CN106533305A - Permanent magnet synchronous motor system and field-weakening control method and device thereof - Google Patents
Permanent magnet synchronous motor system and field-weakening control method and device thereof Download PDFInfo
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- CN106533305A CN106533305A CN201611220400.9A CN201611220400A CN106533305A CN 106533305 A CN106533305 A CN 106533305A CN 201611220400 A CN201611220400 A CN 201611220400A CN 106533305 A CN106533305 A CN 106533305A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The invention discloses a permanent magnet synchronous motor system and a field-weakening control method and device thereof. The method comprises the following steps of obtaining D-axis output voltage ud and Q-axis output voltage uq under a rotating coordinate system of the permanent magnet synchronous motor system; obtaining DC bus voltage of the permanent magnet synchronous motor system and obtaining a Q-axis voltage limit threshold according to the D-axis output voltage ud, the Q-axis output voltage uq and the DC bus voltage; and generating field-weakening current according to the Q-axis output voltage uq and the Q-axis voltage limit threshold and superimposing the field-weakening current to a D-axis current closed loop of the permanent magnet synchronous motor system to carry out field-weakening control on a permanent magnet synchronous motor. Therefore, closed-loop feedback field-weakening control is carried out by adopting a Q-axis voltage error, complete tracking of D-axis current is kept, the condition that the D-axis current is unstable under the conditions of periodic fluctuation characteristics of input AC voltage and load fluctuation can be avoided and the field-weakening control performance is improved.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of weak magnetic controlling party of permagnetic synchronous motor system
Method, a kind of weak magnetic control device of permagnetic synchronous motor system and a kind of permagnetic synchronous motor system.
Background technology
Permagnetic synchronous motor with its control performance it is good, power density is high, energy-conservation the features such as, obtain in all trades and professions
Extensively apply.Wherein, in many application scenarios, it is desirable to which permagnetic synchronous motor operates in high-frequency range, operate in then weak magnetic
Interval, such as based on the frequency-changeable compressor of permagnetic synchronous motor, blower fan based on permagnetic synchronous motor etc..
Field weakening control method in correlation technique is adopted mostly and carries out weak magnetoelectricity stream tune to output voltage amplitude closed loop feedback
Section.But its problem for existing is to limit D shaft voltages, cause weak magnetoelectricity stream (D shaft currents) to track bad, affects weak magnetic control
Performance.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this purpose, the present invention
One purpose is to propose a kind of field weakening control method of permagnetic synchronous motor system, can keep the perfect tracking of D shaft currents,
Improve weak magnetic control performance.
Further object is that proposing a kind of weak magnetic control device of permagnetic synchronous motor system.The present invention's
Another purpose is to propose a kind of permagnetic synchronous motor system.
For reaching above-mentioned purpose, a kind of weak magnetic control of permagnetic synchronous motor system that one aspect of the present invention embodiment is proposed
Method, comprises the following steps：Obtain the D axle output voltage u under the rotating coordinate system of the permagnetic synchronous motor systemdWith Q axles
Output voltage uq；The DC bus-bar voltage of the permagnetic synchronous motor system is obtained, and according to the D axles output voltage ud, it is described
Q axle output voltage uqQ shaft voltage threshold limits are obtained with the DC bus-bar voltage；According to the Q axles output voltage uqWith it is described
Q shaft voltages threshold limit generates weak magnetoelectricity stream, and the weak magnetoelectricity stream is superimposed to the D axles electricity of the permagnetic synchronous motor system
Stream closed loop, to carry out weak magnetic control to permagnetic synchronous motor.
The field weakening control method of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first obtains permanent magnet synchronous electric
D axle output voltage u under the rotating coordinate system of machine systemdWith Q axle output voltage uq, and obtain the direct current of permagnetic synchronous motor system
Busbar voltage, and according to D axle output voltage ud, Q axle output voltage uqAnd DC bus-bar voltage, and then according to Q axle output voltage uq
Weak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and the D shaft currents that weak magnetoelectricity stream is superimposed to permagnetic synchronous motor system are closed
Ring, to carry out weak magnetic control to permagnetic synchronous motor.Thus, the method for the embodiment of the present invention is closed using Q shaft voltage errors
The weak magnetic control of ring feedback, keeps the perfect tracking of D shaft currents, can avoid D shaft currents in the input ac voltage cycle itself
It is unstable in the case of wave characteristic and the fluctuation of load, improve weak magnetic control performance.
According to one embodiment of present invention, it is described according to the D axles output voltage ud, the Q axles output voltage uqAnd institute
State DC bus-bar voltage and obtain Q shaft voltage threshold limits, including：Corresponding voltage is calculated according to the DC bus-bar voltage empty
Between；To the Q axles output voltage u in the voltage spaceqTranslated, and the Q axles output voltage u after translationq
Or Q axle output voltage uqExtended line and the intersection point on the border of the voltage space obtain the Q shaft voltages threshold limit.
According to one embodiment of present invention, it is described according to the Q axles output voltage uqWith the Q shaft voltages threshold limit
Weak magnetoelectricity stream is generated, including：The Q shaft voltages threshold limit is obtained with the Q axles output voltage uqAmplitude between voltage
Difference；The weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling models.
According to one embodiment of present invention, according to the Q axles output voltage uqGive birth to the Q shaft voltages threshold limit
Into after weak magnetoelectricity stream, methods described also includes：The weak magnetoelectricity stream is limited according to default amplitude limit model so that it is described forever
Magnetic-synchro electric system according to amplitude limit after the weak magnetoelectricity stream carry out weak magnetic control.
According to one embodiment of present invention, weak magnetic control bandwidth is less than the D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the alternating current power supply of the permagnetic synchronous motor system.
For reaching above-mentioned purpose, a kind of weak magnetic control of permagnetic synchronous motor system that another aspect of the present invention embodiment is proposed
Device processed, including：First acquisition module, for obtaining the D axles output under the rotating coordinate system of the permagnetic synchronous motor system
Voltage udWith Q axle output voltage uq；Second acquisition module, for obtaining the DC bus-bar voltage of the permagnetic synchronous motor system；
Weak magnetic control module, for according to the D axles output voltage ud, the Q axles output voltage uqObtain with the DC bus-bar voltage
Q shaft voltage threshold limits, and according to the Q axles output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, and will
The weak magnetoelectricity stream is superimposed to the D shaft current closed loops of the permagnetic synchronous motor system, to carry out weak magnetic to permagnetic synchronous motor
Control.
The weak magnetic control device of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first passes through the first acquisition mould
Block obtains the D axle output voltage u under the rotating coordinate system of permagnetic synchronous motor systemdWith Q axle output voltage uq, and pass through second
Acquisition module obtains the DC bus-bar voltage of permagnetic synchronous motor system, and then weak magnetic control module is according to D axle output voltage ud、
Q axle output voltage uqQ shaft voltage threshold limits are obtained with DC bus-bar voltage, and according to Q axle output voltage uqLimit with Q shaft voltages
Threshold value generation weak magnetoelectricity stream processed, and weak magnetoelectricity stream is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, with same to permanent magnetism
Step motor carries out weak magnetic control.Thus, the device of the embodiment of the present invention carries out the weak magnetic control of closed loop feedback using Q shaft voltages error
System, keeps the perfect tracking of D shaft currents, can avoid D shaft currents in input ac voltage cyclic swing characteristic itself and load
It is unstable in the case of fluctuation, improve weak magnetic control performance.
According to one embodiment of present invention, the weak magnetic control module is used for, and is calculated according to the DC bus-bar voltage
Corresponding voltage space, and to the Q axles output voltage u in the voltage spaceqTranslated, and the institute after translation
State Q axle output voltage uqOr Q axle output voltage uqExtended line and the intersection point on the border of the voltage space obtain Q axles electricity
Pressure threshold limit.
According to one embodiment of present invention, the weak magnetic control module is further used for, and obtains the Q shaft voltages and limits
Threshold value and the Q axles output voltage uqAmplitude between voltage difference, and according to the voltage difference and default PI control mould
Type generates the weak magnetoelectricity stream.
According to one embodiment of present invention, according to the Q axles output voltage uqGive birth to the Q shaft voltages threshold limit
Into after weak magnetoelectricity stream, the weak magnetic control module is limited to the weak magnetoelectricity stream always according to default amplitude limit model, so that institute
The weak magnetoelectricity stream after permagnetic synchronous motor system is stated according to amplitude limit carries out weak magnetic control.
According to one embodiment of present invention, weak magnetic control bandwidth is less than the D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the alternating current power supply of the permagnetic synchronous motor system.
For reaching above-mentioned purpose, a kind of permagnetic synchronous motor system that another aspect of the invention embodiment is proposed, including institute
The weak magnetic control device of the permagnetic synchronous motor system stated.
The permagnetic synchronous motor system for proposing according to embodiments of the present invention, by above-mentioned weak magnetic control device, using Q axles
Voltage error carries out the weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft currents, and D shaft currents can be avoided to hand in input
It is unstable in the case of stream voltage cyclic swing characteristic itself and the fluctuation of load, improve weak magnetic control performance.
Description of the drawings
Fig. 1 is the flow chart of the field weakening control method of permagnetic synchronous motor system according to embodiments of the present invention；
Fig. 2 is the topological schematic diagram of the control circuit of permagnetic synchronous motor according to an embodiment of the invention；
Fig. 3 is the relation schematic diagram of rotating coordinate system according to an embodiment of the invention and rest frame；
Fig. 4 is the schematic diagram of space voltage modulation according to an embodiment of the invention；
Fig. 5 is the schematic diagram of space voltage modulation in accordance with another embodiment of the present invention；
Fig. 6 is the control block diagram of the field weakening control method of permagnetic synchronous motor system according to an embodiment of the invention；
Fig. 7 is the vector controlled block diagram of permagnetic synchronous motor system according to an embodiment of the invention, and wherein, permanent magnetism is same
Step motor is durface mounted permanent magnet synchronous motor；
Fig. 8 is the vector controlled block diagram of permagnetic synchronous motor system according to an embodiment of the invention, and wherein, permanent magnetism is same
Step motor is IPM synchronous motor；And
Fig. 9 is the block diagram of the weak magnetic control device of permagnetic synchronous motor system according to embodiments of the present 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 it is same to describe the field weakening control method of the permagnetic synchronous motor system of the embodiment of the present invention, permanent magnetism
The weak magnetic control device of step electric system and permagnetic synchronous motor system.
Fig. 1 is the flow chart of the field weakening control method of permagnetic synchronous motor system according to embodiments of the present invention.Such as Fig. 1 institutes
Show, the method is comprised the following steps：
S1：Obtain the D axle output voltage u under the rotating coordinate system of permagnetic synchronous motor systemdWith Q axle output voltage uq。
According to one embodiment of present invention, as shown in Fig. 2 permagnetic synchronous motor system may include control chip, driving
Unit, electrochemical capacitor and permagnetic synchronous motor.Wherein, electrochemical capacitor is connected in parallel on the input of driver element, driver element it is defeated
Go out end to be connected with permagnetic synchronous motor, driver element is used for driving permagnetic synchronous motor；Control chip is used for by current detecting
Unit detects the phase current of permagnetic synchronous motor, and according to the phase current output drive signal of permagnetic synchronous motor to driving list
Unit, to control the operation of permagnetic synchronous motor by driver element.A specific example of the invention, current detecting unit
May include three (or two) current sensors.Driver element can be made up of 6 IGBT three-phase bridge drive circuit,
Or the three-phase bridge drive circuit that is made up of 6 MOSFET or adopt intelligent power module, while each IGBT or
MOSFET has corresponding anti-paralleled diode.
Wherein, as shown in figure 3, can have d axles (d-axis) and q axles (quadrature axis) under rotating coordinate system, the D axles output on d axles
Voltage udWith the Q axle output voltage u on q axlesqDesired output voltage vector can be synthesizedIn addition, according to permagnetic synchronous motor
Rotor estimation angle, θeTo D axle output voltage udWith Q axle output voltage uqInverse park Coordinate Conversion is carried out to obtain static coordinate
α axle output voltage u under systemαWith β axle output voltage uβ, under rest frame, can have α axles and β axles, α axle output voltage uαWith β axles
Output voltage uβDesired output voltage vector can also be synthesizedSpecifically, according to output voltage u under rotating coordinate systemd/uqOr
Output voltage u under person's rest frameα/uβCalculate desired output voltageAmplitude usFor,
S2：The DC bus-bar voltage of permagnetic synchronous motor system is obtained, and according to D axle output voltage ud, Q axle output voltages
uqQ shaft voltage threshold limits are obtained with DC bus-bar voltage.
S3：According to Q axle output voltage uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and weak magnetoelectricity stream is superimposed to
The D shaft current closed loops of permagnetic synchronous motor system, to carry out weak magnetic control to permagnetic synchronous motor.
That is, can be according to D axle output voltage ud, Q axle output voltage uqWith DC bus-bar voltage udcCalculate Q shaft voltages
Threshold limit Q shaft voltage threshold limit uq lim, then according to Q axle output voltage uqWith Q shaft voltage threshold limit uq limCarry out weak
Magnetic control.
A specific embodiment of the invention, according to the Q axles output voltage uqGenerate with Q shaft voltages threshold limit
Weak magnetoelectricity stream, including：Obtain Q shaft voltages threshold limit and Q axle output voltage uqAmplitude between voltage difference；According to voltage
Difference and default PI Controlling models generate weak magnetoelectricity stream.
It should be noted that the scale parameter in default PI Controlling models can be zero, now presetting PI Controlling models is only
Integral model, can be integrated control to voltage difference；Scale parameter in default PI Controlling models can also be not zero, now in advance
If PI Controlling models are proportional, integral model, proportional, integral control can be carried out to voltage difference.
That is, as shown in fig. 6, can be according to D axle output voltage ud, Q axle output voltage uqWith DC bus-bar voltage udc
Calculate Q shaft voltage threshold limit uq lim, then by Q shaft voltage threshold limit uqlimDeduct Q shaft voltage uqTo obtain weak magnetic control
Voltage difference Δ u, i.e. Δ u=uq lim-uq, and voltage difference Δ u is carried out pure integration control or proportional, integral control with
Adjust weak magnetoelectricity stream.
Further, according to one embodiment of present invention, according to Q axle output voltage uqWith Q shaft voltage threshold limits
After generating weak magnetoelectricity stream, method also includes：Weak magnetoelectricity stream is limited according to default amplitude limit model, so that permagnetic synchronous motor
System carries out weak magnetic control according to the weak magnetoelectricity stream after amplitude limit.
That is, the weak magnetoelectricity stream of the default PI Controlling models outputs of Jing, it is amplitude limit ring that can pass through default amplitude limit model again
The amplitude limit of section is obtaining weak magnetoelectricity stream i after amplitude limitfwc, and then according to weak magnetoelectricity stream i after amplitude limitfwcCarry out weak magnetic to control for example
By weak magnetoelectricity stream i after amplitude limitfwcIt is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, wherein, the upper limit of amplitude limit link
Can be zero, amplitude limit link lower limit can for d shaft currents minima id_min。
In one particular embodiment of the present invention, according to D axle output voltage ud, Q axle output voltage uqWith dc bus electricity
Pressure obtains Q shaft voltage threshold limits, including：According to DC bus-bar voltage udcCalculate corresponding voltage space；In voltage space
To Q axle output voltage uqTranslated, and the Q axle output voltage u after translationqOr Q axle output voltage uqExtended line with electricity
The intersection point on the border in pressure space obtains Q shaft voltage threshold limits.
Specifically, can be according to DC bus-bar voltage udcVoltage space can be calculated, and keeps D axle output voltage udAt this
It is constant in voltage space, by Q axle output voltage uqMove in parallel with respect to Q axles, and according to the Q axle output voltage u after movementqOr Q axles
Output voltage uqThe intersection point on border of extended line and voltage space obtain Q shaft voltage threshold limit uq lim。
Specifically, for 2/3 times of DC bus-bar voltage can beVoltage space is constructed for basic voltage vectors, such as
Shown in Fig. 4 and Fig. 5, regular hexagon border and its interior zone are voltage space, by Q axle output voltage uqWith respect to the parallel shifting of Q axles
Move to be moved to D axle output voltage udTerminal, and according to the Q axle output voltage u after movementqOr Q axle output voltage uqProlongation
Line obtains Q shaft voltage threshold limit u with the intersection point on the border of voltage spaceq lim.Wherein, according to D axle output voltage udOn q axles
Q axle output voltage uqDesired output voltage vector can be synthesized
Specifically, as shown in Figure 4, if it is desired to output voltageIn voltage space, then Q axles output voltage uqProlong
Long line is intersected with voltage space border (regular hexagon), output voltage threshold limit ulimCan be Q axle output voltage uqExtended line with
The vector magnitude of voltage space border (regular hexagon) intersection point.
As shown in Figure 5, if it is desired to output voltageOutside voltage space, then Q axles output voltage uqWith voltage space side
Boundary's (regular hexagon) intersects, output voltage threshold limit ulimCan be Q axle output voltage uqWith voltage space border (regular hexagon)
The vector magnitude of intersection point.
It is described in detail with reference to the weak magnetic control flow of Fig. 6-8 pair of permagnetic synchronous motor system, in the present embodiment
In, it is described by taking the ensorless control of permagnetic synchronous motor as an example, and permagnetic synchronous motor has sensor vector
Control and the present embodiment indistinction, repeat no more.
In the vector controlled of permagnetic synchronous motor, velocity correction unit is according to given rotating speedWith to estimate rotating speedEnter
Row velocity correction for example carries out proportional, integral and adjusts to obtain given torque
In durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtCalculate given torque current
(giving Q shaft currents)Given direct-axis current (giving D shaft currents)By weak magnetoelectricity stream ifwcDetermine for exampleIncluding
In embedded permagnetic synchronous motor, torque controlling unit is according to given torqueTorque current COEFFICIENT KtAnd weak magnetoelectricity stream ifwcJing
Cross torque capacity current control (MTPA) and be calculated given quadrature axis current (given Q shaft currents)It is (given with given direct-axis current
D shaft currents)
Current correction unit is according to given D shaft currentsWith given Q shaft currentsRespectively to d-axis feedback current idAnd quadrature axis
Feedback current iqCarry out current correction to obtain direct-axis voltage udWith quadrature-axis voltage uq.Then, inverse park coordinate transformation units according to
Estimate angleTo direct-axis voltage udWith quadrature-axis voltage uqInverse park Coordinate Conversion is carried out to obtain α shaft voltage uαWith β shaft voltage uβ。
And then space vector modulation unit is again to α shaft voltage uαWith β shaft voltage uβCarry out SVM (Space Vetor Modulation, sky
Between Vector Modulation) modulation to be generating PWM drive signal；Driver element drives permagnetic synchronous motor according to PWM drive signal.
The three-phase current of permagnetic synchronous motor is gathered by current detecting unit, clarke coordinate transformation units are to three-phase electricity
Stream carries out clarke Coordinate Conversion to obtain biphase current iα/iβ；Park coordinate transformation units are according to estimation angleTo biphase electricity
Stream iα/iβCarry out park Coordinate Conversion to obtain d-axis (D axles) feedback current idWith quadrature axis (Q axles) feedback current iq.Location estimation
Unit such as speed flux observer is according to output voltage uα/uβWith biphase current iα/iβAnd the parameter of electric machine (electric motor resistance Rs、
D-axis inductance LdWith quadrature axis inductance Lq) by estimate without sensor algorithm for estimating rotor position and speed obtaining estimation rotating speedWith estimation electrical angle
In addition, according to one embodiment of present invention, weak magnetic control bandwidth is less than D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the alternating current power supply of permagnetic synchronous motor system.Specifically, default PI controls can be arranged according to weak magnetic control bandwidth
The ratio control parameter and integration control parameter of simulation.
In the control of above-mentioned weak magnetic, by taking the embodiment of Fig. 7 as an example, weak magnetoelectricity stream ifwcIt is superimposed to D shaft current closed loops, D axles electricity
Stream closed loop is according to weak magnetoelectricity stream ifwcTo D axle feedback circuit idBe adjusted, so as to realize weak magnetic control, while speed closed loop according to
So according to given rotating speedWith to estimate rotating speedCarry out velocity correction to obtain given torqueAccording to given torqueWith turn
Square current coefficient KtCalculate given Q shaft currentsQ shaft current closed loops are still according to given Q shaft currentsTo quadrature axis feedback current
iqIt is adjusted.
Based on this, weak magnetic control loop can just Q shaft voltages threshold limit uqlimDeduct Q shaft voltage uqThe voltage difference for obtaining
Value Δ u is input into by the input of weak magnetic PI controller, presets PI Controlling models output weak magnetic through weak magnetic PI controller
Electric current ifwc；Weak magnetoelectricity stream ifwcD shaft current closed loops are superimposed to, it is anti-to D axles through the D shaft currents Controlling model of D shaft current closed loops
Current feed circuit idIt is adjusted.Wherein, the bandwidth of weak magnetic control loop is that weak magnetic control bandwidth meets, less than D shaft current closed loops
2 times of bandwidth and the frequency more than the alternating current power supply being input into permagnetic synchronous motor system.Thus, default PI Controlling models are set
Ratio control parameter and integration control parameter, to meet the bandwidth of weak magnetic control loop less than direct-axis current closed-loop bandwidth and height
In input power frequency * 2, so as to, it is ensured that weak magnetic control can make sufficiently fast response to DC bus-bar voltage fluctuation.
To sum up, the field weakening control method of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first obtains permanent magnetism
D axle output voltage u under the rotating coordinate system of synchronous motor systemdWith Q axle output voltage uq, and obtain permagnetic synchronous motor system
DC bus-bar voltage, and according to D axle output voltage ud, Q axle output voltage uqAnd DC bus-bar voltage, and then exported according to Q axles
Voltage uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and weak magnetoelectricity stream is superimposed to the D axles electricity of permagnetic synchronous motor system
Stream closed loop, to carry out weak magnetic control to permagnetic synchronous motor.Thus, the method for the embodiment of the present invention is entered using Q shaft voltage errors
The weak magnetic control of row closed loop feedback, keeps the perfect tracking of D shaft currents, can avoid D shaft currents in input ac voltage itself
It is unstable in the case of cyclic swing characteristic and the fluctuation of load, while busbar voltage is made full use of using dynamic over-modulation mode,
Improve weak magnetic control performance.
Fig. 9 is the block diagram of the weak magnetic control device of permagnetic synchronous motor system according to embodiments of the present invention.Root
According to one embodiment of the present of invention, as shown in Fig. 2 permagnetic synchronous motor system may include control chip 1, driver element 2, electrolysis
Electric capacity EC and permagnetic synchronous motor 3.Wherein, electrochemical capacitor EC is connected in parallel on the input of driver element 2, the output of driver element 2
End is connected with permagnetic synchronous motor 3, and driver element 2 is used for driving permagnetic synchronous motor 3；Control chip 1 is used for examining by electric current
The phase current that unit 4 detects permagnetic synchronous motor 3 is surveyed, and is extremely driven according to the phase current output drive signal of permagnetic synchronous motor 3
Moving cell 2, to control the operation of permagnetic synchronous motor 3 by driver element 2.A specific example of the invention, electric current
Detector unit 4 may include three (or two) current sensors.Driver element 2 can be the three-phase bridge being made up of 6 IGBT
Formula drive circuit or the three-phase bridge drive circuit being made up of 6 MOSFET or intelligent power module is adopted, while
Each IGBT or MOSFET have corresponding anti-paralleled diode.
Wherein, as shown in figure 3, can have d axles (d-axis) and q axles (quadrature axis) under rotating coordinate system, the D axles output on d axles
Voltage udWith the Q axle output voltage u on q axlesqDesired output voltage vector can be synthesizedIn addition, according to permagnetic synchronous motor
Rotor estimation angle, θeTo D axle output voltage udWith Q axle output voltage uqInverse park Coordinate Conversion is carried out to obtain static coordinate
α axle output voltage u under systemαWith β axle output voltage uβ, under rest frame, can have α axles and β axles, α axle output voltage uαWith β axles
Output voltage uβDesired output voltage vector can also be synthesizedSpecifically, according to output voltage u under rotating coordinate systemd/uqOr
Output voltage u under rest frameα/uβCalculate desired output voltageAmplitude usFor,
As shown in figure 9, the weak magnetic control device 100 of the embodiment of the present invention includes：First acquisition module 10, second obtains mould
Block 20 and weak magnetic control module 30.
Wherein, the first acquisition module 10 is used for obtaining the D axles output electricity under the rotating coordinate system of permagnetic synchronous motor system
Pressure udWith Q axle output voltage uq；Second acquisition module 20 is used for obtaining the DC bus-bar voltage of permagnetic synchronous motor system；Weak magnetic
Control module 30 is for according to D axle output voltage ud, Q axle output voltage uqQ shaft voltages are obtained with DC bus-bar voltage and limits threshold
Value, and according to Q axle output voltage uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and it is same that weak magnetoelectricity stream is superimposed to permanent magnetism
The D shaft current closed loops of step electric system, to carry out weak magnetic control to permagnetic synchronous motor.
That is, weak magnetic control module 30 can be according to D axle output voltage ud, Q axle output voltage uqAnd DC bus-bar voltage
udcCalculate Q shaft voltage threshold limit Q shaft voltage threshold limit uq lim, then according to Q axle output voltage uqThreshold is limited with Q shaft voltages
Value uq limCarry out weak magnetic control.
A specific embodiment of the invention, weak magnetic control module 30 are further used for, and obtain Q shaft voltages and limit threshold
Value and Q axle output voltage uqAmplitude between voltage difference, and weak magnetic is generated according to voltage difference and default PI Controlling models
Electric current.
It should be noted that the scale parameter in default PI Controlling models can be zero, now presetting PI Controlling models is only
Integral model, can be integrated control to voltage difference；Scale parameter in default PI Controlling models can also be not zero, now in advance
If PI Controlling models are proportional, integral model, proportional, integral control can be carried out to voltage difference.
That is, as shown in fig. 6, weak magnetic control module 30 can be according to D axle output voltage ud, Q axle output voltage uqWith it is straight
Stream busbar voltage udcCalculate Q shaft voltage threshold limit uq lim, then by Q shaft voltage threshold limit uqlimDeduct Q shaft voltage uqWith
Obtain the voltage difference Δ u, i.e. Δ u=u of weak magnetic controlq lim-uq, and pure integration control or ratio are carried out to voltage difference Δ u
Example-integration control is adjusting weak magnetoelectricity stream.
Further, according to one embodiment of present invention, according to Q axle output voltage uqWith Q shaft voltage threshold limits
After generating weak magnetoelectricity stream, weak magnetic control module 30 is limited to weak magnetoelectricity stream always according to default amplitude limit model, so that permanent magnetism is same
Step electric system carries out weak magnetic control according to the weak magnetoelectricity stream after amplitude limit.
That is, the weak magnetoelectricity stream of the default PI Controlling models outputs of Jing, it is amplitude limit ring that can pass through default amplitude limit model again
The amplitude limit of section is obtaining weak magnetoelectricity stream i after amplitude limitfwc, and then according to weak magnetoelectricity stream i after amplitude limitfwcCarry out weak magnetic to control for example
By weak magnetoelectricity stream i after amplitude limitfwcIt is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, wherein, the upper limit of amplitude limit link
Can be zero, amplitude limit link lower limit can for d shaft currents minima id_min。
In one particular embodiment of the present invention, weak magnetic control module 30 is used for, and calculates right according to DC bus-bar voltage
The voltage space answered, and to Q axle output voltage u in voltage spaceqTranslated, and the Q axle output voltage u after translationq
Or Q axle output voltage uqThe intersection point on border of extended line and voltage space obtain Q shaft voltage threshold limits.
Specifically, weak magnetic control module 30 can be according to DC bus-bar voltage udcVoltage space can be calculated, and keeps D axles
Output voltage udIt is constant in the voltage space, by Q axle output voltage uqMove in parallel with respect to Q axles, and according to the Q axles after movement
Output voltage uqOr Q axle output voltage uqThe intersection point on border of extended line and voltage space obtain Q shaft voltage threshold limits
uq lim。
Specifically, for 2/3 times of DC bus-bar voltage can beVoltage space is constructed for basic voltage vectors, such as
Shown in Fig. 4 and Fig. 5, regular hexagon border and its interior zone are voltage space, by Q axle output voltage uqWith respect to the parallel shifting of Q axles
Move to be moved to D axle output voltage udTerminal, and according to the Q axle output voltage u after movementqOr Q axle output voltage uqProlongation
Line obtains Q shaft voltage threshold limit u with the intersection point on the border of voltage spaceq lim.Wherein, according to D axle output voltage udOn q axles
Q axle output voltage uqDesired output voltage vector can be synthesized
Specifically, as shown in Figure 4, if it is desired to output voltageIn voltage space, then Q axles output voltage uqProlong
Long line is intersected with voltage space border (regular hexagon), output voltage threshold limit ulimCan be Q axle output voltage uqExtended line with
The vector magnitude of voltage space border (regular hexagon) intersection point.
As shown in Figure 5, if it is desired to output voltageOutside voltage space, then Q axles output voltage uqWith voltage space
Border (regular hexagon) is intersected, output voltage threshold limit ulimCan be Q axle output voltage uqWith voltage space border (positive six side
Shape) intersection point vector magnitude.
It is described in detail with reference to the weak magnetic control flow of Fig. 6-8 pair of permagnetic synchronous motor system, in the present embodiment
In, it is described by taking the ensorless control of permagnetic synchronous motor as an example, and permagnetic synchronous motor has sensor vector
Control and the present embodiment indistinction, repeat no more.
In the vector controlled of permagnetic synchronous motor, velocity correction unit 101 is according to given rotating speedWith to estimate rotating speedCarrying out velocity correction for example carries out proportional, integral regulation to obtain given torque
In durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtCalculate given torque current
(giving Q shaft currents)Given direct-axis current (giving D shaft currents)By weak magnetoelectricity stream ifwcDetermine for exampleIncluding
In embedded permagnetic synchronous motor, torque controlling unit 102 is according to given torqueTorque current COEFFICIENT KtAnd weak magnetoelectricity stream
ifwcGiven quadrature axis current (given Q shaft currents) is calculated through torque capacity current control (MTPA)With given direct-axis current
(given D shaft currents)
Current correction unit 103 is according to given D shaft currentsWith given Q shaft currentsRespectively to d-axis feedback current idAnd friendship
Axle feedback current iqCarry out current correction to obtain direct-axis voltage udWith quadrature-axis voltage uq.Then, inverse park coordinate transformation units
104 according to estimation angleTo direct-axis voltage udWith quadrature-axis voltage uqInverse park Coordinate Conversion is carried out to obtain α shaft voltage uαWith β
Shaft voltage uβ.And then space vector modulation unit 105 is again to α shaft voltage uαWith β shaft voltage uβCarry out SVM (Space Vetor
Modulation, space vector modulation) modulate to generate PWM drive signal；Driver element 2 is driven forever according to PWM drive signal
Magnetic-synchro motor 3.
The three-phase current of permagnetic synchronous motor 3, clarke coordinate transformation units 106 pairs are gathered by current detecting unit 4
Three-phase current carries out clarke Coordinate Conversion to obtain biphase current iα/iβ；Park coordinate transformation units 107 are according to estimation angleTo biphase current iα/iβCarry out park Coordinate Conversion to obtain d-axis (D axles) feedback current idWith quadrature axis (Q axles) feedback current
iq.Such as speed flux observer of location estimation unit 108 is according to output voltage uα/uβWith biphase current iα/iβAnd motor ginseng
Number (electric motor resistance Rs, d-axis inductance LdWith quadrature axis inductance Lq) by the position without sensor algorithm for estimating estimation rotor and speed
Rotating speed is estimated to obtainWith estimation electrical angle
In addition, according to one embodiment of present invention, weak magnetic control bandwidth is less than D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the alternating current power supply of permagnetic synchronous motor system.Specifically, default PI controls can be arranged according to weak magnetic control bandwidth
The ratio control parameter and integration control parameter of simulation.
In the control of above-mentioned weak magnetic, by taking the embodiment of Fig. 7 as an example, weak magnetoelectricity stream ifwcIt is superimposed to D shaft current closed loops, D axles electricity
Stream closed loop is according to weak magnetoelectricity stream ifwcTo D axle feedback circuit idBe adjusted, so as to realize weak magnetic control, while speed closed loop according to
So according to given rotating speedWith to estimate rotating speedCarry out velocity correction to obtain given torqueAccording to given torqueWith turn
Square current coefficient KtCalculate given Q shaft currentsQ shaft current closed loops are still according to given Q shaft currentsTo quadrature axis feedback current
iqIt is adjusted.
Based on this, weak magnetic control loop can just Q shaft voltages threshold limit uqlimDeduct Q shaft voltage uqThe voltage difference for obtaining
Value Δ u is input into by the input of weak magnetic PI controller, presets PI Controlling models output weak magnetic through weak magnetic PI controller
Electric current ifwc；Weak magnetoelectricity stream ifwcD shaft current closed loops are superimposed to, it is anti-to D axles through the D shaft currents Controlling model of D shaft current closed loops
Current feed circuit idIt is adjusted.Wherein, the bandwidth of weak magnetic control loop is that weak magnetic control bandwidth meets, less than D shaft current closed loops
2 times of bandwidth and the frequency more than the alternating current power supply being input into permagnetic synchronous motor system.Thus, default PI Controlling models are set
Ratio control parameter and integration control parameter, to meet the bandwidth of weak magnetic control loop less than direct-axis current closed-loop bandwidth and height
In input power frequency * 2, so as to, it is ensured that weak magnetic control can make sufficiently fast response to DC bus-bar voltage fluctuation.
To sum up, the weak magnetic control device of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first passes through first
Acquisition module obtains the D axle output voltage u under the rotating coordinate system of permagnetic synchronous motor systemdWith Q axle output voltage uq, and lead to
The DC bus-bar voltage that the second acquisition module obtains permagnetic synchronous motor system is crossed, and then weak magnetic control module is exported according to D axles
Voltage ud, Q axle output voltage uqQ shaft voltage threshold limits are obtained with DC bus-bar voltage, and according to Q axle output voltage uqWith Q axles
Voltage threshold limit generation weak magnetoelectricity stream, and weak magnetoelectricity stream is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, with right
Permagnetic synchronous motor carries out weak magnetic control.Thus, the device of the embodiment of the present invention carries out closed loop feedback using Q shaft voltages error
Weak magnetic is controlled, and is kept the perfect tracking of D shaft currents, can be avoided D shaft currents in input ac voltage cyclic swing characteristic itself
It is unstable with the case of the fluctuation of load, while busbar voltage is made full use of using dynamic over-modulation mode, improve weak magnetic control
Performance.
Finally, the embodiment of the present invention also proposed a kind of permagnetic synchronous motor system, same including the permanent magnetism of above-described embodiment
The weak magnetic control device of step electric system.
The permagnetic synchronous motor system for proposing according to embodiments of the present invention, by above-mentioned weak magnetic control device, using Q axles
Voltage error carries out the weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft currents, and D shaft currents can be avoided to hand in input
It is unstable in the case of stream voltage cyclic swing characteristic itself and the fluctuation of load, while being made full use of using dynamic over-modulation mode
Busbar voltage, improves weak magnetic control performance.
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 of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " or position relationship 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 (11)
1. a kind of field weakening control method of permagnetic synchronous motor system, it is characterised in that comprise the following steps：
Obtain the D axle output voltage u under the rotating coordinate system of the permagnetic synchronous motor systemdWith Q axle output voltage uq；
The DC bus-bar voltage of the permagnetic synchronous motor system is obtained, and according to the D axles output voltage ud, Q axles output
Voltage uqQ shaft voltage threshold limits are obtained with the DC bus-bar voltage；
According to the Q axles output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, and the weak magnetoelectricity stream is folded
The D shaft current closed loops of the permagnetic synchronous motor system are added to, weak magnetic control is carried out to permagnetic synchronous motor.
2. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that described according to institute
State D axle output voltage ud, the Q axles output voltage uqQ shaft voltage threshold limits are obtained with the DC bus-bar voltage, including：
Corresponding voltage space is calculated according to the DC bus-bar voltage；
To the Q axles output voltage u in the voltage spaceqTranslated, and the Q axle output voltage u after translationqOr Q
Axle output voltage uqExtended line and the intersection point on the border of the voltage space obtain the Q shaft voltages threshold limit.
3. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that described according to institute
State Q axle output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, including：
The Q shaft voltages threshold limit is obtained with the Q axles output voltage uqAmplitude between voltage difference；
The weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling models.
4. the field weakening control method of the permagnetic synchronous motor system according to claim 1 or 3, it is characterised in that in basis
The Q axles output voltage uqGenerate after weak magnetoelectricity stream with the Q shaft voltages threshold limit, methods described also includes：According to default
Amplitude limit model is limited to the weak magnetoelectricity stream so that the permagnetic synchronous motor system according to amplitude limit after weak magnetic electricity
Stream carries out weak magnetic control.
5. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that weak magnetic controls band
The 2 of the wide frequency less than the D shaft currents closed-loop bandwidth and more than the alternating current power supply being input into the permagnetic synchronous motor system
Times.
6. a kind of weak magnetic control device of permagnetic synchronous motor system, it is characterised in that include：
First acquisition module, for obtaining the D axle output voltage u under the rotating coordinate system of the permagnetic synchronous motor systemdAnd Q
Axle output voltage uq；
Second acquisition module, for obtaining the DC bus-bar voltage of the permagnetic synchronous motor system；
Weak magnetic control module, for according to the D axles output voltage ud, the Q axles output voltage uqWith the DC bus-bar voltage
Q shaft voltage threshold limits are obtained, and according to the Q axles output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit,
And the weak magnetoelectricity stream is superimposed to the D shaft current closed loops of the permagnetic synchronous motor system, to carry out to permagnetic synchronous motor
Weak magnetic is controlled.
7. the weak magnetic control device of permagnetic synchronous motor system according to claim 6, it is characterised in that the weak magnetic control
Molding block is used for, and calculates corresponding voltage space according to the DC bus-bar voltage, and to the Q axles in the voltage space
Output voltage uqTranslated, and the Q axle output voltage u after translationqOr Q axle output voltage uqExtended line and the electricity
The intersection point on the border in pressure space obtains the Q shaft voltages threshold limit.
8. the weak magnetic control device of permagnetic synchronous motor system according to claim 6, it is characterised in that the weak magnetic control
Molding block is further used for, and obtains the Q shaft voltages threshold limit and the Q axles output voltage uqAmplitude between voltage difference
Value, and the weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling models.
9. the weak magnetic control device of the permagnetic synchronous motor system according to claim 6 or 8, it is characterised in that in basis
The Q axles output voltage uqGenerate after weak magnetoelectricity stream with the Q shaft voltages threshold limit, the weak magnetic control module is always according to pre-
Width model of limiting is limited to the weak magnetoelectricity stream so that the permagnetic synchronous motor system according to amplitude limit after the weak magnetic
Electric current carries out weak magnetic control.
10. the field weakening control method of permagnetic synchronous motor system according to claim 6, it is characterised in that weak magnetic is controlled
Bandwidth is less than the frequency of the D shaft currents closed-loop bandwidth and the alternating current power supply more than input to the permagnetic synchronous motor system
2 times.
11. a kind of permagnetic synchronous motor systems, it is characterised in that include the permanent magnetism according to any one of claim 6-10
The weak magnetic control device of synchronous motor system.
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