CN106712631A - Permanent magnet synchronous motor system, field weakening control method and device thereof - Google Patents
Permanent magnet synchronous motor system, field weakening control method and device thereof Download PDFInfo
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- CN106712631A CN106712631A CN201611220427.8A CN201611220427A CN106712631A CN 106712631 A CN106712631 A CN 106712631A CN 201611220427 A CN201611220427 A CN 201611220427A CN 106712631 A CN106712631 A CN 106712631A
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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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Abstract
The present invention discloses a permanent magnet synchronous motor system, a field weakening control method and device thereof. The method comprises the following steps that: the D-axis output voltage ud and Q-axis output voltage uq of the permanent magnet synchronous motor system under a rotating coordinate system are acquired; an output voltage limit threshold value is acquired, and a Q-axis voltage limit threshold value is acquired according to the D-axis output voltage and the output voltage limit threshold value; and field weakening current is generated according to the Q-axis output voltage uq and the Q-axis voltage limit threshold value, and the field weakening current is superimposed onto the D-axis current closed loop of the permanent magnet synchronous motor system, so that field weakening control can be performed on the permanent magnet synchronous motor. Since field weakening control fed-back by the closed-loop is performed through using Q-axis voltage error, and the full tracking of the D-axis current is maintained, the instability of the D-axis current under a condition of input alternating-current voltage periodic fluctuation and load fluctuation can be avoided, and field weakening control performance can be improved.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of weak magnetic controlling party of permagnetic synchronous motor system
Method, a kind of weak magnetic control device of permagnetic synchronous motor system and a kind of permagnetic synchronous motor system.
Background technology
Permagnetic synchronous motor with its control performance it is good, power density is high, energy-conservation the features such as, obtained in all trades and professions
Extensive use.Wherein, in many application scenarios, it is desirable to which permagnetic synchronous motor operates in high-frequency range, then operates in weak magnetic
Interval, such as frequency-changeable compressor based on permagnetic synchronous motor, the blower fan based on permagnetic synchronous motor etc..
Field weakening control method in correlation technique is used and carries out weak magnetoelectricity stream tune to output voltage amplitude closed loop feedback mostly
Section.But its problem for existing is to limit D shaft voltages, causes weak magnetoelectricity stream (D shaft currents) to track bad, influence weak magnetic control
Performance.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, of the invention
One purpose is to propose a kind of field weakening control method of permagnetic synchronous motor system, can keep the perfect tracking of D shaft currents,
Improve weak magnetic control performance.
It is another object of the present invention to propose a kind of weak magnetic control device of permagnetic synchronous motor system.It is of the invention
Another purpose is to propose a kind of permagnetic synchronous motor system.
To reach above-mentioned purpose, a kind of weak magnetic control of permagnetic synchronous motor system that one aspect of the present invention embodiment is proposed
Method, comprises the following steps：Obtain the D axle output voltages u under the rotating coordinate system of the permagnetic synchronous motor systemdWith Q axles
Output voltage uq；Output voltage threshold limit is obtained, and is obtained according to the D axles output voltage and the output voltage threshold limit
Take Q shaft voltage threshold limits；According to the Q axles output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, and will
The weak magnetoelectricity stream is superimposed to the D shaft current closed loops of the permagnetic synchronous motor system, and weak magnetic is carried out with to permagnetic synchronous motor
Control.
The field weakening control method of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first obtains permanent magnet synchronous electric
D axle output voltages u under the rotating coordinate system of machine systemdWith Q axle output voltages uq, output voltage threshold limit is then obtained, and
Q shaft voltage threshold limits are obtained according to D axles output voltage and output voltage threshold limit, and then according to Q axle output voltages uqAnd Q
Shaft voltage threshold limit generation weak magnetoelectricity stream, and weak magnetoelectricity stream is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, with
Weak magnetic control is carried out to permagnetic synchronous motor.Thus, the method for the embodiment of the present invention carries out closed loop feedback using Q shaft voltages error
Weak magnetic control, keep the perfect tracking of D shaft currents, cyclic swing is special in itself in input ac voltage can to avoid D shaft currents
Property and the fluctuation of load in the case of it is unstable, improve weak magnetic control performance.
According to one embodiment of present invention, the output voltage threshold limit is obtained, including：Obtain the permanent-magnet synchronous
D axle output voltages u under the rotating coordinate system of electric systemdWith Q axle output voltages uqOr the α axles output under rest frame
Voltage uαWith β axle output voltages uβ, and according to D axle output voltages udWith Q axle output voltages uqObtain desired output voltage usOr root
According to the α axles output voltage uαWith β axle output voltages uβObtain desired output voltage us；According to the desired output voltage usWith
The DC bus-bar voltage of the permagnetic synchronous motor system calculates the output voltage threshold limit.
According to one embodiment of present invention, the output voltage threshold limit is less than or equal to the permagnetic synchronous motor system
The DC bus-bar voltage of systemTimes.
According to one embodiment of present invention, the Q shaft voltages threshold limit is obtained according to below equation：
Wherein, uqlimIt is the Q shaft voltages threshold limit, ulimIt is the output voltage threshold limit, udFor the D axles are defeated
Go out voltage.
According to one embodiment of present invention, it is described according to the Q axles output voltage uqWith the Q shaft voltages threshold limit
Generation weak magnetoelectricity stream, including：The Q shaft voltages threshold limit is obtained with the Q axles output voltage uqAmplitude between voltage
Difference；The weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling models.
According to one embodiment of present invention, according to the Q axles output voltage uqGiven birth to the Q shaft voltages threshold limit
Into after weak magnetoelectricity stream, methods described also includes：The weak magnetoelectricity stream is limited according to default amplitude limit model so that it is described forever
Magnetic-synchro electric system according to amplitude limit after the weak magnetoelectricity stream carry out weak magnetic control.
According to one embodiment of present invention, weak magnetic control bandwidth is less than the D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the AC power of the permagnetic synchronous motor system.
To reach above-mentioned purpose, a kind of weak magnetic control of permagnetic synchronous motor system that another aspect of the present invention embodiment is proposed
Device processed, including：First acquisition module, for the D axles output under the rotating coordinate system for obtaining the permagnetic synchronous motor system
Voltage udWith Q axle output voltages uq；Second acquisition module, for obtaining output voltage threshold limit；Weak magnetic control module, is used for
Q shaft voltage threshold limits are obtained according to the D axles output voltage and the output voltage threshold limit, and it is defeated according to the Q axles
Go out voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, and the weak magnetoelectricity stream is superimposed to the permanent-magnet synchronous
The D shaft current closed loops of electric system, weak magnetic control is carried out with to permagnetic synchronous motor.
The weak magnetic control device of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first passes through the first acquisition mould
Block obtains the D axle output voltages u under the rotating coordinate system of permagnetic synchronous motor systemdWith Q axle output voltages uq, and by second
Acquisition module obtains output voltage threshold limit, and then weak magnetic control module according to D axles output voltage and output voltage limitation threshold
Value obtains Q shaft voltage threshold limits, and according to Q axle output voltages uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and will be weak
Magnetoelectricity stream is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, and weak magnetic control is carried out with to permagnetic synchronous motor.Thus,
The device of the embodiment of the present invention using Q shaft voltages error carry out closed loop feedback weak magnetic control, keep D shaft currents completely with
Track, can avoid D shaft currents unstable in the case of input ac voltage in itself cyclic swing characteristic and the fluctuation of load, improve
Weak magnetic control performance.
According to one embodiment of present invention, second acquisition module is further used for, and obtains the permanent magnet synchronous electric
D axle output voltages u under the rotating coordinate system of machine systemdWith Q axle output voltages uqOr the α axles output electricity under rest frame
Pressure uαWith β axle output voltages uβ, and according to D axle output voltages udWith Q axle output voltages uqObtain desired output voltage usOr according to
The α axles output voltage uαWith β axle output voltages uβObtain desired output voltage us, and according to the desired output voltage usWith
The DC bus-bar voltage of the permagnetic synchronous motor system calculates the output voltage threshold limit.
According to one embodiment of present invention, the output voltage threshold limit is less than or equal to the permagnetic synchronous motor system
The DC bus-bar voltage of systemTimes.
According to one embodiment of present invention, the weak magnetic control module obtains the Q shaft voltages limit according to below equation
Threshold value processed：
Wherein, uqlimIt is the Q shaft voltages threshold limit, ulimIt is the output voltage threshold limit, udFor the D axles are defeated
Go out voltage.
According to one embodiment of present invention, the weak magnetic control module is further used for, and obtains the Q shaft voltages limitation
Threshold value and the Q axles output voltage uqAmplitude between voltage difference, and according to the voltage difference and default PI control mould
Type generates the weak magnetoelectricity stream.
According to one embodiment of present invention, according to the Q axles output voltage uqGiven birth to the Q shaft voltages threshold limit
Into after weak magnetoelectricity stream, the weak magnetic control module is limited the weak magnetoelectricity stream always according to default amplitude limit model, so that institute
The weak magnetoelectricity stream after permagnetic synchronous motor system is stated according to amplitude limit carries out weak magnetic control.
According to one embodiment of present invention, weak magnetic control bandwidth is less than the D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the AC power of the permagnetic synchronous motor system.
To reach above-mentioned purpose, a kind of permagnetic synchronous motor system that another aspect of the invention embodiment is proposed, including institute
The weak magnetic control device of the permagnetic synchronous motor system stated.
The permagnetic synchronous motor system for proposing according to embodiments of the present invention, by above-mentioned weak magnetic control device, using Q axles
Voltage error carries out the weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft currents, and D shaft currents can be avoided to be handed in input
Stream voltage is unstable in the case of cyclic swing characteristic and the fluctuation of load in itself, improves weak magnetic control performance.
Brief description of the drawings
Fig. 1 is the flow chart of the field weakening control method of permagnetic synchronous motor system according to embodiments of the present invention；
Fig. 2 is the topological schematic diagram of the control circuit of permagnetic synchronous motor according to an embodiment of the invention；
Fig. 3 is the relation schematic diagram of rotating coordinate system according to an embodiment of the invention and rest frame；
Fig. 4 is the schematic diagram of space voltage modulation according to an embodiment of the invention；
Fig. 5 is the schematic diagram of space voltage modulation in accordance with another embodiment of the present invention；
Fig. 6 is the control block diagram of the field weakening control method of permagnetic synchronous motor system according to an embodiment of the invention；
Fig. 7 is the vector controlled block diagram of permagnetic synchronous motor system according to an embodiment of the invention, wherein, permanent magnetism is same
Step motor is durface mounted permanent magnet synchronous motor；
Fig. 8 is the vector controlled block diagram of permagnetic synchronous motor system according to an embodiment of the invention, wherein, permanent magnetism is same
Step motor is IPM synchronous motor；And
Fig. 9 is the block diagram of the weak magnetic control device of permagnetic synchronous motor system according to embodiments of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings it is same to describe the field weakening control method of the permagnetic synchronous motor system of the embodiment of the present invention, permanent magnetism
Walk the weak magnetic control device and permagnetic synchronous motor system of electric system.
Fig. 1 is the flow chart of the field weakening control method of permagnetic synchronous motor system according to embodiments of the present invention.Such as Fig. 1 institutes
Show, the method is comprised the following steps：
S1：Obtain the D axle output voltages u under the rotating coordinate system of permagnetic synchronous motor systemdWith Q axle output voltages uq。
According to one embodiment of present invention, as shown in Fig. 2 permagnetic synchronous motor system may include control chip, drive
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 to drive permagnetic synchronous motor；Control chip is used to pass through current detecting
Unit detects the phase current of permagnetic synchronous motor, and according to the phase current output drive signal of permagnetic synchronous motor to driving list
Unit, to control the operation of permagnetic synchronous motor by driver element.A specific example of the invention, current detecting unit
May include three (or two) current sensors.Driver element can be made up of 6 IGBT three-phase bridge drive circuit,
Or the three-phase bridge drive circuit that is made up of 6 MOSFET or use intelligent power module, while each IGBT or
MOSFET has corresponding anti-paralleled diode.
S2：Output voltage threshold limit is obtained, and Q axles electricity is obtained according to D axles output voltage and output voltage threshold limit
Pressure threshold limit.
Wherein, can be according to the DC bus-bar voltage of permagnetic synchronous motor system and modulator approach setting output voltage limitation threshold
Value ulim, for example, setting output voltage according to the maximum voltage amplitude that driver correspondence control method and modulator approach can be exported
Threshold limit ulim.Output voltage threshold limit ulimSpecific acquisition modes described in follow-up embodiment.
Specifically, Q shaft voltage threshold limits can be obtained according to below equation：
Wherein, uqlimIt is Q shaft voltage threshold limits, ulimIt is output voltage threshold limit, udIt is D axle output voltages.
S3：According to Q axle output voltages uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and weak magnetoelectricity stream is superimposed to
The D shaft current closed loops of permagnetic synchronous motor system, weak magnetic control is carried out with to permagnetic synchronous motor.
That is, can be according to D axle output voltages udWith output voltage threshold limit ulimCalculate Q shaft voltage threshold limits
uqlim, i.e.,Then according to Q axle output voltages uqWith Q shaft voltage threshold limits uqlimCarry out weak magnetic control.
A specific embodiment of the invention, according to the Q axles output voltage uqGenerated with Q shaft voltages threshold limit
Weak magnetoelectricity stream, including：Obtain Q shaft voltages threshold limit and Q axle output voltages uqAmplitude between voltage difference；According to voltage
Difference and default PI Controlling models generation weak magnetoelectricity stream.
It should be noted that the scale parameter in default PI Controlling models can be zero, now presetting PI Controlling models is only
Integral model, can be integrated control to voltage difference；Scale parameter in default PI Controlling models can also be not zero, now in advance
If PI Controlling models are proportional, integral model, proportional, integral control can be carried out to voltage difference.
That is, as shown in fig. 6, can be according to D axle output voltages udWith output voltage threshold limit ulimCalculate Q axles electricity
Pressure threshold limit uqlim, i.e.,Then by Q shaft voltage threshold limits uqlimSubtract Q shaft voltages uqIt is weak to obtain
The voltage difference Δ u of magnetic control, i.e. Δ u=uqlim-uq, and pure integration control or proportional, integral are carried out to voltage difference Δ u
Control to adjust weak magnetoelectricity stream.
Further, according to one embodiment of present invention, according to Q axle output voltages uqWith Q shaft voltage threshold limits
After generation weak magnetoelectricity stream, method also includes：Weak magnetoelectricity stream is limited according to default amplitude limit model, so that permagnetic synchronous motor
System carries out weak magnetic control according to the weak magnetoelectricity stream after amplitude limit.
That is, can be again amplitude limit ring by default amplitude limit model through presetting the weak magnetoelectricity stream that PI Controlling models are exported
The amplitude limit of section is obtaining the weak magnetoelectricity stream i after amplitude limitfwc, and then according to the weak magnetoelectricity stream i after amplitude limitfwcCarry out weak magnetic control for example
By the weak magnetoelectricity stream i after amplitude limitfwcThe D shaft current closed loops of permagnetic synchronous motor system are superimposed to, wherein, the upper limit of amplitude limit link
The lower limit that can be zero, amplitude limit link can be the minimum value i of d shaft currentsd_min。
Description below obtains output voltage threshold limit ulimTwo kinds of embodiments.
In one embodiment of the invention, output voltage threshold limit u can be set according to DC bus-bar voltagelim.Specifically,
Output voltage threshold limit is less than or equal to the DC bus-bar voltage of permagnetic synchronous motor systemTimes.Wherein,
That is, output voltage threshold limit ulimMay be set to no more than DC bus-bar voltage udc0.577 times of number
Value, i.e. ulim≤0.577udc。
In another embodiment of the present invention, can be according to the D axle output voltages u under rotating coordinate systemdElectricity is exported with Q axles
Pressure uqOr the α axle output voltages u under rest frameαWith β axle output voltages uβSetting output voltage threshold limit ulim.Specifically
Ground, obtains output voltage threshold limit, including：Obtain the D axle output voltages under the rotating coordinate system of permagnetic synchronous motor system
udWith Q axle output voltages uqOr the α axle output voltages u under rest frameαWith β axle output voltages uβ, and exported according to D axles
Voltage udWith Q axle output voltages uqObtain desired output voltageOr according to α axle output voltages uαWith β axle output voltages uβObtain
Desired output voltageAccording to desired output voltageDC bus-bar voltage with permagnetic synchronous motor system calculates output voltage
Threshold limit.
Wherein, as shown in figure 3, can have d axles (d-axis) and q axles (quadrature axis), desired output voltage under rotating coordinate systemCan
It is the D axle output voltages u on d axlesdWith the Q axle output voltages u on q axlesqThe voltage vector of synthesis.In addition, according to permagnetic synchronous motor
Rotor estimation angle, θeTo D axle output voltages udWith Q axle output voltages uqInverse park Coordinate Conversions are carried out to obtain rest frame
Under α axle output voltages uαWith β axle output voltages uβ, can have α axles and β axles, desired output voltage under rest frameOr α
Axle output voltage uαWith β axle output voltages uβThe voltage vector of synthesis.Specifically, according to output voltage u under rotating coordinate systemd/uqOr
Output voltage u under rest frameα/uβCalculate desired output voltageAmplitude usFor,
Further, according to desired output voltageOutput electricity is calculated with the DC bus-bar voltage of permagnetic synchronous motor system
Pressure threshold limit, including：Expect output voltage under acquisition rotating coordinate systemDirection vector on maximum output voltage or
Expect output voltage under rest frameDirection vector on maximum output voltage；By the maximum output under rotating coordinate system
Maximum output voltage under voltage or rest frame is used as output voltage threshold limit ulim。
Specifically, can be for 2/3 times of DC bus-bar voltageFor basic voltage vectors construct voltage space, such as
Shown in Fig. 4 and Fig. 5, regular hexagon border and its interior zone are voltage space, can obtain desired output according to the voltage space
Voltage(or it is expressed as ud/uq, or it is expressed as uα/uβ) maximum voltage that can export on direction vector, i.e. desired output
VoltageThe voltage vector magnitude formed with the intersection point of voltage space border (regular hexagon).
Specifically, as shown in Figure 4, if it is desired to output voltageIn voltage space, then the output voltage after modulating
With desired output voltageUnanimously, output voltage threshold limit ulimIt can be expectation output voltageExtended line and voltage space side
The vector magnitude of boundary (regular hexagon) intersection point.
As shown in Figure 5, if it is desired to output voltageOutside voltage space, then output voltage and desired output after modulating
VoltageDiffer, output voltage threshold limit ulimIt can be expectation output voltageHanded over voltage space border (regular hexagon)
The vector magnitude of point.
It should be noted that above two obtains output voltage threshold limit ulimMode can individually implement, can also combine
Implement together.Whether correspondence can be selected in overmodulation according to permagnetic synchronous motor system when implementation is combined together
Acquisition modes.
Specifically, can be according to desired output voltageAmplitude usJudge permagnetic synchronous motor system whether in toning
Area processed.As expectation output voltage usAmplitude be more than DC bus-bar voltage udc0.577 times when, judge permagnetic synchronous motor system
In overmodulation；As expectation output voltage usAmplitude be less than or equal to DC bus-bar voltage udc0.577 times when, judge forever
Magnetic-synchro electric system is in linear modulation area.
If permagnetic synchronous motor system is in overmodulation, with reference to the embodiment of Fig. 4 and Fig. 5, according to rotational coordinates
D axle output voltages u under systemdWith Q axle output voltages uqOr the α axle output voltages u under rest frameαWith β axle output voltages
uβSetting output voltage threshold limit ulim；If permagnetic synchronous motor system is in linear modulation area, according to dc bus electricity
Pressure setting output voltage threshold limit ulim, for example, set ulim≤0.577udc.Thus, weak magnetic control is divided into linear modulation area
Weak magnetic control and the weak magnetic of overmodulation control, when being operated in linear tune using spatial vector pulse width modulation algorithm and driver
Without carrying out during ovennodulation in area processed, by output voltage threshold limit ulimIt is set to ulim≤0.577udc, and based on linear modulation
The corresponding output voltage threshold limit u in arealimCarry out weak magnetic control；When using spatial vector pulse width modulation algorithm and driver can
To be operated in during overmodulation, by output voltage threshold limit ulimIt is set to desired output voltage usDirection vector on can
The maximum voltage of output, and based on the corresponding output voltage threshold limit u in overmodulationlimCarry out weak magnetic control.
It is described in detail with reference to the weak magnetic control flow of Fig. 6-8 pairs of permagnetic synchronous motor system, in the present embodiment
In, it is described by taking the ensorless control of permagnetic synchronous motor as an example, and permagnetic synchronous motor has sensor vector
Control and the present embodiment and indistinction, repeat no more.
In the vector controlled of permagnetic synchronous motor, velocity correction unit is according to given rotating speedWith to estimate rotating speedEnter
Row velocity correction for example carries out proportional, integral regulation to obtain given torque
In durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtCalculate given torque current
(giving Q shaft currents)Given direct-axis current (giving D shaft currents)By weak magnetoelectricity stream ifwcDetermine for exampleIncluding
In embedded permagnetic synchronous motor, torque controlling unit is according to given torqueTorque current COEFFICIENT KtAnd weak magnetoelectricity stream ifwcThrough
Cross torque capacity current control (MTPA) and be calculated given quadrature axis current (given Q shaft currents)It is (given with given direct-axis current
D shaft currents)
Current correction unit is according to given D shaft currentsWith given Q shaft currentsRespectively to d-axis feedback current idAnd quadrature axis
Feedback current iqCurrent correction is carried out 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 Conversions are carried out to obtain α shaft voltages uαWith β shaft voltages
uβ.And then space vector modulation unit is again to α shaft voltages uαWith β shaft voltages uβCarry out SVM (Space Vetor Modulation,
Space vector modulation) modulate to generate PWM drive signal；Driver element drives permagnetic synchronous motor according to PWM drive signal.
The three-phase current of permagnetic synchronous motor is gathered by current detecting unit, clarke coordinate transformation units are to three-phase electricity
Stream carries out clarke Coordinate Conversions to obtain biphase current iα/iβ；Park coordinate transformation units are according to estimation angleTo two-phase electricity
Stream iα/iβPark Coordinate Conversions are carried out to obtain d-axis (D axles) feedback current idWith quadrature axis (Q axles) feedback current iq.Location estimation
Unit such as speed flux observer is according to output voltage uα/uβWith biphase current iα/iβAnd the parameter of electric machine (electric motor resistance Rs、
D-axis inductance LdWith quadrature axis inductance Lq) by estimate without sensor algorithm for estimating rotor position and speed obtaining estimation rotating speedWith estimation electrical angle
In addition, according to one embodiment of present invention, weak magnetic control bandwidth is less than D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the AC power of permagnetic synchronous motor system.Specifically, default PI controls can be set according to weak magnetic control bandwidth
The ratio control parameter and integration control parameter of simulation.
In the control of above-mentioned weak magnetic, by taking the embodiment of Fig. 7 as an example, weak magnetoelectricity stream ifwcIt is superimposed to D shaft current closed loops, D axles electricity
Stream closed loop is according to weak magnetoelectricity stream ifwcTo D axle feedback circuits idBe adjusted, so as to realize weak magnetic control, while speed closed loop according to
So according to given rotating speedWith to estimate rotating speedVelocity correction is carried out to obtain given torqueAccording to given torqueWith turn
Square current coefficient KtCalculate given Q shaft currentsQ shaft current closed loops are still according to given Q shaft currentsTo quadrature axis feedback current
iqIt is adjusted.
Based on this, weak magnetic control loop can just Q shaft voltages threshold limit uqlimSubtract Q shaft voltages uqThe voltage difference for obtaining
Value Δ u is input into the input by weak magnetic PI controllers, is default PI Controlling models output weak magnetic by weak magnetic PI controllers
Electric current ifwc；Weak magnetoelectricity stream ifwcD shaft current closed loops are superimposed to, the D shaft currents Controlling model by D shaft current closed loops is anti-to D axles
Current feed circuit idIt is adjusted.Wherein, the bandwidth of weak magnetic control loop is that weak magnetic control bandwidth meets, less than D shaft current closed loops
2 times of frequency of bandwidth and the AC power more than input to permagnetic synchronous motor system.Thus, default PI Controlling models are set
Ratio control parameter and integration control parameter, with meet weak magnetic control loop bandwidth be less than direct-axis current closed-loop bandwidth and height
In input power frequency * 2, so that, it is ensured that weak magnetic control can make sufficiently fast response to DC bus-bar voltage fluctuation.
To sum up, the field weakening control method of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first obtains permanent magnetism
D axle output voltages u under the rotating coordinate system of synchronous motor systemdWith Q axle output voltages uq, then obtain output voltage limitation
Threshold value, and Q shaft voltage threshold limits are obtained according to D axles output voltage and output voltage threshold limit, and then electricity is exported according to Q axles
Pressure uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit, and weak magnetoelectricity stream is superimposed to the D shaft currents of permagnetic synchronous motor system
Closed loop, weak magnetic control is carried out with to permagnetic synchronous motor.Thus, the method for the embodiment of the present invention is carried out using Q shaft voltages error
The weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft currents, and D shaft currents can be avoided all in itself in input ac voltage
It is unstable in the case of phase wave characteristic and the fluctuation of load, improve weak magnetic control performance.
Fig. 9 is the block diagram of the weak magnetic control device of permagnetic synchronous motor system according to embodiments of the present invention.Root
According to one embodiment of the present of invention, as shown in Fig. 2 permagnetic synchronous motor system may include control chip 1, driver element 2, electrolysis
Electric capacity EC and permagnetic synchronous motor 3.Wherein, electrochemical capacitor EC is connected in parallel on the input of driver element 2, the output of driver element 2
End is connected with permagnetic synchronous motor 3, and driver element 2 is used to drive permagnetic synchronous motor 3；Control chip 1 is used to be examined by electric current
The phase current that unit 4 detects permagnetic synchronous motor 3 is surveyed, and is extremely driven according to the phase current output drive signal of permagnetic synchronous motor 3
Moving cell 2, to control the operation of permagnetic synchronous motor 3 by driver element 2.A specific example of the invention, electric current
Detection unit 4 may include three (or two) current sensors.Driver element 2 can be the three-phase bridge being made up of 6 IGBT
Formula drive circuit or the three-phase bridge drive circuit being made up of 6 MOSFET or intelligent power module is used, while
Each IGBT or MOSFET have corresponding anti-paralleled diode.
As shown in figure 9, the weak magnetic control device 100 of the embodiment of the present invention includes：First acquisition module 10, second obtains mould
Block 20 and weak magnetic control module 30.
Wherein, the D axles output electricity that the first acquisition module 10 is used to obtain under the rotating coordinate system of permagnetic synchronous motor system
Pressure udWith Q axle output voltages uq；Second acquisition module 20 is used to obtain output voltage threshold limit；Weak magnetic control module 30 is used for
Q shaft voltage threshold limits are obtained according to D axles output voltage and output voltage threshold limit, and according to Q axle output voltages uqWith Q axles
Voltage threshold limit generation weak magnetoelectricity stream, and weak magnetoelectricity stream is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, with right
Permagnetic synchronous motor carries out weak magnetic control.
Wherein, the second acquisition module 20 can set according to the DC bus-bar voltage of permagnetic synchronous motor system and modulator approach
Output voltage threshold limit ulim, for example, the maximum voltage width that can be exported with modulator approach according to driver correspondence control method
Value sets output voltage threshold limit ulim.Output voltage threshold limit ulimSpecific acquisition modes retouched in follow-up embodiment
State.
Specifically, weak magnetic control module 30 can obtain Q shaft voltage threshold limits according to below equation：
Wherein, uqlimIt is Q shaft voltage threshold limits, ulimIt is output voltage threshold limit, udIt is D axle output voltages.
That is, weak magnetic control module 30 can be according to D axle output voltages udWith output voltage threshold limit ulimCalculate Q
Shaft voltage threshold limit uqlim, i.e.,Then according to Q axle output voltages uqWith Q shaft voltage threshold limits uqlim
Carry out weak magnetic control.
A specific embodiment of the invention, weak magnetic control module 30 is further used for, and obtains Q shaft voltages limitation threshold
Value and Q axle output voltages uqAmplitude between voltage difference, and according to voltage difference and default PI Controlling models generation weak magnetic
Electric current.
It should be noted that the scale parameter in default PI Controlling models can be zero, now presetting PI Controlling models is only
Integral model, can be integrated control to voltage difference；Scale parameter in default PI Controlling models can also be not zero, now in advance
If PI Controlling models are proportional, integral model, proportional, integral control can be carried out to voltage difference.
That is, as shown in fig. 6, weak magnetic control module 30 can be according to D axle output voltages udThreshold is limited with output voltage
Value ulimCalculate Q shaft voltage threshold limits uqlim, i.e.,Then by Q shaft voltage threshold limits uqlimSubtract Q axles
Voltage uqTo obtain the voltage difference Δ u, i.e. Δ u=u of weak magnetic controlqlim-uq, and pure integration control is carried out to voltage difference Δ u
Or proportional, integral controls to adjust weak magnetoelectricity stream.
Further, according to one embodiment of present invention, according to Q axle output voltages uqWith Q shaft voltage threshold limits
After generation weak magnetoelectricity stream, weak magnetic control module 30 is limited weak magnetoelectricity stream always according to default amplitude limit model, so that permanent magnetism is same
Step electric system carries out weak magnetic control according to the weak magnetoelectricity stream after amplitude limit.
That is, can be again amplitude limit ring by default amplitude limit model through presetting the weak magnetoelectricity stream that PI Controlling models are exported
The amplitude limit of section is obtaining the weak magnetoelectricity stream i after amplitude limitfwc, and then according to the weak magnetoelectricity stream i after amplitude limitfwcCarry out weak magnetic control for example
By the weak magnetoelectricity stream i after amplitude limitfwcThe D shaft current closed loops of permagnetic synchronous motor system are superimposed to, wherein, the upper limit of amplitude limit link
The lower limit that can be zero, amplitude limit link can be the minimum value i of d shaft currentsd_min。
Description below obtains output voltage threshold limit ulimTwo kinds of embodiments.
In one embodiment of the invention, the second acquisition module 20 can set output voltage limit according to DC bus-bar voltage
Threshold value u processedlim.Specifically, output voltage threshold limit is less than or equal to the DC bus-bar voltage of the permagnetic synchronous motor systemTimes.Wherein,
That is, output voltage threshold limit ulimMay be set to no more than DC bus-bar voltage udc0.577 times of number
Value, i.e. ulim≤0.577udc。
In another embodiment of the present invention, the second acquisition module 20 is further used for, and obtains permagnetic synchronous motor system
D axle output voltages u under the rotating coordinate system of systemdWith Q axle output voltages uqOr the α axle output voltages u under rest frameα
With β axle output voltages uβ, and according to D axle output voltages udWith Q axle output voltages uqObtain desired output voltage usOr according to α axles
Output voltage uαWith β axle output voltages uβObtain desired output voltage us, and according to desired output voltage usAnd permagnetic synchronous motor
The DC bus-bar voltage of system calculates output voltage threshold limit.
Wherein, as shown in figure 3, can have d axles (d-axis) and q axles (quadrature axis), desired output voltage under rotating coordinate systemCan be d
D axle output voltages u on axledWith the Q axle output voltages u on q axlesqThe voltage vector of synthesis.In addition, turning according to permagnetic synchronous motor
The estimation angle, θ of soneTo D axle output voltages udWith Q axle output voltages uqInverse park Coordinate Conversions are carried out to obtain under rest frame
α axle output voltages uαWith β axle output voltages uβ, can have α axles and β axles, desired output voltage under rest frameOr α axles are defeated
Go out voltage uαWith β axle output voltages uβThe voltage vector of synthesis.Specifically, according to output voltage u under rotating coordinate systemd/uqOr
Output voltage u under rest frameα/uβCalculate desired output voltageAmplitude usFor,
Further, the second acquisition module 20 is used for, and output voltage is expected under acquisition rotating coordinate systemDirection vector
On maximum output voltage or rest frame under expect output voltageDirection vector on maximum output voltage, and will
The maximum output voltage under maximum output voltage or rest frame under rotating coordinate system is used as output voltage threshold limit
ulim。
Specifically, can be for 2/3 times of DC bus-bar voltageFor basic voltage vectors construct voltage space, such as
Shown in Fig. 4 and Fig. 5, regular hexagon border and its interior zone are voltage space, and the second acquisition module 20 can be empty according to the voltage
Between obtain desired output voltage(or it is expressed as ud/uq, or it is expressed as uα/uβ) maximum that can export on direction vector
Voltage, that is, expect output voltageThe voltage vector magnitude formed with the intersection point of voltage space border (regular hexagon).
Specifically, as shown in Figure 4, if it is desired to output voltageIn voltage space, then the output voltage after modulating
With desired output voltageUnanimously, output voltage threshold limit ulimIt can be expectation output voltageExtended line and voltage space side
The vector magnitude of boundary (regular hexagon) intersection point.
As shown in Figure 5, if it is desired to output voltageOutside voltage space, then output voltage and desired output after modulating
VoltageDiffer, output voltage threshold limit ulimIt can be expectation output voltageHanded over voltage space border (regular hexagon)
The vector magnitude of point.
It should be noted that above two obtains output voltage threshold limit ulimMode can individually implement, can also combine
Implement together.Whether correspondence can be selected in overmodulation according to permagnetic synchronous motor system when implementation is combined together
Acquisition modes.
Specifically, the second acquisition module 20 can be according to desired output voltageAmplitude usJudge permagnetic synchronous motor system
Whether system is in overmodulation.As expectation output voltage usAmplitude be more than DC bus-bar voltage udc0.577 times when, judge forever
Magnetic-synchro electric system is in overmodulation；As expectation output voltage usAmplitude be less than or equal to DC bus-bar voltage udc's
At 0.577 times, judge that permagnetic synchronous motor system is in linear modulation area.
If permagnetic synchronous motor system is in overmodulation, with reference to the embodiment of Fig. 4 and Fig. 5, the second acquisition module
20 according to the D axle output voltages u under rotating coordinate systemdWith Q axle output voltages uqOr the α axle output voltages under rest frame
uαWith β axle output voltages uβSetting output voltage threshold limit ulim；If permagnetic synchronous motor system is in linear modulation area, the
Two acquisition modules 20 then set output voltage threshold limit u according to DC bus-bar voltagelim, for example, set ulim≤0.577udc.By
This, the weak magnetic of weak magnetic control is divided into linear modulation area weak magnetic control and overmodulation is controlled, when using space vector pulse width
Modulation algorithm and driver is operated in linear modulation area without carrying out during ovennodulation, by output voltage threshold limit ulimSet
It is ulim≤0.577udc, and based on the corresponding output voltage threshold limit u in linear modulation arealimCarry out weak magnetic control；When using empty
Between Vector Pulse Width Modulation algorithm and driver when can be operated in overmodulation, by output voltage threshold limit ulimSetting is scheduled to last
Hope output voltage usDirection vector on the maximum voltage that can export, and based on the corresponding output voltage limitation threshold in overmodulation
Value ulimCarry out weak magnetic control.
It is described in detail with reference to the weak magnetic control flow of Fig. 6-8 pairs of permagnetic synchronous motor system, in the present embodiment
In, it is described by taking the ensorless control of permagnetic synchronous motor as an example, and permagnetic synchronous motor has sensor vector
Control and the present embodiment and indistinction, repeat no more.
In the vector controlled of permagnetic synchronous motor, velocity correction unit 101 is according to given rotating speedWith to estimate rotating speedCarrying out velocity correction for example carries out proportional, integral regulation to obtain given torque
In durface mounted permanent magnet synchronous motor, according to given torqueWith torque current COEFFICIENT KtCalculate given torque current
(giving Q shaft currents)Given direct-axis current (giving D shaft currents)By weak magnetoelectricity stream ifwcDetermine for exampleIncluding
In embedded permagnetic synchronous motor, torque controlling unit 102 is according to given torqueTorque current COEFFICIENT KtAnd weak magnetoelectricity stream
ifwcGiven quadrature axis current (given Q shaft currents) is calculated by torque capacity current control (MTPA)With given direct-axis current
(given D shaft currents)
Current correction unit 103 is according to given D shaft currentsWith given Q shaft currentsRespectively to d-axis feedback current idAnd friendship
Axle feedback current iqCurrent correction is carried out 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 Conversions are carried out to obtain α shaft voltages uαWith β
Shaft voltage uβ.And then space vector modulation unit 105 is again to α shaft voltages uαWith β shaft voltages uβCarry out SVM (Space Vetor
Modulation, space vector modulation) modulate to generate PWM drive signal；Driver element 2 drives forever according to PWM drive signal
Magnetic-synchro motor 3.
The three-phase current of permagnetic synchronous motor 3, clarke coordinate transformation units 106 pairs are gathered by current detecting unit 4
Three-phase current carries out clarke Coordinate Conversions to obtain biphase current iα/iβ；Park coordinate transformation units 107 are according to estimation angleTo biphase current iα/iβPark Coordinate Conversions are carried out 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
Estimate rotating speed to obtainWith estimation electrical angle
In addition, according to one embodiment of present invention, weak magnetic control bandwidth is less than D shaft currents closed-loop bandwidth and more than input
To 2 times of the frequency of the AC power of permagnetic synchronous motor system.Specifically, default PI controls can be set according to weak magnetic control bandwidth
The ratio control parameter and integration control parameter of simulation.
In the control of above-mentioned weak magnetic, by taking the embodiment of Fig. 7 as an example, weak magnetoelectricity stream ifwcIt is superimposed to D shaft current closed loops, D axles electricity
Stream closed loop is according to weak magnetoelectricity stream ifwcTo D axle feedback circuits idBe adjusted, so as to realize weak magnetic control, while speed closed loop according to
So according to given rotating speedWith to estimate rotating speedVelocity correction is carried out to obtain given torqueAccording to given torqueWith turn
Square current coefficient KtCalculate given Q shaft currentsQ shaft current closed loops are still according to given Q shaft currentsTo quadrature axis feedback current
iqIt is adjusted.
Based on this, weak magnetic control loop can just Q shaft voltages threshold limit uqlimSubtract Q shaft voltages uqThe voltage difference for obtaining
Value Δ u is input into the input by weak magnetic PI controllers, is default PI Controlling models output weak magnetic by weak magnetic PI controllers
Electric current ifwc；Weak magnetoelectricity stream ifwcD shaft current closed loops are superimposed to, the D shaft currents Controlling model by D shaft current closed loops is anti-to D axles
Current feed circuit idIt is adjusted.Wherein, the bandwidth of weak magnetic control loop is that weak magnetic control bandwidth meets, less than D shaft current closed loops
2 times of frequency of bandwidth and the AC power more than input to permagnetic synchronous motor system.Thus, default PI Controlling models are set
Ratio control parameter and integration control parameter, with meet weak magnetic control loop bandwidth be less than direct-axis current closed-loop bandwidth and height
In input power frequency * 2, so that, it is ensured that weak magnetic control can make sufficiently fast response to DC bus-bar voltage fluctuation.
To sum up, the weak magnetic control device of the permagnetic synchronous motor system for proposing according to embodiments of the present invention, first passes through first
Acquisition module obtains the D axle output voltages u under the rotating coordinate system of permagnetic synchronous motor systemdWith Q axle output voltages uq, and lead to
Cross the second acquisition module and obtain output voltage threshold limit, and then weak magnetic control module is according to D axles output voltage and output voltage
Threshold limit obtains Q shaft voltage threshold limits, and according to Q axle output voltages uqWeak magnetoelectricity stream is generated with Q shaft voltages threshold limit,
And weak magnetoelectricity stream is superimposed to the D shaft current closed loops of permagnetic synchronous motor system, carry out weak magnetic control with to permagnetic synchronous motor.
Thus, the device of the embodiment of the present invention is controlled using the weak magnetic that Q shaft voltages error carries out closed loop feedback, keeps the complete of D shaft currents
Comprehensive trace, can avoid D shaft currents unstable in the case of input ac voltage in itself cyclic swing characteristic and the fluctuation of load,
Improve weak magnetic control performance.
Finally, the embodiment of the present invention also proposed a kind of permagnetic synchronous motor system, including the permanent magnetism of above-described embodiment is same
Walk the weak magnetic control device of electric system.
The permagnetic synchronous motor system for proposing according to embodiments of the present invention, by above-mentioned weak magnetic control device, using Q axles
Voltage error carries out the weak magnetic control of closed loop feedback, keeps the perfect tracking of D shaft currents, and D shaft currents can be avoided to be handed in input
Stream voltage is unstable in the case of cyclic swing characteristic and the fluctuation of load in itself, improves weak magnetic control performance.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, must rather than the device or element for indicating or imply meaning
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 the description of the invention, " multiple " is 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 ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integrally；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 two interaction relationships of element, unless otherwise clearly restriction.For one of ordinary skill in the art
For, can as the case may be understand above-mentioned term concrete meaning in the present invention.
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 are 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
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.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 an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area
Art personnel can be tied the feature of the different embodiments or example described in this specification and different embodiments or example
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 (15)
1. a kind of field weakening control method of permagnetic synchronous motor system, it is characterised in that comprise the following steps：
Obtain the D axle output voltages u under the rotating coordinate system of the permagnetic synchronous motor systemdWith Q axle output voltages uq；
Output voltage threshold limit is obtained, and Q axles electricity is obtained according to the D axles output voltage and the output voltage threshold limit
Pressure threshold limit；
According to the Q axles output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, and the weak magnetoelectricity stream is folded
The D shaft current closed loops of the permagnetic synchronous motor system are added to, weak magnetic control is carried out with to permagnetic synchronous motor.
2. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that obtain described defeated
Go out voltage threshold limit, including：
Obtain the D axle output voltages u under the rotating coordinate system of the permagnetic synchronous motor systemdWith Q axle output voltages uqOr it is quiet
The only α axle output voltages u under coordinate systemαWith β axle output voltages uβ, and according to D axle output voltages udWith Q axle output voltages uqObtain
Take desired output voltage usOr according to the α axles output voltage uαWith β axle output voltages uβObtain desired output voltage us；
According to the desired output voltage usThe output voltage is calculated with the DC bus-bar voltage of the permagnetic synchronous motor system
Threshold limit.
3. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that the output electricity
Pressure threshold limit is less than or equal to the DC bus-bar voltage of the permagnetic synchronous motor systemTimes.
4. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that according to following public affairs
Formula obtains the Q shaft voltages threshold limit：
Wherein, uq limIt is the Q shaft voltages threshold limit, ulimIt is the output voltage threshold limit, udFor the D axles are exported
Voltage.
5. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that described according to institute
State Q axle output voltages uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, including：
The Q shaft voltages threshold limit is obtained with the Q axles output voltage uqAmplitude between voltage difference；
The weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling models.
6. the field weakening control method of permagnetic synchronous motor system according to claim 1 or 5, it is characterised in that in basis
The Q axles output voltage uqAfter Q shaft voltages threshold limit generation weak magnetoelectricity stream, methods described also includes：According to default
Amplitude limit model is limited the weak magnetoelectricity stream so that the permagnetic synchronous motor system according to amplitude limit after the weak magnetic electricity
Stream carries out weak magnetic control.
7. the field weakening control method of permagnetic synchronous motor system according to claim 1, it is characterised in that weak magnetic controls band
It is wide less than the D shaft currents closed-loop bandwidth and more than input to the permagnetic synchronous motor system AC power frequency 2
Times.
8. a kind of weak magnetic control device of permagnetic synchronous motor system, it is characterised in that including：
First acquisition module, for the D axle output voltages u under the rotating coordinate system for obtaining the permagnetic synchronous motor systemdAnd Q
Axle output voltage uq；
Second acquisition module, for obtaining output voltage threshold limit；
Weak magnetic control module, for obtaining the limitation of Q shaft voltages according to the D axles output voltage and the output voltage threshold limit
Threshold value, and according to the Q axles output voltage uqWeak magnetoelectricity stream is generated with the Q shaft voltages threshold limit, and the weak magnetic is electric
Stream is superimposed to the D shaft current closed loops of the permagnetic synchronous motor system, and weak magnetic control is carried out with to permagnetic synchronous motor.
9. the weak magnetic control device of permagnetic synchronous motor system according to claim 8, it is characterised in that described second obtains
Modulus block is further used for, and obtains the D axle output voltages u under the rotating coordinate system of the permagnetic synchronous motor systemdIt is defeated with Q axles
Go out voltage uqOr the α axle output voltages u under rest frameαWith β axle output voltages uβ, and according to D axle output voltages udAnd Q
Axle output voltage uqObtain desired output voltage usOr according to the α axles output voltage uαWith β axle output voltages uβObtain expectation defeated
Go out voltage us, and according to the desired output voltage usCalculate described with the DC bus-bar voltage of the permagnetic synchronous motor system
Output voltage threshold limit.
10. the weak magnetic control device of permagnetic synchronous motor system according to claim 8, it is characterised in that the output
Voltage threshold limit is less than or equal to the DC bus-bar voltage of the permagnetic synchronous motor systemTimes.
The weak magnetic control device of 11. permagnetic synchronous motor systems according to claim 8, it is characterised in that the weak magnetic
Control module obtains the Q shaft voltages threshold limit according to below equation：
Wherein, uq limIt is the Q shaft voltages threshold limit, ulimIt is the output voltage threshold limit, udFor the D axles are exported
Voltage.
The weak magnetic control device of 12. permagnetic synchronous motor systems according to claim 8, it is characterised in that the weak magnetic
Control module is further used for, and obtains the Q shaft voltages threshold limit and the Q axles output voltage uqAmplitude between voltage
Difference, and the weak magnetoelectricity stream is generated according to the voltage difference and default PI Controlling models.
The weak magnetic control device of the 13. permagnetic synchronous motor system according to claim 8 or 12, it is characterised in that in root
According to the Q axles output voltage uqWith the Q shaft voltages threshold limit generation weak magnetoelectricity stream after, the weak magnetic control module always according to
Default amplitude limit model is limited the weak magnetoelectricity stream so that the permagnetic synchronous motor system according to amplitude limit after it is described weak
Magnetoelectricity stream carries out weak magnetic control.
The field weakening control method of 14. permagnetic synchronous motor systems according to claim 8, it is characterised in that weak magnetic is controlled
The frequency of AC power of the bandwidth less than the D shaft currents closed-loop bandwidth and more than input to the permagnetic synchronous motor system
2 times.
15. a kind of permagnetic synchronous motor systems, it is characterised in that including the permanent magnetism according to any one of claim 8-14
The weak magnetic control device of synchronous motor system.
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| CN108800489B (en) * | 2018-06-20 | 2020-12-22 | 广东美的制冷设备有限公司 | Control method and device for heating compressor winding |
| CN112564563A (en) * | 2019-09-25 | 2021-03-26 | 杭州先途电子有限公司 | Control method, control device and controller |
| CN112564563B (en) * | 2019-09-25 | 2022-04-19 | 杭州先途电子有限公司 | Control method, control device and controller |
| CN111064407A (en) * | 2020-01-06 | 2020-04-24 | 西安理工大学 | Low carrier ratio flux weakening control method for permanent magnet synchronous motor |
| CN111064407B (en) * | 2020-01-06 | 2022-07-05 | 西安理工大学 | Low carrier ratio flux weakening control method for permanent magnet synchronous motor |
| CN111786605A (en) * | 2020-06-15 | 2020-10-16 | 杭州赫日新能源科技有限公司 | Control method of motor controller special for range extender |
| CN113595459A (en) * | 2021-08-05 | 2021-11-02 | 四川虹美智能科技有限公司 | Weak magnetic current control method and device |
| CN113595459B (en) * | 2021-08-05 | 2023-07-25 | 合肥长虹美菱生活电器有限公司 | Weak current control method and device |
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