CN106788033B - Field weakening control method, the device of list PI electric current loop when ovennodulation - Google Patents
Field weakening control method, the device of list PI electric current loop when ovennodulation Download PDFInfo
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- CN106788033B CN106788033B CN201611249812.5A CN201611249812A CN106788033B CN 106788033 B CN106788033 B CN 106788033B CN 201611249812 A CN201611249812 A CN 201611249812A CN 106788033 B CN106788033 B CN 106788033B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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 Ac Motors In General (AREA)
Abstract
The invention discloses the control systems of the field weakening control method of list PI electric current loop, device and permanent magnet synchronous motor when a kind of permanent magnet synchronous motor ovennodulation, wherein, method includes: the ovennodulation COEFFICIENT K H for obtaining permanent magnet synchronous motor, and calculates two action times T1 and T2 in six basic effectively vectors when permanent magnet synchronous motor progress SVPWM control；Judge whether that controlling permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern according to ovennodulation COEFFICIENT K H, T1 and T2；If, then given the output of speed ring as D shaft current, and the adjusting of D axis PI electric current loop is carried out to obtain D shaft voltage with D axis feedback current according to D shaft current is given, and the Q shaft voltage before entering ovennodulation and list PI electric current loop weak magnetic control pattern according to D shaft voltage and permanent magnet synchronous motor carries out weak magnetic control to permanent magnet synchronous motor, thereby, it is possible to guarantee stable operation when permanent magnet synchronous motor ovennodulation and weak magnetic.
Description
Technical field
The present invention relates to list PI electric current loops when a kind of permanent magnet synchronous motor field, in particular to permanent magnet synchronous motor ovennodulation
Field weakening control method, a kind of permanent magnet synchronous motor ovennodulation when list PI electric current loop weak magnetic control device and a kind of permanent-magnet synchronous
The control system of motor.
Background technique
Classics are needed in PMSM (permanent magnet synchronous motor, permanent magnet synchronous motor) control
Three close-loop control, i.e. a speed ring, D shaft current ring, Q shaft current ring, as shown in Figure 1.
The voltage equation of permanent magnet synchronous motor D, Q axis are as follows:
Electromagnetic torque are as follows:
Wherein, TeFor the electromagnetic torque of permanent magnet synchronous motor, PnFor the number of pole-pairs of permanent magnet synchronous motor,For permanent magnet magnetic
Chain, IqFor Q shaft current, Id is D shaft current, and Lq, Ld are respectively D, Q axle inductance.R is phase resistance, and p is differential operator, and ω is electricity
Angular speed, Ud and Uq are respectively D shaft voltage and Q shaft voltage.
In weak magnetic, directly above-mentioned voltage equation is handled, micro component is removed, obtains:
Since D, Q axis are mutually coupled, so D, Q shaft current cannot be found out individually by corresponding electric current loop.And
When depth weak magnetic and ovennodulation combine, it may result in high frequency operation step-out, generate the problems such as high current, it is same to seriously affect permanent magnetism
Walk the stable operation of motor.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.
For this purpose, an object of the present invention is to provide a kind of weak magnetics of list PI electric current loop when permanent magnet synchronous motor ovennodulation
Control method, this method can make permanent magnet synchronous motor stable operation in ovennodulation and weak magnetic, and can effectively solve the problem that D, Q axis
The problem of being mutually coupled simplifies PMSM control system.
Second object of the present invention is to propose a kind of weak magnetic control of list PI electric current loop when permanent magnet synchronous motor ovennodulation
Device processed.
Third object of the present invention is to propose a kind of control system of permanent magnet synchronous motor.
In order to achieve the above objectives, the embodiment of first aspect present invention proposes single when a kind of permanent magnet synchronous motor ovennodulation
The field weakening control method of PI electric current loop, comprising the following steps: obtain the ovennodulation COEFFICIENT K H of the permanent magnet synchronous motor, and calculate
When the effect of two basic effective vectors in six basic effectively vectors when the permanent magnet synchronous motor progress SVPWM control
Between T1 and T2；Judge whether to control according to the action time T1 and T2 of the ovennodulation COEFFICIENT K H, described two basic effectively vectors
It makes the permanent magnet synchronous motor and enters ovennodulation and list PI electric current loop weak magnetic control pattern；When the permanent magnet synchronous motor enters institute
When stating ovennodulation and list PI electric current loop weak magnetic control pattern, given the output of speed ring as D shaft current, and according to the D
Shaft current gives and the progress D axis PI electric current loop adjusting of the D axis feedback current of the permanent magnet synchronous motor is to obtain D shaft voltage, with
And entered before the ovennodulation and list PI electric current loop weak magnetic control pattern according to the D shaft voltage and the permanent magnet synchronous motor
Q shaft voltage to the permanent magnet synchronous motor carry out weak magnetic control.
The field weakening control method of list PI electric current loop when the permanent magnet synchronous motor ovennodulation of the embodiment of the present invention, according to ovennodulation
Coefficient, two basic effectively vectors action time control permanent magnet synchronous motor enter ovennodulation and the control of list PI electric current loop weak magnetic
Mode gives the output of speed ring as D shaft current, and feeds back electricity according to the given D axis with permanent magnet synchronous motor of D shaft current
Stream carries out D axis PI electric current loop and adjusts to obtain D shaft voltage, so according to D shaft voltage and permanent magnet synchronous motor enter ovennodulation with
Q shaft voltage before single PI electric current loop weak magnetic control pattern carries out weak magnetic control to permanent magnet synchronous motor.Thereby, it is possible to keep permanent magnetism same
Motor stable operation in ovennodulation and weak magnetic is walked, and can effectively solve the problem that the problem of D, Q axis are mutually coupled, simplifies PMSM control
System.
In addition, when permanent magnet synchronous motor ovennodulation according to the above embodiment of the present invention list PI electric current loop weak magnetic controlling party
Method can also have the following additional technical features:
According to one embodiment of present invention, according to the ovennodulation COEFFICIENT K H, the work of described two basic effectively vectors
Judge whether that controlling the permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern with time T1 and T2, wraps
It includes: calculating the sum of T1 and T2, and low-pass filtering treatment is carried out to obtain start-up time Ton to the sum of the T1 and T2；Judge institute
State whether the sum of start-up time Ton and six dead time Tdead are greater than the ovennodulation COEFFICIENT K H；If the start-up time
The sum of Ton and six dead time Tdead is greater than the ovennodulation COEFFICIENT K H, then controls described in the permanent magnet synchronous motor entrance
Ovennodulation and list PI electric current loop weak magnetic control pattern.
According to one embodiment of present invention, the ovennodulation COEFFICIENT K H meets relational expression: 1 > KH > 0.8666.
According to one embodiment of present invention, also same by the busbar voltage calculating permanent magnetism of the permanent magnet synchronous motor
The voltage between terminals maximum value Vsmax of motor is walked, and according to the voltage between terminals maximum value Vsmax and the ovennodulation coefficient
KH enters the ovennodulation to the permanent magnet synchronous motor and limits with the Q shaft voltage before list PI electric current loop weak magnetic control pattern
System processing.
According to one embodiment of present invention, enter the ovennodulation in the permanent magnet synchronous motor and list PI electric current loop is weak
After magnetic control mode, further includes: according to the voltage between terminals maximum value Vsmax and ovennodulation COEFFICIENT K H and described
The D axle inductance of permanent magnet synchronous motor, the angular rate of the permanent magnet synchronous motor, the permanent magnet synchronous motor permanent magnet flux linkage
Calculate that the permanent magnet synchronous motor exits the ovennodulation and list PI electric current loop weak magnetic control pattern cuts out electric current IIt cuts out；Judgement
Whether the D shaft current is given, which is greater than, described cuts out electric current IIt cuts out；If the D shaft current is given to cut out electric current greater than described
IIt cuts out, then control the permanent magnet synchronous motor and exit the ovennodulation and list PI electric current loop weak magnetic control pattern.
In order to achieve the above objectives, list PI when second aspect of the present invention embodiment proposes a kind of permanent magnet synchronous motor ovennodulation
The weak magnetic control device of electric current loop, comprising: module is obtained, for obtaining the ovennodulation COEFFICIENT K H of the permanent magnet synchronous motor；Meter
Module is calculated, it is basic for two in six basic effectively vectors when calculating the permanent magnet synchronous motor progress SVPWM control
The action time T1 and T2 of effective vector；Judgment module, for according to the ovennodulation COEFFICIENT K H, described two basic effectively arrows
The action time T1 and T2 of amount judge whether that controlling the permanent magnet synchronous motor enters ovennodulation and the control of list PI electric current loop weak magnetic
Mode；Weak magnetic control module, for entering the ovennodulation and list PI electric current loop weak magnetic control mould in the permanent magnet synchronous motor
It is given when formula using the output of speed ring as D shaft current, and according to the given D with the permanent magnet synchronous motor of the D shaft current
Axis feedback current carries out D axis PI electric current loop and adjusts to obtain D shaft voltage, and according to the D shaft voltage and the permanent-magnet synchronous
Q shaft voltage before motor enters the ovennodulation and list PI electric current loop weak magnetic control pattern carries out the permanent magnet synchronous motor
Weak magnetic control.
The weak magnetic control device of list PI electric current loop when the permanent magnet synchronous motor ovennodulation of the embodiment of the present invention, by judging mould
Root tuber judges whether permanent magnet synchronous motor enters ovennodulation and list according to the action time of ovennodulation coefficient, two basic effectively vectors
PI electric current loop weak magnetic control pattern passes through when permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern
Weak magnetic control module gives the output of speed ring as D shaft current, and according to the given D with permanent magnet synchronous motor of D shaft current
Axis feedback current carries out D axis PI electric current loop and adjusts to obtain D shaft voltage, and then is entered according to D shaft voltage and permanent magnet synchronous motor
Q shaft voltage before ovennodulation and list PI electric current loop weak magnetic control pattern carries out weak magnetic control to permanent magnet synchronous motor.As a result, can
Enough make permanent magnet synchronous motor stable operation in ovennodulation and weak magnetic, and can effectively solve the problem that the problem of D, Q axis are mutually coupled, letter
Change PMSM control system.
In addition, the weak magnetic of list PI electric current loop controls dress when permanent magnet synchronous motor ovennodulation according to the above embodiment of the present invention
Setting can also have the following additional technical features:
According to one embodiment of present invention, the computing module is also used to calculate the sum of T1 and T2, and passes through low pass filtered
Wave device carries out low-pass filtering treatment to the sum of the T1 and T2 to obtain start-up time Ton, and the judgment module is further used for
Judge whether the sum of described start-up time Ton and six dead time Tdead is greater than the ovennodulation COEFFICIENT K H, wherein in institute
When stating the sum of start-up time Ton and six dead time Tdead greater than the ovennodulation COEFFICIENT K H, the weak magnetic control module control
The permanent magnet synchronous motor is made into the ovennodulation and list PI electric current loop weak magnetic control pattern.
According to one embodiment of present invention, the ovennodulation COEFFICIENT K H meets relational expression: 1 > KH > 0.8666.
According to one embodiment of present invention, described device, further includes: Q shaft voltage limits module, the Q shaft voltage limit
Molding block calculates the voltage between terminals maximum value of the permanent magnet synchronous motor by the busbar voltage of the permanent magnet synchronous motor
Vsmax, and the permanent magnet synchronous motor is entered according to the voltage between terminals maximum value Vsmax and the ovennodulation COEFFICIENT K H
Q shaft voltage before the ovennodulation and list PI electric current loop weak magnetic control pattern carries out limitation processing.
According to one embodiment of present invention, enter the ovennodulation in the permanent magnet synchronous motor and list PI electric current loop is weak
After magnetic control mode, the computing module is also according to the voltage between terminals maximum value Vsmax and the ovennodulation COEFFICIENT K H
And the D axle inductance of the permanent magnet synchronous motor, the angular rate of the permanent magnet synchronous motor, the permanent magnet synchronous motor are forever
What permanent magnet synchronous motor described in magnet flux linkage calculation exited the ovennodulation and list PI electric current loop weak magnetic control pattern cuts out electric current
IIt cuts out, the judgment module be also used to judge the D shaft current it is given whether be greater than described cut out electric current IIt cuts out, wherein in the D
Shaft current is given to cut out electric current I greater than describedIt cuts outWhen, the weak magnetic control module control permanent magnet synchronous motor exits described
Ovennodulation and list PI electric current loop weak magnetic control pattern.
Further, the invention proposes a kind of control systems of permanent magnet synchronous motor comprising the above-mentioned implementation of the present invention
The weak magnetic control device of list PI electric current loop when the permanent magnet synchronous motor ovennodulation of example.
The control system of the permanent magnet synchronous motor of the embodiment of the present invention, list when by above-mentioned permanent magnet synchronous motor ovennodulation
The weak magnetic control device of PI electric current loop can not only make permanent magnet synchronous motor stable operation in ovennodulation and weak magnetic, additionally it is possible to
Effectively solve the problems, such as that D, Q axis are mutually coupled, and structure is simple.
Detailed description of the invention
Fig. 1 is the structural representation of tricyclic in permanent magnet synchronous motor control (speed ring, D shaft current ring, Q shaft current ring) control
Figure；
The weak magnetic controlling party of list PI electric current loop when Fig. 2 is permanent magnet synchronous motor ovennodulation according to an embodiment of the invention
The flow chart of method.
Fig. 3 is six substantially effective vectors when permanent magnet synchronous motor according to an embodiment of the present invention carries out SVPWM control
Schematic diagram；
The structure of the weak magnetic control of list PI electric current loop when Fig. 4 is permanent magnet synchronous motor ovennodulation according to an embodiment of the present invention
Schematic diagram；
The weak magnetic of list PI electric current loop controls dress when Fig. 5 is permanent magnet synchronous motor ovennodulation according to an embodiment of the invention
The structural block diagram set；
The weak magnetic control of list PI electric current loop when Fig. 6 is permanent magnet synchronous motor ovennodulation in accordance with another embodiment of the present invention
The structural block diagram of device.
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 weak magnetic control of list PI electric current loop when the permanent magnet synchronous motor ovennodulation of the embodiment of the present invention is described
The control system of method, apparatus processed and permanent magnet synchronous motor.
Fig. 2 be according to an embodiment of the present invention permanent magnet synchronous motor ovennodulation when list PI electric current loop weak magnetic controlling party
Method.As shown in Fig. 2, the control method the following steps are included:
S1, obtains the ovennodulation COEFFICIENT K H of permanent magnet synchronous motor, and calculate permanent magnet synchronous motor carry out SVPWM control when
The action time T1 and T2 of two basic effectively vectors in six basic effectively vectors.
Wherein, ovennodulation COEFFICIENT K H meets relational expression: 1 > KH > 0.8666.
Specifically, as shown in figure 3, U0, U60, U120, U180, U240, U300 are that permanent magnet synchronous motor carries out SVPWM control
Six substantially effective vectors when processed, and form six sectors.
For example, when output voltage Uout falls in the sector of U0, U60 composition, there are following formula (1):
Wherein, T1 and T2 is respectively the action time of basic effectively vector U0, U60 in a carrier cycle T, T0 zero
The action time of vector.
Projection under α, β rest frame are as follows:
Action time is normalized, even T=1, is then had:
It should be noted that the calculation method of any two adjacent basic effectively the action time T1 and T2 of vector are to ability
Be for the technical staff in domain it is known, this will not be repeated here.
S2 judges whether to control permanent magnetism according to the action time T1 and T2 of ovennodulation COEFFICIENT K H, two basic effectively vectors
Synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern.
Specifically, the sum of T1 and T2 are calculated, and low-pass filtering treatment is carried out to obtain start-up time to the sum of T1 and T2
Ton；Judge whether the sum of start-up time Ton and six dead time Tdead are greater than ovennodulation COEFFICIENT K H；If start-up time
The sum of Ton and six dead time Tdead is greater than ovennodulation COEFFICIENT K H, then controls permanent magnet synchronous motor and enter ovennodulation and list PI
Electric current loop weak magnetic control pattern.
It should be noted that since the value of T1+T2 is always fluctuating, therefore the sum of T1 and T2 can be carried out at low-pass filtering
Reason, and then obtain start-up time Ton=Lowpass (T1+T2).
S3, when permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern, by the output of speed ring
It is given as D shaft current, and D axis PI electric current loop tune is carried out according to the given D axis feedback current with permanent magnet synchronous motor of D shaft current
Section enters ovennodulation and list PI electric current loop weak magnetic control mould to obtain D shaft voltage, and according to D shaft voltage and permanent magnet synchronous motor
Q shaft voltage before formula carries out weak magnetic control to permanent magnet synchronous motor.
It specifically, will as shown in figure 4, when permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern
The output of speed ring gives Idref as D shaft current, and anti-according to the D axis that D shaft current gives Idref and permanent magnet synchronous motor
Supply current Id_fbk carries out D axis PI electric current loop and adjusts to obtain D shaft voltage Ud, and according to D shaft voltage Ud and permanent magnet synchronous electric
Q shaft voltage Uq before machine enters ovennodulation and list PI electric current loop weak magnetic control pattern carries out weak magnetic control to permanent magnet synchronous motor
System.Thereby, it is possible to realize stable operation when permanent magnet synchronous motor ovennodulation and weak magnetic.
In one embodiment of the invention, Q shaft voltage prescribed skew is excessive when busbar voltage changes in order to prevent, also logical
The busbar voltage for crossing permanent magnet synchronous motor calculates the voltage between terminals maximum value Vsmax of permanent magnet synchronous motor, and according between terminal
Voltage max Vsmax and ovennodulation COEFFICIENT K H enters ovennodulation and list PI electric current loop weak magnetic control pattern to permanent magnet synchronous motor
Q shaft voltage before carries out limitation processing.
Specifically, Vsmax can be calculated by formula (4), and then according to voltage between terminals maximum value Vsmax and ovennodulation coefficient
Q shaft voltage Uq before KH enters ovennodulation and list PI electric current loop weak magnetic control pattern to permanent magnet synchronous motor is carried out at limitation
Reason, can be Uq≤Vsmax*KH/0.866.
Wherein, Udc is busbar voltage, and Vsmax is voltage between terminals maximum value.
Further, after permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern, according to end
The D axle inductance of voltage max Vsmax and ovennodulation COEFFICIENT K H and permanent magnet synchronous motor, the electric angle of permanent magnet synchronous motor between son
Speed, permanent magnet synchronous motor permanent magnet flux linkage calculate permanent magnet synchronous motor exit ovennodulation and list PI electric current loop weak magnetic control mould
Formula cuts out electric current IIt cuts out；Judge that D shaft current gives whether to be greater than and cuts out electric current IIt cuts out；If D shaft current, which gives to be greater than, cuts out electricity
Flow IIt cuts out, then control permanent magnet synchronous motor and exit ovennodulation and list PI electric current loop weak magnetic control pattern.
Specifically, it can be calculated by following formula (5) and cut out electric current IIt cuts out:
Wherein, Ld is the D axle inductance of permanent magnet synchronous motor, and w is the angular rate of permanent magnet synchronous motor,For permanent-magnet synchronous
The permanent magnet flux linkage of motor.
It should be noted that as Idref < 0, it is believed that be weak magnetic, voltage vector weakens；As Idref > 0, it is believed that be to increase
Magnetic, voltage vector enhancing.
To sum up, when the permanent magnet synchronous motor ovennodulation of the embodiment of the present invention list PI electric current loop field weakening control method, according to
Ovennodulation coefficient, two basic effectively vectors action time control permanent magnet synchronous motor enter ovennodulation and list PI electric current loop is weak
Magnetic control mode gives the output of speed ring as D shaft current, and according to the given D axis with permanent magnet synchronous motor of D shaft current
Feedback current carries out D axis PI electric current loop and adjusts to obtain D shaft voltage, and then is entered according to D shaft voltage and permanent magnet synchronous motor
Modulation carries out weak magnetic control to permanent magnet synchronous motor with the Q shaft voltage before list PI electric current loop weak magnetic control pattern, and passes through
The busbar voltage of permanent magnet synchronous motor calculates the voltage between terminals maximum value of permanent magnet synchronous motor, and enters in permanent magnet synchronous motor
It is same according to voltage between terminals maximum value and ovennodulation coefficient and permanent magnetism after ovennodulation and list PI electric current loop weak magnetic control pattern
Walk the D axle inductance of motor, the angular rate of permanent magnet synchronous motor, permanent magnet synchronous motor permanent magnet flux linkage calculate permanent magnet synchronous electric
Machine exits cut out electric current of the ovennodulation with list PI electric current loop weak magnetic control pattern, and gives and cut out electric current control according to D shaft current
Permanent magnet synchronous motor processed exits ovennodulation and list PI electric current loop weak magnetic control pattern.Thereby, it is possible to make permanent magnet synchronous motor in mistake
Stable operation when modulation and weak magnetic, and can effectively solve the problem that the problem of D, Q axis are mutually coupled, simplify PMSM control system.
The weak magnetic of list PI electric current loop controls dress when Fig. 5 is permanent magnet synchronous motor ovennodulation according to an embodiment of the invention
The structural block diagram set.As shown in figure 5, the device includes: to obtain module 10, computing module 20, judgment module 30 and weak magnetic control
Module 40.
Wherein, the ovennodulation COEFFICIENT K H that module 10 is used to obtain permanent magnet synchronous motor is obtained.Computing module 20 is for calculating
The action time T1 of two basic effectively vectors in six basic effectively vectors when permanent magnet synchronous motor progress SVPWM control
And T2.Judgment module 30 is used to be judged whether according to the action time T1 and T2 of ovennodulation COEFFICIENT K H, two basic effectively vectors
Control permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern.Weak magnetic control module 40 is used for same in permanent magnetism
Step motor enters ovennodulation and gives with when list PI electric current loop weak magnetic control pattern using the output of speed ring as D shaft current, and root
D axis PI electric current loop is carried out according to the given D axis feedback current with permanent magnet synchronous motor of D shaft current to adjust to obtain D shaft voltage, and
Enter ovennodulation with the Q shaft voltage before list PI electric current loop weak magnetic control pattern to forever according to D shaft voltage and permanent magnet synchronous motor
Magnetic-synchro motor carries out weak magnetic control.
Wherein, ovennodulation COEFFICIENT K H meets relational expression: 1 > KH > 0.8666.
Specifically, as shown in figure 3, U0, U60, U120, U180, U240, U300 are that permanent magnet synchronous motor carries out SVPWM control
Six substantially effective vectors when processed, and form six sectors.
For example, when output voltage Uout falls in the sector of U0, U60 composition, there are formula (1):
Wherein, T1 and T2 is respectively the action time of basic effectively vector U0, U60 in a carrier cycle T, T0 zero
The action time of vector.
Projection under α, β rest frame are as follows:
Action time is normalized, even T=1, is then had:
It should be noted that the calculation method of any two adjacent basic effectively the action time T1 and T2 of vector are to ability
Be for the technical staff in domain it is known, this will not be repeated here.
In one embodiment of the invention, computing module 20 is also used to calculate the sum of T1 and T2, and passes through low-pass filtering
Device carries out low-pass filtering treatment to the sum of T1 and T2 to obtain start-up time Ton.
Further, judgment module 30 is for judging whether the sum of start-up time Ton and six dead time Tdead are greater than
Ovennodulation COEFFICIENT K H, wherein when the sum of start-up time Ton and six dead time Tdead are greater than ovennodulation COEFFICIENT K H, weak magnetic
Control module 40 controls permanent magnet synchronous motor and enters ovennodulation and list PI electric current loop weak magnetic control pattern.
It should be noted that since the value of T1+T2 is always fluctuating, therefore the sum of T1 and T2 can be carried out at low-pass filtering
Reason, and then obtain start-up time Ton=Lowpass (T1+T2).
As shown in figure 4, weak magnetic controls mould when permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern
The output of speed ring is given Idref by block 40, and gives Idref and permanent magnet synchronous motor according to D shaft current
D axis feedback current Id_fbk carries out D axis PI electric current loop and adjusts to obtain D shaft voltage Ud, and same according to D shaft voltage Ud and permanent magnetism
Q shaft voltage Uq before step motor enters ovennodulation and list PI electric current loop weak magnetic control pattern carries out weak magnetic to permanent magnet synchronous motor
Control.Thereby, it is possible to realize stable operation when permanent magnet synchronous motor ovennodulation and weak magnetic.
In one embodiment of the invention, as shown in fig. 6, Q shaft voltage is given inclined when busbar voltage changes in order to prevent
Poor excessive, the device of the embodiment of the present invention further include: Q shaft voltage limits module 50.
Wherein, Q shaft voltage limitation module 50 calculates the end of permanent magnet synchronous motor by the busbar voltage of permanent magnet synchronous motor
Voltage max Vsmax between son, and according to voltage between terminals maximum value Vsmax and ovennodulation COEFFICIENT K H to permanent magnet synchronous motor into
Q shaft voltage before entering ovennodulation and list PI electric current loop weak magnetic control pattern carries out limitation processing.
Specifically, Vsmax can be calculated by formula (4), and then according to voltage between terminals maximum value Vsmax and ovennodulation coefficient
Q shaft voltage Uq before KH enters ovennodulation and list PI electric current loop weak magnetic control pattern to permanent magnet synchronous motor is carried out at limitation
Reason, can be Uq≤Vsmax*KH/0.866.
Further, after permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern, mould is calculated
Block 20 is same also according to voltage between terminals maximum value Vsmax and ovennodulation COEFFICIENT K H and the D axle inductance of permanent magnet synchronous motor, permanent magnetism
The permanent magnet flux linkage of the angular rate, permanent magnet synchronous motor that walk motor calculates permanent magnet synchronous motor and exits ovennodulation and list PI electric current
Ring weak magnetic control pattern cuts out electric current IIt cuts out.Judgment module 30 is also used to judge that D shaft current gives whether to be greater than and cuts out electric current
IIt cuts out, wherein D shaft current it is given be greater than cut out electric current IIt cuts outWhen, weak magnetic control module 40 controls permanent magnet synchronous motor and exited
Modulation and list PI electric current loop weak magnetic control pattern.
Specifically, electric current I extremely can be cut out by following formula (5)It cuts out:
Wherein, Ld is the D axle inductance of permanent magnet synchronous motor, and w is the angular rate of permanent magnet synchronous motor,For permanent-magnet synchronous
The permanent magnet flux linkage of motor.
It should be noted that as Idref < 0, it is believed that be weak magnetic, voltage vector weakens；As Idref > 0, it is believed that be to increase
Magnetic, voltage vector enhancing.
To sum up, when the permanent magnet synchronous motor ovennodulation of the embodiment of the present invention list PI electric current loop weak magnetic control device, pass through
Judgment module judges whether permanent magnet synchronous motor enters toning according to the action time of ovennodulation coefficient, two basic effectively vectors
System and list PI electric current loop weak magnetic control pattern, enter ovennodulation and list PI electric current loop weak magnetic control pattern in permanent magnet synchronous motor
When, it is given by weak magnetic control module using the output of speed ring as D shaft current, and according to D shaft current is given and permanent-magnet synchronous
The D axis feedback current of motor carries out D axis PI electric current loop and adjusts to obtain D shaft voltage, and then according to D shaft voltage and permanent magnet synchronous electric
Q shaft voltage before machine enters ovennodulation and list PI electric current loop weak magnetic control pattern carries out weak magnetic control to permanent magnet synchronous motor,
And the voltage between terminals maximum value of permanent magnet synchronous motor is calculated according to the busbar voltage of permanent magnet synchronous motor by computing module,
And after permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern, by computing module according between terminal
Voltage max and ovennodulation coefficient and the D axle inductance of permanent magnet synchronous motor, the angular rate of permanent magnet synchronous motor, permanent magnetism are same
What the permanent magnet flux linkage of step motor calculated that permanent magnet synchronous motor exits ovennodulation and list PI electric current loop weak magnetic control pattern cuts out electricity
Stream, and give according to D shaft current by judgment module and cut out electric current and judge whether permanent magnet synchronous motor exits ovennodulation and list
PI electric current loop weak magnetic control pattern, and when D shaft current gives greater than electric current is cut out, it is same that permanent magnetism is controlled by weak magnetic control module
Step motor exits ovennodulation and list PI electric current loop weak magnetic control pattern.Thereby, it is possible to make permanent magnet synchronous motor in ovennodulation and weak
Stable operation when magnetic, and can effectively solve the problem that the problem of D, Q axis are mutually coupled, simplify PMSM control system.
Further, the invention proposes a kind of control systems of permanent magnet synchronous motor comprising the above-mentioned implementation of the present invention
The weak magnetic control device of single PI electric current loop when the permanent magnet synchronous motor ovennodulation of example.
The control system of the permanent magnet synchronous motor of the embodiment of the present invention, list when by above-mentioned permanent magnet synchronous motor ovennodulation
The weak magnetic control device of PI electric current loop can make permanent magnet synchronous motor stable operation in ovennodulation and weak magnetic, and can be effective
Solve the problems, such as that D, Q axis are mutually coupled, structure is simple.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. the field weakening control method of list PI electric current loop when a kind of permanent magnet synchronous motor ovennodulation, which is characterized in that including following step
It is rapid:
When obtaining the ovennodulation COEFFICIENT K H of the permanent magnet synchronous motor, and calculating the permanent magnet synchronous motor progress SVPWM control
Six basic effectively vectors in two basic effectively vectors action time T1 and T2；
Judged whether described in control according to the action time T1 and T2 of the ovennodulation COEFFICIENT K H, described two basic effectively vectors
Permanent magnet synchronous motor enters ovennodulation and list PI electric current loop weak magnetic control pattern；
When the permanent magnet synchronous motor enters the ovennodulation and list PI electric current loop weak magnetic control pattern, by the output of speed ring
It is given as D shaft current, and D axis PI is carried out according to the given D axis feedback current with the permanent magnet synchronous motor of the D shaft current
Electric current loop is adjusted to obtain D shaft voltage, and according to the D shaft voltage and the permanent magnet synchronous motor enter the ovennodulation with
Q shaft voltage before single PI electric current loop weak magnetic control pattern carries out weak magnetic control to the permanent magnet synchronous motor；
Wherein, judge whether to control according to the action time T1 and T2 of the ovennodulation COEFFICIENT K H, described two basic effectively vectors
It makes the permanent magnet synchronous motor and enters ovennodulation and list PI electric current loop weak magnetic control pattern, comprising:
The sum of T1 and T2 are calculated, and low-pass filtering treatment is carried out to obtain start-up time Ton to the sum of the T1 and T2；
Judge whether the sum of described start-up time Ton and six dead time Tdead is greater than the ovennodulation COEFFICIENT K H；
If the sum of described start-up time Ton and six dead time Tdead be greater than the ovennodulation COEFFICIENT K H, control described in
Permanent magnet synchronous motor enters the ovennodulation and list PI electric current loop weak magnetic control pattern.
2. the field weakening control method of list PI electric current loop, feature exist when permanent magnet synchronous motor ovennodulation as described in claim 1
In the ovennodulation COEFFICIENT K H meets relational expression: 1 > KH > 0.8666.
3. the field weakening control method of list PI electric current loop, feature exist when permanent magnet synchronous motor ovennodulation as described in claim 1
In also calculating the voltage between terminals maximum value of the permanent magnet synchronous motor by the busbar voltage of the permanent magnet synchronous motor
Vsmax, and the permanent magnet synchronous motor is entered according to the voltage between terminals maximum value Vsmax and the ovennodulation COEFFICIENT K H
Q shaft voltage before the ovennodulation and list PI electric current loop weak magnetic control pattern carries out limitation processing.
4. the field weakening control method of list PI electric current loop, feature exist when permanent magnet synchronous motor ovennodulation as claimed in claim 3
In after the permanent magnet synchronous motor enters the ovennodulation and list PI electric current loop weak magnetic control pattern, further includes:
According to the D axis of the voltage between terminals maximum value Vsmax and the ovennodulation COEFFICIENT K H and the permanent magnet synchronous motor
The permanent magnet flux linkage calculating permanent-magnet synchronous of inductance, the angular rate of the permanent magnet synchronous motor, the permanent magnet synchronous motor
What motor exited the ovennodulation and list PI electric current loop weak magnetic control pattern cuts out electric current IIt cuts out；
Judge the D shaft current it is given whether be greater than described cut out electric current IIt cuts out；
If the D shaft current is given to cut out electric current I greater than describedIt cuts out, then control the permanent magnet synchronous motor and exit the toning
System and list PI electric current loop weak magnetic control pattern.
5. the weak magnetic control device of list PI electric current loop when a kind of permanent magnet synchronous motor ovennodulation characterized by comprising
Module is obtained, for obtaining the ovennodulation COEFFICIENT K H of the permanent magnet synchronous motor；
Computing module, for two in six basic effectively vectors when calculating the permanent magnet synchronous motor progress SVPWM control
The action time T1 and T2 of a basic effectively vector；
Judgment module, for being sentenced according to the action time T1 and T2 of the ovennodulation COEFFICIENT K H, described two basic effectively vectors
It is disconnected whether to control the permanent magnet synchronous motor and enter ovennodulation and list PI electric current loop weak magnetic control pattern；
Weak magnetic control module, for entering the ovennodulation and list PI electric current loop weak magnetic control pattern in the permanent magnet synchronous motor
When given the output of speed ring as D shaft current, and according to the D shaft current is given and the D axis of the permanent magnet synchronous motor
Feedback current carries out D axis PI electric current loop and adjusts to obtain D shaft voltage, and according to the D shaft voltage and the permanent magnet synchronous electric
It is weak to permanent magnet synchronous motor progress with the Q shaft voltage before list PI electric current loop weak magnetic control pattern that machine enters the ovennodulation
Magnetic control；
Wherein, the computing module is also used to calculate the sum of T1 and T2, and by low-pass filter to the sum of the T1 and T2 into
To obtain start-up time Ton, the judgment module is further used for judging the start-up time Ton and six row low-pass filtering treatment
Whether the sum of a dead time Tdead is greater than the ovennodulation COEFFICIENT K H, wherein in the start-up time Ton and six dead zones
When the sum of time Tdead is greater than the ovennodulation COEFFICIENT K H, the weak magnetic control module controls the permanent magnet synchronous motor and enters
The ovennodulation and list PI electric current loop weak magnetic control pattern.
6. the weak magnetic control device of list PI electric current loop, feature exist when permanent magnet synchronous motor ovennodulation as claimed in claim 5
In the ovennodulation COEFFICIENT K H meets relational expression: 1 > KH > 0.8666.
7. the weak magnetic control device of list PI electric current loop, feature exist when permanent magnet synchronous motor ovennodulation as claimed in claim 5
In, further includes:
Q shaft voltage limits module, and the Q shaft voltage limits described in busbar voltage calculating of the module by the permanent magnet synchronous motor
The voltage between terminals maximum value Vsmax of permanent magnet synchronous motor, and according to the voltage between terminals maximum value Vsmax and the toning
COEFFICIENT K H processed enters the Q shaft voltage before the ovennodulation and list PI electric current loop weak magnetic control pattern to the permanent magnet synchronous motor
Carry out limitation processing.
8. the weak magnetic control device of list PI electric current loop, feature exist when permanent magnet synchronous motor ovennodulation as claimed in claim 7
In, after the permanent magnet synchronous motor enters the ovennodulation and list PI electric current loop weak magnetic control pattern, the computing module
Also according to the voltage between terminals maximum value Vsmax and ovennodulation COEFFICIENT K H and the D axis electricity of the permanent magnet synchronous motor
Sense, the angular rate of the permanent magnet synchronous motor, the permanent magnet synchronous motor permanent magnet flux linkage calculate the permanent magnet synchronous electric
What machine exited the ovennodulation and list PI electric current loop weak magnetic control pattern cuts out electric current IIt cuts out, the judgment module is also used to judge
Whether the D shaft current is given, which is greater than, described cuts out electric current IIt cuts out, wherein electric current is cut out described in giving and be greater than in the D shaft current
IIt cuts outWhen, the weak magnetic control module controls the permanent magnet synchronous motor and exits the ovennodulation and the control of list PI electric current loop weak magnetic
Mode.
9. a kind of control system of permanent magnet synchronous motor, which is characterized in that including as described in any one of claim 5-8 forever
The weak magnetic control device of list PI electric current loop when magnetic-synchro motor ovennodulation.
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| CN107659231B (en) * | 2017-09-18 | 2019-01-15 | 南京理工大学 | A kind of ultrahigh speed permanent magnet synchronous motor method for controlling number of revolution |
| CN109889112B (en) * | 2019-03-20 | 2020-08-04 | 河北工业大学 | Efficiency optimization method for flux weakening control single current regulator of permanent magnet synchronous motor |
| CN112688606A (en) * | 2020-11-20 | 2021-04-20 | 珠海格力电器股份有限公司 | Weak-magnetic switching method and device for permanent magnet motor and air conditioner |
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