CN106972799A - A kind of magneto control parameter computational methods based on change switching frequency - Google Patents
A kind of magneto control parameter computational methods based on change switching frequency Download PDFInfo
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- CN106972799A CN106972799A CN201710217043.9A CN201710217043A CN106972799A CN 106972799 A CN106972799 A CN 106972799A CN 201710217043 A CN201710217043 A CN 201710217043A CN 106972799 A CN106972799 A CN 106972799A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a kind of based on the magneto control parameter computational methods for becoming switching frequency, consider the relation between switching frequency and motor control performance and power tube switching characteristic, electric machine speed regulation scope is divided into middle low speed segment and high speed section, constant switching frequency is used in middle low speed segment, switching frequency and corresponding control parameter are calculated in real time according to motor speed in high speed section, and the motor control of change switching frequency is realized by changing the value TBPRD of microcontroller pulse width modulation module period register, electric current and the access times of position in the electric cycle of motor high regime one can be increased, realize the good tracking effect to circular magnetic field, lift the control accuracy and torque output performance of permanent magnetism velocity modulation electric engine.
Description
Technical field
Ginseng is controlled the invention belongs to motor control technology field, more particularly to a kind of magneto based on change switching frequency
Number calculating method.
Background technology
It is that inverter and motor are considered as one using SVPWM (SVPWM) technical controlling magneto,
Circular rotating field is obtained by control voltage vector, to obtain excellent control effect.During vector controlled, Permanent Magnet and Electric
The switching frequency of power tube is also control frequency in machine control system, when the period register of pulse modulation module in microcontroller
In value TBPRD fix when, switching frequency is also determined therewith, and switching frequency size isWherein
TBCLK is the reference clock cycle of enhanced microcontroller.Because magneto vector controlled is at sample rate current and position
Power tube switching signal is just produced after reason, then f is also the frequency of use of sample rate current and position simultaneously, i.e., regardless of sample rate
Have how soon, be consistent using the speed and f of electric current and position, so, switching frequency is higher, the utilization number of times of electric current and position
More, then better to the tracking effect of circular rotating field, output torque is more steady；However, switching frequency height can cause to hold
Close loss to increase, temperature of power module rise, be unfavorable for its long-term work, and the big efficiency for also reducing system of loss, in addition,
Under conditions of high current, power tube switching frequency can be limited by switching characteristic.In summary, rational switching frequency is chosen
Above indices should be considered.
Patent《A kind of permagnetic synchronous motor Direct Torque Control device based on constant switching frequency space vector modulation》
Using constant switching frequency control method be at present it is the most frequently used by the way of, this method can make magneto normally run and
Control accuracy is can guarantee that during middle low speed, but when magneto operates in high speed state, within an electric cycle, electric current and position
The access times put are reduced, and control accuracy reduction, magneto torque output performance declines.
In fact, the power tube switching frequency of magneto vector control system can be continuous by changing TBPRD value
Modification, to adapt to different motor speeds, i.e., when motor speed is raised, power tube switching frequency is increased, electric current and position
The utilization increased frequency put, this can improve the control performance of magneto.But the modification of switching frequency influences whether system
Control parameter, mainly der Geschwindigkeitkreis PI controllers scale factor ksp, integrating factor ksiWith electric current loop PI controller scale factors
kcp, integrating factor kci；In addition, during by improving switching frequency improvement system control performance, it should be taken into account work(
The upper limit switching frequency f of rate pipemaxIt can be limited by electric current, it is impossible to unconfined increase, otherwise power tube can be caused to be burned out
Etc. dangerous consequence.Switching frequency is changed according to magneto rotating speed and corresponding control parameter is calculated to lifting permanent magnetic speed-adjusting electricity
The control performance of machine has important meaning.
The content of the invention
During the magneto high-speed cruising based on vector controlled, for electric current in one electric cycle of increase and position
Access times, to realize the good tracking effect to circular rotating field, lift control accuracy and the torque of permanent magnetism velocity modulation electric engine
Power tube safe operation is able to ensure that while output performance, the present invention proposes a kind of based on the magneto control for becoming switching frequency
Calculation method of parameters processed.
A kind of magneto control parameter computational methods based on change switching frequency, it is characterised in that step is as follows：
Step 1：By electric machine speed regulation scope from 0~nmaxIt is divided into middle low speed segment and high speed section, is respectively [0, nmax/ 2] and
(nmax/ 2, nmax], wherein nmaxIt is the no-load maximum speed of magneto；
Step 2：Segmentation calculates switching frequency：When motor is operated in middle low speed segment, using fixed switching frequency f0=5kHz；
When motor is operated in high speed section, Real-Time Switch frequency size is by formulaCalculating is obtained, and wherein m is to ensure forever
Electric current and the access times of position, n in the electric cycle of one of the good control performance of magneto0It is the real-time rotating speed of motor, p is forever
Magneto number of pole-pairs；
Step 3：According to the working characteristics limit switch frequency of power tube：If the f that step 2 is calculatedr≤fmax, frTake reality
When calculated value, if fr＞ fmax, make fr=fmax, wherein fmaxIt is the switching frequency upper limit of the power tube in big operating current, should
Value is relevant with the model of power tube, is provided by manufacturer；
Step 4：The value TBPRD of microcontroller pulse width modulation module period register is calculated according to switching frequency
With real-time control parameter ksp、ksi、kcpAnd kci：When motor is operated in middle low speed segment, TBPRD is definite value, and size isReal-time control parameter is ksp=ksp0、ksi=ksi0、kcp=kcp0、kci
=kci0；When motor be operated in high speed section, real-time control parameter respectively by Calculating is obtained, wherein, ksp、ksiThe respectively scale factor and integrating factor of der Geschwindigkeitkreis PI controllers, kcp、kci
The respectively scale factor and integrating factor of electric current loop PI controllers, ksp0、ksi0、kcp0And kci0It is when switching frequency is f0Shi Bao
The control parameter k that card system is normally runsp、ksi、kcpAnd kciInitial value, TBCLK is the reference clock cycle of microcontroller.
The beneficial effects of the invention are as follows：Considered switching frequency and motor control performance and power tube switching characteristic it
Between relation, by electric machine speed regulation scope be divided into middle low speed segment and high speed section, constant switching frequency is used in middle low speed segment, in
High regime calculates switching frequency and corresponding control parameter according to motor speed in real time, and by changing microcontroller pulsewidth modulation
The value TBPRD of module period register realizes the motor control for becoming switching frequency, can increase by one electricity week of motor high regime
Electric current and the access times of position in phase, realize the good tracking effect to circular magnetic field, lift the control of permanent magnetism velocity modulation electric engine
Precision and torque output performance.
Brief description of the drawings
Fig. 1 is a kind of based on the magneto control parameter computational methods flow chart for becoming switching frequency of the present invention
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
Magneto vector controlled is one kind of Field orientable control method, and its key technology is to combine sampling location to three
Phase sampler electric current carries out changes in coordinates, and power tube control signal is obtained with reference to SVPWM (SVPWM) technology, so that
Tracking to circular rotating field is realized, therefore, within an electric cycle, when the access times of sample rate current and position are more,
Control effect can be better.One important channel of increase sample rate current and position access times is the switch frequency for changing power tube
Rate, that is, change the value TBPRD of the pulse width modulation module period register of microcontroller, and rotating speed is higher, and TBPRD is bigger, still
Power tube switching frequency is limited by big operating current, it is impossible to increase switching frequency always because high performance control is pursued,
Only need to ensure the sample rate current using certain number of times (m times) and position in each electric cycle；Meanwhile, the control ginseng of system
Number, including der Geschwindigkeitkreis PI controller scale factors ksp, integrating factor ksiWith electric current loop PI controller scale factors kcp, integrate because
Sub- kciCan be different with the change of switching frequency.Based on the magneto control parameter computational methods basic flow for becoming switching frequency
Journey is as shown in figure 1, the magneto number of pole-pairs p=3 that the present embodiment is analyzed, magneto maximum speed nmax=8000rpm,
Ensure the electric current required in an electric cycle of motor control performance and the access times m=25 of position.Specific calculating process
It is as follows：
The first step：Electric machine speed regulation scope is divided into middle low speed segment and high regime
When magneto is in middle tick-over state, one relatively low constant switching frequency of selection ensures that electricity
The control accuracy and torque-output characteristics of machine, so, change switching frequency vector control method proposed by the present invention has following spy
Point：Only when motor operation is in high speed, switching frequency just can be with rotating speed real-time change, centering low speed and high speed model here
Enclose and divided：Middle low-speed range is [0, nmax/ 2]=[0,4000], high speed scope is (nmax/2,nmax]=(4000,
8000]；
Second step：Segmentation calculates switching frequency
When magneto is operated in the middle low-speed range of first step determination, using fixed switching frequency f0=5kHz, one
Individual electric periodic sampling electric current and position access timesEqual to m, it ensure that motor has good
Good control performance；When motor is operated in high speed section, if still using fixed switching frequency f0=5kHz, position in an electric cycle
The access times put with electric current are less than m, motor control hydraulic performance decline, to ensure the profit of sample rate current and position in an electric cycle
It is m=25 with number of times so that the voltage vector sent has good tracking effect, now, press to circular magnetic fieldSwitching frequency is calculated, with n0Exemplified by=7000rpm, switching frequency is fr=8.75kHz；
3rd step：According to the working characteristics limit switch frequency of power tube
Power tube switching frequency is limited by factors such as circuit design, processing technology and electric currents, it is impossible to increased always,
In actual applications, influence of the high current to switching frequency is the most obvious, if magneto operating current is than larger, switch frequency
Rate may result in power tube more than certain threshold value and damage, and the present invention is namely based on this and switch frequency maxima is limited.This
In embodiment, magneto operating current virtual value Irms=45A, according to the suggestion of power model manufacturer, switching frequency
Upper limit fmax=10kHz, if the switching frequency f that second step is calculatedrHigher than the value, f is mader=fmax=10000, then TBPRD
Minimum value can also be restricted to TBPRD_min=1875；
4th step：Calculate the value TBPRD and real-time control parameter k of microcontroller pulse width modulation module period registersp、
ksi、kcpAnd kci
During motor control, second step calculate obtained switching frequency need by change in real time TBPRD value come
Realize, in addition, the rotating speed outer shroud PI controllers and rotating speed inner ring PI controllers in magneto vector control system are all micro-
It is discrete controller, so their control parameter k by programming realization in controllersp、ksi、kcpAnd kciIt is with control
Frequency change, wherein, when in f0During=5KHz, it is ensured that the initial control parameter value that system is normally run is ksp0=15, ksi0
=0.15, kcp0=0.01, kci0=0.000075.
When magneto is operated in middle low-speed range, in the present embodiment, microcontroller pulse width modulation module reference clock
Period assignment isNow,Control
Parameter size processed is ksp=ksp0=15, ksi=ksi0=0.15, kcp=kcp0=0.01 and kci=kci0=0.000075.
When motor is operated in high speed section (n0＞ 4000) when, TBPRD constantly changes with rotation speed change, and size isWith n0Exemplified by=7000rpm, switching frequency is fr=8.75kHz, thenMore than 1875, it is not necessary to limit；When control frequency shift
For frAfterwards, the current integration factor (ksiAnd kci) there is following relation between initial parameter： Separately
Outside, the ratio between the ratio and initial parameter of current scale factor and integrating factor should be consistent, therefore In the present embodiment, when motor speed is 7000rpm, control parameter is ksp=8.6, ksi=0.086, kcp=
0.0057, kci=0.000043.
Claims (1)
1. it is a kind of based on the magneto control parameter computational methods for becoming switching frequency, it is characterised in that step is as follows：
Step 1：By electric machine speed regulation scope from 0~nmaxIt is divided into middle low speed segment and high speed section, is respectively [0, nmax/ 2] and (nmax/
2, nmax], wherein nmaxIt is the no-load maximum speed of magneto；
Step 2：Segmentation calculates switching frequency：When motor is operated in middle low speed segment, using fixed switching frequency f0=5kHz；Work as electricity
Machine is operated in high speed section, and Real-Time Switch frequency size is by formulaCalculating is obtained, and wherein m is to ensure Permanent Magnet and Electric
Electric current and the access times of position, n in the electric cycle of one of the good control performance of machine0It is the real-time rotating speed of motor, p is Permanent Magnet and Electric
Machine number of pole-pairs；
Step 3：According to the working characteristics limit switch frequency of power tube：If the f that step 2 is calculatedr≤fmax, frTake real-time meter
Calculation value, if fr＞ fmax, make fr=fmax, wherein fmaxThe switching frequency upper limit of the power tube in big operating current, the value with
The model of power tube is relevant, is provided by manufacturer；
Step 4：The value TBPRD of microcontroller pulse width modulation module period register is calculated according to switching frequency
With real-time control parameter ksp、ksi、kcpAnd kci：When motor is operated in middle low speed segment, TBPRD is definite value, and size isReal-time control parameter is ksp=ksp0、ksi=ksi0、kcp=kcp0、kci
=kci0；When motor be operated in high speed section, real-time control parameter respectively by Calculating is obtained, wherein, ksp、ksiThe respectively scale factor and product of der Geschwindigkeitkreis PI controllers
Molecular group, kcp、kciThe respectively scale factor and integrating factor of electric current loop PI controllers, ksp0、ksi0、kcp0And kci0It is to work as to open
It is f to close frequency0When ensure the control parameter k that normally runs of systemsp、ksi、kcpAnd kciInitial value, TBCLK is microcontroller
Reference clock cycle.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115347845A (en) * | 2022-10-17 | 2022-11-15 | 势加透博洁净动力如皋有限公司 | High-speed motor carrier frequency modulation method |
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| CN103715875A (en) * | 2013-12-31 | 2014-04-09 | 华为技术有限公司 | Switching frequency adjusting method and device and inverters |
| EP2988415A2 (en) * | 2014-08-20 | 2016-02-24 | Hamilton Sundstrand Corporation | Reduction technique for permanent magnet motor high frequency loss |
| CN106330045A (en) * | 2016-10-25 | 2017-01-11 | 北京新能源汽车股份有限公司 | Permanent magnet synchronous motor control system and control method of permanent magnet synchronous motor |
| CN106385215A (en) * | 2016-09-27 | 2017-02-08 | 华中科技大学 | Variable switching frequency PWM torque ripple control method for alternating-current motor |
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2017
- 2017-04-05 CN CN201710217043.9A patent/CN106972799B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103715875A (en) * | 2013-12-31 | 2014-04-09 | 华为技术有限公司 | Switching frequency adjusting method and device and inverters |
| EP2988415A2 (en) * | 2014-08-20 | 2016-02-24 | Hamilton Sundstrand Corporation | Reduction technique for permanent magnet motor high frequency loss |
| CN106385215A (en) * | 2016-09-27 | 2017-02-08 | 华中科技大学 | Variable switching frequency PWM torque ripple control method for alternating-current motor |
| CN106330045A (en) * | 2016-10-25 | 2017-01-11 | 北京新能源汽车股份有限公司 | Permanent magnet synchronous motor control system and control method of permanent magnet synchronous motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115347845A (en) * | 2022-10-17 | 2022-11-15 | 势加透博洁净动力如皋有限公司 | High-speed motor carrier frequency modulation method |
| CN115347845B (en) * | 2022-10-17 | 2023-01-03 | 势加透博洁净动力如皋有限公司 | High-speed motor carrier frequency modulation method |
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