CN107749727A - Built-in permagnetic synchronous motor field weakening control method based on torque feed forward control techniques - Google Patents
Built-in permagnetic synchronous motor field weakening control method based on torque feed forward control techniques Download PDFInfo
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- CN107749727A CN107749727A CN201710970150.9A CN201710970150A CN107749727A CN 107749727 A CN107749727 A CN 107749727A CN 201710970150 A CN201710970150 A CN 201710970150A CN 107749727 A CN107749727 A CN 107749727A
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- torque
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- magnetic linkage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of built-in permagnetic synchronous motor field weakening control method based on torque feed forward control techniques, mainly include stator magnetic linkage adjustment module, current data table, current regulator, pulsewidth modulation,Conversion, Park conversion, uncontrollable rectifier bridge, inverter；Described stator magnetic linkage adjustment module calculates suitable stator flux linkage set value as output according to the torque reference value of input, DC bus-bar voltage, motor speed and the index of modulation；Described stator magnetic linkage adjustment module, include I VII totally 7 modules；I is an one-dimensional table, have recorded corresponding minimum stator magnetic linkage under different given torques.The present invention realizes the maximization that motor exports in the torque of weak magnetic region by one proportionality coefficient of introducing in being adjusted in stator magnetic linkage, while ensures the stability of torque.The coefficient changes size automatically according to the operating condition of current motor, and voltage margin is improved in high speed low torque, torque output capability is improved in the big torque of high speed, so as to realize the peak use rate of DC bus-bar voltage.
Description
Technical field
The present invention relates to a kind of built-in permagnetic synchronous motor field weakening control method, more particularly to based on torque feedforward skill
The Control system architecture and algorithm of art.
Background technology
Permagnetic synchronous motor is a kind of motor with high efficiency and high power density, is led in electric automobile, train traction
Domain has extraordinary application prospect.Permagnetic synchronous motor base speed it is following frequently with MTPA control technologies to realize minimum damage
Consumption.But after rotating speed exceedes base speed, it is necessary to using weak magnetic control technology permagnetic synchronous motor can be made to reach more at a high speed
Degree.Weak magnetic control technology is usually to increase d shaft currents to reach weak magnetic purpose, but how to be protected while d shaft currents are increased
The maximal efficiency and power output of card motor are the common objectives of various weak magnetic control technologies.
At present permagnetic synchronous motor weak magnetic control technology be generally divided into feed forward control techniques, feedback control technology and feedforward-
Feedback mixing control technology.
Feedback control technology is typically used as feedback signal amendment d axles and q shaft currents by the use of stator current and voltage signal.Example
Such as using d shaft currents reference value and the difference or q shaft currents reference value and the difference of measured value of measured value as feedback signal.
Or using the voltage difference before and after ovennodulation as feedback signal.
Feed forward control techniques input usually using torque as order output rather than rotating speed as order, therefore alternatively referred to as
Torque feed forward control techniques.Torque feed forward control techniques typically have high dynamic response.It is specifically divided into analytic method and look-up table two
Kind.Analytic method is to calculate optimal control current using the math equation of permagnetic synchronous motor, is serious the shortcomings that this method
The parameter of electric machine is relied on, while needs line solver biquadratic equation, therefore application is not extensive.Rule of tabling look-up is that motor is entered in advance
Row test, establishes the electric current two-dimensional table based on measured data.When being controlled in real time motor, by table look-up come to
Fixed d, q shaft current.Although this method is only capable of being controlled for particular motor, universality is not high, but electric automobile,
The application scenarios such as traction locomotive possess higher application prospect.Meanwhile the dynamic responding speed that this method is higher, control simultaneously
Algorithm is simple, and amount of calculation is few, is more suitable for controlling in real time.
Subject matter existing for permagnetic synchronous motor weak magnetic control at present is easily to cause electricity in weak magnetic region voltage saturation
Stream controller is operated in inelastic region, so that torque output can not stably reach maximum potential value.
The content of the invention
In order to solve problem present in background technology, feedovered it is an object of the invention to provide one kind based on torque
The built-in permagnetic synchronous motor field weakening control method of control technology, based on look-up table, it is intended to solve weak magnetic area torque output
The problem of ability and torque output stability.
Technical scheme is as follows：
A kind of built-in permagnetic synchronous motor field weakening control method based on torque feed forward control techniques, mainly include stator magnetic linkage and adjust
Save module, current data table, current regulator, pulsewidth modulation,Conversion, Park conversion, uncontrollable rectifier bridge, inversion
Device；
Described stator magnetic linkage adjustment module is based on look-up table and threshold using feedback and the mixed-control mode of integral adjustment
Value judges；Described stator magnetic linkage adjustment module is according to torque reference value, DC bus-bar voltage, motor speed and the modulation of input
Coefficient calculates suitable stator flux linkage set value as output；
Described stator magnetic linkage adjustment module, include I-VII totally 7 modules；I is an one-dimensional table, have recorded difference to
Determining corresponding minimum stator magnetic linkage under torque, II is a limiter, and lower limit 0, no maximum, III is a selector, according to
Output is used as all the way in the result selection two-way of selecting switch.If switch input is 0, using first via result as defeated
Go out；If switch input is 1, using the second tunnel result as output, IV is hysteresis comparator, is inputted as the index of modulation（MI）,
Bound fiducial value is respectively 0.95 and 1.05, and output result is respectively 1 and 0, and V is integrator, and VI is limiter, the upper limit 1,
Lower limit is that 0, VII is arithmetic unit, by DC bus-bar voltage, rotating speed inverse andIt is multiplied；
Described current data table includes two two-dimensional tables；
For described current regulator using proportional-integral controller, d, q axle possess a proportional-integral controller respectively,
There is the cross decoupling of back-emf between d, q axle simultaneously；
Described pulse width modulation module is using space vector pulse width modulation；
DescribedConversion be stator dq axle reference voltages are transformed to it is staticIn reference axis；
Described Park conversion be by stator a, b two-phase-current transformation to the dq reference axis with rotor same rotational speed on.
Described current data table includes two two-dimensional tables, and each form has two input variables：Torque reference value
With stator flux linkage set value, the output of two two-dimensional tables is respectively d axle circuit set-points and q shaft current set-points, two two
Dimension table lattice are established by motor measured data, can be carried out according to input variable two-dimensional linear interpolation calculation obtain it is corresponding defeated
Go out result.
For described uncontrollable rectifier bridge using diode three-phase uncontrollable rectifier bridge, the module realizes that three-phase alternating current is changed
Into direct current Electricity Functional.
Described inverter uses three-phase IGBT full bridge structures, and 6 IGBT break-make is controlled by 6 road pulse signals.
Beneficial effects of the present invention：Realize motor in weak magnetic area by introducing a proportionality coefficient in being adjusted in stator magnetic linkage
The maximization of domain torque output, while ensure the stability of torque.The coefficient changes automatically according to the operating condition of current motor
Size, voltage margin is improved in high speed low torque, torque output capability is improved in the big torque of high speed, so as to realize direct current mother
The peak use rate of line voltage.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention；
Fig. 2 is given stator magnetic linkage regulation algorithm flow chart；
Fig. 3 is torque versus's figure under different control modes.
Embodiment
Below with reference to drawings and examples, the present invention will be further elaborated.
A kind of structure of built-in permagnetic synchronous motor field weakening control method of the invention based on torque feed forward control techniques is such as
Shown in Fig. 1.Software algorithm part include stator magnetic linkage adjustment module, current data table, current regulator, pulsewidth modulation,Conversion and Park conversion.Hardware components include uncontrollable rectifier bridge, inverter.
Described stator magnetic linkage adjustment module is according to torque reference value, DC bus-bar voltage, motor speed and the tune of input
Coefficient processed calculates suitable stator flux linkage set value as output.
Described current data table includes two two-dimensional tables.Each form has two input variables：Torque reference value
With stator flux linkage set value.The output of two forms is respectively d axle circuit set-points and q shaft current set-points.Two forms are equal
Established by motor measured data, two-dimensional linear interpolation calculation can be carried out according to input variable and obtain corresponding output knot
Fruit.
Using proportional-integral controller, d, q axle possess a proportional, integral and adjusted described current regulator respectively
Device is saved, while also has the cross decoupling of back-emf between d, q axle, in order to improves the transient response speed of electric current.
For described pulse width modulation module using space vector pulse width modulation, this voltage modulated technology can be real
Existing voltage utilization maximizes.Meanwhile in order to further increase the utilization rate to DC bus-bar voltage, it will be referred in overmodulation
The overmodulation technique that voltage vector phase and amplitude changes simultaneously, ensure the voltage fundamental amplitude and reference voltage vector width of generation
It is worth identical.Meanwhile the overmodulation technique can realize six step square-wave voltages, realize maximally utilizing for DC bus-bar voltage.
DescribedConversion be stator dq axle reference voltages are transformed to it is staticIn reference axis.
Described Park conversion be by stator a, b two-phase-current transformation to the dq reference axis with rotor same rotational speed on.
For described uncontrollable rectifier bridge using diode three-phase uncontrollable rectifier bridge, the module realizes that three-phase alternating current is changed
Into direct current Electricity Functional.
Described inverter uses three-phase IGBT full bridge structures, and 6 IGBT break-make is controlled by 6 road pulse signals.
Described internal permanent magnet synchronous motor is control object of the present invention, and corresponding control performance passes through measurement
The rotating speed of the motor, torque, voltage, amperometry obtain.
Given stator magnetic linkage regulation algorithm shown in Fig. 2 is the core innovative point of the present invention, and the algorithm includes I-VII and is total to
7 modules.I is an one-dimensional table, have recorded corresponding minimum stator magnetic linkage under different given torques.II is an amplitude limit
Device, lower limit 0, no maximum.III is a selector, selects being used as all the way in two-way to export according to the result of selecting switch.
If switch input is 0, using first via result as output；If switch input is 1, using the second tunnel result as defeated
Go out.IV is hysteresis comparator, is inputted as the index of modulation（MI）, bound fiducial value is respectively 0.95 and 1.05, and output result is divided
Wei 1 and 0.V is integrator.VI is limiter, the upper limit 1, lower limit 0.VII is arithmetic unit, by DC bus-bar voltage, is turned
Speed inverse andIt is multiplied.
Comprise the following steps that：
（1）Regulation d, q shaft current is located on current limitation circle, utilizes formula（1）Corresponding stator magnetic linkage is calculated, wherein
WithUsing measured value,WithUsing set-point,λ d It is d axle stator magnetic linkages,λ q It is q axle stator magnetic linkages.Utilize torque simultaneously
The measured torque of sensor record now.The fitting function between stator magnetic linkage and torque is calculated, and is deposited into I.
（2）Minimum stator magnetic linkage value under current given torque command is calculated by I, the value represents the motor
The minimum stator magnetic linkage that can reach under current given torque.
（3）CompareWithIf, II outputs 0 give integrator（V）, make.If, integrator starts positive integration,Start to increase.
（4）Motor speed increase can cause back-emf to increase, and then cause the index of modulation（MI）Increase.Once MI exceedes stagnant ring ratio
Compared with device（IV）Higher limit, integrator（V）Input can zero setting, so as to keepIt is not further added by.MI expression formula is formula
（2）.WhereinFor synthesized voltage vector,For DC bus-bar voltage.
In order to verify the reliability of this method, related experiment has been carried out.Experimental provision include permagnetic synchronous motor, asynchronous machine,
Torque sensor, position sensor, inverter and controller.Permagnetic synchronous motor is experimental subjects, is built-in rotor structure,
The parameter of electric machine is as shown in table 1.Asynchronous machine is operated in constant speed mode to accompany examination side motor in this experimental situation.Torque sensing
Device is connected among two motors, for measuring dtc signal.Position sensor is used for detecting permanent-magnet synchronous motor rotor position.
Inverter is used for powering to permagnetic synchronous motor.Controller links inverter and various sensors, is controlled according to sensor signal
Inverter IGBT is turned on.The device of control asynchronous machine has industrial computer and inverter.
Experiment condition：Asynchronous machine dragging permagnetic synchronous motor is operated under 840 revs/min of permanent rotating speed pattern.Controller is adopted
With the control principle shown in Fig. 1, control permagnetic synchronous motor is operated under permanent torque pattern.Given torque is since 0Nm with every
Second increase 1Nm mode export ladder order until 30Nm.For the stator magnetic linkage regulation algorithm more of the invention designed
Superiority, set following three kinds of measurement conditions：1st, improved method：Set in Fig. 2；2nd, conventional method 1：Setting
In Fig. 2, and close integrator（V）Function；3rd, conventional method 2：Set in Fig. 2, and close
Close integrator（V）Function.Torque is given under three kinds of operating modes and corresponding output torque is as shown in Figure 3.Can be substantially from the figure
Go out improved method has bigger torque output capability and stability in high torque (HT) area, so as to demonstrate stator of the present invention
The validity of flux regulating algorithm.
Claims (4)
1. a kind of built-in permagnetic synchronous motor field weakening control method based on torque feed forward control techniques, it is characterised in that main
Including
Stator magnetic linkage adjustment module, current data table, current regulator, pulsewidth modulation,Conversion, Park conversion, no
Control rectifier bridge, inverter；
Described stator magnetic linkage adjustment module is based on look-up table and threshold using feedback and the mixed-control mode of integral adjustment
Value judges；Described stator magnetic linkage adjustment module is according to torque reference value, DC bus-bar voltage, motor speed and the modulation of input
Coefficient calculates suitable stator flux linkage set value as output；
Described stator magnetic linkage adjustment module, include I-VII totally 7 modules；I is an one-dimensional table, have recorded difference to
Determining corresponding minimum stator magnetic linkage under torque, II is a limiter, and lower limit 0, no maximum, III is a selector, according to
Output is used as all the way in the result selection two-way of selecting switch；If switch input is 0, using first via result as defeated
Go out；If switch input is 1, using the second tunnel result as output, IV is hysteresis comparator, is inputted as the index of modulation（MI）,
Bound fiducial value is respectively 0.95 and 1.05, and output result is respectively 1 and 0, and V is integrator, and VI is limiter, the upper limit 1,
Lower limit is that 0, VII is arithmetic unit, by DC bus-bar voltage, the inverse and proportionality coefficient of rotating speedIt is multiplied；
Described current data table includes two two-dimensional tables；
For described current regulator using proportional-integral controller, d, q axle possess a proportional-integral controller respectively,
There is the cross decoupling of back-emf between d, q axle simultaneously；
Described pulse width modulation module is using space vector pulse width modulation；
DescribedConversion be stator dq axle reference voltages are transformed to it is staticIn reference axis；
Described Park conversion be by stator a, b two-phase-current transformation to the dq reference axis with rotor same rotational speed on.
2. the method as described in claim 1, it is characterised in that described current data table includes two two-dimensional tables, each
Form has two input variables：Torque reference value and stator flux linkage set value, the output of two two-dimensional tables is respectively d axles electricity
Road set-point and q shaft current set-points, two two-dimensional tables are established by motor measured data, can be carried out according to input variable
Two-dimensional linear interpolation calculation obtains corresponding output result.
3. the method as described in claim 1, it is characterised in that described uncontrollable rectifier bridge is not controlled using diode three-phase
Rectifier bridge, the module realize that three-phase alternating current is converted into direct current Electricity Functional.
4. the method as described in claim 1, it is characterised in that described inverter uses three-phase IGBT full bridge structures, passes through 6
Road pulse signal controls 6 IGBT break-make.
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| CN201710970150.9A CN107749727B (en) | 2017-10-18 | 2017-10-18 | Built-in permanent magnet synchronous motor field weakening control method based on torque feed forward control techniques |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112865639A (en) * | 2021-02-23 | 2021-05-28 | 浙江大学 | Electric automobile permanent magnet synchronous motor control system with road condition reproduction function |
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2017
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112865639A (en) * | 2021-02-23 | 2021-05-28 | 浙江大学 | Electric automobile permanent magnet synchronous motor control system with road condition reproduction function |
| CN112865639B (en) * | 2021-02-23 | 2022-06-21 | 浙江大学 | Electric automobile permanent magnet synchronous motor control system with road condition reproduction function |
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