CN108768234A - It is a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method - Google Patents
It is a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method Download PDFInfo
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- CN108768234A CN108768234A CN201810639961.5A CN201810639961A CN108768234A CN 108768234 A CN108768234 A CN 108768234A CN 201810639961 A CN201810639961 A CN 201810639961A CN 108768234 A CN108768234 A CN 108768234A
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/10—Direct field-oriented control; Rotor flux feed-back 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
- 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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Abstract
The invention discloses a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method, includes the following steps：1) Closed loop track of current inner loop, is realized by traditional pi regulator.2) rotor flux ψ, is acquired by q axis pi regulatorsf；3) q axis pi regulators, are added using rotor flux continuous item as one of compensation term；4) different i, is givendValue, while given iqIt is 0, seeks d axle inductances corresponding under different d shaft currents；5) i, is givendIt is 0, gives iqFor different values；6) q axis pi regulators, are added using the continuous item of d axle inductances as compensation term.Reasonable design of the present invention, electric current loop in Project Realization can be reduced to depend on pi regulator parameter unduly, more preferably dynamic response may be implemented using identical PI parameters, current oscillation and overshoot are substantially reduced simultaneously, to realize control system better speed adjusting performance in actual condition, it is suitable for promoting.
Description
Technical field
The invention belongs to synchronous motor control fields, and permanent magnet synchronous motor vector control is used for more specifically to one kind
System based on off-line parameter identification method.
Background technology
As permanent magnet synchronous motor is in the extensive use of new-energy automobile industry, control speed adjusting performance of each producer to motor
Requirement with torque response performance is also more stringent.However, in motor operation course inductance parameters can with the variation of electric current and
Real-time change, to be had an impact to the response and stability of control.Permanent magnet synchronous motor (PMSM) high efficiency, high power are close
The advantages of degree, high torque density, make obtain the attention of more conglomerate its today developed rapidly in power electronic technique, especially
It is new-energy automobile industry.
The dynamic response of electric machine control system and the tracking velocity of current inner loop are closely related.Traditional motor control system
In system, current inner loop directly realizes the tracking of d shaft currents and q shaft currents, good tracking characteristics by simple pi regulator
It is stringent to pi regulator parameter request, realize that difficulty is larger in engineering.In order to improve the response speed of electric current loop, while reducing and being
The calibration difficulty for parameter of uniting, needs to compensate the output of pi regulator.Need the parameter of electric machine as compensation in compensation process
Foundation, therefore, the identification of the parameter of electric machine are also a part for pi regulator.
Realization of the current parameter of electric machine on-line identification algorithm in engineering is complex, can occupy a large amount of cpu resource,
Real-time can not ensure, and ensure having good given initial condition, could obtain good identification precision, Simultaneous Stabilization
It is poor, it is easy to be influenced by factors such as noises.
And parameter of electric machine offline identification method equal comparative maturity in theoretical and practical application, but most of be all based on
Motor original state is recognized.Motor d axle inductances and q axle inductances in motor operation course by size of current influenced to have compared with
Big variation can cause controller dynamic response larger if using the identical parameter of electric machine under different operating modes
Influence, therefore be highly desirable using the different parameters of electric machine in motor operation course.
Invention content
It is a kind of for permanent magnet synchronous motor vector in view of the deficiencies of the prior art, the present invention intends to provide
Control based on off-line parameter identification method, reasonable design can reduce in Project Realization electric current loop to pi regulator parameter
It depends on unduly, more preferably dynamic response may be implemented using identical PI parameters, while current oscillation and overshoot are substantially reduced,
To realize control system better speed adjusting performance in actual condition, it is suitable for promoting.
To achieve the above object, the present invention provides following technical solutions：
It is a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method, it is characterised in that：Including with
Lower step：
1), under the orientation on rotor flux of permanent magnet synchronous motor space vector pulse width modulation, pass through tradition first
Pi regulator realize current inner loop Closed loop track.
2), under the premise of realizing conventional current closed loop, motor is dragged to fixed rotating speed, gives d shaft currents idWith q axis electricity
Flow iqIt is 0, after system is stablized, rotor flux ψ is acquired by q axis pi regulatorsf；
3) q axis pi regulators, are added using rotor flux continuous item as one of compensation term, keep q axis electricity on this basis
Flow iqIt is given as 0, d shaft currents idIt is given as certain certain value and d axle inductances is acquired by q axis pi regulators after system is stablized；
4) different i, is givendValue, while given iqIt is 0, seeks d axle inductances corresponding under different d shaft currents；
5) i, is givendIt is 0, gives iqFor different values, the q corresponding to different q shaft currents is asked by the pi regulator of d axis
Axle inductance；
6) q axis pi regulators, are added using the continuous item of d axle inductances as compensation term, using the continuous item of q axle inductances as benefit
It repays item and d axis pi regulators is added, complete the compensation of current inner loop pi regulator.
As a kind of technical solution of optimization, the off-line identification of the parameter of electric machine is carried out by traditional pi regulator, then
Identified parameters are used for the compensation of pi regulator, the system integral item output after compensation to reduce, and increases electric current loop dynamic response
Property, while inhibiting overshoot.
By adopting the above-described technical solution, compared with prior art, reasonable design of the present invention can reduce Project Realization
Middle electric current loop depends on pi regulator parameter unduly, more preferably dynamic response may be implemented using identical PI parameters, together
When current oscillation and overshoot be substantially reduced, to realize control system better speed adjusting performance in actual condition, be suitable for promote.
With reference to drawings and examples, the present invention will be further described.
Description of the drawings
Fig. 1 is rotor flux linkage orientation of one embodiment of the invention permanent magnet synchronous motor based on space vector pulse width modulation
Control system model block diagram；
Fig. 2 is the traditional electric current loop pi regulator model framework chart of one embodiment of the invention；
Fig. 3 is to increase compensation term pi regulator model framework chart after one embodiment of the invention is improved；
Fig. 4 is rotor of the improved permanent magnet synchronous motor of one embodiment of the invention based on space vector pulse width modulation
Flux linkage orientation control system model block diagram；
Fig. 5 is the relationship broken line of one embodiment of the invention parameter of electric machine off-line identification ac-dc axis inductance and ac-dc axis electric current
Figure；
Fig. 6 is that the integral term in the improved pi regulator dynamic process of one embodiment of the invention exports statistical chart.
Specific implementation mode
Embodiment
In motor operation course, ignore the influence of the factors such as temperature, then the relationship of permanent magnet synchronous motor voltage and electric current
It is represented by formula (1).
As shown in Figure 1, the control system for permanent-magnet synchronous motor in the present embodiment is become by the acquisition of real-time current through coordinate
It changes, and by traditional pi regulator, realizes the Closed loop track of d axis and q shaft currents.Traditional pi regulator control block diagram such as Fig. 2 institutes
Show, shown in the software realization such as formula (2) of pi regulator.
Wherein idref、iqrefConstant current, i are given for d, q axisdfdb、iqfdbIt is electric by sampling for the actual feedback currents of d, q axis
Road acquisition three-phase phase current converts, Kp1、Kp2、Ki1、Ki2For the ratio term coefficient and integral item coefficient of d, q shaft-type governor,
Up1、Ip2、Ui1、Ui2、PIdout、PIqoutProportional, integral term after being calculated every time for adjuster and output valve, Ui1-1、Ui2-1For
Integral term in the last computation period, For the expectation voltage of d, q axis.
It is expected in dynamic process voltage be proportional and integral term and；Current feedback and given value of current value phase when stable state
Together, therefore proportional is 0, thereforeIt is equal to the output of integral term.In formula (1), stator resistance RsFor milliohm grade, therefore
Rsid、RsiqItem can be considered 0, i when stable statedFor constant idref, iqFor constant value iqref, so did/dt、diq/ dt is 0, therefore Ld(did/
dt)、Lq(diq/ dt) it can be considered 0.Therefore the d axis and q shaft voltages under stable state meet relational expression (3).
Under the premise of the Closed loop track of current inner loop in completing Fig. 1, the parameter of electric machine is carried out by traditional pi regulator
Off-line identification, then the compensation by identified parameters for pi regulator.
The adjuster compensation method based on offline parameter identification of the present invention specifically comprises the steps of：
Step 1：Under the premise of realizing the conventional current closed loop of the Field orientable control based on SVPWM, motor is dragged to
Fixed rotating speed gives d shaft currents idWith q shaft currents iqIt is 0, after system is stablized, the output of d axis pi regulators is that 0, q axis PI is adjusted
The output of device is rotational speed omegaiWith rotor flux ψfProduct, rotating speed and q shaft voltages are it is known that rotor flux ψ can be acquiredf。
Step 2：Because of rotor flux ψfIt is varied less in motor operation course, can be considered steady state value.
Step 3：Q axis pi regulators are added using rotor flux continuous item as one of compensation term, keep q on this basis
Shaft current iqIt is given as 0, d shaft currents idIt is given as certain certain value, after system is stablized, the integral term of q shaft-type governors is rotating speed
ωr, d axle inductances LdWith d shaft currents idProduct, rotational speed omegarAnd idIt is known that d axle inductances L can be acquiredd。
Step 4：Because of d axle inductances LdDepending mainly on d shaft currents idVariation, therefore given different idValue, is asked under different d shaft currents
Corresponding d axle inductances.
Step 5：Q axis pi regulators are added using the continuous item of d axle inductances as one of compensation term, complete q axis pi regulators
Compensation.
Step 6：Given idIt is 0, gives iqFor different values, asked corresponding to different q shaft currents by the pi regulator of d axis
Q axle inductances.
Step 7：D axis pi regulators are added using the continuous item of q axle inductances as compensation term, completes current inner loop PI and adjusts
It is as shown in Figure 3 to increase compensation term pi regulator model for the compensation of device after improvement.
Offline parameter will be based on to recognize in improved pi regulator addition control system as shown in Figure 4.
Institute's procedures set forth carries out off-line identification, the pass of ac-dc axis inductance and ac-dc axis electric current to the parameter of electric machine through the invention
System is as shown in Figure 5.
For system when being worked using pi regulator of the present invention, the output of integral term is within ± 10%, statistics
Data are as shown in Figure 6.
Protection scope of the present invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention are equal
It belongs to the scope of protection of the present invention.It should be pointed out that for those skilled in the art, not departing from the present invention
Several improvements and modifications under the premise of principle, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (2)
1. it is a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method, it is characterised in that:Including following
Step：
1), under the orientation on rotor flux of permanent magnet synchronous motor space vector pulse width modulation, pass through traditional PI first
Adjuster realizes the Closed loop track of current inner loop.
2), under the premise of realizing conventional current closed loop, motor is dragged to fixed rotating speed, gives d shaft currents idWith q shaft currents iq
It is 0, after system is stablized, rotor flux ψ is acquired by q axis pi regulatorsf；
3) q axis pi regulators, are added using rotor flux continuous item as one of compensation term, keep q shaft currents i on this basisqIt gives
It is set to 0, d shaft currents idIt is given as certain certain value and d axle inductances is acquired by q axis pi regulators after system is stablized；
4) different i, is givendValue, while given iqIt is 0, seeks d axle inductances corresponding under different d shaft currents；
5) i, is givendIt is 0, gives iqFor different values, the q axis electricity corresponding to different q shaft currents is sought by the pi regulator of d axis
Sense；
6) q axis pi regulators, are added using the continuous item of d axle inductances as compensation term, using the continuous item of q axle inductances as compensation term
D axis pi regulators are added, complete the compensation of current inner loop pi regulator.
2. it is according to claim 1 it is a kind of for permanent magnet synchronous motor vector controlled based on off-line parameter identification method,
It is characterized in that：The off-line identification of the parameter of electric machine is carried out by traditional pi regulator, then adjusts identified parameters for PI
The compensation of device, the system integral item output after compensation reduce, and increase electric current loop dynamic response, while inhibiting overshoot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810639961.5A CN108768234B (en) | 2018-06-21 | 2018-06-21 | Offline parameter identification-based method for vector control of permanent magnet synchronous motor |
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| CN201810639961.5A CN108768234B (en) | 2018-06-21 | 2018-06-21 | Offline parameter identification-based method for vector control of permanent magnet synchronous motor |
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| CN108768234B CN108768234B (en) | 2022-03-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110445437A (en) * | 2019-08-08 | 2019-11-12 | 北京索德电气工业有限公司 | The motor driver voltage decoupling method of electric car |
| CN116111903A (en) * | 2023-02-24 | 2023-05-12 | 江苏开璇智能科技有限公司 | Quick response control method for current loop of surface-mounted permanent magnet synchronous motor |
| CN116683817A (en) * | 2023-06-14 | 2023-09-01 | 江苏威进智控科技有限公司 | Permanent magnet synchronous motor vector control method based on offline parameter identification |
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| WO2013017386A1 (en) * | 2011-08-01 | 2013-02-07 | Abb Technology Ag | Self-commissioning procedure for inductance estimation in an electrical machine |
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| WO2013017386A1 (en) * | 2011-08-01 | 2013-02-07 | Abb Technology Ag | Self-commissioning procedure for inductance estimation in an electrical machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110445437A (en) * | 2019-08-08 | 2019-11-12 | 北京索德电气工业有限公司 | The motor driver voltage decoupling method of electric car |
| CN116111903A (en) * | 2023-02-24 | 2023-05-12 | 江苏开璇智能科技有限公司 | Quick response control method for current loop of surface-mounted permanent magnet synchronous motor |
| CN116683817A (en) * | 2023-06-14 | 2023-09-01 | 江苏威进智控科技有限公司 | Permanent magnet synchronous motor vector control method based on offline parameter identification |
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