CN105553373A - Permanent magnet synchronous motor control method and device - Google Patents

Abstract

The invention discloses a permanent magnet synchronous motor control method, comprising following steps: periodically collecting predication data, wherein the collected predication data comprises the actual rotation speed and the electrical angle of a motor rotor and quadrature-direct axis voltages corresponding to every voltage vectors; predicting the values of quadrature-direct axis currents corresponding to every voltage vector at the next sampling moment according to the data collected at the current sampling moment and screening out the minimum current fluctuation and the voltage vector corresponding to the minimum current fluctuation; and executing corresponding control operations to the inverter bridge of the motor according to the switch states corresponding to the screened voltage vector. The invention also provides a permanent magnet synchronous motor control device. In adoption of the method and the device of the invention, the permanent magnet synchronous motor is controlled under the condition of eliminating a current sensor; the control performance without the current sensor is close to the control performance with the current sensor under the condition that the motor parameters such as motor stator inductance and permanent magnet flux linkage can be measured accurately.

Description

A kind of method for permagnetic synchronous motor control and device

Technical field

The invention belongs to drive and control of electric machine field, particularly relate to a kind of method for permagnetic synchronous motor control and device.

Background technology

For multivariable, the non-linear and permagnetic synchronous motor of close coupling (PMSM) system, adopt electric current direct predictive control (DPC) method that some can be brought to be better than traditional proportion integration differentiation (PID) and control the characteristic with other modern control method, such as: (1) robustness is adjustable, is conducive to the robustness of raising system; (2) good Dynamic controlling effect; (3) system restriction and non-linearly can easily to consider; (4) multivariable situation can be considered; (5) command signal non-overshoot ground is followed the tracks of fast.

At present, predictive current control method needs current sensor to detect the threephase stator electric current of motor usually, and detected value is fed back to controller input by coordinate transform.But once current sensor breaks down, system just may occur overcurrent condition, causes the power semiconductor in inverter to produce expendable fault even damaged, thus obviously reduce drived control performance.In addition, the torque pulsation synchronous with inverter output frequency can be produced when little error such as such as gain drift, non-zero offset etc. appears in current sensor, make torque adjustment degradation, also may cause overcurrent tripping at a high speed and under case of heavy load.

Summary of the invention

In view of this, for solving in prior art in the process that exists and control the carrying out of permagnetic synchronous motor easily because of problem that the fault of current sensor causes control performance to reduce, the object of the invention is to propose a kind of method controlled for permagnetic synchronous motor, reducing costs, simplify hardware system and avoid the above-mentioned drawback brought by the fault of current sensor or error.

There is a basic understanding some aspects in order to the embodiment to disclosure, shown below is simple summary.This summarized section is not extensive overview, neither determine key/critical component or describe the protection range of these embodiments.Its sole purpose presents some concepts by simple form, in this, as the preamble of following detailed description.

In some illustrative embodiment, described method, comprising:

Periodically gather prediction data; The data of described collection comprise: the actual speed of described rotor, electrical degree and the ac-dc axis voltage corresponding with described often kind of voltage vector;

The data gathered according to current sample time, predict the value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector, and filter out current fluctuation reckling and corresponding voltage vector thereof;

According to the on off state corresponding to the described voltage vector filtered out, corresponding control operation is performed to the inverter bridge of described motor.

In addition, a kind of device controlled for permagnetic synchronous motor is also provided herein;

In some illustrative embodiment, described device, comprising:

Collecting unit, for periodically gathering prediction data; The data of described collection comprise: the actual speed of described rotor, electrical degree and the ac-dc axis voltage corresponding with described often kind of voltage vector;

Predicting unit, for the data gathered according to current sample time, predicts the value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector;

Screening unit, for filtering out current fluctuation reckling and corresponding voltage vector thereof;

Control unit, for the on off state corresponding to the described voltage vector filtered out, performs corresponding control operation to the inverter bridge of described motor.

Adopt above-described embodiment, can realize when saving current sensor controlling the electric current loop DPC of PMSM drive system, and make the control performance of Current Sensorless close to the control performance having current sensor under the condition of the parameter of electric machine energy Measurement accuracies such as motor stator inductance and permanent magnet flux linkage.

In order to above-mentioned and relevant object, will describe in detail and the feature particularly pointed out in the claims after one or more embodiment comprises.Explanation below and accompanying drawing describe some illustrative aspects in detail, and its instruction is only some modes in the utilizable various mode of principle of each embodiment.Other benefit and novel features become obvious by considering by reference to the accompanying drawings along with detailed description below, and the disclosed embodiments will comprise all these aspects and theirs is equivalent.

figure of description

Fig. 1 is the schematic flow sheet of method described in the embodiment of the present invention;

Fig. 2 is the idiographic flow schematic diagram of method described in the embodiment of the present invention;

Fig. 3 is the selection course schematic diagram of DPC voltage vector in the embodiment of Fig. 2;

Fig. 4 is the theory diagram of DPC in the embodiment of the present invention;

Fig. 5 is the simulation waveform figure had in current sensor situation, wherein (a) is motor speed (rpm) (s) waveform of changing in time, and (b) is electromagnetic torque (N.m) (s) waveform of changing in time; C () is stator phase currents (A) (s) waveform of changing in time;

Fig. 6 is the simulation waveform figure in Current Sensorless situation, wherein (a) is motor speed (rpm) (s) waveform of changing in time, and (b) is electromagnetic torque (N.m) (s) waveform of changing in time; C () is stator phase currents (A) (s) waveform of changing in time;

Fig. 7 is the functional block diagram of device described in the present inventor's embodiment.

Embodiment

For enabling object of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.

Fig. 1 is the schematic flow sheet of a kind of method for PMSM control in the embodiment of the present invention;

In some illustrative embodiments, described method, comprising:

Step S101, periodically gathers prediction data; The data of described collection comprise: the actual speed of described rotor, electrical degree and the ac-dc axis voltage corresponding with described often kind of voltage vector;

Step S102, the data gathered according to current sample time, predict the value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector, and filter out current fluctuation reckling and corresponding voltage vector thereof;

Step S103, according to the on off state corresponding to the described voltage vector filtered out, performs corresponding control operation to the inverter bridge of described motor;

By described method, by gathering the data for predicting periodically, and go out the value of the ac-dc axis electric current corresponding to various voltage vectors of next sampling instant of PMSM according to these data predictions, and filter out the best voltage vector for control PMSM according to predicting the outcome; In the method, avoid and use current sensor to detect electric current, thus the fault avoided because of current sensor causes system just to occur that the power semiconductor in overcurrent, inverter produces the problems such as expendable fault;

In some illustrative embodiments, the operation of the value of the ac-dc axis electric current of next sampling instant that described prediction is corresponding with often kind of voltage vector, comprising:

Call current forecasting model;

Judge whether this sampling is sample first;

If so, the data then gathered by described current sample time and primary data substitute in described current forecasting model, calculate the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector; If not, then the predicted value of the data gathered by described current sample time and current sample time ac-dc axis electric current substitutes in described current forecasting model, calculates the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector;

Wherein, described primary data is preset or measures storage in advance, and the value of described current sample time ac-dc axis electric current was predicted by a upper sampling period and obtained;

In the above-described embodiments, when the complete data of each collection are predicted, need to judge whether this sampling is sample first, because first gather prediction time calculate data used from non-gather first predict different, wherein primary data can be measured with current sensor in advance, preset value fixing when also can be system startup; If measure with current sensor in advance, so in follow-up detection control process, can, to this current sensor power-off, avoid it in control procedure, affect control effects;

In some illustrative embodiments, after described collection prediction data, also comprise:

According to actual speed and the given rotating speed of described motor, determine the set-point of ac-dc axis electric current;

The described operation determining the set-point of ac-dc axis electric current, comprising:

The actual speed of described rotor collected and the difference of given rotating speed are input to speed ring controller;

The output of being adopted by described speed ring controller is as the set-point of described ac-dc axis electric current;

This gives type and the front further process to these data of prediction of the data of collection, for use in follow-up calculating;

In some illustrative embodiments, described call forecast model before, also comprise:

By the balance of voltage state equation discretization of described motor, set up described current forecasting model;

The operation of the predicted value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector described in described calculating, comprising:

By the predicted value of the described ac-dc axis voltage corresponding with often kind of voltage vector and current sample time ac-dc axis electric current or described primary data, substitute into described current forecasting model, calculate the described predicted value corresponding to next sampling instant ac-dc axis electric current of often kind of voltage vector;

Wherein, described current forecasting model is:

x(k+1)＝F(k)·x(k)+Gu(k)+H(k)；

Wherein, x (k)=[i _d(k) i _q(k)] ^t, u (k)=[u _d(k) u _q(k)] ^t,

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{TR}{L}& {\mathrm{T\ω}}_e\left(k\right)\\ -{\mathrm{T\ω}}_e\left(k\right)& 1-\frac{TR}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T}{L}& 0\\ 0& \frac{T}{L}\end{array}\right],H\left(k\right)=\left[\begin{array}{c}0\\ -\frac{{\mathrm{T\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein, k is each sampling time, k=0,1,2,3 ..., n; X (k) is ac-dc axis current forecasting result when kth time is sampled; i _q(k) and i _dk () is respectively the predicted value of ac-dc axis electric current when kth time is sampled; u _q(k) and u _dk () is the ac-dc axis voltage corresponding with often kind of voltage vector when kth time is sampled; R and L is respectively resistance and the inductance of every phase stator of described motor, ω _ek () is the angular rate of described rotor when kth time is sampled, ψ _ffor the magnetic linkage of described motor permanent magnet, T is the sampling period;

Wherein, described primary data comprises: the initial value of ac-dc axis electric current under initial condition, namely during k=0, and described i _qand i (0) _d(0) value;

Further, under usual state, the initial speed of motor is 0, then described primary data i _qand i (0) _d(0) 0 is;

In addition, if the initial speed of described motor is non-zero, then described primary data i _qand i (0) _d(0) measured by current sensor in advance;

In some illustrative embodiments, described in filter out the operation of current fluctuation reckling and corresponding voltage vector thereof, comprising:

By with the described predicted value of next sampling instant ac-dc axis electric current corresponding to often kind of voltage vector, substitute into evaluation function, and choose and make described evaluation function value reckling and corresponding voltage vector thereof;

Described evaluation function is:

$g=|i_d^{*}(k+1)-i_d(k+1)|+|i_q^{*}(k+1)-i_q(k+1)|;$

Wherein, i _q ^*and i (k+1) _d ^*(k+1) set-point of described ac-dc axis electric current is respectively, described i _qand i (k+1) _d(k+1) predicted value of ac-dc axis electric current when kth is sampled for+1 time is respectively;

This gives a kind of feasible evaluation function, in the present embodiment, described evaluation function also can be other form, if can make to dope lower a moment ac-dc axis electric current value as far as possible close to the set-point of the ac-dc axis electric current calculated in said process;

Adopt above-described embodiment, can realize when saving current sensor controlling the electric current loop DPC of PMSM drive system, and make the control performance of Current Sensorless close to the control performance having current sensor under the condition of the parameter of electric machine energy Measurement accuracies such as motor stator inductance and permanent magnet flux linkage.

The idiographic flow schematic diagram that Fig. 2 is method described in the embodiment of the present invention; Fig. 3 is the selection course schematic diagram of DPC voltage vector; Fig. 4 is the theory diagram of DPC;

In the present embodiment, system is speed and current double loop speed-regulating system, and wherein current loop controller adopts DPC algorithm, speed ring controller adoption rate integration (PI) algorithm.By rotational speed setup and actual measurement rotating speed input speed ring controller, the output valve of speed ring controller is as the set-point of quadrature axis current;

PMSM adopts hidden pole type structure, then the set-point i of direct-axis current _d ^*identically vanishing; The set-point of current loop controller according to ac-dc axis electric current, the predicted value i of this sampling instant ac-dc axis electric current _q(k), i _dk the motor speed of () and actual measurement and electrical degree, calculate the predicted value i of next sampling instant ac-dc axis electric current _qand i (k+1) _d(k+1), and export evaluation function value can be made minimum converter bridge switching parts state;

The i doped _qand i (k+1) _d(k+1) feedback of ac-dc axis electric current as electric current loop of current sensor actual measurement will be replaced in next sampling instant, thus save current sensor;

Below in conjunction with Fig. 2-4, embodiments of the invention are described.

In an illustrative embodiment, described control method, comprises the following steps:

Step S201, measures electrical degree θ and the mechanical separator speed ω of motor with position transducer;

Step S202, speed ring controller exports the set-point as quadrature axis current;

By the difference input speed ring controller of rotational speed setup with actual measurement rotating speed, using the set-point (as aforementioned, in this embodiment direct-axis current set-point be 0) of the output valve of speed ring controller as quadrature axis current;

The algorithm of speed ring controller should be determined according to the actual requirements, and a kind of optional mode adopts PI algorithm, namely carries out anomalous integral scale amplifying to input value, to ensure that output valve is stablized and floating;

Step S203, sets up forecast model;

The mode setting up forecast model should be determined according to the actual requirements, and a kind of optional mode derives such as formula the current forecasting model shown in (1) according to the balance of voltage state equation of PMSM.

x(k+1)＝F(k)·x(k)+Gu(k)+H(k)(1)

Wherein x (k)=[i _d(k) i _q(k)] ^t, u (k)=[u _d(k) u _q(k)] ^t,

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{TR}{L}& {\mathrm{T\ω}}_e\left(k\right)\\ -{\mathrm{T\ω}}_e\left(k\right)& 1-\frac{TR}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T}{L}& 0\\ 0& \frac{T}{L}\end{array}\right],H\left(k\right)=\left[\begin{array}{c}0\\ -\frac{{\mathrm{T\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right].$

Wherein, i _qwith i _dfor the predicted value of ac-dc axis electric current, u _qwith u _dfor the ac-dc axis voltage that often kind of voltage vector is corresponding, R and L is respectively stator resistance and the inductance of the every phase of motor, ω _efor the angular rate of rotor, ψ _ffor the magnetic linkage of motor permanent magnet, T is the sampling period;

Step S204, by this sampling instant ac-dc axis current forecasting value i _q(k) and i _dthe ac-dc axis voltage u that k often kind of voltage vector that () and power inverter can produce is corresponding _q(k) and u _dk () substitutes into forecast model, obtain next sampling instant ac-dc axis current forecasting value i that often kind of voltage vector is corresponding _qand i (k+1) _d(k+1);

The result doped can as shown in Figure 3, wherein x _{0 ~ 6}(k+1) the predicted current value that 7 kinds of voltage vectors that can produce for power inverter are corresponding, x ^*(k+1) be ac-dc axis given value of current value, x _select(k+1) be x _{0 ~ 6}(k+1) closest to x in ^*(k+1) predicted current value; As shown in Figure 3, one has 7 kinds of voltage vectors, and each prediction can obtain the value of the ac-dc axis electric current corresponding to various voltage vector;

Step S205, chooses suitable evaluation function, calculates the evaluation function value that often kind of voltage vector is corresponding, chooses to make the minimum voltage vector of evaluation function value and the on off state corresponding according to this voltage vector controls the break-make of converter bridge switching parts device;

Choosing of evaluation function should be determined according to the actual requirements, and a kind of optional evaluation function is $g=|i_d^{*}(k+1)-i_d(k+1)|+|i_q^{*}(k+1)-i_q(k+1)|,$ Wherein with for the set-point of ac-dc axis electric current;

As shown in Figure 3, whole process is selected and x exactly ^*(k+1) immediate x _select(k+1), x as shown in Figure 3 ₄and x (k+1) ^*(k+1) closest, then x _select(k+1)=x ₄(k+1); And reference and x ₄(k+1) switching device of the on off state corresponding to corresponding voltage vector to PMSM controls;

Step S206, in next sampling instant, with the i that voltage vector selected in step S15 is corresponding _qand i (k+1) _d(k+1) replace the feedback of ac-dc axis electric current as electric current loop of current sensor actual measurement, repeat step S204;

By above-described embodiment, achieve the control to PMSM motor, quadrature axis current is limited in set-point i _q ^*scope in, to prevent overcurrent.

In the above-described embodiments, if the initial speed of motor is zero, then i is made at initial time (k=0) _q(k) and i _dk () is zero.

Fig. 4 shows the DPC theory diagram having current sensor and Current Sensorless in method as herein described; Wherein, dotted line represents only having the part existed in current sensor situation, and thick line represents the part only existed in Current Sensorless situation; Wherein, S _a, S _b, S _cbe respectively inverter bridge a, the on off state of b, c phase brachium pontis, 1 represents that upper brachium pontis is opened, lower brachium pontis turns off, and 0 represents that upper brachium pontis turns off, lower brachium pontis is open-minded; i _{0 ~ 6}(k+1) be 7 kinds of voltage vector v that power inverter can produce _{0 ~ 6}the value of corresponding ac-dc axis electric current; When there being current sensor, directly by the i of current sensor actual measurement _abc(k+1) current value is transformed to the value i of ac-dc axis electric current _q(k) and i _dk () is updated in forecast model, calculate i _{0 ~ 6}(k+1); Then by i _{0 ~ 6}and the set-point of ac-dc axis electric current (k+1) with be updated in suitable evaluation function, and the voltage vector corresponding to the ac-dc axis electric current making evaluation function minimum, determine corresponding inverter bridge control program (i.e. S _a, S _b, S _cvalue); If Current Sensorless, then measured the angular position of rotor by position transducer, then θ calculates mechanical angle speed omega to time T differentiate, and ω is multiplied by motor number of pole-pairs p and is ω _e(k); The value i of this ac-dc axis electric current then last time predicted _q(k) and i _dk () is updated in forecast model, calculate i _{0 ~ 6}(k+1); Then by i _{0 ~ 6}and the set-point of ac-dc axis electric current (k+1) with be updated in suitable evaluation function, and the voltage vector corresponding to the ac-dc axis electric current making evaluation function minimum, determine corresponding inverter bridge control program (i.e. S _a, S _b, S _cvalue).

In order to verify the exploitativeness of above-described embodiment, modeling in Simulink also carries out emulation experiment.Simulation parameter arranges as follows: stator resistance R=0.835 Ω, stator inductance L=1.105 × 10 ^-2h, permanent magnet flux linkage ψ _f=0.28Wb, number of pole-pairs p=4, sampling period T=3.125 × 10 ^-5s, DC source voltage U _dc=537.4V, rotary speed setting value n ^*=2000rpm, load torque T _l=14.4N.m, the set-point i of quadrature axis current _q ^*the scope being limited in being no more than 12.7A is interior to prevent overcurrent.The simulation waveform of rotating speed as shown in Figure 5 and Figure 6, torque and phase current is obtained respectively when having current sensor and Current Sensorless.

As can be seen from Fig. 5 and Fig. 6, adopt embodiment provided by the invention can realize when saving current sensor controlling the electric current loop DPC of PMSM drive system, and make the control performance of Current Sensorless close to the control performance having current sensor under the condition of the parameter of electric machine energy Measurement accuracies such as motor stator inductance and permanent magnet flux linkage.

Fig. 7 is the functional block diagram of a kind of device 700 for permagnetic synchronous motor control described in the present inventor's embodiment;

As shown in Figure 7, described device 700, comprising:

Collecting unit 701, for periodically gathering prediction data; The data of described collection comprise: the actual speed of described rotor, electrical degree and the ac-dc axis voltage corresponding with described often kind of voltage vector;

Predicting unit 702, for the data gathered according to current sample time, predicts the value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector;

Screening unit 703, for filtering out current fluctuation reckling and corresponding voltage vector thereof;

Control unit 704, for the on off state corresponding to the described voltage vector filtered out, performs corresponding control operation to the inverter bridge of described motor.

In some illustrative embodiments, described predicting unit 702, comprising:

Call unit 7021, for calling current forecasting model;

Judging unit 7022, for judging whether this sampling is sample first;

Computing unit 7023, if judge it is sample first for described judging unit 7022, the described prediction data then gathered by described current sample time and primary data substitute in described current forecasting model, calculate the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector; If described judging unit 7022 is judged non-ly to sample first, the predicted value of the described prediction data then gathered by described current sample time and current sample time ac-dc axis electric current substitutes in described current forecasting model, calculates the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector;

Wherein, described primary data is preset or measures storage in advance, and the predicted value of described current sample time ac-dc axis electric current was predicted by a upper sampling period and obtained;

In some illustrative embodiments, described device 700, also comprises:

Determining unit 705, after gathering prediction data, according to actual speed and the given rotating speed of described motor, determines the set-point of ac-dc axis electric current for described collecting unit 701;

Described determining unit 705, comprising:

First determines subelement 7051, for the actual speed of described rotor collected and the difference of given rotating speed are input to speed ring controller;

Second determines subelement 7052, for the output of being adopted by the described speed ring controller set-point as described ac-dc axis electric current;

In some illustrative embodiments, described device 700, also comprises:

Modeling unit 706, before calling forecast model, by the balance of voltage state equation discretization of described motor, sets up described current forecasting model for described call unit 7021;

Described computing unit 7023, comprising:

Computation subunit 70231, for by the predicted value of the described ac-dc axis voltage corresponding with often kind of voltage vector and current sample time ac-dc axis electric current or described primary data, substitute into described current forecasting model, calculate the described predicted value corresponding to next sampling instant ac-dc axis electric current of often kind of voltage vector;

Wherein, described current forecasting model is:

x(k+1)＝F(k)·x(k)+Gu(k)+H(k)；

Wherein, x (k)=[i _d(k) i _q(k)] ^t, u (k)=[u _d(k) u _q(k)] ^t,

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{TR}{L}& {\mathrm{T\ω}}_e\left(k\right)\\ -{\mathrm{T\ω}}_e\left(k\right)& 1-\frac{TR}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T}{L}& 0\\ 0& \frac{T}{L}\end{array}\right],H\left(k\right)=\left[\begin{array}{c}0\\ -\frac{{\mathrm{T\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein, k is each sampling time, k=0,1,2,3 ..., n; X (k) is ac-dc axis current forecasting result when kth time is sampled; i _q(k) and i _dk () is respectively the predicted value of ac-dc axis electric current when kth time is sampled; u _q(k) and u _dk () is the ac-dc axis voltage corresponding with often kind of voltage vector when kth time is sampled; R and L is respectively resistance and the inductance of every phase stator of described motor, ω _ek () is the angular rate of described rotor when kth time is sampled, ψ _ffor the magnetic linkage of described motor permanent magnet, T is the sampling period;

Described primary data comprises: the initial value of ac-dc axis electric current under initial condition, namely during k=0, and described i _qand i (0) _d(0) value; If the initial speed of described motor is 0, then described primary data i _qand i (0) _d(0) 0 is; If the initial speed of described motor is non-zero, then described primary data i _qand i (0) _d(0) measured by current sensor in advance;

In some illustrative embodiments, described screening unit 703, comprising:

Screening subelement 7031, for by with the described predicted value of next sampling instant ac-dc axis electric current corresponding to often kind of voltage vector, substitute into evaluation function, and choose and make described evaluation function value reckling and corresponding voltage vector thereof;

Described evaluation function is:

$g=|i_d^{*}(k+1)-i_d(k+1)|+|i_q^{*}(k+1)-i_q(k+1)|;$

Wherein, the set-point of described ac-dc axis electric current is respectively i _q ^*and i (k+1) _d ^*(k+1), during+1 sampling of described kth, the predicted value of ac-dc axis electric current is respectively i _qand i (k+1) _d(k+1).

Adopt the method and apparatus described in above-described embodiment, can make:

Reduce costs, simplify hardware system;

Avoid the series of malpractice brought by the fault of current sensor or error;

Under the condition of the parameter of electric machine energy Measurement accuracies such as motor stator inductance and permanent magnet flux linkage, make the control performance of Current Sensorless close to the control performance having current sensor.

Above with reference to the accompanying drawings of embodiments of the invention, not thereby limit to interest field of the present invention.All use do within technical conceive of the present invention any amendment, equivalently replace and improve, all should within interest field of the present invention.

Claims (10)

1., for the method that permagnetic synchronous motor controls, it is characterized in that, comprising:

Periodically gather prediction data; The data of described collection comprise: the actual speed of described rotor, electrical degree and the ac-dc axis voltage corresponding with described often kind of voltage vector;

The data gathered according to current sample time, predict the value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector, and filter out current fluctuation reckling and corresponding voltage vector thereof;

According to the on off state corresponding to the described voltage vector filtered out, corresponding control operation is performed to the inverter bridge of described motor.

2. the method for claim 1, is characterized in that, the operation of the value of the ac-dc axis electric current of next sampling instant that described prediction is corresponding with often kind of voltage vector, comprising:

Call current forecasting model;

Judge whether this sampling is sample first;

If so, the data then gathered by described current sample time and primary data substitute in described current forecasting model, calculate the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector; If not, then the predicted value of the data gathered by described current sample time and current sample time ac-dc axis electric current substitutes in described current forecasting model, calculates the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector;

Wherein, described primary data is preset or measures storage in advance, and the value of described current sample time ac-dc axis electric current was predicted by a upper sampling period and obtained.

3. method as claimed in claim 2, is characterized in that, after described collection prediction data, also comprise:

According to actual speed and the given rotating speed of described motor, determine the set-point of ac-dc axis electric current;

The described operation determining the set-point of ac-dc axis electric current, comprising:

The actual speed of described rotor collected and the difference of given rotating speed are input to speed ring controller;

The output of being adopted by described speed ring controller is as the set-point of described ac-dc axis electric current.

4. method as claimed in claim 3, is characterized in that, described call forecast model before, also comprise:

By the balance of voltage state equation discretization of described motor, set up described current forecasting model;

The operation of the predicted value of the ac-dc axis electric current of next sampling instant that described calculating is corresponding with often kind of voltage vector, comprising:

By the predicted value of the described ac-dc axis voltage corresponding with often kind of voltage vector and current sample time ac-dc axis electric current or described primary data, substitute into described current forecasting model, calculate the described predicted value corresponding to next sampling instant ac-dc axis electric current of often kind of voltage vector;

Wherein, described current forecasting model is:

x(k+1)＝F(k)·x(k)+Gu(k)+H(k)；

Wherein, x (k)=[i _d(k) i _q(k)] ^t, u (k)=[u _d(k) u _q(k)] ^t,

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{TR}{L}& {\mathrm{T\ω}}_e\left(k\right)\\ -{\mathrm{T\ω}}_e\left(k\right)& 1-\frac{TR}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T}{L}& 0\\ 0& \frac{T}{L}\end{array}\right],H\left(k\right)=\left[\begin{array}{c}0\\ -\frac{{\mathrm{T\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein, k is each sampling time, k=0,1,2,3 ..., n; X (k) is ac-dc axis current forecasting result when kth time is sampled; i _q(k) and i _dk () is respectively the predicted value of ac-dc axis electric current when kth time is sampled; u _q(k) and u _dk () is the ac-dc axis voltage corresponding with often kind of voltage vector when kth time is sampled; R and L is respectively resistance and the inductance of every phase stator of described motor, ω _ek () is the angular rate of described rotor when kth time is sampled, ψ _ffor the magnetic linkage of described motor permanent magnet, T is the sampling period;

Described primary data comprises: the initial value of ac-dc axis electric current under initial condition, namely during k=0, and described i _qand i (0) _d(0) value; If the initial speed of described motor is 0, then described primary data i _qand i (0) _d(0) 0 is; If the initial speed of described motor is non-zero, then described primary data i _qand i (0) _d(0) measured by current sensor in advance.

5. method as claimed in claim 4, is characterized in that, described in filter out the operation of current fluctuation reckling and corresponding voltage vector thereof, comprising:

By with the described predicted value of next sampling instant ac-dc axis electric current corresponding to often kind of voltage vector, substitute into evaluation function, and choose and make described evaluation function value reckling and corresponding voltage vector thereof;

Described evaluation function is:

$g=|i_d^{*}(k+1)-i_d(k+1)|+|i_q^{*}(k+1)-i_q(k+1)|;$

Wherein, the set-point of described ac-dc axis electric current is respectively i _q ^*and i (k+1) _d ^*(k+1), during+1 sampling of described kth, the predicted value of ac-dc axis electric current is respectively i _qand i (k+1) _d(k+1).

6., for the device that permagnetic synchronous motor controls, it is characterized in that, comprising:

Collecting unit, for periodically gathering prediction data; The data of described collection comprise: the actual speed of described rotor, electrical degree and the ac-dc axis voltage corresponding with described often kind of voltage vector;

Predicting unit, for the data gathered according to current sample time, predicts the value of the ac-dc axis electric current of next sampling instant corresponding with often kind of voltage vector;

Screening unit, for filtering out current fluctuation reckling and corresponding voltage vector thereof;

Control unit, for the on off state corresponding to the described voltage vector filtered out, performs corresponding control operation to the inverter bridge of described motor.

7. device as claimed in claim 6, it is characterized in that, described predicting unit, comprising:

Call unit, for calling current forecasting model;

Judging unit, for judging whether this sampling is sample first;

Computing unit, if judge it is sample first for described judging unit, the described prediction data then gathered by described current sample time and primary data substitute in described current forecasting model, calculate the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector; If described judging unit is judged non-ly to sample first, the predicted value of the described prediction data then gathered by described current sample time and current sample time ac-dc axis electric current substitutes in described current forecasting model, calculates the predicted value of the ac-dc axis electric current of described next sampling instant corresponding with often kind of voltage vector;

Wherein, described primary data is preset or measures storage in advance, and the predicted value of described current sample time ac-dc axis electric current was predicted by a upper sampling period and obtained.

8. device as claimed in claim 7, is characterized in that, also comprise:

Determining unit, after gathering prediction data, according to actual speed and the given rotating speed of described motor, determines the set-point of ac-dc axis electric current for described collecting unit;

Described determining unit, comprising:

First determines subelement, for the actual speed of described rotor collected and the difference of given rotating speed are input to speed ring controller;

Second determines subelement, for the output of being adopted by the described speed ring controller set-point as described ac-dc axis electric current.

9. device as claimed in claim 8, is characterized in that, also comprise:

Modeling unit, before calling forecast model, by the balance of voltage state equation discretization of described motor, sets up described current forecasting model for described call unit;

Described computing unit, comprising:

Computation subunit, for by the predicted value of the described ac-dc axis voltage corresponding with often kind of voltage vector and current sample time ac-dc axis electric current or described primary data, substitute into described current forecasting model, calculate the described predicted value corresponding to next sampling instant ac-dc axis electric current of often kind of voltage vector;

Wherein, described current forecasting model is:

x(k+1)＝F(k)·x(k)+Gu(k)+H(k)；

Wherein, x (k)=[i _d(k) i _q(k)] ^t, u (k)=[u _d(k) u _q(k)] ^t,

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{TR}{L}& {\mathrm{T\ω}}_e\left(k\right)\\ -{\mathrm{T\ω}}_e\left(k\right)& 1-\frac{TR}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T}{L}& 0\\ 0& \frac{T}{L}\end{array}\right],H\left(k\right)=\left[\begin{array}{c}0\\ -\frac{{\mathrm{T\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein, k is each sampling time, k=0,1,2,3 ..., n; X (k) is ac-dc axis current forecasting result when kth time is sampled; i _q(k) and i _dk () is respectively the predicted value of ac-dc axis electric current when kth time is sampled; u _q(k) and u _dk () is the ac-dc axis voltage corresponding with often kind of voltage vector when kth time is sampled; R and L is respectively resistance and the inductance of every phase stator of described motor, ω _ek () is the angular rate of described rotor when kth time is sampled, ψ _ffor the magnetic linkage of described motor permanent magnet, T is the sampling period;

Described primary data comprises: the initial value of ac-dc axis electric current under initial condition, namely during k=0, and described i _qand i (0) _d(0) value; If the initial speed of described motor is 0, then described primary data i _qand i (0) _d(0) 0 is; If the initial speed of described motor is non-zero, then described primary data i _qand i (0) _d(0) measured by current sensor in advance.

10. device as claimed in claim 9, it is characterized in that, described screening unit, comprising:

Screening subelement, for by with the described predicted value of next sampling instant ac-dc axis electric current corresponding to often kind of voltage vector, substitute into evaluation function, and choose and make described evaluation function value reckling and corresponding voltage vector thereof;

Described evaluation function is:

$g=|i_d^{*}(k+1)-i_d(k+1)|+|i_q^{*}(k+1)-i_q(k+1)|;$

Wherein, the set-point of described ac-dc axis electric current is respectively i _q ^*and i (k+1) _d ^*(k+1), during+1 sampling of described kth, the predicted value of ac-dc axis electric current is respectively i _qand i (k+1) _d(k+1).