CN106330033B - A kind of method for controlling permanent magnet synchronous motor, device and permanent-magnet synchronous system - Google Patents
A kind of method for controlling permanent magnet synchronous motor, device and permanent-magnet synchronous system Download PDFInfo
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Abstract
The present invention provides a kind of permanent magnet synchronous motor control device, including：Revolving speed detecting module, detecting voltage module, torque command generation module, current order generation module and current loop controller；Current order generation module is used to it is expected total magnetic linkage according to the revolving speed correction of initial current order, the phase angulation of the total magnetic linkage of expectation, motor, to generate the revised total magnetic linkage of expectation, and ultimate current order is exported to current loop controller according to after the total magnetic linkage of revised expectation and torque command again search relationship table output ultimate current order.The present invention also provides a kind of method for controlling permanent magnet synchronous motor and permanent-magnet synchronous systems.Permanent magnet synchronous motor control device, method for controlling permanent magnet synchronous motor and permanent-magnet synchronous system of the invention is by being corrected the total magnetic linkage of expectation, compensate for influence of the stator internal resistance to the phase voltage of motor, keep the control of phase voltage more accurate, to expand the working range of motor, the operational efficiency of motor is improved.
Description
Technical field
The present invention relates to technical field of motors more particularly to a kind of method for controlling permanent magnet synchronous motor, device and permanent magnetism are same
Step system.
Background technique
Permanent magnet synchronous motor (permanent magnet synchronous motor, PMSM) is since structure is simple, effect
The advantages that rate is high and be widely used application.Permanent magnet synchronous motor will carry out weak magnetic control at high speed, wider to realize
Speed adjustable range.
When permanent magnet synchronous motor carries out weak magnetic control, required d-axis (d axis) electric current, quadrature axis (q axis) current order (Id *,
Iq *) at least with motor speed (n), torque command (T* e), DC bus-bar voltage (Udc) 3 variables are related.How one kind is designed forever
Magnetic-synchro motor control method, input motor speed (n), torque command (T* e) and DC bus-bar voltage (Udc), output electric current life
Enable (I* d, I* q) work to control motor, to sufficiently expand the speed adjustable range of permanent magnet synchronous motor, improve within the scope of weak magnetic
Working efficiency, and this method is required to be easily programmed realization, it is easy calibration, moreover it is possible to it is good dynamic to guarantee that permanent magnet synchronous motor has
State property energy is all the key problem in the control of permanent-magnet synchronous permanent magnet synchronous motor all the time.
Fig. 1 is the method for controlling permanent magnet synchronous motor schematic diagram of an embodiment of the prior art.As shown in Figure 1, a kind of simple
Direct method for controlling permanent magnet synchronous motor is with permanent magnet synchronous motor revolving speed (n), torque command (T* e), DC bus-bar voltage
(Udc) be variable, demarcated in advance current order (Iq *) and permanent magnet synchronous motor revolving speed (n), torque command (T* e), direct current
Busbar voltage (Udc) between relationship, be stored in read-only memory (ROM) after being compiled into table, permanent magnet synchronous motor run when into
Row real-time searching relation table.But this method data volume is huge, needs biggish memory space not only to store one 3 input 2
The table of output, it is also necessary to carry out many experiments and carry out this table of staking-out work.
Fig. 2 is the method for controlling permanent magnet synchronous motor schematic diagram of another embodiment of the prior art.Due in the steady state
Machine phase voltages (us) along the component u of d axisd, machine phase voltages (us) along the component u of q axisqIt can be expressed as：
ud=IdR-ψqω (1)
uq=IqR-ψdω (2)
Ignore the stator internal resistance (R) of motor, substitutes into the relationship of rotor angular rate (ω) and rotor speed (n)：
It can obtain：
N in formulapFor the number of pole-pairs of motor, π is pi, IdFor practical direct-axis current, IqFor practical quadrature axis current, ψdFor
Total magnetic linkage (total magnetic linkage of stator magnetic linkage and rotor flux synthesis) is along the component of d axis, ψqIt is total magnetic linkage along the component of q axis, ψdAnd ψq
It is Id、IqFunction.
Substitute into phase voltage us, total magnetic linkage ψsThe relationship of corresponding with its d axis and q axis component：
It can obtain
When carrying out weak magnetic control, machine phase voltages usWith DC bus-bar voltage (Udc) meet following relationship：
Substitution formula (9) can obtain：
N in formulapIt is constant for motor number of pole-pairs；ψc(Id,Iq) it is practical total magnetic linkage size, it is Id、IqFunction；M is
Virtual voltage modulation ratio.
Thus, so that it may revolving speed (n) and DC bus-bar voltage (Udc) two variables are converted into a variable, this
Variable is exactly desired total magnetic linkage
Above formula the right and DC bus-bar voltage (Udc), revolving speed (n) it is related, wherein m*It is voltage modulated than order, promptly
It hopes obtained voltage modulated ratio, can be designed to a constant, may be designed as with revolving speed (n) and DC bus-bar voltage (Udc)
The function of variation.It is desired total magnetic linkage on the right of equationI.e. desired total magnetic linkage size.In this way, 3 original inputs are looked into
Look for relation table that can be simplified to 2 input search relationship tables, i.e., according to torque commandDesired total magnetic linkageIt looks into
Look for relation table obtain current order (Iq *), then carry out permanent magnet synchronous motor closed-loop current control.
Fig. 3 obtains the principle of current order according to torque command, desired total magnetic linkage search relationship table for as shown in Figure 2
Figure.As shown in figure 3, firstly, input torque order is limited in maximum output according to the external characteristic curve of permanent magnet synchronous motor
Within the scope of torque capacity, i.e., according to total magnetic linkageSize, to torque command (Te *) saturated process is carried out, obtain modified turn
Square order (Tes *).Then according to modified torque command (Tes *) and desired total magnetic linkage (ψ* c) electricity can be obtained in search relationship table
Stream order (Iq *)。
But the stator internal resistance that the premise of the algorithm and hypothesis are exactly permanent magnet synchronous motor is sufficiently small.But in many cases,
Influence caused by this internal resistance can not be ignored completely, then being actually passed through the voltage modulated ratio m that control obtains can deviate from the phase
Hope voltage modulated ratio m*.If virtual voltage modulation ratio m is bigger than normal, permanent magnet synchronous motor risk out of control just be will increase, this
It is unacceptable, therefore in order to avoid virtual voltage modulation ratio m is bigger than normal in practical application, it can be voltage modulated than order m*If
Count smaller, to reserve enough surpluses.The consequence done so is to export identical torque and need to provide more to motor
Big electric current causes the output power of permanent magnet synchronous motor to decline, and the working efficiency of motor can also decline.
Summary of the invention
In view of problem above, the present invention provides a kind of influence that can compensate stator internal resistance to the phase voltage of motor, to make
The control of phase voltage is more accurate, improves the permanent magnet synchronous motor control device of the operational efficiency of motor.
The embodiment of the present invention provides a kind of permanent magnet synchronous motor control device, and the permanent magnet synchronous motor control device is used
It is supplied to the size of the voltage of motor in output current order control power supply unit, the power supply unit includes：DC power supply with
And inverter circuit, the DC power supply is for providing DC bus-bar voltage to the inverter circuit, so that the inverter circuit
The DC bus-bar voltage is converted into alternating voltage, and the alternating voltage is exported to motor, the permanent magnet synchronous motor
Control device includes：Revolving speed detecting module, detecting voltage module, torque command generation module, current order generation module and
Current loop controller；The revolving speed detecting module is used to detect the revolving speed of the motor；The detecting voltage module is for detecting
The size of the DC bus-bar voltage of the DC power supply output；The torque command generation module is for generating torque command；Institute
State current order generation module for obtain it is expected total magnetic linkage, and it is expected total magnetic linkage and torque command by searching for pass according to described
It is the phase angulation of table output initial current order and the total magnetic linkage of expectation, and according to the initial current order, the expectation
The phase angulation of total magnetic linkage, the revolving speed of the motor correct the total magnetic linkage of expectation, to generate the revised total magnetic linkage of expectation, and root
It will be described after searching the relation table output ultimate current order again according to the total magnetic linkage of the revised expectation and torque command
Ultimate current order is exported to the current loop controller, so that described in current loop controller output modulated signal control
Inverter circuit exports corresponding alternating voltage to the motor.
The embodiment of the present invention also provides a kind of method for controlling permanent magnet synchronous motor, the method for controlling permanent magnet synchronous motor
Size including detecting the revolving speed of motor, the DC bus-bar voltage that DC power supply provides；It obtains and it is expected total magnetic linkage；According to the phase
Total magnetic linkage and torque command is hoped to export the phase angulation of initial current order and the total magnetic linkage of expectation by searching for relation table；According to
The initial current order, the phase angulation of the total magnetic linkage of the expectation, the motor revolving speed correct the big of the total magnetic linkage of expectation
It is small, to generate the revised total magnetic linkage of expectation；Described in being searched again according to the total magnetic linkage of the revised expectation and torque command
Relation table exports ultimate current order.
The embodiment of the present invention also provides a kind of permanent-magnet synchronous system, and the permanent-magnet synchronous system includes permanent magnet synchronous electric
Machine, power supply unit and above-mentioned permanent magnet synchronous motor control device.
Permanent magnet synchronous motor control device, method for controlling permanent magnet synchronous motor and permanent-magnet synchronous system of the invention by pair
It is expected that total magnetic linkage is corrected, influence of the stator internal resistance to the phase voltage of motor is compensated for, keeps the control of phase voltage more accurate,
To expand the working range of motor, the operational efficiency of motor is improved.
Detailed description of the invention
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 the prior art.
Fig. 3 obtains the schematic diagram of current order according to torque command, total magnetic linkage search relationship table for as shown in Figure 2.
Fig. 4 is the structural schematic diagram of the permanent magnet synchronous motor control device of one embodiment of the invention.
Fig. 5 is the working principle diagram of permanent magnet synchronous motor control device as described in Figure 4.
Fig. 6 is the working principle diagram for generating ultimate current order in Fig. 5 according to torque command, the total magnetic linkage of expectation and revolving speed.
Fig. 7 is as obtained ultimate current order according to torque command, the revised total magnetic linkage search relationship table of expectation in Fig. 6
Schematic diagram.
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.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Fig. 4 is the structural schematic diagram of the permanent magnet synchronous motor control device 10 of one embodiment of the invention.As shown in figure 4, forever
Magnetic-synchro motor control assembly 10 be used for export current order control power supply unit 20 be supplied to motor 30 alternating voltage it is big
It is small.
Wherein, power supply unit 20 includes：DC power supply 200 and inverter circuit 201, DC power supply 200 are straight for providing
Flow busbar voltage (Udc) to inverter circuit 201, inverter circuit 201 is according to the control of permanent magnet synchronous motor control device 10 by direct current
Busbar voltage (Udc) alternating voltage is converted to, and alternating voltage is exported to motor 30.
Permanent magnet synchronous motor control device 10 includes：Detecting voltage module 100, revolving speed detecting module 101, torque command produce
Raw module 102, current order generation module 103 and current loop controller 104, current detecting module 105.
Wherein, revolving speed detecting module 101 is used to detect the revolving speed (n) of motor 30.Detecting voltage module 100 is straight for detecting
DC bus-bar voltage (the U that galvanic electricity source 200 exportsdc) size.Torque command generation module 102 is for generating torque command
(Te *)。
It is understood that revolving speed detecting module 101 can use speed probe realization, detecting voltage module 100 can
To be realized using voltage sensor.
Current order generation module 103 it is expected total magnetic linkage for obtainingAnd according to the total magnetic linkage of expectationAnd
Torque command (Te *) by searching for relation table output initial current order (I* d0, I* q0) and the total magnetic linkage of expectationPhase angulation
φ, and according to initial current order (I* d0, I* q0), the total magnetic linkage of expectationPhase angulation φ, motor 30 revolving speed (n) correction
It is expected that total magnetic linkageTo generate the revised total magnetic linkage of expectationAnd according to the revised total magnetic linkage of expectation
And torque command (Te *) again search relationship table export ultimate current order (I* dc, I* qc) after by ultimate current order (I* dc, I* qc) output is to current loop controller 104, so that current loop controller 104 exports the modulated signal control output of inverter circuit 201
Corresponding d-axis (d axis) electric current and quadrature axis (q axis) electric current are to motor 30.
Wherein, current order generation module 103 includes：Storage unit (not shown), total magnetic linkage generate unit 1031,
Initial current order generates unit 1032, phase angulation generates unit 1033, the revised total magnetic linkage (ψ of expectation* cc) generate unit
1034, ultimate current order generates unit 1035.
It is expected that total magnetic linkage, which generates unit 1031, it is expected total magnetic linkage for generatingStorage unit is for storing relationship
Table.Wherein, relation table refers to total magnetic linkage (ψ* cc)/Torque command (T* e) it is variable, current order has been demarcated in advance
(I* d0, I* q0)/(I* dc,I* qc), phase angulation φ and total magnetic linkage (ψ* cc)/Torque command (T* e) between relationship table
Lattice or function expression.
Initial current order generates unit 1032 and is used for according to the total magnetic linkage of expectationTorque command (T* e) by looking into
Relation table is looked for generate initial current order (I* d0, I* q0).Phase angulation generates unit 1033 and is used for according to the total magnetic linkage of expectation
Torque command (T* e) generated by searching for relation table and it is expected total magnetic linkagePhase angulation φ.The revised total magnetic linkage of expectation
(ψ* cc) unit 1034 is generated for according to initial current order (I* d0, I* q0), the total magnetic linkage of expectationPhase angulation φ and turn
Fast (n) generates the revised total magnetic linkage (ψ of expectation* cc).Ultimate current order generates unit 1035 and is used for according to revised expectation
Total magnetic linkage (ψ* cc), torque command (T* e) by searching for relation table generation ultimate current order (I* dc, I* qc)。
In an embodiment of the present invention, current detecting module 105 is for detecting the output of inverter circuit 201 to motor 30
Size of current, size of current that current loop controller 104 is exported according to current detecting module 105, revolving speed detecting module 101 export
Revolving speed, corner detecting module (not shown) output motor 30 corner and current order generation module 103 generate
Ultimate current order (I* dc, I* qc) modulated signal is exported to inverter circuit 201, it is exported accordingly with controlling inverter circuit 201
Alternating voltage is to motor 30.Wherein, modulated signal is pulse width modulating signal.
Fig. 5 is the working principle diagram of permanent magnet synchronous motor control device as described in Figure 4.Fig. 6 is to be ordered in Fig. 5 using torque
It enables, it is expected that total magnetic linkage and revolving speed generate the working principle diagram of ultimate current order, please refer to Fig. 4, Fig. 5 and Fig. 6.Due to
Machine phase voltages (u under stable states) along the component u of d axisd, machine phase voltages (us) along the component u of q axisqIt can be expressed as：
ud=IdR-ψqω (1)
uq=IqR-ψdω (2)
Ignore the stator internal resistance (R) of motor, substitutes into the relationship of rotor angular rate (ω) and rotor speed (n)：
Machine phase voltages (u can be obtaineds) along the component u of d axisd, machine phase voltages (us) along the component u of q axisqIt can wait respectively
In：
N in formulapFor motor number of pole-pairs, π is pi, IdFor practical direct-axis current, IqFor practical quadrature axis current, ψdIt is total
Magnetic linkage (total magnetic linkage of stator magnetic linkage and rotor flux synthesis) is along the component of d axis, ψqIt is total magnetic linkage along the component of q axis, ψdAnd ψq?
It is Id、IqFunction.
Substitute into phase voltage us, total magnetic linkage ψcThe relationship of corresponding with its d axis and q axis component：
It can obtain
When carrying out weak magnetic control, due to machine phase voltages usWith DC bus-bar voltage (Udc) meet following relationship：
Therefore, formula (8) substitution formula (9) can be obtained：
N in formulapIt is constant for motor number of pole-pairs；ψc(Id,Iq) it is practical total magnetic linkage size, it is Id、IqFunction；M is
Virtual voltage modulation ratio.
Thus, so that it may revolving speed (n) and DC bus-bar voltage (Udc) two variables are converted into a variable, this
Variable is exactly desired total magnetic linkage
Above formula the right and DC bus-bar voltage (Udc), revolving speed (n) it is related, wherein m*It is voltage modulated than order, promptly
It hopes obtained voltage modulated ratio, can be designed to a constant, may be designed as with revolving speed (n) and DC bus-bar voltage (Udc)
The function of variation.It is desired total magnetic linkage on the right of equationI.e. desired total magnetic linkage size.
In conclusion it is expected that total magnetic linkage generates the stator internal resistance (R) that unit 1031 has ignored motor, mould is detected according to revolving speed
DC bus-bar voltage (the U that revolving speed (n) size and detecting voltage module 100 that block 101 detects detectdc) size utilize formula
(11) desired total magnetic linkage is generated
Initial current order generates unit 1032 can be according to torque command (T* e) and the total magnetic linkage (ψ of expectationc) search relationship
Table and obtain initial current order (I* d0, I* q0).Phase angulation generates unit 1033 can be according to torque command (T* e) and expectation is always
Magnetic linkage (ψ* c) search relationship table and obtain it is expected total magnetic linkage (ψ* c) phase angulation φ of the vector in dq coordinate system.
Assuming that the data entirely accurate in relation table, then just having：
ψ in formula* d0It indicates it is expected total magnetic linkage (ψ* c) along the component of d axis, ψ* q0It indicates it is expected total magnetic linkage (ψ* c) along q axis
Component, ω indicate rotor angular rate.
Wherein, it is expected that total magnetic linkage (ψ* c) along the component (ψ of d axis* d0) and the total magnetic linkage (ψ of expectation* c) along the component of q axis
(ψ* q0) and the total magnetic linkage (ψ of expectation* c) there are following relationships：
φ indicates it is expected total magnetic linkage (ψ in formula* c) phase angulation of the vector in dq coordinate system.
Under stable state, due to the control action of current loop controller, actual current (Id, Iq) initial current order can be followed
(I* d0, I* q0), i.e. Id=I* d0, Iq=I* q0, then practical phase voltage (u at this times) meet：
In formula, R indicates stator internal resistance.
Due to the influence of stator internal resistance (R) it can be seen from formula (12) and formula (15), practical phase voltage (u at this times) and the phase
Hope phase voltage (us *) and it is unequal.
It, can be by adjusting the total magnetic linkage of expectation in order to inhibit the influence of stator internal resistance (R)Size, then with repairing
Total magnetic linkage (the ψ of expectation after just* cc) and torque command (T* e) again search relationship table obtain ultimate current order so that actual
Phase voltage (us) and desired phase voltage (u* s) as close possible to.
If the revised total magnetic linkage (ψ of expectation* cc) along dq axis component be (ψ* dc, ψ* qc), ultimate current order is along dq axis
Component is (I* dc, I* qc).Equally, under the control of current loop controller, the actual current (I under stable state is rund, Iq) can follow
Ultimate current order (I* dc, I* qc), then having：
Assuming that final phase voltage UscWith its desired value Us *It is equal, i.e.,：
Wushu (12) and formula (16) substitute into formula (17), can obtain：
Since stator internal resistance R is a lesser value, the revised total magnetic linkage (ψ of expectation* cc) and the total magnetic linkage of expectationBetween difference can be smaller, therefore the result of search relationship table can relatively, i.e., twice：
So, it can be derived by according to formula (19) it is assumed that by formula (18)：
Above formula slightly varies, and just obtains：
In this way, the revised total magnetic linkage of expectation, which generates unit 1034, to be calculated using formula (3) according to rotor speed (n)
The angular rate (ω) of rotor out, then, using formula (13) and formula (14) according to phase angulation (φ), the total magnetic linkage (ψ of expectationc *)
It obtains it is expected total magnetic linkage (ψc *) along the component (ψ of d axisd0 *) and the total magnetic linkage (ψ of expectationc *) along the component (ψ of q axisq0 *) it is big
Small, further, the revised total magnetic linkage of expectation generates unit 1034 using formula (21) according to initial current order (I* d0, I* q0)
And the total magnetic linkage of expectationAlong the component (ψ of d axis* d0) and the total magnetic linkage of expectationAlong the component (ψ of q axis* q0) size
The modified total magnetic linkage (ψ of expectation can be solved* cc) size, finally, by search relationship table again with regard to getable final
Current order (I* dc, I* qc).According to ultimate current order (I* dc, I* qc) motor such as permanent magnet synchronous motor is controlled, most
Whole phase voltage UscWith its desired value U* sVery little is differed, is almost no longer influenced by stator internal resistance R.
Fig. 7 be it is as shown in FIG. 6 according to torque command, the total magnetic linkage search relationship table of revised expectation obtain ultimate current
The schematic diagram of order.
It, can be according to the external characteristic curve of motor, by the torque command (T of input in an embodiment of the present invention* e) limit
System is in maximum output torque limit of power, i.e., according to the modified total magnetic linkage size (ψ of expectation* cc) size, to torque command (T* e)
Saturated process is carried out, revised torque command (T is obtained* es).Then according to revised (T* es) and revised expectation is always
Magnetic linkage size (ψ* cc) ultimate current order (I can be obtained in search relationship table* dc, I* qc)。
Fig. 8 is the flow chart of the method for controlling permanent magnet synchronous motor of one embodiment of the invention.As shown in figure 8, a kind of permanent magnetism
Synchronous motor control method includes：
Step S81：Detect the size of the revolving speed of motor, the DC bus-bar voltage that DC power supply provides.
Step S82：It obtains and it is expected total magnetic linkage.
Specifically, obtaining the step of it is expected total magnetic linkage further includes being calculated to generate according to revolving speed, the DC bus-bar voltage of motor
It is expected that voltage modulated ratio, that is to say, that by desired voltage modulated than be set as the revolving speed with motor, DC bus-bar voltage it is big
The numerical value of small variation and variation.Certainly it will be appreciated by those skilled in the art that, desired voltage modulated ratio can also be set
It is set to a fixed constant.
Specifically, it can use following equation according to the revolving speed of motor, DC bus-bar voltage and expectation voltage modulated ratio
It generates and it is expected total magnetic linkage.
In formula, NpFor the number of pole-pairs of motor, π is pi, and n indicates the revolving speed of motor, UdcIt is provided for DC power supply straight
Flow busbar voltage, m*It is voltage modulated than ordering,For desired total magnetic linkage.
Step S83：Initial current order and expectation are exported according to the total magnetic linkage of expectation and torque command by searching for relation table
The phase angulation of total magnetic linkage.
Wherein, relation table is to have demarcated current order, phase angulation and total magnetic in advance using total magnetic linkage, torque command as variable
The table or function expression of relationship between chain, torque command.
Step S84：Total magnetic linkage it is expected according to the revolving speed correction of initial current order, the phase angulation of the total magnetic linkage of expectation, motor
Size, to generate the total magnetic linkage of revised expectation.
Specifically, can use following equation (13) (14) according to phase angulation (φ), the total magnetic linkage of expectation (*ψc) it is expected
Total magnetic linkage (ψ* c) along the component (ψ of d axis* d0) and the total magnetic linkage (ψ of expectation* c) along the component (ψ of q axis* q0) size.
Further, rotor angular rate can be calculated according to rotor speed (n) using following formula (3)
(ω)：
Wherein NpFor the number of pole-pairs of motor.
Further, using following equation (21) according to initial current order (I* d0, I* q0), the total magnetic linkage (ψ of expectation* c) along
Component (the ψ of d axis* d0) and the total magnetic linkage (ψ of expectation* c) along the component (ψ of q axis* q0) size and rotor angular rate (ω)
The modified total magnetic linkage (ψ of expectation can be solved* cc) size：
Step S85：According to the total magnetic linkage of revised expectation and torque command, search relationship table output ultimate current is ordered again
It enables.
Fig. 9 is the structure chart of the permanent-magnet synchronous system of one embodiment of the invention.As shown in figure 9, permanent-magnet synchronous system includes
Permanent magnet synchronous motor control device 10, power supply unit 20 and motor 30 as shown in Figure 4.
Permanent magnet synchronous motor control device 10 is supplied to the straight of motor 30 for exporting current order control power supply unit 20
The size of axis (d axis) electric current and quadrature axis (q axis) electric current.
Power supply unit 20 includes：DC power supply 200 and inverter circuit 201, DC power supply 200 is for providing DC bus
Voltage (Udc) to inverter circuit 201, so that inverter circuit 201 is by DC bus-bar voltage (Udc) alternating voltage is converted to, and will
Alternating voltage is exported to motor 30.
Permanent magnet synchronous motor control device 10 includes：Revolving speed detecting module 101, detecting voltage module 100, torque command produce
Raw module 102, current order generation module 103 and current loop controller 104.
Wherein, revolving speed detecting module 101 is used to detect the revolving speed (n) of motor 30.Detecting voltage module 100 is straight for detecting
DC bus-bar voltage (the U that galvanic electricity source 200 exportsdc) size.Torque command generation module 102 is for generating torque command
(T* e)。
Current order generation module 103 it is expected total magnetic linkage for obtainingAnd according to the total magnetic linkage of expectationAnd turn
Square order (T* e) by searching for relation table output initial current order (I* d0, I* q0) and the total magnetic linkage of expectationPhase angulation φ,
And according to initial current order (I* d0, I* q0), the total magnetic linkage of expectationPhase angulation φ, the revolving speed (n) of motor 30, motor 30
Stator internal resistance correction it is expected total magnetic linkageTo generate the revised total magnetic linkage (ψ of expectation* cc), and according to the revised phase
Hope total magnetic linkage (ψ* cc) and torque command (T* e) again search relationship table export ultimate current order (I* dc, I* qc) after will final electricity
Stream order (I* dc, I* qc) output is to current loop controller 104, so that the output modulated signal control of current loop controller 104 is inverse
Power transformation road 201 exports corresponding d-axis (d axis) electric current and quadrature axis (q axis) electric current to motor 30.
Wherein, current order generation module 103 includes：Storage unit (not shown), total magnetic linkage generate unit 1031,
Initial current order generates unit 1032, phase angulation generates unit 1033, the revised total magnetic linkage of expectation generates unit 1034, most
Whole current order generates unit 1035.
It is expected that total magnetic linkage, which generates unit 1031, it is expected total magnetic linkage for generatingStorage unit is for storing relationship
Table.Wherein, relation table refers to total magnetic linkage (ψ* cc)/Torque command (T* e) it is variable, current order has been demarcated in advance
(I* d0, I* q0)/(I* dc,I* qc), phase angulation φ and total magnetic linkage (ψ* cc)/Torque command (T* e) between relationship table
Lattice or function expression.
Initial current order generates unit 1032 and is used for according to the total magnetic linkage of expectationTorque command (T* e) by looking into
Relation table is looked for generate initial current order (I* d0, I* q0).Phase angulation generates unit 1033 and is used for according to the total magnetic linkage of expectation
Torque command (T* e) generated by searching for relation table and it is expected total magnetic linkagePhase angulation φ.The revised total magnetic linkage of expectation
(ψ* cc) unit 1034 is generated for according to initial current order (I* d0, I* q0), the total magnetic linkage of expectationPhase angulation φ and turn
Fast (n) generates the revised total magnetic linkage (ψ of expectation* cc).Ultimate current order generates unit 1035 and is used for according to revised expectation
Total magnetic linkage (ψ* cc), torque command (T* e) by searching for relation table generation ultimate current order (I* dc, I* qc)。
Permanent magnet synchronous motor control device, method for controlling permanent magnet synchronous motor and permanent-magnet synchronous system of the invention by pair
It is expected that total magnetic linkage is corrected, influence of the stator internal resistance to the phase voltage of motor is compensated for, keeps the control of phase voltage more accurate,
To expand the working range of motor, the operational efficiency of motor is improved.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For method class embodiment, since it is substantially similar to Installation practice, so being described relatively simple, related place ginseng
See the part explanation of Installation practice.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Specific case used herein to the method for controlling permanent magnet synchronous motor of permanent magnet synchronous motor of the invention a kind of,
The embodiment of permanent magnet synchronous motor control device and permanent-magnet synchronous system is expounded, and the explanation of embodiment of above is
It is used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and to sum up, the content of the present specification should not be construed as pair
Limitation of the invention, protection scope of the present invention should be subject to the attached claims.
Claims (7)
1. a kind of permanent magnet synchronous motor control device, the permanent magnet synchronous motor control device is supplied for exporting current order control
Electric installation is supplied to the size of the voltage of motor, and the power supply unit includes：DC power supply and inverter circuit, the direct current
Source is for providing DC bus-bar voltage to the inverter circuit, and the inverter circuit is according to the control of permanent magnet synchronous motor control device
The DC bus-bar voltage is converted to alternating voltage by system, and the alternating voltage is exported to motor, which is characterized in that described
Permanent magnet synchronous motor control device includes：Revolving speed detecting module, detecting voltage module, torque command generation module, current order
Generation module and current loop controller；
The revolving speed detecting module is used to detect the revolving speed of the motor；
The detecting voltage module is used to detect the size of the DC bus-bar voltage of the DC power supply output；
The torque command generation module is for generating torque command；
The current order generation module it is expected total magnetic linkage for obtaining, and is passed through according to the total magnetic linkage of the expectation and torque command
Search relationship table exports the phase angulation of initial current order and the total magnetic linkage of expectation, and according to the initial current order, institute
The revolving speed correction total magnetic linkage of expectation of the phase angulation, the motor of it is expected total magnetic linkage is stated, to generate the revised total magnetic of expectation
Chain, and after searching the relation table output ultimate current order again according to the total magnetic linkage of the revised expectation and torque command
The ultimate current order is exported to the current loop controller, so that the current loop controller exports modulated signal control
It makes the inverter circuit and exports corresponding alternating voltage to the motor.
2. permanent magnet synchronous motor control device as described in claim 1, which is characterized in that the current order generation module packet
It includes：Storage unit, the total magnetic linkage of expectation generate unit, initial current order generates unit, phase angulation generates unit, revised phase
Hope that total magnetic linkage generates unit and ultimate current order generates unit；
The storage unit is for storing the relation table；
The total magnetic linkage of expectation generates unit and is used to calculate expectation electricity according to revolving speed, the DC bus-bar voltage of the motor
Modulation ratio is pressed, according to the ratio generation of the revolving speed of the motor, the DC bus-bar voltage and the expectation voltage modulated
It is expected that total magnetic linkage；
The initial current order generates unit and is used for according to the total magnetic linkage of the expectation, the torque command by searching for the pass
It is that table generates the initial current order；
The phase angulation generates unit and is used to be produced according to the total magnetic linkage of the expectation, the torque command by searching for the relation table
The raw phase angulation for it is expected total magnetic linkage；
The revised total magnetic linkage of expectation generates unit and is used for according to the initial current order, the phase angulation for it is expected total magnetic linkage
And the revolving speed generates the revised total magnetic linkage of expectation；
Ultimate current order generates unit and is used for according to the total magnetic linkage of the revised expectation, the torque command by searching for institute
It states relation table and generates ultimate current order.
3. permanent magnet synchronous motor control device as described in claim 1, which is characterized in that the revised total magnetic linkage of expectationWherein, I* d0、I* q0For initial current life
It enables, ψ* d0Component for the total magnetic linkage of expectation along d-axis, ψ* q0It is expected total magnetic linkage along the component of quadrature axis, ω is the electricity
Machine rotor angular rate, R are the internal resistance of the motor stator.
4. a kind of method for controlling permanent magnet synchronous motor, which is characterized in that the method for controlling permanent magnet synchronous motor includes：
Detect the size of the revolving speed of motor, the DC bus-bar voltage that DC power supply provides；
It obtains and it is expected total magnetic linkage；
Initial current order and the total magnetic of expectation are exported according to the total magnetic linkage of the expectation and torque command by searching for relation table
The phase angulation of chain；
The revolving speed correction expectation according to the initial current order, the phase angulation of the total magnetic linkage of expectation, the motor is total
The size of magnetic linkage, to generate the revised total magnetic linkage of expectation；
The relation table output ultimate current order is searched again according to the total magnetic linkage of the revised expectation and torque command.
5. method for controlling permanent magnet synchronous motor as claimed in claim 4, which is characterized in that described to obtain the step for it is expected total magnetic linkage
Suddenly include：
It is calculated according to the revolving speed of the motor, the DC bus-bar voltage and generates expectation voltage modulated ratio；
The phase is generated than calculating according to the revolving speed of the motor, the DC bus-bar voltage and the expectation voltage modulated
Hope total magnetic linkage.
6. method for controlling permanent magnet synchronous motor as claimed in claim 4, which is characterized in that the revised total magnetic linkage of expectationWherein, I* d0、I* q0For initial current life
It enables, ψ* d0Component for the total magnetic linkage of expectation along d-axis, ψ* q0It is expected total magnetic linkage along the component of quadrature axis, ω is the electricity
Machine rotor angular rate, R are the internal resistance of the motor stator.
7. a kind of permanent-magnet synchronous system, which is characterized in that the permanent-magnet synchronous system includes motor, power supply unit and such as weighs
Benefit requires permanent magnet synchronous motor control device described in 1 to 3 any one.
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| CN109031953B (en) * | 2018-07-26 | 2021-10-15 | 上海高适软件有限公司 | Self-learning-based electric lifting table resistance-encountering rollback method and system and lifting equipment |
| CN109713970B (en) * | 2018-12-21 | 2023-04-11 | 南京工程学院 | Permanent magnet synchronous motor control method for electric vehicle based on predictive control |
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| JP5104239B2 (en) * | 2007-11-13 | 2012-12-19 | 富士電機株式会社 | Control device for permanent magnet type synchronous motor |
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Effective date of registration: 20211229 Address after: 511400 No.36 Longying Road, Shilou Town, Panyu District, Guangzhou City, Guangdong Province Patentee after: GAC AION New Energy Vehicle Co.,Ltd. Address before: 510000 23 building, Cheng Yue mansion 448-458, Dongfeng Middle Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: GUANGZHOU AUTOMOBILE GROUP Co.,Ltd. |