CN106533306B - Permanent magnet synchronous motor system and its ovennodulation control method and device - Google Patents
Permanent magnet synchronous motor system and its ovennodulation control method and device Download PDFInfo
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- CN106533306B CN106533306B CN201611224873.6A CN201611224873A CN106533306B CN 106533306 B CN106533306 B CN 106533306B CN 201611224873 A CN201611224873 A CN 201611224873A CN 106533306 B CN106533306 B CN 106533306B
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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
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of permanent magnet synchronous motor system and its ovennodulation control method and devices, comprising the following steps: obtains the DC bus-bar voltage and desired output voltage of the permanent magnet synchronous motor；Expectation voltage modulated degree is obtained according to the DC bus-bar voltage and desired output voltage；Corresponding amendment voltage modulated degree is obtained according to the expectation voltage modulated degree and the corresponding expectation voltage modulated degree of selected Overmodulation Method-amendment voltage modulated degree table；Amendment output voltage is obtained according to the amendment voltage modulated degree, and ovennodulation control is carried out to the permanent magnet synchronous motor according to the amendment output voltage, so that this method is simple, is easily achieved, and operand is few.Moreover, the voltage linear degree of overmodulation can be fully considered, it is ensured that control performance.
Description
Technical field
The present invention relates to motor control technology field, in particular to the ovennodulation control method of a kind of permanent magnet synchronous motor,
A kind of ovennodulation control device of permanent magnet synchronous motor 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.In some 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, blower based on permanent magnet synchronous motor etc..
In the related art, when being controlled using Overmodulation Method permanent magnet synchronous motor, high speed can be reduced and transported
Capable weak magnetoelectricity stream improves whole efficiency.But Overmodulation Method mostly operation is complicated in the related technology, and without abundant
The voltage linear degree for considering overmodulation, influences control performance etc..
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 ovennodulation control method of permanent magnet synchronous motor, and this method is simple, is easily achieved, and operand
It is few.
It is another object of the present invention to the ovennodulation control devices for proposing a kind of permanent magnet synchronous motor.It is of the invention again
One purpose is to propose a kind of permanent magnet synchronous motor system.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of ovennodulation controlling party of permanent magnet synchronous motor
Method, comprising the following steps: obtain the DC bus-bar voltage and desired output voltage of the permanent magnet synchronous motor；According to the direct current
Busbar voltage and desired output voltage obtain expectation voltage modulated degree；According to the expectation voltage modulated degree and selected toning
The corresponding expectation voltage modulated degree of algorithm processed-amendment voltage modulated degree table obtains corresponding amendment voltage modulated degree；According to described
It corrects voltage modulated degree and obtains amendment output voltage, and the permanent magnet synchronous motor was carried out according to the amendment output voltage
Modulation control.
The ovennodulation control method of the permanent magnet synchronous motor proposed according to embodiments of the present invention, first obtains permanent magnet synchronous motor
DC bus-bar voltage and desired output voltage, and expectation voltage modulated is obtained according to DC bus-bar voltage and desired output voltage
Degree, and then according to desired voltage modulated degree and the corresponding expectation voltage modulated degree of selected Overmodulation Method-amendment voltage tune
System table obtains corresponding amendment voltage modulated degree, and is obtained according to amendment voltage modulated degree and correct output voltage, and according to repairing
Positive output voltage carries out ovennodulation control to permanent magnet synchronous motor, so that this method is simple, is easily achieved, and operand is few.
According to one embodiment of present invention, expectation voltage is obtained according to the DC bus-bar voltage and desired output voltage
Modulation degree, comprising: according to the desired output voltage and the DC bus-bar voltageTimes the ratio between to obtain it is expected electric
Press modulation degree.
According to one embodiment of present invention, the desired output voltage of the permanent magnet synchronous motor is obtained, comprising: obtain institute
α axis output voltage and β axis output voltage of the permanent magnet synchronous motor under two-phase static coordinate are stated, and electricity is exported according to the α axis
Pressure and β axis output voltage obtain the desired output voltage of the permanent magnet synchronous motor；Exist alternatively, obtaining the permanent magnet synchronous motor
D axis output voltage and q axis output voltage under two cordic phase rotators, and obtained according to the d axis output voltage and q axis output voltage
Take the desired output voltage of the permanent magnet synchronous motor.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method and basic
The corresponding relationship of amplitude negates function, to obtain the corresponding expectation voltage modulated degree-modification voltage modulated of every kind of Overmodulation Method
Spend table.Thereby, it is possible to fully consider 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.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of ovennodulation control of permanent magnet synchronous motor
Device, comprising: module is obtained, for obtaining the DC bus-bar voltage and desired output voltage of the permanent magnet synchronous motor；Control
Module, for obtaining expectation voltage modulated degree 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 of selected Overmodulation Method-amendment voltage modulated degree table obtain corresponding
Voltage modulated degree is corrected, and output voltage is corrected to acquisition according to the amendment voltage modulated degree, and defeated according to the amendment
Voltage carries out ovennodulation control to the permanent magnet synchronous motor out.
The ovennodulation control device of the permanent magnet synchronous motor proposed according to embodiments of the present invention first passes through and obtains module acquisition
The DC bus-bar voltage and desired output voltage of permanent magnet synchronous motor, and then control module according to DC bus-bar voltage and it is expected defeated
Voltage obtains expectation voltage modulated degree out, and according to desired voltage modulated degree and the corresponding expectation electricity of selected Overmodulation Method
It presses modulation degree-amendment voltage modulated degree table to obtain corresponding amendment voltage modulated degree, and is obtained according to amendment voltage modulated degree
Output voltage is corrected, and ovennodulation control is carried out to permanent magnet synchronous motor according to amendment output voltage, so that ovennodulation control
System is simple, is easily achieved, and operand is few.
According to one embodiment of present invention, the control module is used for, according to the desired output voltage and described straight
Flow busbar voltageTimes the ratio between obtain the expectation voltage modulated degree.
According to one embodiment of present invention, the acquisition module is used for, and it is quiet in two-phase to obtain the permanent magnet synchronous motor
Only the α axis output voltage under coordinate and β axis output voltage, and according to the α axis output voltage and the acquisition of β axis output voltage
The desired output voltage of permanent magnet synchronous motor；Alternatively, the acquisition module is used for, obtains the permanent magnet synchronous motor and revolved in two-phase
Turn the d axis output voltage and q axis output voltage under coordinate, and according to the d axis output voltage and the acquisition of q axis output voltage
The desired output voltage of permanent magnet synchronous motor.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method with
The corresponding relationship of basic amplitude negates function, to obtain the corresponding expectation voltage modulated degree-modification voltage of every kind of Overmodulation Method
Modulation degree table.Thereby, it is possible to fully consider 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.
To reach above-mentioned purpose, another aspect of the invention embodiment proposes a kind of permanent magnet synchronous motor system, including institute
The ovennodulation control device for the permanent magnet synchronous motor stated.
The permanent magnet synchronous motor system proposed according to embodiments of the present invention, permanent magnet synchronous motor through the foregoing embodiment
Ovennodulation control device, so that ovennodulation control is simple, is easily achieved, and operand is few.Moreover, ovennodulation control can fill
Divide the voltage linear degree for considering overmodulation, it is ensured that control performance.
Detailed description of the invention
Fig. 1 is the flow chart of the ovennodulation control method of permanent magnet synchronous motor 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 flow chart of the ovennodulation control method of permanent magnet 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 expectation voltage modulated degreeClose to basic vector vkPreceding half of sector；
Fig. 7 is the schematic diagram of space voltage ovennodulation according to an embodiment of the invention, wherein expectation voltage modulated degreeClose to basic vector vk+1Rear half of sector；
Fig. 8 is voltage modulated degree and base in the ovennodulation control method of magnetic-synchro motor according to an embodiment of the invention
The corresponding relationship of wave component；
Fig. 9 is that voltage modulated degree it is expected in the ovennodulation control method of magnetic-synchro motor according to an embodiment of the invention
With the corresponding relationship of amendment voltage modulated degree；
Figure 10 is the vector controlled block diagram of permanent magnet 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 permanent magnet 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 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 the ovennodulation control method of permanent magnet synchronous motor, the permanent magnetism of proposition of the embodiment of the present invention described
The ovennodulation control device and permanent magnet synchronous motor system of synchronous motor.
Fig. 1 is the flow chart of the ovennodulation control method of permanent magnet synchronous motor according to an embodiment of the present invention.Such as Fig. 1 institute
Show, the ovennodulation control method of the permanent magnet synchronous motor, comprising the following steps:
S1: the DC bus-bar voltage and desired output voltage of permanent magnet synchronous motor are obtained.
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 inverter bridge circuit,
Or by 6 MOSFET three-phase inverter bridge circuit formed or use 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 permanent magnet synchronous motor is obtained, comprising: it is same to obtain permanent magnetism
α axis output voltage and β axis output voltage of the motor under two-phase static coordinate are walked, and electricity is exported according to α axis output voltage and β axis
Pressure obtains the desired output voltage of permanent magnet synchronous motor；Alternatively, it is defeated to obtain d axis of the permanent magnet synchronous motor under two cordic phase rotators
Voltage and q axis output voltage out, and according to the desired output of d axis output voltage and q axis output voltage acquisition permanent magnet synchronous motor
Voltage.
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 frameα
With β axis output voltage uβDesired output voltage vector can also be synthesizedSpecifically, according to output voltage under rotating coordinate system
ud/uqOr output voltage u under rest frameα/uβCalculate desired output voltageAmplitude usFor,
In addition, according to one embodiment of present invention, direct current can be obtained by detecting the input direct-current voltage of driving unit
Busbar voltage.By taking the three-phase inverter bridge circuit of 6 IGBT composition as an example, DC bus-bar voltage is to be added on each bridge arm
Input direct-current voltage.
S2: expectation voltage modulated degree is obtained according to DC bus-bar voltage and desired output voltage.
It should be noted that voltage modulated degree refers to the radical sign 1/3rd of DC bus-bar voltage i.e.It is defeated when for benchmark
The mark change value of voltage magnitude out.
According to one embodiment of present invention, expectation voltage modulated is obtained according to DC bus-bar voltage and desired output voltage
Degree, comprising: according to desired output voltage and DC bus-bar voltageTimes the ratio between obtain expectation voltage modulated degree.
Specifically, as shown in Figure 3, it is assumed that input direct-current voltage, that is, DC bus-bar voltage of driving unit is vdc, then base
The amplitude of this voltage vector isWith basic voltage vectorsThe inscribed circle radius of the voltage space of construction is
If carrying out marking on the basis of inscribed circle radius and changing operation, desired output voltage vectorMark change amplitude i.e. it is expected
The amplitude u of voltage modulated degreerAre as follows:
Wherein,
S3: according to desired voltage modulated degree and the corresponding expectation voltage modulated degree of selected Overmodulation Method-amendment electricity
Modulation degree table is pressed to obtain corresponding amendment voltage modulated degree.
It should be noted that different Overmodulation Methods, which may be selected, carries out ovennodulation, different Overmodulation Methods are corresponding different
Expectation voltage modulated degree-amendment voltage modulated degree table, so as to prestore multiple expectation voltage modulated degree-amendment voltage modulated degree
Table is with corresponding with multiple Overmodulation Methods.In this way, inquiring corresponding expectation voltage modulated Du-after determining Overmodulation Method and repairing
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 obtaining amendment voltage modulated degree, amendment voltage modulated degree is multiplied
WithAmendment output voltage can be obtained.In other words, the mark for correcting output voltage changes amplitude as 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
Then the corresponding amendment voltage modulated degree of modulation algorithm obtains amendment output voltage according to amendment voltage modulated degree, and according to repairing
Positive output voltage carries out ovennodulation output to export corresponding driving signal, so that driving unit controls permanent magnetism according to driving signal
Synchronous motor operation.
Specifically, as shown in figure 4, the overmodulation method of the embodiment of the present invention the following steps are included:
S101: expectation voltage modulated degree is calculated according to the desired output voltage of controller output and DC bus-bar voltage.
S102: expectation voltage modulated degree-amendment voltage modulated degree table is inquired to be corrected according to desired voltage modulated degree
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 driving signal.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method and basic
The corresponding relationship of amplitude negates function, crosses the corresponding expectation voltage modulated degree-modification voltage tune of Overmodulation Method to obtain every kind
System table.As a result, by desired voltage modulated degree-modification voltage modulated degree, the voltage linear of overmodulation can be fully considered
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 as the amplitude u of desired voltage modulated degreerWhen≤1, it is judged as linear modulation area；And when expectation
The amplitude u of voltage modulated degreerWhen > 1, it is judged as overmodulation.
As shown in figure 5, with basic voltage vectors amplitudeThe voltage space of construction, in overmodulation, when desired voltage
Modulation degreeWhen in voltage space, the expectation voltage modulated degreeIt can directly export, it can be directly according to expectation electricity
Press modulation degreeIt is modulated to generate driving signal；When desired voltage modulated degreeWhen except voltage space, the expectation
Voltage modulated degreeIt can not directly export, it need to be to desired voltage modulated degreeIt is limited, to be restricted within voltage space,
And according to the expectation voltage modulated degree after limitationIt is modulated to generate driving signal.
Based on space vector modulation, voltage limitation output, i.e. minimum phase can be carried out by following three kinds of Overmodulation Methods
The theory of error, the minimum amplitude theory of error, minimum component error method.Aforementioned three kinds of Overmodulation Methods are described below with reference to Fig. 6 and Fig. 7.
Wherein, Fig. 6 is desired voltage modulated degreeClose to basic vector vkPreceding half of sector, Fig. 7 be desired voltage modulated degree
Close to basic vector vk+1Rear half of sector.
The minimum phase theory of error keeps expectation voltage modulated degreePhase invariant, amplitude compression to voltage space side
Boundary.As shown in Figures 6 and 7, it is expected that voltage modulated degreeVirtual voltage modulation degree vector is after the modulation of the minimum phase theory of errorIts implementation are as follows:
Wherein, t1And t2Synthesis expectation voltage modulated degree vector in each PWM cycle before respectively modulatingTwo bases
This vector vkAnd vk+1Time accounting, t11And t21Virtual voltage modulation degree vector is synthesized after respectively modulating in each PWM cycleTwo basic vector vkAnd vk+1Time accounting.
The minimum amplitude theory of error, i.e., from desired voltage modulated degreeVertex make the vertical line section on voltage space boundary, intersection point
For modulated actual output voltage, the error of the amplitude of the actual output voltage and output voltage vector is minimum.Such as Fig. 6 and 7
It is shown, it is expected that voltage modulated degreeVirtual voltage modulation degree vector is after the modulation of the minimum amplitude theory of errorIts realization side
Formula are as follows:
Wherein, t1And t2Synthesis expectation voltage modulated degree vector in each PWM cycle before respectively modulatingTwo bases
This vector vkAnd vk+1Time accounting, t11And t21Virtual voltage modulation degree vector is synthesized after respectively modulating in each PWM cycleTwo basic vector vkAnd vk+1Time accounting.
Minimum component error method, i.e. expectation output voltage vectorIt is synthesized, is kept wherein by two adjacent basic vectors
The biggish basic vector of amplitude is completely constant, and in addition the lesser basic vector of amplitude and the intersection point on voltage space boundary are to modulate
Actual output voltage afterwards.As shown in Figures 6 and 7, it is expected that voltage modulated degreeIt can be byWithSynthesis,Amplitude compared with
Greatly,Amplitude is smaller,Intersection point with voltage space boundary is modulated actual output voltage, i.e. expectation voltage modulated degreeVirtual voltage modulation degree vector is after the modulation of minimum component error methodIts implementation are as follows:
Wherein, t1And t2Synthesis expectation voltage modulated degree vector in each PWM cycle before respectively modulatingTwo bases
This vector vkAnd vk+1Time accounting, t11And t21Virtual voltage modulation degree vector is synthesized after respectively modulating in each PWM cycleTwo basic vector vkAnd vk+1Time accounting.
Three kinds of Overmodulation Methods in comparison diagram 6 and Fig. 7 it is found that the minimum phase theory of error phase error≤minimum amplitude
The phase error of the theory of error≤minimum component error method phase error, amplitude≤minimum amplitude error of the minimum phase theory of error
The amplitude of method≤minimum component error method amplitude.
According to above-mentioned three kinds of Overmodulation Methods, it can calculate separately or emulate to obtain voltage tune under every kind of Overmodulation Method
System and desired output voltageFundamental voltage amplitude corresponding relationship, as shown in figure 8, solid line be the minimum phase theory of error under voltage
The corresponding relationship curve of modulation degree and fundamental voltage amplitude, pecked line are voltage modulated degree and fundamental voltage amplitude under the minimum amplitude theory of error
Corresponding relationship curve, dotted line are the corresponding relationship curve of voltage modulated degree and fundamental voltage amplitude under minimum component error method.
Negating function to the corresponding relationship of voltage modulated degree and fundamental voltage amplitude can be obtained fundamental wave under every kind of Overmodulation Method
The corresponding relationship of amplitude and voltage modulated degree, i.e. expectation output voltageFundamental voltage amplitude (expectation voltage modulated degree) and amendment electricity
Press the corresponding relationship of modulation degree.As shown in figure 8, solid line is expectation voltage modulated degree and amendment voltage tune under the minimum phase theory of error
The corresponding relationship curve of system, pecked line are pair of expectation voltage modulated degree and amendment voltage modulated degree under the minimum amplitude theory of error
Relation curve is answered, dotted line is that the corresponding relationship of expectation voltage modulated degree and amendment voltage modulated degree is bent under minimum component error method
Line.
Based on above-mentioned corresponding relationship, if desired fundamental voltage amplitude (expectation voltage modulated degree) is exported, then with regard to needing to repair
Positive voltage modulation degree, that is to say, that hope voltage modulated degree obtaining and can obtain after Overmodulation Method used by determining pair
The amendment voltage modulated degree answered.For example, the minimum phase theory of error can be inquired when carrying out ovennodulation using the minimum phase theory of error
Corresponding expectation voltage modulated degree and amendment voltage modulated degree table can obtain any one expectation voltage under the minimum phase theory of error
The corresponding amendment voltage modulated degree of modulation degree.
It is described in detail below with reference to the control principle of Figure 10-11 pairs of permanent magnet synchronous motor systems, in the present embodiment,
It is described by taking the ensorless control of permanent magnet synchronous motor as an example.
In the vector controlled of permanent magnet synchronous motor, velocity correction unit is according to given rotating speedWith to estimation revolving speed
It carries out velocity correction and carries out proportional, integral adjusting for example to obtain given torqueWeak magnetic control unit is according to the static seat of two-phase
α axis output voltage and β axis output voltage under mark generate weak magnetoelectricity stream ifwc。
As shown in Figure 10, in durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtIt calculates
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
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 is calculated by torque capacity current control (MTPA)
Shaft current)With given direct-axis current (given 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, wherein in overmodulation, space vector modulation unit can be used above-mentioned
The overmodulation method of embodiment carries out ovennodulation and exports to export PWM drive signal；Driving unit drives according to PWM drive signal
Permanent magnet synchronous motor.
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
Electric 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.Estimate position
Unit such as speed flux observer is counted 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) turned by the position and speed of no sensor algorithm for estimating estimation rotor with obtaining estimation
SpeedWith estimation electrical angle
To sum up, it is same first to obtain permanent magnetism for the ovennodulation control method of the permanent magnet synchronous motor proposed according to embodiments of the present invention
The DC bus-bar voltage and desired output voltage of motor are walked, and expectation electricity is obtained according to DC bus-bar voltage and desired output voltage
Modulation degree is pressed, and then corresponding repair is obtained according to desired voltage modulated degree and desired voltage modulated degree-amendment voltage modulated degree table
Positive voltage modulation degree, and amendment output voltage is obtained according to amendment voltage modulated degree, and same to permanent magnetism according to amendment output voltage
It walks motor and carries out ovennodulation control, so that this method is simple, is easily achieved, and operand is few.Moreover, toning can be fully considered
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 permanent magnet synchronous motor according to an embodiment of the present invention.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 electricity
Hold 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 end of driving unit 2
It is connected with permanent magnet synchronous motor 3, driving unit 2 is for driving permanent magnet synchronous motor 3；Control chip 1 is for passing through current detecting
Unit 4 detects the phase current of permanent magnet synchronous motor 3, and according to the phase current output drive signal of permanent magnet synchronous motor 3 to driving
Unit 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 inspection
Surveying unit 4 may include three (or two) current sensors.Driving unit 2 can be the three-phase bridge being made of 6 IGBT
Driving circuit or by 6 MOSFET three-phase bridge driving circuit formed or intelligent power module is used, while every
A IGBT or MOSFET has corresponding anti-paralleled diode.
As shown in figure 12, the ovennodulation control device of the permanent magnet synchronous motor of the embodiment of the present invention, comprising: obtain module 10
With control module 20.
Wherein, DC bus-bar voltage and desired output voltage that module 10 is used to obtain permanent magnet synchronous motor are obtained；Control
Module 20 is used to obtain expectation voltage modulated degree according to DC bus-bar voltage and desired output voltage, and according to desired voltage modulated
It spends expectation voltage modulated degree corresponding with selected Overmodulation Method-amendment voltage modulated degree table and obtains corresponding amendment voltage
Modulation degree, and output voltage is corrected to acquisition according to amendment voltage modulated degree, and according to amendment output voltage to permanent-magnet synchronous
Motor carries out ovennodulation control.
It should be noted that different Overmodulation Methods, which may be selected, carries out ovennodulation, different Overmodulation Methods are corresponding different
Expectation voltage modulated degree-amendment voltage modulated degree table, so as to prestore multiple expectation voltage modulated degree-amendment voltage modulated degree
Table is with corresponding with multiple Overmodulation Methods.In this way, inquiring corresponding expectation voltage modulated Du-after determining Overmodulation Method and repairing
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
Then the corresponding amendment voltage modulated degree of selected Overmodulation Method obtains amendment output electricity according to amendment voltage modulated degree
Pressure, and ovennodulation output is carried out to export corresponding driving signal, so that driving unit 2 is according to driving according to amendment output voltage
Signal controls permanent magnet synchronous motor operation.
In addition, according to one embodiment of present invention, obtaining module 10 can be by the input dc power of detection driving unit 2
Pressure obtains DC bus-bar voltage.By taking the three-phase inverter bridge circuit of 6 IGBT composition as an example, DC bus-bar voltage is to be added in often
Input direct-current voltage on a bridge arm.
According to one embodiment of present invention, it obtains module 10 to be used for, obtains permanent magnet synchronous motor in two-phase static coordinate
Under α axis output voltage and β axis output voltage, and permanent magnet synchronous motor is obtained according to α axis output voltage and β axis output voltage
Desired output voltage；It is used for alternatively, obtaining module 10, obtains d axis of the permanent magnet synchronous motor under two cordic phase rotators and export electricity
Pressure and q axis output voltage, and according to the desired output voltage of d axis output voltage and q axis output voltage acquisition permanent magnet synchronous motor.
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 frameα
With β axis output voltage uβDesired output voltage vector can also be synthesizedSpecifically, according to output voltage under rotating coordinate system
ud/uqOr output voltage u under 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.It is defeated when for benchmark
The mark change value of voltage magnitude out.
According to one embodiment of present invention, control module 20 is used for according to desired output voltage and DC bus-bar voltageTimes the ratio between obtain expectation voltage modulated degree.
Specifically, as shown in Figure 3, it is assumed that input direct-current voltage, that is, DC bus-bar voltage of driving unit is vdc, then base
The amplitude of this voltage vector isWith basic voltage vectorsThe inscribed circle radius of the voltage space of construction is
If carrying out marking on the basis of inscribed circle radius and changing operation, desired output voltage vectorMark change amplitude i.e. it is expected
The amplitude u of voltage modulated degreerAre as follows:
Wherein,
According to one embodiment of present invention, obtain correct voltage modulated degree after, will amendment voltage modulated degree multiplied byAmendment output voltage can be obtained.In other words, the mark for correcting output voltage changes amplitude as amendment voltage modulated degree.
According to one embodiment of present invention, by respectively to voltage modulated degree under at least one Overmodulation Method and basic
The corresponding relationship of amplitude negates function, to obtain the corresponding expectation voltage modulated degree-modification voltage modulated of every kind of Overmodulation Method
Spend table.As a result, by desired voltage modulated degree-modification voltage modulated degree, the voltage linear degree of overmodulation can be fully considered,
Ensure 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 as the amplitude u of desired voltage modulated degreerWhen≤1, it is judged as linear modulation area；And when expectation
The amplitude u of voltage modulated degreerWhen > 1, it is judged as overmodulation.
As shown in figure 5, with basic voltage vectors amplitudeThe voltage space of construction, in overmodulation, when desired voltage
Modulation degreeWhen in voltage space, the expectation voltage modulated degreeIt can directly export, it can be directly defeated according to the expectation
Voltage is modulated to generate driving signal out；When desired voltage modulated degreeWhen except voltage space, the expectation voltage
Modulation degreeIt can not directly export, it need to be to the expectation voltage modulated degreeIt is limited, to be restricted within voltage space, and
It is modulated according to the desired output voltage after limitation to generate driving signal.
Based on space vector modulation, voltage limitation output, i.e. minimum phase can be carried out by following three kinds of Overmodulation Methods
The theory of error, the minimum amplitude theory of error, minimum component error method.Aforementioned three kinds of Overmodulation Methods are described below with reference to Fig. 6 and Fig. 7.
Wherein, Fig. 6 is close to basic vector vkPreceding half of sector, Fig. 7 is close to basic vector vk+1Rear half of sector.
The minimum phase theory of error keeps expectation voltage modulated degreePhase invariant, amplitude compression to voltage space side
Boundary.As shown in Figures 6 and 7, it is expected that voltage modulated degreeVirtual voltage modulation degree vector is after the modulation of the minimum phase theory of errorIts implementation are as follows:
Wherein, t1And t2Synthesis expectation voltage modulated degree vector in each PWM cycle before respectively modulatingTwo bases
This vector vkAnd vk+1Time accounting, t11And t21Virtual voltage modulation degree vector is synthesized after respectively modulating in each PWM cycleTwo basic vector vkAnd vk+1Time accounting.
The minimum amplitude theory of error, i.e., from desired voltage modulated degreeVertex make the vertical line section on voltage space boundary, intersection point
For modulated actual output voltage, the actual output voltage and desired voltage modulated degreeAmplitude error it is minimum.Such as Fig. 6
With expectation voltage modulated degree shown in 7Virtual voltage modulation degree vector is after the modulation of the minimum amplitude theory of errorIt is realized
Mode are as follows:
Wherein, t1And t2Synthesis expectation voltage modulated degree vector in each PWM cycle before respectively modulatingTwo bases
This vector vkAnd vk+1Time accounting, t11And t21Virtual voltage modulation degree vector is synthesized after respectively modulating in each PWM cycleTwo basic vector vkAnd vk+1Time accounting.
Minimum component error method, i.e. expectation voltage modulated degreeIt is synthesized by two adjacent basic vectors, keeps wherein width
It is worth that biggish basic vector is completely constant, in addition the lesser basic vector of amplitude and the intersection point on voltage space boundary are after modulating
Actual output voltage.As shown in Figures 6 and 7, it is expected that voltage modulated degreeIt can be byWithSynthesis,Amplitude it is larger,Amplitude is smaller,Intersection point with voltage space boundary is modulated actual output voltage, i.e. expectation voltage modulated degree
Virtual voltage modulation degree vector is after the modulation of minimum component error methodIts implementation are as follows:
Wherein, t1And t2Synthesis expectation voltage modulated degree vector in each PWM cycle before respectively modulatingTwo bases
This vector vkAnd vk+1Time accounting, t11And t21Virtual voltage modulation degree vector is synthesized after respectively modulating in each PWM cycleTwo basic vector vkAnd vk+1Time accounting.
Three kinds of Overmodulation Methods in comparison diagram 6 and Fig. 7 it is found that the minimum phase theory of error phase error≤minimum amplitude
The phase error of the theory of error≤minimum component error method phase error, amplitude≤minimum amplitude error of the minimum phase theory of error
The amplitude of method≤minimum component error method amplitude.
According to above-mentioned three kinds of Overmodulation Methods, it can calculate separately or emulate to obtain voltage tune under every kind of Overmodulation Method
System and desired output voltageFundamental voltage amplitude corresponding relationship, as shown in figure 8, solid line be the minimum phase theory of error under voltage
The corresponding relationship curve of modulation degree and fundamental voltage amplitude, pecked line are voltage modulated degree and fundamental voltage amplitude under the minimum amplitude theory of error
Corresponding relationship curve, dotted line are the corresponding relationship curve of voltage modulated degree and fundamental voltage amplitude under minimum component error method.
Negating function to the corresponding relationship of voltage modulated degree and fundamental voltage amplitude can be obtained fundamental wave under every kind of Overmodulation Method
The corresponding relationship of amplitude and voltage modulated degree, i.e. expectation output voltageFundamental voltage amplitude (expectation voltage modulated degree) and amendment electricity
Press the corresponding relationship of modulation degree.As shown in figure 9, solid line is expectation voltage modulated degree and amendment voltage tune under the minimum phase theory of error
The corresponding relationship curve of system, pecked line are pair of expectation voltage modulated degree and amendment voltage modulated degree under the minimum amplitude theory of error
Relation curve is answered, dotted line is that the corresponding relationship of expectation voltage modulated degree and amendment voltage modulated degree is bent under minimum component error method
Line.
Based on above-mentioned corresponding relationship, if desired fundamental voltage amplitude (expectation voltage modulated degree) is exported, then with regard to needing to repair
Positive voltage modulation degree, that is to say, that after the Overmodulation Method used by obtaining prestige voltage modulated degree and determining of control module 20
Corresponding amendment voltage modulated degree can be obtained.For example, minimum can be inquired when carrying out ovennodulation using the minimum phase theory of error
The corresponding expectation voltage modulated degree of phase error method and amendment voltage modulated degree table, can obtain any under the minimum phase theory of error
The corresponding amendment voltage modulated degree of a expectation voltage modulated degree.
It is described in detail below with reference to the control principle of Figure 10-11 pairs of permanent magnet synchronous motor systems, in the present embodiment,
It is described by taking the ensorless control of permanent magnet synchronous motor as an example.
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 torqueWeak magnetic control unit 100 is according to two-phase
α axis output voltage and β axis output voltage under static coordinate generate weak magnetoelectricity stream ifwc。
As shown in Figure 10, in durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtIt calculates
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
Such asAs shown in figure 11, in IPM synchronous motor, torque controlling unit 102 is according to given torqueTurn
Square current coefficient KtAnd weak magnetoelectricity stream ifwcBy torque capacity current control (MTPA) be calculated given quadrature axis current (to
Determine Q shaft current)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 idWith
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
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, wherein in overmodulation, space vector modulation list
The overmodulation method that above-described embodiment can be used in member carries out ovennodulation and exports to export PWM drive signal；2 basis of driving unit
PWM drive signal drives permanent magnet synchronous 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
To sum up, the ovennodulation control device of the permanent magnet synchronous motor proposed according to embodiments of the present invention, first passes through acquisition mould
Block obtains the DC bus-bar voltage and desired output voltage of permanent magnet synchronous motor, so control module according to DC bus-bar voltage and
Desired output voltage obtains expectation voltage modulated degree, and according to desired voltage modulated degree and desired 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 permanent magnet synchronous motor according to amendment output voltage, so that ovennodulation control is simple, is easily achieved, and
Operand is few.Moreover, ovennodulation control can fully consider the voltage linear degree of overmodulation, it is ensured that 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 ovennodulation control device of motor.
The permanent magnet synchronous motor system proposed according to embodiments of the present invention, permanent magnet synchronous motor through the foregoing embodiment
Ovennodulation control device, so that ovennodulation control is simple, is easily achieved, and operand is few.Moreover, ovennodulation control can fill
Divide the voltage linear degree for considering overmodulation, it is ensured that 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 (11)
1. a kind of ovennodulation control method of permanent magnet synchronous motor, which comprises the following steps:
Obtain the DC bus-bar voltage and desired output voltage of the permanent magnet synchronous motor；
Expectation voltage modulated degree is obtained according to the DC bus-bar voltage and desired output voltage, wherein prestores multiple expectation electricity
Press modulation degree-amendment voltage modulated degree table, the multiple expectation voltage modulated degree-amendment voltage modulated degree table respectively with a variety of mistakes
Modulation algorithm is corresponding；
When the amplitude of the expectation voltage modulated degree is greater than 1, it is judged as overmodulation；
In the overmodulation, according to the expectation voltage modulated degree and the corresponding expectation voltage tune of selected Overmodulation Method
System-amendment voltage modulated degree table obtains corresponding amendment voltage modulated degree；
Amendment output voltage is obtained according to the amendment voltage modulated degree, and same to the permanent magnetism according to the amendment output voltage
It walks motor and carries out ovennodulation control, wherein by the amendment voltage modulated degree multiplied by the DC bus-bar voltageTimes with
Obtain the amendment output voltage.
2. the ovennodulation control method of permanent magnet synchronous motor according to claim 1, which is characterized in that according to the direct current
Busbar voltage and desired output voltage obtain expectation voltage modulated degree, comprising:
According to the desired output voltage and the DC bus-bar voltageTimes the ratio between obtain the expectation voltage modulated degree.
3. the ovennodulation control method of permanent magnet synchronous motor according to claim 1, which is characterized in that obtain the permanent magnetism
The desired output voltage of synchronous motor, comprising:
α axis output voltage and β axis output voltage of the permanent magnet synchronous motor under two-phase static coordinate are obtained, and according to described
α axis output voltage and β axis output voltage obtain the desired output voltage of the permanent magnet synchronous motor；
Alternatively, obtaining d axis output voltage and q axis output voltage of the permanent magnet synchronous motor under two cordic phase rotators, and root
The desired output voltage of the permanent magnet synchronous motor is obtained according to the d axis output voltage and q axis output voltage.
4. the ovennodulation control method of permanent magnet synchronous motor according to claim 1, which is characterized in that by respectively to extremely
The corresponding relationship of voltage modulated degree and fundamental voltage amplitude negates function under a kind of few Overmodulation Method, to obtain every kind of Overmodulation Method
Corresponding expectation voltage modulated degree-modification voltage modulated degree table.
5. the ovennodulation control method of permanent magnet synchronous motor according to claim 4, which is characterized 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. a kind of ovennodulation control device of permanent magnet synchronous motor characterized by comprising
Module is obtained, for obtaining the DC bus-bar voltage and desired output voltage of the permanent magnet synchronous motor；
Control module, for obtaining expectation voltage modulated degree according to the DC bus-bar voltage and desired output voltage, wherein pre-
Deposit multiple expectation voltage modulated degree-amendment voltage modulated degree table, the multiple expectation voltage modulated degree-amendment voltage modulated degree table
It is corresponding with a variety of Overmodulation Methods respectively, and when the amplitude of the expectation voltage modulated degree is greater than 1, it is judged as ovennodulation
Area, and in the overmodulation, according to the expectation voltage modulated degree and the corresponding expectation voltage of selected Overmodulation Method
Modulation degree-amendment voltage modulated degree table obtains corresponding amendment voltage modulated degree, and is obtained according to the amendment voltage modulated degree
Amendment output voltage is taken, and ovennodulation control is carried out to the permanent magnet synchronous motor according to the amendment output voltage, wherein will
The amendment voltage modulated degree is multiplied by the DC bus-bar voltageAgain to obtain the amendment output voltage.
7. the ovennodulation control device of permanent magnet synchronous motor according to claim 6, the control module are used for, according to institute
State desired output voltage and the DC bus-bar voltageTimes the ratio between obtain the expectation voltage modulated degree.
8. the ovennodulation control device of permanent magnet synchronous motor according to claim 6, which is characterized in that
The acquisition module is used for, and it is defeated to obtain α axis output voltage and β axis of the permanent magnet synchronous motor under two-phase static coordinate
Voltage out, and obtain according to the α axis output voltage and β axis output voltage the desired output voltage of the permanent magnet synchronous motor；
Alternatively, the acquisition module is used for, obtain d axis output voltage of the permanent magnet synchronous motor under two cordic phase rotators and
Q axis output voltage, and obtain according to the d axis output voltage and q axis output voltage the desired output of the permanent magnet synchronous motor
Voltage.
9. the ovennodulation control device of permanent magnet synchronous motor according to claim 6, which is characterized in that by respectively to institute
It states the corresponding relationship of voltage modulated degree and fundamental voltage amplitude under at least one Overmodulation Method and negates function, to obtain every kind of ovennodulation
The corresponding expectation voltage modulated degree of algorithm-modification voltage modulated degree table.
10. the ovennodulation control device of permanent magnet synchronous motor according to claim 9, which is characterized 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 permanent magnet synchronous motor system, which is characterized in that including the permanent magnetism according to any one of claim 6-10
The ovennodulation control device of synchronous motor.
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| 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 |
| CN111130423B (en) * | 2018-10-29 | 2022-02-11 | 广东美的环境电器制造有限公司 | Motor drive control method and device |
| CN110429896B (en) * | 2019-09-02 | 2021-04-16 | 潍柴动力股份有限公司 | Voltage modulation method and device |
| CN111313788B (en) * | 2020-03-03 | 2021-07-27 | 珠海格力电器股份有限公司 | Inverter control method and device, driving circuit and system and air conditioner |
| CN111865159B (en) * | 2020-07-28 | 2021-08-20 | 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 |
| CN117277893A (en) * | 2023-07-27 | 2023-12-22 | 昆山华辰电动科技有限公司 | Speed-sensor-free auxiliary engine power station control method and system |
| 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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