CN105207558A - Micro-step drive control method of permanent magnet synchronous motor - Google Patents

Abstract

The invention provides a micro-step drive control method of a permanent magnet synchronous motor. The method comprises the steps that a current position of a permanent magnet synchronous motor rotor is detected through a position sensor, and the position of the rotor at the next moment is obtained through calculation; a current value of a permanent magnet synchronous motor stator is detected, and a stator three-phase current of the permanent magnet synchronous motor and a current component under a two-phase static coordinate system are obtained; a current component under a synchronous rotating coordinate system is obtained according to the position of the permanent magnet synchronous motor at the next moment and the current component under the two-phase static coordinate system; a current difference value is obtained finally, a reference voltage, an SVPWM reference input voltage and the three-phase PWM duty ratio under the synchronous rotating coordinate system are generated, a drive voltage of a next cycle is obtained, and drive is completed. By means of the micro-step drive control method of the permanent magnet synchronous motor, the defect that for an existing closed-loop control scheme, when the situations that load inertia is large, control is not stable is overcome, good positioning performance for a large inertial load is achieved, the robustness is strong, the reliability is high, and the control effect is good.

Description

A kind of permagnetic synchronous motor mini-step controlling control method

Technical field

The present invention relates to a kind of permagnetic synchronous motor mini-step controlling control method, particularly a kind of solar array drive unit adopts permagnetic synchronous motor to drive the control method of carrying out mini-step controlling.

Background technology

In order to meet the energy demand of spacecraft operation on orbit, most of spacecraft all adopts sailboard type solar battery array, in order to the utilance of solar cell is high as far as possible, usually adopts solar array drive unit to drive solar array to realize Direct to the sun.Solar array drive unit adopts permagnetic synchronous motor Direct driver close-loop control scheme, and do not establish deceleration device between driving mechanism and flexible load, any characteristic of load and disturbance are all by the unreserved output shaft being passed to drive motors.Under normal circumstances, the inertia of solar array is general all very large, and has the feature such as underdamping, large flexibility, makes windsurfing driving realize high-performance closed-loop control very difficult, easily makes control become unstable.

" the micro-stepping scaling method of permagnetic synchronous motor Multi-Switch HALL and vector control system thereof " (electrical micro-machine, 2009,42nd volume, 10th phase) output signal the method with motor pole location position for a kind of big retarding that uses than the switch HALL that the satellite aerial directing mechanism of decelerator adopts permagnetic synchronous motor drive scheme to propose employing step motion control, the application SVPWM way of output exports the voltage vector of specific corner, realize 360 degree of electrical degrees 65536 divide, in essence the opened loop control scheme of also still a kind of VVVF.

" the permagnetic synchronous motor position control system based on torque angle-control " (electrotechnics journal, 2006, 21st volume, 1st phase), " the PMSM servo system simulation and design based on torque angle-control " (power electronic technology, 2012, 46th volume, 8th phase) although etc. the analytical method that adopts of document be all torque angle displacement characteristic according to motor, realize the Position Control of permagnetic synchronous motor, but controlled quentity controlled variable is the three phase control electric currents directly controlling motor, directly discretization control is carried out to three-phase current, therefore the physical significance that this control method is corresponding with the torque angle-control of stator current vector is also not obvious.

Patent " permagnetic synchronous motor open-loop control method and system based on SVPWM modulation " searches the amplitude of stator voltage corresponding to given stator power frequency by the bivector table searching stator voltage and stator power frequency for each given stator power frequency, this bivector table presets than curve according to segmented voltage-frequency, namely the stator voltage in the bivector table provided and the ratio of stator power frequency are not constant value, and be different in different segments, realize opened loop control by compensating V/F curve direct voltage output vector.

Summary of the invention

The technical problem that the present invention solves is: overcome the deficiencies in the prior art, solve existing solar array driving mechanism and adopt permagnetic synchronous motor Direct driver close-loop control scheme, have when in the face of situations such as load inertia is large, underdamping, large flexibility and control unstable defect, propose a kind of permagnetic synchronous motor mini-step controlling control method, for large inertia load, there is good positioning performance, and strong robustness, reliability is high, control effects good.

Technical solution of the present invention is: a kind of permagnetic synchronous motor mini-step controlling control method, comprises the steps:

(1) detect permanent-magnetic synchronous motor rotor current location, and be designated as permanent-magnet synchronous motor rotor position initial value θ ₀, calculate the position θ of rotor subsequent time _reffor

${\mathrm{\θ}}_{ref}={\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t-\frac{\mathrm{\π}}{2}$

Wherein, ω _efor permanent-magnetic synchronous motor stator current phasor electric rotating angular speed, t is permagnetic synchronous motor mini-step controlling control cycle;

(2) use two current sensors to detect the current value of permanent-magnetic synchronous motor stator, and be designated as i _a, i _b, and then obtain the stator three-phase current i of permagnetic synchronous motor _a, i _b, i _c, to three-phase current i _a, i _band i _ccarry out 3/2 coordinate transform, obtain the current component i under two-phase rest frame _α, i _βfor

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& \frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]$

Wherein, i _c=-i _a-i _b;

(3) according to permanent-magnetic synchronous motor rotor subsequent time position θ _refto the current component i under synchronous rotating frame _α, i _βcarry out static rotating coordinate transformation, obtain the current component i under synchronous rotating frame _sd, i _sqfor

$\left[\begin{array}{c}{i}_{sd}\\ i_{sq}\end{array}\right]=\left[\begin{array}{cc}{\mathrm{cos\θ}}_{ref}& {\mathrm{sin\θ}}_{ref}\\ -{\mathrm{sin\θ}}_{ref}& {\mathrm{cos\θ}}_{ref}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]$

(4) permagnetic synchronous motor torque current set-point is made for with i _sqcompare and obtain current differential Δ i _sq, make permagnetic synchronous motor exciting current set-point be zero, with i _sdcompare and obtain current differential Δ i _sd, wherein, for the nominal current magnitude of permagnetic synchronous motor;

(5) according to current differential Δ i _sd, current differential Δ i _sqgenerate the reference voltage under synchronous rotating frame for

$\left\{\begin{array}{c}{u}_{sd}^{*}=k_{pi}\·{\mathrm{\Δi}}_{sd}+k_{ii}{\∫}_0^t{\mathrm{\Δi}}_{sd}dt\\ u_{sq}^{*}=k_{pi}\·{\mathrm{\Δi}}_{sq}+k_{ii}{\∫}_0^t{\mathrm{\Δi}}_{sq}dt\end{array}\right.$

Wherein, k _pifor electric current loop regulates proportionality coefficient, k _iifor electric current loop regulates integral coefficient;

(6) according to permanent-magnetic synchronous motor rotor subsequent time position θ _ref, reference voltage under synchronous rotating frame and calculate the reference input voltage of SVPWM with for

$\left[\begin{array}{c}{u}_{s\mathrm{\α}}^{*}\\ u_{s\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}{\mathrm{cos\θ}}_{ref}& -{\mathrm{sin\θ}}_{ref}\\ {\mathrm{sin\θ}}_{ref}& {\mathrm{cos\θ}}_{ref}\end{array}\right]\left[\begin{array}{c}{u}_{sd}^{*}\\ u_{sq}^{*}\end{array}\right];$

(7) will with as the voltage that next periodic permanent magnet synchronous machine mini-step controlling controls, then SVPWM is used to calculate three-phase PWM duty ratio, use three-phase inverter to produce the driving voltage of next cycle according to three-phase PWM duty ratio, and use this driving voltage to drive permagnetic synchronous motor.

Described electric current loop regulates proportionality coefficient k _pispan be [3.5,10], electric current loop regulates integral coefficient k _iispan be [0.3,0.8].

Described electric current loop regulates proportionality coefficient k _pivalue be 7.5, electric current loop regulates integral coefficient k _iivalue be 0.5819.

The present invention's advantage is compared with prior art:

(1) the permagnetic synchronous motor mini-step controlling of the inventive method uses rotating speed open-loop control method, by the increment control algorithm that permanent-magnetic synchronous motor stator current phasor is discrete, solve existing driving method when driving large inertia, underdamping, large flexible load easy resonance, control unstable defect, have system configuration simple, control strong robustness, high reliability;

(2) the inventive method is a kind of rotating speed open loop driving method of direct control electric current, has that current harmonics is little, the advantage of moment stable output;

(3) the inventive method directly controls permanent-magnetic synchronous motor stator current phasor, the position of rotation of stator current vector is carried out discretization, compared with existing drived control method, can determine that the anchor point of stator current vector followed by rotor, obtain the step motion control effect of similar stepping motor;

(4) the inventive method can be used in other permagnetic synchronous motor open loop drive scheme, and can be applied to the large inertia such as blower fan, space-vehicle antenna driving mechanism, water pump, machine tool and without the need to the applied environment of frequent speed regulating control.

Accompanying drawing explanation

Fig. 1 is a kind of permagnetic synchronous motor mini-step controlling of the present invention control method flow chart;

Fig. 2 is the inventive method permagnetic synchronous motor equivalent model under synchronous rotating frame

Fig. 3 is the movement locus that in the inventive method, mini-step controlling controls rotor;

Fig. 4 is the inventive method permagnetic synchronous motor A phase current curve;

Fig. 5 is the inventive method permagnetic synchronous motor mini-step controlling velocity perturbation curve;

Fig. 6 is the velocity wave form test result of the inventive method solar wing simulation flexible load under different torque current drives.

Embodiment

A kind of permagnetic synchronous motor mini-step controlling control method, based on permagnetic synchronous motor field-oriented vector control, target controls permanent-magnetic synchronous motor rotor at the uniform velocity to change with the given position of stator current vector and rotate, it realizes principle is according to permanent-magnetic synchronous motor rotor field orientation principle, when a current phasor given in fixed position, then the positive direction (sensing of N pole) of permanent-magnetic synchronous motor rotor permanent magnet is fixed on given position.

The inventive method is by the following technical solutions: the control system be illustrated in figure 1 needed for a kind of permagnetic synchronous motor mini-step controlling of the present invention control method comprises permagnetic synchronous motor 1, position transducer or position-sensor-free rotor-position detection module 2, the given computing module 3 in position, current sensor 4, coordinate transformation module 5, d shaft current ring adjustment module 6, q shaft current ring adjustment module 7, rotational coordinates inverse transform block 8, SVPWM module 9, three-phase inverter 10, wherein, position transducer or position-sensor-free rotor-position detection module 2 are for initial alignment, also position-sensor-free technology can be adopted to carry out the initial alignment of permagnetic synchronous motor, SVPWM module 9 is space vector pulse width modulation module, t ₁(k+1), t ₂and t (k+1) ₃(k+1) be the three-phase duty ratio of SVPWM module output.

Under amplitude principle of invariance, the Mathematical Modeling of permagnetic synchronous motor under synchronous rotating frame (dq synchronous coordinate system) is

$\left\{\begin{array}{c}{u}_{sd}={\mathrm{p\ψ}}_{sd}-p_n{\mathrm{\ψ}}_{sq}{\mathrm{\ω}}_r+R_s{i}_{sd}\\ u_{sq}={\mathrm{p\ψ}}_{sq}+p_n{\mathrm{\ψ}}_{sd}{\mathrm{\ω}}_r+R_s{i}_{sq}\end{array}\right.---\left(1\right)$

In formula, permanent-magnetic synchronous motor stator winding flux linkage equations is expressed as

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{sd}=L_{sd}{i}_{sd}+{\mathrm{\ψ}}_r\\ {\mathrm{\ψ}}_{sq}=L_{sq}{i}_{sq}\end{array}\right.---\left(2\right)$

Wherein: u _sd, u _sqrepresent d, q shaft voltage of permanent-magnetic synchronous motor stator side, i _sd, i _sqrepresent d, q shaft current of stator side, R _srepresent stator side armature resistance, ω _rrepresent permanent-magnetic synchronous motor rotor mechanical angle frequency, p is differential operator, L _sd, L _sqrepresent d, q axle inductance of stator side, ψ _sd, ψ _sqrepresent d, q axle magnetic linkage of stator side, ψ _rrepresent the magnetic linkage that permanent-magnetic synchronous motor rotor permanent magnet produces in the stator windings, i.e. rotor permanent magnet magnetic linkage, p _nrepresent rotor pole logarithm.

Motor electromagnetic torque equation:

$T_e=\frac{3}{2}{p}_n({\mathrm{\ψ}}_{sd}{i}_{aq}-{\mathrm{\ψ}}_{sq}{i}_{sd})---\left(3\right)$

Formula (2) is substituted into formula (3), and obtaining permagnetic synchronous motor electromagnetic torque expression formula is

$T_e=\frac{3}{2}{p}_n\[(L_{sd}-L_{sq})i_{sd}{i}_{sq}+{\mathrm{\ψ}}_r{i}_{sq}\]---\left(4\right)$

The present invention selects the sinusoidal wave magnetomotive force of stator orthogonal with between permanent magnet first-harmonic excitation field, and independent control stator current amplitude, realize the uneoupled control of dq axle in rotor synchronously rotating reference frame, for realizing rotor field-oriented vector control, order

$i_{sd}=i_{sd}^{*}=0,i_{sq}=i_{sq}^{*}---\left(5\right)$

Wherein for permagnetic synchronous motor torque current set-point for making permagnetic synchronous motor exciting current set-point.

Achieve the independent control to two current components, thus achieve torque and the independent control of air-gap flux realization, can obtain electromagnetic torque expression formula is

$T_e=\frac{3}{2}{p}_n{\mathrm{\ψ}}_r{i}_{sq}---\left(6\right)$

Under dq coordinate system, permagnetic synchronous motor equivalent model as shown in Figure 2, wherein, 1 is two-phase rest frame, 2 is dq synchronous rotating frame, and 3 is permanent-magnet synchronous motor rotor position, and d direction of principal axis is permanent-magnetic synchronous motor rotor excitation flux linkage direction, q direction of principal axis is that d axle is rotated counterclockwise 90 ° of electrical degree directions, β is the angle in motor threephase stator electric current blended space vector and permanent magnet excitation magnetic field axis (d-axis), is also called angle of torsion, θ _efor the angle of d axle axis and A phase winding axis.By stator current i _scarry out the decomposition of dq axle, its d axle component and q axle component statement as follows:

$\left\{\begin{array}{c}{i}_{sd}=i_s\cos \mathrm{\β}\\ i_{sq}=i_s\sin \mathrm{\β}\end{array}\right.---\left(7\right)$

Wherein, β is the angle of permanent-magnetic synchronous motor stator current phasor and permanent-magnetic synchronous motor rotor d-axis.

Formula (7) is substituted into formula (4), and the electromagnetic torque equation that can obtain in permagnetic synchronous motor Mathematical Modeling is

$T_e=\frac{3}{2}{p}_n\[{\mathrm{\ψ}}_r{i}_{s}sin\mathrm{\β}+\frac{1}{2}(L_{sd}-L_{sq})i_s^{2}sin2\mathrm{\β}\]---\left(8\right)$

The inventive method adopts non-salient pole permanent magnet synchronous motor.Torque expression formula can simplify as follows:

$T_e=\frac{3}{2}{p}_n{\mathrm{\ψ}}_r{i}_s\sin \mathrm{\β}---\left(9\right)$

Keeping stator current vector amplitude constant, by changing stator current vector and rotor d-axis angle β, obtaining the electromagnetic torque T of motor _ebe directly proportional to β sine value.

The inventive method adopts i _sdthe vector control strategy of=0, now stator current vector stator current vector is consistent with torque current direction.The present invention need carry out initial alignment to motor, and definition current rotor initial position is θ ₀, now given permanent-magnetic synchronous motor stator current phasor constant amplitude, stator current vector position θ _ref=θ ₀, the positioning principle according to Fig. 2, rotor produces a larger instantaneous velocity by receiving a larger torque, until after rotor turns over 90 degree of electrical degrees, the torque that stator current vector and rotor flux produce is close to 0.Therefore, be given as in the inventive method initial alignment process

$i_{sq}=I_{sm}^{*},{\mathrm{\θ}}_{ref}={\mathrm{\θ}}_0-\frac{\mathrm{\π}}{2}---\left(10\right)$

Wherein, for the nominal current magnitude of permagnetic synchronous motor, θ _reffor the position of rotor subsequent time, the torque now between stator current vector and rotor flux is approximately 0, thus realizes rotor and remain on current location.Consider that stator current vector rotates according to given speed and direction, stator current vector constant amplitude, obtains simultaneously

$\left\{\begin{array}{c}{i}_{sq}=I_{sm}^{*}\\ {\mathrm{\θ}}_{ref}={\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t-\frac{\mathrm{\π}}{2}\end{array}\right.---\left(11\right)$

In formula, ω _efor permanent-magnetic synchronous motor stator current phasor electric rotating angular speed.

Now permanent-magnetic synchronous motor rotor magnetomotive force and permanent-magnetic synchronous motor stator electric current magnetomotive force interlinkage, produce such as formula the driving torque shown in (9), and rotor also followed by the given speed of stator current and direction is rotated.

According to dq rotation transformation and 3/2 conversion, the three-phase windings current i of permagnetic synchronous motor now can be passed into _a, i _b, i _cfor

$\left[\begin{array}{c}{i}_A\\ i_B\\ i_c\end{array}\right]=I_{sm}^{*}\left[\begin{array}{c}cos({\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t+\frac{\mathrm{\π}}{2})\\ cos({\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t-\frac{\mathrm{\π}}{6})\\ cos({\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t+\frac{5\mathrm{\π}}{6})\end{array}\right]---\left(12\right)$

From above formula, the electric current passed in permagnetic synchronous motor three-phase windings is essentially three-phase symmetrical electric current.The inventive method adopts Digital Control, and what permanent-magnetic synchronous motor stator current phasor produced is not continuous print circular rotating field, but discrete polygon magnetic field.Permanent-magnetic synchronous motor stator current phasor carries out discretization an electric cycle, then become uniform discrete stator current vector, so just can determine that permanent-magnetic synchronous motor rotor follows the anchor point of permanent-magnetic synchronous motor stator current phasor, therefore obtain the step motion control effect of similar stepping motor.After permanent-magnetic synchronous motor stator current phasor discretization, the angle between adjacent permanent magnet synchronous motor stator current phasor is defined as micro-stepping angle, supposes the time interval Δ T-phase etc. that stator current vector stepping changes, then the micro-stepping angle θ of permagnetic synchronous motor driving _mbe described below:

θ _m＝ω _eΔT＝p _nω _rΔT(13)

Be analogous to Design of Stepper Motor Subdivision to control, the thin fractional expression that permagnetic synchronous motor mini-step controlling controls is as follows

$k=\frac{2\mathrm{\π}}{{\mathrm{\ω}}_r\mathrm{\Δ}T}---\left(14\right)$

In theory, rotational speed setup is less, and k is larger for segmentation number.

According to torque formula (9), under can obtaining adopting micro-step drive mode, the driving torque of rotor is shown below

$T_e=\frac{3}{2}{p}_n{\mathrm{\ψ}}_r{I}_{sm}\sin ({\mathrm{\θ}}_{ref}-{\mathrm{\θ}}_r)=\frac{3}{2}{p}_n{\mathrm{\ψ}}_r{I}_{sm}sin({\mathrm{\θ}}_0+{\mathrm{kp}}_n{\mathrm{\ω}}_r\mathrm{\Δ}T-{\mathrm{\θ}}_r)---\left(15\right)$

In formula, θ _rfor current permanent-magnetic synchronous motor rotor mechanical angle position.

Torque shown in formula (15) is the reset torque that permagnetic synchronous motor produces, reset torque forces the angle between rotor to be zero, make rotor can follow the motion of stator current vector and rotate, thus to obtain the given position of stator current vector be exactly realize the position location that rotor incremental motion reaches.Therefore, stator current vector is often stepped further, due to the effect of reset torque, rotor also follow one step motion, its motion process as shown in Figure 3, wherein, 1 is given permanent-magnetic synchronous motor stator current phasor position, 2 is permanent-magnetic synchronous motor rotor physical location, as shown in Figure 4, Figure 5 for the inventive method is when stator current vector amplitude is given as 0.6A, drives 40.6kgm ²the result of the test of solar wing simulation flexible load, the cruising speed of solar array is 0.06 °/s, Fig. 4 is permagnetic synchronous motor A phase current curve, Fig. 5 is permagnetic synchronous motor mini-step controlling velocity perturbation curve, is illustrated in figure 6 and drives 40.6kgm at different torque currents to fixing respectively according to this method invention implementation strategy ²the velocity wave form test result of solar wing simulation flexible load.Further describe a kind of permagnetic synchronous motor mini-step controlling control method below by specific embodiment, a kind of control method of permagnetic synchronous motor mini-step controlling control method comprises the following steps:

(1) the permanent-magnetic synchronous motor rotor current location that position transducer or position-sensor-free rotor position detecting method detect sends into speed preset module, as permanent-magnet synchronous motor rotor position initial value θ ₀, the given position θ of rotor subsequent time is calculated by the given computing module in position _ref, namely

${\mathrm{\θ}}_{ref}={\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t-\frac{\mathrm{\π}}{2}$

Wherein, t is the control cycle of PMSM Drive System, ω _efor permanent-magnetic synchronous motor stator current phasor electric rotating angular speed.

(2) rotor-position set-point θ speed preset module calculated _refthe current value i of the permanent-magnetic synchronous motor stator that (given position of subsequent time), two current sensors detect _aand i _ball transfer to coordinate transformation module;

(3) in coordinate transformation module, to biphase current i _aand i _bcarry out Vector operation, obtain the stator three-phase current i of motor _a, i _band i _c, to three-phase current i _a, i _band i _ccarry out 3/2 coordinate transform, obtain the current component i under two-phase rest frame _αand i _β, namely

$\left[\begin{array}{c}{i}_a\\ i_{\mathrm{\β}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& \frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]$

Wherein, i _c=-i _a-i _b;

According to the rotor-position set-point θ calculated _ref, to the current component i under two-phase rest frame _αand i _βcarry out static/rotating coordinate transformation, obtain the current component i under synchronous rotating frame _sdand i _sq

$\left[\begin{array}{c}{i}_{sd}\\ i_{sq}\end{array}\right]=\left[\begin{array}{cc}{\mathrm{cos\θ}}_{ref}& {\mathrm{sin\θ}}_{ref}\\ -{\mathrm{sin\θ}}_{ref}& {\mathrm{cos\θ}}_{ref}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right].$

(4) torque current set-point is given as constant exciting current set-point is zero, torque current set-point current detection value i _sdcompare and obtain current differential Δ i _sd, exciting current set-point and i _sqcompare and obtain current differential Δ i _sq, wherein, for the nominal current magnitude of permagnetic synchronous motor.

(5) current differential Δ i _sdthe reference voltage under rotating coordinate system is exported after d shaft current ring adjustment module calculates current differential Δ i _sqthe reference voltage under rotating coordinate system is exported after q shaft current ring adjustment module calculates

$\left\{\begin{array}{c}{u}_{sd}^{*}=k_{pi}\·{\mathrm{\Δi}}_{sd}+k_{ii}{\∫}_0^t{\mathrm{\Δi}}_{sd}dt\\ u_{sq}^{*}=k_{pi}\·{\mathrm{\Δi}}_{sq}+k_{ii}{\∫}_0^t{\mathrm{\Δi}}_{sq}dt\end{array}\right.$

Wherein, k _pifor d shaft current ring adjustment module or q shaft current ring adjustment module proportionality coefficient, k _iifor d shaft current ring adjustment module or q shaft current ring adjustment module integral coefficient, design of current ring requires that dynamic response is very fast and don't allow excessive overshoot, can come design current ring adjuster proportionality coefficient and integral coefficient by the typical second-order system system engineering best approach.

(6) the rotor-position set-point θ given for position computing module calculated _ref, reference voltage under rotating coordinate system with transfer to rotational coordinates inverse transform block, calculate the reference input voltage of SVPWM module with for

$\left[\begin{array}{c}{u}_{s\mathrm{\α}}^{*}\\ u_{s\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}{\mathrm{cos\θ}}_{ref}& -{\mathrm{sin\θ}}_{ref}\\ {\mathrm{sin\θ}}_{ref}& {\mathrm{cos\θ}}_{ref}\end{array}\right]\left[\begin{array}{c}{u}_{sd}^{*}\\ u_{sq}^{*}\end{array}\right]$

(7) reference input voltage of SVPWM module will calculated with the voltage transmission applied as next cycle is to SVPWM module, three-phase PWM (the PulseWidthModulation calculated by SVPWM module, pulse-width modulation) duty ratio, and after entering next cycle by export three-phase duty ratio PWM waveform transfer to three-phase inverter, three-phase inverter is applied on permagnetic synchronous motor according to the corresponding voltage of PWM waveform generation of input, drives permagnetic synchronous motor work.

In addition, in the inventive method, electric current loop regulates proportionality coefficient k _pispan be 3.5-10, recommendation is 7.5, and electric current loop regulates integral coefficient k _iispan be 0.3-0.8, recommendation is 0.5819, and control cycle is 250us.

The content be not described in detail in specification of the present invention belongs to the known technology of those skilled in the art.

Claims (3)

1. a permagnetic synchronous motor mini-step controlling control method, is characterized in that comprising the steps:

(1) detect permanent-magnetic synchronous motor rotor current location, and be designated as permanent-magnet synchronous motor rotor position initial value θ ₀, calculate the position θ of rotor subsequent time _reffor

${\mathrm{\θ}}_{ref}={\mathrm{\θ}}_0+{\mathrm{\ω}}_{e}t-\frac{\mathrm{\π}}{2}$

Wherein, ω _efor permanent-magnetic synchronous motor stator current phasor electric rotating angular speed, t is permagnetic synchronous motor mini-step controlling control cycle;

(2) use two current sensors to detect the current value of permanent-magnetic synchronous motor stator, and be designated as i _a, i _b, and then obtain the stator three-phase current i of permagnetic synchronous motor _a, i _b, i _c, to three-phase current i _a, i _band i _ccarry out 3/2 coordinate transform, obtain the current component i under two-phase rest frame _α, i _βfor

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& \frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]$

Wherein, i _c=-i _a-i _b;

(3) according to permanent-magnetic synchronous motor rotor subsequent time position θ _refto the current component i under synchronous rotating frame _α, i _βcarry out static rotating coordinate transformation, obtain the current component i under synchronous rotating frame _sd, i _sqfor

$\left[\begin{array}{c}{i}_{sd}\\ i_{sq}\end{array}\right]=\left[\begin{array}{cc}{\mathrm{cos\θ}}_{ref}& {\mathrm{sin\θ}}_{ref}\\ -{\mathrm{sin\θ}}_{ref}& {\mathrm{cos\θ}}_{ref}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]$

(4) permagnetic synchronous motor torque current set-point is made for with i _sqcompare and obtain current differential Δ i _sq, make permagnetic synchronous motor exciting current set-point be zero, with i _sdcompare and obtain current differential Δ i _sd, wherein, for the nominal current magnitude of permagnetic synchronous motor;

(5) according to current differential Δ i _sd, current differential Δ i _sqgenerate the reference voltage under synchronous rotating frame for

$\left\{\begin{array}{c}{u}_{sd}^{*}=k_{pi}\·\mathrm{\Δ}{i}_{sd}+k_{ii}{\∫}_0^t{\mathrm{\Δi}}_{sd}dt\\ u_{sq}^{*}=k_{pi}\·\mathrm{\Δ}{i}_{sq}+k_{ii}{\∫}_0^t{\mathrm{\Δi}}_{sq}dt\end{array}\right.$

Wherein, k _pifor electric current loop regulates proportionality coefficient, k _iifor electric current loop regulates integral coefficient;

(6) according to permanent-magnetic synchronous motor rotor subsequent time position θ _ref, reference voltage under synchronous rotating frame and calculate the reference input voltage of SVPWM with for

$\left[\begin{array}{c}{u}_{s\mathrm{\α}}^{*}\\ u_{s\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}{\mathrm{cos\θ}}_{ref}& -{\mathrm{sin\θ}}_{ref}\\ {\mathrm{sin\θ}}_{ref}& {\mathrm{cos\θ}}_{ref}\end{array}\right]\left[\begin{array}{c}{u}_{sd}^{*}\\ u_{sq}^{*}\end{array}\right];$

(7) will with as the voltage that next periodic permanent magnet synchronous machine mini-step controlling controls, then SVPWM is used to calculate three-phase PWM duty ratio, use three-phase inverter to produce the driving voltage of next cycle according to three-phase PWM duty ratio, and use this driving voltage to drive permagnetic synchronous motor.

2. a kind of permagnetic synchronous motor mini-step controlling control method according to claim 1, is characterized in that: described electric current loop regulates proportionality coefficient k _pispan be [3.5,10], electric current loop regulates integral coefficient k _iispan be [0.3,0.8].

3. a kind of permagnetic synchronous motor mini-step controlling control method according to claim 2, is characterized in that: described electric current loop regulates proportionality coefficient k _pivalue be 7.5, electric current loop regulates integral coefficient k _iivalue be 0.5819.