CN106533305B - Permanent magnet synchronous motor system and its method and a device for controlling weak magnetism - Google Patents
Permanent magnet synchronous motor system and its method and a device for controlling weak magnetism Download PDFInfo
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- CN106533305B CN106533305B CN201611220400.9A CN201611220400A CN106533305B CN 106533305 B CN106533305 B CN 106533305B CN 201611220400 A CN201611220400 A CN 201611220400A CN 106533305 B CN106533305 B CN 106533305B
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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
Abstract
The invention discloses a kind of permanent magnet synchronous motor system and its method and a device for controlling weak magnetism, the described method comprises the following steps: obtaining the D axis output voltage u under the rotating coordinate system of the permanent magnet synchronous motor systemdWith Q axis output voltage uq；The DC bus-bar voltage of the permanent magnet synchronous motor system is obtained, and according to the D axis output voltage ud, the Q axis output voltage uqQ shaft voltage threshold limit is obtained with the DC bus-bar voltage；According to the Q axis output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltage threshold limit, and the weak magnetoelectricity stream is superimposed to the D shaft current closed loop of the permanent magnet synchronous motor system, to carry out weak magnetic control to permanent magnet synchronous motor.The weak magnetic control for carrying out closed loop feedback using Q shaft voltage error as a result, keeps the perfect tracking of D shaft current, it is unstable in the case where input ac voltage cyclic swing characteristic itself and the fluctuation of load to can be avoided D shaft current, improves weak magnetic control performance.
Description
Technical field
The present invention relates to motor control technology field, in particular to a kind of weak magnetic controlling party of permanent magnet synchronous motor system
Method, a kind of weak magnetic control device of permanent magnet synchronous motor system and a kind of permanent magnet synchronous motor system.
Background technique
The features such as permanent magnet synchronous motor is good, power density is high, energy saving with its control performance, obtains in all trades and professions
It is widely applied.Wherein, in many applications, it is desirable that permanent magnet synchronous motor operates in high-frequency range, then operates in weak magnetic
Section, such as the frequency-changeable compressor based on permanent magnet synchronous motor, the blower based on permanent magnet synchronous motor etc..
Field weakening control method in the related technology, which mostly uses greatly, carries out weak magnetoelectricity stream tune to output voltage amplitude closed loop feedback
Section.But itself the problem is that, limit D shaft voltage, cause weak magnetoelectricity stream (D shaft current) tracking it is bad, influence weak magnetic control
Performance.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to propose a kind of field weakening control method of permanent magnet synchronous motor system, is able to maintain the perfect tracking of D shaft current,
Improve weak magnetic control performance.
It is another object of the present invention to the weak magnetic control devices for proposing a kind of permanent magnet synchronous motor system.Of the invention
Another purpose is to propose a kind of permanent magnet synchronous motor system.
In order to achieve the above objectives, a kind of weak magnetic control for permanent magnet synchronous motor system that one aspect of the present invention embodiment proposes
Method, comprising the following steps: obtain the D axis output voltage u under the rotating coordinate system of the permanent magnet synchronous motor systemdWith Q axis
Output voltage uq；The DC bus-bar voltage of the permanent magnet synchronous motor system is obtained, and according to the D axis output voltage ud, it is described
Q axis output voltage uqQ shaft voltage threshold limit is obtained with the DC bus-bar voltage；According to the Q axis output voltage uqWith it is described
Q shaft voltage threshold limit generates weak magnetoelectricity stream, and the weak magnetoelectricity stream is superimposed to the D axis electricity of the permanent magnet synchronous motor system
Closed loop is flowed, to carry out weak magnetic control to permanent magnet synchronous motor.
The field weakening control method of the permanent magnet synchronous motor system proposed according to embodiments of the present invention, first obtains permanent magnet synchronous electric
D axis output voltage u under the rotating coordinate system of machine systemdWith Q axis output voltage uq, and obtain the direct current of permanent magnet synchronous motor system
Busbar voltage, and according to D axis output voltage ud, Q axis output voltage uqAnd DC bus-bar voltage, and then according to Q axis output voltage uq
Weak magnetoelectricity stream is generated with Q shaft voltage threshold limit, and the D shaft current that weak magnetoelectricity stream is superimposed to permanent magnet synchronous motor system is closed
Ring, to carry out weak magnetic control to permanent magnet synchronous motor.The method of the embodiment of the present invention is closed using Q shaft voltage error as a result,
The weak magnetic control of ring feedback, keeps the perfect tracking of D shaft current, can be avoided D shaft current in input ac voltage period itself
It is unstable in the case where wave characteristic and the fluctuation of load, improve weak magnetic control performance.
According to one embodiment of present invention, described according to the D axis output voltage ud, the Q axis output voltage uqAnd institute
It states DC bus-bar voltage and obtains Q shaft voltage threshold limit, comprising: it is empty to calculate corresponding voltage according to the DC bus-bar voltage
Between；To the Q axis output voltage u in the voltage spaceqIt is translated, and passes through the Q axis output voltage u after translationq
Or Q axis output voltage uqExtended line and the intersection point on boundary of the voltage space obtain the Q shaft voltage threshold limit.
According to one embodiment of present invention, described according to the Q axis output voltage uqWith the Q shaft voltage threshold limit
Generate weak magnetoelectricity stream, comprising: obtain the Q shaft voltage threshold limit and the Q axis output voltage uqAmplitude between voltage
Difference；The weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling model.
According to one embodiment of present invention, according to the Q axis output voltage uqIt is raw with the Q shaft voltage threshold limit
After weak magnetoelectricity stream, the method also includes: the weak magnetoelectricity stream is limited according to default clipping model so that it is described forever
Magnetic-synchro electric system carries out weak magnetic control according to the weak magnetoelectricity stream after clipping.
According to one embodiment of present invention, weak magnetic control bandwidth is less than the D shaft current closed-loop bandwidth and is greater than input
To 2 times of the frequency of the AC power source of the permanent magnet synchronous motor system.
In order to achieve the above objectives, a kind of weak magnetic control for permanent magnet synchronous motor system that another aspect of the present invention embodiment proposes
Device processed, comprising: first obtains module, the D axis output under the rotating coordinate system for obtaining the permanent magnet synchronous motor system
Voltage udWith Q axis output voltage uq；Second obtains module, for obtaining the DC bus-bar voltage of the permanent magnet synchronous motor system；
Weak magnetic control module, for according to the D axis output voltage ud, the Q axis output voltage uqIt is obtained with the DC bus-bar voltage
Q shaft voltage threshold limit, and according to the Q axis output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltage threshold limit, and will
The weak magnetoelectricity stream is superimposed to the D shaft current closed loop of the permanent magnet synchronous motor system, to carry out weak magnetic to permanent magnet synchronous motor
Control.
The weak magnetic control device of the permanent magnet synchronous motor system proposed according to embodiments of the present invention first passes through the first acquisition mould
Block obtains the D axis output voltage u under the rotating coordinate system of permanent magnet synchronous motor systemdWith Q axis output voltage uq, and pass through second
The DC bus-bar voltage that module obtains permanent magnet synchronous motor system is obtained, and then weak magnetic control module is according to D axis output voltage ud、
Q axis output voltage uqQ shaft voltage threshold limit is obtained with DC bus-bar voltage, and according to Q axis output voltage uqIt is limited with Q shaft voltage
Threshold value processed generates weak magnetoelectricity stream, and weak magnetoelectricity stream is superimposed to the D shaft current closed loop of permanent magnet synchronous motor system, with same to permanent magnetism
It walks motor and carries out weak magnetic control.The device of the embodiment of the present invention carries out the weak magnetic control of closed loop feedback using Q shaft voltage error as a result,
System keeps the perfect tracking of D shaft current, can be avoided D shaft current in input ac voltage cyclic swing characteristic itself and load
It is unstable in the case where 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 axis output voltage u in the voltage spaceqIt is translated, and passes through the institute after translation
State Q axis output voltage uqOr Q axis output voltage uqExtended line and the intersection point on boundary of the voltage space obtain Q axis electricity
Press threshold limit.
According to one embodiment of present invention, the weak magnetic control module is further used for, and obtains the Q shaft voltage limitation
Threshold value and the Q axis output voltage uqAmplitude between voltage difference, and mould is controlled according to the voltage difference and default PI
Type generates the weak magnetoelectricity stream.
According to one embodiment of present invention, according to the Q axis output voltage uqIt is raw with the Q shaft voltage threshold limit
After weak magnetoelectricity stream, the weak magnetic control module limits the weak magnetoelectricity stream also according to default clipping model, so that institute
It states permanent magnet synchronous motor system and weak magnetic control is carried out according to the weak magnetoelectricity stream after clipping.
According to one embodiment of present invention, weak magnetic control bandwidth is less than the D shaft current closed-loop bandwidth and is greater than input
To 2 times of the frequency of the AC power source of the permanent magnet synchronous motor system.
In order to achieve the above objectives, a kind of permanent magnet synchronous motor system that another aspect of the invention embodiment proposes, including institute
The weak magnetic control device for the permanent magnet synchronous motor system stated.
The permanent magnet synchronous motor system proposed according to embodiments of the present invention, by above-mentioned weak magnetic control device, using Q axis
Voltage error carries out the weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft current, can be avoided D shaft current and hands in input
Galvanic electricity presses unstable, improvement weak magnetic control performance in the case where cyclic swing characteristic itself and the fluctuation of load.
Detailed description of the invention
Fig. 1 is the flow chart of the field weakening control method of permanent magnet synchronous motor system according to an embodiment of the present invention；
Fig. 2 is the topological schematic diagram of the control circuit of permanent magnet 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 permanent magnet synchronous motor system according to an embodiment of the invention；
Fig. 7 is the vector controlled block diagram of permanent magnet synchronous motor system according to an embodiment of the invention, wherein permanent magnetism is same
Step motor is durface mounted permanent magnet synchronous motor；
Fig. 8 is the vector controlled block diagram of permanent magnet synchronous motor system according to an embodiment of the invention, 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 permanent magnet synchronous motor system according to an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings same to describe field weakening control method, the permanent magnetism of the permanent magnet synchronous motor system of the embodiment of the present invention
Walk the weak magnetic control device and permanent magnet synchronous motor system of electric system.
Fig. 1 is the flow chart of the field weakening control method of permanent magnet synchronous motor system according to an embodiment of the present invention.Such as Fig. 1 institute
Show, method includes the following steps:
S1: the D axis output voltage u under the rotating coordinate system of permanent magnet synchronous motor system is obtaineddWith Q axis output voltage uq。
According to one embodiment of present invention, as shown in Fig. 2, permanent magnet synchronous motor system may include control chip, driving
Unit, electrolytic capacitor and permanent magnet synchronous motor.Wherein, electrolytic capacitor is connected in parallel on the input terminal of driving unit, driving unit it is defeated
Outlet is connected with permanent magnet synchronous motor, and driving unit is for driving permanent magnet synchronous motor；Control chip is for passing through current detecting
Unit detects the phase current of permanent magnet synchronous motor, and according to the phase current output drive signal of permanent magnet synchronous motor to driving list
Member, to control the operation of permanent magnet synchronous motor by driving unit.A specific example according to the present invention, current detecting unit
It may include three (or two) current sensors.Driving unit can for be made of 6 IGBT three-phase bridge driving circuit,
Or by 6 MOSFET three-phase bridge driving circuit formed or use intelligent power module, while each IGBT or
MOSFET has corresponding anti-paralleled diode.
Wherein, the D axis output as shown in figure 3, can have d axis (d-axis) and q axis (quadrature axis) under rotating coordinate system, on d axis
Voltage udWith the Q axis output voltage u on q axisqDesired output voltage vector can be synthesizedIn addition, according to permanent magnet synchronous motor
Rotor estimation angle, θeTo D axis output voltage udWith Q axis output voltage uqInverse park coordinate is carried out to convert to obtain static seat
α axis output voltage u under mark systemαWith β axis output voltage uβ, can have α axis and β axis, α axis output voltage u under rest frameαWith β
Axis 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 permanent magnet synchronous motor system is obtained, and according to D axis output voltage ud, Q axis output voltage
uqQ shaft voltage threshold limit is obtained with DC bus-bar voltage.
S3: according to Q axis output voltage uqWeak magnetoelectricity stream is generated with Q shaft voltage threshold limit, and weak magnetoelectricity stream is superimposed to
The D shaft current closed loop of permanent magnet synchronous motor system, to carry out weak magnetic control to permanent magnet synchronous motor.
That is, can be according to D axis output voltage ud, Q axis output voltage uqWith DC bus-bar voltage udcCalculate Q shaft voltage
Threshold limit Q shaft voltage threshold limit uq lim, then according to Q axis output voltage uqWith Q shaft voltage threshold limit uq limIt carries out weak
Magnetic control.
A specific embodiment according to the present invention, according to the Q axis output voltage uqIt is generated with Q shaft voltage threshold limit
Weak magnetoelectricity stream, comprising: obtain Q shaft voltage threshold limit and Q axis output voltage uqAmplitude between voltage difference；According to voltage
Difference and default PI Controlling model generate weak magnetoelectricity stream.
It should be noted that the scale parameter in default PI Controlling model can be zero, presetting PI Controlling model at this time is only
Integral model can carry out integration control to voltage difference；Scale parameter in default PI Controlling model can also be not zero, at this time in advance
If PI Controlling model is 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 axis output voltage ud, Q axis output voltage uqWith DC bus-bar voltage udc
Calculate Q shaft voltage threshold limit uq lim, then by Q shaft voltage threshold limit uqlimSubtract Q shaft voltage uqTo obtain weak magnetic control
Voltage difference Δ u, i.e. Δ u=uq lim-uq, and to voltage difference Δ u carry out pure integration control or proportional, integral control with
Adjust weak magnetoelectricity stream.
Further, according to one embodiment of present invention, according to Q axis output voltage uqWith Q shaft voltage threshold limit
After generating weak magnetoelectricity stream, method further include: weak magnetoelectricity stream is limited according to default clipping model, so that permanent magnet synchronous motor
System carries out weak magnetic control according to the weak magnetoelectricity stream after clipping.
That is, the weak magnetoelectricity stream through default PI Controlling model output, it can be using default clipping model, that is, clipping ring
The clipping of section is to obtain the weak magnetoelectricity stream i after clippingfwc, and then according to the weak magnetoelectricity stream i after clippingfwcCarry out weak magnetic control for example
By the weak magnetoelectricity stream i after clippingfwcIt is superimposed to the D shaft current closed loop of permanent magnet synchronous motor system, wherein the upper limit of amplitude limit link
It can be the lower limit of zero, amplitude limit link can be the minimum value i of d shaft currentd_min。
In one particular embodiment of the present invention, according to D axis output voltage ud, Q axis output voltage uqWith DC bus electricity
Pressure obtains Q shaft voltage threshold limit, comprising: according to DC bus-bar voltage udcCalculate corresponding voltage space；In voltage space
To Q axis output voltage uqIt is translated, and passes through the Q axis output voltage u after translationqOr Q axis output voltage uqExtended line and electricity
The intersection point on the boundary in space is pressed to obtain Q shaft voltage threshold limit.
It specifically, can be according to DC bus-bar voltage udcVoltage space can be calculated, and keeps D axis output voltage udAt this
It is constant in voltage space, by Q axis output voltage uqOpposite Q axis moves in parallel, and according to the Q axis output voltage u after movementqOr Q axis
Output voltage uqExtended line and voltage space boundary intersection point obtain Q shaft voltage threshold limit uq lim。
Specifically, can be for 2/3 times of DC bus-bar voltageVoltage space is constructed for basic voltage vectors, such as
Shown in Fig. 4 and Fig. 5, regular hexagon boundary and its interior zone are voltage space, by Q axis output voltage uqOpposite Q axis moves in parallel
It moves to be moved to D axis output voltage udTerminal, and according to the Q axis output voltage u after movementqOr Q axis output voltage uqExtension
The intersection point on the boundary of line and voltage space obtains Q shaft voltage threshold limit uq lim.Wherein, according to D axis output voltage udOn q axis
Q axis 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 axis output voltage uqProlong
Long line intersects with voltage space boundary (regular hexagon), output voltage threshold limit ulimIt can be Q axis output voltage uqExtended line with
The vector magnitude of voltage space boundary (regular hexagon) intersection point.
As shown in Figure 5, if it is desired to output voltageOutside voltage space, then Q axis output voltage uqWith voltage space
Boundary (regular hexagon) intersection, output voltage threshold limit ulimIt can be Q axis output voltage uqWith voltage space boundary (positive six side
Shape) intersection point vector magnitude.
It is described in detail below with reference to the weak magnetic control flow of Fig. 6-8 pairs of permanent magnet synchronous motor systems, in the present embodiment
In, it is described by taking the ensorless control of permanent magnet synchronous motor as an example, and permanent magnet synchronous motor has sensor vector
Control and the present embodiment and indistinction, repeat no more.
In the vector controlled of permanent magnet synchronous motor, velocity correction unit is according to given rotating speedWith to estimation revolving speedInto
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
(i.e. given Q shaft current)Given direct-axis current (i.e. given D shaft current)By weak magnetoelectricity stream ifwcIt determines for exampleInside
In embedded permanent magnet synchronous motor, torque controlling unit is according to given torqueTorque current COEFFICIENT KtAnd weak magnetoelectricity stream ifwcThrough
It crosses torque capacity current control (MTPA) and given quadrature axis current (given Q shaft current) is calculatedIt (is given with given direct-axis current
Determine D shaft current)
Current correction unit is according to given D shaft currentWith given Q shaft currentRespectively to d-axis feedback current idAnd quadrature axis
Feedback current iqCurrent correction is carried out to obtain direct-axis voltage udWith quadrature-axis voltage uq.Then, inverse park coordinate transformation unit according to
Estimate angleTo direct-axis voltage udWith quadrature-axis voltage uqInverse park coordinate is carried out to convert 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 uβProgress SVM (Space Vetor Modulation,
Space vector modulation) it modulates to generate PWM drive signal；Driving unit drives permanent magnet synchronous motor according to PWM drive signal.
The three-phase current of permanent magnet synchronous motor is acquired by current detecting unit, clarke coordinate transformation unit is to three-phase electricity
Stream carries out the conversion of clarke coordinate to obtain biphase current iα/iβ；Park coordinate transformation unit is according to estimation angleTo two-phase electricity
Flow iα/iβThe conversion of park coordinate is carried out to obtain d-axis (D axis) feedback current idWith quadrature axis (Q axis) 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 axis inductor Lq) by no sensor algorithm for estimating estimate rotor position and speed to obtain estimation revolving speedWith estimation electrical angle
In addition, according to one embodiment of present invention, weak magnetic control bandwidth is less than D shaft current closed-loop bandwidth and is greater than input
To 2 times of the frequency of the AC power source of permanent magnet synchronous motor system.Specifically, default PI control can be set 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 loop, D axis electricity
Closed loop is flowed according to weak magnetoelectricity stream ifwcTo D axis feed circuit idBe adjusted, to realize weak magnetic control, while speed closed loop according to
So according to given rotating speedWith to estimation revolving speedVelocity correction is carried out to obtain given torqueAccording to given torqueWith turn
Square current coefficient KtCalculate given Q shaft currentQ shaft current closed loop is still according to given Q shaft currentTo quadrature axis feedback current
iqIt is adjusted.
Based on this, weak magnetic control loop can will be by Q shaft voltage threshold limit uqlimSubtract Q shaft voltage uqObtained voltage difference
Value Δ u is input to the input terminal by weak magnetic PI controller, exports weak magnetic by the i.e. default PI Controlling model of weak magnetic PI controller
Electric current ifwc；Weak magnetoelectricity stream ifwcIt is superimposed to D shaft current closed loop, the D shaft current Controlling model by D shaft current closed loop is anti-to D axis
Current feed circuit idIt is adjusted.Wherein, the bandwidth of weak magnetic control loop, that is, weak magnetic control bandwidth meets, less than D shaft current closed loop
2 times of bandwidth and the frequency greater than the AC power source for being input to permanent magnet synchronous motor system.Default PI Controlling model is set as a result,
Ratio control parameter and integration control parameter, to meet the bandwidth of weak magnetic control loop lower than direct-axis current closed-loop bandwidth and height
In input power frequency * 2, thus, guarantee that weak magnetic control can fluctuate DC bus-bar voltage and makes sufficiently fast response.
To sum up, the field weakening control method of the permanent magnet synchronous motor system proposed according to embodiments of the present invention, first obtains permanent magnetism
D axis output voltage u under the rotating coordinate system of synchronous motor systemdWith Q axis output voltage uq, and obtain permanent magnet synchronous motor system
DC bus-bar voltage, and according to D axis output voltage ud, Q axis output voltage uqAnd DC bus-bar voltage, and then exported according to Q axis
Voltage uqWeak magnetoelectricity stream is generated with Q shaft voltage threshold limit, and weak magnetoelectricity stream is superimposed to the D axis electricity of permanent magnet synchronous motor system
Closed loop is flowed, to carry out weak magnetic control to permanent magnet synchronous motor.As a result, the method for the embodiment of the present invention using Q shaft voltage error into
The weak magnetic of row closed loop feedback controls, and keeps the perfect tracking of D shaft current, can be avoided D shaft current in input ac voltage itself
It is unstable in the case where 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 permanent magnet synchronous motor system according to an embodiment of the present invention.Root
According to one embodiment of the present of invention, as shown in Fig. 2, permanent magnet synchronous motor system may include control chip 1, driving unit 2, electrolysis
Capacitor EC and permanent magnet synchronous motor 3.Wherein, electrolytic capacitor EC is connected in parallel on the input terminal of driving unit 2, the output of driving unit 2
End is connected with permanent magnet synchronous motor 3, and driving unit 2 is for driving permanent magnet synchronous motor 3；Chip 1 is controlled to be used to examine by electric current
The phase current that unit 4 detects permanent magnet synchronous motor 3 is surveyed, and according to the phase current output drive signal of permanent magnet synchronous motor 3 to drive
Moving cell 2, to control the operation of permanent magnet synchronous motor 3 by driving unit 2.A specific example according to the present invention, electric current
Detection unit 4 may include three (or two) current sensors.Driving unit 2 can be the three-phase bridge being made of 6 IGBT
Formula driving circuit or by 6 MOSFET three-phase bridge driving circuit formed or use intelligent power module, simultaneously
Each IGBT or MOSFET has corresponding anti-paralleled diode.
Wherein, as shown in figure 3, can have d axis (d-axis) and q axis (quadrature axis) under rotating coordinate system, the D axis on d axis is defeated
Voltage u outdWith the Q axis output voltage u on q axisqDesired output voltage vector can be synthesizedIn addition, according to permanent magnet synchronous electric
The estimation angle, θ of the rotor of machineeTo D axis output voltage udWith Q axis output voltage uqIt is quiet to obtain to carry out inverse park coordinate conversion
The only α axis output voltage u under coordinate systemαWith β axis output voltage uβ, can have α axis and β axis, the output of α axis under rest frame
Voltage uαWith β axis output voltage uβDesired output voltage vector can also be synthesizedSpecifically, according to defeated under rotating coordinate system
Voltage u outd/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: that the first acquisition module 10, second obtains mould
Block 20 and weak magnetic control module 30.
Wherein, the first acquisition module 10 is used to obtain the D axis output electricity under the rotating coordinate system of permanent magnet synchronous motor system
Press udWith Q axis output voltage uq；Second acquisition module 20 is used to obtain the DC bus-bar voltage of permanent magnet synchronous motor system；Weak magnetic
Control module 30 is used for according to D axis output voltage ud, Q axis output voltage uqQ shaft voltage, which is obtained, with DC bus-bar voltage limits threshold
Value, and according to Q axis output voltage uqWeak magnetoelectricity stream is generated with Q shaft voltage threshold limit, and it is same that weak magnetoelectricity stream is superimposed to permanent magnetism
The D shaft current closed loop of electric system is walked, to carry out weak magnetic control to permanent magnet synchronous motor.
That is, weak magnetic control module 30 can be according to D axis output voltage ud, Q axis output voltage uqAnd DC bus-bar voltage
udcCalculate Q shaft voltage threshold limit Q shaft voltage threshold limit uq lim, then according to Q axis output voltage uqThreshold is limited with Q shaft voltage
Value uq limCarry out weak magnetic control.
A specific embodiment according to the present invention, weak magnetic control module 30 are further used for, and obtain Q shaft voltage and limit threshold
Value and Q axis output voltage uqAmplitude between voltage difference, and weak magnetic is generated according to voltage difference and default PI Controlling model
Electric current.
It should be noted that the scale parameter in default PI Controlling model can be zero, presetting PI Controlling model at this time is only
Integral model can carry out integration control to voltage difference；Scale parameter in default PI Controlling model can also be not zero, at this time in advance
If PI Controlling model is 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 axis output voltage ud, Q axis output voltage uqWith it is straight
Flow busbar voltage udcCalculate Q shaft voltage threshold limit uq lim, then by Q shaft voltage threshold limit uqlimSubtract 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 to adjust weak magnetoelectricity stream.
Further, according to one embodiment of present invention, according to Q axis output voltage uqWith Q shaft voltage threshold limit
After generating weak magnetoelectricity stream, weak magnetic control module 30 limits weak magnetoelectricity stream also according to default clipping model, so that permanent magnetism is same
It walks electric system and weak magnetic control is carried out according to the weak magnetoelectricity stream after clipping.
That is, the weak magnetoelectricity stream through default PI Controlling model output, it can be using default clipping model, that is, clipping ring
The clipping of section is to obtain the weak magnetoelectricity stream i after clippingfwc, and then according to the weak magnetoelectricity stream i after clippingfwcCarry out weak magnetic control for example
By the weak magnetoelectricity stream i after clippingfwcIt is superimposed to the D shaft current closed loop of permanent magnet synchronous motor system, wherein the upper limit of amplitude limit link
It can be the lower limit of zero, amplitude limit link can be the minimum value i of d shaft currentd_min。
In one particular embodiment of the present invention, weak magnetic control module 30 is used for, according to DC bus-bar voltage calculating pair
The voltage space answered, and to Q axis output voltage u in voltage spaceqIt is translated, and passes through the Q axis output voltage u after translationq
Or Q axis output voltage uqExtended line and voltage space boundary intersection point obtain Q shaft voltage threshold limit.
Specifically, weak magnetic control module 30 can be according to DC bus-bar voltage udcVoltage space can be calculated, and keeps D axis
Output voltage udIt is constant in the voltage space, by Q axis output voltage uqOpposite Q axis moves in parallel, and according to the Q axis after movement
Output voltage uqOr Q axis output voltage uqExtended line and voltage space boundary intersection point obtain Q shaft voltage threshold limit
uq lim。
Specifically, can be for 2/3 times of DC bus-bar voltageVoltage space is constructed for basic voltage vectors, such as
Shown in Fig. 4 and Fig. 5, regular hexagon boundary and its interior zone are voltage space, by Q axis output voltage uqOpposite Q axis moves in parallel
It moves to be moved to D axis output voltage udTerminal, and according to the Q axis output voltage u after movementqOr Q axis output voltage uqExtension
The intersection point on the boundary of line and voltage space obtains Q shaft voltage threshold limit uq lim.Wherein, according to D axis output voltage udOn q axis
Q axis 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 axis output voltage uqProlong
Long line intersects with voltage space boundary (regular hexagon), output voltage threshold limit ulimIt can be Q axis output voltage uqExtended line with
The vector magnitude of voltage space boundary (regular hexagon) intersection point.
As shown in Figure 5, if it is desired to output voltageOutside voltage space, then Q axis output voltage uqWith voltage space
Boundary (regular hexagon) intersection, output voltage threshold limit ulimIt can be Q axis output voltage uqWith voltage space boundary (positive six side
Shape) intersection point vector magnitude.
It is described in detail below with reference to the weak magnetic control flow of Fig. 6-8 pairs of permanent magnet synchronous motor systems, in the present embodiment
In, it is described by taking the ensorless control of permanent magnet synchronous motor as an example, and permanent magnet synchronous motor has sensor vector
Control and the present embodiment and indistinction, repeat no more.
In the vector controlled of permanent magnet synchronous motor, velocity correction unit 101 is according to given rotating speedWith to estimation revolving speedIt carries out velocity correction and carries out proportional, integral adjusting for example to obtain given torque
In durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtCalculate given torque current
(i.e. given Q shaft current)Given direct-axis current (i.e. given D shaft current)By weak magnetoelectricity stream ifwcIt determines for exampleInside
In embedded permanent magnet synchronous motor, torque controlling unit 102 is according to given torqueTorque current COEFFICIENT KtAnd weak magnetoelectricity stream
ifwcGiven quadrature axis current (given Q shaft current) is calculated by torque capacity current control (MTPA)With given direct-axis current
(given D shaft current)
Current correction unit 103 is according to given D shaft currentWith given Q shaft currentRespectively to d-axis feedback current idAnd friendship
Axis feedback current iqCurrent correction is carried out to obtain direct-axis voltage udWith quadrature-axis voltage uq.Then, inverse park coordinate transformation unit
104 according to estimation angleTo direct-axis voltage udWith quadrature-axis voltage uqInverse park coordinate is carried out to convert 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) it modulates to generate PWM drive signal；Driving unit 2 drives forever according to PWM drive signal
Magnetic-synchro motor 3.
The three-phase current of permanent magnet synchronous motor 3 is acquired by current detecting unit 4, clarke coordinate transformation unit 106 is right
Three-phase current carries out the conversion of clarke coordinate to obtain biphase current iα/iβ；Park coordinate transformation unit 107 is according to estimation angleTo biphase current iα/iβThe conversion of park coordinate is carried out to obtain d-axis (D axis) feedback current idWith quadrature axis (Q axis) 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 axis inductor Lq) pass through the position and speed of no sensor algorithm for estimating estimation rotor
Revolving 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 current closed-loop bandwidth and is greater than input
To 2 times of the frequency of the AC power source of permanent magnet synchronous motor system.Specifically, default PI control can be set 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 loop, D axis electricity
Closed loop is flowed according to weak magnetoelectricity stream ifwcTo D axis feed circuit idBe adjusted, to realize weak magnetic control, while speed closed loop according to
So according to given rotating speedWith to estimation revolving speedVelocity correction is carried out to obtain given torqueAccording to given torqueWith turn
Square current coefficient KtCalculate given Q shaft currentQ shaft current closed loop is still according to given Q shaft currentTo quadrature axis feedback current
iqIt is adjusted.
Based on this, weak magnetic control loop can will be by Q shaft voltage threshold limit uqlimSubtract Q shaft voltage uqObtained voltage difference
Value Δ u is input to the input terminal by weak magnetic PI controller, exports weak magnetic by the i.e. default PI Controlling model of weak magnetic PI controller
Electric current ifwc；Weak magnetoelectricity stream ifwcIt is superimposed to D shaft current closed loop, the D shaft current Controlling model by D shaft current closed loop is anti-to D axis
Current feed circuit idIt is adjusted.Wherein, the bandwidth of weak magnetic control loop, that is, weak magnetic control bandwidth meets, less than D shaft current closed loop
2 times of bandwidth and the frequency greater than the AC power source for being input to permanent magnet synchronous motor system.Default PI Controlling model is set as a result,
Ratio control parameter and integration control parameter, to meet the bandwidth of weak magnetic control loop lower than direct-axis current closed-loop bandwidth and height
In input power frequency * 2, thus, guarantee that weak magnetic control can fluctuate DC bus-bar voltage and makes sufficiently fast response.
To sum up, the weak magnetic control device of the permanent magnet synchronous motor system proposed according to embodiments of the present invention, first passes through first
Obtain the D axis output voltage u under the rotating coordinate system of module acquisition permanent magnet synchronous motor systemdWith Q axis output voltage uq, and lead to
The DC bus-bar voltage that the second acquisition module obtains permanent magnet synchronous motor system is crossed, and then weak magnetic control module is exported according to D axis
Voltage ud, Q axis output voltage uqQ shaft voltage threshold limit is obtained with DC bus-bar voltage, and according to Q axis output voltage uqWith Q axis
Voltage threshold limit generates weak magnetoelectricity stream, and weak magnetoelectricity stream is superimposed to the D shaft current closed loop of permanent magnet synchronous motor system, with right
Permanent magnet synchronous motor carries out weak magnetic control.The device of the embodiment of the present invention carries out closed loop feedback using Q shaft voltage error as a result,
Weak magnetic control, keeps the perfect tracking of D shaft current, can be avoided D shaft current in input ac voltage cyclic swing characteristic itself
With it is unstable in the case where the fluctuation of load, while busbar voltage is made full use of using dynamic over-modulation mode, improves weak magnetic control
Performance.
Finally, the embodiment of the present invention also proposed a kind of permanent magnet synchronous motor system, the permanent magnetism including above-described embodiment is same
Walk the weak magnetic control device of electric system.
The permanent magnet synchronous motor system proposed according to embodiments of the present invention, by above-mentioned weak magnetic control device, using Q axis
Voltage error carries out the weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft current, can be avoided D shaft current and hands in input
Galvanic electricity is pressed unstable in the case where 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 the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. a kind of field weakening control method of permanent magnet synchronous motor system, which comprises the following steps:
Obtain the D axis output voltage u under the rotating coordinate system of the permanent magnet synchronous motor systemdWith Q axis output voltage uq；
The DC bus-bar voltage of the permanent magnet synchronous motor system is obtained, and according to the D axis output voltage ud, Q axis output
Voltage uqQ shaft voltage threshold limit is obtained with the DC bus-bar voltage；
According to the Q axis output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltage threshold limit, and the weak magnetoelectricity stream is folded
The D shaft current closed loop of the permanent magnet synchronous motor system is added to, to carry out weak magnetic control to permanent magnet synchronous motor；
Wherein, described according to the D axis output voltage ud, the Q axis output voltage uqQ axis is obtained with the DC bus-bar voltage
Voltage threshold limit, comprising:
Corresponding voltage space is calculated according to the DC bus-bar voltage；
To the Q axis output voltage u in the voltage spaceqIt is translated, and passes through the Q axis output voltage u after translationqOr Q
Axis output voltage uqExtended line and the intersection point on boundary of the voltage space obtain the Q shaft voltage threshold limit.
2. the field weakening control method of permanent magnet synchronous motor system according to claim 1, which is characterized in that described according to institute
State Q axis output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltage threshold limit, comprising:
Obtain the Q shaft voltage threshold limit and the Q axis output voltage uqAmplitude between voltage difference；
The weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling model.
3. the field weakening control method of permanent magnet synchronous motor system according to claim 1 or 2, which is characterized in that in basis
The Q axis output voltage uqAfter generating weak magnetoelectricity stream with the Q shaft voltage threshold limit, the method also includes: according to default
Clipping model limits the weak magnetoelectricity stream, so that the permanent magnet synchronous motor system is according to the weak magnetic electricity after clipping
Stream carries out weak magnetic control.
4. the field weakening control method of permanent magnet synchronous motor system according to claim 1, which is characterized in that weak magnetic controls band
The 2 of the wide frequency for being less than the D shaft current closed-loop bandwidth and being greater than the AC power source for being input to the permanent magnet synchronous motor system
Times.
5. a kind of weak magnetic control device of permanent magnet synchronous motor system characterized by comprising
First obtains module, the D axis output voltage u under the rotating coordinate system for obtaining the permanent magnet synchronous motor systemdAnd Q
Axis output voltage uq；
Second obtains module, for obtaining the DC bus-bar voltage of the permanent magnet synchronous motor system；
Weak magnetic control module, for according to the D axis output voltage ud, the Q axis output voltage uqWith the DC bus-bar voltage
Q shaft voltage threshold limit is obtained, and according to the Q axis output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltage threshold limit,
And the weak magnetoelectricity stream is superimposed to the D shaft current closed loop of the permanent magnet synchronous motor system, to be carried out to permanent magnet synchronous motor
Weak magnetic control；
Wherein, the weak magnetic control module is used for, and calculates corresponding voltage space according to the DC bus-bar voltage, and described
To the Q axis output voltage u in voltage spaceqIt is translated, and passes through the Q axis output voltage u after translationqOr Q axis output voltage
uqExtended line and the intersection point on boundary of the voltage space obtain the Q shaft voltage threshold limit.
6. the weak magnetic control device of permanent magnet synchronous motor system according to claim 5, which is characterized in that the weak magnetic control
Molding block is further used for, and obtains the Q shaft voltage threshold limit and the Q axis output voltage uqAmplitude between voltage difference
Value, and the weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling model.
7. the weak magnetic control device of permanent magnet synchronous motor system according to claim 5 or 6, which is characterized in that in basis
The Q axis output voltage uqAfter generating weak magnetoelectricity stream with the Q shaft voltage threshold limit, the weak magnetic control module is also according to pre-
Width model of limiting limits the weak magnetoelectricity stream, so that the permanent magnet synchronous motor system is according to the weak magnetic after clipping
Electric current carries out weak magnetic control.
8. the weak magnetic control device of permanent magnet synchronous motor system according to claim 5, which is characterized in that weak magnetic controls band
The 2 of the wide frequency for being less than the D shaft current closed-loop bandwidth and being greater than the AC power source for being input to the permanent magnet synchronous motor system
Times.
9. a kind of permanent magnet synchronous motor system, which is characterized in that same including the permanent magnetism according to any one of claim 5-8
Walk the weak magnetic control device of electric system.
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| CN107579691B (en) * | 2017-09-20 | 2020-08-04 | 广东美的制冷设备有限公司 | Control method and device of permanent magnet synchronous motor and computer readable storage medium |
| CN108809182A (en) * | 2018-06-08 | 2018-11-13 | 河南森源电气股份有限公司 | A kind of method for controlling torque and device of permanent magnet synchronous motor |
| CN109768748A (en) * | 2019-03-29 | 2019-05-17 | 广东美的制冷设备有限公司 | Vector control system, control method, device, air conditioner and storage medium |
| CN110904615B (en) * | 2019-12-02 | 2022-04-05 | 江苏新安电器股份有限公司 | Brushless direct current motor control method and system for washing machine |
| CN113746388A (en) * | 2020-05-15 | 2021-12-03 | 比亚迪股份有限公司 | Sliding mode control method and system for permanent magnet linear synchronous motor control system |
| CN111786605A (en) * | 2020-06-15 | 2020-10-16 | 杭州赫日新能源科技有限公司 | Control method of motor controller special for range extender |
| CN112583317B (en) * | 2020-12-01 | 2022-12-23 | 广东威灵电机制造有限公司 | Weak magnetic control method and device for motor and readable storage medium |
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