CN106972799B - A kind of magneto control parameter calculation method based on change switching frequency - Google Patents
A kind of magneto control parameter calculation method based on change switching frequency Download PDFInfo
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- CN106972799B CN106972799B CN201710217043.9A CN201710217043A CN106972799B CN 106972799 B CN106972799 B CN 106972799B CN 201710217043 A CN201710217043 A CN 201710217043A CN 106972799 B CN106972799 B CN 106972799B
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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
Abstract
The present invention provides a kind of based on the magneto control parameter calculation method for becoming switching frequency, comprehensively consider the relationship between switching frequency and motor control performance and power tube switching characteristic, electric machine speed regulation range 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 value TBPRD by changing microcontroller pulse width modulation module period register realizes the motor control for becoming switching frequency, the access times of electric current and position in motor high regime one electric period can be increased, realize the good tracking effect to round magnetic field, promote the control precision and torque output performance of permanent magnetism velocity modulation electric engine.
Description
Technical field
The invention belongs to motor control technology fields more particularly to a kind of controlled based on the magneto for becoming switching frequency to join
Number calculating method.
Background technique
It is that inverter and motor are considered as one using voltage space vector modulation (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 it is fixed when, switching frequency also determines therewith, and switching frequency size isWherein
TBCLK is the reference clock cycle of enhanced microcontroller.Since magneto vector controlled is at sample rate current and position
Power tube switching signal is just generated 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 of electric current and position and f, so, switching frequency is higher, and electric current and position utilize number
More, then better to the tracking effect of circular rotating field, output torque is more steady；However, switching frequency height will lead to out
Loss is closed to increase, temperature of power module increases, it is unfavorable for its long-term work, and loss also reduces the efficiency of system greatly, in addition,
Under conditions of high current, power tube switching frequency will receive the limitation of switching characteristic.In conclusion choosing reasonable switching frequency
The above indices should be comprehensively considered.
Patent " a kind of permanent magnet synchronous motor Direct Torque Control device based on constant switching frequency space vector modulation "
Control method using constant switching frequency is most common mode, this method can make magneto operate normally and
It can guarantee control precision when middle low speed, but when magneto operates in high speed state, within an electric period, electric current and position
The access times set are reduced, and control precision reduces, the decline of magneto torque output performance.
In fact, the power tube switching frequency of magneto vector control system can be continuous by changing the value of TBPRD
Modification, to adapt to different motor speeds, i.e., when motor speed increases, power tube switching frequency is increased, electric current and position
That sets is increased using number, this can improve the control performance of magneto.But the modification of switching frequency influences whether system
Control parameter, mainly der Geschwindigkeitkreis PI controller scale factor ksp, integrating factor ksiWith electric current loop PI controller scale factor
kcp, integrating factor kci；In addition to this, during improving system control performance by improving switching frequency, it should be taken into account function
The upper limit switching frequency f of rate pipemaxIt will receive the limitation of electric current, unconfined cannot increase, otherwise will cause power tube and be burned out
Etc. dangerous consequence.Change switching frequency according to magneto revolving speed and calculates corresponding control parameter to promotion permanent magnetic speed-adjusting electricity
The control performance of machine has important meaning.
Summary of the invention
During the magneto high-speed cruising based on vector controlled, to increase electric current and position in an electric period
Access times promote the control precision and torque of permanent magnetism velocity modulation electric engine to realize to the good tracking effect of circular rotating field
It can ensure that power tube is safely operated 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 calculation method based on change switching frequency, it is characterised in that steps are as follows:
Step 1: by electric machine speed regulation range from 0~nmaxIt is divided into middle low speed segment and high speed section, 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 works in middle low speed segment, using fixed switching frequency f0=5kHz；
When motor works in high speed section, Real-Time Switch frequency size is by formulaIt is calculated, wherein m is to guarantee forever
The access times of electric current and position, n in the electric period of one of the good control performance of magneto0It is the real-time revolving 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 calculated f of step 2r≤fmax, frTake reality
When calculated value, if fr> fmax, enable fr=fmax, wherein fmaxIt is the switching frequency upper limit of the power tube in big operating current, it should
Value is related with the model of power tube, is provided by manufacturer；
Step 4: the value TBPRD that microcontroller pulse width modulation module period register is calculated according to switching frequency and control in real time
Parameter k processedsp、ksi、kcpAnd kci: when motor work is 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 work is in high speed section, real-time control parameter respectively by It is calculated, wherein ksp、ksiThe respectively scale factor and product of der Geschwindigkeitkreis PI controller
Molecular group, kcp、kciThe respectively scale factor and integrating factor of electric current loop PI controller, ksp0、ksi0、kcp0And kci0It is to work as to open
Closing frequency is f0When guarantee system operate normally control parameter ksp、ksi、kcpAnd kciInitial value, TBCLK is microcontroller
Reference clock cycle.
The beneficial effects of the present invention are: comprehensively considered switching frequency and motor control performance and power tube switching characteristic it
Between relationship, electric machine speed regulation range is divided into middle low speed segment and high speed section, middle low speed segment use constant switching frequency, 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
The access times of electric current and position in phase are realized to the good tracking effect in round magnetic field, promote the control of permanent magnetism velocity modulation electric engine
Precision and torque output performance.
Detailed description of the invention
Fig. 1 is a kind of magneto control parameter calculation method flow chart based on change switching frequency of the invention
Specific embodiment
Present invention will be further explained below with reference to the attached 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 key technology is to combine sampling location to three
Phase sample rate current carries out changes in coordinates, obtains power tube in conjunction with voltage space vector modulation (SVPWM) technology and controls signal, thus
Realize tracking to circular rotating field, therefore, within an electric period, when the access times of sample rate current and position are more,
Control effect can be better.An important channel for increasing sample rate current and position access times is the switch frequency for changing power tube
Rate, i.e. the value TBPRD of the pulse width modulation module period register of change microcontroller, and revolving speed is higher, TBPRD is bigger, still
Power tube switching frequency is limited by big operating current, cannot increase always switching frequency because high performance control is pursued,
Only need to guarantee the sample rate current in each electric period using certain number (m times) and position；Meanwhile the control ginseng of system
Number, including der Geschwindigkeitkreis PI controller scale factor ksp, integrating factor ksiWith electric current loop PI controller scale factor kcp, integral because
Sub- kciIt can be different with the change of switching frequency.Based on the magneto control parameter calculation method 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,
Guarantee the access times m=25 of required electric current and position in an electric period of motor control performance.Specific calculating process
It is as follows:
Step 1: electric machine speed regulation range is divided into middle low speed segment and high regime
When magneto is in middle tick-over state, a lower constant switching frequency is selected to ensure that electricity
The control precision 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 revolving 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 range are (nmax/2,nmax]=(4000,
8000]；
Step 2: segmentation calculates switching frequency
When magneto work is in the middle low-speed range that the first step determines, using fixed switching frequency f0=5kHz, one
A electricity periodic sampling electric current and position access timesEqual to m, it is good can to guarantee that motor has
Good control performance；When motor works in high speed section, if still using fixed switching frequency f0=5kHz, position in an electric period
It sets and is less than m, motor control performance decline, for the benefit for guaranteeing sample rate current and position in an electric period with the access times of electric current
It is m=25 with number, so that the voltage vector issued has good tracking effect to round magnetic field, at this point, pressingSwitching frequency is calculated, with n0For=7000rpm, switching frequency fr=8.75kHz；
Step 3: 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, cannot be increased always,
In practical applications, influence of the high current to switching frequency is the most obvious, if magneto operating current is bigger, switch frequency
Rate is more than that certain threshold value will lead to power tube damage, and the present invention is namely based on this and limits switch maximum frequency.This
In embodiment, magneto operating current virtual value Irms=45A, according to the suggestion of power module manufacturer, switching frequency
Upper limit fmax=10kHz, if the calculated switching frequency f of second steprHigher than the value, f is enabledr=fmax=10000, then TBPRD
Minimum value can also be restricted to TBPRD_min=1875；
Step 4: calculating the value TBPRD and real-time control parameter k of microcontroller pulse width modulation module period registersp、
ksi、kcpAnd kci
During motor control, switching frequency that second step is calculated need by change in real time the value of TBPRD come
It realizes, in addition, the revolving speed outer ring PI controller and revolving speed inner ring PI controller in magneto vector control system are all micro-
It is realized in controller by programming, is discrete controller, so their control parameter ksp、ksi、kcpAnd kciIt is with control
Frequency variation, wherein when in f0When=5KHz, guarantee that the initial control parameter value that system operates normally is ksp0=15, ksi0
=0.15, kcp0=0.01, kci0=0.000075.
When magneto work is in middle low-speed range, in the present embodiment, microcontroller pulse width modulation module reference clock
Period assignment isAt this point,Control
Parameter size processed is ksp=ksp0=15, ksi=ksi0=0.15, kcp=kcp0=0.01 and kci=kci0=0.000075.
When motor works in high speed section (n0> 4000) when, TBPRD constantly changes with rotation speed change, and size isWith n0For=7000rpm, switching frequency fr=8.75kHz, thenGreater than 1875, do not need to limit；When control frequency changes
Become frAfterwards, the current integration factor (ksiAnd kci) and initial parameter between have following relationship: Separately
Outside, the ratio between current scale factor and the ratio and initial parameter of integrating factor should be consistent, thereforeIn the present embodiment, when motor speed is 7000rpm, control parameter ksp=8.6, ksi=
0.086, kcp=0.0057, kci=0.000043.
Claims (1)
1. a kind of based on the magneto control parameter calculation method for becoming switching frequency, it is characterised in that steps are as follows:
Step 1: by electric machine speed regulation range from 0~nmaxIt is divided into middle low speed segment and high speed section, 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 works in middle low speed segment, using fixed switching frequency f0=5kHz；Work as electricity
Machine works in high speed section, and Real-Time Switch frequency size is by formulaIt is calculated, wherein m is to guarantee Permanent Magnet and Electric
The access times of electric current and position, n in the electric period of one of the good control performance of machine0It is the real-time revolving 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 calculated f of step 2r≤fmax, frTake real-time meter
Calculation value, if fr> fmax, enable 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 related, is provided by manufacturer；
Step 4: the value TBPRD of microcontroller pulse width modulation module period register being calculated according to switching frequency and real-time control is joined
Number ksp、ksi、kcpAnd kci: when motor work is 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 work is in high speed section, real-time control parameter respectively by It is calculated, wherein ksp、ksiThe respectively scale factor and product of der Geschwindigkeitkreis PI controller
Molecular group, kcp、kciThe respectively scale factor and integrating factor of electric current loop PI controller, ksp0、ksi0、kcp0And kci0It is to work as to open
Closing frequency is f0When guarantee system operate normally control parameter ksp、ksi、kcpAnd kciInitial value, TBCLK is microcontroller
Reference clock cycle.
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