CN107634682A - A kind of method of motor control assembly and its controlled motor - Google Patents
A kind of method of motor control assembly and its controlled motor Download PDFInfo
- Publication number
- CN107634682A CN107634682A CN201711089223.XA CN201711089223A CN107634682A CN 107634682 A CN107634682 A CN 107634682A CN 201711089223 A CN201711089223 A CN 201711089223A CN 107634682 A CN107634682 A CN 107634682A
- Authority
- CN
- China
- Prior art keywords
- current
- quadrature
- axis voltage
- axis
- direct
- 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.)
- Pending
Links
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides motor control assembly and method, device includes：The modules such as data acquisition, current regulation, conversion process, voltage-regulation, detection and control；Three-phase current, the Angle Position of controlled motor rotor and the current rotating speed that data collecting module collected inverter provides to controlled motor；Current regulating module is determined with reference to quadrature axis current and with reference to direct-axis current according to rotating speed of target and current rotating speed；Conversion processing module determines direct-axis current and quadrature axis current according to three-phase current and Angle Position；VRM Voltage Regulator Module determines current quadrature-axis voltage, current direct-axis voltage according to quadrature axis current, direct-axis current；Control module detects that rotating speed difference is more than setting numerical value in detection module, and when currently direct-axis voltage and current quadrature-axis voltage reach saturation state, inverter is controlled to export target three-phase current to controlled motor according to the target quadrature-axis voltage that current direct-axis voltage and one are less than current quadrature-axis voltage.By technical scheme, the rotary speed precision of motor can be improved.
Description
Technical field
The present invention relates to electrical engineering technical field, the side of more particularly to a kind of motor control assembly and its controlled motor
Method.
Background technology
In order to realize that the rotating speed to motor is controlled in real time, it is ensured that motor can be occurred with the rotating speed of target of outside input
Rotate, it usually needs current three-phase current from inverter to controlled motor that export according to, the current angle position of controlled motor, currently
Rotating speed and the rotating speed of target of outside input then can roots come current direct-axis voltage corresponding to determining and current quadrature-axis voltage, controller
Target three-phase current corresponding to inverter to controlled motor output is controlled according to the current direct-axis voltage of determination and current quadrature-axis voltage.
There is amplitude voltage (i.e. maximum output voltage) in the inverter for providing three-phase current to controlled motor, work as controlled motor
During in high-speed overload, it is determined that current direct-axis voltage and current quadrature-axis voltage easily reach the saturation shape corresponding with inverter
State, cause the current rotating speed of motor can not track the rotating speed of target of outside input, influence the rotary speed precision of motor.
The content of the invention
The embodiments of the invention provide a kind of motor control assembly and its method for controlled motor, controlled motor can be improved
Rotary speed precision.
In a first aspect, the invention provides a kind of motor control assembly, including：Data acquisition module, current regulating module,
Conversion processing module, VRM Voltage Regulator Module, detection module and control module；Wherein,
The data acquisition module, work as three-phase to what controlled motor provided at current time for gathering outside inverter
The current rotating speed of electric current, the current angle position of controlled motor rotor and the controlled motor；
Current regulating module, for according to rotating speed of target of the outside input corresponding to the controlled motor with it is described current
Rotating speed is determined with reference to quadrature axis current and with reference to direct-axis current；
Conversion processing module, for determining current direct-axis current according to the current three-phase current and the current angle position
With current quadrature axis current；
VRM Voltage Regulator Module, for determining current quadrature axis electricity according to the reference quadrature axis current, the current quadrature axis current
Pressure, and current direct-axis voltage is determined according to the reference direct-axis current and the current direct-axis current；
Whether the detection module, the rotating speed difference for detecting the rotating speed of target and the current rotating speed are more than setting
Whether numerical value, and the detection current quadrature-axis voltage and the current direct-axis voltage reach corresponding with outside inverter and satisfy
And state；
The control module, it is more than setting numerical value in the rotating speed difference, and the current direct-axis voltage and described current
When quadrature-axis voltage reaches the saturation state corresponding with outside inverter, a target for being less than the current quadrature-axis voltage is determined
Quadrature-axis voltage, control outside inverter defeated to the controlled motor according to the current direct-axis voltage and the target quadrature-axis voltage
Go out first object three-phase current.
Preferably,
The control module, including：Voltage amending unit, the first converting unit and signaling control unit；Wherein,
The voltage amending unit, for being more than setting numerical value in the rotating speed difference, and the current direct-axis voltage and
When the current quadrature-axis voltage reaches the saturation state corresponding with outside inverter, determine that is less than the current quadrature axis electricity
The target quadrature-axis voltage of pressure；
First converting unit, will be described current straight for the current angle position of the rotor according to the controlled motor
Shaft voltage and the target quadrature-axis voltage obtain V under being transformed into two-phase rest frame from two-phase rotating coordinate systemαAnd Vβ；
Described control unit, for the V obtained according to first converting unitαAnd VβThe outside inverter of control is to described
Controlled motor exports first object three-phase current.
Preferably,
The conversion processing module, including：Second converting unit and the 3rd converting unit；Wherein,
Second converting unit, it is quiet for the current three-phase current of collection to be transformed into two-phase from three-phase static coordinate system
Only coordinate system alpha-beta obtains iαAnd iβ；
3rd converting unit, for the current angle position of the rotor according to the controlled motor, by described second turn
Change the i that unit obtainsαAnd iβTwo-phase rotating coordinate system, which is transformed into, from two-phase rest frame obtains current direct-axis current and current friendship
Shaft current.
Preferably,
Whether the detection module, the quadratic sum for detecting the current direct-axis voltage and the current quadrature-axis voltage reach
To the square value of the amplitude voltage of outside inverter, it is in the quadratic sum of the current direct-axis voltage and the current quadrature-axis voltage
During the square value of the no amplitude voltage for reaching outside inverter, determine that the current quadrature-axis voltage and the current direct-axis voltage are
It is no to reach the saturation state corresponding with outside inverter.
Preferably,
The control module, be further used for the current direct-axis voltage and the current quadrature-axis voltage not up to it is outer
During the corresponding saturation state of portion's inverter, or, when the rotating speed difference is no more than setting numerical value, according to the current d-axis electricity
Pressure and the current outside inverter of quadrature-axis voltage control export the second target three-phase current to the controlled motor.
Second aspect, any described motor control assembly control in first aspect is utilized the embodiments of the invention provide a kind of
The method of motor processed, including：
S1：Work as first three to what controlled motor provided at current time using inverter outside the data collecting module collected
The current rotating speed of phase current, the current angle position of controlled motor rotor and the controlled motor；
S2：Using the current regulating module according to rotating speed of target of the outside input corresponding to the controlled motor and institute
Current rotating speed is stated to determine with reference to quadrature axis current and with reference to direct-axis current；
S3：Determined currently according to the reference quadrature axis current, the current quadrature axis current using the conversion processing module
Quadrature-axis voltage, and current direct-axis voltage is determined according to the reference direct-axis current and the current direct-axis current；
S4：Set using whether the rotating speed difference of the detection module detection rotating speed of target and the current rotating speed is more than
Whether fixed number value, and the detection current quadrature-axis voltage and the current direct-axis voltage reach corresponding with outside inverter
Saturation state；
S5：It is more than setting numerical value, and the current direct-axis voltage and institute in the rotating speed difference using the control module
When stating the saturation state that current quadrature-axis voltage reaches corresponding with outside inverter, determine that is less than the current quadrature-axis voltage
Target quadrature-axis voltage, outside inverter is controlled to described controlled according to the current direct-axis voltage and the target quadrature-axis voltage
Motor exports first object three-phase current, then performs S1.
Preferably,
The S5, including：
It is more than setting numerical value, and the current direct-axis voltage and institute in the rotating speed difference using the voltage amending unit
When stating the saturation state that current quadrature-axis voltage reaches corresponding with outside inverter, determine that is less than the current quadrature-axis voltage
Target quadrature-axis voltage；
Current angle position using first converting unit according to the rotor of the controlled motor, by the current d-axis
Voltage and the target quadrature-axis voltage obtain V under being transformed into two-phase rest frame from two-phase rotating coordinate systemαAnd Vβ；
The V obtained using described control unit according to first converting unitαAnd VβThe outside inverter of control to it is described by
Control motor output first object three-phase current.
Preferably,
The S3, including：
It is quiet that the current three-phase current of collection is transformed into two-phase from three-phase static coordinate system using second converting unit
Only coordinate system alpha-beta obtains iαAnd iβ；
Current angle position using the 3rd converting unit according to the rotor of the controlled motor, described second is changed
The i that unit obtainsαAnd iβTwo-phase rotating coordinate system, which is transformed into, from two-phase rest frame obtains current direct-axis current and current quadrature axis
Electric current.
Preferably,
Whether the detection current quadrature-axis voltage and the current direct-axis voltage reach corresponding with outside inverter
Saturation state, including：
Whether the quadratic sum for detecting the current direct-axis voltage and the current quadrature-axis voltage reaches the width of outside inverter
The square value of threshold voltage, whether reach outside inverter in the quadratic sum of the current direct-axis voltage and the current quadrature-axis voltage
Amplitude voltage square value when, determine whether the current quadrature-axis voltage and the current direct-axis voltage reach and outside inversion
The corresponding saturation state of device.
Preferably,
Also include：Using the control module the current direct-axis voltage and the current quadrature-axis voltage not up to it is outer
During the corresponding saturation state of portion's inverter, or, when the rotating speed difference is no more than setting numerical value, according to the current d-axis electricity
Pressure and the current outside inverter of quadrature-axis voltage control export the second target three-phase current to the controlled motor.
The embodiments of the invention provide a kind of motor control assembly and its method for controlled motor, the device is adopted by data
Collect working as the rotor of inverter provides at current time to controlled motor outside module collection current three-phase current, controlled motor
The current rotating speed of preceding Angle Position and controlled motor, current regulating module, conversion processing module and VRM Voltage Regulator Module then can phases
Mutually coordinate to realize that the rotating speed of target according to outside input determines the current direct-axis voltage of controlled motor, current quadrature-axis voltage；
When detection module detects that the rotating speed difference of rotating speed of target and current rotating speed is more than setting numerical value, and current direct-axis voltage and current
When quadrature-axis voltage reaches saturation state, then illustrate that possible current direct-axis voltage and the current quadrature-axis voltage because corresponding to of controlled motor reaches
Cause the current rotating speed of controlled motor can not track rotating speed of target to saturation state, now, control module can determine that one
Less than the target quadrature-axis voltage of current quadrature-axis voltage, and according to treating that current direct-axis voltage and target quadrature-axis voltage controls outside inversion
Device exports first object three-phase current to the controlled motor, realizes and the current direct-axis voltage of motor and current quadrature-axis voltage are entered
Row moves back saturated process so that controlled motor current direct-axis voltage corresponding in subsequent period of time can continue to increase to improve
The rotating speed of controlled motor, so that controlled motor can effectively track the rotating speed of target of outside input in subsequent period of time,
Improve the rotary speed precision of controlled motor.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the 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, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of structural representation for motor control assembly that one embodiment of the invention provides；
Fig. 2 is the structural representation for another motor control assembly that one embodiment of the invention provides；
Fig. 3 is the structural representation for another motor control assembly that one embodiment of the invention provides；
Fig. 4 is a kind of flow chart for method using motor control assembly controlled motor that one embodiment of the invention provides.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in figure 1, the embodiments of the invention provide a kind of motor control assembly, including：Data acquisition module 101, electricity
Flow adjustment module 102, conversion processing module 103, VRM Voltage Regulator Module 104, detection module 105 and control module 106；Wherein,
The data acquisition module 101, provide to controlled motor for gathering outside inverter at current time current
The current rotating speed of three-phase current, the current angle position of controlled motor rotor and the controlled motor；
Current regulating module 102, for according to rotating speed of target of the outside input corresponding to the controlled motor with it is described
Current rotating speed is determined with reference to quadrature axis current and with reference to direct-axis current；
Conversion processing module 103, for determining current d-axis according to the current three-phase current and the current angle position
Electric current and current quadrature axis current；
VRM Voltage Regulator Module 104, for determining current quadrature axis according to the reference quadrature axis current, the current quadrature axis current
Voltage, and current direct-axis voltage is determined according to the reference direct-axis current and the current direct-axis current；
Whether the detection module 105, the rotating speed difference for detecting the rotating speed of target and the current rotating speed are more than
Numerical value is set, and whether the detection current quadrature-axis voltage and the current direct-axis voltage reach corresponding with outside inverter
Saturation state；
The control module 106, it is more than setting numerical value in the rotating speed difference, and the current direct-axis voltage and described works as
When preceding quadrature-axis voltage reaches the saturation state corresponding with outside inverter, a mesh for being less than the current quadrature-axis voltage is determined
Quadrature-axis voltage is marked, outside inverter is controlled to the controlled motor according to the current direct-axis voltage and the target quadrature-axis voltage
Export first object three-phase current.
Fig. 1 is refer to, the device is carried by inverter outside data collecting module collected at current time to controlled motor
Current three-phase current, the current angle position of controlled motor rotor and the current rotating speed of controlled motor supplied, current regulating module,
Conversion processing module and VRM Voltage Regulator Module can then cooperate with realize determined according to the rotating speed of target of outside input it is controlled
The current direct-axis voltage of motor, current quadrature-axis voltage；When detection module detects the rotating speed difference of rotating speed of target and current rotating speed
More than setting numerical value, and when current direct-axis voltage and current quadrature-axis voltage reach saturation state, then illustrate that controlled motor may be because
Corresponding current direct-axis voltage and current quadrature-axis voltage reach saturation state and cause the current rotating speed of controlled motor not track
Rotating speed of target, now, control module can determine that a target quadrature-axis voltage for being less than current quadrature-axis voltage, and current according to treating
Direct-axis voltage and the outside inverter of target quadrature-axis voltage control export first object three-phase current, realization pair to the controlled motor
The current direct-axis voltage of motor and current quadrature-axis voltage carry out moving back saturated process so that controlled motor institute in subsequent period of time is right
The current direct-axis voltage answered can continue to increase to improve the rotating speed of controlled motor, so that controlled motor is in subsequent period of time
The interior rotating speed of target that can effectively track outside input, improve the rotary speed precision of controlled motor.
Specifically, determine controlled motor because may current direct-axis voltage and current quadrature-axis voltage because corresponding to reach full
With state when causing the current rotating speed of controlled motor can not track rotating speed of target, pass through the quadrature axis electricity for forcing to reduce controlled motor
Pressure, realize the exciting current for reducing controlled motor so that direct-axis voltage of the controlled motor in subsequent period of time constantly increases electricity
Pressure is big, under conditions of the balance of voltage, controlled motor then can output-constant operation in higher rotating speed so that controlled motor is worked as
Preceding rotating speed can preferably track rotating speed of target, improve the rotary speed precision of controlled motor.
In the above embodiment of the present invention, current regulating module 102 can be to the rotating speed of target and data acquisition module of outside input
The current rotating speed of block collection is compared, and quadrature axis reference current is determined by corresponding PI controllers, and then basis obtains
With reference to quadrature axis current, by MTPA environment obtain corresponding to refer to direct-axis current.
In the above embodiment of the present invention, VRM Voltage Regulator Module can respectively to current direct-axis current and with reference to direct-axis current,
Current quadrature axis current and be compared with reference to quadrature axis current, then respectively by corresponding pi regulator be converted into corresponding to it is current
Quadrature-axis voltage and current direct-axis voltage, specifically, it can be realized by FOC vector operations according to reference to quadrature axis current, current friendship
Shaft current determines current quadrature-axis voltage, and determines current direct-axis voltage according to reference to direct-axis current and current direct-axis current.
Based on embodiment as shown in Figure 1, as shown in Fig. 2 in one embodiment of the invention, the control module 106, bag
Include：Voltage amending unit 1061, the first converting unit 1062 and signaling control unit 1063；Wherein,
The voltage amending unit 1061, for being more than setting numerical value, and the current d-axis electricity in the rotating speed difference
When pressure and the current quadrature-axis voltage reach the saturation state corresponding with outside inverter, determine that is less than the current friendship
The target quadrature-axis voltage of shaft voltage；
First converting unit 1062, for the current angle position of the rotor according to the controlled motor, described it will work as
Preceding direct-axis voltage and the target quadrature-axis voltage obtain V under being transformed into two-phase rest frame from two-phase rotating coordinate systemαAnd Vβ；
Described control unit 1063, for the V obtained according to first converting unitαAnd VβThe outside inverter of control to
The controlled motor exports first object three-phase current.
Refer to Fig. 2, voltage amending unit is more than setting numerical value in the rotating speed difference, and the current direct-axis voltage and
When the current quadrature-axis voltage reaches the saturation state corresponding with outside inverter, it may be determined that one is less than current quadrature axis electricity
The target quadrature-axis voltage of pressure, specifically, target quadrature-axis voltage can be a minimum pre-set by user or
One be calculated according to the current quadrature-axis voltage of determination is less than the smaller value of current quadrature-axis voltage, such as, can pass through by
Current quadrature-axis voltage is multiplied by the smaller value that fixation is less than obtained by 1 variation coefficient (such as 0.1) and is defined as target quadrature axis
Voltage.
In subsequent process, the first converting unit then can be according to the current of the rotor of the controlled motor of data collecting module collected
Angle Position, becoming current direct-axis voltage and target quadrature-axis voltage of changing commanders by anti-park, from two-phase rotating coordinate system to be transformed into two-phase quiet
Only V is obtained under coordinate systemαAnd Vβ, obtained VαAnd VβSix path switching signals can be modulated to by SVPWM modules, it is outer so as to control
The shut-off of portion's inverter and open-minded, by control outside inverter turn-off time and service time inverter to controlled electricity
First object three-phase current corresponding to machine transmission, so as to realize that the rotating speed to controlled motor is controlled.
Based on embodiment as shown in Figure 1, as shown in figure 3, in one embodiment of the invention, the conversion processing module
103, including：Second converting unit 1031 and the 3rd converting unit 1032；Wherein,
Second converting unit 1031, for the current three-phase current of collection to be transformed into two from three-phase static coordinate system
Phase rest frame alpha-beta obtains iαAnd iβ；
3rd converting unit 1032, for the current angle position of the rotor according to the controlled motor, by described
The i that two converting units obtainαAnd iβFrom two-phase rest frame be transformed into two-phase rotating coordinate system obtain current direct-axis current and work as
Preceding quadrature axis current.
In the above embodiment of the present invention, the second converting unit can by Clark become change commanders collection current three-phase current from
Three-phase static coordinate system is transformed into two-phase rest frame alpha-beta and obtains iαAnd iβ, the 3rd converting unit then can data acquisition module adopt
The current angle position of the rotor of the controlled motor of collection, convert to obtain i by parkαAnd iβTwo are transformed into from two-phase rest frame
Cordic phase rotator system obtains current direct-axis current and current quadrature axis current.
In one embodiment of the invention, the detection module 105, for detecting the current direct-axis voltage and described current
Whether the quadratic sum of quadrature-axis voltage reaches the square value of the amplitude voltage of outside inverter, in the current direct-axis voltage and described
During the square value for the amplitude voltage whether quadratic sum of current quadrature-axis voltage reaches outside inverter, the current quadrature axis electricity is determined
Whether pressure and the current direct-axis voltage reach the saturation state corresponding with outside inverter.The amplitude voltage of inverter is
The maximum voltage that inverter can export to controlled motor, when it is determined that current direct-axis voltage and current quadrature-axis voltage quadratic sum
Not less than amplitude voltage square value when, then characterize current direct-axis voltage and current quadrature-axis voltage reach saturation state.
In one embodiment of the invention, the control module 106, it is further used in the current direct-axis voltage and described
When current quadrature-axis voltage is not up to the saturation state corresponding with outside inverter, or, the rotating speed difference is no more than setting number
During value, according to the current direct-axis voltage and the current outside inverter of quadrature-axis voltage control to controlled motor output the
Two target three-phase currents.
In the above-mentioned implementation of the present invention, when rotating speed difference is no more than setting numerical value, no matter current direct-axis voltage is handed over current
Whether shaft voltage reaches the saturation state corresponding with outside inverter, illustrates that the current rotating speed of controlled motor can be good at
Track rotating speed of target, it is only necessary to by control module according to current direct-axis voltage and current quadrature-axis voltage control outside inverter to
Controlled motor exports the second target three-phase current, you can ensures that controlled motor has higher rotary speed precision；In current d-axis electricity
When pressure and current quadrature-axis voltage are not up to saturation state, it is only necessary to by control module according to current direct-axis voltage and current quadrature axis
The outside inverter of voltage control exports the second target three-phase current to controlled motor, you can make the rotating speed of controlled motor rise and by
Gradually close to rotating speed of target, controlled motor but had higher rotary speed precision.
As shown in figure 4, utilize the motor provided in any one embodiment of the invention the embodiments of the invention provide a kind of
The method of control device controlled motor, including：
S1：Work as first three to what controlled motor provided at current time using inverter outside the data collecting module collected
The current rotating speed of phase current, the current angle position of controlled motor rotor and the controlled motor；
S2：Using the current regulating module according to rotating speed of target of the outside input corresponding to the controlled motor and institute
Current rotating speed is stated to determine with reference to quadrature axis current and with reference to direct-axis current；
S3：Determined currently according to the reference quadrature axis current, the current quadrature axis current using the conversion processing module
Quadrature-axis voltage, and current direct-axis voltage is determined according to the reference direct-axis current and the current direct-axis current；
S4：Set using whether the rotating speed difference of the detection module detection rotating speed of target and the current rotating speed is more than
Whether fixed number value, and the detection current quadrature-axis voltage and the current direct-axis voltage reach corresponding with outside inverter
Saturation state；
S5：It is more than setting numerical value, and the current direct-axis voltage and institute in the rotating speed difference using the control module
When stating the saturation state that current quadrature-axis voltage reaches corresponding with outside inverter, determine that is less than the current quadrature-axis voltage
Target quadrature-axis voltage, outside inverter is controlled to described controlled according to the current direct-axis voltage and the target quadrature-axis voltage
Motor exports first object three-phase current, then performs S1.
In a preferred embodiment of the invention, the S5, including：
It is more than setting numerical value, and the current direct-axis voltage and institute in the rotating speed difference using the voltage amending unit
When stating the saturation state that current quadrature-axis voltage reaches corresponding with outside inverter, determine that is less than the current quadrature-axis voltage
Target quadrature-axis voltage；
Current angle position using first converting unit according to the rotor of the controlled motor, by the current d-axis
Voltage and the target quadrature-axis voltage obtain V under being transformed into two-phase rest frame from two-phase rotating coordinate systemαAnd Vβ；
The V obtained using described control unit according to first converting unitαAnd VβThe outside inverter of control to it is described by
Control motor output first object three-phase current.
In a preferred embodiment of the invention, the S3, including：
It is quiet that the current three-phase current of collection is transformed into two-phase from three-phase static coordinate system using second converting unit
Only coordinate system alpha-beta obtains iαAnd iβ；
Current angle position using the 3rd converting unit according to the rotor of the controlled motor, described second is changed
The i that unit obtainsαAnd iβTwo-phase rotating coordinate system, which is transformed into, from two-phase rest frame obtains current direct-axis current and current quadrature axis
Electric current.
In a preferred embodiment of the invention, whether the detection current quadrature-axis voltage and the current direct-axis voltage
Reach the saturation state corresponding with outside inverter, including：
Whether the quadratic sum for detecting the current direct-axis voltage and the current quadrature-axis voltage reaches the width of outside inverter
The square value of threshold voltage, whether reach outside inverter in the quadratic sum of the current direct-axis voltage and the current quadrature-axis voltage
Amplitude voltage square value when, determine whether the current quadrature-axis voltage and the current direct-axis voltage reach and outside inversion
The corresponding saturation state of device.
In a preferred embodiment of the invention, in addition to：Using the control module in the current direct-axis voltage and institute
When stating current quadrature-axis voltage and being not up to corresponding with outside inverter saturation state, or, the rotating speed difference is no more than setting
During numerical value, exported according to the current direct-axis voltage and the current outside inverter of quadrature-axis voltage control to the controlled motor
Second target three-phase current.
In summary, each embodiment of the present invention at least has the advantages that：
1st, in one embodiment of the invention, motor control assembly is by inverter outside data collecting module collected when current
Carve the current three-phase current provided to controlled motor, controlled motor rotor current angle position and controlled motor work as forward
Speed, current regulating module, conversion processing module and VRM Voltage Regulator Module can then cooperate to realize the mesh according to outside input
Mark rotating speed determines the current direct-axis voltage of controlled motor, current quadrature-axis voltage；When detection module detects rotating speed of target with working as
The rotating speed difference of preceding rotating speed is more than setting numerical value, and when current direct-axis voltage and current quadrature-axis voltage reach saturation state, then says
Bright controlled motor may cause controlled motor because corresponding current direct-axis voltage and current quadrature-axis voltage reach saturation state
Current rotating speed can not track rotating speed of target, and now, control module can determine that a target quadrature axis for being less than current quadrature-axis voltage
Voltage, and according to treating that current direct-axis voltage and target quadrature-axis voltage controls outside inverter to export the first mesh to the controlled motor
Three-phase current is marked, realizes and the current direct-axis voltage of motor and current quadrature-axis voltage is carried out moving back saturated process so that controlled motor
Corresponding current direct-axis voltage can continue to increase to improve the rotating speed of controlled motor in subsequent period of time, so that by
Control motor can effectively track the rotating speed of target of outside input in subsequent period of time, improve the rotary speed precision of controlled motor.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation makes a distinction with another entity or operation, and not necessarily require or imply and exist between these entities or operation
Any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant be intended to it is non-
It is exclusive to include, so that process, method, article or equipment including a series of elements not only include those key elements,
But also the other element including being not expressly set out, or also include solid by this process, method, article or equipment
Some key elements.In the absence of more restrictions, the key element limited by sentence " including one ", is not arranged
Except other identical factor in the process including the key element, method, article or equipment being also present.
It is last it should be noted that：Presently preferred embodiments of the present invention is the foregoing is only, is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made within the spirit and principles of the invention,
Equivalent substitution, improvement etc., are all contained in protection scope of the present invention.
Claims (10)
- A kind of 1. motor control assembly, it is characterised in that including：Data acquisition module, current regulating module, conversion process mould Block, VRM Voltage Regulator Module, detection module and control module；Wherein,The data acquisition module, the current three-phase electricity provided for gathering outside inverter at current time to controlled motor The current rotating speed of stream, the current angle position of controlled motor rotor and the controlled motor；Current regulating module, for according to rotating speed of target of the outside input corresponding to the controlled motor and the current rotating speed It is determined that with reference to quadrature axis current and with reference to direct-axis current；Conversion processing module, for determining current direct-axis current according to the current three-phase current and the current angle position and working as Preceding quadrature axis current；VRM Voltage Regulator Module, for determining current quadrature-axis voltage according to the reference quadrature axis current, the current quadrature axis current, and Current direct-axis voltage is determined according to the reference direct-axis current and the current direct-axis current；Whether the detection module, the rotating speed difference for detecting the rotating speed of target and the current rotating speed are more than setting number Whether value, and the detection current quadrature-axis voltage and the current direct-axis voltage reach the saturation corresponding with outside inverter State；The control module, it is more than setting numerical value, and the current direct-axis voltage and the current quadrature axis in the rotating speed difference When voltage reaches the saturation state corresponding with outside inverter, a target quadrature axis for being less than the current quadrature-axis voltage is determined Voltage, outside inverter is controlled to controlled motor output the according to the current direct-axis voltage and the target quadrature-axis voltage One target three-phase current.
- 2. motor control assembly according to claim 1, it is characterised in thatThe control module, including：Voltage amending unit, the first converting unit and signaling control unit；Wherein,The voltage amending unit, for being more than setting numerical value in the rotating speed difference, and the current direct-axis voltage and described When current quadrature-axis voltage reaches the saturation state corresponding with outside inverter, determine that is less than the current quadrature-axis voltage Target quadrature-axis voltage；First converting unit, for the current angle position of the rotor according to the controlled motor, by the current d-axis electricity Pressure and the target quadrature-axis voltage obtain V under being transformed into two-phase rest frame from two-phase rotating coordinate systemαAnd Vβ；Described control unit, for the V obtained according to first converting unitαAnd VβThe outside inverter of control is to described controlled Motor exports first object three-phase current.
- 3. motor control assembly according to claim 1, it is characterised in thatThe conversion processing module, including：Second converting unit and the 3rd converting unit；Wherein,Second converting unit, for the current three-phase current of collection to be transformed into the static seat of two-phase from three-phase static coordinate system Mark system alpha-beta obtains iαAnd iβ；3rd converting unit, it is for the current angle position of the rotor according to the controlled motor, the described second conversion is single The i that member obtainsαAnd iβTwo-phase rotating coordinate system, which is transformed into, from two-phase rest frame obtains current direct-axis current and current quadrature axis electricity Stream.
- 4. according to any described motor control assembly in claims 1 to 3, it is characterised in thatWhether the detection module, the quadratic sum for detecting the current direct-axis voltage and the current quadrature-axis voltage reach outer The square value of the amplitude voltage of portion's inverter, whether reached in the quadratic sum of the current direct-axis voltage and the current quadrature-axis voltage To the amplitude voltage of outside inverter square value when, determine whether the current quadrature-axis voltage and the current direct-axis voltage reach To the saturation state corresponding with outside inverter.
- 5. motor control assembly according to claim 1, it is characterised in thatThe control module, it is further used for not up to inverse with outside in the current direct-axis voltage and the current quadrature-axis voltage When becoming the corresponding saturation state of device, or, when the rotating speed difference is no more than setting numerical value, according to the current direct-axis voltage and The current outside inverter of quadrature-axis voltage control exports the second target three-phase current to the controlled motor.
- A kind of 6. method using any described motor control assembly controlled motor in claim 1 to 5, it is characterised in that Including：S1：The current three-phase electricity provided using inverter outside the data collecting module collected at current time to controlled motor The current rotating speed of stream, the current angle position of controlled motor rotor and the controlled motor；S2：Worked as using the current regulating module according to the rotating speed of target corresponding to the controlled motor of outside input with described Preceding rotating speed is determined with reference to quadrature axis current and with reference to direct-axis current；S3：Current quadrature axis is determined according to the reference quadrature axis current, the current quadrature axis current using the conversion processing module Voltage, and current direct-axis voltage is determined according to the reference direct-axis current and the current direct-axis current；S4：Whether the rotating speed difference that the rotating speed of target and the current rotating speed are detected using the detection module is more than setting number Whether value, and the detection current quadrature-axis voltage and the current direct-axis voltage reach the saturation corresponding with outside inverter State；S5：It is more than setting numerical value in the rotating speed difference using the control module, and the current direct-axis voltage and described works as When preceding quadrature-axis voltage reaches the saturation state corresponding with outside inverter, a mesh for being less than the current quadrature-axis voltage is determined Quadrature-axis voltage is marked, outside inverter is controlled to the controlled motor according to the current direct-axis voltage and the target quadrature-axis voltage First object three-phase current is exported, then performs S1.
- 7. according to the method for claim 6, it is characterised in thatThe S5, including：It is more than setting numerical value in the rotating speed difference using the voltage amending unit, and the current direct-axis voltage and described works as When preceding quadrature-axis voltage reaches the saturation state corresponding with outside inverter, a mesh for being less than the current quadrature-axis voltage is determined Mark quadrature-axis voltage；Current angle position using first converting unit according to the rotor of the controlled motor, by the current direct-axis voltage V is obtained under being transformed into two-phase rest frame from two-phase rotating coordinate system with the target quadrature-axis voltageαAnd Vβ；The V obtained using described control unit according to first converting unitαAnd VβOutside inverter is controlled to the controlled electricity Machine exports first object three-phase current.
- 8. according to the method for claim 6, it is characterised in thatThe S3, including：The current three-phase current of collection is transformed into the static seat of two-phase from three-phase static coordinate system using second converting unit Mark system alpha-beta obtains iαAnd iβ；Current angle position using the 3rd converting unit according to the rotor of the controlled motor, by second converting unit Obtained iαAnd iβTwo-phase rotating coordinate system, which is transformed into, from two-phase rest frame obtains current direct-axis current and current quadrature axis electricity Stream.
- 9. according to any described method in claim 6 to 8, it is characterised in thatWhether the detection current quadrature-axis voltage and the current direct-axis voltage reach corresponding with outside inverter and satisfy And state, including：Whether the quadratic sum for detecting the current direct-axis voltage and the current quadrature-axis voltage reaches the amplitude electricity of outside inverter The square value of pressure, whether reach the width of outside inverter in the quadratic sum of the current direct-axis voltage and the current quadrature-axis voltage During the square value of threshold voltage, determine whether the current quadrature-axis voltage and the current direct-axis voltage reach and outside inverter phase Corresponding saturation state.
- 10. according to the method for claim 6, it is characterised in thatAlso include：It is not up to inverse with outside in the current direct-axis voltage and the current quadrature-axis voltage using the control module When becoming the corresponding saturation state of device, or, when the rotating speed difference is no more than setting numerical value, according to the current direct-axis voltage and The current outside inverter of quadrature-axis voltage control exports the second target three-phase current to the controlled motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711089223.XA CN107634682A (en) | 2017-11-08 | 2017-11-08 | A kind of method of motor control assembly and its controlled motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711089223.XA CN107634682A (en) | 2017-11-08 | 2017-11-08 | A kind of method of motor control assembly and its controlled motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107634682A true CN107634682A (en) | 2018-01-26 |
Family
ID=61107416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711089223.XA Pending CN107634682A (en) | 2017-11-08 | 2017-11-08 | A kind of method of motor control assembly and its controlled motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107634682A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102882457A (en) * | 2012-10-10 | 2013-01-16 | 深圳市航盛电子股份有限公司 | Traction motor control device and method |
| CN105429539A (en) * | 2014-09-16 | 2016-03-23 | 株式会社电装 | Motor control device |
| CN105703688A (en) * | 2014-11-24 | 2016-06-22 | 北汽福田汽车股份有限公司 | Control method for preventing inverter from being in saturation state |
-
2017
- 2017-11-08 CN CN201711089223.XA patent/CN107634682A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102882457A (en) * | 2012-10-10 | 2013-01-16 | 深圳市航盛电子股份有限公司 | Traction motor control device and method |
| CN105429539A (en) * | 2014-09-16 | 2016-03-23 | 株式会社电装 | Motor control device |
| CN105703688A (en) * | 2014-11-24 | 2016-06-22 | 北汽福田汽车股份有限公司 | Control method for preventing inverter from being in saturation state |
Non-Patent Citations (1)
| Title |
|---|
| 李文秀: "《自动控制原理》", 31 July 2001, 哈尔滨工程大学出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105680746B (en) | A method of designing permasyn morot electric current and speed control PI parameters using online particle swarm optimization algorithm | |
| CN106921326B (en) | Maximum torque per ampere control method and apparatus in the full range of speeds of motor | |
| CN105305914B (en) | Angle evaluation method and device, motor vector control method and system and motor | |
| CN107659231B (en) | A kind of ultrahigh speed permanent magnet synchronous motor method for controlling number of revolution | |
| CN107294447B (en) | Self-adaptive maximum torque current ratio control device of permanent magnet synchronous motor | |
| CN109004652B (en) | Method for obtaining receiving-end power grid strength of direct-current multi-feed-in system with asynchronous motor | |
| CN106877402A (en) | The double pwm converter system coordination control methods of double-fed wind power generator group | |
| CN103532466B (en) | Method and device for controlling torque change rate of permanent magnet synchronous motor | |
| CN109888776B (en) | Prediction method for sub-synchronous resonant frequency of direct-drive wind power plant and terminal equipment | |
| CN102739150A (en) | Parameter identification control device and control method of sensorless permanent magnet synchronous motor | |
| CN106849808A (en) | New method for sensorless control technique of PMSM and method with LC wave filters | |
| CN107994792A (en) | Double-permanent-magnet synchronous motor control inverter and compensation control method | |
| CN111509753A (en) | Method and system for controlling short-circuit current in near zone of converter station | |
| CN105591575B (en) | A kind of direct character control system of non-salient pole permanent magnet synchronous motor and control method | |
| CN201197132Y (en) | Vector control AC variable-frequency control system of electric car | |
| CN206640528U (en) | Permagnetic synchronous motor is without weights model prediction moment controlling system | |
| CN111082726B (en) | Current control method of permanent magnet motor servo system | |
| CN101264737B (en) | Electric automobile vector control AC variable-frequency speed regulation system | |
| CN106410841B (en) | The flexible combination method and device of rectification side current transformer | |
| CN106655903A (en) | Double permanent magnet synchronous motor vector control method based on fuzzy adaptive cloud model | |
| CN107947669B (en) | Nonlinear back-thrust tracking control method for hybrid excitation synchronous motor | |
| CN107634682A (en) | A kind of method of motor control assembly and its controlled motor | |
| CN104218605A (en) | Non-impact-current grid connection method for three-phase voltage source grid-connected inverters | |
| Li et al. | Composite fractional order sliding mode control of permanent magnet synchronous motor based on disturbance observer | |
| CN109660162A (en) | A kind of immune sliding-mode control suitable for induction machine |
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 | ||
| CB02 | Change of applicant information |
Address after: 621050 No. 303 Jiuzhou Road, Fucheng District, Mianyang, Sichuan. Applicant after: Sichuan Hongmei Intelligent Technology Co., Ltd. Address before: 621050 No. 303 Jiuzhou Road, Fucheng District, Mianyang, Sichuan. Applicant before: Mianyang MeiLing Software Technology Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180126 |
|
| RJ01 | Rejection of invention patent application after publication |