CN106788078A - A kind of method for avoiding permagnetic synchronous motor weak magnetic out of control - Google Patents
A kind of method for avoiding permagnetic synchronous motor weak magnetic out of control Download PDFInfo
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- CN106788078A CN106788078A CN201710045436.6A CN201710045436A CN106788078A CN 106788078 A CN106788078 A CN 106788078A CN 201710045436 A CN201710045436 A CN 201710045436A CN 106788078 A CN106788078 A CN 106788078A
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Abstract
The invention discloses a kind of method for avoiding permagnetic synchronous motor weak magnetic out of control, it is proposed that a kind of control strategy of the negative id penalty method weak magnetic controller saturation out-of-control phenomenons of reply, by the corrdinated adjustment to dq shaft currents, the stability under enhancing depth weak magnetic operating mode；By the collaboration amplitude limit to dq shaft currents, approximate torque capacity voltage ratio MTPV controls are realized.The stability of the weak magnetic controller based on voltage close loop is the method increase, and realizes that approximate MTPV is controlled by the collaboration amplitude limit to dq shaft currents.
Description
Technical field
The present invention relates to automation control area, more particularly to a kind of method for avoiding permagnetic synchronous motor weak magnetic out of control.
Background technology
Permagnetic synchronous motor efficiency high, weak-magnetic speed-regulating range are wide, are widely used in electric automobile field.
Negative id penalty methods weak magnetic control technology based on voltage close loop can make permagnetic synchronous motor realize wide speed range
Speed governing operation.The general principle of the method is：The output voltage needed in current regulator is defeated near or above controller voltage
In the case of the output capacity limit, negative sense increase d shaft currents, it is intended to which the output voltage that current regulator needs is limited in controller
Within voltage output capacity limit.But the method has following limitation：
1) MTPV controls cannot be realized
Assuming that current rotating speed is ω in Fig. 12, electric current is positioned at B points, now rotating speed continuation rising.Due to current limitation justify into
One step reduces, and B points fall outside current limitation circle, and it is defeated that the output voltage that now current regulator needs alreadys exceed controller voltage
Negative sense is increased d shaft currents by the output capacity limit, weak magnetic adjuster, and operating point justifies farther apart from current limitation on the contrary.In this feelings
Under condition, not only output torque ability declines to a great extent, and actual current cannot also track given electric current, causes current regulator saturation,
Current run-away.
2) depth weak magnetic less stable
Further the problem in analysis 1) is it can be found that the problem of conventional negative id penalty method weak magnetic adjusters is, depth
The stability of negative voltage feedback regulation is gradually degraded during weak magnetic.For example：Assuming that current rotating speed is ω in Fig. 12, q shaft currents open from 0
Begin to increase, operating point moves closer to D points along voltage limit circle.In the process, negative sense increase d shaft currents are to reducing output electricity
The effect of pressure is less and less, and dynamic characteristic runs down.And after across D points, weak magnetic regulation direction from point to voltage pole
The internal sensing voltage limit that is gradually transitions of limit circle justifies outside, and weak magnetic adjuster becomes positive feedback from negative-feedback, it is impossible to continue to protect
It is fixed to keep steady.D points correspond to identical d shaft currents with C points, and its value is-ψ f/Ld, is electric motor short circuit electric current.
The content of the invention
In order to overcome problems of the prior art, present invention offer is a kind of to avoid permagnetic synchronous motor weak magnetic out of control
Method.
The method is comprised the following steps：
Step 1, q axles give electric currentDirect d shaft currents are obtained by MTPA property calculationsDirect d shaft currentsWith d
Axle weak magnetoelectricity stream Δ idAddition obtains the given electric current of d axles
Step 2, electric current is given to q axlesElectric current is given with d axlesCarry out dq shaft currents corrdinated adjustment and the collaboration of dq shaft currents
Amplitude limit, then gives electric current to q axles respectivelyElectric current is given with d axlesAfter carrying out closed-loop current control, by PI (proportional integral)
Adjuster output q shaft voltages udWith q shaft voltages uq；
Step 3, according to formulaObtain exporting total voltage；
Step 4, with maximum output voltage limit value umaxAfter subtracting output total voltage, d axles weak magnetic electricity is obtained by pi regulator
Stream Δ id。
Electric current is given to q axles described in step 2Electric current is given with d axlesDq shaft current corrdinated adjustments are carried out to be specially：
One threshold value E less than short circuit current is set first, electric current is given in d axlesDuring less than threshold value E, both differences are calculated；Then
The given electric current of the q axles after adjustment is calculated according to following formula
K is positive number (10 are generally no greater than in practical application) in formula.
Electric current is given to q axles described in step 2Electric current is given with d axlesDq shaft currents collaboration amplitude limit is carried out to be specially：
In current of electric phase-plane diagram, operating point C, motor MTPV curves and generation when representing motor three-phase shortcircuit are passed sequentially through with one
Table rotational speed omega2Voltage limit circle intersection points B, motor MTPV curves with represent rotational speed omega1Voltage limit circle intersection point F folding
The MTPV characteristics of line approximate description motor；When motor operating point is located at broken line left side, into MTPV clipping states；Should
Under state, q axles are forbidden to give electric currentContinue to increase, and d shaft currents are calculated with the broken line of C, B, F point according to the instruction of q shaft currents
Amplitude limit value.
Compared with prior art, the present invention improves the stability of the weak magnetic controller based on voltage close loop, and by right
The collaboration amplitude limit of dq shaft currents realizes approximate MTPV controls.
Brief description of the drawings
Fig. 1 is permagnetic synchronous motor electric current phase-plane diagram；
Fig. 2 is conventional negative id penalty method weak magnetic control principle block diagrams；
Fig. 3 is the negative id penalty methods weak magnetic control principle block diagram after improving；
Fig. 4 is the electric current phase-plane diagram with approximate MTPV broken lines；
Fig. 5, Fig. 6 are corrdinated adjustment and collaboration amplitude limit theory diagram；
Specific embodiment
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair
Bright specific embodiment is described in detail.
The present invention proposes a kind of control strategy for tackling negative id penalty method weak magnetic controller saturation out-of-control phenomenons.Improve
The stability of the weak magnetic controller based on voltage close loop, and realize that approximate MTPV is controlled by the collaboration amplitude limit to dq shaft currents.
1st, permagnetic synchronous motor electric current assignment constraints condition
Ignore stator resistance, the steady state voltage equation of permagnetic synchronous motor is
ud=-ω Lqiq (1)
uq=ω Ldid+ωψf (2)
In formula：ud,uqIt is d axles and q spindle motor terminal voltages；id,iqIt is d axles and q axle stator currents；Ld,LqIt is d axles and q axles
Inductance；ψfIt is rotor permanent magnet magnetic linkage.
The working condition of motor is by inverter output maximum current is max, voltage umaxLimitation is as follows：
In formula：udcIt is DC bus-bar voltage.
Formula (1), (2) are brought into formula (4) to obtain：
Understand, under specific busbar voltage and rotating speed, the dq electric current distribution conditions that motor can be realized are limited.
Fig. 1 describes the constraints of motor work in electric current phase-plane diagram：Voltage, current limitation circle；The spy of motor
Different characteristic working curve：MTPA (torque capacity electric current ratio) and MTPV (torque capacity voltage ratio curve).ω1With ω2Represent respectively
Two oval corresponding rotating speeds of voltage limit, T1, T2 represent the torque of motor output.Fig. 1 midpoints A is MTPA curves and motor electricity
Flow the intersection point of circle；B points be motor MTPV curves with represent rotational speed omega2Voltage limit circle intersection point；It is short that C points represent motor three-phase
Operating mode during road；D points be it is vertical with transverse axis and cross C points straight line with represent rotational speed omega2Voltage limit circle intersection point.Consider
Under the utilization ratio of electric current, specific busbar voltage and rotating speed, rational dq electric currents range of distribution is in MTPA characteristics under electronic operating mode
The left side of curve, in the common range that voltage limit circle is justified with current limitation.
2nd, the limitation of conventional negative id penalty methods weak magnetic control
Fig. 2 is conventional negative id penalty method weak magnetic control principle block diagrams.
The given electric current of q axles in figureDirect d shaft currents are obtained by MTPA property calculationsDirect d shaft currentsWith d axles
Weak magnetoelectricity stream Δ idAddition obtains the given electric current of d axlesElectric current is given to q axlesElectric current is given with d axlesCarry out current closed-loop control
After system, by pi regulator output q shaft voltages udWith q shaft voltages uq；With maximum output voltage limit value umaxSubtract output total voltage
Afterwards, d axle weak magnetoelectricity stream Δs i is obtained by pi regulatord
The general principle of the method is：Current regulator need output voltage near or above controller voltage output
In the case of capacity limit, negative sense increase d shaft currents, it is intended to which the output voltage that current regulator needs is limited in controller electricity
Within the pressure fan-out capability limit.
Conventional negative id penalty method field weakening control methods have following limitation：
1) MTPV controls cannot be realized
Assuming that current rotating speed is ω in Fig. 12, electric current is positioned at B points, now rotating speed continuation rising.Due to current limitation justify into
One step reduces, and B points fall outside current limitation circle, and it is defeated that the output voltage that now current regulator needs alreadys exceed controller voltage
Negative sense is increased d shaft currents by the output capacity limit, weak magnetic adjuster, and operating point justifies farther apart from current limitation on the contrary.In this feelings
Under condition, not only output torque ability declines to a great extent, and actual current cannot also track given electric current, causes current regulator saturation,
Current run-away.
2) depth weak magnetic less stable
Further the problem in analysis 1) is it can be found that the problem of conventional negative id penalty method weak magnetic adjusters is, depth
The stability of negative voltage feedback regulation is gradually degraded during weak magnetic.For example：Assuming that current rotating speed is ω in Fig. 12, q shaft currents open from 0
Begin to increase, operating point moves closer to D points along voltage limit circle.In the process, negative sense increase d shaft currents are to reducing output electricity
The effect of pressure is less and less, and dynamic characteristic runs down.And after across D points, weak magnetic regulation direction from point to voltage pole
The internal sensing voltage limit that is gradually transitions of limit circle justifies outside, and weak magnetic adjuster becomes positive feedback from negative-feedback, it is impossible to continue to protect
It is fixed to keep steady.D points correspond to identical d shaft currents with C points, and its value is-ψ f/Ld, is electric motor short circuit electric current.
3rd, local improvement of the present invention to the control of conventional negative id penalty methods weak magnetic
For the disadvantages mentioned above of conventional negative id penalty methods, the present invention proposes following improved method：By to dq shaft currents
Corrdinated adjustment, the stability under enhancing depth weak magnetic operating mode；By the collaboration amplitude limit to dq shaft currents, approximate torque capacity is realized
Voltage ratio MTPV is controlled, as shown in Figure 3.
1) to the corrdinated adjustment method of dq shaft currents：
To the d shaft currents of weak magnetic adjuster output, a value E less than short circuit current is set, is less than in the given electric current of d axles
During the value, the given electric current of d axles is calculatedWith the absolute value of E differences, and q axles give electric currentAbsolute value in subtract K* | E-id *
|, K is positive number (10 are generally no greater than in practical application).Said process can be understood as：When operating point is reached on the left of E points, lead to
Pro-active intervention q shaft currents are crossed, is made inside the direction bias voltage horicycle of weak magnetic regulation, it is special with the negative-feedback for maintaining weak magnetic to adjust
Property.As shown in Figure 5.
2) to the collaboration amplitude limit method of dq shaft currents：
As shown in figure 4, in electric current phase-plane diagram, the MTPV of motor is described with a piecewise linear approximation by C, B, F point
Characteristic.When operating point is located at broken line left side, into MTPV clipping states.Under the state, forbid q shaft currents instruct after
It is continuous to increase, and the amplitude limit value that d shaft currents are instructed is calculated with the broken line of C, B, F point according to the instruction of q shaft currents.As shown in Figure 6.
The part not illustrated in specification is prior art or common knowledge.The present embodiment is merely to illustrate the invention,
Rather than the scope of the present invention is limited, those skilled in the art are considered for modifications such as equivalent replacements for being made of the invention
Fall into invention claims institute protection domain.
Claims (3)
1. a kind of method for avoiding permagnetic synchronous motor weak magnetic out of control, it is characterised in that：The method is comprised the following steps：
Step 1, q axles give electric currentDirect d shaft currents are obtained by MTPA property calculationsDirect d shaft currentsIt is weak with d axles
Magnetoelectricity stream Δ idAddition obtains the given electric current of d axles
Step 2, electric current is given to q axlesElectric current is given with d axlesDq shaft currents corrdinated adjustment and dq shaft currents collaboration amplitude limit are carried out,
Then electric current is given to q axles respectivelyElectric current is given with d axlesAfter carrying out closed-loop current control, by pi regulator output q axle electricity
Pressure udWith q shaft voltages uq；
Step 3, according to formulaObtain exporting total voltage；
Step 4, with maximum output voltage limit value umaxAfter subtracting output total voltage, d axle weak magnetoelectricity stream Δs are obtained by pi regulator
id。
2. a kind of method for avoiding permagnetic synchronous motor weak magnetic out of control according to claim 1, it is characterised in that：Step 2
Described in q axles give electric currentElectric current is given with d axlesDq shaft current corrdinated adjustments are carried out to be specially：
One threshold value E less than short circuit current is set first, electric current is given in d axlesDuring less than threshold value E, both differences are calculated；
Then the given electric current of the q axles after adjustment is calculated according to following formula
K is positive number in formula.
3. a kind of method for avoiding permagnetic synchronous motor weak magnetic out of control according to claim 2, it is characterised in that：Step 2
Described in q axles give electric currentElectric current is given with d axlesDq shaft currents collaboration amplitude limit is carried out to be specially：
In current of electric phase-plane diagram, operating point C when representing motor three-phase shortcircuit, motor MTPV curves are passed sequentially through with one
With represent rotational speed omega2Voltage limit circle intersection points B, motor MTPV curves with represent rotational speed omega1Voltage limit circle intersection point F
Piecewise linear approximation the MTPV characteristics of motor are described；When motor operating point is located at broken line left side, into MTPV amplitude limit shapes
State；Under the state, q axles are forbidden to give electric currentContinue to increase, and d axles are calculated with the broken line of C, B, F point according to the instruction of q shaft currents
Electric currentAmplitude limit value.
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Cited By (5)
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| CN109713974A (en) * | 2018-08-09 | 2019-05-03 | 珠海格力电器股份有限公司 | A method of control motor work |
| CN109873590A (en) * | 2019-04-09 | 2019-06-11 | 湘潭大学 | A kind of weak magnetism speed expansion method of IPM synchronous motor for electric vehicle |
| CN111948537A (en) * | 2020-08-11 | 2020-11-17 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
| WO2021093397A1 (en) * | 2019-11-11 | 2021-05-20 | 南京埃斯顿自动化股份有限公司 | Vector control and flux weakening method and system for embedded permanent magnet synchronous motor |
| CN113016134A (en) * | 2018-11-07 | 2021-06-22 | 舍弗勒技术股份两合公司 | Method and apparatus for limiting a set point value for field-oriented current regulation |
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| CN109713974A (en) * | 2018-08-09 | 2019-05-03 | 珠海格力电器股份有限公司 | A method of control motor work |
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| CN113016134A (en) * | 2018-11-07 | 2021-06-22 | 舍弗勒技术股份两合公司 | Method and apparatus for limiting a set point value for field-oriented current regulation |
| CN109873590A (en) * | 2019-04-09 | 2019-06-11 | 湘潭大学 | A kind of weak magnetism speed expansion method of IPM synchronous motor for electric vehicle |
| WO2021093397A1 (en) * | 2019-11-11 | 2021-05-20 | 南京埃斯顿自动化股份有限公司 | Vector control and flux weakening method and system for embedded permanent magnet synchronous motor |
| CN111948537A (en) * | 2020-08-11 | 2020-11-17 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
| CN111948537B (en) * | 2020-08-11 | 2022-12-02 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
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