CN106533283A - PMSM control device and air conditioner - Google Patents
PMSM control device and air conditioner Download PDFInfo
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- CN106533283A CN106533283A CN201611103994.5A CN201611103994A CN106533283A CN 106533283 A CN106533283 A CN 106533283A CN 201611103994 A CN201611103994 A CN 201611103994A CN 106533283 A CN106533283 A CN 106533283A
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Abstract
The invention discloses a permanent magnet synchronous motor (PMSM) control device and an air conditioner. The control device comprises an AC-DC conversion module, a PFC boosting module, a DC linkage portion, a DC-AC conversion module, a current sampling module used for acquiring a phase current of the PMSM, a temperature detection module which is embedded on a heat radiator of the DC-AC conversion module and is used for detecting temperature of the heat radiator, and a controller which is separately connected with the temperature detection module, the current sampling module, the DC linkage portion and the DC-AC conversion module and is used for controlling the DC-AC conversion module according to the temperature and the phase current so as to control the PMSM through the DC-AC conversion module, wherein an output end of the DC-AC conversion module is connected with the PMSM. The control device is advantaged in that speed regulation reliability can be guaranteed, and an output capacity utilization rate of the DC-AC conversion module is high.
Description
Technical field
The present invention relates to VFC field, and in particular to a kind of control device of permagnetic synchronous motor and a kind of air-conditioning
Device.
Background technology
With the lifting that consumer is required to electronic product energy saving, permagnetic synchronous motor in hgher efficiency has obtained more next
More it is widely applied.
Conventional passive PFC (Power Factor Correction) scheme frequency-variable controllers and conventional active PFC schemes become
Frequency controller changes the mold block by DC-AC and realizes direct current-three-phase alternating current inversion conversion.DC-AC changes the mold block as frequency conversion
The core component of controller, its fan-out capability are limited by itself junction temperature, as shown in figure 1, when DC-AC mold changing agllutination temperature is less than
When 80 degrees Celsius, it is 20 amperes that DC-AC mold changing block allows output current peak value, when DC-AC mold changing agllutination temperature is more than 80
During degree Celsius less than 140 degrees Celsius, DC-AC mold changing block allows output current peak linear to reduce, when DC-AC changes the mold block
It is 12 amperes that when junction temperature is 140 degrees Celsius, DC-AC mold changing block allows the current peak of output.
Frequency-variable controller in use, real-time change during DC-AC mold changing block, temperature is also real-time change,
How to realize that the control of fan-out capability automated intelligent is one of frequency-variable controller core technology.And current frequency-variable controller is mostly
Rule of thumb with actual test situation, determine the fan-out capability of frequency-variable controller, its in order to ensure reliability would generally the volume of dropping make
With without making full use of DC-AC to change the mold the fan-out capability of block.
The content of the invention
It is contemplated that at least solving one of technical problem in above-mentioned technology to a certain extent.
For this purpose, first purpose of the present invention is to propose a kind of control device of permagnetic synchronous motor.The device can
Ensure the reliability of speed governing, and DC-AC can be made full use of to change the mold the fan-out capability of block.
Second object of the present invention is to propose a kind of air-conditioner.
To reach above-mentioned purpose, first aspect present invention embodiment proposes a kind of control device of permagnetic synchronous motor,
Including：AC-DC conversion module, PFC boost module, DC link section and DC-AC mold changing block, wherein, the AC-DC conversion
The input of module is connected with AC power, and the output end of the AC-DC conversion module is by the PFC boost module and institute
The capacitor for stating DC link section is connected in parallel, and exports DC voltage, and the input input of the DC-AC mold changing block is described
DC voltage, the output end of the DC-AC mold changing block are connected with permagnetic synchronous motor；Current sample module, for gathering
State the phase current of permagnetic synchronous motor；Temperature detecting module, the temperature detecting module are inlaid in the DC-AC mold changing block
Radiator on, the temperature detecting module is used to detect the temperature of the radiator；Controller, the controller respectively with institute
State temperature detecting module, the current sample module, the DC link section to be connected with DC-AC mold changing block, the control
Device allows the maximum current of output for the DC-AC mold changing block according to the temperature computation, and according to the maximum current
The DC-AC is controlled with the phase current and changes the mold block, control the permanent magnet synchronous electric block is changed the mold by the DC-AC
Machine.
The control device of the permagnetic synchronous motor of the embodiment of the present invention, detects DC-AC mold changing by temperature detecting module
The temperature of the radiator of block, gathers the phase current of permagnetic synchronous motor by current acquisition module, and by controller according to scattered
The temperature of hot device obtains the maximum current of the output that DC-AC mold changing block is allowed, and then according to the mutually electricity of permagnetic synchronous motor
The maximum current of the output that stream, DC-AC mold changing block are allowed controls DC-AC and changes the mold block, to realize to permagnetic synchronous motor
Control, so as to ensure the reliability of speed governing, and improve the utilization that block fan-out capability is changed the mold to DC-AC
Rate.
In addition, the control device of permagnetic synchronous motor according to the above embodiment of the present invention can also have what is added as follows
Technical characteristic：
According to one embodiment of present invention, the current sample module includes：First sampling resistor and the second sampling electricity
Resistance, first sampling resistor and the second sampling tube resistor change the mold two lower bridge arm strings of block respectively with the DC-AC
Connection connection, first sampling resistor and second sampling resistor gather the permanent magnetism in each PWM carrier cycle T respectively
The corresponding biphase current I of synchronous motoru、Iv；Wherein, the controller is for according to the biphase current Iu、IvCalculate third phase
Electric current Iw。
According to one embodiment of present invention, the current sample module includes：3rd sampling resistor, the 3rd sampling
The negative input end that one end of resistance changes the mold block with the DC-AC is connected, the other end ground connection of the 3rd sampling resistor, institute
State the three-phase current I of the 3rd sampling resistor permagnetic synchronous motor described in acquisition time in each PWM carrier cycle Tu、Iv、Iw。
According to one embodiment of present invention, the current sample module includes：Separate current sensor, the electric current every
The output end that block is changed the mold with the DC-AC from sensor is connected, and the separate current sensor is in each PWM carrier cycle T
The interior three-phase current I for gathering the permagnetic synchronous motoru、Iv、Iw。
According to one embodiment of present invention, the boost module includes：Electric capacity；First inductance, first inductance
One end is connected with one end of the electric capacity, and forms first node；First diode, the anode of first diode with it is described
The other end of the first inductance is connected, and the negative electrode of first diode is connected with the other end of the electric capacity, and forms second section
Point；Wherein, the first node is connected with the positive output end of the AC-DC conversion module, the Section Point and the orthogonal
The positive input terminal of stream modular converter is connected.
According to one embodiment of present invention, the boost module includes：Second inductance, one end of second inductance with
The positive output end of the AC-DC conversion module is connected；Second diode, the anode of second diode are electric with described second
The other end of sense is connected, and the positive input terminal that the negative electrode of second diode changes the mold block with the DC-AC is connected；It is in parallel to connect
The switching tube for connecing and the 3rd diode, the anode of the 3rd diode and the source grounding of the switching tube, the described 3rd
The negative electrode of diode is connected with the anode of second diode with the drain electrode of the switching tube.
According to one embodiment of present invention, the controller is according to temperature T0Calculate the DC-AC mold changing block
Allow the maximum current I of outputMAXWhen, the controller specifically for：The DC-AC is calculated by equation below and changes the mold block
Junction temperature Tj：
Tj=T0+ 2.5 DEG C,
Wherein, T0For the temperature of the radiator, TjThe junction temperature of block is changed the mold for the DC-AC；And according to described straight
Junction temperature T of exchange modular converterjThe DC-AC mold changing block is calculated with predetermined current-temperature relation allows described in output most
High current IMAX。
According to one embodiment of present invention, the controller is additionally operable to：Calculate the three-phase current Iu、IvAnd IwIt is exhausted
To maximum I in valuemax, and when timing time reaches the PWM carrier cycles T, judge ImaxWhether more than or equal to institute
State maximum current IMAX。
According to one embodiment of present invention, the controller is used for：In ImaxMore than or equal to the maximum current IMAX
When, control the d axles of the permagnetic synchronous motor, the resultant current threshold limit value of q axles and reduce the first preset value, in ImaxLess than institute
State maximum current IMAXWhen, control resultant current threshold limit value increase by first preset value of the d axles, the q axles；Judge
Increase or the d axles after reducing, the q axles resultant current threshold limit value whether beyond preset range [Idqmin,
Idqmax]；And the resultant current threshold limit value of the d axles after increase or reduction, the q axles exceeds the preset range
When [Idqmin, Idqmax], control the d axles, the resultant current threshold limit value of the q axles take boundary value Idqmax or
Idqmin。
According to one embodiment of present invention, the controller specifically for：According to the d axles, the synthesis electricity of the q axles
Stream threshold limit value obtains the given electric current I of q axlesqrefElectric current I given with d axlesdref, and according to the given electric current I of the q axlesqref, the d
The given electric current I of axledrefThe DC-AC mold changing block is controlled, and controls the permanent-magnet synchronous block is changed the mold by the DC-AC
Motor, wherein,In the preset range [Idqmin, Idqmax].
According to one embodiment of present invention, the controller is additionally operable to：In ImaxMore than or equal to the maximum current
IMAXWhen, the given rotating speed for controlling the permagnetic synchronous motor reduces the second preset value.
According to one embodiment of present invention, the controller specifically for：After reduction by second preset value
Given rotating speed controls the DC-AC and changes the mold block, controls the permagnetic synchronous motor to change the mold block by the DC-AC.
Wherein, second preset value is 1Hz.
Further, the present invention proposes a kind of air-conditioner, and which includes the control device of above-mentioned permagnetic synchronous motor.
The air-conditioner of the embodiment of the present invention, is detected by the temperature detecting module of the control device of above-mentioned permagnetic synchronous motor
The temperature of the radiator of DC-AC mold changing block, gathers the phase current of permagnetic synchronous motor by current acquisition module, and passes through
Controller obtains the maximum current of the output that DC-AC mold changing block is allowed according to the temperature of radiator, and then according to permanent-magnet synchronous
The maximum current of the output that the phase current of motor, DC-AC mold changing block are allowed controls DC-AC and changes the mold block, to realize to forever
The control of magnetic-synchro motor, so as to ensure the reliability of speed governing, and improves to DC-AC mold changing block output
The utilization rate of ability.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment
It is substantially and easy to understand, wherein：
Fig. 1 is the relation schematic diagram between the temperature and output current of DC-AC mold changing block；
Fig. 2 is the structured flowchart of the control device of permagnetic synchronous motor according to an embodiment of the invention；
Fig. 3 is the scheme of installation of the temperature detecting module according to an example of the invention；
Fig. 4-Fig. 9 is the circuit diagram of the control device of the permagnetic synchronous motor according to multiple examples of the invention；
Figure 10 is the control flow chart of permagnetic synchronous motor according to an embodiment of the invention；
Figure 11 is the control flow chart of permagnetic synchronous motor in accordance with another embodiment of the present invention；
Figure 12 is the structural representation of controller according to an embodiment of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings the control device and air-conditioner of the permagnetic synchronous motor for proposing according to embodiments of the present invention are described.
Fig. 2 is the structural representation of the control device of permagnetic synchronous motor according to an embodiment of the invention.Such as Fig. 2 institutes
Show, the control device includes：DC-AC mold changing block 10, PFC boost module 20, DC link section 30, DC-AC mold changing block 40,
Current sample module 50, temperature detecting module 60 and controller 70.
Wherein, the input of AC-DC conversion module 10 is connected with AC power AC, the output of AC-DC conversion module 10
Capacitor Cp of the end by PFC boost module with DC link section is connected in parallel, and exports DC voltage Vdc；DC-AC changes the mold block
40 input input direct voltage Vdc, DC-AC mold changing block 40 output end be connected with permagnetic synchronous motor M；Current sample
Module 10 is used for the phase current for gathering permagnetic synchronous motor；As shown in figure 3, temperature detecting module 60 is inlaid in DC-AC mold changing
On the radiator 41 of block 40, temperature detecting module 60 is used for temperature T for detecting radiator 410；Controller 70 is examined with temperature respectively
Survey module 60, current sample module 50 to be connected with DC-AC mold changing block 40, controller 70 is for according to temperature T0Calculate orthogonal
Stream modular converter 40 allows the maximum current I of outputMAX, and according to maximum current IMAXWith phase current control DC-AC mold changing block
40, block 40 is changed the mold by DC-AC control permagnetic synchronous motor M.
It is appreciated that DC-AC mold changing block 40 is inverter circuit, for inverse of the DC into AC, to pass through
Alternating current controls permagnetic synchronous motor.
Alternatively, temperature detecting module 60 can be temperature sensor, be easily installed.
Wherein, capacitor Cp is electrochemical capacitor, and which can make the DC voltage V of outputdcSmooth, i.e., DC bus-bar voltage is put down
It is sliding.
Specifically, rectification circuit (i.e. AC-DC conversion module 10) carries out full-wave rectification to AC power AC being input into, with
The outlet side shnt capacitor Cp of rectification circuit, Jing after capacitor Cp, the DC voltage V of output smoothingdc(i.e. dc bus is electric
Pressure).The smooth DC voltage that DC link section is exported by inverter circuit (i.e. DC-AC mold changing block 40) using switching tube S1-S6
VdcBe converted to alternating current；Current acquisition module 50 gathers the phase current of permagnetic synchronous motor simultaneously, and temperature sensor detects Fig. 3 institutes
The temperature of the radiator 41 for showing；Controller 70 obtains the junction temperature of inverter circuit according to the temperature computation that temperature sensor is detected, and
Inverter circuit is obtained according to the junction temperature allows the maximum current I of outputMAX, and then DC bus-bar voltage Vdc, maximum current IMAXWith
The phase current of sampling controls the switching tube S1-S6 of inverter circuit, to control permagnetic synchronous motor M by switching tube S1-S6.By
This, ensure that the stability of electric machine speed regulation, and DC-AC can be made full use of to change the mold the fan-out capability of block.
It is appreciated that the control device also includes voltage sample module (not shown in figure), to gather dc bus electricity
Pressure Vdc。
In one embodiment of the invention, if PFC boost module 20 is passive PFC, such as Fig. 4, Fig. 5, Fig. 6 institute
Show, PFC boost module 20 includes electric capacity C, the first inductance L1 and the first diode D1.
Wherein, one end of the first inductance L1 is connected with one end of electric capacity C, and forms first node a1；First diode D1
Anode be connected with the other end of the first inductance L1, the negative electrode of the first diode D1 is connected with the other end of electric capacity C, and forms
Two node a2.Wherein, first node a1 is connected with the positive output end of AC-DC conversion module 10, Section Point a2 and DC-AC
The positive input terminal of mold changing block 40 is connected.
In another embodiment of the present invention, as shown in Fig. 7, Fig. 8, Fig. 9, if PFC boost module 20 is active
PFC, then PFC boost module 20 include the second inductance L2, the second diode D2, and the switching tube K and the three or two being connected in parallel
Pole pipe D3.
Wherein, one end of the second inductance L2 is connected with the positive output end of AC-DC conversion module 11；Second diode D2's
Anode is connected with the other end of the second inductance L2, and negative electrode and the DC-AC of the second diode D2 change the mold the positive input terminal phase of block 40
Even；The anode of the 3rd diode D3 and the source grounding of switching tube K, the negative electrode of the 3rd diode D3 and the drain electrode of switching tube K
It is connected with the anode of the second diode D2.
It should be noted that in an embodiment of the present invention, for the frequency conversion control of passive PFC module and active PFC module
Principle processed is same or similar.
In one embodiment of the invention, controller 70 is according to temperature T0Calculating DC-AC mold changing block 40 allows output
Maximum current IMAXWhen, controller 70 calculates junction temperature T that DC-AC changes the mold block 40 especially by equation below (1)j：
Tj=T0+2.5℃ (1)
Wherein, T0For the temperature of radiator 41, TjThe junction temperature of block 40 is changed the mold for DC-AC.
Further, controller 70 changes the mold junction temperature T of block 40 according to DC-ACjCalculate with predetermined current-temperature relation
DC-AC mold changing block 40 allows the maximum current I of outputMAX。
For example, Fig. 1 shows predetermined current-temperature relation, if T0Value be 75 DEG C, then TjValue be 77.5 DEG C,
It will be seen from figure 1 that now DC-AC mold changing block 40 allows the maximum current I of outputMAXValue is 20A.
In an embodiment of the present invention, in the phase current of the permagnetic synchronous motor M that samples, different electric currents can be set and is adopted
Sample loading mode, it is specific as follows：
In first example of the present invention, as shown in Fig. 4, Fig. 7, current sample module 50 includes the first sampling resistor
Rs1 and the second sampling resistor Rs2.Wherein, the first sampling resistor Rs1 and the second sampling resistor Rs2 are changed the mold with DC-AC respectively
Two lower bridge arms of block 40 are connected in series, and the first sampling resistor Rs1 and the second sampling resistor Rs2 is in each PWM carrier cycle T
The corresponding biphase current I of permagnetic synchronous motor M are gathered respectivelyu、Iv.And then controller can be according to biphase current Iu、IvCalculate the 3rd
Phase current Iw, i.e. Iw=-(Iu+Iv)。
It is appreciated that the first sampling resistor Rs1 and the second sampling resistor Rs2 can be connected on DC-AC mold changing block 40
Any two in three lower bridge arms, to gather the corresponding phase currents of permagnetic synchronous motor M, such as Iu、Iv。
In second example of the present invention, as shown in Figure 5, Figure 8, current sample module 50 includes the 3rd sampling resistor
The negative input end that one end of Rs3, the 3rd sampling resistor Rs3 changes the mold block 40 with DC-AC is connected, and the 3rd sampling resistor Rs3's is another
One end is grounded, the three-phase current of the 3rd sampling resistor Rs3 acquisition time permagnetic synchronous motor M in each PWM carrier cycle T
Iu、Iv、Iw。
In the 3rd example of the present invention, as shown in Fig. 6, Fig. 9, current sample module 50 includes being galvanically isolated sensing
Device, the output end that separate current sensor changes the mold block 40 with DC-AC are connected, and separate current sensor is in each PWM carrier cycle
The three-phase current I of collection permagnetic synchronous motor M in phase Tu、Iv、Iw。
It should be noted that current sample module 50 is in the phase current of the permagnetic synchronous motor M that samples, permagnetic synchronous motor
M is in running.
Further, controller 70 obtains three-phase current Iu、IvAnd IwAbsolute value in maximum Imax, in timing time
When reaching PWM carrier cycle T, I is judgedmaxWhether maximum current I is more than or equal toMAX。
In one embodiment of the invention, controller 70 is in ImaxMore than or equal to maximum current IMAXWhen, control
The d axles of permagnetic synchronous motor M, the resultant current threshold limit value of q axles increase the first preset value (such as 5A), in ImaxIt is maximum less than institute
Electric current IMAXWhen, control the resultant current threshold limit value the first preset value of reduction (such as 5A) of d axles, q axles；And judge to increase or reduce
Whether d axles afterwards, the resultant current threshold limit value of q axles exceed preset range [Idqmin, Idqmax], and in increase or reduce
When d axles afterwards, the resultant current threshold limit value of q axles exceed preset range [Idqmin, Idqmax], control d axles, the synthesis of q axles
Electric current threshold limit value takes boundary value Idqmax or Idqmin.
Alternatively, Idqmin values can be 12A, and the value of Idqmax can be 20A.
For example, if ImaxValue is 15A, less than the maximum current I of allowed outputMAX, such as 20A, then d axles, q axles
Resultant current threshold limit value, such as 16A, increase the first preset value, after such as 5A, electric current threshold limit value be 21A, more than value be
The Idqmax of 20A, then control d axles, the resultant current threshold limit value of q axles and take boundary value 20A.
Further, controller 70 is according at the beginning of the d axles that the resultant current threshold limit value of d axles, q axles adjusts permagnetic synchronous motor
Begin given electric current Idref0Electric current I is given initially with q axlesqref0, to obtain the given electric current I of d axlesdrefElectric current I given with q axlesqref, and
By the given electric current I of d axlesdrefElectric current I given with q axlesqrefControl DC-AC mold changing block 40, to change the mold block by DC-AC
40 control permagnetic synchronous motor M.
Specifically, as shown in Figure 10, the control process of the control device of permagnetic synchronous motor is as follows：
S101, judges that permagnetic synchronous motor, whether in operation process, then goes to step S102, then turns in stopping in operation
Step S111 terminates.
S102, temperature T of the radiator of controller control temperature sensor detection DC-AC mold changing block0。
S103, temperature T of the controller according to radiator0Speculate that DC-AC changes the mold junction temperature value T of blockj.Wherein, Tj=T0+
2.5℃。
S104, changes the mold junction temperature T of block according to DC-ACj, and shown in Fig. 1 DC-AC mold changing block junction temperature and permit
Perhaps the current relationship for exporting, calculates DC-AC mold changing block maximum allowed current IMAX。
S105, by the phase current I of current sample module samples permagnetic synchronous motoru、Iv、Iw。
S106, calculates Iu、Iv、IwMaximum I in three-phase actual current absolute valuemax。
Whether S107, controller judge each calculating cycle timing time to time T, if arrived, execution step S108.
Wherein, the value of T can be 1 second, 2 seconds etc..
If it is appreciated that not timed out T of each calculating cycle timing time, controller 70 according to given rotating speed and d,
Q axles initially give current control permagnetic synchronous motor.
S108, controller judge maximum I of three-phase actual current absolute valuemaxWhether change more than or equal to DC-AC
Module maximum allowed current value IMAX, if it is, execution step S109b；If not, execution step S109a.
S109a, d, q axle resultant current maximum threshold limit the first preset value of raising, and see if fall out [Idqmin,
Idqmax], boundary value is taken if exceeding.
S109b, d, q axle resultant current maximum threshold limit the first preset value of reduction, and see if fall out [Idqmin,
Idqmax], boundary value is taken if exceeding.
Wherein, Idqmin can be 12A, and Idqmax can be 20A.
S110, obtains the given electric current I of q axles according to the resultant current threshold limit value of d axles, q axlesqrefWith the given electric current of d axles
Idref, and according to the given electric current I of q axlesqref, the given electric current I of d axlesdrefThe DC-AC is controlled with given rotating speed and changes the mold block, with
Realize the control to permagnetic synchronous motor.
S111, terminates.In another embodiment of the present invention, in ImaxMore than or equal to maximum current IMAXWhen, control
Device 70 is additionally operable to the given rotating speed w for controlling permagnetic synchronous motor M*Reduce the second preset value.
Further, controller 70 is according to the given rotating speed (w reduced after the second preset value*- the second preset value) control is directly
Exchange modular converter 40, controls permagnetic synchronous motor M to change the mold block 40 by DC-AC.
Specifically, as shown in figure 11, the control process of the control device of permagnetic synchronous motor is as follows：
S201, judges that permagnetic synchronous motor, whether in operation process, then goes to step S202, then turns in stopping in operation
Step S211 terminates.
S202, temperature T of the radiator of controller control temperature sensor detection DC-AC mold changing block0。
S203, controller is according to temperature T for pacifying hot device0Speculate that DC-AC changes the mold junction temperature value T of blockj.Wherein, Tj=T0+
2.5℃。
S204, changes the mold junction temperature T of block according to DC-ACj, and shown in Fig. 1 DC-AC mold changing block junction temperature and permit
Perhaps the current relationship for exporting, calculates DC-AC mold changing block maximum allowed current IMAX。
S205, by the phase current I of current sample module samples permagnetic synchronous motoru、Iv、Iw。
S206, calculates Iu、Iv、IwMaximum I in three-phase actual current absolute valuemax。
Whether S207, controller judge calculating cycle timing time to time T, if arrived, execution step S208.
Wherein, the value of T can be 1 second, 2 seconds etc..
If it is appreciated that not timed out T of each calculating cycle timing time, controller 70 then according to given rotating speed and d,
Q axles initially give current control permagnetic synchronous motor.
S208, controller judge maximum I of three-phase actual current absolute valuemaxWhether change more than or equal to DC-AC
Module maximum allowed current value IMAX, if it is, execution step S209.
In an embodiment of the present invention, if maximum ImaxIt is less than DC-AC mold changing block maximum allowed current value
IMAX, controller 70 is then according to given rotating speed and the initially given current control permagnetic synchronous motor control of d, q axle.
S209, control given rotating speed reduce the second preset value.
Wherein, the second preset value can be 1Hz.
S210, initially gives electric current I according to q axlesqref0, d axles initially give electric current Idref0After the second preset value of reduction
Given rotating speed control DC-AC mold changing block, to realize the control to permagnetic synchronous motor.
S211, terminates.
In an embodiment of the present invention, double-closed-loop control process of the controller 70 to permagnetic synchronous motor M is understood for convenience,
Illustrate by taking rotational speed regulation as an example：
First, the rotor-position of permagnetic synchronous motor M is estimated, to obtain the rotor angle of permagnetic synchronous motor M
Estimated values thetaestWith spinner velocity estimate ωest。
Specifically, above-mentioned rotor angle estimated values theta can be obtained by flux observation methodestWith spinner velocity estimate
ωest.Specifically, can be according to the voltage V in two-phase rest frameα、VβWith electric current Iα、IβPermagnetic synchronous motor is calculated two
The estimate of useful flux on phase rest frame α, β direction of principal axis, specific formula for calculation such as following formula (2)：
Wherein,WithThe respectively estimate of permagnetic synchronous motor useful flux on α and β direction of principal axis, R are stator electricity
Resistance, LqFor the q axle magnetic linkages of motor.
Further, the rotor angle estimated values theta of permagnetic synchronous motor is calculated by equation below (3)estAnd spinner velocity
Estimate ωest：
Wherein, Kp_pllAnd Ki_pllRespectively proportional integral parameter, θerrFor misalignment angle estimate, ωfFor speed low pass filtered
The bandwidth of ripple device.
Specifically, as shown in figure 12, controller 70 includes speed ring control unit 71, weak magnetic control unit 72, amplitude limit list
Unit 73, coordinate transformation unit 74, current control unit 75 and PWM control units 76.
Wherein, speed ring control unit 71 first calculates the three-phase current I of permagnetic synchronous motor Mu、IvAnd IwAbsolute value in
Maximum Imax, and when each calculating cycle clocking internal time PWM carrier cycle T are reached, judge ImaxWhether it is more than or waits
In maximum current IMAX；And in ImaxMore than or equal to maximum current IMAXWhen, given rotor speed ω of control*Reduce second pre-
If value is (such as 1Hz), given rotor speed is obtainedAnd then according to given rotor speedSpinner velocity estimate
ωest, input ac voltage shape and phase estimation value θgeThe q axles for calculating permagnetic synchronous motor initially give electric current Iqref0。
Weak magnetic control unit 72 changes the mold the maximum output voltage V of block 40 according to DC-ACmaxBlock 40 is changed the mold with DC-AC
Output voltage amplitude V1The d axles for calculating permagnetic synchronous motor initially give electric current Idref0。
Specifically, the maximum output voltage V to inverter circuit (i.e. DC-AC mold changing block 40)maxIt is defeated with inverter circuit
Go out voltage magnitude V1Difference carry out weak magnetic control to obtain d axle initial current Id0；To d axle initial current Id0Processed to obtain
D axles initially give electric current Idref0。
Specifically, d axle initial current I can be calculated by following formula (4)d0：
Wherein, KiFor integral control coefficient,VdAnd VqRespectively permagnetic synchronous motor M
D axles virtual voltage and q axle virtual voltages, VdcFor the DC bus-bar voltage of permagnetic synchronous motor M.
Further, d axles are calculated by following formula (5) and initially gives electric current Idref0：
Wherein, IdemagFor permagnetic synchronous motor M demagnetization current limits values.
Further, clipping unit 73 initially gives electric current I to q axlesqref0With given electric current I at the beginning of d axlesdref0Carry out amplitude limit
Process, to obtain the given electric current I of q axlesqrefElectric current I given with d axlesdref。
Coordinate transformation unit 74 calculates α shaft currents I by equation below (6)αWith β shaft currents Iβ, by equation below (7)
Calculate d axle actual currents, q axle actual currents：
Wherein, Iu、IvAnd IwIt is the three-phase current of permagnetic synchronous motor respectively.
Further, current control unit 75 is according to the given electric current I of q axlesqref, the given electric current I of d axlesdref, q axle actual currents
IqWith d axle actual current IdObtain the given voltage V of q axles of permagnetic synchronous motorqrefVoltage V given with d axlesdref, and according to q axles
Given voltage Vqref, the given voltage V of d axlesdref, rotor angle estimated values thetaestControl signal is generated, and it is logical according to control signal
Cross inverter circuit to be controlled permagnetic synchronous motor M.
Specifically, the given voltage V of q axles can be calculated by following formula (8)qrefVoltage V given with d axlesdref：
Wherein, KpdAnd KidRespectively d shaft currents control proportional gain and storage gain, KpqAnd KiqRespectively q shaft currents control
Proportional gain processed and storage gain, rotating speeds of the ω for motor, KeFor the back emf coefficient of motor, LdAnd LqRespectively d axle inductances and
Q axle inductances,Represent x (τ) integrations in time.
Getting the given voltage V of q axlesqrefVoltage V given with d axlesdrefAfterwards, coordinate transformation unit 74 can be according to rotor angle
Degree estimated values thetaestVoltage V given to q axlesqrefVoltage V given with d axlesdrefPark inverse transformations are carried out, two-phase rest frame is obtained
On voltage Vα、Vβ, concrete transformation for mula is as follows：
Further, to the voltage V in two-phase rest frameα、VβClark inverse transformations are carried out, three-phase voltage command is obtained
Vu、Vv、Vw, concrete transformation for mula is as follows：
PWM control units 76 can be according to DC bus-bar voltage VdcWith three-phase voltage command Vu、Vv、VwThree-phase dutycycle is calculated,
Obtain duty cycle control signal, i.e. three-phase dutycycle Du、Dv、Dw, specific formula for calculation is as follows：
Finally, controller 70 is according to three-phase dutycycle Du、Dv、DwThe switching tube of inverter circuit is controlled, it is right to realize
The control of permagnetic synchronous motor.Thus, the given electric current of junction temperature reasonable adjusting q axles and d axles for changing the mold block by DC-AC is given
Electric current so that the input current waveform of permagnetic synchronous motor disclosure satisfy that harmonic requirement, it is ensured that the stability of speed governing.
To sum up, the control device of the permagnetic synchronous motor of the embodiment of the present invention, detects orthogonal stream by temperature detecting module
The temperature of the radiator of modular converter, gathers the phase current of permagnetic synchronous motor by current acquisition module, and passes through controller
The maximum current of the output that DC-AC mold changing block is allowed is obtained according to the temperature of radiator, and then according to permagnetic synchronous motor
The maximum current of the output that phase current, DC-AC mold changing block are allowed controls DC-AC and changes the mold block, to realize to permanent-magnet synchronous
The control of motor, so as to ensure the reliability of speed governing, and improves to DC-AC mold changing block fan-out capability
Utilization rate.
Based on above-described embodiment, the invention allows for a kind of air-conditioner, which includes the control of above-mentioned permagnetic synchronous motor
Device processed.
The air-conditioner of the embodiment of the present invention, is detected by the temperature detecting module of the control device of above-mentioned permagnetic synchronous motor
DC-AC changes the mold the temperature of module radiator, gathers the phase current of permagnetic synchronous motor by current acquisition module, and by control
Device processed obtains the maximum current of the output that DC-AC mold changing block is allowed according to the temperature of radiator, and then according to permanent magnet synchronous electric
The maximum current of the output that the phase current of machine, DC-AC mold changing block are allowed controls DC-AC and changes the mold block, to realize to permanent magnetism
The control of synchronous motor, so as to ensure the reliability of speed governing, and improves to DC-AC mold changing block output energy
The utilization rate of power.
In addition, other of air-conditioner according to embodiments of the present invention are constituted and are acted on for the ordinary skill people of this area
All it is known for member, in order to reduce redundancy, does not repeat herein.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicates or imply that the device or element of indication must
With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or it is integral；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clearly restriction.For one of ordinary skill in the art
For, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with
It is the first and second feature directly contacts, or the first and second features is by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
Example ", or the description of " some examples " etc. mean specific features with reference to the embodiment or example description, structure, material or spy
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments or example described in this specification and different embodiments or example can be tied by art personnel
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (14)
1. a kind of control device of permagnetic synchronous motor, it is characterised in that include：
AC-DC conversion module, PFC boost module, DC link section and DC-AC mold changing block, wherein, the AC-DC conversion mould
The input of block is connected with AC power, the output end of the AC-DC conversion module by the PFC boost module with it is described
The capacitor of DC link section is connected in parallel, and exports DC voltage, and the input input of the DC-AC mold changing block is described straight
Stream voltage, the output end of the DC-AC mold changing block are connected with permagnetic synchronous motor；
Current sample module, for gathering the phase current of the permagnetic synchronous motor；
Temperature detecting module, the temperature detecting module are inlaid on the radiator of the DC-AC mold changing block, the temperature
Detection module is used for the temperature for detecting the radiator；
Controller, the controller respectively with the temperature detecting module, the current sample module, the DC link section and institute
State DC-AC mold changing block to be connected, the controller allows output for the DC-AC mold changing block according to the temperature computation
Maximum current, and the DC-AC controlled according to the maximum current and the phase current change the mold block, with by described straight
Exchange modular converter controls the permagnetic synchronous motor.
2. the control device of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the current sample module bag
Include：
First sampling resistor and the second sampling resistor, first sampling resistor and it is described second sampling tube resistor respectively with it is described
Two lower bridge arms of DC-AC mold changing block are connected in series, and first sampling resistor and second sampling resistor are at each
The corresponding biphase current I of the permagnetic synchronous motor is gathered respectively in PWM carrier cycles Tu、Iv；
Wherein, the controller is for according to the biphase current Iu、IvCalculate third phase electric current Iw。
3. the control device of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the current sample module bag
Include：
3rd sampling resistor, the negative input end that one end of the 3rd sampling resistor changes the mold block with the DC-AC are connected, institute
State the other end ground connection of the 3rd sampling resistor, the 3rd sampling resistor in each PWM carrier cycle T described in acquisition time forever
The three-phase current I of magnetic-synchro motoru、Iv、Iw。
4. the control device of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the current sample module bag
Include：
Separate current sensor, the output end that the separate current sensor changes the mold block with the DC-AC are connected, the electricity
Stream isolation sensor gathers the three-phase current I of the permagnetic synchronous motor in each PWM carrier cycle Tu、Iv、Iw。
5. the control device of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the boost module includes：
Electric capacity；
First inductance, one end of first inductance are connected with one end of the electric capacity, and form first node；
First diode, the anode of first diode are connected with the other end of first inductance, first diode
Negative electrode be connected with the other end of the electric capacity, and form Section Point；
Wherein, the first node is connected with the positive output end of the AC-DC conversion module, and the Section Point is straight with described
The positive input terminal of exchange modular converter is connected.
6. the control device of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the boost module includes：
Second inductance, one end of second inductance are connected with the positive output end of the AC-DC conversion module；
Second diode, the anode of second diode are connected with the other end of second inductance, second diode
Negative electrode and the DC-AC change the mold the positive input terminal of block and be connected；
The switching tube being connected in parallel and the 3rd diode, the anode of the 3rd diode are connect with the source electrode of the switching tube
Ground, the negative electrode of the 3rd diode are connected with the anode of second diode with the drain electrode of the switching tube.
7. the control device of the permagnetic synchronous motor as any one of claim 2-4, it is characterised in that the controller
According to temperature T0Calculating the DC-AC mold changing block allows the maximum current I of outputMAXWhen, the control implement body is used
In：
Junction temperature T that the DC-AC changes the mold block is calculated by equation belowj：
Tj=T0+ 2.5 DEG C,
Wherein, T0For the temperature of the radiator, TjThe junction temperature of block is changed the mold for the DC-AC；And
Junction temperature T of block is changed the mold according to the DC-ACjThe DC-AC mold changing block is calculated with predetermined current-temperature relation to permit
Perhaps the maximum current I for exportingMAX。
8. the control device of permagnetic synchronous motor as claimed in claim 7, it is characterised in that the controller is additionally operable to：
Calculate the three-phase current Iu、IvAnd IwAbsolute value in maximum Imax, and the PWM carrier waves are reached in timing time
During cycle T, I is judgedmaxWhether the maximum current I is more than or equal toMAX。
9. the control device of permagnetic synchronous motor as claimed in claim 8, it is characterised in that the controller is used for：In Imax
More than or equal to the maximum current IMAXWhen, control the d axles of permagnetic synchronous motor, the resultant current threshold limit value of q axles and subtract
Little first preset value, in ImaxLess than the maximum current IMAXWhen, control the d axles, the resultant current threshold limit value of the q axles
Increase by first preset value；
Whether the resultant current threshold limit value of the d axles, the q axles after judging to increase or reduce is beyond preset range
[Idqmin, Idqmax]；And
The resultant current threshold limit value of d axles, the q axles after increase or reduction beyond the preset range [Idqmin,
Idqmax] when, control the d axles, the resultant current threshold limit value of the q axles and take boundary value Idqmax or Idqmin.
10. the control device of permagnetic synchronous motor as claimed in claim 9, it is characterised in that the controller specifically for：
The given electric current I of q axles is obtained according to the resultant current threshold limit value of the d axles, the q axlesqrefElectric current I given with d axlesdref,
And according to the given electric current I of the q axlesqref, the given electric current I of the d axlesdrefThe DC-AC mold changing block is controlled, with by described
DC-AC mold changing block controls the permagnetic synchronous motor, wherein,The preset range [Idqmin,
Idqmax] in.
The control device of 11. permagnetic synchronous motors as claimed in claim 8, it is characterised in that the controller is additionally operable to：
In ImaxMore than or equal to the maximum current IMAXWhen, the given rotating speed reduction by second for controlling the permagnetic synchronous motor is pre-
If value.
The control device of 12. permagnetic synchronous motors as claimed in claim 11, it is characterised in that the control implement body is used
In：
The DC-AC is controlled according to the given rotating speed reduced after second preset value and changes the mold block, with by the orthogonal stream
Modular converter controls the permagnetic synchronous motor.
The control device of 13. permagnetic synchronous motors as claimed in claim 12, it is characterised in that second preset value is
1Hz。
14. a kind of air-conditioners, it is characterised in that include the control of the permagnetic synchronous motor as any one of claim 1-13
Device processed.
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| CN201611103994.5A CN106533283B (en) | 2016-12-05 | 2016-12-05 | The control device and air conditioner of permanent magnet synchronous motor |
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| CN107070364A (en) * | 2017-03-31 | 2017-08-18 | 广东美的制冷设备有限公司 | Air conditioner, motor driver and its anti-cross heat control method and device |
| CN111817628A (en) * | 2020-06-03 | 2020-10-23 | 中国船舶重工集团公司第七0七研究所 | Full-digital permanent magnet synchronous motor control device and method of extremely-low-rotation-speed rotating system |
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| CN112204875A (en) * | 2018-05-30 | 2021-01-08 | 三菱电机株式会社 | Permanent magnet synchronous motor and ventilation blower |
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