CN106533306A - Permanent-magnet synchronous motor system and overmodulation control method and device thereof - Google Patents
Permanent-magnet synchronous motor system and overmodulation control method and device thereof Download PDFInfo
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- CN106533306A CN106533306A CN201611224873.6A CN201611224873A CN106533306A CN 106533306 A CN106533306 A CN 106533306A CN 201611224873 A CN201611224873 A CN 201611224873A CN 106533306 A CN106533306 A CN 106533306A
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- synchronous motor
- output voltage
- permagnetic synchronous
- modulated degree
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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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- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
Abstract
The invention discloses a permanent-magnet synchronous motor system and an overmodulation control method and device thereof. The overmodulation control method comprises the following steps of acquiring a DC bus voltage and an expected output voltage of a permanent-magnet synchronous motor; acquiring expected voltage modulation degree according to the DC bus voltage and the expected output voltage; acquiring corresponding correction voltage modulation degree according to the expected voltage modulation degree and expected voltage modulation degree-correction voltage modulation degree corresponding to the selected overmodulation algorithm; and acquiring a corrected output voltage according to the correction voltage modulation degree, and performing overmodulation control on the permanent-magnet synchronous motor according to the correction output voltage. The method is simple and a few in operation and is easy to implement; and moreover, the voltage linearity of an overmdoulation region can be fully considered, and the control performance is ensured.
Description
Technical field
The present invention relates to motor control technology field, the ovennodulation control method of more particularly to a kind of permagnetic synchronous motor,
A kind of ovennodulation control device of permagnetic synchronous motor 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.In some applications, it is desirable to which permagnetic synchronous motor operates in high-frequency range, operate in then weak magnetic interval,
For example based on the frequency-changeable compressor of permagnetic synchronous motor, blower fan based on permagnetic synchronous motor etc..
In the related, when being controlled to permagnetic synchronous motor using Overmodulation Method, fortune at a high speed can be reduced
Capable weak magnetoelectricity stream, improves whole efficiency.But, in correlation technique, Overmodulation Method mostly computing is complicated, and without abundant
Consider the voltage linear degree of overmodulation, affect control performance etc..
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 the ovennodulation control method for proposing a kind of permagnetic synchronous motor, and the method is simple, be easily achieved, and operand
It is few.
Further object is that proposing a kind of ovennodulation control device of permagnetic synchronous motor.The present invention is again
One purpose is to propose a kind of permagnetic synchronous motor system.
For reaching above-mentioned purpose, one aspect of the present invention embodiment proposes a kind of ovennodulation controlling party of permagnetic synchronous motor
Method, comprises the following steps：Obtain the DC bus-bar voltage and desired output voltage of the permagnetic synchronous motor；According to the direct current
Busbar voltage and desired output voltage are obtained expects voltage modulated degree；According to the expectation voltage modulated degree and selected toning
Algorithm processed is corresponding to expect that voltage modulated degree-amendment voltage modulated degree table obtains corresponding amendment voltage modulated degree；According to described
Amendment voltage modulated degree obtains amendment output voltage, and the permagnetic synchronous motor is carried out according to the amendment output voltage
Modulation control.
The ovennodulation control method of the permagnetic synchronous motor for proposing according to embodiments of the present invention, first obtains permagnetic synchronous motor
DC bus-bar voltage and desired output voltage, and obtained according to DC bus-bar voltage and desired output voltage and expect voltage modulated
Degree, and then adjusted according to the corresponding expectation voltage modulated degree-amendment voltage of expectation voltage modulated degree and selected Overmodulation Method
System table obtains corresponding amendment voltage modulated degree, and obtains amendment output voltage according to amendment voltage modulated degree, and according to repairing
Positive output voltage carries out ovennodulation control to permagnetic synchronous motor, so as to the method is simple, is easily achieved, and operand is few.
According to one embodiment of present invention, obtained according to the DC bus-bar voltage and desired output voltage and expect voltage
Modulation degree, including：According to the desired output voltage and the DC bus-bar voltageRatio again obtains the expectation electricity
Pressure modulation degree.
According to one embodiment of present invention, the desired output voltage of the permagnetic synchronous motor is obtained, including：Obtain institute
α axle output voltage of the permagnetic synchronous motor under biphase static coordinate and β axle output voltages is stated, and according to α axles output electricity
Pressure and β axles output voltage obtain the desired output voltage of the permagnetic synchronous motor；Or, obtain the permagnetic synchronous motor and exist
D axles output voltage and q axle output voltages under two cordic phase rotators, and obtained according to the d axles output voltage and q axle output voltages
Take the desired output voltage of the permagnetic synchronous motor.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method with it is basic
The corresponding relation of amplitude negates function, and to obtain, every kind of Overmodulation Method is corresponding to expect voltage modulated degree-modification voltage modulated
Degree table.Thereby, it is possible to take into full account the voltage linear degree of overmodulation, it is ensured that control performance.
According to one embodiment of present invention, the Overmodulation Method includes minimum phase error Overmodulation Method, minimum
Amplitude error Overmodulation Method and minimum component error Overmodulation Method.
For reaching above-mentioned purpose, another aspect of the present invention embodiment proposes a kind of ovennodulation control of permagnetic synchronous motor
Device, including：Acquisition module, for obtaining the DC bus-bar voltage and desired output voltage of the permagnetic synchronous motor；Control
Module, expects voltage modulated degree for obtaining according to the DC bus-bar voltage and desired output voltage, and according to the expectation
Voltage modulated degree and the corresponding expectation voltage modulated degree-amendment voltage modulated degree table of selected Overmodulation Method obtain corresponding
Amendment voltage modulated degree, and it is according to the amendment voltage modulated degree to obtaining amendment output voltage and defeated according to the amendment
Going out voltage carries out ovennodulation control to the permagnetic synchronous motor.
The ovennodulation control device of the permagnetic synchronous motor for proposing according to embodiments of the present invention, first passes through acquisition module acquisition
The DC bus-bar voltage and desired output voltage of permagnetic synchronous motor, and then control module is according to DC bus-bar voltage and expects defeated
Go out voltage and obtain expectation voltage modulated degree, and according to the corresponding expectation electricity of expectation voltage modulated degree and selected Overmodulation Method
Pressure modulation degree-amendment voltage modulated degree table obtains corresponding amendment voltage modulated degree, and is obtained according to amendment voltage modulated degree
Amendment output voltage, and ovennodulation control is carried out to permagnetic synchronous motor according to amendment output voltage, so that ovennodulation control
System is simple, be easily achieved, and operand is few.
According to one embodiment of present invention, the control module is used for, straight with described according to the desired output voltage
Stream busbar voltageRatio again obtains the expectation voltage modulated degree.
According to one embodiment of present invention, the acquisition module is used for, and obtains the permagnetic synchronous motor biphase quiet
α axles output voltage only under coordinate and β axle output voltages, and according to the α axles output voltage and β axles output voltage are obtained
The desired output voltage of permagnetic synchronous motor；Or, the acquisition module is used for, and obtains the permagnetic synchronous motor in biphase rotation
Turn the d axles output voltage and q axle output voltages under coordinate, and according to the d axles output voltage and q axles output voltage are obtained
The desired output voltage of permagnetic synchronous motor.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method with
The corresponding relation of basic amplitude negates function, and to obtain, every kind of Overmodulation Method is corresponding to expect voltage modulated degree-modification voltage
Modulation degree table.Thereby, it is possible to take into full account the voltage linear degree of overmodulation, it is ensured that control performance.
According to one embodiment of present invention, the Overmodulation Method includes minimum phase error Overmodulation Method, minimum
Amplitude error Overmodulation Method and minimum component error Overmodulation Method.
For reaching above-mentioned purpose, another aspect of the invention embodiment proposes a kind of permagnetic synchronous motor system, including institute
The ovennodulation control device of the permagnetic synchronous motor stated.
The permagnetic synchronous motor system for proposing according to embodiments of the present invention, by the permagnetic synchronous motor of above-described embodiment
Ovennodulation control device so that ovennodulation control is simple, be easily achieved, and operand is few.And, the ovennodulation control can be filled
Divide the voltage linear degree for considering overmodulation, it is ensured that control performance.
Description of the drawings
Fig. 1 is the flow chart of the ovennodulation control method of permagnetic synchronous motor 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 flow chart of the ovennodulation control method of permagnetic synchronous motor according to an embodiment of the invention；
Fig. 5 is the schematic diagram of space voltage vector according to an embodiment of the invention；
Fig. 6 is the schematic diagram of space voltage ovennodulation according to an embodiment of the invention, wherein, expects voltage modulated degreeNear basic vector vkFront half sector；
Fig. 7 is the schematic diagram of space voltage ovennodulation according to an embodiment of the invention, wherein, expects voltage modulated degreeNear basic vector vk+1Rear half sector；
Fig. 8 be magnetic-synchro motor according to an embodiment of the invention ovennodulation control method in voltage modulated degree and base
The corresponding relation of wave component；
Fig. 9 be magnetic-synchro motor according to an embodiment of the invention ovennodulation control method in expect voltage modulated degree
With the corresponding relation of amendment voltage modulated degree；
Figure 10 is the vector controlled block diagram of permagnetic synchronous motor system according to an embodiment of the invention, wherein, permanent magnetism
Synchronous motor is durface mounted permanent magnet synchronous motor；
Figure 11 is the vector controlled block diagram of permagnetic synchronous motor system according to an embodiment of the invention, wherein, permanent magnetism
Synchronous motor is IPM synchronous motor；And
Figure 12 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 describing the ovennodulation control method of permagnetic synchronous motor, the permanent magnetism of embodiment of the present invention proposition
The ovennodulation control device of synchronous motor and permagnetic synchronous motor system.
Fig. 1 is the flow chart of the ovennodulation control method of permagnetic synchronous motor according to embodiments of the present invention.Such as Fig. 1 institutes
Show that the ovennodulation control method of the permagnetic synchronous motor is comprised the following steps：
S1：Obtain the DC bus-bar voltage and desired output voltage of permagnetic synchronous motor.
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 inverter bridge circuit,
Or the three-phase inverter bridge circuit that is made up of 6 MOSFET or adopt intelligent power module, while each IGBT or
MOSFET has corresponding anti-paralleled diode.
According to one embodiment of present invention, the desired output voltage of permagnetic synchronous motor is obtained, including：Obtain permanent magnetism same
Step α axle output voltage of the motor under biphase static coordinate and β axle output voltages, and according to α axles output voltage and β axles output electricity
Pressure obtains the desired output voltage of permagnetic synchronous motor；Or, obtain d axle of the permagnetic synchronous motor under two cordic phase rotators defeated
Go out voltage and q axle output voltages, and obtain the desired output of permagnetic synchronous motor according to d axles output voltage and q axles output voltage
Voltage.
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
The estimation angle, θ of rotoreTo 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
Axle output voltage uβDesired output voltage vector can also be synthesizedSpecifically, according to output voltage u under rotating coordinate systemd/uq
Or output voltage u under rest frameα/uβCalculate desired output voltageAmplitude usFor,
In addition, according to one embodiment of present invention, can be by detecting that the input direct voltage of driver element obtains direct current
Busbar voltage.By taking the three-phase inverter bridge circuit of 6 IGBT compositions as an example, DC bus-bar voltage is and is added on each bridge arm
Input direct voltage.
S2：Obtained according to DC bus-bar voltage and desired output voltage and expect voltage modulated degree.
It should be noted that voltage modulated degree refers to the radical sign 1/3rd of DC bus-bar voltage i.e.On the basis of when it is defeated
Go out the standardization value of voltage magnitude.
According to one embodiment of present invention, obtained according to DC bus-bar voltage and desired output voltage and expect voltage modulated
Degree, including：According to desired output voltage and DC bus-bar voltageRatio again is obtained expects voltage modulated degree.
Specifically, as shown in Figure 3, it is assumed that it is v that the input direct voltage of driver element is DC bus-bar voltagedc, then base
The amplitude of this voltage vector isWith basic voltage vectorsThe inscribed circle radius of the voltage space of construction isSuch as
Fruit carries out standardization computing on the basis of inscribed circle radius, then desired output voltage vectorStandardization amplitude expect electricity
Amplitude u of pressure modulation degreerFor：
Wherein,
S3：According to the corresponding expectation voltage modulated degree of expectation voltage modulated degree and selected Overmodulation Method-amendment electricity
Pressure modulation degree table obtains corresponding amendment voltage modulated degree.
It should be noted that different Overmodulation Methods may be selected carries out ovennodulation, different Overmodulation Method correspondences are different
Expectation voltage modulated degree-amendment voltage modulated degree table, so as to can prestore it is multiple expectation voltage modulated degree-amendment voltage modulated degree
Table is with corresponding with multiple Overmodulation Methods.So, it is determined that after Overmodulation Method, inquiring about corresponding expectation voltage modulated Du-repair
Positive voltage modulation degree table.
S4：Amendment output voltage is obtained according to amendment voltage modulated degree, and according to amendment output voltage to permanent magnet synchronous electric
Machine carries out ovennodulation control.
Wherein, according to one embodiment of present invention, after amendment voltage modulated degree is obtained, amendment voltage modulated degree is taken advantage of
WithCan obtain correcting output voltage.In other words, the standardization amplitude for correcting output voltage is amendment voltage modulated degree.
Specifically, link of tabling look-up can be increased in space vector modulating method, selected mistake can be obtained by tabling look-up
The corresponding amendment voltage modulated degree of modulation algorithm, then obtains amendment output voltage according to amendment voltage modulated degree, and according to repairing
Positive output voltage carries out ovennodulation and exports to export corresponding drive signal, so that driver element controls permanent magnetism according to drive signal
Synchronous motor runs.
Specifically, as shown in figure 4, the overmodulation method of the embodiment of the present invention is comprised the following steps：
S101：Calculated according to the desired output voltage and DC bus-bar voltage of controller output and expect voltage modulated degree.
S102：Expect voltage modulated degree-amendment voltage modulated degree table to be corrected according to expecting that voltage modulated degree is inquired about
Voltage modulated degree.
S103：Amendment output voltage is calculated according to amendment voltage modulated degree.
S104：Ovennodulation output is carried out using Overmodulation Method, to generate drive signal.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method with it is basic
The corresponding relation of amplitude negates function, is adjusted with obtaining every kind of corresponding expectation voltage modulated degree-modification voltage of Overmodulation Method of crossing
System table.Thus, by expecting voltage modulated degree-modification voltage modulated degree, the voltage linear of overmodulation can be taken into full account
Degree, it is ensured that control performance.
Wherein, according to one embodiment of present invention, Overmodulation Method includes minimum phase error Overmodulation Method, minimum
Amplitude error Overmodulation Method and minimum component error Overmodulation Method.
It should be noted that when amplitude u for expecting voltage modulated degreerWhen≤1, it is judged as linear modulation area；And when expectation
Amplitude u of voltage modulated degreer>When 1, it is judged as overmodulation.
As shown in figure 5, with basic voltage vectors amplitudeThe voltage space of construction, in overmodulation, when expectation voltage
Modulation degreeWhen in voltage space, the expectation voltage modulated degreeDirectly can export, you can directly according to the expectation electricity
Pressure modulation degreeIt is modulated to generate drive signal；When expectation voltage modulated degreeWhen outside voltage space, the expectation
Voltage modulated degreeDirectly cannot export, need to be to expecting voltage modulated degreeLimited, to be restricted within voltage space, and
According to the expectation voltage modulated degree after restrictionIt is modulated to generate drive signal.
Based on space vector modulation, voltage can be carried out by following three kinds of Overmodulation Methods and limit output, i.e. minimum phase
Error method, minimum amplitude error method, minimum component error method.Aforementioned three kinds of Overmodulation Methods are described with reference to Fig. 6 and Fig. 7.
Wherein, Fig. 6 is expectation voltage modulated degreeNear basic vector vkFront half sector, Fig. 7 for expect voltage modulated degree
Near basic vector vk+1Rear half sector.
Minimum phase error method, that is, keep expecting voltage modulated degreePhase invariant, amplitude compression is to voltage space side
Boundary.As shown in Figures 6 and 7, expect voltage modulated degreeAfter the modulation of minimum phase error method, virtual voltage modulation degree vector isIts implementation is：
Wherein, t1And t2Before respectively modulating, in each PWM cycle, voltage modulated degree vector is expected in synthesisTwo it is basic
Vector vkAnd vk+1Time accounting, t11And t21Synthesis virtual voltage modulation degree vector in each PWM cycle after respectively modulating
Two basic vector vkAnd vk+1Time accounting.
Minimum amplitude error method, i.e., from expectation voltage modulated degreeSummit make the vertical line section on voltage space border, intersection point
Error for the amplitude of the actual output voltage after modulation, the actual output voltage and output voltage vector is minimum.Such as Fig. 6 and 7
It is shown, expect voltage modulated degreeAfter the modulation of minimum amplitude error method, virtual voltage modulation degree vector isIts realization side
Formula is：
Wherein, t1And t2Before respectively modulating, in each PWM cycle, voltage modulated degree vector is expected in synthesisTwo it is basic
Vector vkAnd vk+1Time accounting, t11And t21Synthesis virtual voltage modulation degree vector in each PWM cycle after respectively modulatingTwo basic vector vkAnd vk+1Time accounting.
Minimum component error method, that is, expect output voltage vectorSynthesized by two adjacent basic vectors, kept wherein
The larger basic vector of amplitude is completely constant, and the less basic vector of amplitude is as modulated with the intersection point on voltage space border in addition
Actual output voltage afterwards.As shown in Figures 6 and 7, expect voltage modulated degreeCan be byWithSynthesis,Amplitude it is larger,Amplitude is less,Intersection point with voltage space border is the actual output voltage after modulation, that is, expect voltage modulated degree
After the modulation of minimum component error method, virtual voltage modulation degree vector isIts implementation is：
Wherein, t1And t2Before respectively modulating, in each PWM cycle, voltage modulated degree vector is expected in synthesisTwo it is basic
Vector vkAnd vk+1Time accounting, t11And t21Synthesis virtual voltage modulation degree vector in each PWM cycle after respectively modulating
Two basic vector vkAnd vk+1Time accounting.
Knowable to three kinds of Overmodulation Methods in contrast Fig. 6 and Fig. 7, the phase error≤minimum amplitude of minimum phase error method
The phase error of the phase error of error method≤minimum component error method, the amplitude≤minimum amplitude error of minimum phase error method
The amplitude of the amplitude of method≤minimum component error method.
According to above-mentioned three kinds of Overmodulation Methods, can calculate respectively or emulate and obtain under every kind of Overmodulation Method voltage and adjust
System and desired output voltageFundamental voltage amplitude corresponding relation, as shown in figure 8, solid line be minimum phase error method under voltage
The corresponding relation curve of modulation degree and fundamental voltage amplitude, pecked line are voltage modulated degree and fundamental voltage amplitude under minimum amplitude error method
Corresponding relation curve, dotted line are the corresponding relation curve of minimum component error FAXIA voltage modulated degree and fundamental voltage amplitude.
Function is negated with the corresponding relation of fundamental voltage amplitude to voltage modulated degree fundamental wave under every kind of Overmodulation Method is obtained
Amplitude and the corresponding relation of voltage modulated degree, that is, expect output voltageFundamental voltage amplitude (expect voltage modulated degree) and amendment electricity
The corresponding relation of pressure modulation degree.As shown in figure 8, solid line is to expect under minimum phase error method that voltage modulated degree is adjusted with amendment voltage
The corresponding relation curve of system, pecked line are to expect under minimum amplitude error method that voltage modulated degree is right with amendment voltage modulated degree
Relation curve is answered, dotted line is that minimum component error FAXIA expects that voltage modulated degree is bent with the corresponding relation of amendment voltage modulated degree
Line.
Based on above-mentioned corresponding relation, if the desired fundamental voltage amplitude of output (expecting voltage modulated degree), then be accomplished by repairing
Positive voltage modulation degree, that is to say, that can obtain right after obtaining prestige voltage modulated degree and determining adopted Overmodulation Method
The amendment voltage modulated degree answered.For example, when ovennodulation being carried out using minimum phase error method, can inquire about minimum phase error method
Corresponding expectation voltage modulated degree and amendment voltage modulated degree table, you can obtain any one expectation voltage under minimum phase error method
The corresponding amendment voltage modulated degree of modulation degree.
It is described in detail with reference to the control principle of Figure 10-11 pair of permagnetic synchronous motor system, in the present embodiment,
It is described by taking the ensorless control of permagnetic synchronous motor as an example.
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 torqueWeak magnetic control unit is according to biphase static coordinate
Under α axles output voltage and β axles output voltage generate weak magnetoelectricity stream ifwc。
As shown in Figure 10, 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 example
Such asAs shown in figure 11, in IPM synchronous motor, torque controlling unit is according to given torqueTorque current
COEFFICIENT KtAnd weak magnetoelectricity stream ifwcGiven quadrature axis current (given Q axles electricity is calculated through torque capacity current control (MTPA)
Stream)With given direct-axis current (given 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 voltages
uβ.And then space vector modulation unit is again to α shaft voltage uαWith β shaft voltage uβCarry out SVM (Space Vetor Modulation,
Space vector modulation) to generate PWM drive signal, wherein, in overmodulation, space vector modulation unit can adopt above-mentioned for modulation
The overmodulation method of embodiment carries out ovennodulation and exports to export PWM drive signal；Driver element is driven according to PWM drive signal
Permagnetic synchronous motor.
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
To sum up, the ovennodulation control method of the permagnetic synchronous motor for proposing according to embodiments of the present invention, first obtains permanent magnetism same
The DC bus-bar voltage and desired output voltage of step motor, and expectation electricity is obtained according to DC bus-bar voltage and desired output voltage
Pressure modulation degree, and then according to expectation voltage modulated degree and expect that voltage modulated degree-amendment voltage modulated degree table obtains corresponding repairing
Positive voltage modulation degree, and amendment output voltage is obtained according to amendment voltage modulated degree, and it is same to permanent magnetism according to amendment output voltage
Step motor carries out ovennodulation control, so as to the method is simple, is easily achieved, and operand is few.And, toning can be taken into full account
The voltage linear degree in area processed, it is ensured that control performance.
Figure 12 is the block diagram of the ovennodulation control device of permagnetic synchronous motor according to embodiments of the present invention.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 electricity
Hold EC and permagnetic synchronous motor 3.Wherein, electrochemical capacitor EC is connected in parallel on the input of driver element 2, the outfan of driver element 2
It is connected with permagnetic synchronous motor 3, driver element 2 is used for driving permagnetic synchronous motor 3；Control chip 1 is used for by current detecting
Unit 4 detects the phase current of permagnetic synchronous motor 3, and is extremely driven according to the phase current output drive signal of permagnetic synchronous motor 3
Unit 2, to control the operation of permagnetic synchronous motor 3 by driver element 2.A specific example of the invention, electric current inspection
Surveying unit 4 may include three (or two) current sensors.Driver element 2 can be the three-phase bridge being made up of 6 IGBT
Drive circuit or the three-phase bridge drive circuit being made up of 6 MOSFET or intelligent power module is adopted, while often
Individual IGBT or MOSFET have corresponding anti-paralleled diode.
As shown in figure 12, the ovennodulation control device of the permagnetic synchronous motor of the embodiment of the present invention, including：Acquisition module 10
With control module 20.
Wherein, acquisition module 10 is used for obtaining the DC bus-bar voltage and desired output voltage of permagnetic synchronous motor；Control
Module 20 expects voltage modulated degree for obtaining according to DC bus-bar voltage and desired output voltage, and according to expectation voltage modulated
Degree and the corresponding expectation voltage modulated degree-amendment voltage modulated degree table of selected Overmodulation Method obtain corresponding amendment voltage
Modulation degree, and according to amendment voltage modulated degree to obtaining amendment output voltage, and according to amendment output voltage to permanent-magnet synchronous
Motor carries out ovennodulation control.
It should be noted that different Overmodulation Methods may be selected carries out ovennodulation, different Overmodulation Method correspondences are different
Expectation voltage modulated degree-amendment voltage modulated degree table, so as to can prestore it is multiple expectation voltage modulated degree-amendment voltage modulated degree
Table is with corresponding with multiple Overmodulation Methods.So, it is determined that after Overmodulation Method, inquiring about corresponding expectation voltage modulated Du-repair
Positive voltage modulation degree table.
Specifically, link of tabling look-up can be increased in space vector modulating method, control module 20 is by tabling look-up and can obtain
Selected Overmodulation Method is corresponding to correct voltage modulated degree, then obtains amendment output according to amendment voltage modulated degree electric
Pressure, and ovennodulation output is carried out to export corresponding drive signal according to amendment output voltage, so that driver element 2 is according to driving
Signal control permagnetic synchronous motor operation.
In addition, according to one embodiment of present invention, acquisition module 10 can be by the input dc power of detection driver element 2
Pressure obtains DC bus-bar voltage.By taking the three-phase inverter bridge circuit of 6 IGBT compositions as an example, DC bus-bar voltage is and is added in often
Input direct voltage on individual bridge arm.
According to one embodiment of present invention, acquisition module 10 is used for, and obtains permagnetic synchronous motor in biphase static coordinate
Under α axles output voltage and β axle output voltages, and permagnetic synchronous motor is obtained according to α axles output voltage and β axles output voltage
Desired output voltage；Or, acquisition module 10 is used for, and obtains d axle output electricity of the permagnetic synchronous motor under two cordic phase rotators
Pressure and q axle output voltages, and the desired output voltage of permagnetic synchronous motor is obtained according to d axles output voltage and q axles output voltage.
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
The estimation angle, θ of rotoreTo 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
Axle 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,
It should be noted that voltage modulated degree refers to the radical sign 1/3rd of DC bus-bar voltage i.e.On the basis of when it is defeated
Go out the standardization value of voltage magnitude.
According to one embodiment of present invention, control module 20 is for according to desired output voltage and DC bus-bar voltageRatio again is obtained expects voltage modulated degree.
Specifically, as shown in Figure 3, it is assumed that it is v that the input direct voltage of driver element is DC bus-bar voltagedc, then base
The amplitude of this voltage vector isWith basic voltage vectorsThe inscribed circle radius of the voltage space of construction isSuch as
Fruit carries out standardization computing on the basis of inscribed circle radius, then desired output voltage vectorStandardization amplitude expect electricity
Amplitude u of pressure modulation degreerFor：
Wherein,
According to one embodiment of present invention, after amendment voltage modulated degree is obtained, amendment voltage modulated degree is multiplied byCan obtain correcting output voltage.In other words, the standardization amplitude for correcting output voltage is amendment voltage modulated degree.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method with it is basic
The corresponding relation of amplitude negates function, and to obtain, every kind of Overmodulation Method is corresponding to expect voltage modulated degree-modification voltage modulated
Degree table.Thus, by expecting voltage modulated degree-modification voltage modulated degree, the voltage linear degree of overmodulation can be taken into full account,
Guarantee control performance.
Wherein, according to one embodiment of present invention, Overmodulation Method includes minimum phase error Overmodulation Method, minimum
Amplitude error Overmodulation Method and minimum component error Overmodulation Method.
It should be noted that when amplitude u for expecting voltage modulated degreerWhen≤1, it is judged as linear modulation area；And when expectation
Amplitude u of voltage modulated degreer>When 1, it is judged as overmodulation.
As shown in figure 5, with basic voltage vectors amplitudeThe voltage space of construction, in overmodulation, when expectation voltage
Modulation degreeWhen in voltage space, the expectation voltage modulated degreeDirectly can export, you can directly defeated according to the expectation
Go out voltage to be modulated to generate drive signal；When expectation voltage modulated degreeWhen outside voltage space, the expectation voltage
Modulation degreeDirectly cannot export, need to be to the expectation voltage modulated degreeLimited, to be restricted within voltage space, and root
It is modulated to generate drive signal according to the desired output voltage after restriction.
Based on space vector modulation, voltage can be carried out by following three kinds of Overmodulation Methods and limit output, i.e. minimum phase
Error method, minimum amplitude error method, minimum component error method.Aforementioned three kinds of Overmodulation Methods are described with reference to Fig. 6 and Fig. 7.
Wherein, Fig. 6 is near basic vector vkFront half sector, Fig. 7 is near basic vector vk+1Rear half sector.
Minimum phase error method, that is, keep expecting voltage modulated degreePhase invariant, amplitude compression is to voltage space side
Boundary.As shown in Figures 6 and 7, expect voltage modulated degreeAfter the modulation of minimum phase error method, virtual voltage modulation degree vector isIts implementation is：
Wherein, t1And t2Before respectively modulating, in each PWM cycle, voltage modulated degree vector is expected in synthesisTwo it is basic
Vector vkAnd vk+1Time accounting, t11And t21Synthesis virtual voltage modulation degree vector in each PWM cycle after respectively modulating
Two basic vector vkAnd vk+1Time accounting.
Minimum amplitude error method, i.e., from expectation voltage modulated degreeSummit make the vertical line section on voltage space border, intersection point
For the actual output voltage after modulation, the actual output voltage and expectation voltage modulated degreeAmplitude error it is minimum.Such as Fig. 6
With expectation voltage modulated degree 7 Suo ShiAfter the modulation of minimum amplitude error method, virtual voltage modulation degree vector isIts realization
Mode is：
Wherein, t1And t2Before respectively modulating, in each PWM cycle, voltage modulated degree vector is expected in synthesisTwo it is basic
Vector vkAnd vk+1Time accounting, t11And t21Synthesis virtual voltage modulation degree vector in each PWM cycle after respectively modulatingTwo basic vector vkAnd vk+1Time accounting.
Minimum component error method, that is, expect voltage modulated degreeSynthesized by two adjacent basic vectors, keep wherein width
The larger basic vector of value is completely constant, after the less basic vector of amplitude is with the intersection point on voltage space border and is modulated in addition
Actual output voltage.As shown in Figures 6 and 7, expect voltage modulated degreeCan be byWithSynthesis,Amplitude it is larger,
Amplitude is less,Intersection point with voltage space border is the actual output voltage after modulation, that is, expect voltage modulated degreeThrough
After minimum component error method modulation, virtual voltage modulation degree vector isIts implementation is：
Wherein, t1And t2Before respectively modulating, in each PWM cycle, voltage modulated degree vector is expected in synthesisTwo it is basic
Vector vkAnd vk+1Time accounting, t11And t21Synthesis virtual voltage modulation degree vector in each PWM cycle after respectively modulating
Two basic vector vkAnd vk+1Time accounting.
Knowable to three kinds of Overmodulation Methods in contrast Fig. 6 and Fig. 7, the phase error≤minimum amplitude of minimum phase error method
The phase error of the phase error of error method≤minimum component error method, the amplitude≤minimum amplitude error of minimum phase error method
The amplitude of the amplitude of method≤minimum component error method.
According to above-mentioned three kinds of Overmodulation Methods, can calculate respectively or emulate and obtain under every kind of Overmodulation Method voltage and adjust
System and desired output voltageFundamental voltage amplitude corresponding relation, as shown in figure 8, solid line be minimum phase error method under voltage
The corresponding relation curve of modulation degree and fundamental voltage amplitude, pecked line are voltage modulated degree and fundamental voltage amplitude under minimum amplitude error method
Corresponding relation curve, dotted line are the corresponding relation curve of minimum component error FAXIA voltage modulated degree and fundamental voltage amplitude.
Function is negated with the corresponding relation of fundamental voltage amplitude to voltage modulated degree fundamental wave under every kind of Overmodulation Method is obtained
Amplitude and the corresponding relation of voltage modulated degree, that is, expect output voltageFundamental voltage amplitude (expect voltage modulated degree) and amendment electricity
The corresponding relation of pressure modulation degree.As shown in figure 9, solid line is to expect under minimum phase error method that voltage modulated degree is adjusted with amendment voltage
The corresponding relation curve of system, pecked line are to expect under minimum amplitude error method that voltage modulated degree is right with amendment voltage modulated degree
Relation curve is answered, dotted line is that minimum component error FAXIA expects that voltage modulated degree is bent with the corresponding relation of amendment voltage modulated degree
Line.
Based on above-mentioned corresponding relation, if the desired fundamental voltage amplitude of output (expecting voltage modulated degree), then be accomplished by repairing
Positive voltage modulation degree, that is to say, that control module 20 is after obtaining prestige voltage modulated degree and determining adopted Overmodulation Method
Corresponding amendment voltage modulated degree can be obtained.For example, when ovennodulation being carried out using minimum phase error method, can inquire about minimum
Phase error method is corresponding to expect voltage modulated degree with amendment voltage modulated degree table, you can obtain arbitrary under minimum phase error method
Individual expectation voltage modulated degree is corresponding to correct voltage modulated degree.
It is described in detail with reference to the control principle of Figure 10-11 pair of permagnetic synchronous motor system, in the present embodiment,
It is described by taking the ensorless control of permagnetic synchronous motor as an example.
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 torqueWeak magnetic control unit 100 is according to biphase quiet
α axles output voltage and β axles output voltage only under coordinate generates weak magnetoelectricity stream ifwc。
As shown in Figure 10, 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 example
Such asAs shown in figure 11, in IPM synchronous motor, torque controlling unit 102 is according to given torqueTorque
Current coefficient KtAnd weak magnetoelectricity stream ifwcGiven quadrature axis current (given Q is calculated through torque capacity current control (MTPA)
Shaft current)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 idWith
Quadrature axis 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, wherein, in overmodulation, space vector modulation list
Unit can adopt the overmodulation method of above-described embodiment to carry out ovennodulation and export to export PWM drive signal；2 basis of driver element
PWM drive signal drives permagnetic synchronous 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
To sum up, the ovennodulation control device of the permagnetic synchronous motor for proposing according to embodiments of the present invention, first passes through acquisition mould
Block obtains the DC bus-bar voltage and desired output voltage of permagnetic synchronous motor, so control module according to DC bus-bar voltage and
Desired output voltage is obtained expects voltage modulated degree, and according to expectation voltage modulated degree and expects voltage modulated degree-amendment voltage
Modulation degree table obtains corresponding amendment voltage modulated degree, and obtains amendment output voltage, and root according to amendment voltage modulated degree
Ovennodulation control is carried out to permagnetic synchronous motor according to amendment output voltage, so that ovennodulation control is simple, be easily achieved, and
Operand is few.And, the ovennodulation control can take into full account the voltage linear degree of overmodulation, it is ensured that 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 ovennodulation control device of step motor.
The permagnetic synchronous motor system for proposing according to embodiments of the present invention, by the permagnetic synchronous motor of above-described embodiment
Ovennodulation control device so that ovennodulation control is simple, be easily achieved, and operand is few.And, the ovennodulation control can be filled
Divide the voltage linear degree for considering overmodulation, it is ensured that 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. the ovennodulation control method of a kind of permagnetic synchronous motor, it is characterised in that comprise the following steps：
Obtain the DC bus-bar voltage and desired output voltage of the permagnetic synchronous motor；
Obtained according to the DC bus-bar voltage and desired output voltage and expect voltage modulated degree；
Adjusted according to the corresponding expectation voltage modulated degree-amendment voltage of the expectation voltage modulated degree and selected Overmodulation Method
System table obtains corresponding amendment voltage modulated degree；
Amendment output voltage is obtained according to the amendment voltage modulated degree, and it is same to the permanent magnetism according to the amendment output voltage
Step motor carries out ovennodulation control.
2. the ovennodulation control method of permagnetic synchronous motor according to claim 1, it is characterised in that according to the direct current
Busbar voltage and desired output voltage are obtained expects voltage modulated degree, including：
According to the desired output voltage and the DC bus-bar voltageRatio again obtains the expectation voltage modulated degree.
3. the ovennodulation control method of permagnetic synchronous motor according to claim 1, it is characterised in that obtain the permanent magnetism
The desired output voltage of synchronous motor, including：
α axle output voltage of the permagnetic synchronous motor under biphase static coordinate and β axle output voltages is obtained, and according to described
α axles output voltage and β axles output voltage obtain the desired output voltage of the permagnetic synchronous motor；
Or, obtain d axle output voltage and q axle output voltage of the permagnetic synchronous motor under two cordic phase rotators, and root
The desired output voltage of the permagnetic synchronous motor is obtained according to the d axles output voltage and q axles output voltage.
4. the ovennodulation control method of permagnetic synchronous motor according to claim 1, it is characterised in that by respectively to extremely
Under a kind of few Overmodulation Method, voltage modulated degree negates function with the corresponding relation of basic amplitude, to obtain every kind of Overmodulation Method
Corresponding expectation voltage modulated degree-modification voltage modulated degree table.
5. the ovennodulation control method of permagnetic synchronous motor according to claim 4, it is characterised in that the ovennodulation is calculated
Method includes minimum phase error Overmodulation Method, minimum amplitude error Overmodulation Method and minimum component error Overmodulation Method.
6. the ovennodulation control device of a kind of permagnetic synchronous motor, it is characterised in that include：
Acquisition module, for obtaining the DC bus-bar voltage and desired output voltage of the permagnetic synchronous motor；
Control module, expects voltage modulated degree for obtaining according to the DC bus-bar voltage and desired output voltage, and according to
The expectation voltage modulated degree and the corresponding expectation voltage modulated degree-amendment voltage modulated degree table of selected Overmodulation Method are obtained
Corresponding amendment voltage modulated degree is taken, and according to the amendment voltage modulated degree to obtaining amendment output voltage, and according to institute
Stating amendment output voltage carries out ovennodulation control to the permagnetic synchronous motor.
7. the ovennodulation control device of permagnetic synchronous motor according to claim 6, the control module is used for, according to institute
Desired output voltage is stated with the DC bus-bar voltageRatio again obtains the expectation voltage modulated degree.
8. the ovennodulation control device of permagnetic synchronous motor according to claim 6, it is characterised in that
The acquisition module is used for, and obtains α axle output voltage and β axle of the permagnetic synchronous motor under biphase static coordinate defeated
Go out voltage, and obtain the desired output voltage of the permagnetic synchronous motor according to the α axles output voltage and β axles output voltage；
Or, the acquisition module is used for, obtain the d axles output voltage of the permagnetic synchronous motor under two cordic phase rotators and
Q axle output voltages, and the desired output of the permagnetic synchronous motor is obtained according to the d axles output voltage and q axles output voltage
Voltage.
9. the ovennodulation control device of permagnetic synchronous motor according to claim 6, it is characterised in that by respectively to institute
State voltage modulated degree under at least one Overmodulation Method and function is negated with the corresponding relation of basic amplitude, to obtain every kind of ovennodulation
Algorithm is corresponding to expect voltage modulated degree-modification voltage modulated degree table.
10. the ovennodulation control device of permagnetic synchronous motor according to claim 9, it is characterised in that the ovennodulation
Algorithm includes that minimum phase error Overmodulation Method, minimum amplitude error Overmodulation Method and minimum component error ovennodulation are calculated
Method.
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 ovennodulation control device of synchronous motor.
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| CN111313788A (en) * | 2020-03-03 | 2020-06-19 | 珠海格力电器股份有限公司 | Inverter control method and device, driving circuit and system and air conditioner |
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| CN117691904A (en) * | 2024-02-01 | 2024-03-12 | 深圳市正弦电气股份有限公司 | Control system of small-capacitance frequency converter |
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| CN108809179A (en) * | 2018-06-29 | 2018-11-13 | 合肥巨动力系统有限公司 | A kind of band is tabled look-up the New energy automobile motor control method of ovennodulation |
| CN109167540A (en) * | 2018-08-10 | 2019-01-08 | 上海神源能源科技有限公司 | Loom and its super starting control method and system |
| CN111130423A (en) * | 2018-10-29 | 2020-05-08 | 广东美的环境电器制造有限公司 | Motor drive control method and device |
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| CN110429896A (en) * | 2019-09-02 | 2019-11-08 | 潍柴动力股份有限公司 | A kind of voltage modulated method and device |
| CN111313788A (en) * | 2020-03-03 | 2020-06-19 | 珠海格力电器股份有限公司 | Inverter control method and device, driving circuit and system and air conditioner |
| CN111865159A (en) * | 2020-07-28 | 2020-10-30 | 中车青岛四方车辆研究所有限公司 | Method and system for controlling maximum torque current ratio of asynchronous motor |
| CN117691904A (en) * | 2024-02-01 | 2024-03-12 | 深圳市正弦电气股份有限公司 | Control system of small-capacitance frequency converter |
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