CN107342716B - weak magnetic control method and system of permanent magnet synchronous motor and storage medium - Google Patents

weak magnetic control method and system of permanent magnet synchronous motor and storage medium Download PDF

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Publication number
CN107342716B
CN107342716B CN201710415524.0A CN201710415524A CN107342716B CN 107342716 B CN107342716 B CN 107342716B CN 201710415524 A CN201710415524 A CN 201710415524A CN 107342716 B CN107342716 B CN 107342716B
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voltage
quadrature axis
axis voltage
current
quadrature
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CN107342716A (en
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李云欢
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
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Guangzhou Rui Xin Electronic Technology Co Ltd
Guangzhou Shiyuan Electronics Thecnology Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements 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
    • H02P25/022Synchronous motors
    • H02P25/024Synchronous motors controlled by supply frequency
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

the invention discloses a method, a system and a storage medium for flux weakening control of a permanent magnet synchronous motor of an embodiment, wherein the method comprises the following steps: calculating the preset current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit, and calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage; and redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, exiting the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintaining the integral output of the rotating speed loop unchanged, maintaining the direct axis current unchanged at the same time, and adding the integral quantity to the quadrature axis current. When the quadrature axis voltage is lower than the set quadrature axis voltage lower limit, the weak magnetic control is quitted, the integral output of the rotating speed loop is maintained to be unchanged, the direct axis current at the moment is maintained to be unchanged, the integral quantity is added to the quadrature axis current, and the out-of-control caused by deep weak magnetic can be avoided.

Description

Weak magnetic control method and system of permanent magnet synchronous motor and storage medium
Technical Field
The invention relates to the technical field of motors, in particular to a flux weakening control method and system of a permanent magnet synchronous motor and a storage medium.
Background
The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, and is called as a permanent magnet synchronous motor. In recent years, with the rapid development of power electronic technology, microelectronic technology, novel motor control theory and rare earth permanent magnet materials, permanent magnet synchronous motors can be rapidly popularized and applied.
In order to ensure that the direct-current bus voltage in the permanent magnet synchronous motor is in a stable state, an electrolytic capacitor with a large capacitance value is usually arranged, but the size of the variable-frequency motor driver is increased, the cost is increased, the service life of the electrolytic capacitor is limited, and the service life of the variable-frequency motor driver is shortened. In the related technology, a small film capacitor can be adopted to replace an electrolytic capacitor with a large capacitance value at the side of a direct current bus, and the instantaneous power of the motor is controlled to be matched with the shape of an input alternating current voltage, so that the speed of the motor can be regulated, the input current harmonic wave can be reduced, and the high power factor of a variable frequency motor driver can be realized.
However, in the case that the dc bus is a small film capacitor and is heavily loaded, the bus ripple of the permanent magnet synchronous motor is very large at this time, and the situation that the ripple voltage exceeds the bus voltage is easily caused by adopting the conventional weak magnetic control method, thereby causing the weak magnetic to be out of control.
Disclosure of Invention
Therefore, one embodiment of the invention provides a flux weakening control method for a permanent magnet synchronous motor, which solves the problem of flux weakening runaway.
the field weakening control method of the permanent magnet synchronous motor according to one embodiment of the invention comprises the following steps:
calculating the preset current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit, and calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage;
And redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, exiting the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintaining the integral output of the rotating speed loop unchanged, maintaining the direct axis current unchanged at the same time, and adding the integral quantity to the quadrature axis current.
According to the flux-weakening control method of the permanent magnet synchronous motor, firstly, the preset current of the quadrature axis is calculated according to the quadrature axis voltage and the set quadrature axis voltage lower limit, the preset current of the direct axis is calculated according to the direct axis voltage, the quadrature axis voltage and the bus voltage, then, the flux-weakening control is quitted according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, the integral output of a rotating speed ring is kept unchanged, namely the output of the rotating speed ring is abandoned, meanwhile, the direct axis current is kept unchanged, and the integral quantity is added to the quadrature axis current, so that the power reduction can be realized, the condition that the wave-generating voltage exceeds the bus voltage is effectively avoided, the out-of-control caused by deep flux-weakening is further avoided, and the method is more suitable for occasions that the direct current bus is small film capacitor and heavy load.
In addition, the field weakening control method for the permanent magnet synchronous motor according to the above embodiment of the present invention may further have the following additional technical features:
Further, in an embodiment of the present invention, the step of calculating the predetermined current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit includes:
Calculating the predetermined current of the quadrature axis using the following formula:
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
Wherein N is a control period, N is a natural number greater than or equal to 1, and NsTo set the rotational speed, NrealIs the actual rotational speed, Kp_NAnd Ki_NProportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral quantity, vq(n)Is quadrature axis voltage, vqsIs the set lower cross-axis voltage limit.
further, in an embodiment of the present invention, the step of calculating the predetermined current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage includes:
According to the formulaCalculating the actual voltage vector magnitudeWherein v isd(n) is the direct axis voltage;
Triggering AD acquisition to obtain instantaneous value U of current voltaged(n) calculating an allowable modulation voltage Uλ(n),Uλ(n)=λUd(n), wherein λ is voltage utilization;
calculating the predetermined current I of the straight shaft according to the following formulad1(n):
Wherein, Ti_dTo integration time, Id(n-1) is the direct axis current of the (n-1) th cycle.
Further, in an embodiment of the present invention, the step of redistributing the predetermined current of the quadrature axis and the predetermined current of the direct axis according to a magnitude comparison result between the quadrature axis voltage and the set quadrature axis voltage lower limit includes:
If v isq(n)>vqsthen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
Further, in an embodiment of the present invention, after the step of redistributing the predetermined current of the quadrature axis and the predetermined current of the direct axis according to a magnitude comparison result between the quadrature axis voltage and the set quadrature axis voltage lower limit, the method further includes:
When in useand v isq(n)>vqsCarrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator according to the following formula;
When in useand v isq(n)≤vqscarrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator according to the following formula;
Wherein v isd_real(n) and vq_realAnd (n) is the final wave-emitting actual voltage.
Another embodiment of the invention provides a flux weakening control system of a permanent magnet synchronous motor, which solves the problem of flux weakening runaway.
The flux weakening control system of the permanent magnet synchronous motor according to the embodiment of the invention comprises: the calculation module is used for calculating the preset current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit, and calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage;
And the distribution module is used for redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, exiting the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintaining the integral output of the rotating speed ring unchanged, maintaining the direct axis current unchanged at the same time, and adding the integral quantity to the quadrature axis current.
In addition, the field weakening control system according to the above embodiment of the present invention may further have the following additional technical features:
Further, in an embodiment of the present invention, the calculation module is specifically configured to:
Calculating the predetermined current of the quadrature axis using the following formula:
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
Wherein N is a control period, N is a natural number greater than or equal to 1, and NsTo set the rotational speed, NrealIs made ofInterstation speed, Kp_NAnd Ki_NProportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral quantity, vq(n)Is quadrature axis voltage, vqsIs the set lower cross-axis voltage limit.
further, in an embodiment of the present invention, the calculation module is specifically configured to:
According to the formulaCalculating the actual voltage vector magnitudeWherein v isd(n) is the direct axis voltage;
triggering AD acquisition to obtain instantaneous value U of current voltaged(n) calculating an allowable modulation voltage Uλ(n),Uλ(n)=λUd(n), wherein λ is voltage utilization;
Calculating the predetermined current I of the straight shaft according to the following formulad1(n):
wherein, Ti_dTo integration time, Id(n-1) is the direct axis current of the (n-1) th cycle.
Further, in an embodiment of the present invention, the allocation module is specifically configured to:
if v isq(n)>vqsthen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
Further, in one embodiment of the present invention, the system further comprises:
A clipping processing module forAnd v isq(n)>vqsWhen in use, the amplitude limiting processing is carried out on the quadrature axis voltage and the direct axis voltage output by the PI regulator according to the following formula,
the amplitude limiting processing module is also used forAnd v isq(n)≤vqsWhen in use, the amplitude limiting processing is carried out on the quadrature axis voltage and the direct axis voltage output by the PI regulator according to the following formula,
Wherein v isd_real(n) and vq_realAnd (n) is the final wave-emitting actual voltage.
Another embodiment of the invention also proposes a storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
Fig. 1 is a flowchart of a field weakening control method of a permanent magnet synchronous motor according to a first embodiment of the present invention;
Fig. 2 is a flowchart of a field weakening control method of a permanent magnet synchronous motor according to a second embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a field weakening control system of a permanent magnet synchronous motor according to another embodiment of the present invention.
Detailed Description
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a method for controlling field weakening of a permanent magnet synchronous motor according to an embodiment of the present invention includes the following steps:
s101, calculating a preset current of a quadrature axis according to a quadrature axis voltage and a set quadrature axis voltage lower limit, and calculating a preset current of a direct axis according to a direct axis voltage, the quadrature axis voltage and a bus voltage;
According to an embodiment of the present invention, the predetermined current I of the quadrature axis can be calculated by using the following formulaq1(n):
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
Wherein N is a control period, N is a natural number greater than or equal to 1, and Nsto set the rotational speed, Nrealis the actual rotational speed, Kp_Nand Ki_NProportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral quantity, vq(n)is quadrature axis voltage, vqsIs the set lower cross-axis voltage limit.
According to one embodiment of the present invention, the following steps may be employed to calculate the pre-rotation of the straight axisConstant current Id1(n):
First according to the formulacalculating the actual voltage vector magnitudewherein v isd(n) is the direct axis voltage;
Then triggering AD acquisition to obtain the instantaneous value U of the current voltaged(n) calculating an allowable modulation voltage Uλ(n),Uλ(n)=λUd(n), where λ is the voltage utilization ratio, and when implemented, λ may be set to 0.95
Finally, the preset current I of the straight shaft is calculated according to the following formulad1(n):
Wherein, Ti_dTo integration time, Id(n-1) is the direct axis current of the (n-1) th cycle.
S102, redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, exiting the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintaining the integral output of the rotating speed loop unchanged, maintaining the direct axis current unchanged at the same time, and adding the integral quantity to the quadrature axis current.
According to an embodiment of the present invention, the redistribution of the predetermined currents of the quadrature axis and the predetermined currents of the direct axis may be performed in the following manner:
if v isq(n)>vqsThen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
Otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
according to the flux-weakening control method of the permanent magnet synchronous motor, firstly, the preset current of the quadrature axis is calculated according to the quadrature axis voltage and the set quadrature axis voltage lower limit, the preset current of the direct axis is calculated according to the direct axis voltage, the quadrature axis voltage and the bus voltage, then, the flux-weakening control is quitted according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, the integral output of a rotating speed ring is kept unchanged, namely the output of the rotating speed ring is abandoned, meanwhile, the direct axis current is kept unchanged, and the integral quantity is added to the quadrature axis current, so that the power reduction can be realized, the condition that the wave-generating voltage exceeds the bus voltage is effectively avoided, the out-of-control caused by deep flux-weakening is further avoided, and the method is more suitable for occasions that the direct current bus is small film capacitor and heavy load.
Referring to fig. 2, a method for controlling field weakening of a permanent magnet synchronous motor according to a second embodiment of the present invention includes:
S201, calculating a preset current of a quadrature axis according to the quadrature axis voltage and a set quadrature axis voltage lower limit;
Specifically, the predetermined current I of the quadrature axis is calculated by the following formulaq1(n):
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
wherein N is a control period, N is a natural number greater than or equal to 1, and NsTo set the rotational speed, NrealIs the actual rotational speed, Kp_NAnd Ki_NProportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral quantity, vq(n)is a cross-axis electricitypressure, vqsIs a set quadrature axis voltage lower limit;
S202, calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage;
specifically, the predetermined current of the straight shaft is calculated by the following steps:
According to the formulaCalculating the actual voltage vector magnitudewherein v isd(n) is the direct axis voltage;
Triggering AD acquisition to obtain instantaneous value U of current voltaged(n) calculating an allowable modulation voltage Uλ(n),Uλ(n)=λUd(n), where λ is a voltage utilization rate, where λ may be set to 0.95 in a specific implementation.
calculating the predetermined current I of the straight shaft according to the following formulad1(n):
wherein, Ti_dTo integration time, Id(n-1) is the direct axis current of the (n-1) th period;
S203, redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit;
the specific allocation mode is as follows:
If v isq(n)>vqsThen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
S204, carrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator;
in particular, whenand v isq(n)>vqsCarrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator according to the following formula;
when in useAnd v isq(n)≤vqscarrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator according to the following formula;
Wherein v isd_real(n) and vq_realAnd (n) is the final wave-emitting actual voltage.
it is understood that ifthe quadrature axis voltage and the direct axis voltage output by the PI regulator are not subjected to amplitude limiting processing.
According to the flux weakening control method of the permanent magnet synchronous motor provided by the embodiment, flux weakening control is adopted when the voltage is greater than a certain value, flux weakening fails when the voltage is less than the certain value, at the moment, the output of a rotating speed ring is abandoned, and Iq is reduced to achieve the purpose of ud reduction, so that the reduction of wave generation voltage is realized, and the condition that the wave generation voltage exceeds the bus voltage is effectively avoided.
Referring to fig. 3, based on the same inventive concept, a field weakening control system of a permanent magnet synchronous motor according to another embodiment of the present invention includes:
The calculation module 10 is used for calculating the preset current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit, and calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage;
and the distribution module 20 is configured to redistribute the predetermined current of the quadrature axis and the predetermined current of the direct axis according to a comparison result between the quadrature axis voltage and the set quadrature axis voltage lower limit, exit the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintain the integral output of the rotation speed loop unchanged, maintain the direct axis current unchanged at the same time, and add the integral quantity to the quadrature axis current.
In this embodiment, the calculation module 10 is specifically configured to:
calculating the predetermined current of the quadrature axis using the following formula:
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
wherein N is a control period, N is a natural number greater than or equal to 1, and NsTo set the rotational speed, NrealIs the actual rotational speed, Kp_NAnd Ki_Nproportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral quantity, vq(n)Is quadrature axis voltage, vqsIs the set lower cross-axis voltage limit.
In this embodiment, the calculation module 10 is specifically configured to:
according to the formulaCalculating the actual voltage vector magnitudeWherein the content of the first and second substances,vd(n) is the direct axis voltage;
Triggering AD acquisition to obtain instantaneous value U of current voltaged(n) calculating an allowable modulation voltage Uλ(n),Uλ(n)=λUd(n), wherein λ is voltage utilization;
calculating the predetermined current I of the straight shaft according to the following formulad1(n):
wherein, Ti_dTo integration time, Id(n-1) is the direct axis current of the (n-1) th cycle.
In this embodiment, the allocating module 20 is specifically configured to:
If v isq(n)>vqsthen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
Otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
In this embodiment, the system further includes:
a clipping processing module 30 forAnd v isq(n)>vqswhen in use, the amplitude limiting processing is carried out on the quadrature axis voltage and the direct axis voltage output by the PI regulator according to the following formula,
the clipping processing module 30 is also used whenand v isq(n)≤vqsWhen in use, the amplitude limiting processing is carried out on the quadrature axis voltage and the direct axis voltage output by the PI regulator according to the following formula,
Wherein v isd_real(n) and vq_realAnd (n) is the final wave-emitting actual voltage.
Technical features and technical effects of the flux weakening control system of the permanent magnet synchronous motor provided by the embodiment of the invention are the same as those of the method provided by the embodiment of the invention, and are not repeated herein.
Furthermore, an embodiment of the present invention also proposes a storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
it should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (11)

1. A flux weakening control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
Calculating the preset current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit, and calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage;
And redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, exiting the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintaining the integral output of the rotating speed loop unchanged, maintaining the direct axis current unchanged at the same time, and adding the integral quantity to the quadrature axis current.
2. The field weakening control method of a permanent magnet synchronous motor according to claim 1, wherein the step of calculating the predetermined current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit comprises:
Calculating the predetermined current of the quadrature axis using the following formula:
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
Wherein N is a control period, N is a natural number greater than or equal to 1, and NsTo set the rotational speed, NrealIs the actual rotational speed, Kp_NAnd Ki_NProportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral of the difference between the set rotation speed and the actual rotation speed, vq(n) is the quadrature voltage, uqsIs the set lower cross-axis voltage limit.
3. the field weakening control method of a permanent magnet synchronous motor according to claim 2, wherein said step of calculating a predetermined current of a direct axis based on a direct axis voltage, a quadrature axis voltage and a bus voltage comprises:
According to the formulaCalculating the actual voltage vector magnitudewherein v isd(n) is the direct axis voltage;
Triggering AD acquisition to obtain instantaneous value U of voltage of current bus capacitord(n) calculating an allowable modulation voltage Uλ(n),Uλ(n)=λUd(n), wherein λ is voltage utilization;
calculating the predetermined current I of the straight shaft according to the following formulad1(n):
Wherein, Ti_dTo integration time, Id(n-1) is the direct axis current of the (n-1) th cycle.
4. The field weakening control method of a permanent magnet synchronous motor according to claim 3, wherein the step of redistributing the predetermined current of the quadrature axis and the predetermined current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit comprises:
If v isq(n)>uqsThen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
Wherein, Id2(n)=Id2(n-1) tableShows the current period Id2Is taken to be the last cycle Id2The value of (c).
5. the field weakening control method of a permanent magnet synchronous motor according to claim 4, wherein after said step of redistributing the predetermined current of the quadrature axis and the predetermined current of the direct axis according to the magnitude comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, the method further comprises:
when in useand v isq(n)>uqsCarrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator according to the following formula;
When in useAnd v isq(n)≤uqsCarrying out amplitude limiting processing on quadrature axis voltage and direct axis voltage output by the PI regulator according to the following formula;
Wherein v isd_real(n) and vq_realAnd (n) is the final wave-emitting actual voltage.
6. A flux weakening control system of a permanent magnet synchronous motor is characterized by comprising:
the calculation module is used for calculating the preset current of the quadrature axis according to the quadrature axis voltage and the set quadrature axis voltage lower limit, and calculating the preset current of the direct axis according to the direct axis voltage, the quadrature axis voltage and the bus voltage;
And the distribution module is used for redistributing the preset current of the quadrature axis and the preset current of the direct axis according to the comparison result of the quadrature axis voltage and the set quadrature axis voltage lower limit, exiting the field weakening control when the quadrature axis voltage is smaller than the set quadrature axis voltage lower limit, maintaining the integral output of the rotating speed ring unchanged, maintaining the direct axis current unchanged at the same time, and adding the integral quantity to the quadrature axis current.
7. The flux weakening control system of a permanent magnet synchronous motor according to claim 6, wherein said calculation module is specifically configured to:
Calculating the predetermined current of the quadrature axis using the following formula:
Iq1(n)=Kp_N(Ns-Nreal)+Iint_N(n);
Wherein N is a control period, N is a natural number greater than or equal to 1, and NsTo set the rotational speed, NrealIs the actual rotational speed, Kp_NAnd Ki_Nproportional and integral coefficients, I, of the speed loop, respectivelyint_N(n) is an integral of the difference between the set rotation speed and the actual rotation speed, vq(n) is the quadrature voltage, uqsIs the set lower cross-axis voltage limit.
8. the flux weakening control system of a permanent magnet synchronous motor according to claim 7, wherein the calculation module is specifically configured to:
According to the formulaCalculating the actual voltage vector magnitudewherein v isd(n) is the direct axis voltage;
Triggering AD acquisition to obtain instantaneous value U of voltage of current bus capacitord(n) calculatingAllowing modulation of the voltage Uλ(n),Uλ(n)=λUd(n), wherein λ is voltage utilization;
calculating the predetermined current I of the straight shaft according to the following formulad1(n):
Wherein, Ti_dto integration time, Id(n-1) is the direct axis current of the (n-1) th cycle.
9. The flux weakening control system of a permanent magnet synchronous motor according to claim 8, wherein said distribution module is specifically configured to:
If v isq(n)>uqsThen, the predetermined current of the quadrature axis and the predetermined current of the direct axis are redistributed according to the following formula:
Otherwise, the preset current of the quadrature axis and the preset current of the direct axis are redistributed according to the following formula:
Wherein, Id2(n)=Id2(n-1) represents the current period Id2Is taken to be the last cycle Id2the value of (c).
10. the field weakening control system of a permanent magnet synchronous motor according to claim 9, characterized in that said system further comprises:
A clipping processing module forAnd v isq(n)>uqsThe output AC-axis voltage and the output DC-axis voltage of the PI regulator are calculated according to the following formulaThe axis voltage is subjected to a clipping process,
The amplitude limiting processing module is also used forAnd v isq(n)≤uqswhen in use, the amplitude limiting processing is carried out on the quadrature axis voltage and the direct axis voltage output by the PI regulator according to the following formula,
wherein v isd_real(n) and vq_realand (n) is the final wave-emitting actual voltage.
11. A storage medium having stored thereon computer instructions, characterized in that the instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 5.
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