CN106059427A - Permanent magnet synchronous motor control method and system - Google Patents
Permanent magnet synchronous motor control method and system Download PDFInfo
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- CN106059427A CN106059427A CN201610511750.4A CN201610511750A CN106059427A CN 106059427 A CN106059427 A CN 106059427A CN 201610511750 A CN201610511750 A CN 201610511750A CN 106059427 A CN106059427 A CN 106059427A
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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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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
Abstract
The invention relates to a permanent magnet synchronous motor control method and system. An output current of a motor stator is detected, and a feedback exciting current and a feedback torque current of a motor are calculated according to the output current; a given torque current and a given exciting current of the motor are calculated; and the feedback exciting current, the feedback torque current, the given torque current and the given exciting current are led to a current loop and then an exciting voltage and a torque current of the current loop are calculated; the exciting voltage and the torque current are converted into drive signals applied to a motor and then a feedback torque current and a given torque current of the motor are sampled; the sampled feedback torque current and given torque current are led to the above-mentioned process repeatedly; and then a new feedback torque current and a new given torque current are sampled until the torque current and the exciting current of the motor reach a dynamic stable state. Therefore, with an iteration way, an MTPA effect can be realized only by selecting one part of an MTPA formula, so that the program operation load is reduced; and the chip utilization efficiency of the correlated system of the motor is improved.
Description
Technical field
The present invention relates to motor control, particularly relate to the low method for controlling permanent magnet synchronous motor of a kind of amount of calculation and be
System.
Background technology
In recent years, fast along with Power Electronic Technique, microelectric technique, New-type electric machine control theory and rare earth permanent-magnetic material
Speed development, permasyn morot is able to rapid popularization and application.Compared with traditional electric excitation synchronous motor, permanent magnet synchronous electric
Machine, particularly rare earth permanent-magnet synchronization motor have loss less, efficiency is high, power savings clear advantage.Permasyn morot
There is provided excitation with permanent magnet, make electric motor structure relatively simple, reduce processing and assembly fee use, and eliminate and easily go wrong
Collector ring and brush, improve the reliability of motor running.
The implementation method of MTPA (optimum torque control) has computing method of formula, simulation method and laboratory method at present.Formula calculates
Method is the torque formula according to magneto, utilizes optimized algorithm, directly calculates the cross, straight axle electricity under certain torque, magnetic linkage
Stream is given.Computing method of formula is strong to the dependency of the parameter of electric machine, and in real system running, parameter is time-varying, therefore,
Computing method of formula computationally intensive, precision is relatively low.
Summary of the invention
Based on this, it is necessary to provide method for controlling permanent magnet synchronous motor and system that a kind of amount of calculation is low.
A kind of method for controlling permanent magnet synchronous motor, comprises the following steps:
Step A, the output electric current of detection motor stator, calculate described motor according to the output galvanometer of described motor stator
Feedback excitation electric current and feedback torque electric current；
Step B, calculate the given torque current of described motor, and calculate given encouraging according to described given torque current
Magnetoelectricity stream；
Step C, by described feedback excitation electric current, described feedback torque electric current, described given torque current and described given
Exciting current brings the electric current loop of described motor into, and calculates excitation voltage and the torque voltage of electric current loop；
Step D, described excitation voltage and described torque voltage use space voltage vector be converted to drive signal, and will
Described driving signal function is on described motor, and the feedback excitation electric current that produces on the now motor of sampling and given torque electricity
Stream；
Step E, by the feedback excitation electric current in feedback excitation electric current alternative steps A in step D, and use in step D
After given torque current calculates the given exciting current in step B, what the now motor of again sampling after repeating step C-D produced is anti-
Feedback exciting current and given torque current；
Repeat the above steps A-E, until the torque current of motor and exciting current reach dynamic stability.
Wherein in an embodiment, described step A includes:
The three-phase phase current of motor stator is gone out according to the phase current sensing electric circuit inspection that converter is built-in；
The three-phase phase current of acquisition is converted to electric current under biphase rest frame by Clarke transformation for mula；
It is integrated synchronizing frequency We obtaining coordinate transform angle；
According to coordinate transform angle, calculate sine value and cosine value；
Calculate sine value and cosine value according to coordinate transform angle and correspondence, the electric current under biphase rest frame is led to
Cross park and convert the feedback excitation electric current of described motor, the feedback torque electric current being converted under M-T rotating coordinate system.
Wherein in an embodiment, described step B includes:
After the target frequency of described motor is carried out PID regulation with detection frequency, calculate institute according to the output of speed ring
State the given torque current of motor；
Described given torque current is brought into MTPA formula, and calculates described given exciting current.
Wherein in an embodiment, described MTPA formula that described given torque current is brought into, and described in calculating to
The step determining exciting current includes:
Given exciting current is calculated according to formula (1)；
Wherein, Ψ is motor magnetic flux, LdFor d axle inductance, LqFor q axle inductance, ItFor given torque current, ImEncourage for given
Magnetoelectricity stream.
Wherein in an embodiment, described step C includes:
By described feedback excitation electric current, described feedback torque electric current, described given torque current and described given excitation electricity
After stream brings the electric current loop of described motor into, this electric current loop is carried out PID regulation.
Wherein in an embodiment, described step D includes:
Described excitation voltage and described torque voltage use space voltage vector to be converted to 6 roads and drive signal；
Signal is driven to act on described motor through SPM on described 6 tunnels；
Sample the feedback excitation electric current on the most described motor and given torque current.
A kind of control system for permanent-magnet synchronous motor, including detection module, computing module, modular converter and sampling module；
Described detection module is for detecting the output electric current of motor stator；
Described computing module calculates the feedback excitation electricity of described motor for the output galvanometer according to described motor stator
Stream and feedback torque electric current；
Described computing module is additionally operable to calculate the given torque current of described motor, and according to described given torque current
Calculate given exciting current；
Described computing module is by described feedback excitation electric current, described feedback torque electric current, described given torque current and institute
State given exciting current and bring the electric current loop of described motor into, and calculate excitation voltage and the torque voltage of electric current loop；
Described modular converter is for using space voltage vector to be converted to drive described excitation voltage and described torque voltage
Dynamic signal, and by described driving signal function on described motor, described sampling module produces on the now motor of sampling
Feedback excitation electric current and given torque current；
The described feedback excitation electric current that sampling module is sampled by described computing module, described given torque current, and will again
The secondary described feedback torque electric current that calculates, described given exciting current bring the electric current loop of described motor into, and calculate electric current
The excitation voltage of ring and torque voltage；Described sampling module is used for this feedback excitation electric current of repeated sampling and given torque current,
Until the torque current of motor and exciting current reach dynamic stability.
Wherein in an embodiment, described detection module is additionally operable to the phase current sensing circuit inspection built-in according to converter
Measure the three-phase phase current of motor stator；
Described modular converter is for being converted to biphase static seat by the three-phase phase current of acquisition by Clarke transformation for mula
The lower electric current of mark system；
Described computing module is for being integrated obtaining coordinate transform angle to synchronizing frequency We；
Described computing module is additionally operable to, according to coordinate transform angle, calculate sine value and cosine value；
Described computing module is additionally operable to calculate sine value and cosine value according to coordinate transform angle and correspondence, by biphase quiet
Only the electric current under coordinate system is converted to the feedback excitation electric current of described motor under M-T rotating coordinate system, anti-by park conversion
Feedforward torque electric current.
Wherein in an embodiment, described computing module is additionally operable to enter the target frequency of described motor with detection frequency
After row PID regulation, calculate the given torque current of described motor according to the output of speed ring；
Described computing module is additionally operable to bring described given torque current into MTPA formula, and calculates described given excitation
Electric current；
Described computing module calculates given exciting current according to formula (1)；
Wherein, Ψ is motor magnetic flux, LdFor d axle inductance, LqFor q axle inductance, ItFor given torque current, ImEncourage for given
Magnetoelectricity stream.
Wherein in an embodiment, described computing module is additionally operable to described feedback excitation electric current, described feedback torque
After electric current, described given torque current and described given exciting current bring the electric current loop of described motor into, this electric current loop is carried out
PID regulates.
Method for controlling permanent magnet synchronous motor that above-mentioned amount of calculation is low and system are by detecting the output electric current of motor stator, root
Feedback excitation electric current and the feedback torque electric current of motor is calculated according to this output galvanometer；Calculate the given torque current of motor again
With given exciting current；Above-mentioned feedback excitation electric current, feedback torque electric current, given torque current and given exciting current are brought into
Excitation voltage and the torque voltage of electric current loop is calculated after electric current loop.Be converted to drive letter by this excitation voltage and this torque voltage
Number act on motor, and the feedback excitation electric current on the now motor of sampling and given torque current.Feedback excitation by sampling
Electric current and given torque current repeat to bring in said process, and the feedback excitation electric current and given torque current made new advances of sampling,
Until the torque current of motor and exciting current reach dynamic stability.Therefore, above-mentioned calculating process uses the mode of iteration, only selects
Take the part in MTPA formula, i.e. up to the effect of MTPA (optimum torque control), decrease the operand of program, and improve
The chip utilization ratio of motor related system.
Accompanying drawing explanation
Fig. 1 is the flow chart of method for controlling permanent magnet synchronous motor；
Fig. 2 is to obtain feedback excitation electric current and the flow chart of feedback torque electric current；
Fig. 3 is to calculate given exciting current and the flow chart of given torque current；
Fig. 4 is sample motor feedback excitation electric current and the flow chart of given torque current；
Fig. 5 is the module map of control system for permanent-magnet synchronous motor.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give the preferred embodiment of the present invention.But, the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, providing the purpose of these embodiments is to make the understanding to the disclosure more saturating
Thorough comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, and it can be directly on another element
Or element placed in the middle can also be there is.When an element is considered as " connection " another element, and it can be to be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
" right " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term used the most in the description of the invention is intended merely to describe tool
The purpose of the embodiment of body, it is not intended that in limiting the present invention.Term as used herein " and/or " include one or more phase
Arbitrary and all of combination of the Listed Items closed.
As it is shown in figure 1, be the flow chart of method for controlling permanent magnet synchronous motor.
A kind of method for controlling permanent magnet synchronous motor, comprises the following steps:
Step A, the output electric current of detection motor stator, the feedback calculating motor according to the output galvanometer of motor stator is encouraged
Magnetoelectricity stream and feedback torque electric current.
Incorporated by reference to Fig. 2.
Step A includes:
Step S210, goes out the three-phase phase current of motor stator according to the phase current sensing electric circuit inspection that converter is built-in.
Step S212, is converted to electricity under biphase rest frame by the three-phase phase current of acquisition by Clarke transformation for mula
Stream.
Step S214, is integrated synchronizing frequency We obtaining coordinate transform angle.
Step S216, according to coordinate transform angle, calculates sine value and cosine value.
Step S218, calculates sine value and cosine value according to coordinate transform angle and correspondence, by biphase rest frame
Under electric current be converted to the feedback excitation electric current of motor under M-T rotating coordinate system, feedback torque electric current by park conversion.
In the present embodiment, feedback excitation electric current and the feedback torque electric current of motor needs to calculate.Specifically, according to
Three-phase phase current summation is zero to obtain third phase electric current.Then pass sequentially through Clarke conversion, park conversion obtains M-T and rotates seat
Feedback excitation electric current under mark system, feedback torque electric current.
Park alternatively before, need to ask for the coordinate transform angle of correspondence and corresponding sine value, cosine value.
Step B, calculate the given torque current of motor, and calculate given exciting current according to given torque current.
Incorporated by reference to Fig. 3.
Step B includes:
Step S310, after the target frequency of motor is carried out PID regulation with detection frequency, calculates according to the output of speed ring
Go out the given torque current of motor.
Step S312, brings given torque current MTPA formula into, and calculates given exciting current.
Concrete, step S310 includes:
Given exciting current is calculated according to formula (1)；
Wherein, Ψ is motor magnetic flux, LdFor d axle inductance, LqFor q axle inductance, ItFor given torque current, ImEncourage for given
Magnetoelectricity stream.
Step C, bring feedback excitation electric current, feedback torque electric current, given torque current and given exciting current into motor
Electric current loop, and calculate excitation voltage and the torque voltage of electric current loop.
Step C includes: feedback excitation electric current, feedback torque electric current, given torque current and given exciting current are brought into
After the electric current loop of motor, this electric current loop is carried out PID regulation.
PID regulation (PID regulating) is a kind of basic regulative mode of control system in classical control theory. be
There is a kind of linear regulation rule of ratio, integration and the differential action.The effect of PID regulation is by set-point r and controlled variable
The deviation of actual amount measured value y.
Now, the feedback excitation electric current of electric current loop, feedback torque electric current, given torque current and given exciting current are brought into
It is the real-time current that motor is current.
Step D, excitation voltage and torque voltage use space voltage vector be converted to drive signal, and signal will be driven
Act on motor, and the feedback excitation electric current that produces on the now motor of sampling and given torque current.
Incorporated by reference to Fig. 4.
Step D includes:
Step S410, excitation voltage and torque voltage use space voltage vector to be converted to 6 roads and drive signal.
6 roads are driven signal to act on motor through SPM by step S412.
Step S414, the feedback excitation electric current on the now motor of sampling and given torque current.
Step E, by the feedback excitation electric current in feedback excitation electric current alternative steps A in step D, and use in step D
After given torque current calculates the given exciting current in step B, what the now motor of again sampling after repeating step C-D produced is anti-
Feedback exciting current and given torque current.
In the present embodiment, perform step A and obtain the feedback torque electric current that motor is current, and in read step E, motor is worked as
Front feedback excitation electric current.
Perform step B, utilize the given torque current in step D to calculate current given torque current.
Above-mentioned current feedback excitation electric current, feedback torque electric current, given torque current and given exciting current are brought into
In step C, and after performing step C-D, the feedback excitation electric current that the now motor of again sampling produces and given torque current.
Step F, repeat the above steps A-E, until the torque current of motor and exciting current reach dynamic stability.
By above-mentioned execution process, iterate such as said method by the feedback excitation electric current of sampling and given torque current,
Finally can calculate exciting current and the torque current of steady statue, i.e. motor and enter steady statue.
Concrete, based on above-described embodiment, the operation principle of method for controlling permanent magnet synchronous motor is as follows:
First, performing step A-D, wherein, step A and step B do not have sequencing, and both can perform with random order.
After step A-D that is finished, the current feedback excitation electric current of motor and given torque current can be obtained.
In step E, can again perform step A-D, but, need to be by the feedback excitation electric current in step A-D with give
Determine torque current replace with performed last time step D obtain feedback excitation electric current and given torque current.I.e. feedback excitation electric current,
Feedback torque electric current, given torque current and given exciting current are the real-time current that motor is current.After performing step E, meeting
Again obtain the current feedback excitation electric current of motor and given torque current.
Iterate by above-mentioned steps, use the feedback excitation electric current of last samples and given torque current to make the most every time
For calculating excitation voltage next time and the known quantity of torque voltage, obtained by the excitation voltage calculated and torque voltage the most again
Feedback excitation electric current that motor is current and given torque current.
It follows that said method only needs to choose the part in MTPA formula, i.e. can reach the effect of MTPA, decrease
Amount of calculation, and improve the chip utilization ratio of electric system.
Incorporated by reference to Fig. 5.
Based on above-mentioned all embodiments, a kind of control system for permanent-magnet synchronous motor, including detection module 501, computing module
502, modular converter 503 and sampling module 504.
Detection module 501 is for detecting the output electric current of motor stator.Defeated for according to motor stator of computing module 502
Go out galvanometer and calculate feedback excitation electric current and the feedback torque electric current of motor；Computing module 502 be additionally operable to calculate motor to
Determine torque current, and calculate given exciting current according to given torque current；Computing module 502 is by feedback excitation electric current, anti-
Feedforward torque electric current, given torque current and given exciting current bring the electric current loop of motor into, and calculate the excitation electricity of electric current loop
Pressure and torque voltage；Modular converter 503 is for using space voltage vector to be converted to drive letter excitation voltage and torque voltage
Number, and will drive signal function on motor, feedback excitation electric current that sampling module 504 produces on the now motor of sampling and
Given torque current；The feedback excitation electric current that sampling module 504 is sampled by computing module 502, given torque current, and will again
The feedback torque electric current that calculates, given exciting current bring the electric current loop of motor into, and calculate electric current loop excitation voltage and
Torque voltage；Sampling module 504 is for this feedback excitation electric current of repeated sampling and given torque current, until the torque electricity of motor
Stream and exciting current reach dynamic stability.
Detection module 501 is additionally operable to go out the three-phase phase of motor stator according to the phase current sensing electric circuit inspection that converter is built-in
Electric current.
Modular converter 503 is for being converted to biphase static coordinate by the three-phase phase current of acquisition by Clarke transformation for mula
The lower electric current of system.
Computing module 502 is for being integrated obtaining coordinate transform angle to synchronizing frequency We.
Computing module 502 is additionally operable to, according to coordinate transform angle, calculate sine value and cosine value.
Computing module 502 is additionally operable to calculate sine value and cosine value according to coordinate transform angle and correspondence, by biphase quiet
Only the electric current under coordinate system is converted to the feedback excitation electric current of motor under M-T rotating coordinate system by park conversion, feedback turns
Square electric current.
After computing module 502 is additionally operable to detection frequency, the target frequency of motor is carried out PID regulation, according to speed ring
Output calculates the given torque current of motor.
Computing module 502 is additionally operable to bring given torque current into MTPA formula, and calculates given exciting current.
Computing module 502 calculates given exciting current according to formula (1)；
Wherein, Ψ is motor magnetic flux, LdFor d axle inductance, LqFor q axle inductance, ItFor given torque current, ImEncourage for given
Magnetoelectricity stream.
Computing module 502 is additionally operable to feedback excitation electric current, feedback torque electric current, given torque current and given excitation electricity
After stream brings the electric current loop of motor into, this electric current loop is carried out PID regulation.
Above-mentioned method for controlling permanent magnet synchronous motor and system are by detecting the output electric current of motor stator, according to this output electricity
Flowmeter calculates feedback excitation electric current and the feedback torque electric current of motor；Calculate the given torque current of motor and given excitation again
Electric current；Count after bringing above-mentioned feedback excitation electric current, feedback torque electric current, given torque current and given exciting current into electric current loop
Calculate excitation voltage and the torque voltage of electric current loop.Be converted to this excitation voltage and this torque voltage drive signal function in electricity
On machine, and the feedback excitation electric current on the now motor of sampling and given torque current.By the feedback excitation electric current of sampling with given
Torque current repeats to bring in said process, and the feedback excitation electric current and given torque current made new advances of sampling, until motor
Torque current and exciting current reach dynamic stability.Therefore, above-mentioned calculating process uses the mode of iteration, only chooses MTPA formula
In a part, i.e. up to the effect of MTPA (optimum torque control), decrease the operand of program, and improve motor and be correlated with
The chip utilization ratio of system.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a method for controlling permanent magnet synchronous motor, comprises the following steps:
Step A, the output electric current of detection motor stator, calculate the anti-of described motor according to the output galvanometer of described motor stator
Feedback exciting current and feedback torque electric current；
Step B, calculate the given torque current of described motor, and calculate given excitation electricity according to described given torque current
Stream；
Step C, by described feedback excitation electric current, described feedback torque electric current, described given torque current and described given excitation
Electric current brings the electric current loop of described motor into, and calculates excitation voltage and the torque voltage of electric current loop；
Step D, described excitation voltage and described torque voltage use space voltage vector be converted to drive signal, and by described
Drive signal function on described motor, and the feedback excitation electric current that produces on the now motor of sampling and given torque current；
Step E, by the feedback excitation electric current in feedback excitation electric current alternative steps A in step D, and use in step D given
After torque current calculates the given exciting current in step B, the feedback that the now motor of repeating again to sample after step C-D produces is encouraged
Magnetoelectricity stream and given torque current；
Repeat the above steps A-E, until the torque current of motor and exciting current reach dynamic stability.
Method for controlling permanent magnet synchronous motor the most according to claim 1, it is characterised in that described step A includes:
The three-phase phase current of motor stator is gone out according to the phase current sensing electric circuit inspection that converter is built-in；
The three-phase phase current of acquisition is converted to electric current under biphase rest frame by Clarke transformation for mula；
It is integrated synchronizing frequency We obtaining coordinate transform angle；
According to coordinate transform angle, calculate sine value and cosine value；
Calculate sine value and cosine value according to coordinate transform angle and correspondence, the electric current under biphase rest frame is passed through
Park conversion is converted to the feedback excitation electric current of described motor under M-T rotating coordinate system, feedback torque electric current.
Method for controlling permanent magnet synchronous motor the most according to claim 1, it is characterised in that described step B includes:
After the target frequency of described motor is carried out PID regulation with detection frequency, calculate described electricity according to the output of speed ring
The given torque current of machine；
Described given torque current is brought into MTPA formula, and calculates described given exciting current.
Method for controlling permanent magnet synchronous motor the most according to claim 3, it is characterised in that
Described into described given torque current is brought MTPA formula, and the step calculating described given exciting current includes:
Given exciting current is calculated according to formula (1)；
Wherein, Ψ is motor magnetic flux, LdFor d axle inductance, LqFor q axle inductance, ItFor given torque current, ImFor given excitation electricity
Stream.
Method for controlling permanent magnet synchronous motor the most according to claim 1, it is characterised in that described step C includes:
By described feedback excitation electric current, described feedback torque electric current, described given torque current and described given exciting current band
After entering the electric current loop of described motor, this electric current loop is carried out PID regulation.
Method for controlling permanent magnet synchronous motor the most according to claim 1, it is characterised in that described step D includes:
Described excitation voltage and described torque voltage use space voltage vector to be converted to 6 roads and drive signal；
Signal is driven to act on described motor through SPM on described 6 tunnels；
Sample the feedback excitation electric current on the most described motor and given torque current.
7. a control system for permanent-magnet synchronous motor, it is characterised in that include detection module, computing module, modular converter and adopt
Original mold block；
Described detection module is for detecting the output electric current of motor stator；
Described computing module for according to described motor stator output galvanometer calculate described motor feedback excitation electric current and
Feedback torque electric current；
Described computing module is additionally operable to calculate the given torque current of described motor, and calculates according to described given torque current
Go out given exciting current；
Described computing module is by described feedback excitation electric current, described feedback torque electric current, described given torque current and described gives
Determine exciting current and bring the electric current loop of described motor into, and calculate excitation voltage and the torque voltage of electric current loop；
Described modular converter is for using space voltage vector to be converted to drive letter described excitation voltage and described torque voltage
Number, and by described driving signal function on described motor, the feedback that described sampling module produces on the now motor of sampling
Exciting current and given torque current；
The described feedback excitation electric current that sampling module is sampled by described computing module, described given torque current, and will again count
The described feedback torque electric current calculated, described given exciting current bring the electric current loop of described motor into, and calculate electric current loop
Excitation voltage and torque voltage；Described sampling module is used for this feedback excitation electric current of repeated sampling and given torque current, until
Torque current and the exciting current of motor reach dynamic stability.
Control system for permanent-magnet synchronous motor the most according to claim 7, it is characterised in that described detection module is additionally operable to root
The three-phase phase current of motor stator is gone out according to the phase current sensing electric circuit inspection that converter is built-in；
Described modular converter is for being converted to biphase rest frame by the three-phase phase current of acquisition by Clarke transformation for mula
Lower electric current；
Described computing module is for being integrated obtaining coordinate transform angle to synchronizing frequency We；
Described computing module is additionally operable to, according to coordinate transform angle, calculate sine value and cosine value；
Described computing module is additionally operable to calculate sine value and cosine value according to coordinate transform angle and correspondence, by biphase static seat
Electric current under mark system is converted to the feedback excitation electric current of described motor under M-T rotating coordinate system by park conversion, feedback turns
Square electric current.
Control system for permanent-magnet synchronous motor the most according to claim 7, it is characterised in that described computing module be additionally operable to by
The target frequency of described motor and detection be after frequency carries out PID regulation, according to the output of speed ring calculate described motor to
Determine torque current；
Described computing module is additionally operable to bring described given torque current into MTPA formula, and calculates described given excitation electricity
Stream；
Described computing module calculates given exciting current according to formula (1)；
Wherein, Ψ is motor magnetic flux, LdFor d axle inductance, LqFor q axle inductance, ItFor given torque current, ImFor given excitation electricity
Stream.
Control system for permanent-magnet synchronous motor the most according to claim 7, it is characterised in that described computing module is additionally operable to
Bring described feedback excitation electric current, described feedback torque electric current, described given torque current and described given exciting current into institute
After stating the electric current loop of motor, this electric current loop is carried out PID regulation.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112014732A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Torque current detection device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106602939A (en) * | 2016-11-30 | 2017-04-26 | 中冶南方（武汉）自动化有限公司 | Permanent-magnet synchronous electrical machine torque control method |
| CN106602939B (en) * | 2016-11-30 | 2019-06-18 | 中冶南方（武汉）自动化有限公司 | A kind of permanent magnet synchronous motor method for controlling torque |
| CN108415474A (en) * | 2018-03-12 | 2018-08-17 | 深圳市海浦蒙特科技有限公司 | Frequency converter control method and frequency converter applied to filter press |
| CN108415474B (en) * | 2018-03-12 | 2020-04-28 | 深圳市海浦蒙特科技有限公司 | Frequency converter control method applied to filter press and frequency converter |
| CN112014732A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Torque current detection device and method |
| CN112014732B (en) * | 2020-08-27 | 2023-06-02 | 中科新松有限公司 | Torque current detection device and method |
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