iβ；
7th step：5th step is obtainedThe i obtained with the 6th stepα、iβRespectively through α shaft currents comparator and β shaft currents
Comparator, produce the error signal of each variable；
8th step：The error signal that 7th step obtains is respectively via iαCurrent controller and iβAfter current controller, α axles and β are produced
Axle control voltage component uαAnd uβ；
9th step：Based on component of voltage uα、uβWith rotor position angle θr, SVPWM modules produce 6 road PWM ripples, for control voltage
Source inventer, and then control the operating of permagnetic synchronous motor.
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| CN109951126B (en) * | 2017-12-20 | 2020-12-11 | 广州汽车集团股份有限公司 | Method and system for controlling direct current bus discharge, computer equipment and storage medium |
| CN109194233B (en) * | 2018-09-30 | 2020-08-11 | 深圳市英威腾电动汽车驱动技术有限公司 | Torque closed-loop control system and method of permanent magnet synchronous motor |
| US11091193B2 (en) * | 2018-10-15 | 2021-08-17 | Steering Solutions Ip Holding Corporation | Current mode control utilizing plant inversion decoupling in electric power steering systems |
| CN110649844A (en) * | 2019-09-16 | 2020-01-03 | 北京理工大学 | Brushless direct current motor vector control system and method based on alpha beta current controller |
| RU2760227C1 (en) * | 2020-06-30 | 2021-11-23 | Дмитрий Валерьевич Хачатуров | System and method for vector control of electric engine with permanent magnets |
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| CN101986552A (en) * | 2010-10-28 | 2011-03-16 | 天津大学 | Rotor current control method of double-fed wind driven generator under power grid faults |
| CN102651548A (en) * | 2012-04-16 | 2012-08-29 | 燕山大学 | Voltage fluctuation suppression method for DC (Direct Current) bus of converter at wind power generation system network side |
| CN103904970A (en) * | 2014-04-14 | 2014-07-02 | 东南大学 | Method for controlling PWM converter on electric generator side of nine-phase permanent magnetic wind power generating system |
| CN104167965A (en) * | 2014-08-06 | 2014-11-26 | 三弘重工科技有限公司 | Maximum torque current ratio control method of permanent magnet synchronous motor |
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Patent Citations (4)
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| CN101986552A (en) * | 2010-10-28 | 2011-03-16 | 天津大学 | Rotor current control method of double-fed wind driven generator under power grid faults |
| CN102651548A (en) * | 2012-04-16 | 2012-08-29 | 燕山大学 | Voltage fluctuation suppression method for DC (Direct Current) bus of converter at wind power generation system network side |
| CN103904970A (en) * | 2014-04-14 | 2014-07-02 | 东南大学 | Method for controlling PWM converter on electric generator side of nine-phase permanent magnetic wind power generating system |
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