CN107395085A - The field weakening control method and controller of a kind of permagnetic synchronous motor - Google Patents
The field weakening control method and controller of a kind of permagnetic synchronous motor Download PDFInfo
- Publication number
- CN107395085A CN107395085A CN201710574926.5A CN201710574926A CN107395085A CN 107395085 A CN107395085 A CN 107395085A CN 201710574926 A CN201710574926 A CN 201710574926A CN 107395085 A CN107395085 A CN 107395085A
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- permagnetic synchronous
- weak magnetic
- current
- idf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention provides a kind of field weakening control method and controller of permagnetic synchronous motor, by comparing the characteristic current idf and maximum current is_max of permagnetic synchronous motor, and according to Voltage loop PI output quantities, in idf<During is_max, the summit for adjusting the resultant current vector of permagnetic synchronous motor is moved along desired guiding trajectory by (id_ref, iq_ref) to (idf, 0), in idf>During is_max, the summit for adjusting the resultant current vector of permagnetic synchronous motor is mobile to (is_max, 0) by (id_ref, iq_ref) along desired guiding trajectory；Regardless of whether current resultant current vector component id on d axles absolute value has surmounted characteristic current idf, synthesized voltage vector Us is always set to overcome towards the direction change of reduction and work as id in the prior art<The defects of uq reversely increases during idf.
Description
Technical field
The present invention relates to permagnetic synchronous motor technical field, more particularly to a kind of field weakening control method of permagnetic synchronous motor
And controller.
Background technology
The application scenario of wide speed regulating range is required in New-energy electric vehicle field etc., it is general to use in order to save cost
The reduction box of fixed speed reducing ratio, speed-regulating function of the vehicle in its whole velocity interval is realized by permagnetic synchronous motor
, the range of motor speeds is usually 0 to N (2<N<3) rated speed again.Due to permagnetic synchronous motor counter electromotive force and motor
Rotating speed is directly proportional, and with the rise of motor speed, counter electromotive force of motor is by proportional rising；Meanwhile inverter direct-flow side electricity
Pressure limitation causes its ac output voltage limited, therefore, once motor speed height is to a certain extent, winding back emf just occurs
More than the situation of inverter maximum output voltage；And the size of the difference of inverter maximum output voltage and winding back emf reflects
The current handling capability of inverter, and be necessary for just.When winding back emf is more than inverter maximum output voltage, inverter electricity
Stream can not be realized fully controllable, so as to cause motor out of control, the personal life security of driver and passenger be caused greatly hidden
Suffer from.
In order to avoid above-mentioned motor situation out of control occurs, prior art is conventional to prevent electric current ring filling from causing motor out of control
Field weakening control method, the wherein preferable scheme of effect is electric current leading angle control method, i.e., by reduce resultant current vector with
Negative d axle clamps angle carries out weak magnetic, can also reduce resultant current vector while resultant current vector is reduced in the component id on d axles
The component iq absolute value on q axles so that synthesized voltage vector the component ud on d axles and the component uq on q axles can subtract
It is small.
However, because id is as the depth of electric current ring filling is aggravated and is reduced, as id=-idf, (idf is the spy of motor
Levy electric current, idf=ψf/Ld), uq=0；With id further reduction, uq absolute value will increase since 0.Therefore, with
Id reduction (id absolute value increase), although under the limitation of motor maximum current, iq can reduce, so as to reduce ud so that
Final Us can reduce；But the original intention that regulation id reduces uq is run counter to, it is impossible to realize the accurate quick purpose for reducing Us.
That is, id is worked as<During-idf, it will uq reversely increased phenomenons occur, influence weak magnetic speed.
The content of the invention
The present invention provides a kind of field weakening control method and controller of permagnetic synchronous motor, to solve to work as id in the prior art
<The problem of uq reversely increases during-idf.
To achieve the above object, the technical scheme that the application provides is as follows：
A kind of field weakening control method of permagnetic synchronous motor, applied to the controller of permagnetic synchronous motor, the permanent magnetism is same
The field weakening control method of step motor includes：
It is weak magnetic track starting point to determine that d, q axle give electric current coordinate (id_ref, iq_ref)；
The characteristic current idf of permagnetic synchronous motor is calculated；
Judge whether the characteristic current idf is less than the maximum current is_max of the permagnetic synchronous motor；
If the characteristic current idf is less than the maximum current is_max, it is determined that the coordinate of weak magnetic final on trajectory for (-
Idf, 0)；
If the characteristic current idf is more than or equal to the maximum current is_max, it is determined that the weak magnetic final on trajectory
Coordinate is (- is_max, 0)；
According to Voltage loop PI output quantities, the summit of resultant current vector of the permagnetic synchronous motor is adjusted along default rail
Mark is moved from weak magnetic track starting point to the weak magnetic final on trajectory.
Preferably, before determination d, q axle gives electric current coordinate (id_ref, iq_ref) as weak magnetic track starting point,
Also include：
According to der Geschwindigkeitkreis output valve, torque capacity electric current than algorithm output valve or the obtained torque current of demarcation motor
The table of comparisons, obtain d axles and give the given electric current iq_ref of electric current id_ref and q axle.
Preferably, the characteristic current idf that permagnetic synchronous motor is calculated, including：
According to permanent magnet flux linkage Ψ f and d the axle inductance Ld of the permagnetic synchronous motor, the characteristic current idf is calculated.
Preferably, the resultant current vector of the permagnetic synchronous motor is adjusted according to Voltage loop PI output quantities described
Before summit is moved along desired guiding trajectory from weak magnetic track starting point to the weak magnetic final on trajectory, in addition to：
Setting value Us_set and the synthesized voltage vector of the permagnetic synchronous motor actual value Us are made the difference, obtained difference
It is worth for Us_set-Us；The setting value Us_set is less than or equal to the exportable maximum voltage vector of inverter；
If the difference is more than zero, after being amplified by Voltage loop PI controllers according to difference, the Voltage loop is obtained
PI output quantities are zero；
If the difference is less than zero, after being amplified by the Voltage loop PI controllers according to difference, the electricity is obtained
Pressure ring PI output quantities are 0 to -1.
Preferably, the desired guiding trajectory is：
Connect the straight line of weak magnetic track starting point and the weak magnetic final on trajectory；
Or connect the tracks of line voltage or cosine function of weak magnetic track starting point and the weak magnetic final on trajectory
Curve.
A kind of controller of permagnetic synchronous motor, including：
Starting point determining unit, it is weak magnetic track starting point for determining that d, q axle give electric current coordinate (id_ref, iq_ref)；
Computing unit, for the characteristic current idf of permagnetic synchronous motor to be calculated；
Judging unit, for judging whether the characteristic current idf is less than the maximum current is_ of the permagnetic synchronous motor
max；
Terminal determining unit, if being less than the maximum current is_max for the characteristic current idf, it is determined that weak magnetic rail
The coordinate of mark terminal is (- idf, 0)；If the characteristic current idf is more than or equal to the maximum current is_max, it is determined that described
The coordinate of weak magnetic final on trajectory is (- is_max, 0)；
Adjustment unit, for according to Voltage loop PI output quantities, adjusting the resultant current vector of the permagnetic synchronous motor
Moved along desired guiding trajectory from weak magnetic track starting point to the weak magnetic final on trajectory on summit.
Preferably, in addition to：
Given unit, for determining that d, q axle give electric current coordinate (id_ref, iq_ref) and is in the starting point determining unit
Before the starting point of weak magnetic track, obtained according to der Geschwindigkeitkreis output valve, torque capacity electric current than the output valve or demarcation motor of algorithm
The torque current table of comparisons, obtain d axles and give electric current id_ref and q axle giving electric current iq_ref.
Preferably, when the computing unit is used to be calculated the characteristic current idf of permagnetic synchronous motor, it is specifically used for：
According to permanent magnet flux linkage Ψ f and d the axle inductance Ld of the permagnetic synchronous motor, the characteristic current idf is calculated.
Preferably, in addition to：
Voltage loop, for, according to Voltage loop PI output quantities, adjusting the conjunction of the permagnetic synchronous motor in the adjustment unit
Before being moved into the summit of current phasor along desired guiding trajectory from weak magnetic track starting point to the weak magnetic final on trajectory, it will set
Definite value Us_set and the synthesized voltage vector of the permagnetic synchronous motor actual value Us make the difference, and obtained difference is Us_set-
Us；If the difference is more than zero, after being amplified by Voltage loop PI controllers according to difference, the Voltage loop PI outputs are obtained
Amount is zero；If the difference is less than zero, after being amplified by the Voltage loop PI controllers according to difference, the voltage is obtained
Ring PI output quantities are 0 to -1；The setting value Us_set is less than or equal to the exportable maximum voltage vector of inverter.
Preferably, the desired guiding trajectory is：
Connect the straight line of weak magnetic track starting point and the weak magnetic final on trajectory；
Or connect the tracks of line voltage or cosine function of weak magnetic track starting point and the weak magnetic final on trajectory
Curve.
The field weakening control method of the permagnetic synchronous motor provided by the invention, by the feature for comparing permagnetic synchronous motor
Electric current idf and maximum current is_max, and according to Voltage loop PI output quantities, in idf<During is_max, permagnetic synchronous motor is adjusted
Resultant current vector summit it is mobile to (- idf, 0) by (id_ref, iq_ref) along desired guiding trajectory, in idf>is_max
When, adjust permagnetic synchronous motor resultant current vector summit along desired guiding trajectory by (id_ref, iq_ref) to (- is_
Max, 0) it is mobile；Regardless of whether current resultant current vector component id on d axles absolute value has surmounted characteristic current idf,
Always synthesized voltage vector Us is set to overcome towards the direction change of reduction and work as id in the prior art<Uq reversely increases during-idf
The defects of.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly or in prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, the accompanying drawing in description is only this below
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the field weakening control method of permagnetic synchronous motor provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the field weakening control method for the permagnetic synchronous motor that another embodiment of the present invention provides；
Fig. 3 is the idf that another embodiment of the present invention provides<Weak magnetoelectricity stream vector locus during is_max under motoring condition shows
It is intended to；
Fig. 4 is the idf that another embodiment of the present invention provides<Weak magnetoelectricity stream vector locus during is_max under generating state shows
It is intended to；
Fig. 5 is the idf that another embodiment of the present invention provides>Weak magnetoelectricity stream vector locus during is_max under motoring condition shows
It is intended to；
Fig. 6 is the idf that another embodiment of the present invention provides>Weak magnetoelectricity stream vector locus during is_max under generating state shows
It is intended to；
Fig. 7 is the control block diagram of the field weakening control method for the permagnetic synchronous motor that another embodiment of the present invention provides；
Fig. 8 is the waveform effect figure that the oblique line weak magnetic method that another embodiment of the present invention provides carries out weak magnetic control；
Fig. 9 is the waveform effect figure for the electric current leading angle control weak magnetic method that prior art provides；
Figure 10 is the weak magnetoelectricity stream vector for the linear weak magnetic control system of IPM synchronous motor that prior art provides
Track schematic diagram；
Figure 11 is the structural representation of the controller for the permagnetic synchronous motor that another embodiment of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, 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 the application protection.
The present invention provides a kind of field weakening control method of permagnetic synchronous motor, to solve to work as id in the prior art<During-idf
The problem of uq reversely increases.
On permagnetic synchronous motor, during stable state and influence of the negligible resistance to voltage, the voltage equation of permagnetic synchronous motor
For：
It can be obtained by formula (1), with the rise of motor speed, in identical id, (current resultant current vector is in d axles
On component) and iq (component of the current resultant current vector on q axles) under, ud (current synthesized voltage vector on d axles point
Amount) and uq (component of the current synthesized voltage vector on q axles) absolute value can all increase.When motor speed rises to certain value
Afterwards, if the value of two current reference values (i.e. d axles give electric current id_ref and q axle and give electric current iq_ref) of d, q axle not
Properly, it will cause motor side synthesized voltage vector Us amplitudes to exceed the exportable maximum voltage Us_max of inverter, so as to lead
Cause inverter to lose current regulation ability, cause motor out of control, wherein Us amplitudes are：
Even if d, two current reference values of q axles are to be tabled look-up what is obtained according to the data demarcated in advance, but in reality
In operation, due to motor ac-dc axis inductance Ld, Lq and permanent magnet flux linkage Ψ f, it can change with factors such as current of electric temperature so that
Occur Us during motor acceleration and deceleration and exceed desired value, risk out of control still be present.
In addition, from formula (1) as can be seen that during stable state, ud absolute value can be reduced by reducing iq；Work as uq>When 0, i.e. id
>During-idf, uq can be reduced by reducing id；Work as uq<When 0, i.e. id<During-idf, increase id can reduce uq.And work as id=-idf, iq
When=0, Us=0, i.e. motor terminal voltage reach minimum.
Therefore, the field weakening control method of the permagnetic synchronous motor provided by the invention, the control applied to permagnetic synchronous motor
Device processed, specifically, referring to Fig. 1, the field weakening control method of the permagnetic synchronous motor includes：
S101, determine that the given electric current coordinate (id_ref, iq_ref) of d, q axle is weak magnetic track starting point；
S102, the characteristic current idf that permagnetic synchronous motor is calculated；
Preferably, according to permanent magnet flux linkage Ψ f and d the axle inductance Ld of permagnetic synchronous motor, characteristic current idf=is calculated
ψf/Ld.Its calculating process is same as the prior art, and here is omitted.
Whether S103, judging characteristic electric current idf are less than the maximum current is_max of permagnetic synchronous motor；
Fig. 3 is idf<Weak magnetoelectricity stream vector locus schematic diagram during is_max under motoring condition, Fig. 4 idf<During is_max
Weak magnetoelectricity stream vector locus schematic diagram under generating state, Fig. 5 idf>Weak magnetoelectricity stream vector during is_max under motoring condition
Track schematic diagram, Fig. 6 idf>Weak magnetoelectricity stream vector locus schematic diagram during is_max under generating state.In order that Us is towards subtracting
Small direction change is, it is necessary to according to idf<Is_max or idf>Is_max different situations, different weak magnetic final on trajectories are set
Coordinate.
If characteristic current idf is less than maximum current is_max, step S104 is performed；If characteristic current idf is more than or equal to
Maximum current is_max, then perform step S105；
S104, the coordinate for determining weak magnetic final on trajectory are (- idf, 0)；
S105, the coordinate for determining weak magnetic final on trajectory are (- is_max, 0)；
S106, according to Voltage loop PI output quantities, adjust the summit of resultant current vector of permagnetic synchronous motor along default
Moved from weak magnetic track starting point to weak magnetic final on trajectory track.
Preferably, the desired guiding trajectory, can be not only the straight line of connection weak magnetic track starting point and weak magnetic final on trajectory, such as
The oblique line done from weak magnetic track starting point to weak magnetic final on trajectory shown in Fig. 3 to Fig. 6, this oblique line are oblique line weak magnetic method
The middle desired guiding trajectory for carrying out weak magnetic regulation, the summit of resultant current vector will be moved on this oblique line during regulation；Or
The desired guiding trajectory, can also be that the tracks of line voltage or the cosine function of connection weak magnetic track starting point and weak magnetic final on trajectory are bent
Line.
In specific practical application, the desired guiding trajectory can also be only one kind herein regarding it particularly due to depending on environment
Example, this is not necessarily limited to, can realize makes desired guiding trajectories of the Us towards the direction change of reduction in the guarantor of the application
In the range of shield.
Specifically, idf shown in Figure 3<Weak magnetoelectricity stream vector locus schematic diagram during is_max under motoring condition, its
In, the intersection point of current limitation circle and d axles is the maximum current is_max of permagnetic synchronous motor；Is1, Is2 are two before adjusting
Individual resultant current vector, Is1 ', Is2 ' are the corresponding resultant current vector after being adjusted using oblique line weak magnetic method, and dotted line is oblique line
The desired guiding trajectory of weak magnetic regulation is carried out in weak magnetic method, its arrow represents regulation direction.ω r1 and ω r2 are rotor angular speed,
And ω r1<ω r2, voltage limit are concentric ellipse on dq coordinate systems, and elliptical center coordinate is (- idf, 0), with rotating speed
Rise ellipse will be gradually reduced；Only resultant current vector is just controllable positioned at oval inside, the electric current of the permagnetic synchronous motor.
Assuming that actual Us corresponding to resultant current vector Is1 (its component on d axles is more than-idf) has exceeded before weak magnetic
Controlled current flow scope, then an oblique line is done to motor characteristic current point (- idf, 0) by current resultant current vector Is1 summit,
Moved with the summit of Voltage loop PI output quantities regulation resultant current vector on this oblique line, it is oval into voltage corresponding to ω r2,
Now resultant current vector is changed into Is1 ', and its actual Us can drop to controlled current flow scope, ensure that actual current is controllable.Also,
When the limit is arrived in regulation, that is, when reaching weak magnetic final on trajectory, Us=0.Similarly, resultant current vector Is2 is (current to close before weak magnetic
Be less than-idf in the component on d axles into current phasor) corresponding to actual Us when having exceeded setting value, and by current resultant current
An oblique line is done in vector Is2 summit to (- idf, 0), and carries out weak magnetic along this oblique line.
Fig. 4 is idf<Weak magnetoelectricity stream vector locus schematic diagram during is_max under generating state, its weak magnetic process is the same as Fig. 3 institutes
The motoring condition shown is identical, and simply current phasor is integrally located at third quadrant, and here is omitted.
Fig. 5 is idf>Weak magnetoelectricity stream vector locus schematic diagram during is_max under motoring condition, wherein, current limitation circle with
The intersection point of d axles is the maximum current is_max of permagnetic synchronous motor；Is is the resultant current vector before adjusting, and Is ' is use
Corresponding resultant current vector after the regulation of oblique line weak magnetic method, dotted line are the default rail that weak magnetic regulation is carried out in oblique line weak magnetic method
Mark, its arrow represent regulation direction.ω r1 and ω r2 are rotor angular speed, and ω r1<ω r2, voltage limit is in dq coordinates
It is (- idf, 0) to fasten as concentric ellipse, elliptical center coordinate, will be gradually reduced with the rise ellipse of rotating speed；Only electric current
Vector is just controllable positioned at oval inside, the electric current of the permagnetic synchronous motor.
Assuming that actual Us corresponding to current phasor Is exceeds controlled current flow scope before weak magnetic, then sweared by current resultant current
An oblique line is done in the summit of amount to motor characteristic current point (- is_max, 0), with Voltage loop PI output quantities regulation resultant current arrow
The summit of amount is moved on this oblique line, and oval into voltage corresponding to ω r2, now resultant current vector is changed into Is ', its reality
Us can drop to controlled current flow scope, ensure that actual current is controllable.
Fig. 6 is idf>Weak magnetoelectricity stream vector locus schematic diagram during is_max under generating state, weak magnetic process is the same as shown in Fig. 5
Motoring condition it is identical, simply current phasor is integrally located at third quadrant, and here is omitted.
Can be seen that it from the principle of above-mentioned oblique line weak magnetic method need not distinguish current resultant current vector component on d axles
Whether id absolute value has surmounted-idf, i.e., no matter current resultant current vector positioned at where, by this above-mentioned oblique line weak magnetic
Method regulation current phasor always makes Us towards the direction change of reduction, and the methods of overcoming electric current advance angle in the prior art is in mistake
After characteristic current, the defects of id regulations reversely make uq negative sense increases, it is more accurate, fast that it is adjusted relative to traditional weak magnetic method
Speed, easily realize, and it is compatible more preferable to various motors, effectively prevent that motor is out of control.
Another embodiment of the present invention additionally provides the field weakening control method of another permagnetic synchronous motor, in above-mentioned implementation
On example and Fig. 1 basis, referring to Fig. 2, the field weakening control method of the permagnetic synchronous motor includes：
S201, according to der Geschwindigkeitkreis output valve, torque capacity electric current than algorithm output valve or demarcation motor obtain turn
Square current vs table, obtain d axles and give the given electric current iq_ref of electric current id_ref and q axle；
S202, determine that the given electric current coordinate (id_ref, iq_ref) of d, q axle is weak magnetic track starting point；
S203, the characteristic current idf that permagnetic synchronous motor is calculated；
Whether S204, judging characteristic electric current idf are less than the maximum current is_max of permagnetic synchronous motor；
If characteristic current idf is less than maximum current is_max, step S205 is performed；If characteristic current idf is more than or equal to
Maximum current is_max, then perform step S206；
S205, the coordinate for determining weak magnetic final on trajectory are (- idf, 0)；
S206, the coordinate for determining weak magnetic final on trajectory are (- is_max, 0)；
S207, the actual value Us of setting value Us_set and the synthesized voltage vector of permagnetic synchronous motor made the difference, obtained
Difference is Us_set-Us；
Wherein, setting value Us_set is less than or equal to the exportable maximum voltage vector of inverter；
If S208, difference are more than zero, after being amplified by Voltage loop PI controllers according to difference, it is defeated to obtain Voltage loop PI
Output is zero；If difference is less than zero, after being amplified by Voltage loop PI controllers according to difference, Voltage loop PI output quantities are obtained
For 0 to -1；
S209, according to Voltage loop PI output quantities, adjust the summit of resultant current vector of permagnetic synchronous motor along default
Moved from weak magnetic track starting point to weak magnetic final on trajectory track.
Referring to Fig. 7, d, q axle total voltage are passed throughThe resultant vector voltage Us for the motor side being calculated, which is less than, to be set
During definite value Us_set (can take the exportable maximum voltage vector Us_max of inverter), Voltage loop PI output quantities are 0, are not held
Each step of this field weakening control method of row, given electric current is not adjusted, i.e., given current phasor is always situated in weak magnetic rail
Mark starting point, do not moved along desired guiding trajectory to weak magnetic final on trajectory.
When resultant vector voltage Us is more than setting value Us_set, Voltage loop works, the regulation journey of resultant current vector
Degree is determined that Voltage loop PI controllers output violent change is 0 to -1, and it is exported closer to -1 by the output of Voltage loop PI controllers,
The summit of resultant current vector is nearer away from weak magnetic final on trajectory；When it is exported equal to -1, the summit of resultant current vector reaches
Weak magnetic final on trajectory.Controlled by corresponding weak magnetic, id_ref and iq_ref are adjusted to id* and iq*, gone forward side by side with feeding back
Row Clark Park conversion actual id and iq make the difference, respectively after respective PI controllers, with decoupling component Vd_ff with
Vq_ff is overlapped, and the signal after superposition is applied not only to above-mentioned voltage close loop control, also after Park is converted, passes through SVPWM
Modulation system control permagnetic synchronous motor (PMSM, permanent magnet synchronous motor) front end inverter
In each switching tube；It finally can effectively control actual Us stable below setting value Us_set, be always ensured that electric current is complete
It is controllable.
, can be with 4 pairs of poles, rated speed 1200rpm, a peak speed during specific actual test
4000rpm, peak power 100kw, characteristic current 302A, maximum current 375A permagnetic synchronous motor exemplified by, in electric automobile
On tested.Electric automobile runs on fast state in test process, and motor enters weak magnetic area, and it is prominent frequently to carry out impact speed
Slow down and test, utilize host computer to record the actual Us perunit values of weak magnetic process motor.
Fig. 8 is the result that weak magnetic control is carried out by the oblique line weak magnetic method in the present embodiment, and transverse axis represents time shaft, longitudinal axis generation
Table Us instantaneous values, wherein Us is perunit value, and setting value Us_set is arranged into 1, can be obtained by Fig. 8, fast or prominent in impact
During deceleration, this method can control Us to be no more than setting value Us_set very well.And effect in traditional weak magnetic method shown in comparison diagram 9
The result of preferable electric current leading angle control weak magnetic method, electric current leading angle control weak magnetic method is found in impact speed or anticlimax speed,
Setting value Us_set can be exceeded, reach 1.07, it is impossible to which accurate quick control Us is without departing from setting value Us_set.
To sum up, by rationally determining weak magnetic track starting point and weak magnetic final on trajectory, and desired guiding trajectory is planned, finally can be true
It is stable below setting value Us_set to protect synthesized voltage vector Us, passes through the setting to setting value Us_set, it can be ensured that close
It is less than or equal to the exportable maximum voltage vector Udp_max of inverter into voltage vector Us, makes inverter that there is regulation electricity all the time
Stream ability, motor will not be caused out of control.With regulation it is accurate, it is quick, easily realize and it is compatible good the advantages of.
What deserves to be explained is a kind of linear weak magnetic control system of IPM synchronous motor in the prior art also be present,
Referring to Figure 10, weak magnetic control is divided into by it：Linear weak magnetic control one area (line segment of O points to A points), linear weak magnetic control two area (A
Line segment of the point to B points) and linear weak magnetic control 3rd area (line segment of B points to C points).When the range of speed control is zero turn for arriving A points
When fast, it is operated in weak magnetic and controls an area；When the rotating speed of the rotating speed that the range of speed control is A points to B points, it is operated in weak magnetic
Control 2nd area；When the maximum speed of the rotating speed that the range of speed control is B points to IPM synchronous motor, it is operated in weak
The area of magnetic control three.Wherein, O points are the origin of coordinates of dq coordinate systems, and A points are torque capacity output point, and B points are ellipse by voltage limit
The straight line and current limitation circle intersection point perpendicular to direct-axis current are made in circle center, and C points are voltage limit elliptical center point.The system
It is to determine that control permagnetic synchronous motor works in which specific linear weak magnetic area according to detection rotating speed, belongs to voltage in its principle
Opened loop control, when the parameter of electric machine (such as Ld, Lq, Ψ f) all for ideal value and it is indeclinable in the case of can preferably control electricity
Machine, but the parameter of electric machine can change under actual conditions so that it can not accurately control Us, however it remains risk out of control, and its
It is only applicable to maximum current and is more than the motor of characteristic current, and press the control method, maximum current is more than the electricity of characteristic current
The d shaft current amplitudes of machine are necessarily less than or equal to characteristic current, limit torque capacity output during motor high speed.
And the field weakening control method for the permagnetic synchronous motor that the present embodiment provides, controlled using above-mentioned voltage close loop, energy
Enough avoid being influenceed by the parameter of electric machine；Also, by reasonable set weak magnetic track Origin And Destination, and desired guiding trajectory is planned, made
Motor Us is stable below setting value Us_set, effectively prevent motor in high speed because electric current ring filling causes phenomenon out of control
Occur；In addition, as shown in Figures 3 to 6, it is more than or less than the motor of characteristic current to maximum current and is all suitable for, without limitation on
Torque capacity output during motor high speed.
Another embodiment of the present invention additionally provides a kind of controller of permagnetic synchronous motor, referring to Figure 11, including：
Starting point determining unit 101, risen for determining that d, q axle give electric current coordinate (id_ref, iq_ref) for weak magnetic track
Point；
Computing unit 102, for the characteristic current idf of permagnetic synchronous motor to be calculated；
Judging unit 103, the maximum current is_max of permagnetic synchronous motor whether is less than for judging characteristic electric current idf；
Terminal determining unit 104, if being less than maximum current is_max for characteristic current idf, it is determined that weak magnetic track is whole
The coordinate of point is (- idf, 0)；If characteristic current idf is more than or equal to maximum current is_max, it is determined that the seat of weak magnetic final on trajectory
It is designated as (- is_max, 0)；
Adjustment unit 105, for according to Voltage loop PI output quantities, adjusting the top of the resultant current vector of permagnetic synchronous motor
Point moves along desired guiding trajectory from weak magnetic track starting point to weak magnetic final on trajectory.
Preferably, when computing unit 102 is used to be calculated the characteristic current idf of permagnetic synchronous motor, it is specifically used for：
According to permanent magnet flux linkage Ψ f and d the axle inductance Ld of permagnetic synchronous motor, characteristic current idf is calculated.
Preferably, the controller of the permagnetic synchronous motor, referring to Figure 11, on the basis of Figure 10, in addition to：
Given unit 106, for determining that d, q axle give electric current coordinate (id_ref, iq_ref) in starting point determining unit 101
Before the starting point of weak magnetic track, obtained according to der Geschwindigkeitkreis output valve, torque capacity electric current than the output valve or demarcation motor of algorithm
The torque current table of comparisons arrived, obtain d axles and give the given electric current iq_ref of electric current id_ref and q axle.
Voltage loop 107, for, according to Voltage loop PI output quantities, adjusting the synthesis of permagnetic synchronous motor in adjustment unit 105
Before the summit of current phasor is moved along desired guiding trajectory from weak magnetic track starting point to weak magnetic final on trajectory, by setting value Us_set
Made the difference with the actual value Us of the synthesized voltage vector of permagnetic synchronous motor, obtained difference is Us_set-Us；If difference is more than
Zero, then after being amplified by Voltage loop PI controllers according to difference, it is zero to obtain Voltage loop PI output quantities；If difference is less than zero,
After being then amplified by Voltage loop PI controllers according to difference, Voltage loop PI output quantities are obtained as 0 to -1.
Preferably, the desired guiding trajectory is：
Connect weak magnetic track starting point and the straight line of weak magnetic final on trajectory；
Or connection weak magnetic track starting point and the tracks of line voltage or cosine function curve of weak magnetic final on trajectory.
Specific operation principle is same as the previously described embodiments, no longer repeats one by one herein.
Each embodiment is described by the way of progressive in the present invention, and what each embodiment stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part illustration
.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention.Though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical scheme makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, it is every without departing from
The content of technical solution of the present invention, the technical spirit according to the present invention is to any simple modification made for any of the above embodiments, equivalent
Change and modification, still fall within technical solution of the present invention protection in the range of.
Claims (10)
1. a kind of field weakening control method of permagnetic synchronous motor, it is characterised in that applied to the controller of permagnetic synchronous motor, institute
Stating the field weakening control method of permagnetic synchronous motor includes：
It is weak magnetic track starting point to determine that d, q axle give electric current coordinate (id_ref, iq_ref)；
The characteristic current idf of permagnetic synchronous motor is calculated；
Judge whether the characteristic current idf is less than the maximum current is_max of the permagnetic synchronous motor；
If the characteristic current idf is less than the maximum current is_max, it is determined that the coordinate of weak magnetic final on trajectory for (- idf,
0)；
If the characteristic current idf is more than or equal to the maximum current is_max, it is determined that the coordinate of the weak magnetic final on trajectory
For (- is_max, 0)；
According to Voltage loop PI output quantities, adjust the permagnetic synchronous motor resultant current vector summit along desired guiding trajectory by
Weak magnetic track starting point moves to the weak magnetic final on trajectory.
2. the field weakening control method of permagnetic synchronous motor according to claim 1, it is characterised in that in described determination d, q
Before the given electric current coordinate (id_ref, iq_ref) of axle is weak magnetic track starting point, in addition to：
Compareed according to der Geschwindigkeitkreis output valve, torque capacity electric current than the torque current that the output valve or demarcation motor of algorithm obtain
Table, obtain d axles and give the given electric current iq_ref of electric current id_ref and q axle.
3. the field weakening control method of permagnetic synchronous motor according to claim 1, it is characterised in that described to be calculated forever
The characteristic current idf of magnetic-synchro motor, including：
According to permanent magnet flux linkage Ψ f and d the axle inductance Ld of the permagnetic synchronous motor, the characteristic current idf is calculated.
4. the field weakening control method of permagnetic synchronous motor according to claim 1, it is characterised in that described according to voltage
Ring PI output quantities, adjust the permagnetic synchronous motor resultant current vector summit along desired guiding trajectory by the weak magnetic track
Before starting point moves to the weak magnetic final on trajectory, in addition to：
Setting value Us_set and the synthesized voltage vector of the permagnetic synchronous motor actual value Us are made the difference, obtained difference is
Us_set-Us；The setting value Us_set is less than or equal to the exportable maximum voltage vector of inverter；
If the difference is more than zero, after being amplified by Voltage loop PI controllers according to difference, it is defeated to obtain the Voltage loop PI
Output is zero；
If the difference is less than zero, after being amplified by the Voltage loop PI controllers according to difference, the Voltage loop is obtained
PI output quantities are 0 to -1.
5. the field weakening control method of permagnetic synchronous motor according to claim 1, it is characterised in that the desired guiding trajectory
For：
Connect the straight line of weak magnetic track starting point and the weak magnetic final on trajectory；
Or connect the tracks of line voltage or cosine function song of weak magnetic track starting point and the weak magnetic final on trajectory
Line.
A kind of 6. controller of permagnetic synchronous motor, it is characterised in that including：
Starting point determining unit, it is weak magnetic track starting point for determining that d, q axle give electric current coordinate (id_ref, iq_ref)；
Computing unit, for the characteristic current idf of permagnetic synchronous motor to be calculated；
Judging unit, for judging whether the characteristic current idf is less than the maximum current is_max of the permagnetic synchronous motor；
Terminal determining unit, if being less than the maximum current is_max for the characteristic current idf, it is determined that weak magnetic track is whole
The coordinate of point is (- idf, 0)；If the characteristic current idf is more than or equal to the maximum current is_max, it is determined that the weak magnetic
The coordinate of final on trajectory is (- is_max, 0)；
Adjustment unit, for according to Voltage loop PI output quantities, adjusting the summit of the resultant current vector of the permagnetic synchronous motor
Moved along desired guiding trajectory from weak magnetic track starting point to the weak magnetic final on trajectory.
7. the controller of permagnetic synchronous motor according to claim 6, it is characterised in that also include：
Given unit, it is weak magnetic for determining that d, q axle give electric current coordinate (id_ref, iq_ref) in the starting point determining unit
Before the starting point of track, turned according to der Geschwindigkeitkreis output valve, torque capacity electric current than what the output valve or demarcation motor of algorithm obtained
Square current vs table, obtain d axles and give the given electric current iq_ref of electric current id_ref and q axle.
8. the controller of permagnetic synchronous motor according to claim 6, it is characterised in that the computing unit is used to calculate
When obtaining the characteristic current idf of permagnetic synchronous motor, it is specifically used for：
According to permanent magnet flux linkage Ψ f and d the axle inductance Ld of the permagnetic synchronous motor, the characteristic current idf is calculated.
9. the controller of permagnetic synchronous motor according to claim 6, it is characterised in that also include：
Voltage loop, for, according to Voltage loop PI output quantities, the synthesis for adjusting the permagnetic synchronous motor to be electric in the adjustment unit
Before the summit of flow vector is moved along desired guiding trajectory from weak magnetic track starting point to the weak magnetic final on trajectory, by setting value
Us_set and the synthesized voltage vector of the permagnetic synchronous motor actual value Us make the difference, and obtained difference is Us_set-Us；If
The difference is more than zero, then after being amplified by Voltage loop PI controllers according to difference, obtaining the Voltage loop PI output quantities is
Zero；If the difference is less than zero, after being amplified by the Voltage loop PI controllers according to difference, the Voltage loop PI is obtained
Output quantity is 0 to -1；The setting value Us_set is less than or equal to the exportable maximum voltage vector of inverter.
10. the controller of permagnetic synchronous motor according to claim 6, it is characterised in that the desired guiding trajectory is：
Connect the straight line of weak magnetic track starting point and the weak magnetic final on trajectory；
Or connect the tracks of line voltage or cosine function song of weak magnetic track starting point and the weak magnetic final on trajectory
Line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710574926.5A CN107395085B (en) | 2017-07-14 | 2017-07-14 | Weak magnetic control method and controller of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710574926.5A CN107395085B (en) | 2017-07-14 | 2017-07-14 | Weak magnetic control method and controller of permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107395085A true CN107395085A (en) | 2017-11-24 |
| CN107395085B CN107395085B (en) | 2020-09-11 |
Family
ID=60339842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710574926.5A Active CN107395085B (en) | 2017-07-14 | 2017-07-14 | Weak magnetic control method and controller of permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107395085B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474220A (en) * | 2018-12-19 | 2019-03-15 | 四川虹美智能科技有限公司 | A kind of motor control method and MCU |
| CN109905068A (en) * | 2019-03-13 | 2019-06-18 | 阳光电源股份有限公司 | Electric machine controller and its active short circuit current and method |
| CN111245321A (en) * | 2020-03-06 | 2020-06-05 | 江西江铃集团新能源汽车有限公司 | Maximum torque current ratio and weak magnetic calibration method of embedded permanent magnet synchronous motor |
| CN113517834A (en) * | 2021-07-14 | 2021-10-19 | 中国第一汽车股份有限公司 | Motor control method, device and system |
| CN117155207A (en) * | 2023-10-31 | 2023-12-01 | 奥铄动力科技(天津)有限公司 | Motor control method and power supply method based on d-axis and q-axis current control |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103762922A (en) * | 2014-01-24 | 2014-04-30 | 南京埃斯顿自动化股份有限公司 | Alternating-current servo flux-weakening speed-regulating method |
| JP2015171314A (en) * | 2014-03-06 | 2015-09-28 | 有限会社シー・アンド・エス国際研究所 | Drive controller of ac motor |
| CN106301128A (en) * | 2016-10-27 | 2017-01-04 | 江苏大学 | A kind of IPM synchronous motor perseverance direct-axis current control method and system |
| CN106452243A (en) * | 2016-10-26 | 2017-02-22 | 珠海格力节能环保制冷技术研究中心有限公司 | Field weakening control system and method for PMSM, refrigerator controller and refrigerator |
-
2017
- 2017-07-14 CN CN201710574926.5A patent/CN107395085B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103762922A (en) * | 2014-01-24 | 2014-04-30 | 南京埃斯顿自动化股份有限公司 | Alternating-current servo flux-weakening speed-regulating method |
| JP2015171314A (en) * | 2014-03-06 | 2015-09-28 | 有限会社シー・アンド・エス国際研究所 | Drive controller of ac motor |
| CN106452243A (en) * | 2016-10-26 | 2017-02-22 | 珠海格力节能环保制冷技术研究中心有限公司 | Field weakening control system and method for PMSM, refrigerator controller and refrigerator |
| CN106301128A (en) * | 2016-10-27 | 2017-01-04 | 江苏大学 | A kind of IPM synchronous motor perseverance direct-axis current control method and system |
Non-Patent Citations (1)
| Title |
|---|
| 石敏: "永磁同步电机高性能弱磁控制策略的研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474220A (en) * | 2018-12-19 | 2019-03-15 | 四川虹美智能科技有限公司 | A kind of motor control method and MCU |
| CN109905068A (en) * | 2019-03-13 | 2019-06-18 | 阳光电源股份有限公司 | Electric machine controller and its active short circuit current and method |
| EP3709499A1 (en) * | 2019-03-13 | 2020-09-16 | Sungrow Power Supply Co., Ltd. | Motor controller, active short circuit thereof, and method for controlling active short via the same |
| US11177751B2 (en) * | 2019-03-13 | 2021-11-16 | Sungrow Power Supply Co., Ltd. | Motor controller, active short circuit thereof, and method for controlling active short via the same |
| CN111245321A (en) * | 2020-03-06 | 2020-06-05 | 江西江铃集团新能源汽车有限公司 | Maximum torque current ratio and weak magnetic calibration method of embedded permanent magnet synchronous motor |
| CN111245321B (en) * | 2020-03-06 | 2021-06-22 | 江西江铃集团新能源汽车有限公司 | Maximum torque current ratio and weak magnetic calibration method of embedded permanent magnet synchronous motor |
| CN113517834A (en) * | 2021-07-14 | 2021-10-19 | 中国第一汽车股份有限公司 | Motor control method, device and system |
| CN117155207A (en) * | 2023-10-31 | 2023-12-01 | 奥铄动力科技(天津)有限公司 | Motor control method and power supply method based on d-axis and q-axis current control |
| CN117155207B (en) * | 2023-10-31 | 2024-01-26 | 奥铄动力科技(天津)有限公司 | Motor control method and power supply method based on d-axis and q-axis current control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107395085B (en) | 2020-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107395085A (en) | The field weakening control method and controller of a kind of permagnetic synchronous motor | |
| CN101396976B (en) | Electric machine control method and device in hybrid motor | |
| JP4082444B1 (en) | Vector controller for permanent magnet synchronous motor | |
| US7049779B2 (en) | Motor drive control apparatus, motor drive control method and program of the same | |
| US7427849B2 (en) | Controller for an electric vehicle and driving apparatus for the electric vehicle | |
| US20120221183A1 (en) | DC Bus Voltage Control | |
| CN107306101B (en) | The control device of rotating electric machine | |
| US9007009B2 (en) | Control apparatus for AC motor | |
| CN105743414A (en) | Power Convertor, Controller, And Method For Changing Carrier Frequency | |
| CN103718451A (en) | Motor control device | |
| US9154071B2 (en) | AC motor control apparatus | |
| JPWO2014192467A1 (en) | Magnetic pole position detection device for permanent magnet type synchronous motor | |
| US20140225535A1 (en) | Rotating electrical machine drive system | |
| JP6011324B2 (en) | Rotating electrical machine control device | |
| CN103595325A (en) | Method for controlling vectors of nonsalient pole type hybrid excitation motor | |
| CN102668368A (en) | Power conversion device for electric vehicle | |
| CN103532466A (en) | Method and device for controlling torque change rate of permanent magnet synchronous motor | |
| CN111756291A (en) | Method for realizing voltage saturation out-of-control inhibition control of new energy automobile permanent magnet synchronous motor controller | |
| CN106533294A (en) | Line voltage modulation-based field-weakening control method of permanent magnet synchronous motor | |
| JP2018196172A (en) | Control method of permanent magnet synchronous motor for electric automobile and device thereof | |
| CN107294433A (en) | A kind of automobile permanent magnet synchronous motor moment of torsion on-line correction system | |
| CN105245135A (en) | Weak magnetic control method during constant power running of permanent-magnet synchronous motor | |
| JP6772501B2 (en) | Automobile | |
| CN103916058A (en) | Linear field weakening control system of embedded permanent magnet synchronous motor | |
| CN104506102B (en) | Method for controlling permanent magnet synchronous motor and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220210 Address after: 230088 2 2, Wutong Road, Hefei new and high tech Zone, Anhui Patentee after: HEFEI YANGGUANG ELECTRIC POWER TECHNOLOGY Co.,Ltd. Address before: 230088 No. 1699 Xiyou Road, Hefei High-tech Zone, Anhui Province Patentee before: SUNGROW POWER SUPPLY Co.,Ltd. |
|
| TR01 | Transfer of patent right |