CN107395082A - Control method, system and the computer-readable recording medium of permagnetic synchronous motor - Google Patents

Control method, system and the computer-readable recording medium of permagnetic synchronous motor Download PDF

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Publication number
CN107395082A
CN107395082A CN201710788694.3A CN201710788694A CN107395082A CN 107395082 A CN107395082 A CN 107395082A CN 201710788694 A CN201710788694 A CN 201710788694A CN 107395082 A CN107395082 A CN 107395082A
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shaft
fluctuation
current
shaft currents
speed
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CN107395082B (en
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邓焕明
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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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    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/22—Current control, e.g. using a current control loop

Abstract

The present invention relates to a kind of control method of permagnetic synchronous motor, methods described includes：Fluctuation of speed angle is calculated according to the motor speed of the permagnetic synchronous motor of acquisition；Obtain q axles instruction current, d axles instruction current, q shaft currents and the d shaft currents of permagnetic synchronous motor；According to q axles instruction current and q shaft currents generation q shaft current error components；According to d axles instruction current and d shaft currents generation d shaft current error components；According to fluctuation of speed angle and q shaft currents error component generation q shaft voltage oscillation compensation amounts；According to fluctuation of speed angle and d shaft currents error component generation d shaft voltage oscillation compensation amounts；Feedback compensation is carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount.The control method of the permagnetic synchronous motor of the present invention realizes the compensation to current fluctuation, while present invention also offers the control system of permagnetic synchronous motor and computer-readable recording medium.

Description

Control method, system and the computer-readable recording medium of permagnetic synchronous motor
Technical field
The present invention relates to permagnetic synchronous motor technical field, more particularly to a kind of control method of permagnetic synchronous motor, it is System and computer-readable recording medium.
Background technology
Permagnetic synchronous motor is because having the advantages such as dynamic response is fast, precision is high, noise is low to be widely used in electric automobile In the product such as convertible frequency air-conditioner.In the process of running, the three-phase electricity that permagnetic synchronous motor samples according to current sampling circuit flows into Row vector controlled.
The present inventor has found following technical problem in the prior art be present in the practice of the invention：
In the process of running, the load of motor may produce periodic fluctuation to permagnetic synchronous motor, and motor load It is unstable, cause motor three-phase current again and periodically fluctuate, that is, the situation of three-phase current unbalance occur, this causes electricity Machine noise significantly increases, and motor three-phase current unbalance also add the reactive power of motor, so as to cause the driving of motor Efficiency reduces.
The content of the invention
The present invention proposes control method, system and the computer-readable recording medium of permagnetic synchronous motor, can be to motor Current fluctuation compensate, improve the operating efficiency of permagnetic synchronous motor.
One aspect of the present invention provides a kind of control method of permagnetic synchronous motor, and methods described includes：
Fluctuation of speed angle is calculated according to the motor speed of the permagnetic synchronous motor of acquisition；
Obtain q axles instruction current, d axles instruction current, q shaft currents and the d shaft currents of the permagnetic synchronous motor；
According to the q axles instruction current and q shaft currents generation q shaft current error components；
According to the d axles instruction current and d shaft currents generation d shaft current error components；
According to the fluctuation of speed angle and q shaft currents error component generation q shaft voltage oscillation compensation amounts；
According to the fluctuation of speed angle and d shaft currents error component generation d shaft voltage oscillation compensation amounts；
Feedback compensation is carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount.
In a kind of optional embodiment, the fluctuation of speed angle for obtaining the permagnetic synchronous motor, it is specially：
Fourier analysis is carried out to the motor speed, to obtain the vibration frequency of the motor speed；
The fluctuation of speed angle is calculated according to the vibration frequency.
In a kind of optional embodiment, the motor speed of the permagnetic synchronous motor according to acquisition calculates rotating speed ripple Dynamic angle, it is specially：
Cosine value and sine value are asked to the fluctuation of speed angle, to obtain fluctuation of speed angle cosine value and fluctuation of speed angle Sine value；
The product of the q shaft currents error component and fluctuation of speed angle cosine value is calculated, to obtain q shaft current errors Component cosine product；
The product of the q shaft currents error component and fluctuation of speed angle sine value is calculated, to obtain q shaft current errors Component sine product；
LPF is carried out to the q shaft currents cosine product and q shaft current sines product respectively, to obtain q shaft currents Initial phase cosine component and q shaft current initial phase sinusoidal components；
The product of the q shaft currents initial phase cosine component and fluctuation of speed angle cosine value is calculated, to obtain q axles Current fluctuation cosine compensation rate；
The product of the q shaft currents initial phase sinusoidal component and fluctuation of speed angle sine value is calculated, to obtain q axles Current fluctuation sine compensation rate；
Calculate q shaft currents fluctuation cosine compensation rate and the q shaft currents fluctuate sinusoidal compensation rate plus and, to obtain Q shaft current oscillation compensation amounts；
The product of the q shaft currents oscillation compensation amount and predesigned compensation coefficient is calculated, to obtain q shaft voltage oscillation compensations Amount.
As it is highly preferred that described generate d shaft voltages according to the fluctuation of speed angle and the d shaft currents error component Oscillation compensation amount, it is specially：
Cosine value and sine value are asked to the fluctuation of speed angle, to obtain fluctuation of speed angle cosine value and fluctuation of speed angle Sine value；
The product of the d shaft currents error component and fluctuation of speed angle cosine value is calculated, to obtain d shaft current errors Component cosine product；
The product of the d shaft currents error component and fluctuation of speed angle sine value is calculated, to obtain d shaft current errors Component sine product；
LPF is carried out to the d shaft currents cosine product and d shaft current sines product respectively, to obtain d shaft currents Initial phase cosine component and d shaft current initial phase sinusoidal components；
The product of the d shaft currents initial phase cosine component and fluctuation of speed angle cosine value is calculated, to obtain d axles Current fluctuation cosine compensation rate；
The product of the d shaft currents initial phase sinusoidal component and fluctuation of speed angle sine value is calculated, to obtain d axles Current fluctuation sine compensation rate；
Calculate d shaft currents fluctuation cosine compensation rate and the d shaft currents fluctuate sinusoidal compensation rate plus and, to obtain D shaft current oscillation compensation amounts；
The product of the d shaft currents oscillation compensation amount and predesigned compensation coefficient is calculated, to obtain d shaft voltage oscillation compensations Amount.
As it is highly preferred that described carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount Feedback compensation, it is specially：
First q axle modulation voltage command values are generated according to the q shaft currents error component；
First d axle modulation voltage command values are generated according to the d shaft currents error component；
Calculate the first q axle modulation voltage command values and q shaft voltage oscillation compensation amounts plus and, to obtain the 2nd q axles Modulation voltage command value；
Calculate the first d axle modulation voltage command values and d shaft voltage oscillation compensation amounts plus and, to obtain the 2nd d axles Modulation voltage command value；
Compensated according to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltage command values.
Another aspect of the present invention provides a kind of control system of permagnetic synchronous motor, and the system includes：
First computing module, the motor speed for the permagnetic synchronous motor according to acquisition calculate fluctuation of speed angle；
Second acquisition module, for obtaining q axles instruction current, d axles instruction current, q the axles electricity of the permagnetic synchronous motor Stream and d shaft currents；
First generation module, for generating q shaft current error components according to the q axles instruction current and the q shaft currents；
Second generation module, for generating d shaft current error components according to the d axles instruction current and the d shaft currents；
3rd generation module, for generating q shaft voltages according to the fluctuation of speed angle and the q shaft currents error component Oscillation compensation amount；
4th generation module, for generating d shaft voltages according to the fluctuation of speed angle and the d shaft currents error component Oscillation compensation amount；
Feedback compensation module, for according to the q shaft voltages oscillation compensation amount and d shaft voltages oscillation compensation amount progress Feedback compensation.
As it is highly preferred that second acquisition module includes：
First low-pass filter unit, LPF is carried out to the motor speed, to obtain motor speed low pass composition；
First acquisition unit, the q axles instruction current is obtained according to the motor speed low pass composition.
As the improvement of such scheme,
Another embodiment of the present invention correspondingly provides a kind of control system of permagnetic synchronous motor, including processor, storage Device and it is stored in the memory and is configured as by the computer program of the computing device, the computing device The control method of the permagnetic synchronous motor as described in above-mentioned any embodiment is realized during the computer program.
Another embodiment of the present invention correspondingly provides a kind of computer-readable recording medium, the computer-readable storage medium Matter includes the computer program of storage, wherein, control the computer-readable recording medium when the computer program is run Place equipment performs the control method of the permagnetic synchronous motor as described in above-mentioned any embodiment.
Compared to prior art, the present invention has beneficial effect prominent as follows：The invention provides a kind of permanent-magnet synchronous Control method, system and the computer-readable recording medium of motor, wherein method include：According to the permagnetic synchronous motor of acquisition Motor speed calculates fluctuation of speed angle；Obtain q axles instruction current, d axles instruction current, q the axles electricity of the permagnetic synchronous motor Stream and d shaft currents；According to the q axles instruction current and q shaft currents generation q shaft current error components；Referred to according to the d axles Electric current and the d shaft currents is made to generate d shaft current error components；According to the fluctuation of speed angle and the q shaft currents error Component generates q shaft voltage oscillation compensation amounts；According to the fluctuation of speed angle and d shaft currents error component generation d axle electricity Press oscillation compensation amount；Feedback compensation is carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount.This The control method for the permagnetic synchronous motor that embodiment provides, calculated and turned by the motor speed of the permagnetic synchronous motor according to acquisition Speed fluctuation angle, q shaft voltage oscillation compensation amounts are generated according to the fluctuation of speed angle and the q shaft currents error component；Root According to the fluctuation of speed angle and d shaft currents error component generation d shaft voltage oscillation compensation amounts, by current fluctuation in rotating speed The fluctuation of speed angle of caused ripple components considers to carry out q shaft voltage oscillation compensation amounts and d shaft voltage oscillation compensation amounts in ring In, feedback compensation is carried out further according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount, so as to realize pair The fluctuation of current of electric compensates, and adjusts the uneven degree of three-phase current in time, reduces the noise of permagnetic synchronous motor, carry High workload efficiency.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of the control method of permagnetic synchronous motor provided by the invention；
Fig. 2 is the module diagram of the first embodiment of the control system of permagnetic synchronous motor provided by the invention；
Fig. 3 is the operating diagram of the 5th embodiment of the control system of permagnetic synchronous motor provided by the invention；
Fig. 4 is the structural representation of the sixth embodiment of the control system of permagnetic synchronous motor provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
It is the schematic flow sheet of the first embodiment of the control method of permagnetic synchronous motor provided by the invention referring to Fig. 1, The control method includes：
S101, fluctuation of speed angle is calculated according to the motor speed of the permagnetic synchronous motor of acquisition；
S102, obtain q axles instruction current, d axles instruction current, q shaft currents and the d shaft currents of the permagnetic synchronous motor；
S103, q shaft current error components are generated according to the q axles instruction current and the q shaft currents；
S104, d shaft current error components are generated according to the d axles instruction current and the d shaft currents；
S105, q shaft voltage oscillation compensation amounts are generated according to the fluctuation of speed angle and the q shaft currents error component；
S106, d shaft voltage oscillation compensation amounts are generated according to the fluctuation of speed angle and the d shaft currents error component；
S107, feedback compensation is carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount.
In the present embodiment, q shaft currents, also known as torque current；Q axle instruction currents, also known as given torque current；d Shaft current, also known as exciting current；D axle instruction currents, also known as given exciting current；Q axles instruction current and d axle instruction currents For the output of the speed ring of the permagnetic synchronous motor；Q shaft currents and d shaft currents are the electric current loop of the permagnetic synchronous motor Output.
In the present embodiment, the q shaft currents and d shaft currents of the permagnetic synchronous motor are obtained, is specially：
Obtain the three-phase current of the permagnetic synchronous motor；
Clarke transform is carried out to the three-phase current, to obtain electric current under two-phase rest frame；
Park transforms are carried out to electric current under the two-phase rest frame, to obtain the q axles of permagnetic synchronous motor electricity Stream and d shaft currents.
Wherein, the phase current of U, V, W phase of the permagnetic synchronous motor is sampled, you can obtain the permanent-magnet synchronous Three-phase current Iu, Iv and Iw of motor.Described three-phase current Iu, Iv and Iw are transformed to two by the present embodiment by Clarke transform Electric current I α and I β, the Clarke transform are under phase rest frame
Electric current I α under two-phase rest frame and I β are transformed to q shaft currents under two-phase rotating coordinate system by park transforms With d shaft currents, the park transforms are
Wherein, θ is motor rotor position angle, and Sin θ and Cos θ are the sine value and cosine of motor rotor position angle Value.
Three-phase sinusoidal signal is transformed to by the static two-phase sinusoidal signal of relative stator by Clarke transform, passes through pa Gram conversion, the static two-phase sinusoidal signal of relative stator is transformed to the static DC component of relative rotor：Q shaft currents and d axles Electric current.
It should be noted that the flow chart shown in Fig. 1 is intended merely to express the process step of one embodiment of the invention, but this The process step of invention is not limited to strictly perform according to S101~S107 order.For example, S103 and S104 are can be arranged side by side Perform；S105 and S106 can be performed side by side.
Fluctuation of speed angle is calculated according to the motor speed of the permagnetic synchronous motor of acquisition, according to the fluctuation of speed angle Degree and q shaft currents error component generation q shaft voltage oscillation compensation amounts；According to the fluctuation of speed angle and d axles electricity Stream error component generates d shaft voltage oscillation compensation amounts, by the fluctuation of speed of current fluctuation caused ripple components in der Geschwindigkeitkreis Angle considers to carry out in q shaft voltage oscillation compensation amounts and d shaft voltage oscillation compensation amounts, further according to the q shaft voltages oscillation compensation Amount and the d shaft voltages oscillation compensation amount carry out feedback compensation, so as to realize that the fluctuation to current of electric compensates, adjust in time The uneven degree of whole three-phase current, reduce the noise of permagnetic synchronous motor, improve operating efficiency.
Present invention also offers a kind of second embodiment of the control method of permagnetic synchronous motor, the control method includes Step S101~S107 in the first embodiment of the control method of above-mentioned permagnetic synchronous motor, is further defined, described The q axle instruction currents of the permagnetic synchronous motor are obtained, are specially：
LPF is carried out to the motor speed, to obtain motor speed low pass composition；
The q axles instruction current is obtained according to the motor speed low pass composition.
In the present embodiment, LPF can be first-order low-pass ripple, can be second-order low-pass filter or Other low-pass filtered versions.
I.e. by carrying out LPF to motor speed, the ripple components in motor speed are filtered out, reduce the fluctuation of rotating speed Influence to the q axle instruction currents of der Geschwindigkeitkreis output, suppress the fluctuation of speed and introducing der Geschwindigkeitkreis control is produced by q axles instruction current In.
Present invention also offers a kind of 3rd embodiment of the control method of permagnetic synchronous motor, the control method includes Step S101~S107 in the first embodiment of the control method of above-mentioned permagnetic synchronous motor, is further defined, described Fluctuation of speed angle is calculated according to the motor speed of the permagnetic synchronous motor of acquisition, is specially：
Fourier analysis is carried out to the motor speed, to obtain the vibration frequency of the motor speed；
The fluctuation of speed angle is calculated according to the vibration frequency.
In the present embodiment, Fourier analysis is carried out to the motor speed, the spectrum information of motor speed, root can be obtained Vibration frequency Fr can be obtained according to spectrum information；Fluctuation of speed angle, θrCalculated by equation below：
θr=2 × π × Fr × t
Wherein, π is pi, and Fr is vibration frequency, and t is the time.
The vibration frequency of motor speed is obtained by Fourier analysis, the fluctuation of speed of motor is determined according to vibration frequency Angle, there is the characteristics of implementation method is fast and reliable.
Present invention also offers a kind of fourth embodiment of the control method of permagnetic synchronous motor, the control method includes Step S101~S107 in the first embodiment of the control method of above-mentioned permagnetic synchronous motor, is further defined, described According to the fluctuation of speed angle and q shaft currents error component generation q shaft voltage oscillation compensation amounts, it is specially：
To the fluctuation of speed angle, θrCosine value and sine value are asked, to obtain fluctuation of speed angle cosine value cos θrAnd rotating speed Fluctuation angle sine value sin θr；
Calculate the q shaft current error component IqErr and fluctuation of speed angle cosine value cos θrProduct, with obtain q axles electricity Stream error component cosine product IqErr*cos θr；
The product of the q shaft currents error component and fluctuation of speed angle sine value is calculated, to obtain q shaft current errors Component sine product IqErr*sin θr；
LPF is carried out to the q shaft currents cosine product and q shaft current sines product respectively, to obtain q shaft currents Initial phase cosine component LPF [IqErr*cos θr] and q shaft current initial phase sinusoidal component LPF [IqErr*sin θr]；
Calculate q shaft currents initial phase cosine component LPF [the IqErr*cos θr] and fluctuation of speed angle cosine value cosθrProduct, to obtain q shaft currents fluctuation cosine compensation rate cos θr*LPF[IqErr*cosθr]；
Calculate q shaft currents initial phase sinusoidal component LPF [the IqErr*sin θr] and fluctuation of speed angle sine value sinθrProduct, fluctuate sinusoidal compensation rate sin θ to obtain q shaft currentsr*LPF[IqErr*sinθr]；
Calculate the q shaft currents fluctuation cosine compensation rate cos θr*LPF[IqErr*cosθr] and q shaft currents fluctuation is just String compensation rate sin θr*LPF[IqErr*sinθr] plus and, to obtain q shaft current oscillation compensation amount cos θr*LPF[IqErr* cosθr]+sinθr*LPF[IqErr*sinθr]；
The product of the q shaft currents oscillation compensation amount and predesigned compensation COEFFICIENT K p is calculated, to obtain q shaft voltage oscillation compensations Measure Uqcom=Kp*cos θr*LPF[IqErr*cosθr]+sinθr*LPF[IqErr*sinθr]。
In the present embodiment, the rotation of motor velocity of wave causes in q shaft current error components IqErr except DC component IqcOutside It further comprises fluctuation of speed composition Iqmcos(θr+ψ1), i.e. IqErr=Iqc+Iqmcos(θr+ψ1), wherein IqmFor ripple components Amplitude, ψ1For the phase initial value of ripple components；Therefore q shaft current error component cosine product is IqErr*cos θr=Iqccosθr+ Iqmcos(2θr+ψ1)/2+Iqmcos(ψ1)/2；Q shaft current error component sines product is IqErr*sin θr=Iqcsinθr+ Iqmsin(2θr+ψ1)/2-Iqmsin(ψ1)/2, after LPF, high fdrequency component is filtered out, and obtains q shaft current initial phases Cosine component LPF [IqErr*cos θr]=Iqmcos(ψ1)/2 and q shaft current initial phase sinusoidal component LPF [IqErr*sin θr] =-Iqmsin(ψ1)/2；Q shaft current oscillation compensation amount cos θr*LPF[IqErr*cosθr]+sinθr*LPF[IqErr*sinθr] For cos θrIqmcos(ψ1)/2-sinθrIqmsin(ψ1)/2=Iqmcos(θr+ψ1)/2；Q shaft voltage oscillation compensations amount is Uqcom= Kp*Iqmcos(θr+ψ1)/2；Kp is empirical value, because q shaft voltages oscillation compensation amount Uqcom is by the amplitude I of ripple componentsqm, turn Speed fluctuation angle, θrWith the initial phase ψ of fluctuation of speed composition1Together decide on, therefore, the controlling party provided by the present embodiment Method, take into full account in q shaft voltage oscillation compensation amounts Uqcom and to have been together decided on by current fluctuation amplitude, angle, initial phase The ripple components factor, after high fdrequency component is filtered out, the ripple components factor is linearly introduced by predesigned compensation COEFFICIENT K p, so as to real Now the fluctuation more accurately to current of electric compensates.
As it is highly preferred that described generate d shaft voltages according to the fluctuation of speed angle and the d shaft currents error component Oscillation compensation amount, it is specially：
Cosine value and sine value are asked to the fluctuation of speed angle, to obtain fluctuation of speed angle cosine value and fluctuation of speed angle Sine value；
The product of the d shaft currents error component and fluctuation of speed angle cosine value is calculated, to obtain d shaft current errors Component cosine product；
The product of the d shaft currents error component and fluctuation of speed angle sine value is calculated, to obtain d shaft current errors Component sine product；
LPF is carried out to the d shaft currents cosine product and d shaft current sines product respectively, to obtain d shaft currents Initial phase cosine component and d shaft current initial phase sinusoidal components；
The product of the d shaft currents initial phase cosine component and fluctuation of speed angle cosine value is calculated, to obtain d axles Current fluctuation cosine compensation rate；
The product of the d shaft currents initial phase sinusoidal component and fluctuation of speed angle sine value is calculated, to obtain d axles Current fluctuation sine compensation rate；
Calculate d shaft currents fluctuation cosine compensation rate and the d shaft currents fluctuate sinusoidal compensation rate plus and, to obtain D shaft current oscillation compensation amounts；
The product of the d shaft currents oscillation compensation amount and predesigned compensation coefficient is calculated, to obtain d shaft voltage oscillation compensations Amount.
The principle that the present embodiment obtains d shaft voltage oscillation compensation amounts is similar with the principle for obtaining q shaft voltage oscillation compensation amounts, Here is omitted.
The control method provided by the present embodiment, has taken into full account by current wave in d shaft voltage oscillation compensation amounts Dynamic amplitude, angle, the ripple components factor together decided on of initial phase, after high fdrequency component is filtered out, pass through predesigned compensation system Number is linear to introduce the ripple components factor, so as to realize that the fluctuation more accurately to current of electric compensates.
As it is highly preferred that described carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount Feedback compensation, it is specially：
First q axle modulation voltage command values are generated according to the q shaft currents error component；
First d axle modulation voltage command values are generated according to the d shaft currents error component；
Calculate the first q axle modulation voltage command values and q shaft voltage oscillation compensation amounts plus and, to obtain the 2nd q axles Modulation voltage command value；
Calculate the first d axle modulation voltage command values and d shaft voltage oscillation compensation amounts plus and, to obtain the 2nd d axles Modulation voltage command value；
Compensated according to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltage command values.
In the present embodiment, the q axles of q shaft currents error component IqErr passing ratio integral adjustments circuit evolving the first Modulation voltage command value Uq, the first q axle modulation voltage command value Uq and q shaft voltage oscillation compensation amounts Uqcom is summed up, from And obtain the 2nd q axle modulation voltage command values.The method of the 2nd d axle modulation voltage command values is obtained with obtaining the modulation of the 2nd q axles The method of voltage instruction value is similar, and here is omitted.
In the present embodiment, it is described to be referred to according to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltages Make value compensate, be specially：
Parker's inverse transformation is carried out to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltages command value, Obtain voltage U α and U β under two-phase rest frame；
Space vector pulse width modulation (SVPWM, space are carried out to voltage U α and U β under the two-phase rest frame Vector pulse width modulation) after, PWM ripples are exported to frequency converter, so that the frequency converter is according to the PWM Ripple motor.
I.e. by the first q axle modulation voltage command values and q shaft voltage oscillation compensation amounts plus and, and described first D axle modulation voltage command values and d shaft voltage oscillation compensation amounts plus and, the offset of current fluctuation is fed back into the 2nd q axles tune In voltage instruction value processed and the 2nd d axle modulation voltage command values, then pass through after Parker's inverse transformation, space vector pulse width modulation to Frequency converter exports PWM ripples to realize compensation, so as to effectively realize the compensation of permagnetic synchronous motor current fluctuation control.This implementation The control method that example provides has the characteristics of improvement cost is low, compensation precision is high.
It is the module diagram of the first embodiment of the control system of permagnetic synchronous motor provided by the invention referring to Fig. 2, The control system includes：
First computing module 202, the motor speed for the permagnetic synchronous motor according to acquisition calculate fluctuation of speed angle；
Second acquisition module 203, for obtaining the q axles instruction current, d axles instruction current, q axles of the permagnetic synchronous motor Electric current and d shaft currents；
First generation module 204, for generating q shaft currents error point according to the q axles instruction current and the q shaft currents Amount；
Second generation module 205, for generating d shaft currents error point according to the d axles instruction current and the d shaft currents Amount；
3rd generation module 206, for generating q axles according to the fluctuation of speed angle and the q shaft currents error component Voltage pulsation compensation rate；
4th generation module 207, for generating d axles according to the fluctuation of speed angle and the d shaft currents error component Voltage pulsation compensation rate；
Feedback compensation module 208, for according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount Carry out feedback compensation.
In the present embodiment, q shaft currents, also known as torque current；Q axle instruction currents, also known as given torque current；d Shaft current, also known as exciting current；D axle instruction currents, also known as given exciting current；Q axles instruction current and d axle instruction currents For the output of the speed ring of the permagnetic synchronous motor；Q shaft currents and d shaft currents are the electric current loop of the permagnetic synchronous motor Output.
In the present embodiment, the q shaft currents and d shaft currents of the permagnetic synchronous motor are obtained, is specially：
Obtain the three-phase current of the permagnetic synchronous motor；
Clarke transform is carried out to the three-phase current, to obtain electric current under two-phase rest frame；
Park transforms are carried out to electric current under the two-phase rest frame, to obtain the q axles of permagnetic synchronous motor electricity Stream and d shaft currents.
Wherein, the phase current of U, V, W phase of the permagnetic synchronous motor is sampled, you can obtain the permanent-magnet synchronous Three-phase current Iu, Iv and Iw of motor.Described three-phase current Iu, Iv and Iw are transformed to two by the present embodiment by Clarke transform Electric current I α and I β, the Clarke transform are under phase rest frame
Electric current I α under two-phase rest frame and I β are transformed to q shaft currents under two-phase rotating coordinate system by park transforms With d shaft currents, the park transforms are
Wherein, θ is motor rotor position angle, and Sin θ and Cos θ are the sine value and cosine of motor rotor position angle Value.
Three-phase sinusoidal signal is transformed to by the static two-phase sinusoidal signal of relative stator by Clarke transform, passes through pa Gram conversion, the static two-phase sinusoidal signal of relative stator is transformed to the static DC component of relative rotor：Q shaft currents and d axles Electric current.
Fluctuation of speed angle is calculated by the motor speed of the permagnetic synchronous motor according to acquisition, according to the rotating speed ripple Dynamic angle and q shaft currents error component generation q shaft voltage oscillation compensation amounts；According to the fluctuation of speed angle and the d Shaft current error component generates d shaft voltage oscillation compensation amounts, by the rotating speed of current fluctuation caused ripple components in der Geschwindigkeitkreis Fluctuation angle is taken into account in row q shaft voltage oscillation compensation amounts and d shaft voltage oscillation compensation amounts, is fluctuated further according to the q shaft voltages Compensation rate and the d shaft voltages oscillation compensation amount carry out feedback compensation, so as to realize that the fluctuation to current of electric compensates, and When adjust the uneven degree of three-phase current, so as to reduce the noise of permagnetic synchronous motor, improve operating efficiency.
Present invention also offers a kind of second embodiment of the control system of permagnetic synchronous motor, it is same that it includes above-mentioned permanent magnetism Walk the first computing module 202, the second acquisition module 203, the first generation module of the first embodiment of the control system of motor 204th, the second generation module 205, the 3rd generation module 206, the 4th generation module 207 and feedback compensation module 208, it is also further Define, second acquisition module includes：
First low-pass filter unit, for the motor speed carry out LPF, with obtain motor speed low pass into Point；
First acquisition unit, for obtaining the q axles instruction current according to the motor speed low pass composition.
In the present embodiment, LPF can be first-order low-pass ripple, can be second-order low-pass filter or Other low-pass filtered versions.
I.e. by carrying out LPF to motor speed, the ripple components in motor speed are filtered out, reduce the fluctuation of rotating speed Influence to the q axle instruction currents of der Geschwindigkeitkreis output, suppress the fluctuation of speed and introducing der Geschwindigkeitkreis control is produced by q axles instruction current In.
Present invention also offers a kind of 3rd embodiment of the control system of permagnetic synchronous motor, it is same that it includes above-mentioned permanent magnetism Walk the first computing module 202, the second acquisition module 203, the first generation module of the first embodiment of the control system of motor 204th, the second generation module 205, the 3rd generation module 206, the 4th generation module 207 and feedback compensation module 208, it is also further Define, first computing module includes：
Fourier analysis unit, for carrying out Fourier analysis to the motor speed, to obtain the motor speed Vibration frequency；
Fluctuation of speed angle calculation unit, for calculating the fluctuation of speed angle according to the vibration frequency.
In the present embodiment, Fourier analysis is carried out to the motor speed, the spectrum information of motor speed, root can be obtained Vibration frequency Fr can be obtained according to spectrum information；Fluctuation of speed angle, θrCalculated by equation below：
θr=2 × π × Fr × t
Wherein, π is pi, and Fr is vibration frequency, and t is the time.
The vibration frequency of motor speed is obtained by Fourier analysis, the fluctuation of speed of motor is determined according to vibration frequency Angle, there is the characteristics of implementation method is fast and reliable.
Present invention also offers a kind of fourth embodiment of the control system of permagnetic synchronous motor, it is same that it includes above-mentioned permanent magnetism Walk the first computing module 202, the second acquisition module 203, the first generation module of the first embodiment of the control system of motor 204th, the second generation module 205, the 3rd generation module 206, the 4th generation module 207 and feedback compensation module 208, it is also further Define, the 3rd generation module includes：
First sine and cosine computing unit, for the fluctuation of speed angle, θrCosine value and sine value are asked, to be turned Fast fluctuation angle cosine value cos θrWith fluctuation of speed angle sine value sin θr；
First multiplication unit, for calculating q shaft current error component IqErr and the fluctuation of speed angle cosine value cos θr Product, to obtain q shaft current error component cosine product IqErr*cos θr；
Second multiplication unit, for calculating the product of the q shaft currents error component and fluctuation of speed angle sine value, To obtain q shaft current error component sine product IqErr*sin θr；
Second low-pass filter unit, for low with the progress of q shaft current sines product to the q shaft currents cosine product respectively Pass filter, to obtain q shaft current initial phase cosine component LPF [IqErr*cos θr] and q shaft current initial phase sinusoidal components LPF[IqErr*sinθr]；
3rd multiplication unit, for calculating q shaft currents initial phase cosine component LPF [the IqErr*cos θr] and institute State fluctuation of speed angle cosine value cos θrProduct, to obtain q shaft currents fluctuation cosine compensation rate cos θr*LPF[IqErr*cos θr]；
4th multiplication unit, for calculating q shaft currents initial phase sinusoidal component LPF [the IqErr*sin θr] and institute State fluctuation of speed angle sine value sin θrProduct, fluctuate sinusoidal compensation rate sin θ to obtain q shaft currentsr*LPF[IqErr*sin θr]；
First adder unit, for calculating the q shaft currents fluctuation cosine compensation rate cos θr*LPF[IqErr*cosθr] and The q shaft currents fluctuate sinusoidal compensation rate sin θr*LPF[IqErr*sinθr] plus and, to obtain q shaft current oscillation compensation amounts cosθr*LPF[IqErr*cosθr]+sinθr*LPF[IqErr*sinθr]；
5th multiplication unit, for calculating the product of the q shaft currents oscillation compensation amount and predesigned compensation COEFFICIENT K p, with To q shaft voltage oscillation compensation amount Uqcom=Kp*cos θr*LPF[IqErr*cosθr]+sinθr*LPF[IqErr*sinθr]。
In the present embodiment, the rotation of motor velocity of wave causes in q shaft current error components IqErr except DC component IqcOutside It further comprises fluctuation of speed composition Iqmcos(θr+ψ1), i.e. IqErr=Iqc+Iqmcos(θr+ψ1), wherein IqmFor ripple components Amplitude, ψ1For the phase initial value of ripple components；Therefore q shaft current error component cosine product is IqErr*cos θr=Iqccosθr+ Iqmcos(2θr+ψ1)/2+Iqmcos(ψ1)/2；Q shaft current error component sines product is IqErr*sin θr=Iqcsinθr+ Iqmsin(2θr+ψ1)/2-Iqmsin(ψ1)/2, after LPF, high fdrequency component is filtered out, and obtains q shaft current initial phases Cosine component LPF [IqErr*cos θr]=Iqmcos(ψ1)/2 and q shaft current initial phase sinusoidal component LPF [IqErr*sin θr] =-Iqmsin(ψ1)/2；Q shaft current oscillation compensation amount cos θr*LPF[IqErr*cosθr]+sinθr*LPF[IqErr*sinθr] For cos θrIqmcos(ψ1)/2-sinθrIqmsin(ψ1)/2=Iqmcos(θr+ψ1)/2；Q shaft voltage oscillation compensations amount is Uqcom= Kp*Iqmcos(θr+ψ1)/2；Kp is empirical value, because q shaft voltages oscillation compensation amount Uqcom is by the amplitude I of ripple componentsqm, turn Speed fluctuation angle, θrWith the initial phase ψ of fluctuation of speed composition1Together decide on, therefore, the control system provided by the present embodiment System, take into full account in q shaft voltage oscillation compensation amounts Uqcom and to have been together decided on by current fluctuation amplitude, angle, initial phase The ripple components factor, after high fdrequency component is filtered out, the ripple components factor is linearly introduced by predesigned compensation COEFFICIENT K p, so as to real Now the fluctuation more accurately to current of electric compensates.
As it is highly preferred that the 4th generation module includes：
Second sine and cosine computing unit, for asking cosine value and sine value to the fluctuation of speed angle, to obtain rotating speed Fluctuation angle cosine value and fluctuation of speed angle sine value；
6th multiplication unit, for asking cosine value and sine value to the fluctuation of speed angle, to obtain fluctuation of speed angle Cosine value and fluctuation of speed angle sine value；
7th multiplication unit, for calculating the product of the d shaft currents error component and fluctuation of speed angle cosine value, To obtain d shaft current error component cosine products；
8th multiplication unit, for calculating the product of the d shaft currents error component and fluctuation of speed angle sine value, To obtain d shaft current error component sine products；
3rd low-pass filter unit, for low with the progress of d shaft current sines product to the d shaft currents cosine product respectively Pass filter, to obtain d shaft current initial phase cosine components and d shaft current initial phase sinusoidal components；
9th multiplication unit, for calculating the d shaft currents initial phase cosine component and fluctuation of speed angle cosine The product of value, to obtain d shaft currents fluctuation cosine compensation rate；
Tenth multiplication unit, it is sinusoidal with the fluctuation of speed angle for calculating the d shaft currents initial phase sinusoidal component The product of value, sinusoidal compensation rate is fluctuated to obtain d shaft currents；
Second adder unit, for calculating the d shaft currents fluctuation cosine compensation rate and the sinusoidal benefit of d shaft currents fluctuation The amount of repaying plus and, to obtain d shaft current oscillation compensation amounts；
11st multiplication unit, for calculating the product of the d shaft currents oscillation compensation amount and predesigned compensation coefficient, with To d shaft voltage oscillation compensation amounts.
The principle that the present embodiment obtains d shaft voltage oscillation compensation amounts is similar with the principle for obtaining q shaft voltage oscillation compensation amounts, Here is omitted.
The control method provided by the present embodiment, has taken into full account by current wave in d shaft voltage oscillation compensation amounts Dynamic amplitude, angle, the ripple components factor together decided on of initial phase, after high fdrequency component is filtered out, pass through predesigned compensation system Number is linear to introduce the ripple components factor, so as to realize that the fluctuation more accurately to current of electric compensates.
As it is highly preferred that the feedback compensation module includes：
First generation unit, for generating the first q axle modulation voltage command values according to the q shaft currents error component；
Second generation unit, for generating the first d axle modulation voltage command values according to the d shaft currents error component；
3rd adder unit, for calculate the first q axle modulation voltage command values and q shaft voltage oscillation compensation amounts plus With to obtain the 2nd q axle modulation voltage command values；
4th adder unit, for calculate the first d axle modulation voltage command values and d shaft voltage oscillation compensation amounts plus With to obtain the 2nd d axle modulation voltage command values；
Modulation compensated unit, for being referred to according to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltages Value is made to compensate.
In the present embodiment, the q axles of q shaft currents error component IqErr passing ratio integral adjustments circuit evolving the first Modulation voltage command value Uq, the first q axle modulation voltage command value Uq and q shaft voltage oscillation compensation amounts Uqcom is summed up, from And obtain the 2nd q axle modulation voltage command values.The method of the 2nd d axle modulation voltage command values is obtained with obtaining the modulation of the 2nd q axles The method of voltage instruction value is similar, and here is omitted.
In the present embodiment, the modulation compensated unit includes：
Parker's inverse transformation block, for referring to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltages Make value carry out Parker's inverse transformation, obtain voltage U α and U β under two-phase rest frame；
Vector Pulse Width Modulation unit, for carrying out space vector pulse width to voltage U α and U β under the two-phase rest frame After modulating (SVPWM, space vector pulse width modulation), PWM ripples are exported to frequency converter, so that described Frequency converter is according to the PWM ripples motor.
I.e. by the first q axle modulation voltage command values and q shaft voltage oscillation compensation amounts plus and, and described first D axle modulation voltage command values and d shaft voltage oscillation compensation amounts plus and, the offset of current fluctuation is fed back into the 2nd q axles tune In voltage instruction value processed and the 2nd d axle modulation voltage command values, then pass through after Parker's inverse transformation, space vector pulse width modulation to Frequency converter exports PWM ripples to realize compensation, so as to effectively realize the compensation of permagnetic synchronous motor current fluctuation control.This implementation The control method that example provides has the characteristics of improvement cost is low, compensation precision is high.
Present invention also offers a kind of 5th embodiment of the control system of permagnetic synchronous motor, and referring to Fig. 3, it is this hair The operating diagram of 5th embodiment of the control system of the permagnetic synchronous motor of bright offer,
The control system includes：First computing module 52, the motor speed for the permagnetic synchronous motor according to acquisition Calculate fluctuation of speed angle, θr；Second acquisition module, for obtaining q axle instruction currents IqRef, d of the permagnetic synchronous motor Axle instruction current IdRef, q shaft current Iq and d shaft current Id；
Second acquisition module includes：First low-pass filter unit 531, for carrying out low pass filtered to the motor speed Ripple, to obtain motor speed low pass composition SpdFbFlt；First acquisition unit 532, for according to the motor speed low pass into Separately win and take the q axles instruction current.In the present embodiment, motor setting speed is being instructed SpdRef by first acquisition unit 532 After carrying out subtraction with motor speed low pass composition SpdFbFlt, operation result input proportional integration is adjusted into circuit PI, with Passing ratio integral adjustment circuit PI obtains q shaft current command values IqRef.Second acquisition unit 533, for obtaining the d axles Instruction current IdRef；4th acquiring unit 534, for obtaining the d shaft currents Id and the q shaft currents Iq.
4th acquiring unit 534 includes：Clarke transform unit, for by the three-phase electricity of the permagnetic synchronous motor Stream carries out Clarke transform, to obtain electric current under two-phase rest frame；Park transforms unit, for the static seat of the two-phase The lower electric current of mark system carries out park transforms, to obtain the q shaft currents of the permagnetic synchronous motor and d shaft currents.
Wherein, the phase current of U, V, W phase of the permagnetic synchronous motor is sampled, you can obtain the permanent-magnet synchronous Three-phase current Iu, Iv and Iw of motor.Described three-phase current Iu, Iv and Iw are transformed to two by the present embodiment by Clarke transform Electric current I α and I β, the Clarke transform are under phase rest frame
Electric current I α under two-phase rest frame and I β are transformed to q shaft currents under two-phase rotating coordinate system by park transforms With d shaft currents, the park transforms are
Wherein, θ is motor rotor position angle, and Sin θ and Cos θ are the sine value and cosine of motor rotor position angle Value.
The control system also includes：First generation module 54, for according to q axles instruction current IqRef and q axle electricity Flow Iq generation q shaft current error components IqErr；Second generation module 55, for according to d axles instruction current IdRef and the d axle Electric current Id generation d shaft current error components IdErr；3rd generation module 56, for according to the fluctuation of speed angle, θrAnd institute State q shaft current error components IqErr generation q shaft voltage oscillation compensation amounts Uqcom.
3rd generation module 56 includes：First sine and cosine computing unit, for the fluctuation of speed angle, θrAsk Cosine value and sine value, to obtain fluctuation of speed angle cosine value and fluctuation of speed angle sine value；First multiplication unit, for calculating Q shaft current error component IqErr and the fluctuation of speed angle cosine value product, are multiplied with obtaining q shaft current error component cosine Product；Second multiplication unit, for calculating the q shaft currents error component IqErr and the fluctuation of speed angle sine value product, To obtain q shaft current error component sine products；Second low-pass filter unit, for respectively to the q shaft currents cosine product LPF is carried out with q shaft current sines product, to obtain q shaft current initial phase cosine components and q shaft current initial phases Sinusoidal component；3rd multiplication unit, for calculating the q shaft currents initial phase cosine component and fluctuation of speed angle cosine The product of value, to obtain q shaft currents fluctuation cosine compensation rate；4th multiplication unit, for calculating the q shaft currents initial phase The product of sinusoidal component and fluctuation of speed angle sine value, sinusoidal compensation rate is fluctuated to obtain q shaft currents；First addition list Member, for calculate q shaft currents fluctuation cosine compensation rate and the q shaft currents fluctuate sinusoidal compensation rate plus and, to obtain q Shaft current oscillation compensation amount；5th multiplication unit, for calculating the q shaft currents oscillation compensation amount and predesigned compensation COEFFICIENT K p's Product, to obtain q shaft voltage oscillation compensation amount Uqcom (Fig. 3 is not shown).
The control system also includes：4th generation module 57, for according to the fluctuation of speed angle, θrWith the d axles Current error component IdErr generation d shaft voltage oscillation compensation amounts Udcom；
4th generation module includes：Second sine and cosine computing unit, for the fluctuation of speed angle complementation string Value and sine value, to obtain fluctuation of speed angle cosine value and fluctuation of speed angle sine value；6th multiplication unit, for described turn Speed fluctuation angle, θrCosine value and sine value are asked, to obtain fluctuation of speed angle cosine value and fluctuation of speed angle sine value；7th multiplies Method unit, for calculating the d shaft currents error component IdErr and the fluctuation of speed angle cosine value product, to obtain d axles Current error component cosine product；8th multiplication unit, for calculating the d shaft currents error component IdErr and the rotating speed The product of fluctuation angle sine value, to obtain d shaft current error component sine products；3rd low-pass filter unit, for right respectively The d shaft currents cosine product carries out LPF with d shaft current sines product, to obtain d shaft current initial phases cosine point Amount and d shaft current initial phase sinusoidal components；9th multiplication unit, for calculating the d shaft currents initial phase cosine component With the product of fluctuation of speed angle cosine value, cosine compensation rate is fluctuated to obtain d shaft currents；Tenth multiplication unit, based on The product of the d shaft currents initial phase sinusoidal component and fluctuation of speed angle sine value is calculated, to obtain the fluctuation of d shaft currents just String compensation rate；Second adder unit, it is sinusoidal for calculating the d shaft currents fluctuation cosine compensation rate and d shaft currents fluctuation Compensation rate plus and, to obtain d shaft current oscillation compensation amounts；11st multiplication unit, mended for calculating the d shaft currents fluctuation The amount of repaying and the product of predesigned compensation coefficient, to obtain d shaft voltage oscillation compensation amounts Udcom.
The control system also includes：Feedback compensation module, for according to the q shaft voltages oscillation compensation amount Uqcom and The d shaft voltages oscillation compensation amount Udcom carries out feedback compensation.
The feedback compensation module includes：
First generation unit 581, refer to for generating the first q axle modulation voltages according to the q shaft currents error component IqErr Make value Uq；In the present embodiment, the passing ratio integral adjustment circuit PI of the first generation unit 581 generates the first q axle modulation voltages Command value Uq；Second generation unit 582, for generating the first d axle modulation voltage command values according to the d shaft currents error component Ud；In the present embodiment, the passing ratio integral adjustment circuit PI of the second generation unit 582 generates the instruction of the first d axles modulation voltage Value Ud；3rd adder unit 583, for calculating the first q axles modulation voltage command value Uq and q shaft voltage oscillation compensation amounts Uqcom plus and, to obtain the 2nd q axle modulation voltage command values；4th adder unit 584, adjusted for calculating the first d axles It is voltage instruction value Ud processed and d shaft voltage oscillation compensation amounts Udcom plus and, to obtain the 2nd d axle modulation voltage command values；Modulation Compensating unit 585, for according to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltages command value progress Compensation.
The modulation compensated unit 585 includes：Parker's inverse transformation block, for being instructed to the 2nd q axles modulation voltage Value and the 2nd d axle modulation voltages command value carry out Parker's inverse transformation, obtain voltage U α and U β under two-phase rest frame；Arrow Pwm unit is measured, for carrying out space vector pulse width modulation to voltage U α and U β under the two-phase rest frame After (SVPWM, space vector pulse width modulation), PWM ripples are exported to frequency converter, so that the frequency conversion Device is according to the PWM ripples motor.
In a kind of optional embodiment, the system also includes the first acquisition module 51；First acquisition module 51 wraps Include：First receiving unit, for receiving voltage U α and U β under the two-phase rest frame, and receive the static seat of two-phase Lower electric current I α and the I β of mark system；3rd acquiring unit, motor speed and motor rotor position angle are obtained according to U α, U β, I α and I β θ。
Fluctuation of speed angle is calculated by the motor speed of the permagnetic synchronous motor according to acquisition, according to the rotating speed ripple Dynamic angle and q shaft currents error component generation q shaft voltage oscillation compensation amounts；According to the fluctuation of speed angle and the d Shaft current error component generates d shaft voltage oscillation compensation amounts, by the rotating speed of current fluctuation caused ripple components in der Geschwindigkeitkreis Fluctuation angle is taken into account in row q shaft voltage oscillation compensation amounts and d shaft voltage oscillation compensation amounts, is fluctuated further according to the q shaft voltages Compensation rate and the d shaft voltages oscillation compensation amount carry out feedback compensation, so as to realize that the fluctuation to current of electric compensates, and When adjust the uneven degree of three-phase current, so as to reduce the noise of permagnetic synchronous motor, improve operating efficiency；By in d axles With taken into full account in q shaft voltage oscillation compensation amounts by current fluctuation amplitude, angle, initial phase the fluctuation together decided on into Molecular group, after high fdrequency component is filtered out, the ripple components factor is linearly introduced by predesigned compensation coefficient, so as to realize more accurately Fluctuation to current of electric compensates；By carrying out LPF to motor speed, the ripple components in motor speed are filtered out, The influence for the q axle instruction currents that the fluctuation of reduction rotating speed exports to der Geschwindigkeitkreis, suppress the fluctuation of speed and pass through the generation of q axles instruction current It is introduced into der Geschwindigkeitkreis control.
As the improvement of such scheme,
Ninth embodiment of the invention correspondingly provides a kind of control system of permagnetic synchronous motor, is the present invention referring to Fig. 4 The structural representation of the sixth embodiment of the control system of the permagnetic synchronous motor of offer, the control system include：
Including processor 301, memory 302 and it is stored in the memory and is configured as being held by the processor Capable computer program 303, the processor 301 realize step as shown in Figure 1 when performing the computer program 303 S101-S107.Or the processor 301 is realized in each embodiment of above-mentioned control system when performing the computer program 303 The function of each module, such as the first computing module 202, the second acquisition module 203, the first generation module 204, the second generation module 205th, the 3rd generation module 206, the 4th generation module 207 and feedback compensation module 208.
Exemplary, the computer program can be divided into one or more modules, one or more of moulds Block is stored in the memory, and by the computing device, to complete the present invention.One or more of modules can be with It is the series of computation machine programmed instruction section that can complete specific function, the instruction segment is used to describe the computer program in institute State the implementation procedure in the control system of permagnetic synchronous motor.For example, the computer program can be divided into the first calculating Module 202, the second acquisition module 203, the first generation module 204, the second generation module 205, the 3rd generation module the 206, the 4th Generation module 207 and feedback compensation module 208, each module concrete function are as follows：First computing module 202, for according to acquisition Permagnetic synchronous motor motor speed calculate fluctuation of speed angle；Second acquisition module 203, for obtaining the permanent-magnet synchronous Q axles instruction current, d axles instruction current, q shaft currents and the d shaft currents of motor；First generation module 204, for according to the q Axle instruction current and q shaft currents generation q shaft current error components；Second generation module 205, for being referred to according to the d axles Electric current and the d shaft currents is made to generate d shaft current error components；3rd generation module 206, for according to the fluctuation of speed angle Degree and q shaft currents error component generation q shaft voltage oscillation compensation amounts；4th generation module 207, for according to the rotating speed Fluctuate angle and d shaft currents error component generation d shaft voltage oscillation compensation amounts；Feedback compensation module 208, for according to institute State q shaft voltage oscillation compensation amounts and the d shaft voltages oscillation compensation amount carries out feedback compensation.
The control system of the permagnetic synchronous motor can be desktop PC, notebook, palm PC and high in the clouds clothes The computing devices such as business device.The control system of the permagnetic synchronous motor may include, but be not limited only to, processor, memory.Ability Field technique personnel are appreciated that the schematic diagram is only the example of the control system of permagnetic synchronous motor, do not form to forever The restriction of the control system of magnetic-synchro motor, parts more more or less than diagram, or some parts of combination can be included, or The different part of person, such as the control system of the permagnetic synchronous motor can also include input-output equipment, network insertion is set Standby, bus etc..
Alleged processor can be CPU (Central Processing Unit, CPU), can also be it His general processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor Deng the processor is the control centre of the control system of the permagnetic synchronous motor, whole using various interfaces and connection The various pieces of the control system of individual permagnetic synchronous motor.
The memory can be used for storing the computer program and/or module, and the processor is by running or performing The computer program and/or module being stored in the memory, and the data being stored in memory are called, described in realization The various functions of the control system of permagnetic synchronous motor.The memory can mainly include storing program area and storage data field, Wherein, storing program area can storage program area, application program (such as sound-playing function, figure needed at least one function As playing function etc.) etc.；Storage data field can store uses created data (such as voice data, phone according to mobile phone This etc.) etc..In addition, memory can include high-speed random access memory, nonvolatile memory can also be included, such as firmly Disk, internal memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-states Part.
Wherein, if the module of the control system integration of the permagnetic synchronous motor is realized in the form of SFU software functional unit And as independent production marketing or in use, it can be stored in a computer read/write memory medium.Based on such Understand, the present invention realizes all or part of flow in above-described embodiment method, can also instruct phase by computer program The hardware of pass is completed, and described computer program can be stored in a computer-readable recording medium, the computer program exists When being executed by processor, step S101-S107 as shown in Figure 1 can be achieved.Wherein, the computer program includes computer journey Sequence code, the computer program code can be source code form, object identification code form, executable file or some middle shapes Formula etc..The computer-readable medium can include：Any entity or device, the note of the computer program code can be carried Recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), Random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium Deng.It should be noted that the content that the computer-readable medium includes can be real according to legislation in jurisdiction and patent The requirement trampled carries out appropriate increase and decrease, such as in some jurisdictions, according to legislation and patent practice, computer-readable medium Do not include electric carrier signal and telecommunication signal.
It should be noted that device embodiment described above is only schematical, wherein described be used as separating component The unit of explanation can be or may not be physically separate, can be as the part that unit is shown or can also It is not physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can be according to reality Need to select some or all of module therein to realize the purpose of this embodiment scheme.In addition, device provided by the invention In embodiment accompanying drawing, the annexation between module represents there is communication connection between them, specifically can be implemented as one or A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, you can to understand And implement.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as Protection scope of the present invention.

Claims (10)

1. a kind of control method of permagnetic synchronous motor, it is characterised in that methods described includes：
Fluctuation of speed angle is calculated according to the motor speed of the permagnetic synchronous motor of acquisition；
Obtain q axles instruction current, d axles instruction current, q shaft currents and the d shaft currents of the permagnetic synchronous motor；
According to the q axles instruction current and q shaft currents generation q shaft current error components；
According to the d axles instruction current and d shaft currents generation d shaft current error components；
According to the fluctuation of speed angle and q shaft currents error component generation q shaft voltage oscillation compensation amounts；
According to the fluctuation of speed angle and d shaft currents error component generation d shaft voltage oscillation compensation amounts；
Feedback compensation is carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount.
2. the control method of permagnetic synchronous motor as claimed in claim 1, it is characterised in that described to obtain the permanent-magnet synchronous The q axle instruction currents of motor, it is specially：
LPF is carried out to the motor speed, to obtain motor speed low pass composition；
The q axles instruction current is obtained according to the motor speed low pass composition.
3. the control method of permagnetic synchronous motor as claimed in claim 1, it is characterised in that the permanent magnetism according to acquisition is same The motor speed for walking motor calculates fluctuation of speed angle, is specially：
Fourier analysis is carried out to the motor speed, to obtain the vibration frequency of the motor speed；
The fluctuation of speed angle is calculated according to the vibration frequency.
4. the control method of the permagnetic synchronous motor as described in claim any one of 1-3, it is characterised in that
It is described that q shaft voltage oscillation compensation amounts are generated according to the fluctuation of speed angle and the q shaft currents error component, specifically For：
Cosine value and sine value are asked to the fluctuation of speed angle, it is sinusoidal to obtain fluctuation of speed angle cosine value and fluctuation of speed angle Value；
The product of the q shaft currents error component and fluctuation of speed angle cosine value is calculated, to obtain q shaft current error components Cosine product；
The product of the q shaft currents error component and fluctuation of speed angle sine value is calculated, to obtain q shaft current error components Sinusoidal product；
LPF is carried out to the q shaft currents cosine product and q shaft current sines product respectively, it is initial to obtain q shaft currents Phase cosine component and q shaft current initial phase sinusoidal components；
The product of the q shaft currents initial phase cosine component and fluctuation of speed angle cosine value is calculated, to obtain q shaft currents Fluctuate cosine compensation rate；
The product of the q shaft currents initial phase sinusoidal component and fluctuation of speed angle sine value is calculated, to obtain q shaft currents Fluctuate sinusoidal compensation rate；
Calculate q shaft currents fluctuation cosine compensation rate and the q shaft currents fluctuate sinusoidal compensation rate plus and, to obtain q axles Current fluctuation compensation rate；
The product of the q shaft currents oscillation compensation amount and predesigned compensation coefficient is calculated, to obtain q shaft voltage oscillation compensation amounts.
5. the control method of permagnetic synchronous motor as claimed in claim 4, it is characterised in that
It is described that d shaft voltage oscillation compensation amounts are generated according to the fluctuation of speed angle and the d shaft currents error component, specifically For：
Cosine value and sine value are asked to the fluctuation of speed angle, it is sinusoidal to obtain fluctuation of speed angle cosine value and fluctuation of speed angle Value；
The product of the d shaft currents error component and fluctuation of speed angle cosine value is calculated, to obtain d shaft current error components Cosine product；
The product of the d shaft currents error component and fluctuation of speed angle sine value is calculated, to obtain d shaft current error components Sinusoidal product；
LPF is carried out to the d shaft currents cosine product and d shaft current sines product respectively, it is initial to obtain d shaft currents Phase cosine component and d shaft current initial phase sinusoidal components；
The product of the d shaft currents initial phase cosine component and fluctuation of speed angle cosine value is calculated, to obtain d shaft currents Fluctuate cosine compensation rate；
The product of the d shaft currents initial phase sinusoidal component and fluctuation of speed angle sine value is calculated, to obtain d shaft currents Fluctuate sinusoidal compensation rate；
Calculate d shaft currents fluctuation cosine compensation rate and the d shaft currents fluctuate sinusoidal compensation rate plus and, to obtain d axles Current fluctuation compensation rate；
The product of the d shaft currents oscillation compensation amount and predesigned compensation coefficient is calculated, to obtain d shaft voltage oscillation compensation amounts.
6. the control method of permagnetic synchronous motor as claimed in claim 5, it is characterised in that
It is described that feedback compensation is carried out according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount, be specially：
First q axle modulation voltage command values are generated according to the q shaft currents error component；
First d axle modulation voltage command values are generated according to the d shaft currents error component；
Calculate the first q axle modulation voltage command values and q shaft voltage oscillation compensation amounts plus and, modulated with obtaining the 2nd q axles Voltage instruction value；
Calculate the first d axle modulation voltage command values and d shaft voltage oscillation compensation amounts plus and, modulated with obtaining the 2nd d axles Voltage instruction value；
Compensated according to the 2nd q axle modulation voltage command values and the 2nd d axle modulation voltage command values.
7. a kind of control system of permagnetic synchronous motor, it is characterised in that the system includes：
First computing module, the motor speed for the permagnetic synchronous motor according to acquisition calculate fluctuation of speed angle；
Second acquisition module, for obtaining q axles instruction current, d axles instruction current, q shaft currents and the d of the permagnetic synchronous motor Shaft current；
First generation module, for generating q shaft current error components according to the q axles instruction current and the q shaft currents；
Second generation module, for generating d shaft current error components according to the d axles instruction current and the d shaft currents；
3rd generation module, for generating the fluctuation of q shaft voltages according to the fluctuation of speed angle and the q shaft currents error component Compensation rate；
4th generation module, for generating the fluctuation of d shaft voltages according to the fluctuation of speed angle and the d shaft currents error component Compensation rate；
Feedback compensation module, for being fed back according to the q shaft voltages oscillation compensation amount and the d shaft voltages oscillation compensation amount Compensation.
8. the control system of permagnetic synchronous motor as claimed in claim 7, it is characterised in that
Second acquisition module includes：
First low-pass filter unit, LPF is carried out to the motor speed, to obtain motor speed low pass composition；
First acquisition unit, the q axles instruction current is obtained according to the motor speed low pass composition.
9. a kind of control system of permagnetic synchronous motor, including processor, memory and be stored in the memory and by It is configured to, by the computer program of the computing device, realize that right such as will during computer program described in the computing device Seek the control method of the permagnetic synchronous motor described in any one of 1-6.
10. a kind of computer-readable recording medium, it is characterised in that the computer-readable recording medium includes the calculating of storage Machine program, wherein, equipment where controlling the computer-readable recording medium when the computer program is run is performed as weighed Profit requires the control method of the permagnetic synchronous motor described in any one of 1-6.
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