CN106208862B - Control method, control device and the wind turbine of motor - Google Patents
Control method, control device and the wind turbine of motor Download PDFInfo
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- CN106208862B CN106208862B CN201610632656.4A CN201610632656A CN106208862B CN 106208862 B CN106208862 B CN 106208862B CN 201610632656 A CN201610632656 A CN 201610632656A CN 106208862 B CN106208862 B CN 106208862B
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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Abstract
The present invention provides a kind of control method of motor, control device and wind turbines, wherein the control method of motor includes：Whether the phase current of detection motor reaches zero crossing；When the phase current for detecting the motor reaches zero crossing, the d shaft voltages of the motor are adjusted, so that the phase voltage of the motor is consistent with the phase of the phase current.Technical scheme of the present invention can not only ensure the efficiency optimization of motor to meet the requirement of Energy Saving Control, and can simplify hardware circuit, reduce the production cost of product, while can also improve the reliability and stability of product.
Description
Technical field
The present invention relates to technical field of motors, in particular to a kind of control method of motor, a kind of control of motor
Device and a kind of wind turbine.
Background technology
As user is higher and higher to domestic electric appliances energy-saving environmental protection and the requirement of comfort, DC frequency conversion technology is in household electrical appliances row
Popularizing for industry is higher and higher.DC frequency conversion technology is usually using permanent magnet synchronous motor, relative to asynchronous machine and brush DC electricity
For machine, the better performances of permanent magnet synchronous motor, but the cost of motor body and controller is all improved, and control is calculated
The requirement of method is also more complicated.
Simultaneously as the outdoor fan of multi-online air-conditioning system and heat pump air conditioning system is typically all with frequency mesh in order to control
Mark controls air quantity, also complex, especially startup stage is affected by, if control is improper, to product
Reliability and stability have large effect.
Invention content
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, an object of the present invention is to provide a kind of control method of new motor, it can not only ensure electricity
The efficiency optimization of machine can simplify hardware circuit to meet the requirement of Energy Saving Control, reduce the production cost of product, simultaneously
Also the reliability and stability of product can be improved.
It is another object of the present invention to a kind of corresponding control device for proposing motor and with the control device
Wind turbine.
To achieve the above object, embodiment according to the first aspect of the invention, it is proposed that a kind of control method of motor,
Including：Whether the phase current of detection motor reaches zero crossing；When the phase current for detecting the motor reaches zero crossing, adjustment
The d shaft voltages of the motor, so that the phase voltage of the motor is consistent with the phase of the phase current.
The control method of motor according to an embodiment of the invention, since motor is resistance inductive load, current phase is stagnant
Afterwards in voltage-phase, if therefore without phase controlling, under the premise of exporting same power, current amplitude can increase, into
And the inefficiency of motor can be led to.Therefore, it is adjusted by the d shaft voltages to motor, so that the phase voltage of motor and phase
The phase of electric current is consistent, enabling ensures the efficiency optimization of motor, and then can realize the purpose of Energy Saving Control.Meanwhile by
Sampled signal is less in control logic proposed by the present invention, need not carry out complicated voltage and current reconstruct, and then can
The hardware circuit of simplify control device advantageously reduces the production cost of product.
Further, since the zero crossing in phase current is able to detect that accurate phase voltage signal, therefore by phase current
Zero crossing the d shaft voltages of motor are adjusted, it can be ensured that the accuracy of phase adjustment, avoid and phase voltage believed
Number wrong problem for causing control abnormal of detection.
The control method of motor according to the abovementioned embodiments of the present invention can also have following technical characteristic：
According to one embodiment of present invention, the control method of the motor further includes：The reality for detecting the motor turns
Speed；According to the actual speed of the motor, the output torque of the q axis of the motor is adjusted.
In this embodiment, by according to the actual speed of motor adjust motor q axis output torque, enabling it is right
The actual speed of motor is controlled.
Specifically, according to the actual speed of the motor, the step of adjusting the output torque of q axis of the motor, specifically
Including：It controls the output torque of the q axis and the difference of the given rotating speed of the motor and actual speed is positively correlated relationship.
Wherein, given rotating speed is the rotating speed of target of motor, when the difference of given rotating speed and actual speed is larger, is needed fast
Speed promotes the rotating speed of motor, therefore controls q axis and export larger torque；And the difference in given rotating speed and actual speed is smaller
When, the actual speed of motor can control q axis and export smaller torque already close to given rotating speed.
According to one embodiment of present invention, it is described detection motor phase current whether reach zero crossing the step of it
Before, further include：After starting the motor, the q shaft voltages of predetermined value are provided to the motor；Detecting the motor
When actual speed is greater than or equal to first predetermined value, the step of whether phase current for detecting motor reaches zero crossing executed.
In this embodiment, by after the machine has started, the q shaft voltages of predetermined value being provided to motor, enabling to the greatest extent
The fast rotating speed for improving motor.Simultaneously as in the initial time of electric motor starting, can have interference leads to the zero passage for detecting mistake
The problem of point, therefore when being greater than or equal to first predetermined value by the actual speed in the motor detected, then detect motor
Whether phase current reaches zero crossing, can cause to carry out the phase adjustment of mistake and produce to avoid the zero crossing of the mistake detected
The failure of overcurrent occurs for raw hardware module, is conducive to the reliability and stability for improving product.
In the above embodiment, it is preferable that before the step of providing the q shaft voltages of predetermined value to the motor, also wrap
It includes：Judge whether the given rotating speed of the motor is greater than or equal to second predetermined value, and judge the given steering of the motor with
Whether actual steering is consistent, wherein the second predetermined value is more than the first predetermined value；It is big in the given rotating speed of the motor
In or be equal to the second predetermined value, and the motor given steering it is consistent with the actual steering when, execute to the electricity
Machine provides the step of q shaft voltages of predetermined value.
In this embodiment, whether second predetermined value is greater than or equal to by the size of the given rotating speed to motor, and
Whether the given steering of motor is unanimously detected with actual steering, and is greater than or equal to the in the given rotating speed for detecting motor
Two predetermined values, and motor given steering it is consistent with actual steering when, then to motor provide predetermined value q shaft voltages, Ke Yibao
Demonstrate,prove the steady ordered operation of motor.
Wherein, the given steering of motor is the direction of the given speed of motor, and actual steering is motor actual speed
Direction.
According to one embodiment of present invention, the control method of the motor further includes：It obtains and is arranged in the motor
The hall signal of interior Hall sensor output；The actual speed of the motor is determined according to the hall signal.
In addition, can also be detected by Hall sensor for the detection in the actual speed direction of motor.
Embodiment according to a second aspect of the present invention, it is also proposed that a kind of control device of motor, including：Zero-crossing examination
Whether unit, the phase current for detecting motor reach zero crossing；Adjustment unit, for being detected in the zero-crossing examination unit
To the motor phase current reach zero crossing when, the d shaft voltages of the motor are adjusted, so that the phase voltage of the motor and institute
The phase for stating phase current is consistent.
The control device of motor according to an embodiment of the invention, since motor is resistance inductive load, current phase is stagnant
Afterwards in voltage-phase, if therefore without phase controlling, under the premise of exporting same power, current amplitude can increase, into
And the inefficiency of motor can be led to.Therefore, it is adjusted by the d shaft voltages to motor, so that the phase voltage of motor and phase
The phase of electric current is consistent, enabling ensures the efficiency optimization of motor, and then can realize the purpose of Energy Saving Control.Meanwhile by
Sampled signal is less in control logic proposed by the present invention, need not carry out complicated voltage and current reconstruct, and then can
The hardware circuit of simplify control device advantageously reduces the production cost of product.
Further, since the zero crossing in phase current is able to detect that accurate phase voltage signal, therefore by phase current
Zero crossing the d shaft voltages of motor are adjusted, it can be ensured that the accuracy of phase adjustment, avoid and phase voltage believed
Number wrong problem for causing control abnormal of detection.
The control device of motor according to the abovementioned embodiments of the present invention can also have following technical characteristic：
According to one embodiment of present invention, the control device of the motor further includes：Rotation speed detection unit is used for
Detect the actual speed of the motor；The adjustment unit is additionally operable to, the electricity detected according to the rotation speed detection unit
The actual speed of machine adjusts the output torque of the q axis of the motor.
In this embodiment, by according to the actual speed of motor adjust motor q axis output torque, enabling it is right
The actual speed of motor is controlled.
Specifically, the adjustment unit is specifically used for：Control the given rotating speed of the output torque and the motor of the q axis
It is positively correlated relationship with the difference of actual speed.
Wherein, given rotating speed is the rotating speed of target of motor, when the difference of given rotating speed and actual speed is larger, is needed fast
Speed promotes the rotating speed of motor, therefore controls q axis and export larger torque；And the difference in given rotating speed and actual speed is smaller
When, the actual speed of motor can control q axis and export smaller torque already close to given rotating speed.
According to one embodiment of present invention, the control device of the motor further includes：Control unit, in institute
State zero-crossing examination unit detection motor phase current whether reach zero crossing before, and after starting the motor, to institute
State the q shaft voltages that motor provides predetermined value；The zero-crossing examination unit is specifically used for, and is more than in the actual speed of the motor
Or when equal to first predetermined value, whether the phase current for executing detection motor reaches the operation of zero crossing.
In this embodiment, by after the machine has started, the q shaft voltages of predetermined value being provided to motor, enabling to the greatest extent
The fast rotating speed for improving motor.Simultaneously as in the initial time of electric motor starting, can have interference leads to the zero passage for detecting mistake
The problem of point, therefore when being greater than or equal to first predetermined value by the actual speed in the motor detected, then detect motor
Whether phase current reaches zero crossing, can cause to carry out the phase adjustment of mistake and produce to avoid the zero crossing of the mistake detected
The failure of overcurrent occurs for raw hardware module, is conducive to the reliability and stability for improving product.
In the above embodiment, it is preferable that the control device of the motor further includes：Judging unit, for judging
Whether the given rotating speed for stating motor is greater than or equal to second predetermined value, and judges that the given steering of the motor is with actual steering
It is no consistent, wherein the second predetermined value is more than the first predetermined value；Described control unit is specifically used for, in the judgement
Unit judge the motor given rotating speed be greater than or equal to the second predetermined value, and the given steering of the motor with it is described
When actual steering is consistent, the operation for the q shaft voltages that predetermined value is provided to the motor is executed.
In this embodiment, whether second predetermined value is greater than or equal to by the size of the given rotating speed to motor, and
Whether the given steering of motor is unanimously detected with actual steering, and is greater than or equal to the in the given rotating speed for detecting motor
Two predetermined values, and motor given steering it is consistent with actual steering when, then to motor provide predetermined value q shaft voltages, Ke Yibao
Demonstrate,prove the steady ordered operation of motor.
Wherein, the given steering of motor is the direction of the given speed of motor, and actual steering is motor actual speed
Direction.In one embodiment of the invention, size and the side of motor actual speed can be detected by Hall sensor
To.
Embodiment according to a third aspect of the present invention, it is also proposed that a kind of wind turbine, including：Motor；And such as above-mentioned implementation
The control device of motor described in any one of example.
Wherein, which can be the wind turbine in air conditioner, such as outdoor fan, can also be that range hood, water pump etc. are set
Wind turbine in standby.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 shows the schematic flow diagram of the control method of motor according to first embodiment of the invention；
Fig. 2 shows the schematic flow diagrams of the control method of the motor of second embodiment according to the present invention；
Fig. 3 shows the schematic flow diagram of the control method of the motor of third embodiment according to the present invention；
Fig. 4 shows the schematic block diagram of the control device of motor according to an embodiment of the invention；
Fig. 5 shows the schematic block diagram of wind turbine according to an embodiment of the invention；
Fig. 6 shows the principle schematic of FOC vector control schemes；
Fig. 7 shows the structure diagram of the motor control schemes according to an embodiment of the invention based on phase controlling；
Fig. 8 shows the effect diagram of the motor control schemes according to an embodiment of the invention based on phase controlling；
Fig. 9 shows that motor occurs the waveform diagram of IPM hardware overcurrents in static startup；
Figure 10 A and Figure 10 B show that motor starts the waveform diagram of IPM hardware overcurrents after high speed is braked against the wind；
Figure 11 shows in phase current zero crossing there are when error, phase under sine wave drive mode and square wave type of drive
The contrast schematic diagram of control；
Figure 12 shows the schematic flow diagram of the motor control method of the 4th embodiment according to the present invention.
Specific implementation mode
To better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Mode is applied the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be implemented different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Fig. 1 shows the schematic flow diagram of the control method of motor according to first embodiment of the invention.
As shown in Figure 1, the control method of motor according to first embodiment of the invention, including：
Whether step S10, the phase current for detecting motor reach zero crossing.
Step S12 adjusts the d shaft voltages of the motor when the phase current for detecting the motor reaches zero crossing, with
Keep the phase voltage of the motor consistent with the phase of the phase current.
In control method shown in Fig. 1, due to being able to detect that accurate phase voltage signal in the zero crossing of phase current,
Therefore the d shaft voltages of motor are adjusted by the zero crossing in phase current, it can be ensured that the accuracy of phase adjustment,
It avoids and the wrong problem for causing control abnormal is detected to phase voltage signal.
Further, since motor is resistance inductive load, current phase lags behind voltage-phase, if therefore without phase control
System, then under the premise of exporting same power, current amplitude can increase, and then can lead to the inefficiency of motor.Therefore, pass through
The d shaft voltages of motor are adjusted, so that the phase voltage of motor is consistent with the phase of phase current, enabling ensure motor
Efficiency optimization, and then can realize the purpose of Energy Saving Control.Simultaneously as in control logic proposed by the present invention sampled signal compared with
It is few, complicated voltage and current reconstruct need not be carried out, and then be capable of the hardware circuit of simplify control device, advantageously reduce product
Production cost.
In one embodiment of the invention, the control method of the motor further includes on the basis of Fig. 1：Detection institute
State the actual speed of motor；According to the actual speed of the motor, the output torque of the q axis of the motor is adjusted.
In this embodiment, by according to the actual speed of motor adjust motor q axis output torque, enabling it is right
The actual speed of motor is controlled.
Specifically, according to the actual speed of the motor, the step of adjusting the output torque of q axis of the motor, specifically
Including：It controls the output torque of the q axis and the difference of the given rotating speed of the motor and actual speed is positively correlated relationship.
Wherein, given rotating speed is the rotating speed of target of motor, when the difference of given rotating speed and actual speed is larger, is needed fast
Speed promotes the rotating speed of motor, therefore controls q axis and export larger torque；And the difference in given rotating speed and actual speed is smaller
When, the actual speed of motor can control q axis and export smaller torque already close to given rotating speed.
In one embodiment of the invention, the step of actual speed for detecting motor, specifically includes：Setting is obtained in institute
State the hall signal of the Hall sensor output in motor；The actual speed of the motor is determined according to the hall signal.
Motor therein can be permanent magnet synchronous motor.
Fig. 2 shows the schematic flow diagrams of the control method of the motor of second embodiment according to the present invention.
As shown in Fig. 2, the control method of the motor of second embodiment according to the present invention, before above-mentioned steps S10,
Further include：
Step S20 starts motor.
Step S21 provides the q shaft voltages of predetermined value to the motor.
Step S22, judges whether the actual speed of motor is greater than or equal to first predetermined value, and is judging the motor
When actual speed is greater than or equal to first predetermined value, above-mentioned steps S10 is executed.
In control method shown in Fig. 2, by after the machine has started, the q shaft voltages of predetermined value being provided to motor, are made
The rotating speed of motor can be improved as early as possible by obtaining.Simultaneously as in the initial time of electric motor starting, can have interference causes to detect mistake
The problem of zero crossing accidentally, therefore when being greater than or equal to first predetermined value by the actual speed in the motor detected, then examine
Whether the phase current of measured motor reaches zero crossing, and the phase for carrying out mistake can be caused to avoid the zero crossing of the mistake detected
It adjusts and generates the failure that overcurrent occurs for hardware module, be conducive to the reliability and stability for improving product.
In one embodiment of the invention, the step of actual speed for detecting motor, specifically includes：Setting is obtained in institute
State the hall signal of the Hall sensor output in motor；The actual speed of the motor is determined according to the hall signal.
Fig. 3 shows the schematic flow diagram of the control method of the motor of third embodiment according to the present invention.
As shown in figure 3, the control method of the motor of third embodiment according to the present invention, before above-mentioned steps S21,
Further include：
Step S30, judges whether the given rotating speed of the motor is greater than or equal to second predetermined value, and judges the motor
Given steering and actual steering it is whether consistent.Wherein, the second predetermined value is more than the first predetermined value.
When the given rotating speed of the motor is greater than or equal to the second predetermined value, and given steering and the institute of the motor
State actual steering it is consistent when, execute above-mentioned steps S21.
It is pre- by the way that whether the size of the given rotating speed to motor is greater than or equal to second in control method shown in Fig. 3
Whether the given steering of definite value and motor is unanimously detected with actual steering, and big in the given rotating speed for detecting motor
In or be equal to second predetermined value, and motor given steering it is consistent with actual steering when, then provide to motor predetermined value q axis it is electric
Pressure, it is ensured that the steady ordered of motor is run.
Wherein, the given steering of motor is the direction of the given speed of motor, and actual steering is motor actual speed
Direction.
In one embodiment of the invention, size and the side of motor actual speed can be detected by Hall sensor
To.
The invention also provides a kind of control devices of motor, specifically as shown in figure 4, electricity according to an embodiment of the invention
The control device 400 of machine, including：Zero-crossing examination unit 402 and adjustment unit 404.
Wherein, zero-crossing examination unit 402 is for detecting whether the phase current of motor reaches zero crossing；Adjustment unit 404
When for detecting that the phase current of the motor reaches zero crossing in the zero-crossing examination unit 402, the d of the motor is adjusted
Shaft voltage, so that the phase voltage of the motor is consistent with the phase of the phase current.
Since motor is resistance inductive load, current phase lags behind voltage-phase, if therefore without phase controlling,
Under the premise of exporting same power, current amplitude can increase, and then can lead to the inefficiency of motor.Therefore, by electricity
The d shaft voltages of machine are adjusted, so that the phase voltage of motor is consistent with the phase of phase current, enabling ensure the efficiency of motor
It is optimal, and then can realize the purpose of Energy Saving Control.Simultaneously as sampled signal is less in control logic proposed by the present invention,
Complicated voltage and current reconstruct need not be carried out, and then is capable of the hardware circuit of simplify control device, advantageously reduces product
Production cost.
Further, since the zero crossing in phase current is able to detect that accurate phase voltage signal, therefore by phase current
Zero crossing the d shaft voltages of motor are adjusted, it can be ensured that the accuracy of phase adjustment, avoid and phase voltage believed
Number wrong problem for causing control abnormal of detection.
In one embodiment of the invention, the control device 400 of above-mentioned motor further includes：Rotation speed detection unit 406.
Wherein, rotation speed detection unit 406 is used to detect the actual speed of the motor；The adjustment unit 404 is additionally operable to,
According to the actual speed for the motor that the rotation speed detection unit 406 detects, the output for adjusting the q axis of the motor turns
Square.
In this embodiment, by according to the actual speed of motor adjust motor q axis output torque, enabling it is right
The actual speed of motor is controlled.
Specifically, the adjustment unit 404 is specifically used for：Control the output torque of the q axis and giving for the motor
The difference of rotating speed and actual speed is positively correlated relationship.
Wherein, given rotating speed is the rotating speed of target of motor, when the difference of given rotating speed and actual speed is larger, is needed fast
Speed promotes the rotating speed of motor, therefore controls q axis and export larger torque；And the difference in given rotating speed and actual speed is smaller
When, the actual speed of motor can control q axis and export smaller torque already close to given rotating speed.
According to one embodiment of present invention, the control device 400 of the motor further includes：Control unit 408, is used for
Detected in the zero-crossing examination unit 402 motor phase current whether reach zero crossing before, and start the motor it
Afterwards, the q shaft voltages of predetermined value are provided to the motor；The zero-crossing examination unit 402 is specifically used for, in the reality of the motor
When border rotating speed is greater than or equal to first predetermined value, whether the phase current for executing detection motor reaches the operation of zero crossing.
In this embodiment, by after the machine has started, the q shaft voltages of predetermined value being provided to motor, enabling to the greatest extent
The fast rotating speed for improving motor.Simultaneously as in the initial time of electric motor starting, can have interference leads to the zero passage for detecting mistake
The problem of point, therefore when being greater than or equal to first predetermined value by the actual speed in the motor detected, then detect motor
Whether phase current reaches zero crossing, can cause to carry out the phase adjustment of mistake and produce to avoid the zero crossing of the mistake detected
The failure of overcurrent occurs for raw hardware module, is conducive to the reliability and stability for improving product.
In the above embodiment, it is preferable that the control device 400 of the motor further includes：Judging unit 410, is used for
Judge whether the given rotating speed of the motor is greater than or equal to second predetermined value, and judges given steering and the reality of the motor
It whether consistent turns to, wherein the second predetermined value is more than the first predetermined value；Described control unit 408 is specifically used for,
The judging unit 410 judges that the given rotating speed of the motor is greater than or equal to the second predetermined value, and the motor is given
When turning to consistent with the actual steering calmly, the operation for the q shaft voltages that predetermined value is provided to the motor is executed.
In this embodiment, whether second predetermined value is greater than or equal to by the size of the given rotating speed to motor, and
Whether the given steering of motor is unanimously detected with actual steering, and is greater than or equal to the in the given rotating speed for detecting motor
Two predetermined values, and motor given steering it is consistent with actual steering when, then to motor provide predetermined value q shaft voltages, Ke Yibao
Demonstrate,prove the steady ordered operation of motor.
Wherein, the given steering of motor is the direction of the given speed of motor, and actual steering is motor actual speed
Direction.In one embodiment of the invention, size and the side of motor actual speed can be detected by Hall sensor
To.
Fig. 5 shows the schematic block diagram of wind turbine according to an embodiment of the invention.
As shown in figure 5, wind turbine 500 according to an embodiment of the invention, including：Motor 502；And as shown in Figure 4
The control device 400 of motor.
Wherein, which can be the wind turbine in air conditioner, and such as outdoor fan can also be range hood, water pump etc.
Wind turbine in equipment.
In conclusion the present invention mainly proposes a kind of motor control schemes based on phase controlling.Specifically, due to
Motor is resistance inductive load, and if current phase lagging voltage phase is exporting same power without phase controlling
Under the premise of, current amplitude increases and then electric efficiency can be caused low, and the requirement of this and Energy Saving Control is disagreed.Therefore, this hair
It is bright to propose the zero crossing that phase current is determined according to current information, and then motor d shaft voltages are adjusted to optimum angle automatically,
Phase voltage to ensure motor is consistent with the phase of phase current, to realize the optimal control of electric efficiency.
Further, it is also possible to which the signal detected according to Hall sensor controls the output torque of q axis, ensure the speed of motor
Spend demand for control.Specifically, the signal that Hall sensor detects can reflect the size and Orientation of motor actual speed, work as electricity
When difference between the given rotating speed and actual speed of machine is larger, q axis can be controlled and export larger torque；When giving for motor
When difference between rotating speed and actual speed is smaller, q axis can be controlled and export smaller torque.
Before the advantages of illustrating technical scheme of the present invention, FOC (Field Oriented are introduced below in conjunction with Fig. 6
Control, Field orientable control) vector controlled motor drive schemes.
As shown in fig. 6, for FOC vector control schemes, due to the Park of the Park transformation and voltage of electric current-1Inversion
It changes and uses the same angle, θ, therefore can ensure that voltage-phase and current phase are identical always.Finally transform to U, V, W
When three-phase, the voltage and current phase of each phase is also identical.
For FOC vector control schemes, although the motor control schemes proposed by the present invention based on phase controlling
Control performance decreases, but remains able to realize 180 ° of control, reaches approximately the effect of FOC vector control schemes, full
The control requirement of foot electric efficiency, simultaneously because examined to the rotating speed size and Orientation of motor by Hall sensor
It surveys, therefore can be to avoid the operation of complicated rotating speed and position estimation, the requirement to controlling chip substantially reduces, even 8
Motor control special MCU (Micro Control Unit, microcontroller) and can also realize the control algolithm.Meanwhile this hair
The sampled signal of the motor control schemes based on phase controlling of bright proposition is less, it is only necessary to common resistance be arranged to sample Vdc
(DC bus-bar voltage of motor) and Iu (the U phase currents of motor, illustrated for acquiring U phase currents herein), no
It needs to carry out complicated voltage and current reconstruct, it is ensured that the hardware circuit of controller is simpler, has apparent cost advantage.
As it can be seen that the motor control schemes proposed by the present invention based on phase controlling, which are one kind, takes into account electric efficiency, at the same to controller at
A kind of splendid control program under the harsher occasion of this requirement.
Fig. 7 shows the structure diagram of the motor control schemes according to an embodiment of the invention based on phase controlling.Such as
Shown in Fig. 7, the present invention, which proposes, is detected current phase, in the zero crossing for detecting phase current, automatically by motor d
Shaft voltage is adjusted to optimum angle, the phase voltage to ensure motor is consistent with the phase of phase current, to realize electric efficiency
Optimal control.
Wherein, the meaning of parameter shown in fig. 7 is as follows：
f_ref：Given frequency (rotating speed)；
f_lpf：The frequency (rotating speed) of Hall sensor detection after filtered；
PI (Proportional integral controller, proportion adjustment and integral adjustment)：PI controllers；
ω：Motor angular velocity；
φ：Motor magnetic linkage value；
vq_ctr：Q axis PI adjusts output voltage；
vq_ff：Q axis feed-forward voltages；
vq_ref：Q axis reference voltages；
mq_ref：Q axis modulation rates；
mu：U phase modulation rates；
mv：V phase modulation rates；
mw：W phase modulation rates；
SVPWM：Space vector PWM；
6PWM：6 road PWM drive signals；
Vdc：DC bus-bar voltage；
vd_ref：D axis reference voltages；
md_ref：D axis modulation rates；
Iu：U phase currents；
wt_dq：The phase angles dq；
Hall_u：U phases Hall (Hall) signal；
Hall_v：V phase Hall signals；
Hall_w：W phase Hall signals.
In addition, technical scheme of the present invention can also control the output of q axis according to the signal that Hall sensor detects
Torque ensures the speed control demand of motor.Specifically, the signal that Hall sensor detects can reflect motor actual speed
Size and Orientation, when the difference between the given rotating speed of motor and actual speed is larger, can control q axis export it is larger
Torque；When the difference between the given rotating speed of motor and actual speed is smaller, q axis can be controlled and export smaller torque.
As shown in fig. 7, by taking the phase of U phase voltages for adjusting motor as an example, phase controlling side proposed by the present invention is being used
Before case, the U phase current phases of motor lag behind the phase of U phase voltages, electric efficiency can be caused low in this way.Using this hair
After the phase control schemes of bright proposition, the U phase currents of motor are consistent with the phase of U phase voltages, and then can ensure that motor is imitated
Rate is optimal, realizes 180 ° of control, meets the control requirement of electric efficiency.
Fig. 8 shows the effect diagram of the motor control schemes according to an embodiment of the invention based on phase controlling,
By taking U phases as an example, the effect of phase controlling is：When electric current (Iu) is timing, the sides Up output voltage；When electric current (Iu) is negative, Un
The phase of side output voltage, i.e. voltage and current is consistent.Wherein, the sides Up are the forward direction of voltage U, and the sides Un are voltage U
Negative sense.
Since motor is resistance inductive load, if without phase controlling, voltage-phase is ahead of current phase, and at this moment one
Part electric energy is input to motor side in the form of reactive power, causes electric efficiency relatively low.And pass through scheme proposed by the present invention
After carrying out phase controlling, the phase of voltage and current is consistent substantially, i.e. voltage-phase neither leading current phase nor stagnant
Current phase afterwards, the angle between them are approximately 0, as shown in figure 8, the efficiency highest of motor at this time, electric energy, which is substantially all, to be turned
Turn to active power.
Motor control schemes proposed by the present invention based on phase controlling are a kind of good control programs.But in this base
On plinth, it is also possible to IPM (Intelligent Power Module, intelligent work(occur there are when electric motor starting, there is extremely low probability
Rate module) hardware overcurrent the case where.
Specifically, Fig. 9 shows that motor occurs the waveform of IPM hardware overcurrents in certain static startup.Figure 10 A and figure
10B shows that motor starts the waveform of IPM hardware overcurrents after certain high speed is braked against the wind.As it can be seen that the hardware mistake of above-mentioned appearance
Flow problem is essentially all the square wave driving stage when motor just starts, due to voltage-phase with current phase is inconsistent causes
, it is not exported at the time of the output voltage, or should not but output voltage when output voltage.Such as Figure 10 A institutes
The waveform shown should have voltage output to be only normally in the sides Up, but be actually that the sides Un output voltage pulse, lead to hardware mistake
Stream；Waveform as shown in Figure 10 B should have voltage output to be only normally in the sides Un, but be actually that the sides Up output voltage arteries and veins
Punching, leads to hardware overcurrent.
In the above-mentioned waveform for hardware overcurrent occur, the phase of the voltage and current of motor is not instead of 0 °, 180 °, in turn
Lead to not generate positive torque, at this moment just feel " overload " for motor, and IPM modules occur upon start up
When hardware overcurrent, the reason of motor has a sound of very clear and melodious " collapsing ".
In addition, when motor is when high speed starts against the wind, problem can also has occurred in phase controlling sometimes, be concentrated mainly on and open
Dynamic stage square wave drives the stage.In static startup, motor traction force is the power that electromagnetic torque generates；When starting with the wind, electricity
Machine travel power is that the power that electromagnetic torque generates adds the power that exogenous wind generates；When contrary wind starts, motor traction force is electromagnetic torque
The power of generation subtracts the power of exogenous wind generation.Therefore, static and when starting with the wind in the case of same electromagnetic torque, motor
The stage can be driven quickly through square wave, enter the sine wave drive stage, all not observe square wave electricity on oscillograph sometimes
Stream, is sine-wave current at the very start.But in contrary wind, generally the stage will be driven to have stop in square wave.
For zero-crossing examination error, in the case of sine wave drive mode and square wave type of drive, phase-adjusted electricity
Stream Iu differs greatly, specific as shown in figure 11, it is therefore desirable to be controlled the opportunity that phase adjusted starts to avoid zero crossing
Influence of the error of detection to control system.
Specifically, due to the operational capability of chip and control mode, startup stage torque slowly increases, in the rank most started
Section torque very little so that the current sinusoidal degree of startup stage is bad, and the site error of current zero-crossing point is detected in software very
Greatly, it is easy to the phase controlling moment for leading to mistake, to make phase controlling that mistake occur.By giving Vq (q in startup stage
Shaft voltage) initial value so that initial start stage just has enough torques that motor is made quickly to start, the zero crossing position ten of electric current
Clearly demarcated, the possibility that the phase controlling of mistake occurs is minimum.
Figure 12 shows the schematic flow diagram of the motor control method of the 4th embodiment according to the present invention.
As shown in figure 12, the motor control method of the 4th embodiment according to the present invention, including：
Step 1201, judge whether PWM outputs are normal, if so, thening follow the steps 1202；Otherwise, continue to judge.Specifically
Ground, electric motor starting starting stage are started by PWM wave, by judging that it is whether normal that PWM is exported, it may be determined that motor
Whether start to start.
Step 1202, the judgement of rotary speed direction is carried out.
Step 1203, judge whether the rotary speed direction that given rotating speed direction and (Hall sensor) detect is consistent, if so,
Then follow the steps 1204；Otherwise, return to step 1201.
Step 1204, the judgement of given rotating speed size is carried out.
Step 1205, judge whether given rotating speed is greater than or equal to predetermined value 1, if so, thening follow the steps 1206；Otherwise,
Return to step 1201.
Step 1206, q one initial value of shaft voltage is given.
Step 1207, the judgement of feedback rotating speed size is carried out.Wherein, feedback rotating speed is the reality that Hall sensor detects
Border rotating speed.
Step 1208, judge to feed back whether rotating speed is greater than or equal to predetermined value 2, if so, thening follow the steps 1209；Otherwise,
Return to step 1201.
Step 1209, phase controlling is proceeded by, that is, executes the motor controlling party proposed by the present invention based on phase controlling
Case.
Method shown in Figure 12 can avoid motor when low rate start (when especially square wave drives), by
In the existing phase controlling interfered the zero crossing for leading to detect mistake and lead to mistake, to generate IPM module hardware mistakes
The problem of flowing failure.
Wherein, the step in method shown in Figure 12 can be sequentially adjusted, merged and deleted according to actual needs.
Technical scheme of the present invention is described in detail above in association with attached drawing, the present invention proposes a kind of control of new motor
Scheme can not only ensure the efficiency optimization of motor to meet the requirement of Energy Saving Control, and can simplify hardware circuit, reduce
The production cost of product, while can also improve the reliability and stability of product.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of motor, which is characterized in that including：
Whether the phase current of detection motor reaches zero crossing；
When the phase current for detecting the motor reaches zero crossing, the d shaft voltages of the motor are adjusted, so that the motor
Phase voltage is consistent with the phase of the phase current；
Before the step of whether phase current of the detection motor reaches zero crossing, further include：
After starting the motor, the q shaft voltages of predetermined value are provided to the motor；
When the actual speed for detecting the motor is greater than or equal to first predetermined value, the phase current of the detection motor is executed
The step of whether reaching zero crossing.
2. the control method of motor according to claim 1, which is characterized in that further include：
Detect the actual speed of the motor；
According to the actual speed of the motor, the output torque of the q axis of the motor is adjusted.
3. the control method of motor according to claim 2, which is characterized in that according to the actual speed of the motor, adjust
It the step of output torque of the q axis of the whole motor, specifically includes：
It controls the output torque of the q axis and the difference of the given rotating speed of the motor and actual speed is positively correlated relationship.
4. the control method of motor according to claim 1, which is characterized in that in the q for providing predetermined value to the motor
Before the step of shaft voltage, further include：
Judge whether the given rotating speed of the motor is greater than or equal to second predetermined value, and judge the given steering of the motor with
Whether actual steering is consistent, wherein the second predetermined value is more than the first predetermined value；
It is greater than or equal to the second predetermined value, and the given steering of the motor and the reality in the given rotating speed of the motor
When border turns to consistent, the step of providing the q shaft voltages of predetermined value to the motor is executed.
5. the control method of motor according to any one of claim 2 to 4, which is characterized in that further include：
Obtain the hall signal for the Hall sensor output being arranged in the motor；
The actual speed of the motor is determined according to the hall signal.
6. a kind of control device of motor, which is characterized in that including：
Whether zero-crossing examination unit, the phase current for detecting motor reach zero crossing；
Adjustment unit, when for detecting that the phase current of the motor reaches zero crossing in the zero-crossing examination unit, adjustment
The d shaft voltages of the motor, so that the phase voltage of the motor is consistent with the phase of the phase current；
Further include：
Control unit, before whether the phase current for detecting motor in the zero-crossing examination unit reaches zero crossing, and
After starting the motor, the q shaft voltages of predetermined value are provided to the motor；
The zero-crossing examination unit is specifically used for, and when the actual speed of the motor is greater than or equal to first predetermined value, holds
Whether the phase current of row detection motor reaches the operation of zero crossing.
7. the control device of motor according to claim 6, which is characterized in that further include：Rotation speed detection unit, for examining
Survey the actual speed of the motor；
The adjustment unit is additionally operable to, and according to the actual speed for the motor that the rotation speed detection unit detects, adjusts institute
State the output torque of the q axis of motor.
8. the control device of motor according to claim 7, which is characterized in that the adjustment unit is specifically used for：
It controls the output torque of the q axis and the difference of the given rotating speed of the motor and actual speed is positively correlated relationship.
9. the control device of motor according to claim 6, which is characterized in that further include：Judging unit, for judging
Whether the given rotating speed for stating motor is greater than or equal to second predetermined value, and judges that the given steering of the motor is with actual steering
It is no consistent, wherein the second predetermined value is more than the first predetermined value；
Described control unit is specifically used for, and judges that the given rotating speed of the motor is greater than or equal to described the in the judging unit
Two predetermined values, and the motor given steering it is consistent with the actual steering when, execute to the motor provide predetermined value q
The operation of shaft voltage.
10. a kind of wind turbine, which is characterized in that including：
Motor；And
The control device of motor as described in any one of claim 6 to 9.
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