CN107968609A - The method and a device for controlling weak magnetism of permanent magnet synchronous motor - Google Patents
The method and a device for controlling weak magnetism of permanent magnet synchronous motor Download PDFInfo
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- CN107968609A CN107968609A CN201711381415.8A CN201711381415A CN107968609A CN 107968609 A CN107968609 A CN 107968609A CN 201711381415 A CN201711381415 A CN 201711381415A CN 107968609 A CN107968609 A CN 107968609A
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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
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The present invention provides a kind of method and a device for controlling weak magnetism of permanent magnet synchronous motor, applied on rail vehicle, including：Detect that the first terminal voltage of motor is less than the first DC voltage of inverter in the first period of motor operation, export the first electric current advance angle to motor, the first electric current advance angle produces reluctance torque for motor, and inverter provides three-phase alternating current for motor；Detect that the second terminal voltage of motor is higher than the second DC voltage of inverter in the second period of motor operation, the second electric current advance angle is exported to motor, second period was the period after the first period, second electric current advance angle is more than the first electric current advance angle, second DC voltage is more than the first DC voltage, and the second electric current advance angle is used to carry out weak magnetic control to motor.The method of the present invention, when permanent magnet synchronous motor is operated in below rated speed, can efficiently use the tractive force of reluctance torque increase rail vehicle, can be operated above by taking over seamlessly rated speed below rated speed.
Description
Technical field
The present invention relates to the weak magnetic controlling party of railroad vehicle motor running technology, more particularly to a kind of permanent magnet synchronous motor
Method and device.
Background technology
Permanent magnet synchronous motor the advantages that high efficiency, power density are high, non-maintaining compared with general motor, with material skill
The development of art, as the important research object in railway vehicle traction system.It is fixed during permasyn morot stable operation
It is oval that electron current vector can neither exceed voltage limit, can not exceed current limitation and justify, have to voltage limit it is oval and
In current limitation circle.When permanent magnet motor operates in more than rated speed, since motor phase voltages have reached DC side
Voltage max, the rotating speed that higher is obtained by adjusting voltage are unlikely, it is therefore desirable to which permanent magnet synchronous motor is used
The method of weak magnetic control improves rotating speed.
At present, permanent magnet synchronous motor uses d shaft currents as zero (i mostly below rated speedd=0) control mode.
There was only quadrature axis component in stator current at this time, and stator magnetomotive force space vector is orthogonal with magnetic field of permanent magnet space vector, it is electronic
There was only permanent-magnet torque component, permanent torque area of the electric motor operation below rated speed in machine torque.With permanent magnet synchronous motor
Rotating speed continues to raise, and voltage limit circle is shunk to central point therewith, when passing through motor operating point in voltage ellipse contraction process,
Motor can normally track the intersection point, if rotating speed continue to raise the intersection point will just be located at it is oval outside and motor is not tracked.
Then the distal point of current phasor is also therewith along the corresponding permanent torque curve movement of given torque, until at current limitation circle.Cause
This needs that ac-dc axis given value of current is calculated according to motor electromagnetic torque equation, voltage limit equation of a circle and given electromagnetic torque
Value.The current phasor of motor will be along permanent torque curve motion.
But it is zero (i with d shaft currentsd=0) when controlling, permasyn morot is operated in the perseverance below rated speed
Torque area, due to not accounting for degaussing problem of the armature-reaction to permanent magnet synchronous motor, does not utilize electricity to greatest extent
Source voltage；With the increase of rotating speed, when reaching normal speed, by id=0 has obvious handoff procedure, shadow to weak magnetic control
Ring seamlessly transitting for motor speed.
The content of the invention
The present invention provides a kind of field weakening control method of permanent magnet synchronous motor, when permanent magnet synchronous motor is operated in rated speed
When following, reluctance torque can be efficiently used to increase the tractive force of rail vehicle, can smoothly be cut by being run below rated speed
Rated speed is changed to operate above.
One aspect of the present invention provides a kind of field weakening control method of permanent magnet synchronous motor, applied on rail vehicle, including：
Detect that the first terminal voltage of the motor is less than the first DC side of inverter in the first period of motor operation
Voltage, exports the first electric current advance angle, the first electric current advance angle is used to produce magnetic resistance turn for the motor to the motor
Square, the inverter provide three-phase alternating current for the motor；
The of the second terminal voltage of the motor higher than the inverter is detected in the second period of the motor operation
Two DC voltages, to the motor export the second electric current advance angle, second period be first period after when
Section, the second electric current advance angle are more than the first electric current advance angle, and it is straight that second DC voltage is more than described first
Side voltage is flowed, the second electric current advance angle is used to carry out weak magnetic control to the motor.
Further, before the first electric current advance angle of output to the motor, further include：
The torque capacity electric current for obtaining the motor compares curve；
The stator current vector of the motor is determined than curve according to the torque capacity electric current, according to the stator current
Vector determines the first electric current advance angle.
Further, the torque capacity electric current for obtaining the motor is than curve, including：
Direct-axis current id and quadrature axis current iq coordinate systems are established, in the coordinate system, is drawn according to the parameter of electric machine multiple
Current limitation justifies and multiple permanent torque curves, and each current limitation circle has intersection point with all permanent torque curves；
Determine the point of contact of each current limitation circle and all permanent torque curves；
The torque capacity electric current that the motor is drawn according to coordinate origin and all point of contacts compares curve.
Further, before exporting the second electric current advance angle to the motor, further include：
Compare the second terminal voltage of the motor and the second DC voltage of the inverter, determined by pi regulator
The second electric current advance angle.
Further, the method further includes：
The first terminal voltage of the motor or the second terminal voltage of the motor are obtained by equation below one：
Wherein, USFor the first terminal voltage or the second terminal voltage of the motor, UαAnd UβPassed through for the three-phase voltage of the motor
Obtained two-phase voltage is crossed after Clarke conversion, and m is the saturation degree of the motor.
Another aspect of the present invention provides a kind of weak magnetic control device of permanent magnet synchronous motor, applied on rail vehicle, wraps
Include：
First electric current advance angle output module, for detecting the first end of the motor in the first period of motor operation
Voltage is less than the first DC voltage of inverter, exports the first electric current advance angle to the motor, first electric current is advanced
Angle is used to produce reluctance torque for the motor, and the inverter provides three-phase alternating current for the motor；
Second electric current advance angle output module, for detecting the of the motor in the second period of the motor operation
Two terminal voltages be higher than the inverter the second DC voltage, to the motor export the second electric current advance angle, described second
Period is the period after first period, and the second electric current advance angle is more than the first electric current advance angle, described the
Two DC voltages are more than first DC voltage, and the second electric current advance angle is used to carry out weak magnetic control to the motor
System.
Further, described device further includes：
Curve acquisition module, for obtaining the maximum of the motor before the first electric current advance angle is exported to the motor
Torque current compares curve；
First determining module, for determining that the stator current of the motor is sweared than curve according to the torque capacity electric current
Amount, the first electric current advance angle is determined according to the stator current vector.
The curve acquisition module is specifically used for, and direct-axis current id and quadrature axis current iq coordinate systems is established, in the coordinate
In system, multiple current limitations circle and multiple permanent torque curves are drawn according to the parameter of electric machine, each current limitation circle is and institute
The permanent torque curve having has intersection point；
Determine the point of contact of each current limitation circle and all permanent torque curves；
The torque capacity electric current that the motor is drawn according to coordinate origin and all point of contacts compares curve.
Further, described device further includes：Second determining module；
Second determining module, for the motor export the second electric current advance angle before, the motor
The second terminal voltage and the inverter the second DC voltage, the second electric current advance angle is determined by pi regulator.
Further, described device further includes：
Terminal voltage acquisition module, for the first terminal voltage for obtaining by equation below one motor or the motor
Second terminal voltage：
Wherein, USFor the first terminal voltage or the second terminal voltage of the motor, UαAnd UβPassed through for the three-phase voltage of the motor
Obtained two-phase voltage is crossed after Clarke conversion, and m is the saturation degree of the motor.
The present invention also provides a kind of storage medium, the storage medium includes instruction, when described instruction is computer-executed
When so that the computer realizes the field weakening control method of permanent magnet synchronous motor as described above.
The field weakening control method of permanent magnet synchronous motor provided by the invention, applied on rail vehicle, in motor operation
First period detected that the first terminal voltage of motor was less than the first DC voltage of inverter, and exporting the first electric current to motor surpasses
Anterior angle, the first electric current advance angle are used to produce reluctance torque for motor, and inverter provides three-phase alternating current for motor；Transported in motor
The second capable period detects that the second terminal voltage of motor is higher than the second DC voltage of inverter, to the second electricity of motor output
Advance angle is flowed, the second period was the period after the first period, and the second electric current advance angle is more than the first electric current advance angle, and second is straight
Stream side voltage is more than the first DC voltage, and the second electric current advance angle is used to carry out weak magnetic control to motor.Carried by the present invention
The field weakening control method of the permanent magnet synchronous motor of confession, when permanent magnet synchronous motor is operated in below rated speed, can efficiently use
Reluctance torque increases the tractive force of rail vehicle, more than rated speed can be transported by running take over seamlessly below rated speed
OK.
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 attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other attached drawings according to these attached drawings.
Fig. 1 is that the voltage limit of permanent magnet synchronous motor provided in an embodiment of the present invention is oval and current limitation justifies schematic diagram；
Fig. 2 is the field weakening control method flow diagram of permanent magnet synchronous motor provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of definite the first electric current of permanent magnet synchronous motor advance angle provided in an embodiment of the present invention；
Fig. 4 is permanent-magnetic synchronous motor stator current phasor trail change curve map provided in an embodiment of the present invention；
Fig. 5 is a structure diagram of the weak magnetic control device of permanent magnet synchronous motor provided in an embodiment of the present invention；
Fig. 6 is another structure diagram of the weak magnetic control device of permanent magnet synchronous motor provided in an embodiment of the present invention；
Fig. 7 is the weak magnetic control system block diagram of permanent magnet synchronous motor provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the embodiment of the present invention, to this
Technical solution in inventive embodiments is clearly and completely described, it is clear that described embodiment is that a part of the invention is real
Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property work under the premise of all other embodiments obtained, belong to the scope of protection of the invention.
Fig. 1 is that the voltage limit of permanent magnet synchronous motor provided in an embodiment of the present invention is oval and current limitation justifies schematic diagram,
As shown in Figure 1, during permasyn morot stable operation, stator current vector can neither exceed voltage limit ellipse, can not
Justify beyond current limitation, have in voltage limit is oval and current limitation is justified, i.e., the scope of stator current vector is limited
In the shadow region that ABCDE is surrounded in figure；When permanent magnet motor operates in more than rated speed, since motor is mutually electric
Pressure has reached DC voltage maximum, and the rotating speed that higher is obtained by adjusting voltage is unlikely, it is therefore desirable to right
Permanent magnet synchronous motor improves rotating speed using the method that weak magnetic controls.
The control of permanent magnet synchronous motor weak magnetic is described further below.
During the vector controlled of permanent magnet synchronous motor, it is anti-more than motor that inverter is supplied to the voltage of motor to need
Potential can just make motor normal operation.Wherein, the back-emf of motor is directly proportional to the magnetic field of motor and rotating speed.When motor is opened from zero
When dynamic, the rotating speed of motor is very low, back-emf also very little, thus inverter is provided to the voltage of motor also very little.But with
Motor speed further improves, and the back-emf of motor also improves therewith, and at this time, inverter is provided to the voltage of motor
With raising, the normal operation of motor can be maintained.When motor speed reaches certain value, inverter is supplied to the voltage of motor
Reach its maximum, at this time, if it is desired to further improving the rotating speed of motor, it is necessary to reduce the back-emf of motor, that is, reduce motor
Magnetic field, be so put into the control of the weak magnetic of motor.
Fig. 2 is the field weakening control method flow diagram of permanent magnet synchronous motor provided in an embodiment of the present invention, such as Fig. 2 institutes
Show, the field weakening control method of permanent magnet synchronous motor provided in this embodiment, applied on rail vehicle, including：
S101：Detect that the first terminal voltage of the motor is first straight less than inverter in the first period of motor operation
Side voltage is flowed, the first electric current advance angle is exported to the motor；
Wherein, the first electric current advance angle is used to produce reluctance torque for the motor, and the inverter is the electricity
Machine provides three-phase alternating current；
One torque of given motor, motor will be zero gradually startup by speed.Motor is connected with inverter, and inverter will be outer
The two-phase direct current that portion's power supply provides is converted to three-phase alternating current, and power supply machine uses, in the first period that motor has just brought into operation
Interior, the terminal voltage for detecting motor is less than the DC voltage of inverter, wherein it is possible to be detected by voltage sensor.Work as electricity
Set end voltage is less than DC side voltage of converter, shows, inverter is supplied to the voltage of motor need not be too big, and motor is transported at this time
Row is below rated speed.
In the prior art, when motor operation is below rated speed, mostly use d axis for zero control mode, at this time
There was only quadrature axis component in stator current, and stator magnetomotive force space vector is orthogonal with magnetic field of permanent magnet space vector, motor turns
There was only permanent-magnet torque component, permanent torque area of the electric motor operation below rated speed in square.But the rotor of actual use is simultaneously
Off-gauge circle, use d axis for zero method, by the q axis components of stator current vector all for providing torque, although electric
Machine can be run with torque capacity, but due to the rotation of salient pole type rotor, at the time of d shaft currents certainly will be had being not zero, by
This, armature-reaction generates permanent magnet synchronous motor degaussing problem, causes the waste of d shaft currents, and to supply voltage
Waste.
In order to solve the problems in the existing technology this implementation, the of motor is detected in the first period of motor operation
It is defeated to motor when one terminal voltage is less than the first DC voltage of inverter, namely when motor operation is below rated speed
Go out the first electric current advance angle, which can be that motor produces reluctance torque, thus, it is possible to turn using the magnetic resistance
Square increases the tractive force of rail vehicle, avoids the waste to supply voltage.It will be understood by those skilled in the art that to motor
The first electric current advance angle is exported, d shaft currents must will not be zero, thus can produce reluctance torque.
S102：Detect that the second terminal voltage of the motor is higher than the inverter in the second period of the motor operation
The second DC voltage, to the motor export the second electric current advance angle；
Wherein, second period is the period after first period, and the second electric current advance angle is more than described
First electric current advance angle, second DC voltage are more than first DC voltage, and the second electric current advance angle is used
In to motor progress weak magnetic control.
After electric motor starting operation, rotating speed gradually rises, and when the rotating speed of motor reaches its rated speed, motor operation enters
Second period, in second period, the terminal voltage of motor is higher than the DC voltage of inverter, correspondingly, electric moter voltage accounts for
Empty ratio reaches 100%, at this time, it may be necessary to export the second electric current advance angle to motor.
Since motor terminal voltage higher than DC side voltage of converter and electric moter voltage duty cycle reaches 100% corresponding, institute
It will be understood by those skilled in the art that in specific control, can only detect motor terminal voltage and DC side voltage of converter
Magnitude relationship, judges whether to export the second electric current advance angle to motor, can also be by detecting the voltage duty cycle of motor only
No is 100% to determine whether exporting the second electric current advance angle to motor, is of coursed, can also be in detection motor terminal voltage and inverse
The voltage duty cycle of motor is detected while becoming device DC voltage size, as a result, the control to motor is more comprehensively smart
It is accurate.
It should be noted that after electric motor starting, rotating speed increases by zero, it below rated speed by running to specified turn
The first electric current advance angle that process more than fast corresponds in above-mentioned S101 and S102, S101 respectively is less than the second electric current in S102
Advance angle.Wherein, the first electric current advance angle and the second electric current advance angle are not changeless, are currently run with motor
State is related, exports different size of electric current advance angle to motor under different operating statuses so that motor is from specified turn
Not have obvious handoff procedure more than rated speed, motor speed can seamlessly transit speed.For how to determine first
Electric current advance angle and the second electric current advance angle, meeting are specifically described in the embodiment below.
The field weakening control method of permanent magnet synchronous motor provided in this embodiment, applied on rail vehicle, in motor operation
The first period detect motor the first terminal voltage be less than inverter the first DC voltage, to motor export the first electric current
Advance angle, the first electric current advance angle are used to produce reluctance torque for motor, and inverter provides three-phase alternating current for motor；In motor
Second period of operation detects that the second terminal voltage of motor is higher than the second DC voltage of inverter, to motor output second
Electric current advance angle, the second period are the period after the first period, and the second electric current advance angle is more than the first electric current advance angle, second
DC voltage is more than the first DC voltage, and the second electric current advance angle is used to carry out weak magnetic control to motor.By this implementation
The field weakening control method for the permanent magnet synchronous motor that example provides, can be effective when permanent magnet synchronous motor is operated in below rated speed
Increase the tractive force of rail vehicle using reluctance torque, can by below rated speed run take over seamlessly rated speed with
Upper operation.
With reference to Fig. 3, and specific embodiment is used, the field weakening control method of permanent magnet synchronous motor is provided the present invention
In the first the definite of electric current advance angle be described in detail.Fig. 3 is definite permanent magnet synchronous motor provided in an embodiment of the present invention
The flow diagram of first electric current advance angle.As shown in figure 3, the first electric current of permanent magnet synchronous motor provided in an embodiment of the present invention surpasses
Method for determining front angle, including：
S301：Direct-axis current id and quadrature axis current iq coordinate systems are established, in the coordinate system, is drawn according to the parameter of electric machine
Multiple current limitation circles and multiple permanent torque curves.
Wherein, each current limitation circle has intersection point with all permanent torque curves.
S302：Determine the point of contact of each current limitation circle and all permanent torque curves；
S303：The torque capacity electric current that the motor is drawn according to coordinate origin and all point of contacts compares curve.
S304：The stator current vector of the motor is determined than curve according to the torque capacity electric current, according to described fixed
Electron current vector determines the first electric current advance angle.
The threephase stator electric current of permanent magnet synchronous motor can be equivalent to direct-axis current id and quadrature axis electricity under rotating coordinate system
Iq is flowed, it is the prior art to draw current limitation circle, voltage limit ellipse and permanent torque curve according to the parameter of electric machine, is no longer done herein
It is specific to introduce.Fig. 4 is permanent-magnetic synchronous motor stator current phasor trail change curve map provided in an embodiment of the present invention, such as Fig. 4
Shown, T1 and T2 are permanent torque curve, wherein T1>T2；ω1And ω2For rotating speed, wherein ω1<ω2, it is seen then that with motor speed
Increase, voltage ellipse is to contract, and torque is bigger, and the rotating speed of motor is smaller.
It should be noted that when under motor operation turns state in perseverance, any point correspond to one on its permanent torque curve
To direct-axis current id and quadrature axis current iq, the stator current vector that each pair direct-axis current id and quadrature axis current iq are formed can produce
The identical electromagnetic torque of raw size, wherein, there are a stator current vector while formed objects electromagnetic torque is produced width
Value is minimum.The stator current vector of amplitude minimum and the intersection point of permanent torque curve are the corresponding electric current of the stator current vector
The point of contact of horicycle and permanent torque curve, according to same method, determines under different rotating speeds, the stator current of each amplitude minimum
The point of contact of the corresponding current limitation circle of vector and permanent torque curve.All definite point of contacts and coordinate origin are connected, are painted
Thus the torque capacity electric current of motor processed, controls the stator current vector of motor bent along torque capacity electric current ratio than curve
Line is run.Due to corresponding a pair of the direct-axis current id and quadrature axis current iq of each stator current vector, thus, according to stator current
Vector is the first electric current advance angle that can determine that motor.
The present embodiment is after the first electric current advance angle of motor is determined according to stator current vector, the first of motor operation
Period detects that the first terminal voltage of motor is less than the first DC voltage of inverter, and it is advanced to export first electric current to motor
Angle so that when permanent magnet synchronous motor is operated in below rated speed, reluctance torque can be efficiently used to increase rail vehicle
Tractive force.The present embodiment has taken into full account the degaussing problem that armature-reaction produces permanent magnet synchronous motor, efficiently uses d shaft currents
The reluctance torque of generation, avoids the waste to supply voltage.
Optionally, the first terminal voltage of motor or the second terminal voltage of motor can be obtained by equation below one：
Wherein, USFor the first terminal voltage or the second terminal voltage of motor, UαAnd UβPass through Clarke for the three-phase voltage of motor
The two-phase voltage obtained after conversion, m are the saturation degree of motor.
Further, detect that the second terminal voltage of motor is second straight higher than inverter in the second period of motor operation
After flowing side voltage, compare the second terminal voltage of motor and the second DC voltage of inverter, the is determined by pi regulator
Two electric current advance angles, and export the second electric current advance angle to motor.The second electric current advance angle corresponds to Rated motor rotating speed
Operation phase above.
Referring once again to Fig. 4, the field weakening control method for providing the present invention permanent magnet synchronous motor is described further.
As shown in figure 4, OABC curves for torque capacity electric current than curve, in the first period of motor operation, i.e., specified turn
Fast following, for stator current vector along OABC curve motions, the first electric current advance angle exported to motor is the β angles in figure.When
When motor operation is more than rated speed, when given load torque is T1, curent change track is C-B-D, and stabilization of speed exists
ω1, the second electric current advance angle exported at this time to motor is β 1；When given load torque is T2, curent change track is C-A-
E, stabilization of speed is in ω2, the second electric current advance angle exported at this time to motor is β 2, wherein, T2<T1, ω1<ω2, | β2| ＞ | β1
|.It can be seen from the above that during weak magnetic field operation, the second electric current advance angle starts gradually to increase with the rise of rotating speed, produces degaussing
Electric current.With the continuous rise of rotating speed, the second electric current advance angle linear change, current locus bearing along permanent torque curve to id
Direction change.
Fig. 5 is a structure diagram of the weak magnetic control device of permanent magnet synchronous motor provided in an embodiment of the present invention, please be joined
Add shown in Fig. 5, the weak magnetic control device 60 of the permanent magnet synchronous motor, including：
First electric current advance angle output module 601, for detecting the first end of motor in the first period of motor operation
Voltage is less than the first DC voltage of inverter, exports the first electric current advance angle to motor, the first electric current advance angle is for being
Motor produces reluctance torque, and inverter provides three-phase alternating current for motor；
Second electric current advance angle output module 602, for detecting the second end of motor in the second period of motor operation
Voltage be higher than inverter the second DC voltage, to motor export the second electric current advance angle, the second period for the first period it
Period afterwards, the second electric current advance angle are more than the first electric current advance angle, and the second DC voltage is more than the first DC voltage, the
Two electric current advance angles are used to carry out weak magnetic control to motor.
Fig. 6 is another structure diagram of the weak magnetic control device of permanent magnet synchronous motor provided in an embodiment of the present invention, please
Participate in shown in Fig. 6, on the basis of above-described embodiment, the weak magnetic control device 60 of permanent magnet synchronous motor of the invention can be with
Including：
Curve acquisition module 603, for obtaining the maximum of motor before the first electric current advance angle is exported to the motor
Torque current compares curve；
First determining module 604, for the stator current vector of motor to be determined than curve according to torque capacity electric current, according to
Stator current vector determines the first electric current advance angle.
The curve acquisition module 603 is specifically used for, and direct-axis current id and quadrature axis current iq coordinate systems is established, in coordinate system
In, multiple current limitations circle and multiple permanent torque curves are drawn according to the parameter of electric machine, each current limitation circle with all perseverances
Torque curve has intersection point；
Determine the point of contact of each current limitation circle and all permanent torque curves；
The torque capacity electric current that motor is drawn according to coordinate origin and all point of contacts compares curve.
The weak magnetic control device 60 of permanent magnet synchronous motor can also include：Second determining module 605；
Second determining module 605, for before the second electric current advance angle is exported to the motor, comparing motor
Second DC voltage of the second terminal voltage and inverter, the second electric current advance angle is determined by pi regulator.
Optionally, which further includes：
Terminal voltage acquisition module 606, for the first terminal voltage or the second of motor by the acquisition motor of equation below one
Terminal voltage：
Wherein, USFor the first terminal voltage or the second terminal voltage of motor, UαAnd UβPass through Clarke for the three-phase voltage of motor
The two-phase voltage obtained after conversion, m are the saturation degree of motor.
The weak magnetic control device 60 of above-mentioned permanent magnet synchronous motor, accordingly can perform the permanent magnet synchronous motor of any embodiment
Field weakening control method technical solution, its implementing principle and technical effect is similar, and details are not described herein.
The present invention also provides a kind of storage medium, storage medium includes instruction, when executed by the processor so that meter
Calculation machine realizes the field weakening control method of permanent magnet synchronous motor as above.
The weak magnetic control device of permanent magnet synchronous motor provided in this embodiment, electricity is detected in the first period of motor operation
It is defeated to motor by the first electric current advance angle output module when first terminal voltage of machine is less than the first DC voltage of inverter
Go out the first electric current advance angle, detect that the second terminal voltage of motor is second straight higher than inverter in the second period of motor operation
When flowing side voltage, the second electric current advance angle is exported to motor by the second electric current advance angle output module.Carry through this embodiment
The weak magnetic control device of the permanent magnet synchronous motor of confession, when permanent magnet synchronous motor is operated in below rated speed, can efficiently use
Reluctance torque increases the tractive force of rail vehicle, more than rated speed can be transported by running take over seamlessly below rated speed
OK.
With reference to Fig. 7, the field weakening control method for providing the present invention permanent magnet synchronous motor does the explanation of system.Fig. 7 is
The weak magnetic control system block diagram of permanent magnet synchronous motor provided in an embodiment of the present invention.
As shown in fig. 7, one torque of given motor, by pi controller PI, exports given stator current vectorBy given stator current vectorDirect-axis component can be decomposed intoSin β and quadrature axis componentNamely d-axis electricity
StreamAnd quadrature axis currentAccording to direct-axis currentQuadrature axis currentWith feedback current id、iqBy pi controller
PI, output voltageWithThen converted by inverse Park, by the two-phase voltage under rotational coordinatesWithBe converted to solid
Two-phase voltage under position fixingWithAgain by pulsewidth modulation SVPWM output PWM waveforms, by Driven by inverter permanent magnetism
Synchronous motor PMSM.Pass through inverter fed three-phase current ia、ibAnd icBecome fixed three that change commanders to motor, and by Clarke
Electric current under phase coordinates is converted to fixed biphase current iαAnd iβ, then by Park become change commanders fixed two-phase changes in coordinates into
Electric current i in rotating two phase coordinatesdAnd iq, it is above-mentioned feedback current id、iq.It should be noted that Park conversion and it is inverse
, it is necessary to monitor the angle of the position, i.e. rotor of motor in real time when Park is converted.Wherein, detection motor position can use position
Sensor, such as Hall sensor can be implanted into motor internal.
In addition, the three-phase voltage U of motora、UbAnd UcTwo-phase voltage U is transformed to by ClarkeαAnd Uβ, obtained by calculating
Us, wherein m is saturation degree, by the U of acquisitionsWith direct current UdcContrast, the value after contrasting is defeated by pi controller PI
Go out electric current advance angle β.
By system block diagram as shown in Figure 7, the closed loop weak magnetic control to permanent magnet synchronous motor is formed.With reference to above method
Embodiment, the present invention can efficiently use reluctance torque to increase track when permanent magnet synchronous motor is operated in below rated speed
The tractive force of vehicle, it is possible to achieve motor by below rated speed to smooth, steady rated speed two above operating status
Determine transition.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
- A kind of 1. field weakening control method of permanent magnet synchronous motor, applied on rail vehicle, it is characterised in that including：Detect that the first terminal voltage of the motor is less than the first DC voltage of inverter in the first period of motor operation, The first electric current advance angle is exported to the motor, the first electric current advance angle is used to produce reluctance torque, institute for the motor State inverter and provide three-phase alternating current for the motor；Detect that the second terminal voltage of the motor is second straight higher than the inverter in the second period of the motor operation Flow side voltage, to the motor export the second electric current advance angle, second period be first period after period, institute State the second electric current advance angle and be more than the first electric current advance angle, second DC voltage is more than first DC side electricity Pressure, the second electric current advance angle are used to carry out weak magnetic control to the motor.
- 2. according to the method described in claim 1, it is characterized in that, it is described to the motor export the first electric current advance angle it Before, further include：The torque capacity electric current for obtaining the motor compares curve；The stator current vector of the motor is determined than curve according to the torque capacity electric current, according to the stator current vector Determine the first electric current advance angle.
- 3. according to the method described in claim 2, it is characterized in that, the torque capacity electric current for obtaining the motor is than bent Line, including：Direct-axis current id and quadrature axis current iq coordinate systems are established, in the coordinate system, multiple electric currents are drawn according to the parameter of electric machine Horicycle and multiple permanent torque curves, each current limitation circle have intersection point with all permanent torque curves；Determine the point of contact of each current limitation circle and all permanent torque curves；The torque capacity electric current that the motor is drawn according to coordinate origin and all point of contacts compares curve.
- 4. according to the method described in claim 1, it is characterized in that, before exporting the second electric current advance angle to the motor, go back Including：Compare the second terminal voltage of the motor and the second DC voltage of the inverter, determined by pi regulator described Second electric current advance angle.
- 5. according to the method described in claim 1, it is characterized in that, the method further includes：The first terminal voltage of the motor or the second terminal voltage of the motor are obtained by equation below one：Wherein, USFor the first terminal voltage or the second terminal voltage of the motor, UαAnd UβPass through for the three-phase voltage of the motor The two-phase voltage obtained after Clarke conversion, m are the saturation degree of the motor.
- A kind of 6. weak magnetic control device of permanent magnet synchronous motor, applied on rail vehicle, it is characterised in that including：First electric current advance angle output module, for detecting the first terminal voltage of the motor in the first period of motor operation Less than the first DC voltage of inverter, the first electric current advance angle is exported to the motor, the first electric current advance angle is used In producing reluctance torque for the motor, the inverter provides three-phase alternating current for the motor；Second electric current advance angle output module, for detecting the second end of the motor in the second period of the motor operation Voltage is higher than the second DC voltage of the inverter, and the second electric current advance angle, second period are exported to the motor For the period after first period, the second electric current advance angle is more than the first electric current advance angle, and described second is straight Stream side voltage is more than first DC voltage, and the second electric current advance angle is used to carry out weak magnetic control to the motor.
- 7. device according to claim 6, it is characterised in that further include：Curve acquisition module, for obtaining the torque capacity of the motor before the first electric current advance angle is exported to the motor Electric current compares curve；First determining module, for determining the stator current vector of the motor, root than curve according to the torque capacity electric current The first electric current advance angle is determined according to the stator current vector.
- 8. device according to claim 7, it is characterised in thatThe curve acquisition module is specifically used for：Direct-axis current id and quadrature axis current iq coordinate systems are established, in the coordinate system, Multiple current limitations circle and multiple permanent torque curves are drawn according to the parameter of electric machine, each current limitation circle with all institutes Stating permanent torque curve has intersection point；Determine the point of contact of each current limitation circle and all permanent torque curves；The torque capacity electric current that the motor is drawn according to coordinate origin and all point of contacts compares curve.
- 9. device according to claim 6, it is characterised in that further include：Second determining module；Second determining module, for before the second electric current advance angle is exported to the motor, the of the motor Two terminal voltages and the second DC voltage of the inverter, the second electric current advance angle is determined by pi regulator.
- A kind of 10. storage medium, it is characterised in that the storage medium includes instruction, when described instruction is executed by processor, So that the processor realizes the field weakening control method such as claim 1 to 5 any one of them permanent magnet synchronous motor.
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| CN112751355A (en) * | 2019-10-30 | 2021-05-04 | 株洲中车时代电气股份有限公司 | Converter control method and device for double-fed wind power generation system |
| CN112751355B (en) * | 2019-10-30 | 2022-09-23 | 株洲中车时代电气股份有限公司 | Converter control method and device for double-fed wind power generation system |
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| CN114400934A (en) * | 2021-12-31 | 2022-04-26 | 杭州士兰微电子股份有限公司 | Flux weakening control method and driving control system of permanent magnet synchronous motor |
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