CN106487307B - Anti-back magnetic control system, method and the unmanned vehicle of permanent magnet synchronous motor - Google Patents
Anti-back magnetic control system, method and the unmanned vehicle of permanent magnet synchronous motor Download PDFInfo
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- CN106487307B CN106487307B CN201611041836.1A CN201611041836A CN106487307B CN 106487307 B CN106487307 B CN 106487307B CN 201611041836 A CN201611041836 A CN 201611041836A CN 106487307 B CN106487307 B CN 106487307B
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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 permanent magnet 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 connect with voltage regulator communication；Current detection module is used to detect the current peak in controller；Voltage regulator is used to be modulated given q shaft voltage according to current peak；Controller is used for according to modulated given q shaft voltage control output electric current, and then drives the permanent magnet synchronous motor operation.The anti-demagnetizing method and a kind of unmanned vehicle of a kind of permanent magnet synchronous motor is also disclosed in embodiment of the present invention.The anti-back magnetic control system of permanent magnet synchronous motor of the invention makes the electric current inputted in permanent magnet synchronous motor be in secure threshold hereinafter, to prevent permanent magnet synchronous motor to generate demagnetization.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control technology fields, more particularly to a kind of permanent magnet synchronous motor anti-back magnetic control
System, method and unmanned vehicle processed.
Background technique
Permanent magnet synchronous motor due to have power density it is high, it is small in size, do not need that excitation, power factor (PF) be high and position control
The advantages that precision processed is high, is more and more widely used in high performance control system.
However, because armature-reaction, short trouble, overlond running or the instantaneous overload caused by high temperature and high current are run
Etc. situations, will all generate the high current for being greater than rated current several times, and the high current will generate biggish degaussing in armature
Magnetomotive force, thus the possibility for making permanent magnet generate local demagnetization or all demagnetize.Moreover, permanent magnet synchronous motor is by running environment
The limitation of radiating condition increases temperature when permanent magnetism running body further, has been more than the operating temperature of permanent magnet, has increased permanent magnetism
Body generates the possibility of demagnetization failure.Further, when part demagnetization occurs for permanent magnet, in order to meet the needs of load operation,
It needs to increase stator current, forms biggish demagnetization magnetic potential, however the increase of stator current will further make permanent magnet synchronous electric
The temperature of machine increases, to further make permanent magnet loss of excitation, forms a vicious circle, generate permanent magnet may irreversible
The serious consequence of demagnetization.
Summary 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 permanent magnet synchronous motor
System, method and unmanned vehicle can prevent permanent magnet synchronous motor and generate demagnetization.
In order to solve the above technical problems, the technical solution that embodiment of the present invention uses is: it is same to provide a kind of permanent magnetism
Walk the anti-back magnetic control system of motor, including current detection module, voltage regulator and controller, the controller and it is described forever
The electrical connection of magnetic-synchro motor, the current detection module and the voltage regulator are electrically connected with the controller respectively, described
Current detection module is connect with the voltage regulator communication；
The current detection module is used to detect the current peak in controller；
The voltage regulator is used to be modulated given q shaft voltage according to the current peak；
The controller is used for according to modulated given q shaft voltage control output electric current, and then drives the permanent magnetism same
Walk motor operation.
In wherein some embodiments, the controller includes signal processing unit and inverter, the current detecting
Module is electrically connected with the output end of the inverter, the input of the output end of the voltage regulator and the signal processing unit
End electrical connection.
In wherein some embodiments, after mark change processing, the size of the given q shaft voltage and the permanent magnetism
The given rotating speed of synchronous motor it is equal in magnitude.
In wherein some embodiments, the current detection module includes comparing unit, and the comparing unit is used for will
The current peak is compared with the current maxima defaulted in the comparing unit.
Embodiment of the present invention also provides a kind of anti-demagnetization control method of permanent magnet synchronous motor, comprising:
Input given q shaft voltage；
Current peak is detected, and is given according to comparison result modulation of the current peak with preset current maxima
Determine q shaft voltage；
Given q shaft voltage driving permanent magnet synchronous motor is modulated according to modulated.
In wherein some embodiments, after mark change processing, the size of the given q shaft voltage and the permanent magnetism
The given rotating speed of synchronous motor it is equal in magnitude.
It further include the step for increasing the given q shaft voltage after inputting given q shaft voltage in wherein some embodiments
It is long.
In wherein some embodiments, the method further includes:
Detect whether the current peak reaches current maxima 80%；If it is not, the output given q shaft voltage；If
It is to reduce the step-length of the given q shaft voltage.
In wherein some embodiments, the method further includes:
Detect whether the current peak reaches current maxima 100%；If it is not, the output given q shaft voltage；If
It is to reduce the given q shaft voltage.
In wherein some embodiments, the method further includes:
Detect whether the current peak reaches current maxima 80%；If it is not, the output given q shaft voltage；If
It is to reduce the step-length of the given q shaft voltage；
Continue to test whether the current peak reaches current maxima 100%；If it is not, the output given q axis electricity
Pressure；If so, reducing the given q shaft voltage.
Embodiment of the present invention also provides a kind of unmanned vehicle, same including fuselage and the permanent magnetism being installed on the fuselage
Electric machine assembly is walked, the permanent magnet synchronous electric thermomechanical components include the anti-back magnetic control of the permanent magnet synchronous motor as described in any one of above-mentioned
System processed.
The beneficial effect of embodiment of the present invention is: the anti-back magnetic control system of permanent magnet synchronous motor of the invention passes through
Current detection module detects current peak, then is modulated according to current peak to given q shaft voltage by voltage regulator, controls
Device processed controls output electric current according to modulated modulation q shaft voltage, so that the electric current inputted in permanent magnet synchronous motor be made to be in peace
Full threshold value hereinafter, prevent permanent magnet synchronous motor to generate demagnetization in turn.
Detailed description of the invention
Fig. 1 is the block diagram of the anti-back magnetic control system of the permanent magnet synchronous motor of embodiment of the present invention.
Fig. 2 is the vector controlled block diagram of a specific embodiment of anti-back magnetic control system shown in FIG. 1.
Fig. 3 is the anti-demagnetizing method flow chart of the permanent magnet synchronous motor of embodiment of the present invention.
Fig. 4 is the flow chart of a specific embodiment of the anti-demagnetizing method of permanent magnet synchronous motor shown in Fig. 3.
Fig. 5 is the experimental result picture of the control system of the permanent magnet synchronous motor of the prior art.
Fig. 6 is the experimental result picture of the anti-back magnetic control system of the permanent magnet synchronous motor of embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly in another yuan when an element referred to as " is electrically connected " another element
On part or there may also be elements placed in the middle.When an element is considered as " electrical connection " another element, it, which can be, is connect
Touching connection, for example, it may be the mode of conducting wire connection, is also possible to contactless connection, for example, it may be contactless coupling
Mode.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 shows the block diagram of the anti-back magnetic control system of the permanent magnet synchronous motor 100 of embodiment of the present invention,
The anti-back magnetic control system includes current detection module 200, voltage regulator 300 and controller 400.Current detection module
200 for detecting the current peak in controller 400.Voltage regulator 300 is used for detected according to current detection module 200
Current peak is modulated given q shaft voltage, and will modulate given q shaft voltage and export into controller 400.Controller 400
For exporting electric current according to the given q shaft voltage control of modulation, and then drive the safe operation of permanent magnet synchronous motor 100.
The anti-back magnetic control system of the permanent magnet synchronous motor 100 of embodiment of the present invention is by detection current peak, to adjust
Whole q axis given voltage, so that the electric current in permanent magnet synchronous motor 100 be made to be in secure threshold hereinafter, preventing permanent magnetism same in turn
Walk the possibility that motor 100 generates demagnetization.
It is the vector controlled block diagram of permanent magnet synchronous motor 100 please refer to Fig. 2.Controller 400 includes coordinate
Converter unit 401, control unit 403, signal processing unit 405 and inverter 407.The output end and permanent magnetism of inverter 407
The input terminal of synchronous motor 100 connects, and the input terminal of coordinate transformation unit 401 is connected to inverter 407 and permanent magnet synchronous motor
Between 100, the output end of coordinate transformation unit 401 is connect with the input terminal of control unit 403, the output end of control unit 403
It is connect with the input terminal of signal processing unit 405, the input terminal of signal processing unit 405 is connect with the input terminal of inverter 407.
Before further describing the course of work of control system of permanent magnet synchronous motor 100, it is worth noting that, this hair
In bright embodiment, the control system of permanent magnet synchronous motor 100 needs to carry out in advance to mark change processing, so that using per unit value table
The form shown is consistent with the form that actual value indicates.In embodiment of the present invention, the preferred voltage rating of permanent magnet synchronous motor 100
It carries out marking change as a reference value of the control system of permanent magnet synchronous motor 100 with rated current, other physical quantitys can be by institute
Two a reference values are stated to calculate.
Coordinate transformation unit 401 is used for the threephase stator electric current I of permanent magnet synchronous motor 100a、IbAnd IcIt is same to be converted into d-q
Walk the stator current I under rotating coordinate systemdAnd Iq.Specifically, coordinate transformation unit 401 includes for by threephase stator electric current
Ia、IbAnd IcThe stator current I being transformed under α β two-phase stationary coordinate systemαAnd IβTransformation, i.e. Clarke transformation 4011, Yi Jiyong
In by stator current IαAnd IβThe stator current I being transformed under d-q synchronous rotating framedAnd IqTransformation, i.e. Park transformation
4012。
Control unit 403 is used for according to given stator current IdrefWith actual stator electric current IdIt calculates and exports given d shaft voltage
Udref, i.e. control unit 403 includes an electric current loop.In embodiment of the present invention, control unit 403 includes 4031 He of subtracter
Electric current loop integral-separated PI adjuster 4032.Specifically, firstly, Upper system inputs given stator current IdrefTo subtracter
4031, while coordinate transformation unit 401 exports actual stator electric current IdTo subtracter 4031；Secondly, subtracter 4031 is according to giving
Determine stator current IdrefWith actual stator electric current IdThe difference obtained；Thirdly, subtracter 4031 exports the difference to electric current
Ring integral-separated PI adjuster 4032, electric current loop integral-separated PI adjuster 4032 carry out ratio, integral calculation to the difference,
Obtain the given d shaft voltage Udref.In embodiment of the present invention, stator current I is givendref=0.In the present invention term " on
Position system " refers to the other systems with the communication connection of the control system of permanent magnet synchronous motor 100, such as digital information processing system
System.
Signal processing unit 405 is used for the given d shaft voltage U exported according to control unit 403drefWith through voltage tune
The modulation that section device 300 exports after modulating gives q shaft voltage UqrefProcessing 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, firstly, PARK is inverse
Converter unit 4051 is by the given d shaft voltage UdrefWith the given q shaft voltage UqrefIt is converted under the quiet upper coordinate system of α β two-phase
Component of voltage UαAnd Uβ；Secondly, PARK inverse transformation block 4051 is by component of voltage UαAnd UβIt exports to space-vector modulator
4052, space-vector modulator 4052 is to the component of voltage UαAnd UβCalculation processing, output pulse width control signal.It is understood that
, signal processing unit 405 can also only include space-vector modulator 4052, that is to say, that the given d shaft voltage
UdrefWith the given q shaft voltage UqrefSpace-vector modulator 4052 is directly inputted, and is calculated by space-vector modulator 4052
Processing, output pulse width control signal.
Inverter 407 is used for the control signal that export according to signal processing unit 405, obtain controlling stator three-phase symmetrical around
The actual current of group, driving permanent magnet synchronous motor 100 are run.
Current detection module 200 is electrically connected with the output end of inverter 407, is input to permanent magnet synchronous motor for detecting
100 current peak.Current detection module 200 further includes comparing unit, and the comparator is used for the current peak that will test
It is compared with current maxima preset in current detection module 200, then most by the current peak and the electric current
The comparison result being worth greatly is exported to voltage regulator 300.Current detection module 200 can use sampling resistor, current sensor
Or the methods of current transformer detects current peak.In embodiment of the present invention, current detection module 200 is preferably adopted
Current peak is detected with current sensor.It is understood that the output end of current detection module 200 can be with voltage
Adjuster 300 is electrically connected, so that the comparison result of current detection module 200 can be exported to voltage regulator 300；Or electric current
Detection module 200 can be connect by wireless communication with voltage regulator 300, so that the comparison result of current detection module 200
It is transmitted to voltage regulator 300 by wireless communication.
The input terminal of voltage regulator 300 inputs given q shaft voltage Uqref, the output end and signal of voltage regulator 300
The input terminal of processing unit 405 is electrically connected, and voltage regulator 300 is used for the electric current exported according to current detection module 200
The comparison result of peak value and the current maxima, to given q shaft voltage UqrefIt is modulated, obtains modulating given q shaft voltage
Uqref, then by described modulate given q shaft voltage UqrefIt exports to signal processing unit 405.In embodiment of the present invention, it is input to
The given q shaft voltage U of voltage regulator 300qrefSize and permanent magnet synchronous motor 100 given rotating speed ωrefSize phase
Deng.
In embodiment of the present invention, when the current peak that current detection module 200 detects is less than the electric current most
Be worth greatly 80% when, voltage regulator 300 is not to given q shaft voltage UqrefIt is modulated, i.e. the tune of the output of voltage regulator 300
Make given q shaft voltage UqrefWith the given q shaft voltage U of input voltage regulation device 300qrefIt is identical；When current detection module 200 is examined
The current peak measured is greater than or equal to the 80% of the current maxima, and is less than the 100% of the current maxima
When, voltage regulator 300 is to given q shaft voltage UqrefIt is modulated, reduces the given q shaft voltage UqrefStep-length；Work as electric current
When the current peak that detection module 200 detects is greater than or equal to the 100% of the current maxima, voltage regulator
300 couples of given q shaft voltage UqrefIt is modulated, first reduces the given q shaft voltage UqrefStep-length, then reduce the given q axis
Voltage UqrefValue.
It is understood that the fiducial value standard of the current peak being arranged in current detection module 200 and current maxima
It is not limited to 80% and 100%, that is to say, that current detecting is arranged in demand for control that can be different according to permanent magnet synchronous motor
The standard of current peak and the fiducial value of 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 the current peak being arranged in current detection module 200 with
The fiducial value standard of current maxima is also not limited to 80% and 100% two standard value, can be with according to different demands for control
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
When the standard, directly reduce given q shaft voltage UqrefValue；Or three or three or more current peaks 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 detection current peak, and export the current peak to the external relatively list for being preset with current maxima
The current peak and the current maxima are compared by member, the comparing unit, output fiducial value to voltage regulator
300.It will also be appreciated that the comparing unit can be set in voltage regulator 300, that is to say, that the current peak
The comparison of value and the current maxima can carry out in voltage regulator 300.
The anti-back magnetic control system of permanent magnet synchronous motor 100 of the invention passes through current detection module 200 real-time detection electricity
Stream peak value, and the current peak is compared with the current maxima；Again by voltage regulator 300 according to the electricity
The comparison result of stream peak value and the current maxima is to given q shaft voltage UqrefIt is modulated, and given q shaft voltage will be modulated
UqrefOutput is to controller 400, and controller 400 is according to the given q shaft voltage U of modulationqrefElectric current is exported, to keep input permanent magnetism same
Electric current in step motor 100 is constantly in secure threshold hereinafter, permanent magnet synchronous motor 100 is prevented to generate demagnetization in turn.
Referring to Fig. 3, embodiment of the present invention also provides a kind of anti-back magnetic control using above-mentioned permanent magnet synchronous motor 100
The anti-demagnetizing method of system, comprising:
S11: given q shaft voltage U is inputtedqref。
In embodiment of the present invention, given q shaft voltage U is inputtedqrefInto voltage regulator 300.
S12: detection current peak, and institute is modulated according to the current peak and the comparison result of preset current maxima
State given q shaft voltage Uqref。
In embodiment of the present invention, by 200 real-time detection current peak of current detection module, and by the current peak
It is compared with the current maxima defaulted in current detection module 200, obtains fiducial value.It is understood that the electricity
Stream maximum value, which may not be, to be defaulted in current detection module 200, that is to say, that current detection module 200 can be only used for
Current peak is detected, and exports the current peak to the comparison module for being preset with current maxima, the comparison module is by institute
It states current peak and the current maxima is compared, output fiducial value to voltage regulator 300.It will also be appreciated that
The comparison module can be set in voltage regulator 300, that is to say, that the current peak and the current maxima
Comparing can carry out in voltage regulator 300.
S13: given q shaft voltage U is modulated according to modulatedqrefDrive permanent magnet synchronous motor 100.
It is described to modulate given q shaft voltage U in embodiment of the present inventionqrefIt is input to controller 400,400 basis of controller
It is described to modulate given q shaft voltage UqrefControl output electric current, to drive permanent magnet synchronous motor 100.
It is maximum by the current peak and electric current that detect in the anti-demagnetizing method of permanent magnet synchronous motor 100 of the invention
The comparison of value, to given q shaft voltage UqrefIt is modulated, and by modulating given q shaft voltage UqrefControl is input to permanent-magnet synchronous
The size of current of motor 100 makes the electric current inputted in permanent magnet synchronous motor 100 be constantly in secure threshold hereinafter, preventing in turn
Permanent magnet synchronous motor 100 generates demagnetization.
Referring to Fig. 4, a specific embodiment of the anti-demagnetizing method for above-mentioned permanent magnet synchronous motor 100, specific to wrap
Include following steps:
S21 inputs given q shaft voltage Uqref；
In embodiment of the present invention, given q shaft voltage U is inputtedqrefInto voltage regulator 300, and it is input to voltage
The given q shaft voltage U of adjuster 300qrefSize and permanent magnet synchronous motor 100 given rotating speed ωrefIt is equal 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 permanent magnet synchronous motor 100 can
With quick response.
Whether S23, detection current peak reach the 80% of current maxima；If it is not, the given q axis in output step S22
Voltage UqrefTo step S27；If so, continuing step S24；
In embodiment of the present invention, by 200 real-time detection current peak of current detection module, and by the current peak
It is compared with the current maxima defaulted in current detection module 200, obtains fiducial value.It is understood that step S23
In, the standard of comparison of current peak and current maxima is not limited to 80%, can also be set as whether current peak reaches electricity
Other ratios such as 75% or 70% of maximum value are flowed, need to be only adjusted according to the demand for control of permanent magnet synchronous motor.
S24 is reduced and is given q shaft voltage U in S22qrefStep-length；
Whether S25, detection current peak reach the 100% of current maxima；If it is not, the given q shaft voltage in output S24
UqrefTo step S27；If so, continuing step S26；
It is understood that the standard of comparison of current peak and current maxima is not limited to 100% in step S25, also
It can be set as whether current peak reaches other ratios such as 95% or 90% of current maxima, it only need to be according to permanent-magnet synchronous
The demand for control of motor is adjusted.
S26 reduces and gives q shaft voltage U in S24qref；
S27 obtains modulating given q shaft voltage Uqref, and given q shaft voltage U is modulated according to describedqrefDrive permanent-magnet synchronous
Motor 100.
It is understood that step S22 can cancel in the specific embodiment of above-mentioned anti-demagnetizing method, then subsequent step
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 methodqrefInto
Row primary modulation.
Referring to Fig. 5, the experimental result of the not permanent magnet synchronous motor including anti-back magnetic control system for the prior art.When
Given q shaft voltage UqrefWhen mutation, actual current waveform 500 easily causes permanent magnetism considerably beyond maximum current waveform 600 at this time
Synchronous motor overcurrent generates demagnetization so as to cause permanent magnet synchronous motor.
Referring to Fig. 6, for using the experimental result of the permanent magnet synchronous motor 100 of anti-back magnetic control system of the invention.When
Given q shaft voltage UqrefWhen mutation, in the range of actual current waveform 500 is always situated in maximum current waveform 600, that is, because
For the control of anti-back magnetic control system, actual current is made not exceed maximum current, permanent magnet synchronous motor 100 will not generate electric current
Overcurrent, so that permanent magnet synchronous motor 100 be prevented to generate demagnetization.
Embodiment of the present invention also provides a kind of unmanned vehicle, the unmanned vehicle include fuselage, be installed on it is described
Permanent magnet synchronous electric thermomechanical components on fuselage, permanent magnet synchronous electric thermomechanical components are used to provide power to the unmanned vehicle.Permanent magnetism is same
Step electric machine assembly includes the anti-back magnetic control system of embodiment of the present invention.To the permanent magnet synchronous motor of the unmanned vehicle
100 reduce a possibility that generation is demagnetized, and ensure that the safety when unmanned vehicle flight.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of anti-back magnetic control system of permanent magnet synchronous motor, which is characterized in that including current detection module, voltage regulator
And controller, the controller and the permanent magnet synchronous electric mechatronics, the current detection module and the voltage regulator
It is electrically connected respectively with the controller, the current detection module is connect with the voltage regulator communication；
The current detection module is used to detect the current peak of controller output；
The voltage regulator increases the step-length of the given q shaft voltage, and according to the electricity for receiving given q shaft voltage
Stream peak value is modulated the given q shaft voltage；
The controller is used for according to modulated given q shaft voltage control output electric current, and then drives the permanent magnet synchronous electric
Machine operation.
2. the anti-back magnetic control system of permanent magnet synchronous motor according to claim 1, which is characterized in that the controller packet
Signal processing unit and inverter are included, the current detection module is electrically connected with the output end of the inverter, the voltage tune
The output end of section device is electrically connected with the input terminal of the signal processing unit.
3. the anti-back magnetic control system of permanent magnet synchronous motor according to claim 1 or 2, which is characterized in that by mark
After change processing, the size of the given q shaft voltage is equal in magnitude with the given rotating speed of the permanent magnet synchronous motor.
4. the anti-back magnetic control system of permanent magnet synchronous motor according to any one of claim 1 to 2, which is characterized in that
The current detection module includes comparing unit, the comparing unit be used for by the current peak with default in it is described compared with singly
Current maxima in member is compared.
5. a kind of anti-demagnetization control method of permanent magnet synchronous motor, comprising:
Input given q shaft voltage；
Increase the step-length of the given q shaft voltage；
The current peak of controller output is detected, and according to the comparison result tune of the current peak and preset current maxima
Make the given q shaft voltage；
Given q shaft voltage driving permanent magnet synchronous motor is modulated according to modulated.
6. the anti-demagnetization control method of permanent magnet synchronous motor according to claim 5, which is characterized in that at mark change
After reason, the size of the given q shaft voltage is equal in magnitude with the given rotating speed of the permanent magnet synchronous motor.
7. the anti-demagnetization control method of the permanent magnet synchronous motor according to any one of claim 5 to 6, which is characterized in that
The method further includes:
Detect whether the current peak reaches current maxima 80%；If it is not, the output given q shaft voltage；If so, drop
The step-length of the low given q shaft voltage.
8. the anti-demagnetization control method of the permanent magnet synchronous motor according to any one of claim 5 to 6, which is characterized in that
The method further includes:
Detect whether the current peak reaches current maxima 100%；If it is not, the output given q shaft voltage；If so,
Reduce the given q shaft voltage.
9. the anti-demagnetization control method of the permanent magnet synchronous motor according to any one of claim 5 to 6, which is characterized in that
The method further includes:
Detect whether the current peak reaches current maxima 80%；If it is not, the output given q shaft voltage；If so, drop
The step-length of the low given q shaft voltage；
Continue to test whether the current peak reaches current maxima 100%；If it is not, the output given q shaft voltage；If
It is to reduce the given q shaft voltage.
10. a kind of unmanned vehicle, including fuselage and the permanent magnet synchronous electric thermomechanical components being installed on the fuselage, feature exists
In the permanent magnet synchronous electric thermomechanical components include the anti-back magnetic control such as permanent magnet synchronous motor of any of claims 1-4
System processed.
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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 |
| 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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| CN105021990A (en) * | 2015-08-19 | 2015-11-04 | 珠海格力电器股份有限公司 | Demagnetization detection method and system for permanent magnet motor and frequency converter |
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