CN106330033A - Permanent-magnet synchronous motor control method and device and permanent-magnet synchronous system - Google Patents

Abstract

The invention provides a permanent-magnet synchronous motor control device, which comprises a rotating speed sensing module, a voltage sensing module, a torque command generating module, a current command generating module and a current loop controller, wherein the current command generating module is used for correcting an expected total flux to generate corrected expected total flux according to an initial current command, a phasor angle of the expected total flux and a rotating speed of a motor, and researching a relation table to output a final current command according to the corrected expected total flux and then outputting the final current command to the current loop controller. The invention further provides a permanent-magnet synchronous motor control method and a permanent-magnet synchronous system. According to the permanent-magnet synchronous motor control device, the permanent-magnet synchronous motor control method and the permanent-magnet synchronous system provided by the invention, the influence of an internal resistance of a stator on phase voltage of the motor is compensated by correcting the expected total flux, and control on the phase voltage is more accurate, so that the working range of the motor is expanded and the operating efficiency of the motor is improved.

Description

A kind of method for controlling permanent magnet synchronous motor, device and permanent-magnet synchronous system

Technical field

The present invention relates to technical field of motors, particularly relate to a kind of method for controlling permanent magnet synchronous motor, dress Put and permanent-magnet synchronous system.

Background technology

Permagnetic synchronous motor (permanent magnet synchronous motor, PMSM) due to Simple in construction, efficiency advantages of higher and be employed extensively to apply.Permagnetic synchronous motor is wanted at high speed Carry out weak magnetic control, to realize wider speed adjustable range.

When permagnetic synchronous motor carries out weak magnetic control, required d-axis (d axle) electric current, quadrature axis (q Axle) current order (I_d ^*, I_q ^*) at least with motor speed (n), torque command (T_e ^*), direct current Busbar voltage (U_dc) 3 variablees are relevant.How to design a kind of method for controlling permanent magnet synchronous motor, defeated Enter motor speed (n), torque command (T_e ^*) and DC bus-bar voltage (U_dc), output electric current life Make (I_d ^*, I_q ^*) control motor work, thus fully expand the speed adjustable range of permagnetic synchronous motor, Improve the work efficiency in the range of weak magnetic, and require that the method is easily programmed realization, easily demarcate, Also ensure that permagnetic synchronous motor has good dynamic property, be the most all permanent-magnet synchronous permanent magnetism Key problem in synchronous motor control.

Fig. 1 is the method for controlling permanent magnet synchronous motor schematic diagram of an embodiment of the prior art.Such as Fig. 1 Shown in, a kind of simple directly method for controlling permanent magnet synchronous motor be with permagnetic synchronous motor rotating speed (n), Torque command (T_e ^*), DC bus-bar voltage (U_dc) it is variable, demarcate current order (I in advance_d ^*, I_q ^*) and permagnetic synchronous motor rotating speed (n), torque command (T_e ^*), DC bus-bar voltage (U_dc) Between relation, be stored in after being compiled into table in read only memory (ROM), permagnetic synchronous motor transport Real-time searching relation table is carried out during row.But this method data volume is huge, not only needs bigger storage Space store one 3 input 2 output tables, in addition it is also necessary to carry out great many of experiments come staking-out work this Table.

Fig. 2 is the method for controlling permanent magnet synchronous motor schematic diagram of another embodiment of prior art.Due to Machine phase voltages (u in the steady state_s) along the component u of d axle_d, machine phase voltages (u_s) along q axle Component u_qCan be expressed as:

u_d=I_dR-ψ_qω (1)

u_q=I_qR-ψ_dω (2)

Ignore the stator internal resistance (R) of motor, substitute into rotor angular rate (ω) and rotor turns The relation of speed (n):

$\mathrm{\ω}=n\×\frac{2{\mathrm{\πN}}_p}{60}---\left(3\right)$

Can obtain:

$u_d\≈-n\×\frac{2{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_q(I_d,I_q)---\left(4\right)$

$u_q\≈n\×\frac{2{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_d(I_d,I_q)---\left(5\right)$

N in formula_pFor the number of pole-pairs of motor, π is pi, I_dFor actual direct-axis current, I_qFor reality Border quadrature axis current, ψ_dFor total magnetic linkage (stator magnetic linkage and total magnetic linkage of rotor flux synthesis) along d axle Component, ψ_qFor total magnetic linkage along the component of q axle, ψ_dAnd ψ_qIt is all I_d、I_qFunction.

Substitute into phase voltage u_s, total magnetic linkage ψ_cD axle and the relation of q axle component with its correspondence:

$u_s=\sqrt{u_d^2+u_q^2}---\left(6\right)$

${\mathrm{\ψ}}_s=\sqrt{{\mathrm{\ψ}}_d^2+{\mathrm{\ψ}}_q^2}---\left(7\right)$

Can obtain

$u_s=n\×\frac{2{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_c(I_d,I_q)---\left(8\right)$

When carrying out weak magnetic control, machine phase voltages u_sWith DC bus-bar voltage (U_dc) meet such as ShiShimonoseki System:

$U_{dc}m=\sqrt{3}{u}_s---\left(9\right)$

Substitution formula (6) can obtain:

$U_{dc}m=n\×\frac{2\sqrt{3}{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_c(I_d,I_q)---\left(10\right)$

N in formula_pFor motor number of pole-pairs, for constant；ψ_c(I_d,I_q) it is actual total magnetic linkage size, it is I_d、 I_qFunction；M is virtual voltage modulation ratio.

Thus, it is possible to rotating speed (n) and DC bus-bar voltage (U_dc) two variable conversions Become a variable, this variable be exactly desired total magnetic linkage ():

${\mathrm{\ψ}}_c^{*}=\frac{U_{dc}{m}^{*}}{n\×\frac{2\sqrt{3}{\mathrm{\πN}}_p}{60}}---\left(11\right)$

On the right of above formula only and DC bus-bar voltage (U_dc), rotating speed (n) relevant, wherein m^*It it is voltage modulated Than order, the most desired voltage modulated ratio, a constant can be designed to, it is possible to be designed to Rotating speed (n) and DC bus-bar voltage (U_dc) function that changes.It it is desired total magnetic linkage on the right of equationThe most desired total magnetic linkage size.So, originally 3 input search relationship tables the most permissible It is simplified to 2 input search relationship tables, i.e. according to torque command (T_e ^*), desired total magnetic linkage (ψ_c ^*) Search relationship table obtains current order (I_d ^*,I_q ^*), then carry out permagnetic synchronous motor current closed-loop Control.

Fig. 3 be as shown in Figure 2 obtain electricity according to torque command, desired total magnetic linkage search relationship table The schematic diagram of stream order.As it is shown on figure 3, first, according to the external characteristic curve of permagnetic synchronous motor, Input torque order is limited in maximum output torque limit of power, i.e. according to total magnetic linkage (ψ_c ^*) Size, to torque command (T_e ^*) carry out saturated process, obtain the torque command (T revised_es ^*).So Afterwards according to the torque command (T revised_es ^*) and desired total magnetic linkage (ψ_c ^*) search relationship table is the most available Current order (I_d ^*, I_q ^*)。

But, it is sufficiently small that the premise of this algorithm and hypothesis are exactly the stator internal resistance of permagnetic synchronous motor.But In the case of a lot, the impact that this internal resistance causes can not be ignored completely, then is actually passed through and controls To voltage modulated than m can deviate from expect voltage modulated compare m^*.If virtual voltage modulation is more inclined than m Greatly, then permagnetic synchronous motor risk out of control will increase, and this is unacceptable, therefore actual Application is modulated bigger than normal than m in order to avoid virtual voltage, can be voltage modulated than order m^*It is designed to Less, thus reserve enough surpluses.The consequence of do so be in order to export identical torque need to Motor provides bigger electric current, causes the output of permagnetic synchronous motor to decline, the work effect of motor Rate also can decline.

Summary of the invention

In view of problem above, the present invention provides a kind of can compensate the stator internal resistance shadow to the phase voltage of motor Ring, so that the control of phase voltage is more accurate, improve the permagnetic synchronous motor of the operational efficiency of motor Control device.

Embodiments of the invention provide a kind of permanent magnet synchronous motor control device, described permagnetic synchronous motor Control device and control, for exporting current order, the size that electric supply installation is supplied to the voltage of motor, described Electric supply installation includes: DC source and inverter circuit, and described DC source is used for providing dc bus Voltage is to described inverter circuit, so that described DC bus-bar voltage is converted to hand over by described inverter circuit Stream voltage, and described alternating voltage is exported to motor, described permanent magnet synchronous motor control device includes: Rotating speed detecting module, detecting voltage module, torque command generation module, current order generation module, And current loop controller；Described rotating speed detecting module is for detecting the rotating speed of described motor；Described electricity Pressure detecting module is for detecting the size of the DC bus-bar voltage of described DC source output；Described torque Order generation module is used for producing torque command；It is total that described current order generation module is used for obtaining expectation Magnetic linkage, and ordered by search relationship table output initial current according to the total magnetic linkage of described expectation and torque command Order and the phase angulation of the total magnetic linkage of described expectation, and according to described initial current order, the total magnetic of described expectation The phase angulation of chain, the rotating speed correction total magnetic linkage of described expectation of described motor, to produce revised expectation Total magnetic linkage, and again search described relation table according to the described total magnetic linkage of revised expectation and torque command By described ultimate current order output to described current loop controller after output ultimate current order, so that Obtain described current loop controller output modulated signal and control the described inverter circuit corresponding alternating current of output It is depressed into described motor.

Embodiments of the invention also provide for a kind of method for controlling permanent magnet synchronous motor, described permanent magnet synchronous electric The size of the DC bus-bar voltage that machine control method includes detecting the rotating speed of motor, DC source provides； Obtain and expect total magnetic linkage；At the beginning of being exported by search relationship table according to the total magnetic linkage of described expectation and torque command Beginning current order and the phase angulation of the total magnetic linkage of described expectation；According to described initial current order, described phase Hope the size of the rotating speed correction total magnetic linkage of described expectation of the phase angulation of total magnetic linkage, described motor, to produce The total magnetic linkage of revised expectation；Again search according to the described total magnetic linkage of revised expectation and torque command The output ultimate current order of described relation table.

Embodiments of the invention also provide for a kind of permanent-magnet synchronous system, and described permanent-magnet synchronous system includes forever Magnetic-synchro motor, electric supply installation and above-mentioned permanent magnet synchronous motor control device.

The permanent magnet synchronous motor control device of the present invention, method for controlling permanent magnet synchronous motor and permanent-magnet synchronous System is by expecting that total magnetic linkage is corrected, compensate for the stator internal resistance shadow to the phase voltage of motor Ringing, the control making phase voltage is more accurate, thus expands the working range of motor, improves the fortune of motor Line efficiency.

Accompanying drawing explanation

Fig. 1 is the method for controlling permanent magnet synchronous motor schematic diagram of an embodiment of the prior art.

Fig. 2 is the method for controlling permanent magnet synchronous motor schematic diagram of another embodiment of prior art.

Fig. 3 be as shown in Figure 2 obtain current order according to torque command, total magnetic linkage search relationship table Schematic diagram.

Fig. 4 is the structural representation of the permanent magnet synchronous motor control device of one embodiment of the invention.

Fig. 5 is the fundamental diagram of permanent magnet synchronous motor control device as described in Figure 4.

Fig. 6 be in Fig. 5 according to torque command, expect that total magnetic linkage and rotating speed produce ultimate current order Fundamental diagram.

Fig. 7 is for as obtained according to torque command, revised expectation total magnetic linkage search relationship table in Fig. 6 The schematic diagram of ultimate current order.

Fig. 8 is the flow chart of the method for controlling permanent magnet synchronous motor of one embodiment of the invention.

Fig. 9 is the structure chart of the permanent-magnet synchronous system of one embodiment of the invention.

Detailed description of the invention

Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with attached The detailed description of the invention of the present invention is described in detail by figure.

Fig. 4 is the structural representation of the permanent magnet synchronous motor control device 10 of one embodiment of the invention. As shown in Figure 4, permanent magnet synchronous motor control device 10 is used for exporting current order and controls electric supply installation The size of 20 alternating voltages being supplied to motor 30.

Wherein, electric supply installation 20 includes: DC source 200 and inverter circuit 201, unidirectional current Source 200 is used for providing DC bus-bar voltage (U_dc) to inverter circuit 201, inverter circuit 201 basis The control of permanent magnet synchronous motor control device 10 is by DC bus-bar voltage (U_dc) be converted to alternating voltage, And alternating voltage is exported to motor 30.

Permanent magnet synchronous motor control device 10 includes: detecting voltage module 100, rotating speed detecting module 101, torque command generation module 102, current order generation module 103 and current loop controller 104, current detecting module 105.

Wherein, rotating speed detecting module 101 is for detecting the rotating speed (n) of motor 30.Detecting voltage mould Block 100 is for detecting the DC bus-bar voltage (U of DC source 200 output_dc) size.Torque Order generation module 102 is used for producing torque command (T_e ^*)。

It is understood that rotating speed detecting module 101 can utilize speed probe to realize, voltage is detectd Surveying module 100 can utilize voltage sensor to realize.

Current order generation module 103 is used for obtaining the total magnetic linkage (ψ of expectation_c ^*), and total according to expectation Magnetic linkage (ψ_c ^*) and torque command (T_e ^*) export initial current order (I by search relationship table_d0 ^*, I_q0 ^*) and expect total magnetic linkage (ψ_c ^*) phase angulation φ, and according to initial current order (I_d0 ^*, I_q0 ^*)、 Expect total magnetic linkage (ψ_c ^*) phase angulation φ, motor 30 rotating speed (n) correction expect total magnetic linkage (ψ_c ^*), To produce revised expectation total magnetic linkage (ψ_c ^*), and according to revised expectation total magnetic linkage (ψ_c ^*) And torque command (T_e ^*) again search relationship table output ultimate current order (I_dc ^*, I_qc ^*Will be after) Whole current order (I_dc ^*, I_qc ^*) output is to current loop controller 104, so that current loop controller 104 output modulated signals control inverter circuit 201 and export corresponding d-axis (d axle) electric current and quadrature axis (q axle) electric current is to motor 30.

Wherein, current order generation module 103 includes: memory element (not shown), total magnetic linkage (ψ_c ^*) generation unit 1031, initial current order generation unit 1032, phase angulation generation unit 1033, the total magnetic linkage of revised expectation (ψ_cc ^*) generation unit 1034, ultimate current order produce Unit 1035.

Expect total magnetic linkage (ψ_c ^*) generation unit 1031 is used for producing the total magnetic linkage (ψ of expectation_c ^*).Deposit Storage unit is used for storing relation table.Wherein, relation table refers to total magnetic linkage (ψ_cc ^*)/(ψ_c ^*)、 Torque command (T_e ^*) it is variable, demarcate current order (I in advance_d0 ^*, I_q0 ^*)/(I_dc ^*,I_qc ^*)、 Phase angulation φ and total magnetic linkage (ψ_cc ^*)/(ψ_c ^*), torque command (T_e ^*The table of the relation between) Lattice or function expression.

Initial current order generation unit 1032 is for according to expecting total magnetic linkage (ψ_c ^*), torque life Make (T_e ^*) produce initial current order (I by search relationship table_d0 ^*, I_q0 ^*).Phase angulation produces single Unit 1033 is for according to expecting total magnetic linkage (ψ_c ^*), torque command (T_e ^*) by search relationship table Produce and expect total magnetic linkage (ψ_c ^*) phase angulation φ.Revised expectation total magnetic linkage (ψ_cc ^*) produce Unit 1034 is for according to initial current order (I_d0 ^*, I_q0 ^*), expect total magnetic linkage (ψ_c ^*) phase Angulation φ and rotating speed (n) produce revised expectation total magnetic linkage (ψ_cc ^*).Ultimate current order is produced Raw unit 1035 is for according to revised expectation total magnetic linkage (ψ_cc ^*), torque command (T_e ^*) logical Cross search relationship table and produce ultimate current order (I_dc ^*, I_qc ^*)。

In an embodiment of the present invention, current detecting module 105 is used for detecting inverter circuit 201 Exporting the size of current to motor 30, current loop controller 104 is defeated according to current detecting module 105 The rotating speed of the size of current that goes out, rotating speed detecting module 101 output, corner detecting module (do not show in figure Go out) the ultimate current life that produces of the corner of motor 30 that exports and current order generation module 103 Make (I_dc ^*, I_qc ^*) output modulated signal to inverter circuit 201, export controlling inverter circuit 201 Corresponding alternating voltage is to motor 30.Wherein, modulated signal is pulse width modulating signal.

Fig. 5 is the fundamental diagram of permanent magnet synchronous motor control device as described in Figure 4.Fig. 6 is figure Utilize torque command in 5, expect that total magnetic linkage and rotating speed produce the fundamental diagram of ultimate current order, Please refer to Fig. 4, Fig. 5 and Fig. 6.Due to machine phase voltages (u in the steady state_s) along d axle Component u_d, machine phase voltages (u_s) along the component u of q axle_qCan be expressed as:

$u_d=I_{d}R-{\mathrm{\ψ}}_q\mathrm{\ω}---\left(12\right)$

$u_q=I_{q}R-{\mathrm{\ψ}}_d\mathrm{\ω}---\left(13\right)$

Ignore the stator internal resistance (R) of motor, substitute into rotor angular rate (ω) and rotor turns The relation of speed (n):

$\mathrm{\ω}=n\×\frac{2{\mathrm{\πN}}_p}{60}---\left(14\right)$

Machine phase voltages (u can be obtained_s) along the component u of d axle_d, machine phase voltages (u_s) along q axle Component u_qCan be equal to respectively:

$u_d\≈-n\×\frac{2{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_q(I_d,I_p)---\left(15\right)$

$u_q\≈n\×\frac{2{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_d(I_d,I_q)---\left(16\right)$

N in formula_pFor motor number of pole-pairs, π is pi, I_dFor actual direct-axis current, I_qFor reality Quadrature axis current, ψ_dFor total magnetic linkage (stator magnetic linkage and total magnetic linkage of rotor flux synthesis) along d axle Component, ψ_qFor total magnetic linkage along the component of q axle, ψ_dAnd ψ_qIt is all I_d、I_qFunction.

Substitute into phase voltage u_s, total magnetic linkage ψ_cD axle and the relation of q axle component with its correspondence:

$u_s=\sqrt{u_d^2+u_q^2}---\left(17\right)$

${\mathrm{\ψ}}_s=\sqrt{{\mathrm{\ψ}}_d^2+{\mathrm{\ψ}}_q^2}---\left(18\right)$

Can obtain

$u_s=n\×\frac{2{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_c(I_d,I_q)---\left(19\right)$

When carrying out weak magnetic control, due to machine phase voltages u_sWith DC bus-bar voltage (U_dc) meet such as Lower relation:

$U_{dc}m=\sqrt{3}{u}_s---\left(20\right)$

Therefore, formula (8) is substituted into formula (6) can obtain:

$U_{dc}m=n\×\frac{2\sqrt{3}{\mathrm{\πN}}_p}{60}\×{\mathrm{\ψ}}_c(I_d,I_q)---\left(21\right)$

N in formula_pFor motor number of pole-pairs, for constant；ψ_c(I_d,I_q) it is actual total magnetic linkage size, it is I_d、 I_qFunction；M is virtual voltage modulation ratio.

Thus, it is possible to rotating speed (n) and DC bus-bar voltage (U_dc) two variable conversions Becoming a variable, this variable is exactly desired total magnetic linkage

${\mathrm{\ψ}}_c^{*}=\frac{U_{dc}{m}^{*}}{n\×\frac{2\sqrt{3}{\mathrm{\πN}}_p}{60}}---\left(22\right)$

On the right of above formula only and DC bus-bar voltage (U_dc), rotating speed (n) relevant, wherein, m^*It is that voltage is adjusted System, than order, the most desired voltage modulated ratio, can be designed to a constant, it is possible to be designed to Along with rotating speed (n) and DC bus-bar voltage (U_dc) function that changes.It is desired total magnetic on the right of equation Chain (), the most desired total magnetic linkage size.

In sum, it is desirable to total magnetic linkage generation unit 1031 have ignored the stator internal resistance (R) of motor, Rotating speed (n) size and the detecting voltage module 100 that detect according to rotating speed detecting module 101 detect DC bus-bar voltage (U_dc) size utilize formula (11) produce desired total magnetic linkage ()。

Initial current order generation unit 1032 can be according to torque command (T_e ^*) and expect total magnetic linkage (ψ_c ^*) search relationship table and obtain initial current order (I_d0 ^*, I_q0 ^*).Phase angulation generation unit 1033 can be according to torque command (T_e ^*) and expect total magnetic linkage (ψ_c ^*) search relationship table and must expire Hope total magnetic linkage (ψ_c ^*) vector phase angulation φ in dq coordinate system.

Assume the data entirely accurate in relation table, then just have:

${\left(u_s^{*}\right)}^2={\left({\mathrm{\ω\ψ}}_{d0}^{*}\right)}^2+{\left({\mathrm{\ω\ψ}}_{q0}^{*}\right)}^2---\left(12\right)$

ψ in formula_d0 ^*Represent and expect total magnetic linkage (ψ_c ^*) along the component of d axle, ψ_q0 ^*Represent that expectation is total Magnetic linkage (ψ_c ^*) along the component of q axle, ω represents rotor angular rate.

Wherein, it is desirable to total magnetic linkage (ψ_c ^*) along the component (ψ of d axle_d0 ^*) and expect total magnetic linkage (ψ_c ^*) Component (ψ along q axle_q0 ^*) and expect total magnetic linkage (ψ_c ^*) there is following relation:

${\mathrm{\ψ}}_{d0}^{*}=cos\left(\mathrm{\φ}\right){\mathrm{\ψ}}_c^{*}---\left(13\right)$

${\mathrm{\ψ}}_{q0}^{*}=sin\left(\mathrm{\φ}\right){\mathrm{\ψ}}_c^{*}---\left(234\right)$

In formula, φ represents the total magnetic linkage (ψ of expectation_c ^*) vector phase angulation in dq coordinate system.

Under stable state, due to the control action of current loop controller, actual current (I_d, I_q) can follow Initial current order (I_d0 ^*, I_q0 ^*), i.e. I_d=I_d0 ^*, I_q=I_q0 ^*, then actual phase voltage (u_s) Meet:

$\begin{array}{c}{u}_s^2={(I_{d}R-{\mathrm{\ψ}}_q\mathrm{\ω})}^2+{(I_{q}R+{\mathrm{\ψ}}_d\mathrm{\ω})}^2\\ ={(I_{d0}^{*}R-{\mathrm{\ψ}}_{q0}^{*}\mathrm{\ω})}^2+{(I_{q0}^{*}R+{\mathrm{\ψ}}_{d0}^{*}\mathrm{\ω})}^2\end{array}---\left(245\right)$

In formula, R represents stator internal resistance.

By formula (12) and formula (15) it can be seen that due to the impact of stator internal resistance (R), now Actual phase voltage (u_s) and expectation phase voltage (u_s ^*) and unequal.

In order to suppress the impact of stator internal resistance (R), total magnetic linkage (ψ can be expected by adjusting_c ^*) Size, then with revised expectation total magnetic linkage (ψ_cc ^*) and torque command (T_e ^*) again search Relation table obtains ultimate current order so that actual phase voltage (u_s) and desired phase voltage (u_s ^*) As close possible to.

If revised expectation total magnetic linkage (ψ_cc ^*) it is (ψ along the component of dq axle_dc ^*, ψ_qc ^*), Whole current order is (I along the component of dq axle_dc ^*, I_qc ^*).Equally, in the control of current loop controller Under system, run the actual current (I under stable state_d, I_q) ultimate current order (I can be followed_dc ^*, I_qc ^*), So have:

$\begin{array}{c}{u}_{sc}^2={(I_{d}R-{\mathrm{\ψ}}_q\mathrm{\ω})}^2+{(I_{q}R+{\mathrm{\ψ}}_d\mathrm{\ω})}^2\\ ={(I_{dc}^{*}R-{\mathrm{\ψ}}_{qc}^{*}\mathrm{\ω})}^2+{(I_{qc}^{*}R+{\mathrm{\ψ}}_{dc}^{*}\mathrm{\ω})}^2\end{array}---\left(16\right)$

Assume final phase voltage U_scWith its expected value U_s ^*It is equal, it may be assumed that

$u_{sc}^2={\left(u_s^{*}\right)}^2---\left(17\right)$

Wushu (12) and formula (16) substitute into formula (17), can obtain:

${(I_{dc}^{*}R-{\mathrm{\ψ}}_{qc}^{*}\mathrm{\ω})}^2+{(I_{qc}^{*}R+{\mathrm{\ψ}}_{dc}^{*}\mathrm{\ω})}^2={\left({\mathrm{\ω\ψ}}_{d0}^{*}\right)}^2+{\left({\mathrm{\ω\ψ}}_{q0}^{*}\right)}^2---\left(18\right)$

Owing to stator internal resistance R is a less value, the most revised expectation total magnetic linkage (ψ_cc ^*) With the total magnetic linkage (ψ of expectation_c ^*Difference between) can be smaller, therefore the result meeting of twice search relationship table Relatively, it may be assumed that

$\left\{\begin{array}{c}{I}_{dc}^{*}\≈I_{d0}^{*}\\ I_{qc}^{*}\≈I_{q0}^{*}\\ {\mathrm{\ψ}}_{dc}^{*}\≈{\mathrm{\ψ}}_{d0}^{*}\\ {\mathrm{\ψ}}_{qc}^{*}\≈{\mathrm{\ψ}}_{q0}^{*}\end{array}\right.---\left(19\right)$

So, according to formula (19) it is assumed that by formula (18), can be derived by:

$\begin{array}{c}{\left({\mathrm{\ω\ψ}}_{cc}^{*}\right)}^2={\left({\mathrm{\ψ}}_{qc}^{*}\mathrm{\ω}\right)}^2+{\left({\mathrm{\ψ}}_{dc}^{*}\mathrm{\ω}\right)}^2\\ ={(I_{dc}^{*}R-{\mathrm{\ψ}}_{qc}^{*}\mathrm{\ω})}^2+2I_{dc}^{*}{\mathrm{R\ψ}}_{qc}^{*}\mathrm{\ω}-{\left(I_{dc}^{*}R\right)}^2+\\ {(I_{qc}^{*}R+{\mathrm{\ψ}}_{dc}^{*}\mathrm{\ω})}^2-2I_{qc}^{*}{\mathrm{R\ψ}}_{dc}^{*}\mathrm{\ω}-{\left(I_{qc}^{*}R\right)}^2\\ ={\left({\mathrm{\ω\ψ}}_{d0}^{*}\right)}^2+{\left({\mathrm{\ω\ψ}}_{q0}^{*}\right)}^2+\\ 2I_{dc}^{*}{\mathrm{R\ψ}}_{qc}^{*}\mathrm{\ω}-{\left(I_{dc}^{*}R\right)}^2-2I_{qc}^{*}{\mathrm{R\ψ}}_{dc}^{*}\mathrm{\ω}-{\left(I_{qc}^{*}R\right)}^2\\ \≈{\left({\mathrm{\ω\ψ}}_{d0}^{*}\right)}^2+{\left({\mathrm{\ω\ψ}}_{q0}^{*}\right)}^2+\\ 2I_{d0}^{*}{\mathrm{R\ψ}}_{q0}^{*}\mathrm{\ω}-{\left(I_{d0}^{*}R\right)}^2-2I_{q0}^{*}{\mathrm{R\ψ}}_{d0}^{*}\mathrm{\ω}-{\left(I_{q0}^{*}R\right)}^2\\ ={({\mathrm{\ω\ψ}}_{d0}^{*}-I_{q0}^{*}R)}^2+{({\mathrm{\ω\ψ}}_{q0}^{*}+I_{d0}^{*}R)}^2-\\ 2\[{\left(I_{d0}^{*}R\right)}^2+{\left(I_{q0}^{*}R\right)}^2\]\end{array}---\left(20\right)$

Above formula slightly varies, and just obtains:

${\mathrm{\ψ}}_{cc}^{*}=\sqrt{{({\mathrm{\ψ}}_{d0}^{*}-\frac{I_{q0}^{*}R}{\mathrm{\ω}})}^2+{({\mathrm{\ψ}}_{q0}^{*}+\frac{I_{d0}^{*}R}{\mathrm{\ω}})}^2-2{\left(\frac{R}{\mathrm{\ω}}\right)}^2\[{\left(I_{d0}^{*}\right)}^2+{\left(I_{q0}^{*}\right)}^2\]}---\left(225\right)$

So, revised expectation total magnetic linkage generation unit 1034 just can utilize formula (3) according to turning Rotor speed (n) calculates the angular rate (ω) of rotor, then, utilize formula (13) and Formula (14) according to phase angulation (φ), expect total magnetic linkage (ψ_c ^*) obtain expecting total magnetic linkage (ψ_c ^*) Component (ψ along d axle_d0 ^*) and expect total magnetic linkage (ψ_c ^*) along the component (ψ of q axle_q0 ^*) Size, further, revised expectation total magnetic linkage generation unit 1034 utilizes formula (21) root According to initial current order (I_d0 ^*, I_q0 ^*) and expect total magnetic linkage (ψ_c ^*) along the component (ψ of d axle_d0 ^*) And expect total magnetic linkage (ψ_c ^*) along the component (ψ of q axle_q0 ^*) defecation can solve correction Expectation total magnetic linkage (ψ_cc ^*) size, finally, by search relationship table again with regard to getable Whole current order (I_dc ^*, I_qc ^*).According to ultimate current order (I_dc ^*, I_qc ^*) to motor the most forever Magnetic-synchro motor is controlled, final phase voltage U_scWith its expected value U_s ^*Differ the least, hardly Affected by stator internal resistance R again.

Fig. 7 be as shown in Figure 6 according to torque command, revised expectation total magnetic linkage search relationship table Obtain the schematic diagram of ultimate current order.

In an embodiment of the present invention, can be according to the external characteristic curve of motor, by the torque of input Order (T_e ^*) be limited in maximum output torque limit of power, i.e. according to the total magnetic linkage of expectation revised Size (ψ_cc ^*) size, to torque command (T_e ^*) carry out saturated process, obtain revised torque Order (T_es ^*).Then according to revised (T_es ^*) and revised expectation total magnetic linkage size (ψ_cc ^*) Search relationship table i.e. can get ultimate current order (I_dc ^*, I_qc ^*)。

Fig. 8 is the flow chart of the method for controlling permanent magnet synchronous motor of one embodiment of the invention.Such as Fig. 8 Shown in, a kind of method for controlling permanent magnet synchronous motor includes:

Step S81: the size of the DC bus-bar voltage that the detecting rotating speed of motor, DC source provide.

Step S82: obtain and expect total magnetic linkage.

Specifically, the step obtaining the total magnetic linkage of expectation also includes the rotating speed according to motor, dc bus electricity Pressure calculates and produces expectation voltage modulated ratio, say, that be set to expectation voltage modulated ratio along with electricity The rotating speed of machine, the size variation of DC bus-bar voltage and the numerical value that changes.Certainly those skilled in the art Member is it is understood that a fixing constant can also be set to by expectation voltage modulated ratio.

Specifically, it is possible to use following equation is according to rotating speed, DC bus-bar voltage and the phase of motor Hope that voltage modulated expects total magnetic linkage than producing.

${\mathrm{\ψ}}_c^{*}=\frac{U_{dc}{m}^{*}}{n\×\frac{2\sqrt{3}{\mathrm{\πN}}_p}{60}}---\left(26\right)$

In formula, N_pFor the number of pole-pairs of motor, π is pi, and n represents the rotating speed of motor, U_dcFor The DC bus-bar voltage that DC source provides, m^*It is voltage modulated ratio order,For desired total magnetic Chain.

Step S83: according to expecting that total magnetic linkage and torque command export initial current by search relationship table Order and expect the phase angulation of total magnetic linkage.

Wherein, relation table is with total magnetic linkage, torque command as variable, demarcated in advance current order, Phase angulation and the form of total relation between magnetic linkage, torque command or function expression.

Step S84: according to initial current order, the rotating speed school of expecting the phase angulation of total magnetic linkage, motor Just expecting the size of total magnetic linkage, to produce the total magnetic linkage of revised expectation.

Specifically, it is possible to use following equation (13) (14) is total according to phase angulation (φ), expectation Magnetic linkage (ψ_c ^*) obtain expecting total magnetic linkage (ψ_c ^*) along the component (ψ of d axle_d0 ^*) and expect total magnetic Chain (ψ_c ^*) along the component (ψ of q axle_q0 ^*) size.

${\mathrm{\ψ}}_{d0}^{*}=cos\left(\mathrm{\φ}\right){\mathrm{\ψ}}_c^{*}---\left(13\right)$

${\mathrm{\ψ}}_{q0}^{*}=sin\left(\mathrm{\φ}\right){\mathrm{\ψ}}_c^{*}---\left(274\right)$

Further, utilize following formula (3) motor can be calculated according to rotor speed (n) to turn Sub-angular rate (ω):

$\mathrm{\ω}=n\×\frac{2{\mathrm{\πN}}_p}{60}---\left(28\right)$

Wherein N_pNumber of pole-pairs for motor.

Further, utilize following equation (21) according to initial current order (I_d0 ^*, I_q0 ^*), the phase Hope total magnetic linkage (ψ_c ^*) along the component (ψ of d axle_d0 ^*) and expect total magnetic linkage (ψ_c ^*) along q axle Component (ψ_q0 ^*) size and rotor angular rate (ω) just can solve phase of correction Hope total magnetic linkage (ψ_cc ^*) size:

${\mathrm{\ψ}}_{cc}^{*}=\sqrt{{({\mathrm{\ψ}}_{d0}^{*}-\frac{I_{q0}^{*}R}{\mathrm{\ω}})}^2+{({\mathrm{\ψ}}_{q0}^{*}+\frac{I_{d0}^{*}R}{\mathrm{\ω}})}^2-2{\left(\frac{R}{\mathrm{\ω}}\right)}^2\[{\left(I_{d0}^{*}\right)}^2+{\left(I_{q0}^{*}\right)}^2\]}---\left(229\right)$

Step S85: export according to the total magnetic linkage of revised expectation and torque command search relationship table again Ultimate current order.

Fig. 9 is the structure chart of the permanent-magnet synchronous system of one embodiment of the invention.As it is shown in figure 9, permanent magnetism Synchronization system includes permanent magnet synchronous motor control device 10 as shown in Figure 4, electric supply installation 20 and electricity Machine 30.

Permanent magnet synchronous motor control device 10 is used for exporting current order control electric supply installation 20 and is supplied to D-axis (d axle) electric current of motor 30 and the size of quadrature axis (q axle) electric current.

Electric supply installation 20 includes: DC source 200 and inverter circuit 201, DC source 200 For providing DC bus-bar voltage (U_dc) to inverter circuit 201, so that inverter circuit 201 will be straight Stream busbar voltage (U_dc) be converted to alternating voltage, and alternating voltage is exported to motor 30.

Permanent magnet synchronous motor control device 10 includes: rotating speed detecting module 101, detecting voltage module 100, torque command generation module 102, current order generation module 103 and current loop controller 104。

Wherein, rotating speed detecting module 101 is for detecting the rotating speed (n) of motor 30.Detecting voltage mould Block 100 is for detecting the DC bus-bar voltage (U of DC source 200 output_dc) size.Torque Order generation module 102 is used for producing torque command (T_e ^*)。

Current order generation module 103 is used for obtaining the total magnetic linkage (ψ of expectation_c ^*), and total according to expectation Magnetic linkage (ψ_c ^*) and torque command (T_e ^*) export initial current order (I by search relationship table_d0 ^*, I_q0 ^*) and expect total magnetic linkage (ψ_c ^*) phase angulation φ, and according to initial current order (I_d0 ^*, I_q0 ^*)、 Expect total magnetic linkage (ψ_c ^*) phase angulation φ, the rotating speed (n) of motor 30, the stator of motor 30 Total magnetic linkage (ψ is expected in internal resistance correction_c ^*), to produce revised expectation total magnetic linkage (ψ_cc ^*), and According to revised expectation total magnetic linkage (ψ_cc ^*) and torque command (T_e ^*) search relationship table output again Ultimate current order (I_dc ^*, I_qc ^*By ultimate current order (I after)_dc ^*, I_qc ^*) export to electric current loop Controller 104 so that current loop controller 104 export modulated signal control inverter circuit 201 defeated Go out corresponding d-axis (d axle) electric current and quadrature axis (q axle) electric current to motor 30.

Wherein, current order generation module 103 includes: memory element (not shown), total magnetic linkage (ψ_c ^*) generation unit 1031, initial current order generation unit 1032, phase angulation generation unit 1033, the total magnetic linkage of revised expectation (ψ_cc ^*) generation unit 1034, ultimate current order produce Unit 1035.

Expect total magnetic linkage (ψ_c ^*) generation unit 1031 is used for producing the total magnetic linkage (ψ of expectation_c ^*).Deposit Storage unit is used for storing relation table.Wherein, relation table refers to total magnetic linkage (ψ_cc ^*)/(ψ_c ^*)、 Torque command (T_e ^*) it is variable, demarcate current order (I in advance_d0 ^*, I_q0 ^*)/(I_dc ^*,I_qc ^*)、 Phase angulation φ and total magnetic linkage (ψ_cc ^*)/(ψ_c ^*), torque command (T_e ^*The table of the relation between) Lattice or function expression.

Initial current order generation unit 1032 is for according to expecting total magnetic linkage (ψ_c ^*), torque life Make (T_e ^*) produce initial current order (I by search relationship table_d0 ^*, I_q0 ^*).Phase angulation produces single Unit 1033 is for according to expecting total magnetic linkage (ψ_c ^*), torque command (T_e ^*) by search relationship table Produce and expect total magnetic linkage (ψ_c ^*) phase angulation φ.Revised expectation total magnetic linkage (ψ_cc ^*) produce Unit 1034 is for according to initial current order (I_d0 ^*, I_q0 ^*), expect total magnetic linkage (ψ_c ^*) phase Angulation φ and rotating speed (n) produce revised expectation total magnetic linkage (ψ_cc ^*).Ultimate current order is produced Raw unit 1035 is for according to revised expectation total magnetic linkage (ψ_cc ^*), torque command (T_e ^*) logical Cross search relationship table and produce ultimate current order (I_dc ^*, I_qc ^*)。

The permanent magnet synchronous motor control device of the present invention, method for controlling permanent magnet synchronous motor and permanent-magnet synchronous System is by expecting that total magnetic linkage is corrected, compensate for the stator internal resistance shadow to the phase voltage of motor Ringing, the control making phase voltage is more accurate, thus expands the working range of motor, improves motor Operational efficiency.

It should be noted that each embodiment in this specification all uses the mode gone forward one by one to describe, often What individual embodiment stressed is all the difference with other embodiments, identical between each embodiment Similar part sees mutually.For method class embodiment, due to itself and device embodiment Basic simlarity, so describe is fairly simple, relevant part sees the part explanation of device embodiment i.e. Can.

One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can To be completed by hardware, it is also possible to instruct relevant hardware by program and complete, described program Can be stored in a kind of computer-readable recording medium, storage medium mentioned above can be read-only Memorizer, disk or CD etc..

The specific case permanent magnet synchronous electric to a kind of permagnetic synchronous motor of the present invention used herein The embodiment of machine control method, permanent magnet synchronous motor control device and permanent-magnet synchronous system is explained Stating, the explanation of embodiment of above is only intended to help to understand method and the core concept thereof of the present invention； Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, in detailed description of the invention And all will change in range of application, to sum up, this specification content should not be construed as the present invention Restriction, protection scope of the present invention should be as the criterion with appended claim.

Claims (7)

1. a permanent magnet synchronous motor control device, described permanent magnet synchronous motor control device is used for exporting electricity Stream order controls the size that electric supply installation is supplied to the voltage of motor, and described electric supply installation includes: unidirectional current Source and inverter circuit, described DC source is used for providing DC bus-bar voltage to described inverter circuit, institute State the inverter circuit control according to permanent magnet synchronous motor control device to be converted to described DC bus-bar voltage hand over Stream voltage, and described alternating voltage is exported to motor, it is characterised in that described permagnetic synchronous motor control Device processed includes: rotating speed detecting module, detecting voltage module, torque command generation module, current order Generation module and current loop controller；

Described rotating speed detecting module is for detecting the rotating speed of described motor；

Described detecting voltage module is for detecting the size of the DC bus-bar voltage of described DC source output；

Described torque command generation module is used for producing torque command；

Described current order generation module is used for obtaining the total magnetic linkage of expectation, and according to the total magnetic linkage of described expectation and Torque command exports initial current order and the phase angulation of the total magnetic linkage of described expectation by search relationship table, and Rotating speed according to described initial current order, the phase angulation of the total magnetic linkage of described expectation, described motor corrects institute State the total magnetic linkage of expectation, to produce the total magnetic linkage of revised expectation, and according to the described total magnetic of revised expectation Chain and torque command again search described relation table output ultimate current order after by described ultimate current order Output is to described current loop controller, so that described current loop controller output modulated signal controls described Inverter circuit exports corresponding alternating voltage to described motor.

2. permanent magnet synchronous motor control device as claimed in claim 1, it is characterised in that described electric current Order generation module includes: memory element, expect that total magnetic linkage generation unit, initial current order produce single Unit, phase angulation generation unit, revised expectation total magnetic linkage generation unit and ultimate current order produce Unit；

Described memory element is used for storing described relation table；

Described expectation total magnetic linkage generation unit is for according to the rotating speed of described motor, described DC bus-bar voltage Calculate expectation voltage modulated ratio, with the rotating speed according to described motor, described DC bus-bar voltage and described Expect voltage modulated than producing the total magnetic linkage of described expectation；

Described initial current order generation unit is for leading to according to the total magnetic linkage of described expectation, described torque command Cross and search the described initial current order of generation of described relation table；

Described phase angulation generation unit is for passing through to search according to the total magnetic linkage of described expectation, described torque command Described relation table produces the phase angulation expecting total magnetic linkage；

Revised expectation total magnetic linkage generation unit is for total according to described initial current order, described expectation The phase angulation of magnetic linkage and described rotating speed produce the total magnetic linkage of revised expectation；

Ultimate current order generation unit is for according to the described total magnetic linkage of revised expectation, described torque life Make by searching the generation ultimate current order of described relation table.

3. permanent magnet synchronous motor control device as claimed in claim 1, it is characterised in that described correction After the total magnetic linkage of expectation ${\mathrm{\ψ}}_{cc}^{*}=\sqrt{{({\mathrm{\ψ}}_{d0}^{*}-\frac{I_{q0}^{*}R}{\mathrm{\ω}})}^2+{({\mathrm{\ψ}}_{q0}^{*}-\frac{I_{d0}^{*}R}{\mathrm{\ω}})}^2-2{\left(\frac{R}{\mathrm{\ω}}\right)}^2\[{\left(I_{d0}^{*}\right)}^2+{\left(I_{q0}^{*}\right)}^2\]},$ Wherein, Id0*, Iq0* are initial current order, ψ d₀ ^*For the total magnetic linkage of described expectation along the component of d-axis, ψ_q0 ^* For expecting total magnetic linkage component along quadrature axis, ω is described rotor angular rate, and R is described motor The internal resistance of stator.

4. a method for controlling permanent magnet synchronous motor, it is characterised in that described permagnetic synchronous motor controls Method includes:

The size of the DC bus-bar voltage that the detecting rotating speed of motor, DC source provide；

Obtain and expect total magnetic linkage；

Initial current order and institute is exported by search relationship table according to the total magnetic linkage of described expectation and torque command State the phase angulation expecting total magnetic linkage；

According to described initial current order, the phase angulation of the total magnetic linkage of described expectation, the rotating speed school of described motor The size of the total magnetic linkage of the most described expectation, to produce the total magnetic linkage of revised expectation；

The output of described relation table is again searched final according to the described total magnetic linkage of revised expectation and torque command Current order.

5. method for controlling permanent magnet synchronous motor as claimed in claim 4, it is characterised in that described acquisition Expect that the step of total magnetic linkage includes:

Rotating speed according to described motor, described DC bus-bar voltage calculate and produce expectation voltage modulated ratio；

Rotating speed according to described motor, described DC bus-bar voltage and described expectation voltage modulated are than meter Calculate and produce the total magnetic linkage of described expectation.

6. method for controlling permanent magnet synchronous motor as claimed in claim 4, it is characterised in that described correction After the total magnetic linkage of expectation ${\mathrm{\ψ}}_{cc}^{*}=\sqrt{{({\mathrm{\ψ}}_{d0}^{*}-\frac{I_{q0}^{*}R}{\mathrm{\ω}})}^2+{({\mathrm{\ψ}}_{q0}^{*}-\frac{I_{d0}^{*}R}{\mathrm{\ω}})}^2-2{\left(\frac{R}{\mathrm{\ω}}\right)}^2\[{\left(I_{d0}^{*}\right)}^2+{\left(I_{q0}^{*}\right)}^2\]},$ Wherein, Id0*, Iq0* are initial current order, and ψ d0* is the described expectation total magnetic linkage component along d-axis, ψ q0* For expecting total magnetic linkage component along quadrature axis, ω is described rotor angular rate, and R is described motor The internal resistance of stator.

7. a permanent-magnet synchronous system, it is characterised in that described permanent-magnet synchronous system includes motor, power supply Device and the permanent magnet synchronous motor control device as described in claims 1 to 3 any one.