CN106452249A - Perpetual magnet synchronous motor control method and control device and air conditioner - Google Patents
Perpetual magnet synchronous motor control method and control device and air conditioner Download PDFInfo
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- CN106452249A CN106452249A CN201611122958.3A CN201611122958A CN106452249A CN 106452249 A CN106452249 A CN 106452249A CN 201611122958 A CN201611122958 A CN 201611122958A CN 106452249 A CN106452249 A CN 106452249A
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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
- H02P21/02—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for optimising the efficiency at low load
Abstract
The embodiment provides a perpetual magnet synchronous motor control method and control device and air conditioner, can at the running of a motor selecting the most suitable control means of a vertical shaft current, reducing the loss of the starting of a compression engine; the method includes, capturing a tonal modification rate; according to the tonal modification rate ascertaining the control means of the vertical shaft current, when the tonal modification rate satisfying the condition of the control means of a weak magnet, using the control means of the weak magnet to generate an order value of the vertical shaft current; when the tonal modification rate satisfying the condition of the control means of the lowest copper loss, using the control means of the lowest copper loss to generate an order value of the vertical shaft current; according to the order value of a preset motor rotating speed and the rotating speed of the motor calculating the order value of a reciprocal shaft current; according to the vertical shaft current and the order value of the vertical shaft current calculating the run time value of the vertical shaft current; according to the reciprocal shaft current and the order value of the reciprocal shaft current calculating the run time value of the reciprocal shaft current; according to the run time value of the vertical shaft current and the run time value of the reciprocal shaft current and the angle of the perpetual magnet synchronous motor rotary generating a six route drive signal for controlling the perpetual magnet synchronous motor. The perpetual magnet synchronous motor is applied in tonal modification air conditioners.
Description
Technical field
The present invention relates to field of air conditioning, more particularly, to a kind of method for controlling permanent magnet synchronous motor and control device and air-conditioning
Device.
Background technology
It is known that the line voltage of China is 220 volts, 50 hertz, the air-conditioning working under these conditions is referred to as " fixed
Frequency air-conditioning ".Because frequency of supply can not change, the compressor rotary speed of traditional fixed frequency air conditioner is basically unchanged, and relies on it constantly
" open, stop " compressor adjusting indoor temperature, one open one stop between to easily cause room temperature sometimes hot and sometimes cold, and consume more electricity
Energy.Based on this consideration, motor speed variable " convertible frequency air-conditioner ", the pressure in convertible frequency air-conditioner in compressor had been engendered later
The motor of contracting machine generally uses permagnetic synchronous motor, this motor can change rotating speed under control of the control means so that
Steadily, convertible frequency air-conditioner is more quick to the regulation of indoor temperature for the rotation speed change of compressor, because compression does not have frequently one
Open one to stop, so also comparing fixed frequency air conditioner to want energy-conservation.In prior art, with reference to shown in Fig. 1, for convertible frequency air-conditioner permanent magnet synchronous electric
In the topological structure that machine controls, d-axis (d axle) current control of permagnetic synchronous motor is usually only controlled by weak magnetic and completes.But, with
The rapid advances of technology, convertible frequency air-conditioner product efficiency class requirement more and more higher, also more next to designer's requirement
Higher, original only with weak magnetic control mode control direct-axis current control method be more suitable for when motor speed is very high use,
Motor speed than relatively low when controlled using weak magnetic and can not meet present low-loss and require, so needing a kind of control method pair
It is suitable for the control mode that direct-axis current is controlled in motor speed low situation and weak magnetic control mode switches over and to expire
The low-loss requirement of foot.
Content of the invention
Embodiments of the invention provide a kind of method for controlling permanent magnet synchronous motor and control device and air-conditioner, being capable of basis
Different situations switching controls direct-axis current thus being controlled to the permagnetic synchronous motor in compressor using two kinds of control modes,
So that convertible frequency air-conditioner loss reduces, improve air-conditioning efficiency.
For reaching above-mentioned purpose, embodiments of the invention adopt the following technical scheme that：
In a first aspect, providing a kind of method for controlling permanent magnet synchronous motor, this control method includes：
Obtain the modified tone rate of permagnetic synchronous motor, wherein modified tone rate is Vm/Vdc, VmPosition permagnetic synchronous motor is in the running
Voltage peak, VdcFor supply voltage；Direct-axis current control mode is determined according to modified tone rate, direct-axis current control mode includes weak magnetic
Control mode and minimum copper loss control mode；When modified tone rate meets the condition of weak magnetic control mode, using weak magnetic control mode
Generate direct axis current demand value；When modified tone rate meets the condition of minimum copper loss control mode, using minimum copper loss control mode
Generate direct axis current demand value；Quadrature axis electricity is calculated according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor rotating speed
Stream command value；Direct-axis voltage runtime value is calculated according to direct-axis current, direct axis current demand value；According to quadrature axis current, quadrature axis current
Command value calculates quadrature-axis voltage runtime value；According to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor
Angle generates six road drive signals and controls permagnetic synchronous motor.
Second aspect, provides a kind of permanent magnet synchronous motor control device, and this device includes：
Control switch unit, for calculating modified tone rate, wherein modified tone rate is Vm/Vdc, VmFor permagnetic synchronous motor in operating
When voltage peak, VdcFor supply voltage；Control switch unit to be additionally operable to, direct-axis current control mode determined according to modified tone rate,
Direct-axis current control mode includes weak magnetic control mode and minimum copper loss control mode；When modified tone rate meets weak magnetic control mode
During condition, generate direct axis current demand value using weak magnetic control mode；When modified tone rate meets the condition of minimum copper loss control mode
When, generate direct axis current demand value using minimum copper loss control mode；Speed regulation unit, for according to default permanent magnet synchronous electric
Machine rotational speed command value and permagnetic synchronous motor rotating speed calculate quadrature axis current axis demand value；Direct-axis current adjustment unit, for according to friendship
Shaft current, quadrature axis current axis demand value calculate quadrature-axis voltage runtime value；Quadrature axis current adjustment unit, for according to quadrature axis current, friendship
Shaft current command value calculates quadrature-axis voltage runtime value；Drive signal unit, for according to direct-axis voltage runtime value, quadrature-axis voltage fortune
Row value and permanent-magnetic synchronous motor rotor angle generate six road drive signals；Three-phase inverter, for according to supply voltage and six tunnels
Drive signal controlled motor.
The third aspect, provides a kind of air-conditioner, including the permanent magnet synchronous motor control device described in second aspect, described forever
Magnetic-synchro motor control assembly connects the permagnetic synchronous motor of compressor.
Method for controlling permanent magnet synchronous motor and control device and air-conditioner that such scheme provides, this control method obtains first
Take the modified tone rate of permagnetic synchronous motor, wherein modified tone rate is Vm/Vdc, VmFor permagnetic synchronous motor voltage peak in the running,
VdcFor supply voltage；Determine direct-axis current control mode further according to modified tone rate, wherein direct-axis current control mode includes weak magnetic control
Mode processed and minimum copper loss control mode；Specifically, when modified tone rate meets the condition of weak magnetic control mode, controlled using weak magnetic
Mode generates direct axis current demand value；When modified tone rate meets the condition of minimum copper loss control mode, controlled using minimum copper loss
Mode generates direct axis current demand value；Then according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor tachometer
Calculate quadrature axis current axis demand value；Direct-axis voltage runtime value is calculated according to direct-axis current, direct axis current demand value；According to quadrature axis current,
Quadrature axis current axis demand value calculates quadrature-axis voltage runtime value；Finally according to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent magnetism
Synchronous electric motor rotor angle generates six road drive signals and controls permagnetic synchronous motor.Because the finger of direct-axis current in control process
Making value can determine according to modified tone rate is to control by weak magnetic to generate or control life by lower minimum copper loss is lost
Become；So direct-axis current is controlled using the control mode being more suitable for according to different situations, thus reaching with lower
Loss permagnetic synchronous motor is controlled, reduce the drive loss of the compressor containing permagnetic synchronous motor.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of method for controlling permanent magnet synchronous motor schematic flow sheet provided in an embodiment of the present invention；
Fig. 2 is to obtain modified tone rate method flow in a kind of method for controlling permanent magnet synchronous motor provided in an embodiment of the present invention to show
It is intended to；
Fig. 3 is that in a kind of method for controlling permanent magnet synchronous motor provided in an embodiment of the present invention, weak magnetic controls and minimum copper loss control
Switch logic figure processed；
Fig. 4 is stator current provided in an embodiment of the present invention and direct-axis current and quadrature axis current compositive relation is illustrated；
Fig. 5 is a kind of permanent magnet synchronous motor control device structural representation provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
For the ease of clearly describing the technical scheme of the embodiment of the present invention, in an embodiment of the present invention, employ " the
One ", the printed words such as " second " identical entry essentially identical to function and effect or similar item make a distinction, and those skilled in the art can
To understand that the printed words such as " first ", " second " are not that quantity and execution order are being defined.
It should be noted that in the embodiment of the present invention, the word such as " exemplary " or " such as " makees example, example for expression
Card or explanation.It is described as any embodiment of " exemplary " or " such as " in the embodiment of the present invention or design should not
It is interpreted than other embodiments or design more preferably or more advantage.Specifically, " exemplary " or " example are used
As " etc. word be intended to present in a concrete fashion related notion.In addition, in the embodiment of the present invention, " (English：Of) ", " corresponding
(English：Corresponding, relevant) " and " corresponding (English：Corresponding) " sometimes can use with it should
It is noted that when not emphasizing its difference, it is to be expressed be meant that consistent.
The executive agent of method for controlling permanent magnet synchronous motor provided in an embodiment of the present invention controls dress for permagnetic synchronous motor
Put or can be used for execute the air-conditioner of above-mentioned method for controlling permanent magnet synchronous motor.Wherein, permanent magnet synchronous motor control device
Can be the master control borad in above-mentioned air-conditioner or the part in master control borad or the other central processing unit setting up of air-conditioner
(Central Processing Unit, CPU), CPU are combined with the hardware such as memorizer.
In at present the permagnetic synchronous motor in convertible frequency air-conditioner being controlled, in original control topological structure, direct-axis current
(id) control is usually only completed by weak magnetic control, and weak magnetic control is more suitable for when motor speed is very high using, in motor speed
The low-loss that present producer can not be met when relatively low requires, so needing a kind of control method low in motor speed to being suitable for
Situation using control mode and weak magnetic control mode switch over and to meet low-loss requirement.
For the problems referred to above, with reference to shown in Fig. 1, the embodiment of the present invention provides a kind of method for controlling permanent magnet synchronous motor, should
Method includes；
101st, obtain the modified tone rate of permagnetic synchronous motor；Wherein modified tone rate (m_inv) is Vm/Vdc, VmFor permanent magnet synchronous electric
Machine voltage peak in the running, VdcFor supply voltage.
Specifically, above-mentioned VmIt is d-axis (d axle) voltage theoretical value (Vd) and quadrature axis (q axle) voltage theoretical value (Vq) square
The arithmetic square root of sum, that is,
102nd, direct-axis current control mode is determined according to modified tone rate, wherein direct-axis current control mode includes weak magnetic controlling party
Formula and minimum copper loss control mode.
Specifically, when modified tone rate meets the condition of weak magnetic control mode, generate direct-axis current using weak magnetic control mode
Command value (id*)；When modified tone rate meets the condition of minimum copper loss control mode, generate d-axis using minimum copper loss control mode
Current instruction value.
Copper loss refers to the damage of certain electrical power producing during the overcurrent of wire (generally copper cash) upstream because of resistance
Consumption, and above-mentioned minimum copper loss control mode, will reach minimum copper loss and will make stator current isMinimum, shown in reference Fig. 4,
Stator current is direct-axis current idWith quadrature axis current iqSynthesis gained, that is,：
Make stator current minimum, then must make idAnd iqSimultaneously minimum；According to permagnetic synchronous motor magnetic linkage torque side
Journey：
N in formula (2)pFor synchronous motor number of pole-pairs；By formula (1) and formula (2), Design assistant function, seek extreme value (meter
Calculate isMinimum), obtain the relation of d axle and q shaft current during minimum resultant current.Specific as follows：
Design assistant function：
In formula：λ is Lagrange multiplier.
By above formula respectively to id, iqSeek local derviation and another result is 0, obtain：
Be can get according to formula (4) and formula (5)
It is true that this whole calculating process all completes in permasyn morot control device, due to these meters
Calculation process amount of calculation is very big, and calculating process can take a large amount of operation resources, so in actual applications, specifically by offline shape
Under state, the parameter of electric machine of test is made form and is stored in data storage EEPROM (Electrically Erasable
Programmable Read-Only Memory), such as shown in table one：
| Project | Numerical value |
| r(Ω) | 0.355 |
| D-axis inductance Ld(H) | 0.0087 |
| Quadrature axis inductance Lq(H) | 0.014 |
| The magnetic flux phi that in motor, Magnet producesm(Wb) | 0.1127 |
Certain parameter of electric machine table of table 1
After electricity on control device, first from data storage EEPROM, read the parameter of electric machine, using formula (6), will not
Same iqWhen corresponding idCalculate, be fabricated to form and be placed in the rom of CPU.Assume that current sample adopts 8 AD passages, electric current
The upper limit is set to 64A, and minimum resolution is 64A/256=0.25A.Exemplary, minimum copper loss controls needs use and quadrature axis
Current instruction value (iq*) corresponding direct axis current demand value form is as shown in table 2：
The minimum copper loss of table 2 corresponds to form example
When reality controls to permagnetic synchronous motor, when only controlling first, d-axis can be calculated according to above-mentioned calculating process
Result of calculation can be made form storage, control process then then can directly be entered using lookup table mode by current instruction value simultaneously
Row controls, it is to avoid the consuming time goes to calculate every time, also saves operation resource, reduces service wear.
103rd, quadrature axis current axis demand is calculated according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor rotating speed
Value.
Specifically, default permagnetic synchronous motor rotational speed command value mentioned here is to count to after environment measuring in convertible frequency air-conditioner
The device of calculation permagnetic synchronous motor rotational speed command value serves data to permanent magnet synchronous motor control device after calculating in advance；
In addition, permagnetic synchronous motor rotating speed here obtains when obtaining modified tone rate.
104th, direct-axis voltage runtime value (v is calculated according to direct-axis current, direct axis current demand valued)；According to quadrature axis current, friendship
Shaft current command value calculates quadrature-axis voltage runtime value (vq).
Specifically, direct-axis current and quadrature axis current are to obtain when obtaining modified tone rate；Voltage runtime value refers to real
Voltage present in control device in running.
105th, generate six tunnels according to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor angle to drive
Dynamic signal controls permagnetic synchronous motor.
Specifically, direct-axis voltage runtime value is to rely on direct-axis current and direct axis current demand value to generate, so according to straight
Shaft voltage runtime value, quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor angle generate six road drive signals
Command value is closely related, and the size generating according to modified tone rate of the command value of direct-axis current, modified tone rate and and motor operation
When state be related, so, the embodiment of the present invention is can be according to different condition switching using different control modes
Generate direct axis current demand value and control thus reaching the low-loss to permagnetic synchronous motor, raising user low damage for convertible frequency air-conditioner
The requirement of consumption.
The method for controlling permanent magnet synchronous motor that such scheme provides obtains the modified tone rate of permagnetic synchronous motor first, wherein becomes
Tune rate is Vm/Vdc, VmPosition permagnetic synchronous motor voltage peak in the running, VdcFor supply voltage；Further according to modified tone rate size
Determine direct-axis current control mode, wherein direct-axis current control mode includes weak magnetic control mode and minimum copper loss control mode；
Specifically, when modified tone rate size meets the condition of weak magnetic control mode, generate direct axis current demand using weak magnetic control mode
Value；When modified tone rate size meets the condition of minimum copper loss control mode, generate direct-axis current using minimum copper loss control mode
Command value；Then quadrature axis current axis demand is calculated according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor rotating speed
Value；Direct-axis voltage runtime value is calculated according to direct-axis current, direct axis current demand value；According to quadrature axis current, quadrature axis current axis demand value
Calculate quadrature-axis voltage runtime value；Finally according to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor angle
Degree generates six road drive signals and controls permagnetic synchronous motor.Because the command value of direct-axis current can be according to change in control process
Tune rate is determining being to control by weak magnetic to generate or generate by lower minimum copper loss being lost controlling；So according to difference
Situation using the control mode being more suitable for, direct-axis current is controlled, thus reaching with lower loss to permanent-magnet synchronous
Motor is controlled, and reduces the drive loss of the compressor containing permagnetic synchronous motor.
Specifically, in the step 102 in such scheme, direct-axis current control mode, direct-axis current control are determined according to modified tone rate
Mode processed includes weak magnetic control mode and minimum copper loss control mode；When modified tone rate meets the condition of weak magnetic control mode, make
Generate direct axis current demand value with weak magnetic control mode；When modified tone rate meets the condition of minimum copper loss control mode, using
Low copper loss control mode generates direct axis current demand value；During concrete execution shown in reference Fig. 3, including：
When modified tone rate (m_inv) is more than the first modified tone rate marginal value (m2), generation direct-axis current is controlled to refer to using weak magnetic
Make value；
When modified tone rate is less than the second modified tone rate marginal value (m1), is controlled using minimum copper loss and generate direct axis current demand
Value；
When modified tone rate is less than or equal to the first modified tone rate marginal value and is more than or equal to the second modified tone rate marginal value, i.e. m1≤m_
During inv≤m2, if the modified tone rate of previous cycle period (i.e. a cycle of operation before specifically judging control mode) is more than the
During one modified tone rate marginal value, controlled using weak magnetic and generate direct axis current demand value；If the modified tone rate of previous cycle period is less than the
During two modified tone rate marginal values, controlled using minimum copper loss and generate direct axis current demand value.
Exemplary, typically choose m1=0.85, m2=0.90；For example when first cycle of operation m_inv is 0.80,
Now permanent magnet synchronous motor control device is just chosen minimum copper loss control and is generated direct axis current demand value；Next cycle m_inv
For 0.91, now permanent magnet synchronous motor control device just switches to weak magnetic to control and generates direct axis current demand value；Next one week
During the phase, m_inv changes into 0.87, now controls generation direct axis current demand to be worth because upper a cycle is weak magnetic, this
Individual periodic permanent magnet synchronous motor control device also still uses weak magnetic to control and generates direct axis current demand value.
Specifically, in such scheme step 105 according to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent magnet synchronous electric
Machine rotor angle generates six road drive signals and controls permagnetic synchronous motor to include：
According to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor angle by inverse park transforms
Generate the first shaft voltage (Vα) and the second shaft voltage (Vβ)；Inverse Clarke transform is passed through according to the first shaft voltage and the second shaft voltage
Generate three-phase voltage (Va、VbAnd Vc), six road drive signals are obtained for controlling permanent magnetism same by vector calculus according to three-phase voltage
Step motor.
It should be noted that, park transforms and inverse park transforms are turning between space rest frame and rotating coordinate system
Change, Clarke transform and inverse Clarke transform are the conversions between two phase coordinate systems and three phase coordinate systems；Concrete formula following (with
As a example electric current)：
Clarke transform：
Inverse park transforms：
Wherein, iαFor the first shaft current, iβFor the second shaft current；ia、ibAnd icFor three-phase current；θ is rotor angle, that is, revolve
Turn the angle that coordinate is with respect to static coordinate.
Specifically, with reference to shown in Fig. 2, the modified tone rate that the step 101 in such scheme obtains permagnetic synchronous motor includes：
201st, permagnetic synchronous motor rotating speed (ω) and permanent-magnetic synchronous motor rotor angle (θ) are obtained.
Specifically, because start most compressor not actuated when, be do not have the first shaft current, the first shaft voltage, second axle electricity
Stream and the second shaft voltage, now need an initial preset value that permagnetic synchronous motor rotating speed and permagnetic synchronous motor are turned
Subangle is estimated；I.e. when motor initial launch, according to default first shaft current, default first shaft voltage, preset second
Shaft current and default second shaft voltage calculate described permagnetic synchronous motor rotating speed and described permanent-magnetic synchronous motor rotor angle；Work as electricity
Machine non-initial run when, according in described motor operation course produce described first shaft current, described second shaft current, first
Shaft voltage and the second shaft voltage calculate described permagnetic synchronous motor rotating speed and described permanent-magnetic synchronous motor rotor angle.
202nd, the first shaft current and the second shaft current are obtained.
Specifically, including the phase current obtaining permagnetic synchronous motor, calculate three-phase current according to phase current；According to described three
Phase current obtains described first shaft current and described second shaft current by Clarke transform；Here phase current is current sample
Circuit directly obtains from permagnetic synchronous motor, and then phase current is decomposed into three-phase current by electric current calculation.
203rd, calculated directly by park transforms according to the first shaft current, the second shaft current and permanent-magnetic synchronous motor rotor angle
Shaft current and quadrature axis current.
Specifically, the speed that the conversion of step 202 and step 203 is primarily due to general control system controlled motor is logical
Cross and be passed through suitable voltage in motor stator three winding, produce magnetic field, finally apply to turn electromagnetic moment square on rotor, make to turn
Subband dynamic load rotation；And this electromagnetic torque is directly associated with direct-axis current quadrature axis current, so it is to be understood that electricity
Then park transforms to be passed through and Clarke transform become swap out direct-axis current and quadrature axis electricity to relation between magnetic torque and three-phase current
Stream is just recognized that the association between electromagnetic torque and three-phase current, thus has the basis to controlling electromagnetic torque, and
Electromagnetic torque is controlled namely permagnetic synchronous motor rotating speed is controlled.
204th, direct-axis voltage theoretical value and quadrature axis electricity are calculated according to direct-axis current, quadrature axis current and permagnetic synchronous motor rotating speed
Pressure theoretical value.
Specifically, shaft voltage formula is：
Wherein, r is motor stator resistance, idFor direct-axis current, iqFor quadrature axis current, VdFor direct-axis voltage theoretical value, VqFor
Quadrature-axis voltage theoretical value, LdFor d-axis inductance, LqFor quadrature axis inductance, ΦmFor the magnetic flux of Magnet generation, p=d/d in motortFor
Differential divisor, in motor stator resistance, d-axis inductance, quadrature axis inductance, motor, the magnetic flux that Magnet produces and differential divisor are
Constant；Remaining amount is all then the variable that motor can change in running in real time.
205th, modified tone rate is calculated according to quadrature-axis voltage theoretical value, direct-axis voltage theoretical value and supply voltage.
Specifically, modified tone rate tune rate (m_inv) is Vm/Vdc, VmFor permagnetic synchronous motor voltage peak in the running, Vdc
For supply voltage, VmFor quadrature-axis voltage theoretical value (Vq) and direct-axis voltage theoretical value (Vd) composite value：
With reference to as shown in figure 5, the embodiment of the present invention also provides a kind of air-conditioner, this air-conditioner includes a kind of permanent magnet synchronous electric
Machine control device, permanent magnet synchronous motor control device connects the permagnetic synchronous motor of compressor, for carrying with reference to above-described embodiment
For the control to permagnetic synchronous motor for the method, this permanent magnet synchronous motor control device includes：
Control switch unit 1, for calculating modified tone rate, wherein modified tone rate is Vm/Vdc, VmFor permagnetic synchronous motor in operating
When voltage peak, VdcFor supply voltage.
Control switch unit 1 to be additionally operable to, direct-axis current control mode, direct-axis current control mode bag are determined according to modified tone rate
Include weak magnetic control mode and minimum copper loss control mode；When modified tone rate meets the condition of weak magnetic control mode, using weak magnetic control
Mode processed generates direct axis current demand value；When modified tone rate meets the condition of minimum copper loss control mode, using minimum copper loss control
Mode processed generates direct axis current demand value；
Speed regulation unit 10, for according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor tachometer
Calculate quadrature axis current axis demand value；
Direct-axis current adjustment unit 2, for calculating quadrature-axis voltage runtime value according to quadrature axis current, quadrature axis current axis demand value；
Quadrature axis current adjustment unit 3, for calculating quadrature-axis voltage runtime value according to quadrature axis current, quadrature axis current axis demand value；
Drive signal unit 4, for according to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor
Angle generates six road drive signals；
Three-phase inverter 5, for controlling permagnetic synchronous motor 6 according to supply voltage and six road drive signals.
Further, also needed to obtain the parameter calculating modified tone rate before controlling switch unit 1 to calculate modified tone rate, so
Permanent magnet synchronous motor control device also includes：
Position and velocity estimation unit 9, for calculating permagnetic synchronous motor rotating speed and permanent-magnetic synchronous motor rotor angle；Position
Put with velocity estimation unit 9 specifically for：
When motor initial launch, position and velocity estimation unit 9 are according to default first shaft current, default first axle electricity
Pressure, default second shaft current and default second shaft voltage calculate permagnetic synchronous motor rotating speed and permanent-magnetic synchronous motor rotor angle；
When motor non-initial is run, position and velocity estimation unit 9 according to the first shaft current producing in motor operation course, second
Shaft current, the first shaft voltage and the second shaft voltage calculate permagnetic synchronous motor rotating speed and permanent-magnetic synchronous motor rotor angle.
Current calculation unit 7, calculates the first shaft current and the second shaft current for the phase current according to permagnetic synchronous motor；
Optionally, current calculation unit 7 includes：Electric current calculation subelement 72 and Clarke transform subelement 71；Electric current calculates subelement
72 are used for obtaining the phase current of permagnetic synchronous motor, calculate three-phase current according to phase current；Clarke transform subelement 71 is used for
First shaft current and the second shaft current are obtained by Clarke transform according to three-phase current.
Park transforms unit 8, for passing through according to the first shaft current, the second shaft current and permanent-magnetic synchronous motor rotor angle
Park transforms obtain direct-axis current and quadrature axis current.
Control switch unit 1, for direct-axis voltage is calculated according to direct-axis current, quadrature axis current and permagnetic synchronous motor rotating speed
Theoretical value and quadrature-axis voltage theoretical value；Modified tone rate is calculated according to quadrature-axis voltage theoretical value, direct-axis voltage theoretical value and supply voltage；
Specifically, switch unit 1 is controlled to be calculated by shaft voltage formula according to direct-axis current, quadrature axis current, permagnetic synchronous motor rotating speed
Direct-axis voltage theoretical value and quadrature-axis voltage theoretical value；
Shaft voltage formula is：
Wherein, r be motor stator resistance, id be direct-axis current, iq be quadrature axis current, Vd be direct-axis voltage theoretical value, Vq
For quadrature-axis voltage theoretical value, Ld be d-axis inductance, Lq be quadrature axis inductance, Φ m be motor in Magnet produce magnetic flux, p=d/
Dt is differential divisor, magnetic flux and differential divisor that in motor stator resistance, d-axis inductance, quadrature axis inductance, motor, Magnet produces
It is constant.
Further, switch unit 1 is controlled to be additionally operable to：
When modified tone rate is more than the first modified tone rate marginal value, controls switch unit 1 switching to control using weak magnetic and generate d-axis
Current instruction value；When modified tone rate is less than the second modified tone rate marginal value, switch unit 1 switching is controlled to control life using minimum copper loss
Become direct axis current demand value；
When modified tone rate is not more than the first modified tone rate marginal value and is not less than the second modified tone rate marginal value, if the previous circulating cycle
When the modified tone rate of phase is more than the first modified tone rate marginal value, controls switch unit 1 to switch and control generation direct-axis current to refer to using weak magnetic
Make value；If the modified tone rate of previous cycle period is less than the second modified tone rate marginal value, switch unit 1 switching is controlled to use minimum copper
Damage to control and generate direct axis current demand value.
Optionally, drive signal unit 4 includes：Inverse park transforms subelement 41, inverse Clarke transform subelement 42 and arrow
Amount computing subelement 43；
Inverse park transforms subelement 41, for according to direct-axis voltage runtime value, quadrature-axis voltage runtime value and permanent magnet synchronous electric
Machine rotor angle generates the first shaft voltage and the second shaft voltage by inverse park transforms；Inverse Clarke transform subelement 42, is used for
Inverse Clarke transform is passed through according to the first shaft voltage and the second shaft voltage and generates three-phase voltage；Vector calculus subelement 43, is used for
Six road drive signals are obtained by vector calculus according to three-phase voltage.
It should be noted that the mark of three circular pattern in Fig. 5 represents a kind of cumulative process；In addition the present invention is implemented
The permanent magnet synchronous motor control device that example provides can also include memory element, for be stored in motor operation course each
Parameters that parameter and minimum copper loss need when controlling, its specific function can cover to be mentioned in the embodiment of the present invention
In any one module.
Such scheme mainly provides to the embodiment of the present invention from the angle of the functional module of permanent magnet synchronous motor control device
Scheme be described.Permanent magnet synchronous motor control device provided in an embodiment of the present invention includes controlling switch unit, speed
Adjustment unit, direct-axis current adjustment unit, quadrature axis current adjustment unit, drive signal unit, three-phase inverter；Control first and cut
Change unit and pass through to calculate the modified tone rate obtaining permagnetic synchronous motor, wherein modified tone rate is Vm/Vdc, VmFor permagnetic synchronous motor in fortune
Voltage peak when turning, VdcFor supply voltage；Switch unit is then controlled to determine direct-axis current control mode further according to modified tone rate,
Wherein direct-axis current control mode includes weak magnetic control mode and minimum copper loss control mode；Specifically, when modified tone rate meet weak
During the condition of magnetic control mode, switching generates direct axis current demand value using weak magnetic control mode；When modified tone rate meets minimum copper
During the condition of damage control mode, switching generates direct axis current demand value using minimum copper loss control mode；Then speed adjusts list
Unit calculates quadrature axis current axis demand value according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor rotating speed；Direct-axis current
Adjustment unit calculates direct-axis voltage runtime value according to direct-axis current, direct axis current demand value；Quadrature axis current adjustment unit is according to friendship
Shaft current, quadrature axis current axis demand value calculate quadrature-axis voltage runtime value；Last drive signal unit is according to direct-axis voltage runtime value, friendship
Shaft voltage runtime value and permanent-magnetic synchronous motor rotor angle generate six road drive signals and pass through three inverter control permanent-magnet synchronous
Motor.Because in control process the command value of direct-axis current can determine according to modified tone rate be by weak magnetic control generate or
Person is to control generation by lower minimum copper loss is lost；Switch unit is so controlled to be more suitable for according to different situation uses
Control mode direct-axis current is controlled, thus reach being controlled to permagnetic synchronous motor with lower loss, reduces
The drive loss of the compressor containing permagnetic synchronous motor.
It is understood that controlled and unit or the module of the description of the permanent magnet synchronous motor control device embodiment of the present invention
It is only to be divided with function, those skilled in the art should be readily appreciated that, in the embodiment of the present invention, module is drawn
Point it is schematic, only a kind of division of logic function, actual can have other dividing mode when realizing.Wherein each mould
Block can be independent can also be that two or more modules are integrated and realize multiple functions.
More than, the specific embodiment of the only present invention, but protection scope of the present invention is not limited thereto, any it is familiar with
Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (15)
1. a kind of method for controlling permanent magnet synchronous motor is it is characterised in that described control method includes：
Obtain the modified tone rate of permagnetic synchronous motor, wherein said modified tone rate is Vm/Vdc, described VmExist for described permagnetic synchronous motor
Voltage peak during operating, described VdcFor supply voltage；
Direct-axis current control mode is determined according to described modified tone rate, described direct-axis current control mode include weak magnetic control mode and
Minimum copper loss control mode；When described modified tone rate meets the condition of weak magnetic control mode, generated straight using weak magnetic control mode
Shaft current command value；When described modified tone rate meets the condition of described minimum copper loss control mode, using described minimum copper loss control
Mode processed generates direct axis current demand value；
Quadrature axis current axis demand value is calculated according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor rotating speed；
Direct-axis voltage runtime value is calculated according to direct-axis current, described direct axis current demand value；
Quadrature-axis voltage runtime value is calculated according to quadrature axis current, described quadrature axis current axis demand value；
Generate six tunnels according to described direct-axis voltage runtime value, described quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor angle to drive
Dynamic signal controls permagnetic synchronous motor.
2. method for controlling permanent magnet synchronous motor according to claim 1 is it is characterised in that described acquisition permagnetic synchronous motor
Modified tone rate, including：
Obtain permagnetic synchronous motor rotating speed and permanent-magnetic synchronous motor rotor angle；
Obtain the first shaft current and the second shaft current；
Park transforms meter is passed through according to described first shaft current, described second shaft current and described permanent-magnetic synchronous motor rotor angle
Calculate direct-axis current and quadrature axis current；
Direct-axis voltage theoretical value and friendship are calculated according to described direct-axis current, described quadrature axis current and described permagnetic synchronous motor rotating speed
Shaft voltage theoretical value；
Modified tone rate is calculated according to described quadrature-axis voltage theoretical value, described direct-axis voltage theoretical value and supply voltage.
3. method for controlling permanent magnet synchronous motor according to claim 1 it is characterised in that described when described modified tone rate meet
During the condition of weak magnetic control mode, generate direct axis current demand value using weak magnetic control mode；Described in meeting when described modified tone rate
During the condition of minimum copper loss control mode, generate direct axis current demand value using described minimum copper loss control mode and include：
When described modified tone rate is more than the first modified tone rate marginal value, is controlled using weak magnetic and generate described direct axis current demand value；
When described modified tone rate is less than the second modified tone rate marginal value, is controlled using minimum copper loss and generate described direct axis current demand
Value；
When described modified tone rate is less than or equal to described first modified tone rate marginal value and is more than or equal to described second modified tone rate marginal value,
If the modified tone rate of previous cycle period is more than described first modified tone rate marginal value, is controlled using weak magnetic and generate described direct-axis current
Command value；If the modified tone rate of described previous cycle period is less than the second modified tone rate marginal value, is controlled using minimum copper loss and generate
Described direct axis current demand value.
4. method for controlling permanent magnet synchronous motor according to claim 1 it is characterised in that
Described according to described direct-axis voltage runtime value, described quadrature-axis voltage runtime value and permanent-magnetic synchronous motor rotor angle generate six
Road drive signal controls permagnetic synchronous motor to include：
Passed through inverse according to described direct-axis voltage runtime value, described quadrature-axis voltage runtime value and described permanent-magnetic synchronous motor rotor angle
Park transforms generate the first shaft voltage and the second shaft voltage；
Inverse Clarke transform is passed through according to described first shaft voltage and described second shaft voltage and generates three-phase voltage, according to described three
Phase voltage obtains six road drive signals for controlling described permagnetic synchronous motor by vector calculus.
5. method for controlling permanent magnet synchronous motor according to claim 2 is it is characterised in that described acquisition permagnetic synchronous motor
Rotating speed and permanent-magnetic synchronous motor rotor angle, including：
When motor initial launch, according to default first shaft current, default first shaft voltage, default second shaft current and default the
Two shaft voltages calculate described permagnetic synchronous motor rotating speed and described permanent-magnetic synchronous motor rotor angle；
When motor non-initial is run, according to described first shaft current producing in described motor operation course, described second axle
Electric current, the first shaft voltage and the second shaft voltage calculate described permagnetic synchronous motor rotating speed and described permanent-magnetic synchronous motor rotor angle
Degree.
6. method for controlling permanent magnet synchronous motor according to claim 2 it is characterised in that described acquisition first shaft current and
Second shaft current includes：
Obtain the phase current of permagnetic synchronous motor, calculate three-phase current according to described phase current；
According to described three-phase current, described first shaft current and described second shaft current are obtained by Clarke transform.
7. method for controlling permanent magnet synchronous motor according to claim 2 it is characterised in that
Described described direct-axis voltage reason is calculated according to described direct-axis current, described quadrature axis current, described permagnetic synchronous motor rotating speed
Include by value and described quadrature-axis voltage theoretical value：Turned according to described direct-axis current, described quadrature axis current, described permagnetic synchronous motor
Speed calculates described direct-axis voltage theoretical value and described quadrature-axis voltage theoretical value by shaft voltage formula；
Described shaft voltage formula is：
Wherein, r is motor stator resistance, idFor direct-axis current, iqFor quadrature axis current, VdFor direct-axis voltage theoretical value, VqFor quadrature axis
Voltage theoretical value, LdFor d-axis inductance, LqFor quadrature axis inductance, ΦmThe magnetic flux producing for Magnet in motor, p=p/dt are differential
The factor, in described motor stator resistance, described d-axis inductance, described quadrature axis inductance, described motor Magnet produce magnetic flux and
Described differential divisor is constant.
8. a kind of permanent magnet synchronous motor control device is it is characterised in that include：
Control switch unit, for calculating modified tone rate, wherein said modified tone rate is Vm/Vdc, described VmFor described permagnetic synchronous motor
Voltage peak in the running, described VdcFor supply voltage；
Control switch unit to be additionally operable to, direct-axis current control mode, described direct-axis current controlling party are determined according to described modified tone rate
Formula includes weak magnetic control mode and minimum copper loss control mode；When described modified tone rate meets the condition of weak magnetic control mode, make
Generate direct axis current demand value with weak magnetic control mode；When described modified tone rate meets the condition of described minimum copper loss control mode
When, generate direct axis current demand value using described minimum copper loss control mode；
Speed regulation unit, for calculating quadrature axis according to default permagnetic synchronous motor rotational speed command value and permagnetic synchronous motor rotating speed
Current instruction value；
Direct-axis current adjustment unit, for calculating direct-axis voltage runtime value according to direct-axis current, direct axis current demand value；
Quadrature axis current adjustment unit, for calculating quadrature-axis voltage runtime value according to quadrature axis current, quadrature axis current axis demand value；
Drive signal unit, for according to described direct-axis voltage runtime value, described quadrature-axis voltage runtime value and permagnetic synchronous motor
Rotor angle generates six road drive signals；
Three-phase inverter, for controlling described motor according to supply voltage and described six road drive signals.
9. permanent magnet synchronous motor control device according to claim 8 is it is characterised in that also include：
Position and velocity estimation unit, for calculating permagnetic synchronous motor rotating speed and permanent-magnetic synchronous motor rotor angle；
Current calculation unit, calculates the first shaft current and the second shaft current for the phase current according to permagnetic synchronous motor；
Park transforms unit, for according to described first shaft current, described second shaft current and described permanent-magnetic synchronous motor rotor
Angle obtains direct-axis current and quadrature axis current by park transforms；
Control switch unit, for calculating according to described direct-axis current, described quadrature axis current and described permagnetic synchronous motor rotating speed
Direct-axis voltage theoretical value and quadrature-axis voltage theoretical value；According to described quadrature-axis voltage theoretical value, described direct-axis voltage theoretical value and electricity
Source voltage calculates modified tone rate.
10. permanent magnet synchronous motor control device according to claim 8 is it is characterised in that described control switch unit has
Body is used for：
When described modified tone rate is more than the first modified tone rate marginal value, described control switch unit switching controls generation institute using weak magnetic
State direct axis current demand value；
When described modified tone rate is less than the second modified tone rate marginal value, described control switch unit switching controls life using minimum copper loss
Become described direct axis current demand value；
When described modified tone rate is less than or equal to described first modified tone rate marginal value and is more than or equal to described second modified tone rate marginal value,
If the modified tone rate of previous cycle period is more than described first modified tone rate marginal value, described control switch unit switching uses weak magnetic
Control and generate described direct axis current demand value；If the modified tone rate of described previous cycle period is less than the second modified tone rate marginal value,
Described control switch unit switching controls the described direct axis current demand value of generation using minimum copper loss.
11. permanent magnet synchronous motor control devices according to claim 8 are it is characterised in that described drive signal unit bag
Include：Inverse park transforms subelement, inverse Clarke transform subelement and vector calculus unit；
Described inverse park transforms subelement, for according to described direct-axis voltage runtime value, described quadrature-axis voltage runtime value and described
Permanent-magnetic synchronous motor rotor angle generates the first shaft voltage and the second shaft voltage by inverse park transforms；
Described inverse Clarke transform subelement, for according to described first shaft voltage and described second shaft voltage by inverse Clarke
Conversion generates three-phase voltage；
Described vector calculus subelement, for obtaining six road drive signals according to described three-phase voltage by vector calculus.
12. permanent magnet synchronous motor control devices according to claim 9 are it is characterised in that described position and velocity estimation
Unit specifically for：
When motor initial launch, described position and velocity estimation unit according to default first shaft current, default first shaft voltage,
Default second shaft current and default second shaft voltage calculate described permagnetic synchronous motor rotating speed and described permanent-magnetic synchronous motor rotor
Angle；
When motor non-initial is run, described position and velocity estimation unit are according to described in generation in described motor operation course
First shaft current, described second shaft current, the first shaft voltage and the second shaft voltage calculate described permagnetic synchronous motor rotating speed and institute
State permanent-magnetic synchronous motor rotor angle.
13. permanent magnet synchronous motor control devices according to claim 9 it is characterised in that
Described current calculation unit includes：Electric current calculation subelement and Clarke transform subelement；
Described electric current calculates subelement and is used for obtaining the phase current of described permagnetic synchronous motor, calculates three-phase according to described phase current
Electric current；
Described Clarke transform subelement is used for obtaining described first shaft current according to described three-phase current by Clarke transform
With described second shaft current.
14. permanent magnet synchronous motor control devices according to claim 9 it is characterised in that
Described control switch unit is specifically for turning according to described direct-axis current, described quadrature axis current, described permagnetic synchronous motor
Speed calculates described direct-axis voltage theoretical value and described quadrature-axis voltage theoretical value by shaft voltage formula；
Described shaft voltage formula is：
Wherein, r is motor stator resistance, idFor direct-axis current, iqFor quadrature axis current, VdFor direct-axis voltage theoretical value, VqFor quadrature axis
Voltage theoretical value, LdFor d-axis inductance, LqFor quadrature axis inductance, ΦmThe magnetic flux producing for Magnet in motor, p=p/dt are differential
The factor, in described motor stator resistance, described d-axis inductance, described quadrature axis inductance, described motor Magnet produce magnetic flux and
Described differential divisor is constant.
A kind of 15. air-conditioners are it is characterised in that the permagnetic synchronous motor including described in any one of claim 8-14 controls dress
Put, described permanent magnet synchronous motor control device connects the permagnetic synchronous motor of compressor.
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