CN108551283B - Control method and system of permanent magnet synchronous motor - Google Patents

Control method and system of permanent magnet synchronous motor Download PDF

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CN108551283B
CN108551283B CN201810383679.5A CN201810383679A CN108551283B CN 108551283 B CN108551283 B CN 108551283B CN 201810383679 A CN201810383679 A CN 201810383679A CN 108551283 B CN108551283 B CN 108551283B
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CN108551283A (en
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林联伟
吕莹
焦九顺
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Zhuzhou Elite Electro Mechanical Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

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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 provides a control method and a control system of a permanent magnet synchronous motor, which carry out maximum value limitation on output target exciting current, target torque current, target exciting voltage and target torque voltage through a current circle and a voltage circle limit ring so as to judge whether the target torque voltage is saturated or not, and if the target torque voltage is not saturated, the system is executed
Figure DEST_PATH_IMAGE002
And controlling, if saturation is reached, executing weak magnetic calculation, namely performing PI calculation on an error between a target value and an actual value of the target torque voltage and the torque current to obtain a corresponding weak magnetic current, so that a lead angle is prevented from being calculated, response is rapid, and operation is stable.

Description

Control method and system of permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a control method and a control system of a permanent magnet synchronous motor.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the structural advantages of a brushless structure of an alternating current motor, no need of an excitation winding, small size and the like, has the advantage of good speed regulation performance of a direct current motor, is reliable in operation and high in control efficiency, and therefore, the PMSM has been widely applied as a driving motor. The control of the permanent magnet synchronous motor can be divided into constant torque control below a base speed and constant power control above the base speed. The constant torque control below the base speed needs to meet the requirements of quick starting, acceleration, load climbing and the like of the electric automobile; the constant power control above the basic speed needs to meet the requirements of high-speed driving, overtaking and the like of the electric automobile and can obtain a wider speed regulation range. In order to enable the permanent magnet synchronous motor to output constant power at high speed, the purpose of weak magnetic speed increase can be realized by adopting a method of weakening the flux linkage of the permanent magnet by adding a demagnetization component to a direct axis.
The lead angle flux weakening control algorithm is a commonly used flux weakening method at present: the method comprises the steps of obtaining an included angle between motor running current and torque current, namely a current lead angle, and increasing exciting current components by adjusting the current lead angle so as to weaken flux linkage of a permanent magnet. However, the method needs to calculate the lead angle and then adjust the current component through the lead angle, the calculation process is complex, the response is slow, and in addition, the traditional method is easy to generate speed oscillation at high speed, and simultaneously, the excitation current and the torque current also generate large oscillation, the steady state performance of the field weakening stage is poor, the high rotating speed is easy to lose control, and the like.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a permanent magnet synchronous motor control method and system. In order to achieve the purpose, the invention adopts the following technical scheme:
a permanent magnet synchronous motor control method comprises the following specific steps:
s1, obtaining the three-phase current of the motor and the position angle theta of the rotor of the motor, and obtaining the actual exciting current through Clarke conversion and Park conversion
Figure GDA0002904965130000011
With actual torque current
Figure GDA0002904965130000012
S2 is to convert the initial exciting current idAnd a preset torque current iqTransmitting to a current circular limit ring to perform current limiting calculation to obtain a target exciting current idreqTarget torque current iqreq；
S3 is used for converting the target exciting current idreqTarget torque current iqreqRespectively with actual excitation current
Figure GDA0002904965130000021
Actual torque current
Figure GDA0002904965130000022
After making difference, the difference is transmitted to a PI regulator to output an excitation voltage udTorque voltage uqWhile simultaneously applying the target torque current iqreqRespectively with the actual torque current
Figure GDA0002904965130000023
Difference i ofqerrUpdating feedback is sent to the flux weakening controller;
s4 exciting voltage udWith torque voltage uqTransmitting to a voltage circle limit ring to perform voltage limiting calculation to obtain a target excitation voltage udreqWith a target torque voltage uqreqWhile simultaneously applying the target torque voltage uqreqUpdating feedback is sent to the flux weakening controller;
s5 mixing iqerrAnd uqreqExciting current i output after being input to the flux weakening controller for flux weakening controldThe excitation current in the updating step S2 is passed to the current circle limiter.
S6 shows the target excitation voltage u in step S4dreqWith a target torque voltage uqreqAnd the position angle theta of the motor rotor is subjected to inverse Park conversion, then a control signal is output through the SVPWM unit, and then the three-phase current of the motor is output through the inverter to supply the permanent magnet synchronous motor to work.
Further, the specific steps of performing the current limiting calculation through the current circular limit loop in step S2 are as follows: obtaining the maximum current i when the motor runss(ii) a Output target exciting current idreqAnd a target torque current iqreqNeed to satisfy
Figure GDA0002904965130000024
Wherein idreqIs non-positive.
Further, the specific step of performing voltage limiting calculation via the voltage circle limit ring in step S4 is as follows: detecting motor DC bus voltage udcMaximum voltage of motor operation
Figure GDA0002904965130000025
Output target excitation voltage udreqWith a target torque voltage uqreqNeed to satisfy
Figure GDA0002904965130000026
Further, the field weakening control in step S5 specifically includes: judgment uqreqWhether or not it is saturated, i.e. uqreqIs equal to
Figure GDA0002904965130000027
When u isqreqWhen the saturation is not reached, the exciting voltage i is output d0; when u isqreqWhen saturation is reached, weak magnetic calculation is carried out:
i) obtaining uqreqSymbol, will uqreqSign and flux-weakening controller input signal iqerrPerforming multiplication operation;
ii) performing an inversion operation on the operation result of the step i;
iii) low-pass filtering the operation result of the step ii;
iv) performing PI calculation on the operation result of the step iii to output id。
The utility model provides a permanent magnet synchronous machine's control system, its output links to each other with permanent magnet synchronous machine's dc-to-ac converter input, includes Clarke transform, PARK transform, anti-PARK transform, SVPWM transform unit, its characterized in that still includes:
a current limit loop for judging the input exciting current idWith torque current iqWhether or not the maximum current i is less than or equal to the motor operation maximum currents(ii) a And controls the output target exciting current idreqAnd a target torque current iqreqWithin the allowable range;
PI regulators respectively for receiving the target exciting current idreqWith actual excitation current
Figure GDA0002904965130000031
Difference of (d), target torque current iqreqWith actual torque current
Figure GDA0002904965130000032
Performing PI calculation to output excitation voltage udTorque, torqueVoltage uq；
Voltage limit loop for receiving excitation voltage udTorque voltage uqAnd determine ud、uqWhether or not it is less than or equal to the maximum operating voltage u of the motorsControlling the output target excitation voltage udreqWith a target torque voltage uqreqWithin the allowable range;
a field weakening controller for receiving a target torque current iqreqWith actual torque current
Figure GDA0002904965130000033
Difference i ofqerrWith a target torque voltage uqreqOutput exciting current i by weak magnetic controld。
Further, the current limit loop controls the output target exciting current idreqAnd a target torque current iqreqWithin the allowable range, the specific conditions are as follows:
Figure GDA0002904965130000034
wherein idreqIs non-positive.
Further, the voltage limit loop controls the output target excitation voltage udreqWith a target torque voltage uqreqWithin the allowable range, the specific conditions are as follows:
Figure GDA0002904965130000035
wherein
Figure GDA0002904965130000036
udcIs the motor dc bus voltage.
Further, the field weakening controller specifically comprises:
a determiner for determining uqreqWhether or not it is saturated, i.e. uqreqIs equal to
Figure GDA0002904965130000041
A selector for selectively outputting i obtained by weak magnetic calculation according to the result of the judgerdOr output id＝0；
A sign operator for judging uqreqThe symbol of (a);
a multiplier for multiplying uqreqSign and flux-weakening controller input signal iqerrPerforming multiplication operation;
the negation device is used for negating the output result of the multiplier;
and the filter is used for performing low-pass filtering on the output result of the inverter.
The invention provides a control method and a control system of a permanent magnet synchronous motor, which carry out maximum value limitation on output target exciting current, target torque current, target exciting voltage and target torque voltage through a current circle and a voltage circle limit ring so as to judge whether the target torque voltage is saturated or not, and if the target torque voltage is not saturated, executing i by a systemdPerforming a flux weakening calculation if saturation is reached, namely performing PI calculation on an error between a target value and an actual value of the target torque voltage and the torque current to obtain a corresponding flux weakening current; the method and the system are simple and convenient to operate, the phase advance angle does not need to be calculated in space and time as in the traditional advance angle flux weakening calculation method, so that the response is quick, the motor can stably run within the limit speed, and the problems that the traditional method is easy to generate vibration, the steady-state performance is poor and the like are solved.
Drawings
Fig. 1 is a flowchart of a control method of a permanent magnet synchronous motor in an embodiment of the present invention;
fig. 2 is a flowchart of a low-magnetic control step in the control method of the permanent magnet synchronous motor in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system of a permanent magnet synchronous motor according to another embodiment of the present invention;
in the figure, 301 is a current limit loop, 302, 303 is a PI regulator, 304 is a voltage limit loop, 305 is a weak magnetic controller, 306 is a Clarke transformation unit, 307 is a Park transformation unit, 308 is a Park inverse transformation unit, and 309 is a SVPWM unit;
fig. 4 is a structure of a low-magnetic controller in a control system of a permanent magnet synchronous motor according to another embodiment of the present invention.
A schematic diagram;
in the figure, 401-judger, 407-selector, 402-sign operator, 403-multiplier, 404-inverter, 405-filter, 406-PI regulator.
Detailed Description
The present invention will be further described with reference to the following embodiments.
In this embodiment, the control method of the permanent magnet synchronous motor is applied to a control system of the permanent magnet synchronous motor, and an output of the control system is connected with a control end of an inverter of the permanent magnet synchronous motor; as shown in fig. 1, the method for controlling a permanent magnet synchronous motor in this embodiment includes:
s1 obtaining three-phase current (i) of the motora,ib,ic) Motor rotor position angle theta, ia,ib,icObtaining i through Clarke transformationα,iβ，iα,iβThe actual exciting current is obtained by carrying out Park conversion on theta
Figure GDA0002904965130000051
With actual torque current
Figure GDA0002904965130000052
S2 obtaining a preset initial exciting current i d0 and a predetermined torque current iqTransmitting to a current circular limit ring to perform current limiting calculation to obtain a target exciting current idreqTarget torque current iqreq(ii) a The current limiting calculation step of the current circular limit ring is specifically as follows:
a) obtaining the maximum current i when the motor runss；
b) Excitation current idWith torque current iqNeed to satisfy
Figure GDA0002904965130000053
Wherein idIs non-positive
S3 is used for converting the target exciting current idreqTarget torque current iqreqRespectively with actual excitation current
Figure GDA0002904965130000054
Actual torque current
Figure GDA0002904965130000055
After making difference, the difference is transmitted to a PI regulator to output an excitation voltage udTorque voltage uqWhile simultaneously applying the target torque current iqreqRespectively with the actual torque current
Figure GDA0002904965130000056
Difference i ofqerrFeeding the feedback into a weak magnetic controller;
s4 exciting voltage udWith torque voltage uqTransmitting to a voltage circle limit ring to perform voltage limiting calculation to obtain a target excitation voltage udreqWith a target torque voltage uqreqWhile simultaneously applying the target torque voltage uqreqFeeding the feedback into a weak magnetic controller; the voltage limiting calculation step of the voltage circle is specifically as follows:
a) detecting motor DC bus voltage udcMaximum voltage of motor operation
Figure GDA0002904965130000057
b) Excitation voltage udWith torque voltage uqNeed to satisfy
Figure GDA0002904965130000058
S5 mixing iqerrAnd uqreqInput to a field weakening controller to carry out field weakening control and output exciting current idInstead of step S2, an initial excitation current is preset and transmitted to the input end of the current circle limiter, where the step of weak magnetic control calculation is shown in fig. 2, and specifically includes:
a) judgment uqreqWhether or not it is saturated, i.e. uqreqIs equal to
Figure GDA0002904965130000059
b) When u isqreqWhen the saturation is not reached, the exciting current i is outputd＝0；
c) When u isqreqWhen saturation is reached, weak magnetic calculation is carried out:
i) obtaining uqreqSymbol, will uqreqSign and flux-weakening controller input signal iqerrPerforming multiplication operation;
ii) performing an inversion operation on the operation result of the step i;
iii) low-pass filtering the operation result of the step ii;
iv) performing PI calculation on the operation result of the step iii to output id。
S6 shows the target excitation voltage u in step S4dreqWith a target torque voltage uqreqAnd obtaining u by carrying out inverse Park transformation on the position angle theta of the motor rotorα、uβAnd the three-phase current is output through the SVPWM unit, and the three-phase current of the motor is output through the inverter to drive the motor to work.
Another embodiment of the present invention further provides a control system of a permanent magnet synchronous motor, wherein an output end is connected to a control end of an inverter of the permanent magnet synchronous motor; as shown in fig. 3, the control system of the permanent magnet synchronous motor includes:
a current limit loop 301 for determining the input field current idWith torque current iqWhether or not the maximum current i is less than or equal to the motor operation maximum currents(ii) a And controls the output target exciting current idreqAnd a target torque current iqreqWithin the allowable range, the specific conditions are as follows:
Figure GDA0002904965130000061
wherein idIs non-positive.
PI regulators 302 and 303 for receiving the target exciting current idreqWith actual excitation current
Figure GDA0002904965130000062
Difference of (d), target torque current iqreqWith actual torque current
Figure GDA0002904965130000063
Performing PI calculation to output excitation voltage udTorque voltage uq。
A voltage limit loop 304 for receiving an excitation voltage udTorque voltage uqAnd determine ud、uqWhether or not it is less than or equal to the maximum operating voltage u of the motorsControlling the output target excitation voltage udreqWith a target torque voltage uqreqWithin the allowable range, the specific conditions are as follows:
Figure GDA0002904965130000064
wherein
Figure GDA0002904965130000065
udcIs the motor dc bus voltage.
A field weakening controller 305 for receiving a target torque current iqreqWith actual torque current
Figure GDA0002904965130000066
Difference i ofqerrWith a target torque voltage uqreqOutput exciting current i by weak magnetic controldThe field weakening controller is shown in fig. 4, and specifically comprises:
a determiner 401 for determining uqreqWhether or not it is saturated, i.e. uqreqIs equal to
Figure GDA0002904965130000071
A selector 407 for selectively outputting i calculated by the flux weakening calculation according to the output of the determinerdOr output id＝0；
A sign operator 402 for determining uqreqSymbol of；
A multiplier 403 for multiplying uqreqSign and flux-weakening controller input signal iqerrPerforming multiplication operation;
an inverter 404, configured to perform an inverting operation on the output result of the multiplier;
a filter 405 for low-pass filtering the output of the inverter;
a PI regulator 406 for performing PI calculation on the filter output result to output id。
The control system of the permanent magnet synchronous motor also comprises a Clarke conversion unit 306, a Park conversion unit 307, a Park inverse conversion unit 308 and an SVPWM unit 309, wherein the units belong to conventional units controlled by the FOC of the permanent magnet synchronous motor, and the functions are briefly described as follows: wherein the Clarke conversion unit and the Park conversion unit are used for converting the three-phase current (i) of the motora,ib,ic) Excitation current component converted to d-q coordinate system
Figure GDA0002904965130000072
And torque current component
Figure GDA0002904965130000073
The Park inverse transformation unit and the SVPWM unit are used for transforming the target excitation voltage udreqWith a target torque voltage uqreqAnd converting the signals into corresponding signals to the input end of the inverter. And finally, the inverter outputs current to drive the motor to work.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (6)

1. A control method of a permanent magnet synchronous motor is characterized by comprising the following specific steps:
s1, obtaining the three-phase current of the motor and the position angle theta of the rotor of the motor, and obtaining the actual exciting current through Clarke conversion and Park conversion
Figure FDA0002904965120000011
With actual torque current
Figure FDA0002904965120000012
S2 is to convert the initial exciting current idAnd a preset torque current iqTransmitting to a current circular limit ring to perform current limiting calculation to obtain a target exciting current idreqTarget torque current iqreq；
S3 is used for converting the target exciting current idreqTarget torque current iqreqRespectively with actual excitation current
Figure FDA0002904965120000013
Actual torque current
Figure FDA0002904965120000014
After making difference, the difference is transmitted to a PI regulator to output an excitation voltage udTorque voltage uqWhile simultaneously applying the target torque current iqreqRespectively with the actual torque current
Figure FDA0002904965120000015
Difference i ofqerrUpdating feedback is sent to the flux weakening controller;
s4 exciting voltage udWith torque voltage uqTransmitting to a voltage circle limit ring to perform voltage limiting calculation to obtain a target excitation voltage udreqWith a target torque voltage uqreqWhile simultaneously applying the target torque voltage uqreqUpdating feedback is sent to the flux weakening controller;
s5 mixing iqerrAnd uqreqExciting current i output after being input to the flux weakening controller for flux weakening controldThe exciting current in the updating step S2 is transmitted to the current circle limiter, and the specific steps are as follows: judgment uqreqWhether or not it is saturated, i.e. uqreqIs equal to
Figure FDA0002904965120000016
When u isqreqWhen the saturation is not reached, the exciting current i is outputd0; when u isqreqWhen saturation is reached, weak magnetic calculation is carried out:
i) obtaining uqreqSymbol, will uqreqSign and flux-weakening controller input signal iqerrPerforming multiplication operation;
ii) performing an inversion operation on the operation result of the step i;
iii) low-pass filtering the operation result of the step ii;
iv) performing PI calculation on the operation result of the step iii to output id；
S6 shows the target excitation voltage u in step S4dreqWith a target torque voltage uqreqAnd the position angle theta of the motor rotor is subjected to inverse Park conversion, then a control signal is output through the SVPWM unit, and then the three-phase current of the motor is output through the inverter to supply the permanent magnet synchronous motor to work.
2. The method for controlling a permanent magnet synchronous motor according to claim 1, wherein the specific step of performing the current limit calculation via the current circular limit loop in step S2 is as follows: obtaining the maximum current i when the motor runss(ii) a Output target exciting current idreqAnd a target torque current iqreqNeed to satisfy
Figure FDA0002904965120000021
Wherein idreqIs non-positive.
3. A method for controlling a permanent magnet synchronous motor according to claim 1, characterized in that said stepsThe specific steps of the voltage limiting calculation in the voltage circle limit loop in the step S4 are as follows: detecting motor DC bus voltage udcMaximum voltage of motor operation
Figure FDA0002904965120000022
Output target excitation voltage udreqWith a target torque voltage uqreqNeed to satisfy
Figure FDA0002904965120000023
4. The utility model provides a permanent magnet synchronous machine's control system, its output links to each other with permanent magnet synchronous machine's dc-to-ac converter input, includes Clarke transform unit, PARK transform unit, anti-PARK transform unit, SVPWM transform unit, its characterized in that still includes:
a current limit loop for judging the input exciting current idWith torque current iqWhether or not the maximum current i is less than or equal to the motor operation maximum currents(ii) a And controls the output target exciting current idreqAnd a target torque current iqreqWithin the allowable range;
PI regulators respectively for receiving the target exciting current idreqWith actual excitation current
Figure FDA0002904965120000024
Difference of (d), target torque current iqreqWith actual torque current
Figure FDA0002904965120000025
Performing PI calculation to output excitation voltage udTorque voltage uq；
Voltage limit loop for receiving excitation voltage udTorque voltage uqAnd determine ud、uqWhether or not it is less than or equal to the maximum operating voltage u of the motorsControlling the output target excitation voltage udreqWith a target torque voltage uqreqWithin the allowable range;
a field weakening controller for receiving a target torque current iqreqWith actual torque current
Figure FDA0002904965120000026
Difference i ofqerrWith a target torque voltage uqreqOutput exciting current i by weak magnetic controld；
The Clarke conversion unit and the Park conversion unit are used for converting three-phase current (i) of the motora,ib,ic) Excitation current component converted to d-q coordinate system
Figure FDA0002904965120000027
And torque current component
Figure FDA0002904965120000028
The inverse Park conversion unit and the SVPWM conversion unit are used for converting the target excitation voltage udreqWith a target torque voltage uqreqConverting the signals into corresponding signals to an input end of an inverter;
the weak magnetic controller comprises:
a determiner for determining uqreqWhether or not it is saturated, i.e. uqreqIs equal to
Figure FDA0002904965120000031
A selector for selectively outputting i obtained by weak magnetic calculation according to the result of the judgerdOr output id＝0；
A sign operator for judging uqreqThe symbol of (a);
a multiplier for multiplying uqreqSign and flux-weakening controller input signal iqerrPerforming multiplication operation;
the negation device is used for negating the output result of the multiplier;
the filter is used for low-pass filtering the output result of the inverter;
PI regulator for filteringOutput result of wave filter is subjected to PI calculation to output id。
5. The control system of a permanent magnet synchronous motor according to claim 4, wherein said current limit loop controls the output target field current idreqAnd a target torque current iqreqWithin the allowable range, the specific conditions are as follows:
Figure FDA0002904965120000032
wherein idreqIs non-positive.
6. The control system of a permanent magnet synchronous motor according to claim 4, wherein the voltage limit loop controls the output target excitation voltage udreqWith a target torque voltage uqreqWithin the allowable range, the specific conditions are as follows:
Figure FDA0002904965120000033
wherein
Figure FDA0002904965120000034
udcIs the motor dc bus voltage.
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CN104333273A (en) * 2014-09-28 2015-02-04 四川长虹电器股份有限公司 Flux-weakening control method for variable frequency controller of permanent magnet synchronous motor
CN105515479A (en) * 2016-01-06 2016-04-20 南京航空航天大学 Surface-mounted permanent magnet synchronous generator flux weakening control method
CN106059421A (en) * 2016-07-19 2016-10-26 合肥威博尔汽车技术有限公司 Improved feedforward permanent magnet synchronous motor field weakening method

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