CN107241044B - Control method and device of permanent magnet synchronous motor system - Google Patents

Control method and device of permanent magnet synchronous motor system Download PDF

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Publication number
CN107241044B
CN107241044B CN201710532170.8A CN201710532170A CN107241044B CN 107241044 B CN107241044 B CN 107241044B CN 201710532170 A CN201710532170 A CN 201710532170A CN 107241044 B CN107241044 B CN 107241044B
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time
permanent magnet
synchronous motor
motor system
magnet synchronous
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CN107241044A (en
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程云峰
龚黎明
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Guangdong Welling Motor Manufacturing Co Ltd
Midea Welling Motor Technology Shanghai Co Ltd
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Guangdong Welling Motor Manufacturing Co Ltd
Midea Welling Motor Technology Shanghai Co Ltd
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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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • 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 embodiment of the invention provides a control method and a control device of a permanent magnet synchronous motor system, and belongs to the field of permanent magnet synchronous motor control. The control method of the permanent magnet synchronous motor system comprises the following steps: acquiring a first time and a second time which are respectively acted by a first basic voltage vector and a second basic voltage vector of the permanent magnet synchronous motor system under a vector control period, wherein the expected output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time; acquiring third time acted by the permanent magnet synchronous motor system under a zero vector, and determining reference time based on the PWM period and the third time; judging whether the permanent magnet synchronous motor system is in an overmodulation region or not according to the reference time, the first time and the second time; and when the permanent magnet synchronous motor system is in the overmodulation region, reducing the first time and the second time by equal amplitude. Therefore, a novel and quick-response overmodulation control scheme of the permanent magnet synchronous motor system is disclosed.

Description

Control method and device of permanent magnet synchronous motor system
Technical Field
The invention relates to the field of motor control, in particular to a control method and a control device of a permanent magnet synchronous motor system.
Background
Permanent magnet synchronous motors have been widely used in various industries due to their characteristics of good control performance, high power density, energy saving, etc.
The control method of the permanent magnet synchronous motor system in the related art is mostly based on a linear modulation region, but the control method has the problem that the influence of overmodulation is not considered.
Disclosure of Invention
The embodiment of the invention aims to provide a control method and a control device for a permanent magnet synchronous motor system, which are used for at least solving the technical problem that the permanent magnet synchronous motor system in the prior art lacks a control strategy for the overmodulation condition of the motor system due to linear modulation.
In order to achieve the above object, an aspect of the embodiments of the present invention provides a method for controlling a permanent magnet synchronous motor system configured with a vector control period and a PWM period, the method including: acquiring a first time and a second time during which the permanent magnet synchronous motor system is respectively acted on by a first basic voltage vector and a second basic voltage vector under the vector control period, wherein a desired output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time; acquiring third time acted by the permanent magnet synchronous motor system under a zero vector, and determining reference time based on the PWM period and the third time; judging whether the permanent magnet synchronous motor system is in an overmodulation region or not according to the reference time, the first time and the second time; and when the permanent magnet synchronous motor system is in an overmodulation region, reducing the first time and the second time by equal amplitude.
Optionally, the determining whether the permanent magnet synchronous motor system is in the overmodulation region according to the reference time, the first time and the second time includes: comparing the sum of the first time and the second time with the reference time, and determining that the permanent magnet synchronous motor system is in an overmodulation region if the sum of the first time and the second time is greater than the reference time.
Optionally, the reducing the first time and the second time by equal amplitude includes: reducing the first time and the second time by equal magnitudes based on the reference time such that a sum of the first time and the second time after reducing the equal magnitudes is equal to the reference time.
Optionally, the determining the reference time based on the PWM cycle and the third time includes: determining a difference between the PWM cycle and the third time as the reference time.
Optionally, the reference time is an action time of a field weakening current input to the permanent magnet synchronous motor system, wherein after the determining the reference time for the field weakening current based on the PWM period and the third time, the method further includes: and determining the magnitude of the flux weakening current based on the reference time, the first time and the second time so as to enable the permanent magnet synchronous motor system to perform flux weakening control according to the flux weakening current.
Optionally, the determining the magnitude of the field weakening current based on the reference time, the first time and the second time includes: inputting the first time, the second time and the reference time to a preset PI control model to determine the magnitude of the field weakening current.
Optionally, inputting the first time, the second time and the reference time to a preset PI control model to determine the magnitude of the field weakening current includes: and determining the sum of the first time and the second time, and performing PI transformation conforming to the preset PI control model on the difference value obtained by subtracting the reference time from the sum of the first time and the second time to determine the magnitude of the weak magnetic current.
Optionally, the determining the magnitude of the field weakening current based on the reference time, the first time and the second time includes: and amplitude limiting is carried out on the magnitude of the weak magnetic current based on a preset weak magnetic current threshold value, so that the permanent magnet synchronous motor system carries out weak magnetic control according to the limited weak magnetic current.
Optionally, the determining the magnitude of the field weakening current based on the reference time, the first time and the second time includes: determining a q-axis threshold of the stator current based on a preset output current threshold and the amplitude of the weak magnetic current after amplitude limiting; and acquiring the magnitude of the q-axis component of the stator current, and carrying out amplitude limiting on the magnitude of the acquired q-axis component of the stator current by using a q-axis threshold of the stator current.
Another aspect of an embodiment of the present invention provides a control apparatus for a permanent magnet synchronous motor system, where the permanent magnet synchronous motor system is configured with a vector control period and a PWM period, the apparatus including: a vector time acquisition unit for acquiring a first time and a second time at which the permanent magnet synchronous motor system is acted on by a first basic voltage vector and a second basic voltage vector, respectively, in the vector control cycle, wherein a desired output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time; the reference time determining unit is used for acquiring third time acted by the permanent magnet synchronous motor system under a zero vector and determining reference time based on the PWM cycle and the third time; the judging unit is used for judging whether the permanent magnet synchronous motor system is in an overmodulation region according to the reference time, the first time and the second time; and the constant amplitude attenuation unit is used for reducing the first time and the second time by equal amplitude when the permanent magnet synchronous motor system is in an overmodulation region.
Optionally, the determining unit is configured to compare the sum of the first time and the second time with the reference time, and determine that the permanent magnet synchronous motor system is in an overmodulation region if the sum of the first time and the second time is greater than the reference time.
Optionally, the constant amplitude attenuation unit is configured to reduce the first time and the second time by equal amplitudes based on the reference time, so that a sum of the first time and the second time after the reduction of the equal amplitudes is equal to the reference time.
Optionally, the reference time determining unit is configured to determine a difference between the PWM period and the third time as the reference time.
Optionally, the reference time is an action time of a weak magnetic current input to the permanent magnet synchronous motor system, wherein the apparatus further includes: and the flux weakening size determining unit is used for determining the size of the flux weakening current based on the reference time, the first time and the second time so as to enable the permanent magnet synchronous motor system to perform flux weakening control according to the flux weakening current.
Optionally, the flux weakening current size determining unit is configured to input the first time, the second time and the reference time into a preset PI control model to determine the size of the flux weakening current.
Optionally, the flux weakening magnitude determining unit is configured to determine a sum of the first time and the second time, and perform PI transformation conforming to the preset PI control model on a difference obtained by subtracting the reference time from the sum of the first time and the second time to determine the magnitude of the flux weakening current.
Optionally, the flux weakening size determining unit is configured to perform amplitude limiting on the size of the flux weakening current based on a preset flux weakening current threshold, so that the permanent magnet synchronous motor system performs flux weakening control according to the flux weakening current after amplitude limiting.
Optionally, the flux weakening size determining unit includes: the q-axis threshold determining module is used for determining a q-axis threshold of the stator current based on a preset output current threshold and the amplitude-limited weak magnetic current; the q-axis current acquisition module is used for acquiring the magnitude of a q-axis component of the stator current; and the q-axis current amplitude limiting module is used for carrying out amplitude limiting on the obtained q-axis component of the stator current by using the q-axis threshold of the stator current.
In another aspect, the present invention provides a permanent magnet synchronous motor system, including the control device of the permanent magnet synchronous motor system.
Through the technical scheme, the reference time is determined based on the PWM period and the third time, whether the motor system is in the overmodulation region is judged according to the reference time, the first time and the second time, and the first time and the second time are reduced by equal amplitude in a constant amplitude weakening mode when the motor system is determined to be in the overmodulation region, so that a brand-new overmodulation judgment and control scheme of the permanent magnet synchronous motor system is provided; in addition, the parameters selected in the embodiment of the invention are easy to obtain, so that additional calculation is not needed, and the real-time response efficiency of overmodulation of the motor system can be effectively improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic flow chart of a control method of a permanent magnet synchronous motor system according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a control method of a permanent magnet synchronous motor system according to another embodiment of the present invention;
fig. 3 is a flowchart illustrating a control method of a permanent magnet synchronous motor system according to still another embodiment of the present invention;
FIG. 4 is a schematic diagram of a method of controlling the permanent magnet synchronous motor system shown in FIG. 3;
fig. 5 is a schematic structural diagram of a control device of a permanent magnet synchronous motor system according to an embodiment of the present invention.
Description of the reference numerals
50 control device 501 vector time acquisition unit
502 reference time determination unit 503 determination unit
504 constant amplitude attenuation unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Referring to fig. 1, a flow chart of a field weakening control method of a permanent magnet synchronous motor system configured with a vector control period and a PWM period according to an embodiment of the present invention is shown, and for the explanation of the vector control period and the PWM period, reference may be made to the description in the related art, and more specifically, the vector control of the permanent magnet synchronous motor system is implemented based on the PWM technique, so the vector control period may be generally an integer multiple of the PWM period. As shown in fig. 1, the method specifically includes the following steps:
step 101: acquiring a first time and a second time which are respectively acted by a first basic voltage vector and a second basic voltage vector of the permanent magnet synchronous motor system under a vector control period, wherein the expected output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time;
it should be noted that, in the present PWM inverter implementing vector control of the permanent magnet synchronous motor system, there are 8 operating states, and there are 6 effective operating vectors (i.e. basic voltage vectors) and 2 zero vectors, respectively, and thus the vector control is divided into 6 sectors, and generally, the desired output voltage can be obtained by synthesizing in the sector area based on the time when two adjacent basic voltage vectors act respectively, but the above description is merely an example, and should not be taken as a limitation to the present embodiment, and for example, the desired output voltage may also be synthesized by using two basic voltage vectors which are spaced apart.
Step 102: acquiring third time acted by the permanent magnet synchronous motor system under a zero vector, and determining reference time based on the PWM period and the third time;
as an example, the difference between the PWM period and the third time may be determined as the reference time, and it is understood that the result obtained by transforming the PWM period and the third time by other mathematical transformation methods, such as multiplication, division, etc., may also be used as the reference time, and all fall within the scope of the embodiments of the present invention. It can be understood that the larger the time acted by the zero vector is, the longer the stay time of the stator flux linkage vector track is, so that the insertion of the zero vector can effectively solve the contradiction between the amplitude of the stator flux linkage vector and the rotating speed; also, if the current/voltage signal is sampled at the zero vector, it is generally required that the third time at which the zero vector acts should be not less than the minimum time for signal sampling.
Step 103: judging whether the permanent magnet synchronous motor system is in an overmodulation region or not according to the reference time, the first time and the second time;
in step 103, it is achieved that it can be determined whether the electric machine system is in the overmodulation region by means of an evaluation of the first time, the second time and the reference time only. As an example, the sum of the first time and the second time may be compared with a reference time, and if the sum of the first time and the second time is greater than the reference time, it is determined that the permanent magnet synchronous motor system is in the overmodulation region, whereby it may be determined more accurately whether the motor system is in the overmodulation region; it will of course be appreciated that the above-described specific reference time determination process and overmodulation region determination process are merely examples, and are not intended to limit the scope of embodiments of the present invention.
Step 104: and when the permanent magnet synchronous motor system is in the overmodulation region, reducing the first time and the second time by equal amplitude.
In step 104, the adjustment of the permanent magnet synchronous motor system to the normal modulation state is achieved by the modulation of the time over which the basic voltage vector acts. As an example, the first time and the second time may be decreased by equal magnitudes based on the reference time such that the sum of the first time and the second time after the decreased equal magnitudes is equal to the reference time, whereby the motor system may be accurately and appropriately modulated out of the overmodulation region; it will of course be appreciated that the specific manner of reducing the first and second times of equal magnitude described above is merely exemplary and is not intended to limit the scope of embodiments of the present invention.
In the embodiment, the reference time is determined based on the PWM period and the third time, whether the motor system is in the overmodulation region is judged according to the reference time, the first time and the second time, and the first time and the second time are reduced in a constant amplitude weakening mode when the motor system is determined to be in the overmodulation region, so that a brand-new overmodulation judgment and control scheme of the permanent magnet synchronous motor system is provided; in addition, the parameters selected in the embodiment of the invention are easy to obtain, for example, the first time and the second time can be obtained by real-time acquisition and detection, and the third time and the PWM period are generally fixed and unchanged under the condition that the PWM control mode is determined, so that additional calculation is not needed, and the real-time response efficiency of overmodulation of the motor system can be effectively improved; in addition, compared with the scheme that voltage amplitude is used as a reference amount and overmodulation control is performed by performing table look-up and other operations based on voltage in the related art, the embodiment of the invention discloses an overmodulation control scheme of a permanent magnet synchronous motor system with quick response and stable modulation, and the operation of voltage acquisition and the operation of using the voltage amplitude as a feedback amount are not required, so that the overmodulation real-time response efficiency of the motor system is higher.
Referring to fig. 2, a schematic flow chart of a flux weakening control method of a permanent magnet synchronous motor system according to another embodiment of the present invention is shown, where the method specifically includes:
step 201: acquiring a first time and a second time which are respectively acted by a first basic voltage vector and a second basic voltage vector of the permanent magnet synchronous motor system under a vector control period, wherein the expected output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time;
step 202: acquiring third time acted by the permanent magnet synchronous motor system under a zero vector, and determining action time reference time of weak magnetic current input to the permanent magnet synchronous motor system based on the PWM period and the third time;
for part of the contents of steps 201 and 202, reference may be made to the description of the above embodiments, and the same contents are not described herein again. But there are differences in that: the present embodiment further defines that the reference time can be used as the action time of the field weakening current input to the permanent magnet synchronous motor system when the motor system needs to perform field weakening control.
Step 203: determining the magnitude of the weak magnetic current based on the reference time, the first time and the second time so as to enable the permanent magnet synchronous motor system to perform weak magnetic control according to the weak magnetic current;
through the implementation of the step 203, the reference time can be utilized to determine the magnitude of the field weakening current, so that the modulation on the motor system is not only linear voltage vector modulation, and the synthesized expected voltage output can be expanded from a circle to a regular hexagon, thereby effectively increasing the voltage vector modulation range of the permanent magnet synchronous motor system.
Step 204: judging whether the permanent magnet synchronous motor system is in an overmodulation region or not according to the reference time, the first time and the second time;
step 205: and when the permanent magnet synchronous motor system is in the overmodulation region, reducing the first time and the second time by equal amplitude.
The steps of determining and adjusting overmodulation in step 204 and step 205 in the present embodiment are performed during the field weakening control performed by the permanent magnet synchronous motor system. By implementing step 204 and step 205, after the resultant desired voltage output is expanded from a circle to a regular hexagon by step 203, the motor system under field weakening control can be prevented from being in an overmodulation region, that is, the voltage vector can be prevented from exceeding the range of the regular hexagon corresponding to field weakening control.
As a further disclosure and optimization of step 203 shown in fig. 2, the first time, the second time and the reference time may be input to a preset PI control model to determine the magnitude of the field weakening current; more specifically, the preset PI control model may reflect correspondence, such as a functional relationship, a mapping relationship, and the like, between the magnitude of the weak magnetic current and the first time, the second time, and the reference time, and due to a PI modulation function of the PI control model, feedback modulation may be made in real time based on a change of an input parameter, which can guarantee the accuracy of the determined weak magnetic current. More specifically, the sum of the first time and the second time may be calculated, and a PI transformation conforming to the preset PI control model is performed on a difference obtained by subtracting the reference time from the sum of the first time and the second time to determine the magnitude of the weak magnetic current, so that the difference between the sum of the first time and the second time and the reference time is used as a reference for the PI transformation, and the magnitude of the weak magnetic current can be obtained accurately.
Referring to fig. 3, a schematic flow chart of a flux weakening control method of a permanent magnet synchronous motor system according to another embodiment of the present invention is shown, where the method specifically includes:
step 301: acquiring two basic voltage vectors of a permanent magnet synchronous motor system in a vector control period
Figure BDA0001339571690000091
(e.g., k may beAny two selected from 1 to 6) respectively1And a second time T2Wherein is based on
Figure BDA0001339571690000092
T1And T2A desired output voltage can be determined;
step 302: acquiring the third time T acted by the permanent magnet synchronous motor system under the zero vector3Let reference time T of weak magnetic currentref＝TPWM-T3Wherein T isPWMIs a PWM period;
step 303: will TrefAnd T1+T2Inputting the d-axis component of the stator current to a negative feedback PI regulator, obtaining the d-axis component of the negative stator current after PI conversion of the negative feedback PI regulator, and determining the d-axis component of the obtained stator current as weak magnetic current Idref；
Step 304: based on preset weak magnetic current threshold Idmax/IdminTo IdrefClipping is performed, i.e. it is required to satisfy Idmin≤Idref≤IdmaxUsing limited IdrefTogether with TrefImplementing weak magnetic control;
the normal operation of the motor system needs to be at a certain output current threshold IsmaxWorking in order to prevent the resultant total current IsOver IsmaxTo ensure the safe operation of the system, the following steps 305 and 306 may also be implemented.
Step 305: based on IsmaxAnd the magnitude of the limited weak magnetic current IdrefDetermining a q-axis threshold I of a stator currentqmaxAnd Iqmin；
More specifically, I may be determined in the following mannerqmaxAnd Iqmin：
Figure BDA0001339571690000101
Step 306: detecting q-axis component I of stator currentqrefSize of (2)And use of IqmaxAnd IqminTo IqrefAnd amplitude limiting is carried out to ensure the safe operation of the motor system.
In the embodiment, all the parameters are acquired in real time or simply calculated, a fixed table and a table look-up are not required to be set, approximate static open-loop control is not required to be utilized, and the method has the advantages of being easy to implement, wide in applicability and capable of responding to closed-loop flux weakening control in real time.
More specifically, a schematic diagram of a control method of the permanent magnet synchronous motor system shown in fig. 3 is shown in conjunction with fig. 4. As shown in FIG. 4, the time T of two basic voltage vectors in each vector control period is obtained1And T2In the process of implementing vector control of the permanent magnet synchronous motor, the time T of two basic voltage vectors needs to be calculated1And T2To obtain the desired output voltage, thus T1And T2The method can be directly obtained without adding extra calculation. Then, according to the PWM period TPWMAnd zero vector time T3Obtaining a reference time TrefWherein T isrefIs equal to TPWM-T3(ii) a Wherein, TPWMIn vector control, the sampling of signals such as voltage and current is generally performed at the zero vector, which is determined by the PWM carrier frequency, and therefore the minimum zero vector time should be not less than the minimum time for satisfying the signal sampling. Then, T is put1+T2And TrefComparing, finally obtaining negative I by negative feedback PI regulatordrefAnd according to Idmax/IdminTo IdrefPerforming clipping and using the IdrefAnd carrying out field weakening control. Finally, according to IsmaxAnd IdrefTo obtain IqrefIs limited byqmin/IqmaxTo ensure that the total current synthesized does not exceed Ismax。
On the other hand, in order to prevent the vector modulation of the permanent magnet synchronous motor system under the field weakening control from exceeding the range, the embodiment of the invention also discloses a scheme for performing overmodulation by means of the reference time acted by the field weakening current, and particularly refers to the following steps 307 and 308.
Step 307: judgmentBroken T1+T2And TrefThe size of (d);
when the judgment result of step 307 indicates T1+T2Greater than TrefThen it is determined that the permanent magnet synchronous motor system is in the overmodulation region and accordingly it jumps to step 308. If the determination result in step 307 indicates T1+T2Less than or equal to TrefThen, it may jump to step 301 to re-execute the above operation steps.
Step 308: will T1、T2The equal amplitude is reduced to obtain T in the following way1omodAnd T2omod：
Figure BDA0001339571690000111
In the present embodiment, when vector control of the permanent magnet synchronous motor is performed, T is mentioned1、T2、TPWM、T3Equal quantities are known, extra calculation is not needed for obtaining, calculation time can be saved, and efficiency is improved.
Referring to fig. 5, which is a schematic structural diagram of a control device of a permanent magnet synchronous motor system according to an embodiment of the present invention, as shown in fig. 5, the control device 50 is provided with a vector time acquisition unit 501, a reference time determination unit 502, a judgment unit 503 connected to the vector time acquisition unit 501 and the reference time determination unit 502, respectively, and a constant amplitude attenuation unit 504 connected to the judgment unit 503. More specifically, the vector time acquisition unit 501 may be configured to acquire a first time and a second time at which the permanent magnet synchronous motor system is acted upon by a first basic voltage vector and a second basic voltage vector, respectively, under a vector control cycle, wherein a desired output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time, and the second time; the reference time determining unit 502 may be configured to obtain a third time when the permanent magnet synchronous motor system acts under a zero vector, and determine the reference time based on the PWM period and the third time; the determining unit 503 may be configured to determine whether the permanent magnet synchronous motor system is in an overmodulation region according to the reference time, the first time and the second time; the constant amplitude attenuation unit 504 may be configured to decrease the first time and the second time by an equal amplitude when the permanent magnet synchronous motor system is in the overmodulation region.
For further details of the device according to the embodiment of the present invention, reference may be made to the above description of the method embodiment, and the same contents are not described herein again.
In another aspect, the present invention provides a permanent magnet synchronous motor system, in which the flux weakening control device is disposed, so that the permanent magnet synchronous motor system can have corresponding functions and effects of the control device.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (7)

1. A method of controlling a permanent magnet synchronous motor system, the permanent magnet synchronous motor system configured with a vector control period and a PWM period, the method comprising:
acquiring a first time and a second time during which the permanent magnet synchronous motor system is respectively acted on by a first basic voltage vector and a second basic voltage vector under the vector control period, wherein a desired output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time;
acquiring a third time acted by the permanent magnet synchronous motor system under a zero vector, and determining a reference time based on the PWM cycle and the third time, wherein the determining the reference time based on the PWM cycle and the third time comprises: determining a difference between the PWM cycle and the third time as the reference time; the third time should be no less than the minimum time of signal sampling;
determining the sum of the first time and the second time, and performing PI conversion conforming to a preset PI control model on a difference value obtained by subtracting the reference time from the sum of the first time and the second time to determine the magnitude of the weak magnetic current, wherein the PI control model comprises corresponding relations between the magnitude of the weak magnetic current and the first time, the second time and the reference time;
amplitude limiting is carried out on the magnitude of the weak magnetic current based on a preset weak magnetic current threshold value, so that the permanent magnet synchronous motor system carries out weak magnetic control according to the limited weak magnetic current;
determining a q-axis threshold of the stator current based on a preset output current threshold and the amplitude of the weak magnetic current after amplitude limiting;
obtaining the magnitude of a q-axis component of the stator current, and carrying out amplitude limiting on the magnitude of the q-axis component of the obtained stator current by using a q-axis threshold of the stator current;
judging whether the permanent magnet synchronous motor system is in an overmodulation region or not according to the reference time, the first time and the second time; and
and when the permanent magnet synchronous motor system is in an overmodulation region, reducing the first time and the second time by equal amplitude.
2. The control method of the permanent magnet synchronous motor system according to claim 1, wherein the determining whether the permanent magnet synchronous motor system is in the overmodulation region according to the reference time, the first time and the second time includes:
comparing the sum of the first time and the second time with the reference time, and
and if the sum of the first time and the second time is greater than the reference time, determining that the permanent magnet synchronous motor system is in an overmodulation region.
3. The control method of a permanent magnet synchronous motor system according to claim 2, wherein said reducing the first time and the second time by equal magnitudes comprises:
reducing the first time and the second time by equal magnitudes based on the reference time such that a sum of the first time and the second time after reducing the equal magnitudes is equal to the reference time.
4. A control apparatus of a permanent magnet synchronous motor system configured with a vector control period and a PWM period, the apparatus comprising:
a vector time acquisition unit for acquiring a first time and a second time at which the permanent magnet synchronous motor system is acted on by a first basic voltage vector and a second basic voltage vector, respectively, in the vector control cycle, wherein a desired output voltage can be determined based on the first basic voltage vector, the second basic voltage vector, the first time and the second time;
a reference time determination unit configured to obtain a third time when the permanent magnet synchronous motor system acts under a zero vector, and determine a reference time based on the PWM cycle and the third time, where the determining the reference time based on the PWM cycle and the third time includes: determining a difference between the PWM cycle and the third time as the reference time; wherein the third time should be no less than a minimum time of signal sampling;
a flux weakening size determining unit for: determining the sum of the first time and the second time, and performing PI conversion conforming to a preset PI control model on a difference value obtained by subtracting the reference time from the sum of the first time and the second time to determine the magnitude of the weak magnetic current, wherein the PI control model comprises corresponding relations between the magnitude of the weak magnetic current and the first time, the second time and the reference time; amplitude limiting is carried out on the magnitude of the weak magnetic current based on a preset weak magnetic current threshold value, so that the permanent magnet synchronous motor system carries out weak magnetic control according to the limited weak magnetic current; the weak magnetic magnitude determination unit includes:
the q-axis threshold determining module is used for determining a q-axis threshold of the stator current based on a preset output current threshold and the amplitude-limited weak magnetic current;
the q-axis current acquisition module is used for acquiring the magnitude of a q-axis component of the stator current;
the q-axis current amplitude limiting module is used for carrying out amplitude limiting on the obtained q-axis component of the stator current by using a q-axis threshold of the stator current;
the judging unit is used for judging whether the permanent magnet synchronous motor system is in an overmodulation region according to the reference time, the first time and the second time; and
and the constant amplitude attenuation unit is used for reducing the first time and the second time by equal amplitude when the permanent magnet synchronous motor system is in an overmodulation region.
5. The control device of the permanent magnet synchronous motor system according to claim 4, wherein the determination unit is configured to compare the sum of the first time and the second time with the reference time, and determine that the permanent magnet synchronous motor system is in the overmodulation region if the sum of the first time and the second time is greater than the reference time.
6. The control device of a permanent magnet synchronous motor system according to claim 5, characterized in that a constant amplitude attenuation unit is configured to reduce the first time and the second time by an equal amplitude based on the reference time, so that a sum of the first time and the second time after the reduction of the equal amplitude is equal to the reference time.
7. A permanent magnet synchronous motor system, characterized in that it comprises a control device of a permanent magnet synchronous motor system according to any of claims 4-6.
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