CN106487307A - The anti-back magnetic control system of permagnetic synchronous motor, method and unmanned vehicle - Google Patents
The anti-back magnetic control system of permagnetic synchronous motor, method and unmanned vehicle Download PDFInfo
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- CN106487307A CN106487307A CN201611041836.1A CN201611041836A CN106487307A CN 106487307 A CN106487307 A CN 106487307A CN 201611041836 A CN201611041836 A CN 201611041836A CN 106487307 A CN106487307 A CN 106487307A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
Embodiment of the present invention discloses a kind of anti-back magnetic control system of permagnetic synchronous motor, including current detection module, voltage regulator and controller, controller and permanent magnet synchronous electric mechatronics, current detection module and voltage regulator are electrically connected with the controller respectively, and current detection module is connected with voltage regulator communication；Current detection module is used for detecting the current peak in controller；Voltage regulator is used for according to current peak, and given q shaft voltage is modulated；Given q shaft voltage after controller is used for according to modulation controls output current, and then drives described permagnetic synchronous motor to run.Embodiment of the present invention is also disclosed a kind of anti-demagnetizing method of permagnetic synchronous motor and a kind of unmanned vehicle.The anti-back magnetic control system of the permagnetic synchronous motor of the present invention, makes the electric current in input permagnetic synchronous motor be in below secure threshold, thus preventing permagnetic synchronous motor to produce demagnetization.
Description
Technical field
The present invention relates to permagnetic synchronous motor control technology field, more particularly to a kind of permagnetic synchronous motor anti-back magnetic control
System processed, method and unmanned vehicle.
Background technology
Permagnetic synchronous motor is due to possessing power density height, small volume, not needing excitation, power factor (PF) high and position control
The advantages of high precision processed, obtain increasingly being widely applied in high performance control system.
However, because the armature-reaction caused by high temperature and high current, short trouble, overlond running or instantaneous overload run
Etc. situation, all will produce the high current more than rated current several times, and described high current will produce larger degaussing in armature
Magnetomotive force, so that permanent magnet produces local demagnetization or the possibility of whole demagnetization.And, permagnetic synchronous motor is subject to running environment
The restriction of radiating condition, makes temperature during permanent magnetism running body raise further, has exceeded the operating temperature of permanent magnet, increased permanent magnetism
Body produces the possibility of demagnetization fault.Further, when permanent magnet occurs part to demagnetize, in order to meet the demand of load operation,
Need to increase stator current, form larger demagnetization magnetic potential, but the increase of stator current will make permanent magnet synchronous electric further
The temperature of machine raises, thus making permanent magnet loss of excitation further, forming a vicious cycle, so that permanent magnet may be produced irreversible
The serious consequence of demagnetization.
Content of the invention
Embodiment of the present invention is mainly solving the technical problems that provide a kind of anti-back magnetic control system of permagnetic synchronous motor
System, method and unmanned vehicle, it can prevent permagnetic synchronous motor to produce demagnetization.
For solving above-mentioned technical problem, the technical scheme that embodiment of the present invention adopts is：There is provided a kind of permanent magnetism same
Step motor anti-back magnetic control system, include current detection module, voltage regulator and controller, described controller and described forever
Magnetic-synchro motor electrically connects, and described current detection module and described voltage regulator are electrically connected with described controller respectively, described
Current detection module is connected with described voltage regulator communication；
Described current detection module is used for detecting the current peak in controller；
Described voltage regulator is used for according to described current peak, and given q shaft voltage is modulated；
Given q shaft voltage after described controller is used for according to modulation controls output current, and then drives described permanent magnetism same
Step motor operation.
Wherein in some embodiments, described controller includes signal processing unit and inverter, described current detecting
Module is electrically connected with the outfan of described inverter, the input of the outfan of described voltage regulator and described signal processing unit
End electrical connection.
Wherein in some embodiments, after standardization is processed, the size of described given q shaft voltage and described permanent magnetism
The given rotating speed of synchronous motor equal in magnitude.
Wherein in some embodiments, described current detection module includes comparing unit, and described comparing unit is used for will
Described current peak is compared with defaulting in the current maxima in described comparing unit.
Embodiment of the present invention also provides a kind of anti-demagnetization control method of permagnetic synchronous motor, including：
The given q shaft voltage of input；
Detection current peak, and give according to described current peak is with the comparative result modulation of default current maxima
Determine q shaft voltage；
Q shaft voltage is given according to the modulation after modulation and drives permagnetic synchronous motor.
Wherein in some embodiments, after standardization is processed, the size of described given q shaft voltage and described permanent magnetism
The given rotating speed of synchronous motor equal in magnitude.
Wherein in some embodiments, after the given q shaft voltage of input, also include increasing the step of described given q shaft voltage
Long.
Wherein in some embodiments, methods described further includes：
Detect whether described current peak reaches the 80% of current maxima；If it is not, exporting described given q shaft voltage；If
It is to reduce the step-length of described given q shaft voltage.
Wherein in some embodiments, methods described further includes：
Detect whether described current peak reaches the 100% of current maxima；If it is not, exporting described given q shaft voltage；If
It is to reduce described given q shaft voltage.
Wherein in some embodiments, methods described further includes：
Detect whether described current peak reaches the 80% of current maxima；If it is not, exporting described given q shaft voltage；If
It is to reduce the step-length of described given q shaft voltage；
Continue to detect whether described current peak reaches the 100% of current maxima；If it is not, the described given q axle electricity of output
Pressure；If so, reduce described given q shaft voltage.
Embodiment of the present invention also provides a kind of unmanned vehicle, same with the permanent magnetism being installed on described fuselage including fuselage
Step electric machine assembly, described permanent magnet synchronous electric thermomechanical components include the anti-back magnetic control of the permagnetic synchronous motor as any one of above-mentioned
System processed.
The beneficial effect of embodiment of the present invention is：The anti-back magnetic control system of the permagnetic synchronous motor of the present invention, passes through
Current detection module detects current peak, more given q shaft voltage is modulated according to current peak by voltage regulator, control
Device processed controls output current according to the modulation q shaft voltage after modulation, so that the electric current in input permagnetic synchronous motor is in peace
Below full threshold value, and then permagnetic synchronous motor is prevented to produce demagnetization.
Brief description
Fig. 1 is the block diagram of the anti-back magnetic control system of the permagnetic synchronous motor of embodiment of the present invention.
Fig. 2 is the vector controlled block diagram of a specific embodiment of the anti-back magnetic control system shown in Fig. 1.
Fig. 3 is the anti-demagnetizing method flow chart of the permagnetic synchronous motor of embodiment of the present invention.
Fig. 4 is the flow chart of a specific embodiment of the anti-demagnetizing method of the permagnetic synchronous motor shown in Fig. 3.
Fig. 5 is the experimental result picture of the control system of the permagnetic synchronous motor of prior art.
Fig. 6 is the experimental result picture of the anti-back magnetic control system of the permagnetic synchronous motor of 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.
It should be noted that when an element is referred to as " electrical connection " another element, it can be directly in another yuan
On part or can also there is element placed in the middle.When an element is considered as " electrical connection " another element, it can be connect
Touch and connect, for example, it may be the mode of wire connection or contactless connection, for example, it may be contactless coupling
Mode.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term being used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body is it is not intended that in limiting the present invention.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.In the case of not conflicting, following
Feature in embodiment and embodiment can be mutually combined.
Fig. 1 shows the block diagram of the anti-back magnetic control system of the permagnetic synchronous motor 100 of embodiment of the present invention,
Described anti-back magnetic control system includes current detection module 200, voltage regulator 300 and controller 400.Current detection module
200 are used for detecting the current peak in controller 400.Voltage regulator 300 is used for being detected according to current detection module 200
Current peak, is modulated to given q shaft voltage, and given for modulation q shaft voltage is exported to controller 400.Controller 400
For output current is controlled according to the given q shaft voltage of modulation, and then drive permagnetic synchronous motor 100 safe operation.
The anti-back magnetic control system of the permagnetic synchronous motor 100 of embodiment of the present invention passes through to detect current peak, to adjust
Whole q axle gives voltage, so that the electric current in permagnetic synchronous motor 100 is in below secure threshold, and then prevents permanent magnetism same
Step motor 100 produces the possibility of demagnetization.
Please refer to Fig. 2, it is the vector controlled block diagram of permagnetic synchronous motor 100.Controller 400 includes coordinate
Converter unit 401, control unit 403, signal processing unit 405 and inverter 407.The outfan of inverter 407 and permanent magnetism
The input of synchronous motor 100 connects, and the input of coordinate transformation unit 401 is connected to inverter 407 and permagnetic synchronous motor
Between 100, the outfan of coordinate transformation unit 401 is connected with the input of control unit 403, the outfan of control unit 403
It is connected with the input of signal processing unit 405, the input of signal processing unit 405 is connected with the input of inverter 407.
Before further describing the work process of control system of permagnetic synchronous motor 100, what deserves to be explained is, this
In bright embodiment, the control system of permagnetic synchronous motor 100 needs to carry out standardization process in advance, so that adopting perunit value table
The form shown is consistent with the form that actual value represents.In embodiment of the present invention, the rated voltage of preferred permagnetic synchronous motor 100
Carry out standardization with the reference value of the control system as permagnetic synchronous motor 100 for the rated current, other physical quantitys all can be by institute
State two reference values to calculate.
Coordinate transformation unit 401 is used for the threephase stator electric current I of permagnetic synchronous motor 100a、IbAnd IcIt is converted into d-q same
Stator current I under step rotating coordinate systemdAnd Iq.Specifically, coordinate transformation unit 401 is included for by threephase stator electric current
Ia、IbAnd IcIt is transformed into the stator current I under α β two-phase rest frameαAnd IβConversion, that is, Clarke conversion 4011, Yi Jiyong
In by stator current IαAnd IβIt is transformed into the stator current I under d-q synchronous rotating framedAnd IqConversion, that is, Park conversion
4012.
Control unit 403 is used for according to given stator current IdrefWith actual stator electric current IdCalculate the given d shaft voltage of output
Udref, that is, control unit 403 include an electric current loop.In embodiment of the present invention, control unit 403 includes subtractor 4031 He
Electric current loop integral-separated PI actuator 4032.Specifically, first, the given stator current I of Upper system inputdrefTo subtractor
4031, the actual stator electric current I of coordinate transformation unit 401 output simultaneouslydTo subtractor 4031；Secondly, subtractor 4031 is according to giving
Determine stator current IdrefWith actual stator electric current IdThe difference drawing；Thirdly, subtractor 4031 exports described difference to electric current
Ring integral-separated PI actuator 4032, electric current loop integral-separated PI actuator 4032 carries out ratio, integral and calculating to described difference,
Obtain described given d shaft voltage Udref.In embodiment of the present invention, given stator current Idref=0.Term in the present invention " on
Position system " refers to the other system with the control system communication connection of permagnetic synchronous motor 100, such as digital information processing system
System.
Signal processing unit 405 is used for the described given d shaft voltage U according to control unit 403 outputdrefAdjust with through voltage
After section device 300 modulation, the modulation of output gives q shaft voltage UqrefProcess is modulated into control signal.In embodiment of the present invention, letter
Number processing unit 405 includes PARK inverse transformation block 4051 and space-vector modulator 4052.Specifically, first, PARK is inverse
Converter unit 4051 is by described given d shaft voltage UdrefWith described given q shaft voltage UqrefIt is converted under the biphase quiet upper coordinate system of α β
Component of voltage UαAnd Uβ；Secondly, PARK inverse transformation block 4051 is by component of voltage UαAnd UβExport to space-vector modulator
4052, space-vector modulator 4052 is to described component of voltage UαAnd UβCalculating is processed, output pulse width control signal.It is appreciated that
, signal processing unit 405 can also only include space-vector modulator 4052 that is to say, that described given d shaft voltage
UdrefWith described given q shaft voltage UqrefDirectly input space-vector modulator 4052, and calculated by space-vector modulator 4052
Process, output pulse width control signal.
Inverter 407 be used for according to signal processing unit 405 output control signal, obtain control stator three-phase symmetrical around
The actual current of group, drives permagnetic synchronous motor 100 to run.
Current detection module 200 is electrically connected with the outfan of inverter 407, for detection input to permagnetic synchronous motor
100 current peak.Current detection module 200 also includes comparing unit, and described comparator is used for the current peak detecting
It is compared with current maxima default in current detection module 200, then by described current peak with described electric current
The comparative result of big value exports to voltage regulator 300.Current detection module 200 can adopt sampling resistor, current sensor
Or the methods such as current transformer detect to current peak.In embodiment of the present invention, current detection module 200 is preferably adopted
With current sensor, current peak is detected.It is understood that the outfan of current detection module 200 can be with voltage
Actuator 300 electrically connects, so that the comparative result of current detection module 200 can export to voltage regulator 300；Or electric current
Detection module 200 can pass through wireless communication connection with voltage regulator 300, so that the comparative result of current detection module 200
By wireless communication transmissions to voltage regulator 300.
The given q shaft voltage U of input input of voltage regulator 300qref, the outfan of voltage regulator 300 and signal
The input electrical connection of processing unit 405, voltage regulator 300 is used for the described electric current according to current detection module 200 output
Peak value and the comparative result of described current maxima, to given q shaft voltage UqrefIt is modulated, obtain modulating given q shaft voltage
Uqref, more described modulation is given q shaft voltage UqrefExport to signal processing unit 405.In embodiment of the present invention, input to
The given q shaft voltage U of voltage regulator 300qrefSize and permagnetic synchronous motor 100 given rotating speed ωrefSize phase
Deng.
In embodiment of the present invention, when the described current peak that current detection module 200 detects is less than described electric current
Big value 80% when, voltage regulator 300 is not to given q shaft voltage UqrefIt is modulated, i.e. the tune of voltage regulator 300 output
The given q shaft voltage U of systemqrefGiven q shaft voltage U with input voltage regulation device 300qrefIdentical；When current detection module 200 is examined
The described current peak measuring is more than or equal to the 80% of described current maxima, and 100% less than described current maxima
When, voltage regulator 300 is to given q shaft voltage UqrefIt is modulated, reduce described given q shaft voltage UqrefStep-length；Work as electric current
When the described current peak that detection module 200 detects is more than or equal to the 100% of described current maxima, voltage regulator
300 couples of given q shaft voltage UqrefIt is modulated, first reduce described given q shaft voltage UqrefStep-length, then reduce described given q axle
Voltage UqrefValue.
It is understood that the fiducial value standard of the current peak arranging in current detection module 200 and current maxima
It is not limited to 80% with 100% that is to say, that current detecting can be arranged according to the different demand for control of permagnetic synchronous motor
The standard of the fiducial value of current peak and current maxima in module 200, for example, the fiducial value of current peak and current maxima
Standard can be 70% or 75% etc..It can also be appreciated that in current detection module 200 setting current peak with
The fiducial value standard of current maxima is also not limited to 80% and 100% two standard value, according to different demands for control, permissible
The fiducial value standard of one current peak and current maxima is only set, when the fiducial value of current peak and current maxima rose
During described standard, directly reduce given q shaft voltage UqrefValue；Or the current peak of three or more than three can also be set
With the fiducial value standard of current maxima, realize to given q shaft voltage UqrefMore accurately modulated.
It is understood that current detection module 200 can not also include comparing unit that is to say, that current detecting mould
Block 200 can be only used for detecting current peak, and exports described current peak to the external relatively list being preset with current maxima
Unit, described current peak and described current maxima are compared by described comparing unit, and output fiducial value is to voltage regulator
300.It will also be appreciated that described comparing unit can be arranged in voltage regulator 300 that is to say, that described current peak
The comparison of value and described current maxima can be carried out in voltage regulator 300.
The anti-back magnetic control system of the permagnetic synchronous motor 100 of the present invention, by current detection module 200 real-time detection electricity
Stream peak value, and described current peak is compared with described current maxima；Pass through voltage regulator 300 again according to described electricity
The comparative result of stream peak value and described current maxima is to given q shaft voltage UqrefIt is modulated, and modulation is given q shaft voltage
UqrefExport to controller 400, controller 400 is according to the given q shaft voltage U of modulationqrefOutput current, so that input permanent magnetism is same
Electric current in step motor 100 is constantly in below secure threshold, and then prevents permagnetic synchronous motor 100 to produce demagnetization.
Refer to Fig. 3, embodiment of the present invention also provides a kind of anti-back magnetic control using above-mentioned permagnetic synchronous motor 100
The anti-demagnetizing method of system, including：
S11：The given q shaft voltage U of inputqref.
In embodiment of the present invention, the given q shaft voltage U of inputqrefTo voltage regulator 300.
S12：Detection current peak, and institute is modulated according to the comparative result of described current peak and default current maxima
State given q shaft voltage Uqref.
In embodiment of the present invention, by current detection module 200 real-time detection current peak, and by described current peak
It is compared with defaulting in the current maxima in current detection module 200, obtain fiducial value.It is understood that described electricity
Stream maximum may not be and defaults in current detection module 200 that is to say, that current detection module 200 can be only used for
Detection current peak, and export described current peak to the comparison module being preset with current maxima, described comparison module is by institute
State current peak and described current maxima is compared, output fiducial value is to voltage regulator 300.It will also be appreciated that
Described comparison module can be arranged in voltage regulator 300 that is to say, that described current peak and described current maxima
Relatively can carry out in voltage regulator 300.
S13：Q shaft voltage U is given according to the modulation after modulationqrefDrive permagnetic synchronous motor 100.
In embodiment of the present invention, described modulation gives q shaft voltage UqrefInput to controller 400, controller 400 basis
Described modulation gives q shaft voltage UqrefControl output current, thus driving permagnetic synchronous motor 100.
In the anti-demagnetizing method of the permagnetic synchronous motor 100 of the present invention, by the current peak and the electric current maximum that detect
The comparison of value, to given q shaft voltage UqrefIt is modulated, and by the given q shaft voltage U of modulationqrefControl input is to permanent-magnet synchronous
The size of current of motor 100, makes the electric current in input permagnetic synchronous motor 100 be constantly in below secure threshold, and then prevents
Permagnetic synchronous motor 100 produces demagnetization.
Refer to Fig. 4, be a specific embodiment of the anti-demagnetizing method of above-mentioned permagnetic synchronous motor 100, concrete bag
Include following steps：
S21, the given q shaft voltage U of inputqref；
In embodiment of the present invention, the given q shaft voltage U of inputqrefTo voltage regulator 300, and input to voltage
The given q shaft voltage U of actuator 300qrefSize and permagnetic synchronous motor 100 given rotating speed ωrefEqual in magnitude.
S22, increases and gives q shaft voltage U in S21qrefStep-length；
In this step S22, increase given q shaft voltage UqrefStep-length so that the control system of permagnetic synchronous motor 100 can
With quick response.
S23, whether detection current peak reaches the 80% of current maxima；If it is not, the given q axle in output step S22
Voltage UqrefTo step S27；If so, continue step S24；
In embodiment of the present invention, by current detection module 200 real-time detection current peak, and by described current peak
It is compared with defaulting in the current maxima in current detection module 200, obtain fiducial value.It is understood that step S23
In, current peak is not limited to 80% with the standard of comparison of current maxima, can also be set as whether current peak reaches electricity
Other ratios such as the 75% or 70% of stream maximum, only need to be adjusted according to the demand for control of permagnetic synchronous motor.
S24, reduces given q shaft voltage U in S22qrefStep-length；
S25, whether detection current peak reaches the 100% of current maxima；If it is not, the given q shaft voltage in output S24
UqrefTo step S27；If so, continue step S26；
It is understood that in step S25, current peak is not limited to 100% with the standard of comparison of current maxima, also
Can be set as whether current peak reaches other ratios such as 95% or 90% of current maxima, only need to be according to permanent-magnet synchronous
The demand for control of motor is adjusted.
S26, reduces given q shaft voltage U in S24qref；
S27, obtains modulating given q shaft voltage Uqref, and according to the given q shaft voltage U of described modulationqrefDrive permanent-magnet synchronous
Motor 100.
It is understood that in the specific embodiment of above-mentioned anti-demagnetizing method, step S22 can be cancelled, then subsequently walk
Suddenly directly to the given q shaft voltage U in S21qrefIt is modulated.It will also be appreciated that step S23 and S24 can also cancel,
Or step S25 and S26 can also cancel that is to say, that can be only to given q shaft voltage U in above-mentioned anti-demagnetizing methodqrefEnter
Row primary modulation.
Refer to Fig. 5, be the experimental result of the permagnetic synchronous motor not including anti-back magnetic control system of prior art.When
Given q shaft voltage UqrefDuring mutation, actual current waveform 500, considerably beyond maximum current waveform 600, now easily causes permanent magnetism
Synchronous motor overcurrent, thus lead to permagnetic synchronous motor to produce demagnetization.
Refer to Fig. 6, be the experimental result of the permagnetic synchronous motor 100 of anti-back magnetic control system using the present invention.When
Given q shaft voltage UqrefDuring mutation, actual current waveform 500 always situated in maximum current waveform 600 in the range of, that is, because
For the control of anti-back magnetic control system, make actual current not over maximum current, permagnetic synchronous motor 100 will not produce electric current
Excessively stream, thus prevent permagnetic synchronous motor 100 to produce demagnetization.
Embodiment of the present invention also provides a kind of unmanned vehicle, described unmanned vehicle include fuselage, be installed on described
Permanent magnet synchronous electric thermomechanical components on fuselage, permanent magnet synchronous electric thermomechanical components are used for providing power to described unmanned vehicle.Permanent magnetism is same
Step electric machine assembly includes the anti-back magnetic control system of embodiment of the present invention.Thus the permagnetic synchronous motor of described unmanned vehicle
100 reduce the probabilities producing demagnetization it is ensured that safety during described unmanned vehicle flight.
The foregoing is only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization is originally
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (11)
1. a kind of anti-back magnetic control system of permagnetic synchronous motor is it is characterised in that include current detection module, voltage regulator
And controller, described controller and described permanent magnet synchronous electric mechatronics, described current detection module and described voltage regulator
Electrically connect with described controller respectively, described current detection module is connected with described voltage regulator communication；
Described current detection module is used for detecting the current peak in controller；
Described voltage regulator is used for according to described current peak, and given q shaft voltage is modulated；
Given q shaft voltage after described controller is used for according to modulation controls output current, and then drives described permanent magnet synchronous electric
Machine runs.
2. the anti-back magnetic control system of permagnetic synchronous motor according to claim 1 is it is characterised in that described controller bag
Include signal processing unit and inverter, described current detection module is electrically connected with the outfan of described inverter, described voltage is adjusted
The outfan of section device is electrically connected with the input of described signal processing unit.
3. the anti-back magnetic control system of permagnetic synchronous motor according to claim 1 and 2 is it is characterised in that through perunit
After change is processed, the size of described given q shaft voltage is equal in magnitude with the given rotating speed of described permagnetic synchronous motor.
4. permagnetic synchronous motor according to any one of claim 1 to 3 anti-back magnetic control system it is characterised in that
Described current detection module includes comparing unit, and described comparing unit is used for described compare singly by described current peak with defaulting in
Current maxima in unit is compared.
5. the anti-demagnetization control method of a kind of permagnetic synchronous motor, including：
The given q shaft voltage of input；
Detection current peak, and described given q is modulated according to the comparative result of described current peak and default current maxima
Shaft voltage；
Q shaft voltage is given according to the modulation after modulation and drives permagnetic synchronous motor.
6. the anti-demagnetization control method of permagnetic synchronous motor according to claim 5 is it is characterised in that at standardization
After reason, the size of described given q shaft voltage is equal in magnitude with the given rotating speed of described permagnetic synchronous motor.
7. the anti-demagnetization control method of the permagnetic synchronous motor according to claim 5 or 6 is it is characterised in that input to
After determining q shaft voltage, also include increasing the step-length of described given q shaft voltage.
8. the permagnetic synchronous motor according to any one of claim 5 to 7 anti-demagnetization control method it is characterised in that
Methods described further includes：
Detect whether described current peak reaches the 80% of current maxima；If it is not, exporting described given q shaft voltage；If so, drop
The step-length of low described given q shaft voltage.
9. the permagnetic synchronous motor according to any one of claim 5 to 7 anti-demagnetization control method it is characterised in that
Methods described further includes：
Detect whether described current peak reaches the 100% of current maxima；If it is not, exporting described given q shaft voltage；If so,
Reduce described given q shaft voltage.
10. the permagnetic synchronous motor according to any one of claim 5 to 7 anti-demagnetization control method it is characterised in that
Methods described further includes：
Detect whether described current peak reaches the 80% of current maxima；If it is not, exporting described given q shaft voltage；If so, drop
The step-length of low described given q shaft voltage；
Continue to detect whether described current peak reaches the 100% of current maxima；If it is not, exporting described given q shaft voltage；If
It is to reduce described given q shaft voltage.
A kind of 11. unmanned vehicles, including fuselage and the permanent magnet synchronous electric thermomechanical components being installed on described fuselage, its feature exists
In described permanent magnet synchronous electric thermomechanical components include the anti-back magnetic control of the permagnetic synchronous motor as any one of claim 1-4
System processed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108494305A (en) * | 2018-04-11 | 2018-09-04 | 深圳市道通智能航空技术有限公司 | A kind of motor accelerating method, device, electron speed regulator and unmanned vehicle |
| CN114499352A (en) * | 2022-02-23 | 2022-05-13 | 深圳市振邦智能科技股份有限公司 | Compressor phase current peak value suppression method and system and related equipment |
| CN116298882A (en) * | 2023-05-18 | 2023-06-23 | 深圳市好盈科技股份有限公司 | Target unmanned aerial vehicle motor demagnetization detection method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108494305A (en) * | 2018-04-11 | 2018-09-04 | 深圳市道通智能航空技术有限公司 | A kind of motor accelerating method, device, electron speed regulator and unmanned vehicle |
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| CN108494305B (en) * | 2018-04-11 | 2020-03-06 | 深圳市道通智能航空技术有限公司 | Motor acceleration method and device, electronic speed regulator and unmanned aerial vehicle |
| CN114499352A (en) * | 2022-02-23 | 2022-05-13 | 深圳市振邦智能科技股份有限公司 | Compressor phase current peak value suppression method and system and related equipment |
| CN114499352B (en) * | 2022-02-23 | 2023-11-21 | 深圳市振邦智能科技股份有限公司 | Compressor phase current peak suppression method, system and related equipment |
| CN116298882A (en) * | 2023-05-18 | 2023-06-23 | 深圳市好盈科技股份有限公司 | Target unmanned aerial vehicle motor demagnetization detection method and device |
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