CN105978425B - Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating controls decision method - Google Patents
Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating controls decision method Download PDFInfo
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- CN105978425B CN105978425B CN201510868525.1A CN201510868525A CN105978425B CN 105978425 B CN105978425 B CN 105978425B CN 201510868525 A CN201510868525 A CN 201510868525A CN 105978425 B CN105978425 B CN 105978425B
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating to control decision method, including step：First, signal acquisition and transmission, two, the control of AC permanent magnet synchronous motor weak-magnetic speed-regulating judge that detailed process is：Step 201, calculate index of modulation m；Step 202, controller are by index of modulation m compared with 1, and as m≤1, controller control AC permanent magnet synchronous motor operates in permanent torque region；Work as m>When 1, controller is by the voltage u of AC permanent magnet synchronous motor and the maximum output voltage U of invertermaxIt is compared, as u≤UmaxWhen, controller control AC permanent magnet synchronous motor operates in permanent torque region, works as u>UmaxWhen, controller carries out weak-magnetic speed-regulating control to AC permanent magnet synchronous motor.The inventive method step is simple, novel in design reasonable, and it is convenient to realize, amount of calculation is small, and False Rate is low, practical, and using effect is good, is easy to promote the use of.
Description
Technical field
The invention belongs to electric vehicle motion control technology field, and in particular to a kind of Electric Vehicle's Alternating permanent magnet synchronous electric
Motivation weak-magnetic speed-regulating controls decision method.
Background technology
Electric automobile operational speed range is wide, in order to meet the requirement, as drive motor, should also have wide speed governing
Scope function.Usually, when motor voltage is equal to inverter maximum output voltage, turn if motor need to be improved further
Speed is, it is necessary to carry out weak magnetic control so that motor, which can operate in invariable power region and reach, puies forward high-revolving purpose, makes motor
With wide governor control characteristics.
In addition, in the speed governing of ac motor, reduce harmonic wave to improve power utilization rate, sweared frequently with voltage space
Measure pulse width modulation controlled mode.Under the premise of herein, the electric automobile of currently employed permasyn morot driving is same according to permanent magnetism
Definition in the weak-magnetic speed-regulating principle and space vector pulse width modulation SVPWM of step motor to the index of modulation, to electronic vapour
Car carries out weak-magnetic speed-regulating, and method main at present has：
(1) when the index of modulation is more than 1, excitation field is weakened using negative d-axis demagnetizing current component and carries out weak-magnetic speed-regulating
Control, conversely, electric motor operation is in the region where normal permanent torque running status；
(2) when the index of modulation is more than 1, and motor running rotating speed is higher than turnover speed, control motor running exists
Weak-magnetic speed-regulating region；
(3) when the index of modulation is more than 1, and motor voltage is higher than the maximum output voltage of inverter, control is electronic
Machine operates in weak-magnetic speed-regulating region.
But in actually using, electric automobile operating condition is complicated, individually controlled using the index of modulation as weak-magnetic speed-regulating
Rule of judgment, misjudgment phenomenon occurs under some conditions, such as electric automobile low speed climbing traveling during, electric automobile
Big driving torque is needed, now motor speed makes the index of modulation occur being more than 1 less than turnover speed, high driving torque requirement
Situation, if carry out weak-magnetic speed-regulating control, motor will be caused overheat endanger；It is electronic when electric automobile slope at high speeds
The rotating speed of machine is higher than turnover speed, but required driving torque very little, motor voltage are less than inverter maximum output voltage, phase
The index of modulation answered is less than 1；When being judged using the index of modulation and turnover speed, because turnover speed is determined in voltage
When the motor speed that measures, in electric automobile running, DC voltage constantly changes, correspondingly motor
Turnover speed also change, at this moment inevitably produced still according to the turnover speed that had previously measured as rotating speed is judged
Raw erroneous judgement.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of electric automobile
AC permanent magnet synchronous motor weak-magnetic speed-regulating controls decision method, and its method and step is simple, and novel in design rationally it is convenient to realize,
Amount of calculation is small, and False Rate is low, practical, and using effect is good, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of Electric Vehicle's Alternating permanent magnet synchronous electric
Motivation weak-magnetic speed-regulating controls decision method, is provided with the electric automobile for being exchange after direct current is converted into alternating current
The inverter of permasyn morot power supply, it is characterised in that this method comprises the following steps：
Step 1: signal acquisition and transmission：Using voltage sensor to DC side voltage of converter UdcDetected in real time
And the signal output detected is entered to controller using position sensor to AC permanent magnet synchronous motor rotor position angle θ
Row detects and by the signal output detected to controller in real time, using A phase current sensors to AC permanent magnet synchronous motor
Stator winding A phase input currents iADetection in real time is carried out and by the signal output detected to controller, using B phase currents
B phase input current i of the sensor to the stator winding of AC permanent magnet synchronous motorBCarry out the letter that detects and will detect in real time
Number export to controller, the C phase input currents i using C phase currents sensor to the stator winding of AC permanent magnet synchronous motorC
Carry out detection in real time and by the signal output detected to controller；
Step 2: the control of AC permanent magnet synchronous motor weak-magnetic speed-regulating judges that detailed process is：
Step 201, controller are modulated using spatial vector pulse width modulation algorithm to AC permanent magnet synchronous motor, and
According to formulaCalculate index of modulation m；Wherein, UrefFor AC permanent magnet synchronous motor under two-phase rest frame
Stator winding reference voltage；
Step 202, controller by index of modulation m compared with 1, as m≤1, controller control alternating-current synchronous
Motor running is in permanent torque region；Otherwise, m is worked as>When 1, first, controller uses the electronic electromechanics under two-phase rotating coordinate system
Press computation modelThe voltage u of AC permanent magnet synchronous motor is calculated, then, controller will
The voltage u of the AC permanent magnet synchronous motor and maximum output voltage U of invertermaxIt is compared, as u≤UmaxWhen, controller
Control AC permanent magnet synchronous motor operates in permanent torque region, works as u>UmaxWhen, controller enters to AC permanent magnet synchronous motor
Row weak-magnetic speed-regulating controls；Wherein, ω be AC permanent magnet synchronous motor rotor angular speed andT is the time, LdTo hand over
Flow d axle inductance of the stator winding of permasyn morot under two-phase rotating coordinate system, LqFor AC permanent magnet synchronous motor
Q axle inductance of the stator winding under two-phase rotating coordinate system, idFor AC permanent magnet synchronous motor stator winding in two-phase
D shaft currents under rotating coordinate system, iqFor q axle of the stator winding under two-phase rotating coordinate system of AC permanent magnet synchronous motor
Electric current,ψfFor caused by AC permanent magnet synchronous motor permanent magnet
Magnetic linkage.
Above-mentioned Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating control decision method, it is characterised in that：Step
During controller carries out weak-magnetic speed-regulating control to AC permanent magnet synchronous motor in 202, when u value is from u>UmaxChange turns to u
<UmaxAnd | u-Umax|≤k1UmaxWhen, or when the value of the angular velocity omega of AC permanent magnet synchronous motor rotor meets | w-wb|
≤k2wbWhen, controller still carries out weak-magnetic speed-regulating control to AC permanent magnet synchronous motor；When u value is from u>UmaxChange turns to u<
UmaxAnd | u-Umax|>k1UmaxWhen, or when the value of the angular velocity omega of AC permanent magnet synchronous motor rotor meets | w-wb|>
k2wbWhen, controller control AC permanent magnet synchronous motor operates in permanent torque region；Wherein, wbIt is equal to for motor voltage u
UmaxWhen AC permanent magnet synchronous motor rotor angular speed, k1For voltage difference regulation coefficient and k1For the number less than 1, k2For angle speed
Spend poor regulation coefficient and k2For the number less than 1.
Above-mentioned Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating control decision method, it is characterised in that：It is described
k1Span be 0.16~0.23.
Above-mentioned Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating control decision method, it is characterised in that：It is described
k2Span be 0.2~0.29.
The present invention has advantages below compared with prior art：
1st, method and step of the invention is simple, novel in design reasonable, and it is convenient to realize.
2nd, the angular speed of combined modulation coefficient of the present invention, motor voltage and motor rotor judges the fortune of electric automobile
Row state, it is determined whether need to carry out weak-magnetic speed-regulating control, the security of electric automobile during traveling can be ensured.
3rd, the present invention is centered on the maximum output voltage of inverter, when motor voltage is higher than the maximum output of inverter
When voltage or the maximum output voltage certain numerical value less than inverter, carry out or cancel weak-magnetic speed-regulating control, can avoid electronic
Vibration of the machine between normal operation and weak-magnetic speed-regulating.
4th, in the process of running, the DC voltage of vehicular energy is in continually changing state to electric automobile, therefore electronic
The turnover speed of machine is also change therewith, using the maximum output of motor voltage and inverter with turnover velocity correlation
The contrast of voltage, it can overcome the shortcomings of that original fixed turnover velocity estimated is inaccurate.
5th, amount of calculation of the invention is small, and False Rate is low, practical, and using effect is good, is easy to promote the use of.
In summary, the inventive method step is simple, and novel in design rationally it is convenient to realize, amount of calculation is small, and False Rate is low,
Practical, using effect is good, is easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the circuit block of Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating control system of the present invention
Figure.
Fig. 2 is the method flow block diagram of the present invention.
Description of reference numerals:
1-voltage sensor；2-controller；3-position sensor；
4-A phase current sensors；5-B phase current sensors；6-C phase current sensors；
7-AC permanent magnet synchronous motor.
Embodiment
As depicted in figs. 1 and 2, Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating of the invention control judgement side
Method, it is provided with the electric automobile for direct current to be converted into what is powered for AC permanent magnet synchronous motor 7 after alternating current
Inverter, this method comprise the following steps：
Step 1: signal acquisition and transmission：Using voltage sensor 1 to DC side voltage of converter UdcDetected in real time
And by the signal output detected to controller 2, using position sensor 3 to the rotor position angle θ of AC permanent magnet synchronous motor 7
Detection in real time is carried out and by the signal output detected to controller 2, using A phase currents sensor 4 to AC permanent magnet synchronous
The A phase input currents i of the stator winding of motivation 7ADetection in real time is carried out and by the signal output detected to controller 2, using B
B phase input current i of the phase current sensor 5 to the stator winding of AC permanent magnet synchronous motor 7BCarry out detection in real time and will examine
The signal output measured is to controller 2, the C using C phase currents sensor 6 to the stator winding of AC permanent magnet synchronous motor 7
Phase input current iCCarry out detection in real time and by the signal output detected to controller 2；
Step 2: the control of the weak-magnetic speed-regulating of AC permanent magnet synchronous motor 7 judges that detailed process is：
Step 201, controller 2 are entered using spatial vector pulse width modulation algorithm (SVPWM) to AC permanent magnet synchronous motor 7
Row modulation, and according to formulaCalculate index of modulation m；Wherein, UrefIt is same for AC permanent-magnet under two-phase rest frame
Walk the reference voltage of the stator winding of motor 7；Reference voltage UrefTo use spatial vector pulse width modulation algorithm in controller 2
SVPWM AC permanent magnet synchronous motor 7 is modulated during known quantity；
Step 202, controller 2 are by index of modulation m compared with 1, and as m≤1, controller 2 controls AC permanent-magnet same
Step motor 7 operates in permanent torque region；Otherwise, m is worked as>When 1, first, controller 2 is using electronic under two-phase rotating coordinate system
Electromechanics pressure computation modelThe voltage u of AC permanent magnet synchronous motor 7 is calculated, then, control
Device 2 processed is by the voltage u of AC permanent magnet synchronous motor 7 and the maximum output voltage U of invertermaxIt is compared, as u≤Umax
When, controller 2 controls AC permanent magnet synchronous motor 7 to operate in permanent torque region, works as u>UmaxWhen, controller 2 is to AC permanent-magnet
Synchronous motor 7 carries out weak-magnetic speed-regulating control；Wherein, ω be the rotor of AC permanent magnet synchronous motor 7 angular speed andT is the time, LdFor d axle inductance of the stator winding under two-phase rotating coordinate system of AC permanent magnet synchronous motor 7,
LqFor q axle inductance of the stator winding under two-phase rotating coordinate system of AC permanent magnet synchronous motor 7, idFor alternating-current synchronous
D shaft current of the stator winding of motor 7 under two-phase rotating coordinate system, iqFor AC permanent magnet synchronous motor 7 stator around
Q shaft current of the group under two-phase rotating coordinate system,ψfTo exchange forever
Magnetic linkage caused by the permanent magnet of magnetic-synchro motor 7.In the case of AC permanent magnet synchronous motor 7 is fixed, Ld、LqAnd ψf
For known quantity.
In the present embodiment, controller 2 carries out the mistake of weak-magnetic speed-regulating control to AC permanent magnet synchronous motor 7 in step 202
Cheng Zhong, when u value is from u>UmaxChange turns to u<UmaxAnd | u-Umax|≤k1UmaxWhen, or when 7 turns of AC permanent magnet synchronous motor
The value of the angular velocity omega of son meets | w-wb|≤k2wbWhen, controller 2 still carries out weak magnetic to AC permanent magnet synchronous motor 7
Speed regulating control；When u value is from u>UmaxChange turns to u<UmaxAnd | u-Umax|>k1UmaxWhen, or when AC permanent magnet synchronous motor 7
The value of the angular velocity omega of rotor meets | w-wb|>k2wbWhen, controller 2 controls AC permanent magnet synchronous motor 7 to operate in permanent turn
Square region；Wherein, wbIt is equal to U for motor voltage umaxWhen the rotor of AC permanent magnet synchronous motor 7 angular speed, k1For voltage difference
Regulation coefficient and k1For the number less than 1, k2For angular velocity difference regulation coefficient and k2For the number less than 1.wbIt is here motor
Turnover speed.
In the present embodiment, the k1Span be 0.16~0.23.k1Such span is according to UdcChange
Change what scope determined, vibration of the AC permanent magnet synchronous motor 7 between normal operation and weak-magnetic speed-regulating can be effectively prevented from.
In the present embodiment, the k2Span be 0.2~0.29.k2Such span is according to AC permanent-magnet
What the scope that the angular speed of the rotor of synchronous motor 7 changes with rated voltage determined, it is same AC permanent-magnet can be effectively prevented from
Walk vibration of the motor 7 between normal operation and weak-magnetic speed-regulating.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (3)
1. a kind of Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating controls decision method, it is provided with the electric automobile
For direct current to be converted into the inverter powered after alternating current for AC permanent magnet synchronous motor (7), it is characterised in that the party
Method comprises the following steps：
Step 1: signal acquisition and transmission：Using voltage sensor (1) to DC side voltage of converter UdcCarry out detection in real time simultaneously
The signal output detected is given to controller (2), using position sensor (3) to AC permanent magnet synchronous motor (7) rotor position
Angle setting θ detect in real time and is given the signal output detected to controller (2), using A phase currents sensor (4) to exchanging forever
The A phase input currents i of the stator winding of magnetic-synchro motor (7)ACarry out detection in real time and by the signal output detected to control
Device (2) processed, the B phase input currents i using B phase currents sensor (5) to the stator winding of AC permanent magnet synchronous motor (7)B
Detect in real time and give the signal output detected to controller (2), it is same to AC permanent-magnet using C phase currents sensor (6)
Walk the C phase input currents i of the stator winding of motor (7)CCarry out detection in real time and by the signal output detected to controller
(2)；
Step 2: the control of AC permanent magnet synchronous motor (7) weak-magnetic speed-regulating judges that detailed process is：
Step 201, controller (2) are modulated using spatial vector pulse width modulation algorithm to AC permanent magnet synchronous motor (7),
And according to formulaCalculate index of modulation m；Wherein, UrefMoved for AC permanent magnet synchronous under two-phase rest frame
The reference voltage of the stator winding of machine (7)；
Step 202, controller (2) by index of modulation m compared with 1, as m≤1, controller (2) control alternating-current synchronous
Motor (7) operates in permanent torque region；Otherwise, m is worked as>When 1, first, controller (2) uses electronic under two-phase rotating coordinate system
Electromechanics pressure computation modelThe voltage u of AC permanent magnet synchronous motor (7) is calculated, then, control
Device (2) processed is by the voltage u of AC permanent magnet synchronous motor (7) and the maximum output voltage U of invertermaxIt is compared, as u≤Umax
When, controller (2) control AC permanent magnet synchronous motor (7) operates in permanent torque region, works as u>UmaxWhen, controller (2) is to exchange
Permasyn morot (7) carries out weak-magnetic speed-regulating control；Wherein, ω be AC permanent magnet synchronous motor (7) rotor angular speed andT is the time, LdFor AC permanent magnet synchronous motor (7) stator winding under two-phase rotating coordinate system d axles electricity
Sense, LqFor q axle inductance of the stator winding under two-phase rotating coordinate system of AC permanent magnet synchronous motor (7), idFor AC permanent-magnet
D shaft current of the stator winding of synchronous motor (7) under two-phase rotating coordinate system, iqFor AC permanent magnet synchronous motor (7)
Q shaft current of the stator winding under two-phase rotating coordinate system,ψf
For magnetic linkage caused by AC permanent magnet synchronous motor (7) permanent magnet；
During controller (2) carries out weak-magnetic speed-regulating control to AC permanent magnet synchronous motor (7) in step 202, when u value
From u>UmaxChange turns to u<UmaxAnd | u-Umax|≤k1UmaxWhen, or the angular speed when AC permanent magnet synchronous motor (7) rotor
ω value meets | w-wb|≤k2wbWhen, controller (2) still carries out weak-magnetic speed-regulating control to AC permanent magnet synchronous motor (7)
System；When u value is from u>UmaxChange turns to u<UmaxAnd | u-Umax|>k1UmaxWhen, or when AC permanent magnet synchronous motor (7) rotor
Angular velocity omega value meet | w-wb|>k2wbWhen, controller (2) control AC permanent magnet synchronous motor (7) operates in permanent turn
Square region；Wherein, wbIt is equal to U for motor voltage umaxWhen AC permanent magnet synchronous motor (7) rotor angular speed, k1For voltage
Poor regulation coefficient and k1For the number less than 1, k2For angular velocity difference regulation coefficient and k2For the number less than 1.
2. controlling decision method according to the Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating described in claim 1, it is special
Sign is：The k1Span be 0.16~0.23.
3. controlling decision method according to the Electric Vehicle's Alternating permasyn morot weak-magnetic speed-regulating described in claim 1, it is special
Sign is：The k2Span be 0.2~0.29.
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| CN105978425B true CN105978425B (en) | 2018-02-23 |
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