CN106685299B - Internal permanent magnet synchronous motor current control method - Google Patents
Internal permanent magnet synchronous motor current control method Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 25
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 77
- 229910052742 iron Inorganic materials 0.000 claims abstract description 34
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910052802 copper Inorganic materials 0.000 claims abstract description 23
- 239000010949 copper Substances 0.000 claims abstract description 23
- 239000002699 waste material Substances 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 3
- 230000001960 triggered effect Effects 0.000 claims abstract description 3
- 238000005457 optimization Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 6
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 230000004907 flux Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims 1
- 238000011217 control strategy Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
A kind of internal permanent magnet synchronous motor current control method of the present invention, i.e. motor export under given torque conditions, control a kind of control method that the waste of copper loss and iron loss minimizes in motor.According to the copper loss of motor and iron loss equation, current component value is calculated in the case where meeting the conditional extremum that electromagnetic torque is given value, to give the electromagnetic torque equation of torque as condition, the loss of electric machine equation constituted using copper wastage and iron loss is objective function, stator current components value when being lost minimum in the case of meeting given torque is found out using Lagrangian Arithmetic, and component of voltage value is obtained by PI adjusting respectively after being compared as given value of current value with the feedback current that the stator current obtained by current sensor detection is obtained through coordinate transform, generate the switching tube of pulse-triggered frequency converter as the input of space vector pulse width modulation unit after coordinate transform again, to realize the optimum control of internal permanent magnet synchronous motor, to improve the operational efficiency of motor.
Description
Technical field
The invention belongs to motor vector controlled field, in particular to a kind of internal permanent magnet synchronous motor (IPMSM) efficiency
Current control method when optimal, i.e., current control method when making loss of electric machine minimum under given torque, it is intended to maximum journey
Degree ground reduces the loss of electric machine to improve the operational efficiency of motor, and then energy saving.
Background technique
Internal permanent magnet synchronous motor is big with small in size, high-efficient, power density and power factor is high and operation can
By many advantages, such as, the Closed-Loop Speed Governing System being made of permanent magnet synchronous motor can realize excellent dynamic property, high-precision and width
Range speed regulation, is requiring the occasion of high-performance, quick response to obtain very extensive application.Wherein built-in type permanent-magnet synchronizes electricity
Machine because its rotor magnetic circuit structural asymmetry cause ac-dc axis inductance it is unequal caused by reluctance torque, this to built-in type permanent-magnet it is same
Step motor brings the advantages such as high efficiency, high power density, strong robustness, so that it is using more and more extensive, in order to sufficiently send out
The advantage of internal permanent magnet synchronous motor is waved, many scholars have made a large amount of research work to the efficiency for how improving its control system
Make.
At present in electric machine control system, be based on internal permanent magnet synchronous motor the characteristics of, in order to by its reluctance torque benefit
With to the limit, in many applications, maximum torque per ampere control strategy is used to internal permanent magnet synchronous motor
To achieve the purpose that make full use of reluctance torque, to improve the torque output capability and system effectiveness of motor.
Wherein maximum torque per ampere control strategy is the control method of the exportable bigger torque under identical electric current, this
The realization of kind of control strategy be by setting suitable d, q shaft current given value so that in the case where output phase is with torque, stator current
Amplitude reaches minimum.The advantage of the method is, on the one hand can control in the identical situation of power system capacity relative to id=0
System, is remarkably improved the dynamic property of system；On the other hand the copper wastage that system can also be significantly reduced, this is because copper loss
Square directly proportional to stator current, when stator current minimum, corresponding copper wastage reaches minimum.Wherein, it reduces
The copper loss of electric system, improving system effectiveness is using this control strategy main cause.However, in previous research, research
Personnel study the strategy and have been concentrated mainly on the dynamic responding speed for improving motor, in terms of effectively reducing copper wastage, but neglect
The iron loss in motor under low speed operation conditions is omited；Actually internal permanent magnet synchronous motor is in high-speed cruising, due to motor
Rotation speed is very big, so that magnetic field alternative frequency is very big, by the empirical equation of Electrical Motor iron loss it is found that iron loss and magnetic field alternation frequency
β (β is frequency index) power of rate is directly proportional, and motor iron loss proportion is bigger at this time.It wants farthest reduce electricity
Machine is lost to improve the operational efficiency of motor, and in addition to controlling copper wastage, control iron loss is also that can not ignore.
Summary of the invention
The purpose of the present invention is to solve in maximum torque per ampere control strategy in the prior art consideration motor copper
The shortcoming of motor iron loss is consumed and ignored, a kind of control motor iron loss is provided, it is same with the built-in type permanent-magnet for reaching efficiency optimization
Walk current of electric control method.
In order to achieve the goal above, the technical solution adopted by the present invention to solve the technical problems is: motor export to
Determine under torque conditions, control internal permanent magnet synchronous motor electric current makes the control that the waste of copper loss and iron loss minimizes in motor
Method, i.e., stator current components value when meeting loss of electric machine minimum under given torque conditions, redistributes it.Its
Control method is the copper loss and iron loss equation according to motor, calculates electricity in the case where meeting the conditional extremum that electromagnetic torque is given value
Flow point magnitude, using the electromagnetic torque equation of given torque as condition, the loss of electric machine equation constituted with copper wastage and iron loss is
Objective function finds out stator current components value when being lost minimum in the case of meeting given torque using Lagrangian Arithmetic, and
As given value of current value and the feedback current that is obtained through coordinate transform of stator current that is obtained by current sensor detection into
Row obtains component of voltage value by PI adjusting more respectively, then space vector pulse width modulation unit is used as after coordinate transform
(SVPWM) input generates the switching tube of pulse-triggered frequency converter, in the process, although the motor that thus control algolithm obtains
D, q axis component i of stator currentd、iqIt is electromagnetic torque given value TeFunction, in a sense, id、iqCurrent value
Acquisition completely can be by its variable electromagnetic torque TeValue obtain corresponding functional value, however between them and nonlinear dependence
System, simultaneously because the limitation of current chip computing capability, is difficult directly to find out d, q axis electricity by the given value of electromagnetic torque
Flow point magnitude, this just forces us must be by other means to stator current components and electromagnetic torque TeBetween relational expression into
Row simplifies, and the curve matching control program of efficiency-optimized control is used thus, to realize internal permanent magnet synchronous motor
Optimum control, to improve the operational efficiency of motor.
To realize that the control system of above-mentioned control method is made of revolving speed outer ring and current inner loop, the device packet of control system
Include internal permanent magnet synchronous motor, frequency converter, space vector pulse width modulation unit (SVPWM), efficiency optimization current control unit,
Three-phase-two-phase coordinate transformation unit, static-rotating coordinate transformation unit and its inverse transformation unit, quadrature coding pulse circuit
(QEP), velocity arithmetic unit, speed regulator, current regulator.Current inner loop by given value of current value with it due to being acquired instead
Feedback value has obtained component of voltage value through PI adjusting again after being compared, so can accelerate system dynamic response, it is anti-dry to improve system
Disturb ability.The output of revolving speed outer ring is electromagnetic torque Te, using it as system electromagnetic torque given value, what is proposed through the invention is interior
Quadrature axis current i can be found out respectively by setting formula permanent magnet synchronous motor efficiency optimization Current Control Strategy equationqWith direct-axis current idGive
Definite value, to realize the optimum control of the internal permanent magnet synchronous motor of whole system, improve whole system dynamic property and
Efficiency, while reducing the capacity requirement to frequency converter and reducing system loss.
Detailed description of the invention
Fig. 1 internal permanent magnet synchronous motor efficiency optimization current Control Algorithm block diagram
Fig. 2 internal permanent magnet synchronous motor efficiency optimization current control functional block diagram
Fig. 3 internal permanent magnet synchronous motor efficiency optimization current control system block diagram
Specific embodiment:
To realize that above-mentioned control method, the calculation step that the present invention uses are as follows:
To i in the control methodsThe method being allocated is the torque formula based on internal permanent magnet synchronous motor:
P is number of pole-pairs in formula
ψfFor permanent magnet flux linkage
Ld、LqFor d, q axis equivalent inductance
By motor Xue Zhi, the calculation formula of iron loss is in Unit Weight
In formula, p1/50It is B for iron loss factormWhen=1T, f=50Hz, the iron loss of every kilogram of silicon steel sheet, value 1.05~
2.50 in range；
β is frequency index, and value is different with the steel content of silicon steel sheet in 1.2~1.6 ranges, when determine motor speed,
After iron loss factor and frequency index, then iron loss is proportional to square of magnetic induction intensity, i.e. p in Unit WeightFe∝Bm 2；
And then to the motor manufactured, since iron core weight has determined, the iron loss of iron core can be obtained are as follows:
WhereinG is the weight of iron core
Again because of Bm ∝ Φ ∝ ψ ∝ U
So P can be obtainedFe=K ' U2
Whereinω, N, S are respectively power supply angular frequency, coil turn and coil institute's envelope surface product；
And ignore d, q shaft voltage of stator resistance are as follows:
Ud=-ω Lqiq
Uq=ω ψf+ωLdid
Again by copper loss formula
The loss of electric machine can be obtained:
In order to simplify processing, enable
B=2K ' ω2ψfLd
D=K ' ω2ψf2
It can obtain
Then efficiency optimization current control, which can be converted to, seeks extreme-value problem as follows:
Using Lagrangian Arithmetic, auxiliary function is done
In formula, λ is Lagrangian；
By above formula respectively to id、iqSeeking partial derivative with λ and enabling it is zero, is had:
I is arrived as available from the above equationd、iqWith torque TeNonlinear System of Equations:
By a, b, c, d is updated to above-mentioned equation group and obtains:
In order to more clearly obtain id、iqWith TeRelationship, and after being determined in view of the parameter of electric machine in above-mentioned equation group
Constant amount, therefore can be simplified are as follows:
Wherein
B=2K ' ψfLdω2
D=6p ψf(3R1+K′ω2LdLq)
By above formula it can be concluded that, although d, q axis component i of motor stator electric currentd、iqIt is electromagnetic torque given value Te's
Function, but simultaneously non-linear relation between them, are difficult directly to find out d, q shaft current component by the given value of electromagnetic torque
Value, in order to simplify to the relational expression between stator current components and electromagnetic torque, using the song of efficiency optimization current control
Line is fitted control program, i.e., above formula Nonlinear System of Equations is carried out curve fitting by MATLAB software tool is linearized
D shaft current id=f1(Te), q shaft current iq=f2(Te), the stator current components obtained at this time be under permanent torque situation at the same time
Consider component value when copper wastage and stator current minimum when iron loss；It will also realize that by above-mentioned, actually at this time obtain
Stator current components are given value of current value, are adjusted using after being compared with the actual feedback that sensor detects through PI
Obtain stator voltage d, q axis component given value, then after coordinate transform as the input of space vector pulse width modulation unit into
And pulse is exported to switching tube, maximum torque per ampere control is carried out, realizes internal permanent magnet synchronous motor copper loss and iron loss
Waste minimizes control method.
The utility model has the advantages that
It can be seen from the above, while stator current minimum component has been determined in given torque, the damage of electric system
It is also the smallest for consuming, by effectiveness formula
, work as PΣη reaches maximum when minimum, it is achieved that the current control of internal permanent magnet synchronous motor efficiency optimization
Method.
In short, the present invention is and to have fully considered motor under the premise of the characteristic of internal permanent magnet synchronous motor is utilized
Efficiency optimization current control method is proposed in the case where loss, and the reluctance torque of generation is not only made full use of to improve motor
Overload capacity and power density, and also meter and iron loss are improved efficiency with preferably reducing loss simultaneously, are solved previous
Only consider the problems of that the maximum torque per ampere control strategy of copper loss situation exists.
Claims (1)
1. a kind of internal permanent magnet synchronous motor current control method, it is characterised in that: the control system of control method is by revolving speed
Outer ring and current inner loop composition, the device of control system includes internal permanent magnet synchronous motor, frequency converter, space vector pulse width tune
Unit (SVPWM) processed, efficiency optimization current control unit, three-phase-two-phase coordinate transformation unit, static-rotating coordinate transformation list
Member and its inverse transformation unit, quadrature coding pulse circuit (QEP), velocity arithmetic unit, speed regulator；It is given in motor output
Under torque conditions, control internal permanent magnet synchronous motor electric current minimizes the waste of copper loss and iron loss in motor, that is, is giving
Determine to meet under torque conditions stator current components value when loss of electric machine minimum, it is redistributed；
According to the copper loss of motor and iron loss equation, current component is calculated in the case where meeting the conditional extremum that electromagnetic torque is given value
Value, using the electromagnetic torque equation of given torque as condition, the loss of electric machine equation constituted using copper wastage and iron loss is target letter
Number is found out stator current components value when being lost minimum in the case of meeting given torque using Lagrangian Arithmetic, and is made
It is compared with the stator current obtained by current sensor detection through the feedback current that coordinate transform obtains for given value of current value
Component of voltage value is obtained by PI adjusting respectively afterwards, then is produced after coordinate transform as the input of space vector pulse width modulation unit
The switching tube of raw pulse-triggered frequency converter；The calculation step that the control method uses is as follows:
To i in the control methodsThe method being allocated is the torque formula based on internal permanent magnet synchronous motor:
P is number of pole-pairs in formula
ψfFor permanent magnet flux linkage
Ld, Lq d, q axis equivalent inductance
By motor Xue Zhi, the calculation formula of iron loss is in Unit Weight
In formula, p1/50For iron loss factor, when being Bm=1T, f=50Hz, the iron loss of every kilogram of silicon steel sheet, value is 1.05~2.50
In range；
β is frequency index, and value is different with the steel content of silicon steel sheet in 1.2~1.6 ranges, when determining motor speed, iron loss
After coefficient and frequency index, then iron loss is proportional to square of magnetic induction intensity, i.e. p in Unit WeightFe∝Bm 2；
And then to the motor manufactured, since iron core weight has determined, the iron loss of iron core can be obtained are as follows:
WhereinG is the weight of iron core
Again because of Bm ∝ Φ ∝ ψ ∝ U
So P can be obtainedFe=K ' U2
Whereinω, N, S are respectively power supply angular frequency, coil turn and coil institute's envelope surface product；
And ignore d, q shaft voltage of stator resistance are as follows:
Ud=-ω Lqiq
Uq=ω ψf+ωLdid
Again by copper loss formula
The loss of electric machine can be obtained:
In order to simplify processing, enable
B=2K ' ω2ψfLd
D=K ' ω2ψf 2
It can obtain
Then efficiency optimization current control, which can be converted to, seeks extreme-value problem as follows:
Using Lagrangian Arithmetic, auxiliary function is done
In formula, λ is Lagrangian；
By above formula respectively to id、iqSeeking partial derivative with λ and enabling it is zero, is had:
I is arrived as available from the above equationd、iqWith torque TeNonlinear System of Equations:
By a, b, c, d is updated to above-mentioned equation group and obtains:
In order to more clearly obtain id、iqWith TeRelationship, and it is normal in above-mentioned equation group after being determined in view of the parameter of electric machine
Quantity, therefore can be simplified are as follows:
Wherein
B=2K ' ψfLdω2
D=6p ψf(3R1+K′ω2LdLq)
By above formula it can be concluded that, although d, q axis component i of motor stator electric currentd、iqIt is electromagnetic torque given value TeFunction,
But between them and non-linear relation, it is difficult directly to find out d, q shaft current component value by the given value of electromagnetic torque, is
Relational expression between stator current components and electromagnetic torque is simplified, using the curve matching of efficiency optimization current control
Control program, i.e., carried out curve fitting above formula Nonlinear System of Equations by MATLAB software tool the d axis electricity linearized
Flow id=f1(Te), q shaft current iq=f2(Te), the stator current components obtained at this time are to consider electricity under permanent torque situation at the same time
Component value when stator current minimum when machine copper loss and iron loss；It will also realize that by above-mentioned, the stator electricity actually at this time obtained
Flow component is given value of current value, is determined using adjusting after being compared with the actual feedback that sensor detects through PI
Sub- voltage d, q axis component given value, then as the input of space vector pulse width modulation unit and then output after coordinate transform
Pulse carries out internal permanent magnet synchronous motor efficiency optimization current control to switching tube, realizes internal permanent magnet synchronous motor copper
The waste of consumption and iron loss minimizes control.
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| CN107302330B (en) * | 2017-08-21 | 2019-04-23 | 西安交通大学 | A kind of durface mounted permanent magnet synchronous motor loss minimization controller method |
| CN107493051B (en) * | 2017-09-18 | 2019-04-16 | 南京理工大学 | A kind of ultrahigh speed direct torque control method for permanent magnetic synchronous electric machine based on core loss |
| CN107959452B (en) * | 2017-12-05 | 2019-08-20 | 湖南大学 | A kind of operating current of permanent magnet synchronous motor determines method and device |
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| CN111211716B (en) * | 2020-01-07 | 2023-05-16 | 湖南大学 | PMSM current prediction control method and system with optimized efficiency |
| CN111431459B (en) * | 2020-04-29 | 2021-08-31 | 华中科技大学 | Minimum copper consumption control method and device for direct current bias type sinusoidal current motor |
| CN114444335B (en) * | 2022-04-08 | 2022-06-21 | 北京精雕科技集团有限公司 | Motor flux weakening multiple optimization method and system, electronic equipment and storage medium |
| CN115356624B (en) * | 2022-08-15 | 2023-07-18 | 小米汽车科技有限公司 | Motor iron loss determination method and device, vehicle, storage medium and chip |
| CN116620042B (en) * | 2023-06-05 | 2024-02-06 | 小米汽车科技有限公司 | Motor control parameter calibration method and device and vehicle |
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