CN105450126A - Vector control method for vehicle-mounted permanent magnet synchronous motor - Google Patents
Vector control method for vehicle-mounted permanent magnet synchronous motor Download PDFInfo
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- CN105450126A CN105450126A CN201510952134.8A CN201510952134A CN105450126A CN 105450126 A CN105450126 A CN 105450126A CN 201510952134 A CN201510952134 A CN 201510952134A CN 105450126 A CN105450126 A CN 105450126A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The invention discloses a vector control method for a vehicle-mounted permanent magnet synchronous motor. The vector control method comprises the following steps: step 1, detecting motor speed and obtaining speed feedback v of the motor; step 2, re-calculating a torque current compensation control instruction i*qcomp by adopting a repetitive controller according to deviation e between a comparison speed instruction v* and the speed feedback v; step 3, designing a current sampling and current loop calculating policy; step 4, controlling an excitation current instruction i*d to be equal to 0 according to the current sampling and current loop calculating policy designed in the step 3, and performing current loop PI control by combining the torque current instruction i*q in the step 2; and step 5, working out rotor electric angle theta according to the detected speed feedback v, and through combination with the output voltage under a dp rotating coordinate system in the step 4, generating a PWM chopping wave for controlling the motor by adopting a PWM modulation method that combines asynchronous modulation with synchronous modulation.
Description
Technical field
The present invention relates to the control method of motor, particularly a kind of vehicle-mounted permagnetic synchronous motor vector control method.
Background technology
Permagnetic synchronous motor is a kind of high-performance, high efficiency buncher, is mainly used in high control precision and high reliability occasion, is also widely used in the field of track traffic such as tramcar, electric automobile at present.In these occasions, because modular power is comparatively large, running frequency requires high, has that carrier frequency is low, running frequency high, thus it is large to cause current sample to fluctuate, and electric current loop bandwidth is lower, influential system stability.In addition, permagnetic synchronous motor can cause torque cycle to fluctuate due to self-field characteristic and external command, the steady-state behaviour of influential system.Such as Chinese invention patent " Vector Control System of Induction Motor method used for electric vehicle ", application number is 201410074936.9, discloses after comprising and determining the given T*e of torque as required by driver, determines the given i*sd=ψ of d shaft current
r/ L
m, the given i*sq=K of q shaft current
mt*e/i*sd, after being detected by current sensor, d, q shaft current feedback isd, isq is obtained through 3s/2s, 2s/2r conversion, respectively PI adjustment is carried out to the difference of d, q shaft current given i*sd, i*sq and current feedback isd, isq, output voltage u*sd, u*sq, obtain controlling effect for space vector PWM inverter through 2r/2s conversion, modulation obtains three-phase alternating current, thus drives asynchronous machine to run.The torque of the method to motor directly controls, and improves the torque responsing speed of motor.But because current sample and electric current loop time delay cause the instability of system, simultaneously because the self-field characteristics such as slot effect and external command can cause torque cycle to fluctuate, thus the stable state accuracy of influential system.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of vehicle-mounted permagnetic synchronous motor vector control method, is applicable to the vehicle-mounted permagnetic synchronous motor that carrier frequency is low, running frequency is high.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of vehicle-mounted permagnetic synchronous motor vector control method, its step comprises:
The first, detect motor speed, obtain the velocity feedback v of motor, compare speed command v
*and the deviation e between velocity feedback v, adopt PI controller to calculate motor torque electric current, PI controller output order i*qpid; I*qcomp
The second, according to comparing speed command v
*and the deviation e between velocity feedback v, adopt repetitive controller calculating torque current compensation control command i*qcomp again, export i*qpid in conjunction with the torque current PI controller calculated in the first step, obtain the actual torque current instruction i*q come into force;
3rd, design current sampling and electric current loop calculative strategy, the vehicle-mounted permagnetic synchronous motor application scenario that, running frequency low at carrier frequency is high, adopts independently current sample to interrupt and PWM sends out ripple interruption;
4th, according to current sample and the electric current loop calculative strategy of the 3rd step design, control excitation current instruction i*d=0, perform electric current loop PI in conjunction with the square current-order i*q in second step and control, and calculate d
qoutput voltage instruction u*d, u*q under rotating coordinate system;
5th, according to detecting the velocity feedback v obtained, calculating and obtaining rotor electrical angle θ, then d in integrating step the 4th step
qoutput voltage under rotating coordinate system, adopts the PWM method that asynchronous modulation and synchronous modulation combine, and generates PWM copped wave and controls motor.
Preferably, the concrete steps of described 3rd step comprise:
A, under the prerequisite meeting program execution time, current sample interruption frequency can be improved as far as possible, perform the feedback current of electric current loop and adopt the mean value in the electric current loop execution cycle, thus reduce current sample fluctuation and accuracy;
B, PWM send out ripple and interrupt performing electric current loop calculating output voltage, in numerical control system, calculating location and the position of coming into force of the PWM ripple of its output voltage are usually inconsistent, the time delay of meeting generation current ring, Limited Current endless belt is wide, therefore adopts and performs electric current loop calculating in the centre position of PWM triangular carrier or closer to the position of coming into force of PWM ripple, thus reduce electric current loop time delay, extend current endless belt is wide, improves system at low carrier than the stability in situation.
The invention has the beneficial effects as follows: a kind of vehicle-mounted permagnetic synchronous motor vector control method is provided, under considering the vehicle-mounted permanent magnet synchronous machine occasion that carrier frequency is low, running frequency is high, because current sample and electric current loop time delay cause the instability of system, adopt independently current sample interruption and PWM to send out ripple to interrupt, and change electric current loop calculating location, thus reducing electric current loop time delay, extend current endless belt is wide, effectively improves system at low carrier than the stability in situation.In addition, system considers permagnetic synchronous motor due to the self-field characteristics such as slot effect and external command and torque cycle can be caused to fluctuate, adopt the instruction of Repetitive controller calculating torque current compensation, suppress cyclic fluctuation, the stable state accuracy of raising system, in conjunction with the control strategy of traditional i*d=0, be especially applicable to being applied to the vehicle-mounted permanent magnet synchronous machine that carrier frequency is low, running frequency is high and control occasion.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Fig. 1 is discrete repetitive controller structure chart of the present invention, and the discretization that in figure, e (z) is velocity deviation represents, Z
-Nfor time delay process, Z
rfor leading phase compensation link, K
rPfor repeating ride gain, Q (z) is low pass filter or constant, and S (z) is compensator, and N is the number of samples of digitial controller each cycle, U
rP1k () exported for system before compensator, U
rPk () exports for system after compensator.
Fig. 2 is the software flow pattern of discrete repetitive controller of the present invention.
Fig. 3 is electric current loop Dynamic structure diagram of the present invention, and map parameter all represents under synchronous rotating frame, and wherein ir*dqs is current-order, and irdqs is current feedback, K
p, K
ifor electric current loop PI parameter, urdqs_e is back-emf compensation term, jw
rl
sfor current cross decoupling zero item, for eliminating the revolving electro-motive force that interferes with each other to the impact of Current Control, ur*dqs is reference stator voltage, T
pfor PWM upgrades time delay, T
pWMfor PWM comes into force time delay, erdqs is winding back emf, L
sfor the inductance of cross, straight axle winding, R
sfor stator resistance, S is differential operator.
Fig. 4 is the sequential chart of electric current loop of the present invention.
Fig. 5 is the theory diagram of permagnetic synchronous motor vector control of the present invention.
Embodiment
Below preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
According to Fig. 1 and Fig. 2, for surface-mount type permagnetic synchronous motor, the optimum configurations of repetitive controller and using method are described.
The transfer function of repetitive controller is:
（1）
The output of repetitive controller is:
（2）
In formula (2), K is the sampled point in each cycle, the span of K is 0 ~ (N-1), as can be seen from formula (2), repetitive controller is when ignoring compensating controller S (z), the output variable of the repetitive controller in this cycle K moment is the controller in K of upper cycle moment and the combination of upper K+R cycle, error moment, and embodying repetitive controller had a reproduction upper moment to control the control thought of output variable and phase compensation.
In above-mentioned repetitive controller, relative parameters setting is illustrated as: Q (z) is system gain, when Q (z)=1, the steady-state error of system can be made to be 0, but system is in critical stable state, consider steady-state error and stability, generally get be less than and close to 1 constant or low pass filter;
for differentiation element, for compensating the delayed phase that S (z) causes, according to delayed phase situation, suitable advanced beat can be selected; K
rPfor adjustable gain, K
rPthe less error convergence speed that makes is faster, and the stability of a system is poorer, K
rPthe less error convergence speed that makes is slower, and the stability of a system more nargin is better, needs balance to consider, parameter between desirable 0.5 ~ 2.0; S (z) is compensator, offsets the higher resonance peak of control object, and to improve the stability of system and anti-High-frequency Interference ability, it to be multiplied with FIR filter acquisition by second-order low-pass filter, and its mathematic(al) representation is
.With above-mentioned parameters, repetitive controller software flow pattern shown in composition graphs 2, can realize permagnetic synchronous motor repetitive controller.
According to Fig. 3 and Fig. 4, for surface-mount type permagnetic synchronous motor, derive to permagnetic synchronous motor electric current loop bandwidth contributions factor, thus design current sampling and electric current loop calculate sequential, extend current endless belt is wide, improves the stability of a system.
The stator voltage equation of permagnetic synchronous motor under rotating coordinate system is:
（3）
In formula, urdqs is stator voltage, R
sfor stator resistance, irdqs is stator current, w
rfor spinner velocity, ψ rdqs is stator magnetic flux, and parameter is complex vector, Ardqs=Ards+Arqs, wherein A=u, i, ψ.
Permagnetic synchronous motor flux linkage equations under rotating coordinate system is:
（4）
In formula, L
s1for the leakage inductance of cross, straight axle winding, L
mq, L
mdbe respectively the cross, straight axle magnetizing inductance of stator, for surface-mount type permanent magnet synchronous machine, have:
L
mq=L
md=L
m（5）
Formula (4), (5) are substituted into formula (3), obtain:
（6）
In digital signal control system, electric current loop calculating output voltage point and actual output voltage come into force and a little there is time delay, as shown in Figure 4, at (K-1) T
ctime etching system utilize sampled value to carry out current regulator computing, calculate output voltage PWM duty ratio, but need to wait until (K-0.5) T
cor KT
cmoment, just realize PWM duty ratio output signal renewal, the system delay time by current sample mode and electric current loop executive mode relevant.
According to permagnetic synchronous motor voltage system, consider system delay, set up the electric current loop Dynamic structure diagram containing system delay, as shown in Figure 3, under synchronous rotating frame, the electric current loop open-loop transfer function after compensating back-emf and realizing current cross decoupling zero is
（8）
In formula, T
cr=K
p/ K
i, be proportionality coefficient and the integral coefficient ratio of PI, T
cr=L
s/ R
s, be the electromagnetic time constant in armature loop, it represents the large time constant in control object, T
p, T
pWMall small time constant, T
pt
i, T
pWMt
i, merged by small time constant, the electric current loop open-loop transfer function simplifying system is
（9）
In formula, T
delay=T
p+ T
pWM, consider that electric current loop needs dynamic following performance faster, according to typical I type system current regulator, select T
cr=T
i, obtaining current closed-loop transfer function is
（10）
Damping ratio ξ can be obtained, closed loop cut-off frequency w by formula (10)
cbfor
（11）
（12）
Adjust according to 2 rank the bests, select damping ratio to be 0.707, then Proportional coefficient K
p, closed loop cut-off frequency w
cbfor
（13）
（14）
The cut-off frequency w of electric current loop can be found out by formula (14)
cbwith delay time T
delaybe inversely proportional to, select suitable current sample and electric current loop calculative strategy, can reduce delay time, extend current endless belt is wide, improves the stability of a system.
Current sample of the present invention and electric current loop calculate sequential as shown in Figure 4, independently PWM is adopted to interrupt and current sample interruption, current sample interruption frequency is higher, PWM interrupts performing electric current loop and calculates PWM duty ratio, and upgrade this duty ratio at the periodic point of PWM1 ~ PWM3 and underflow point, as at (K+0.25) T
cmoment performs electric current loop and calculates PWM duty ratio, and feedback current adopts (K-0.25) T
cmoment is to (K+0.25) T
cthe current sample mean value in moment, under current sample interrupts first three-phase sample rate current being transformed to rotating coordinate system, PWM interrupts current sample mean value under calculating rotating coordinate system, the time delay of current detecting and feedback element can be reduced, finally, electric current loop calculates PWM duty ratio at (K+0.5) T
cmoment upgrades, at (K+0.5) T
cmoment is to (K+1) T
cmoment comes into force, by that analogy.Calculate sequential according to above-mentioned current sample and electric current loop, can obtain electric current loop system delay is
（15）
Above-mentioned current sample and Current calculation strategy reduce electric current loop time delay, and extend current endless belt is wide, and raising system is at low carrier than the stability in situation effectively, is especially applicable to being applied to the Electric Machine Control occasion that carrier frequency is low, running frequency is high.
According to Fig. 5, for surface-mount type permanent-magnet synchronous electric current, the vector control method performing step of permagnetic synchronous motor of the present invention is as described below.
Step 1: velocity measuring and control.
According to Fig. 5, by the speed detector of motor, obtain the velocity feedback v of motor, calculate speed command v
*with the deviation e (t) of velocity feedback v.Adopt PI control strategy, according to formula
calculate and Driving Torque current PI controller output order i*qpid, in formula, t represents the time, K
pe (t) represents proportional control item,
represent integral control item, K
p, T
ithe proportionality coefficient, the integration time constant that pre-set respectively.
Step 2: repetitive controller is according to velocity deviation command calculations compensated torque value.
According to Fig. 5, computational speed instruction v
*and velocity feedback
between deviation e, adopt repetitive controller, according to formula
and Fig. 1 and Fig. 2 illustrates, calculating torque current compensation control command i*qcomp, the torque current PI controller in conjunction with rapid middle calculating step by step exports i*qpid, obtains torque current instruction i*q=i*qpid+i*qcomp.
Step 3: design current sampling and loop calculative strategy.
According to vector control method of the present invention, adopt current sample as described in Figure 4 and electric current loop calculative strategy, adopt independently current sample interruption and PWM to send out ripple and interrupt.First, under the prerequisite meeting program execution time, can improve current sample interruption frequency as far as possible, the feedback current of execution electric current loop adopts the mean value in the electric current loop execution cycle, thus reduces current sample fluctuation and accuracy; Secondly, in the centre position of PWM triangular carrier or the position of coming into force closer to PWM ripple, perform electric current loop and calculate PWM duty ratio; Finally, in periodic point and the underflow point renewal PWM duty ratio of triangular carrier.This current sample and electric current loop calculative strategy can reduce electric current loop time delay, and extend current endless belt is wide, improve system at low carrier than the stability in situation.
Step 4: current sample and current loop control.
According to Fig. 5, the current sample designed according to step 3 and electric current loop calculative strategy, control excitation current instruction i*d=0, integrating step 2 factored moment current-order i*q, according to PI control strategy described in step 1, execution exciting current and torque current PI control, and calculate output voltage instruction u*d, u*q under synchronous rotating frame.
Step 5:PWM modulates.
According to Fig. 5, integrating step the 4th step calculates the output voltage under rotating coordinate system, and according to the rotor electrical angle θ that velocity feedback integration obtains, adopts the PWM method that asynchronous modulation and synchronous modulation combine, and generates PWM copped wave and controls motor.
Above-described embodiment is only for illustrating technical conceive of the present invention and feature; its object is to person skilled in the art can be understood content of the present invention and be implemented; can not limit the scope of the invention with this; all equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (2)
1. a vehicle-mounted permagnetic synchronous motor vector control method, is characterized in that: the step of the method comprises:
The first, detect motor speed, obtain the velocity feedback v of motor, compare speed command v
*and the deviation e between velocity feedback v, adopt PI controller to calculate motor torque electric current, PI controller output order i*qpid;
The second, according to comparing speed command v
*and the deviation e between velocity feedback v, adopt repetitive controller calculating torque current compensation control command i*qcomp again, export i*qpid in conjunction with the torque current PI controller calculated in the first step, obtain the actual torque current instruction i*q come into force;
3rd, design current sampling and electric current loop calculative strategy, the vehicle-mounted permagnetic synchronous motor application scenario that, running frequency low at carrier frequency is high, adopts independently current sample to interrupt and PWM sends out ripple interruption;
4th, according to current sample and the electric current loop calculative strategy of the 3rd step design, control excitation current instruction i*d=0, perform electric current loop PI in conjunction with the square current-order i*q in second step and control, and calculate d
qoutput voltage instruction u*d, u*q under rotating coordinate system;
5th, according to detecting the velocity feedback v obtained, calculating and obtaining rotor electrical angle θ, then d in integrating step the 4th step
qoutput voltage under rotating coordinate system, adopts the PWM method that asynchronous modulation and synchronous modulation combine, and generates PWM copped wave and controls motor.
2. the vehicle-mounted permagnetic synchronous motor vector control method of one according to claim 1, is characterized in that: the concrete steps of described 3rd step comprise:
A, under the prerequisite meeting program execution time, improve current sample interruption frequency, perform the feedback current of electric current loop and adopt the mean value in the electric current loop execution cycle;
B, PWM send out ripple and interrupt performing electric current loop calculating output voltage, in numerical control system, adopt and perform electric current loop calculating in the centre position of PWM triangular carrier or closer to the position of coming into force of PWM ripple.
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| CN105978432A (en) * | 2016-05-03 | 2016-09-28 | 杭州电子科技大学 | Method of improving six-axis industrial robot current loop bandwidth |
| CN110300932A (en) * | 2017-03-21 | 2019-10-01 | 株式会社日立产机系统 | The design method of the filter of delay compensator and feedback, the control device of electric motor for using it |
| CN108736786A (en) * | 2017-04-21 | 2018-11-02 | 三菱电机株式会社 | The control device of motor |
| CN108736786B (en) * | 2017-04-21 | 2021-09-24 | 三菱电机株式会社 | Control device for motor |
| CN109061271A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of current of electric method of sampling, motor control method and device |
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| CN112688603A (en) * | 2020-12-24 | 2021-04-20 | 中国电子科技集团公司第四十三研究所 | High-precision brush motor current loop control method |
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