CN109039206A - Traction electric machine control system, control method and computer readable storage medium - Google Patents
Traction electric machine control system, control method and computer readable storage medium Download PDFInfo
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- CN109039206A CN109039206A CN201810968773.7A CN201810968773A CN109039206A CN 109039206 A CN109039206 A CN 109039206A CN 201810968773 A CN201810968773 A CN 201810968773A CN 109039206 A CN109039206 A CN 109039206A
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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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- 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
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention provides a kind of traction electric machine control system, control method and computer readable storage medium, the control system includes voltage magnitude control unit, voltage phase angle control unit, current sampling unit, position feedback unit, impulse wave adjustment unit and three-phase inverter unit.Wherein: the current sampling unit, for sampling the three-phase alternating current of the three-phase inverter unit output；The position feedback unit, for obtaining the practical angular rate of motor；The voltage magnitude control unit, for obtaining output voltage amplitude；The voltage phase angle control unit, for obtaining output voltage phase angle；The impulse wave adjustment unit generates pulse width modulating signal；The three-phase inverter unit exports three-phase alternating current to the traction electric machine.The present invention is not only simple in structure reliably by voltage magnitude control and voltage phase angle control, can make full use of motor DC voltage, additionally it is possible to be solved motor high speed weak magnetic control ac-dc axis current coupling and be caused system control effect to be paid no attention to and think over a problem.
Description
Technical field
The present invention relates to Motor Control Field, more specifically to a kind of traction electric machine control system, control method and
Computer readable storage medium.
Background technique
Rail traffic has that carrying capacity is big, speed is fast, operational safety, energy saving and do not influenced etc. by traffic above-ground all
More advantages make significant contribution in terms of space structure, alleviation show urban public transport in Optimizing City.Traction electric machine control
System processed experienced the development of many years, also gradually move towards market, and use scope is constantly expanding at home, however safety,
Reliability, stability etc. propose requirements at the higher level, and wherein the control performance of motor high speed weak magnetic area is that Full Vehicle System is important
Performance and one of safety factor.
Conventional motors weak magnetic control algolithm is based on orientation on rotor flux, there is two electric current pi tune of d-axis and quadrature axis respectively
It saves device and controls electric current id and iq, output voltage is under the limitation of voltage limit ellipse, as motor speed increases, in dq coordinate plane
On can run weak magnetic region and be gradually reduced, couple and reinforce between two current regulators, pi adjusting is easily saturated and influences motor
Performance, or even system is caused to be unable to stable operation.
Summary of the invention
The technical problem to be solved in the present invention is that controlling ac-dc axis current coupling for above-mentioned motor high speed weak magnetic and drawing
The undesirable problem of system control effect is played, a kind of new traction electric machine control system, control method and computer-readable are provided
Storage medium.
The technical solution that the present invention solves above-mentioned technical problem is to provide a kind of traction electric machine control system, including voltage
Amplitude control unit, voltage phase angle control unit, current sampling unit, position feedback unit, impulse wave adjustment unit and
Three-phase inverter unit, in which:
The current sampling unit, for sampling the three-phase alternating current of the three-phase inverter unit output, and according to institute
State d axis component and q axis component that three-phase alternating current obtains feedback current；
The position feedback unit obtains the practical electric angle speed of motor for calculating according to traction electric machine rotor field position angle
Degree；
The voltage magnitude control unit, for according to the practical angular rate of the motor, d shaft current given value, q axis electricity
The d axis component for flowing given value and the feedback current obtains output voltage amplitude；
The voltage phase angle control unit, for according to the q axis component of the q shaft current given value, feedback current, lead
Draw the practical angular rate of motor and traction electric machine rotor field position angle obtains output voltage phase angle；
The impulse wave adjustment unit generates pulse width modulation according to the output voltage amplitude, output voltage phase angle
Signal；
The three-phase inverter unit exports three-phase alternating current to the traction electric machine according to the pulse width modulating signal
Electricity.
In traction electric machine control system of the present invention, the voltage magnitude control unit includes the first pi regulator
With feed-forward voltage computation subunit, in which: first pi regulator is used for according to the d shaft current given value and described anti-
The d axis component of supply current obtains offset voltage amplitude；The feed-forward voltage computation subunit is used for according to the practical electricity of the motor
Angular speed and q shaft current given value calculate feed-forward voltage amplitude；The output voltage amplitude is offset voltage amplitude and feedforward
The sum of voltage magnitude.
In traction electric machine control system of the present invention, the feed-forward voltage computation subunit passes through following calculating formula
Calculate the feed-forward voltage amplitude Usw0:
Wherein Ud is d axis feed-forward voltage, and Ud=- ω * Lq*iq_ref；Uq is q axis feed-forward voltage, and Uq=ω * ψ f；
ω is the practical angular rate of motor, and Lq is q axle inductance, and iq_ref is q shaft current given value, and ψ f is traction electric machine rotor permanent magnet magnetic
Chain.
In traction electric machine control system of the present invention, the voltage phase angle control unit is adjusted including the 2nd PI
Device and angle calcu-lation subelement, in which: second pi regulator is used for according to the q shaft current given value and described anti-
The q axis component of supply current obtains phase compensation angle；The angle calcu-lation subelement is used for according to the phase compensation angle and electricity
The practical angular rate of machine calculates phase adjusted angle；The output voltage phase angle is the phase adjusted angle and traction electric machine rotor
The sum of field bit angle setting.
In traction electric machine control system of the present invention, first pi regulator is by the offset voltage amplitude of generation
Clipping is 0~k*Usmax, andUdc is the DC bus-bar voltage of the three-phase inverter unit, 0 < k < 1.
In traction electric machine control system of the present invention, second pi regulator limits the phase compensation angle of generation
Width is -90 °~90 °.
The present invention also provides a kind of traction electric machine control method, the traction electric machine is run by driving, comprising:
The d axis component and q axis component of feedback current are obtained according to the three-phase alternating current of three-phase inverter unit output,
And it is calculated according to traction electric machine rotor field position angle and obtains the practical angular rate of motor；
According to the practical angular rate of the motor, d shaft current given value, q shaft current given value and the feedback current
D axis component obtain output voltage amplitude；
According to the q shaft current given value, the q axis component of feedback current, the practical angular rate of traction electric machine and traction
Rotor field bit angle setting obtains output voltage phase angle；
Pulse width modulating signal is generated according to the output voltage amplitude, output voltage phase angle, and passes through the arteries and veins
It rushes bandwidth modulation signals and controls the three-phase inverter unit to traction electric machine output three-phase alternating current.
It is described according to the practical angular rate of the motor, d shaft current in traction electric machine control method of the present invention
The d axis component of given value, q shaft current given value and the feedback current obtains output voltage amplitude
Offset voltage amplitude is obtained according to the d axis component of the d shaft current given value and the feedback current；
Feed-forward voltage amplitude is calculated according to the practical angular rate of the motor and q shaft current given value；
It regard the sum of the offset voltage amplitude and feed-forward voltage amplitude as the output voltage amplitude.
In traction electric machine control method of the present invention, the feed-forward voltage amplitude Usw0 passes through following calculating formula meter
It calculates and obtains:
Wherein Ud is d axis feed-forward voltage, and Ud=- ω * Lq*iq_ref；Uq is q axis feed-forward voltage, and Uq=ω * ψ f；
ω is the practical angular rate of motor, and Lq is q axle inductance, and iq_ref is q shaft current given value, and ψ f is traction electric machine rotor permanent magnet magnetic
Chain.
It is described according to the q shaft current given value, feedback current in traction electric machine control method of the present invention
The practical angular rate of q axis component, traction electric machine and traction electric machine rotor field position angle obtain output voltage phase angle
Phase compensation angle is obtained according to the q axis component of the q shaft current given value and the feedback current；
Phase adjusted angle is calculated according to the phase compensation angle and the practical angular rate of motor；
It regard the sum of the phase adjusted angle and traction electric machine rotor field position angle as the output voltage phase angle.
The present invention also provides a kind of traction electric machine control system, including memory and processor, stored in the memory
There is the computer program that can be run on the processor, the processor is realized as described above when executing the computer program
The step of traction electric machine control method.
The present invention also provides a kind of computer readable storage medium, computer program, institute are stored on the storage medium
When stating computer program and being executed by processor, the step of realizing traction electric machine control method as described above.
Traction electric machine control system, control method and computer readable storage medium of the invention, passes through voltage magnitude control
System and voltage phase angle control are not only simple in structure reliably, can make full use of motor DC voltage, additionally it is possible to solve motor high speed
Weak magnetic controls ac-dc axis current coupling and causes system control effect to be paid no attention to and think over a problem.
Detailed description of the invention
Fig. 1 is the schematic diagram of traction electric machine control system embodiment of the present invention；
Fig. 2 is the flow diagram of traction electric machine control method embodiment of the present invention；
Fig. 3 is the schematic diagram of another embodiment of traction electric machine control system of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, being the schematic diagram of traction electric machine control system embodiment of the present invention, the traction electric machine control system is suitable
For motor high speed weak magnetic control, electric machine control system include voltage magnitude control unit 1, voltage phase angle control unit 2,
Current sampling unit 3, position feedback unit 4, impulse wave adjustment unit 5 and three-phase inverter unit 6, in which:
Current sampling unit 3, for three-phase alternating current ia, ib, ic that sampling three-phase inverter unit 6 exports, and according to
The d axis component id and q axis component iq of three-phase alternating current ia, ib, ic acquisition feedback current；
Specifically, three-phase alternating current ia, ib, ic that sampling three-phase inverter unit 6 exports, convert to obtain α by Clark
β rest frame electric current i α and i β, as shown in formula (1):
Converted again by Park and rest frame electric current i α, i β transformed to dq rotating coordinate system, obtain feedback current id,
Iq, as shown in formula (2):
Motor ignores stator resistance influence in high speed weak magnetic field operation, and output voltage is limited by voltage limit ellipse, such as formula 3
It is shown:
Wherein Ld, Lq, ψ f, Usmax are respectively d axle inductance, q axle inductance, rotor permanent magnet magnetic linkage, maximum output voltage, most
Relationship between big output voltage Usmax and DC bus-bar voltage Udc is as shown in Equation 4:
The traction electric machine control system of the present embodiment can be kept in high speed weak magnetic area output voltage amplitude with maximum voltage
Usmax output, can make full use of motor DC busbar voltage Udc, improve the efficiency and load capacity of motor.
Position feedback unit 4 obtains the practical angular rate of motor for calculating according to traction electric machine rotor field angular position theta
ω；Specially traction electric machine 41 detects rotor field bit angle setting θ from position sensor 42, to rotor field bit angle setting
θ, which differentiate, 43 obtains the practical angular rate ω of motor.
Voltage magnitude control unit 1, for according to practical angular rate ω, d shaft current given value id_ref, q axis of motor
The d axis component id of given value of current value iq_ref and feedback current obtains output voltage amplitude Usw.Above-mentioned voltage magnitude control is single
Member 1 may include specifically the first pi regulator 11 and feed-forward voltage computation subunit 12, in which: first pi regulator 11 is used for
Offset voltage amplitude Ucomp is obtained according to the d axis component id of d shaft current given value id_ref and feedback current；Pass through first
The offset voltage amplitude Ucomp clipping of generation is 0~k*Usmax by pi regulator, andUdc is described three
The DC bus-bar voltage of phase inverter unit, 0 < k < 1.
Feed-forward voltage computation subunit 12 is used for according to the practical angular rate ω of motor and q shaft current given value iq_ref
Calculate feed-forward voltage amplitude Usw0；Feed-forward voltage amplitude Usw0 is calculated by following calculating formula:
Wherein Ud is d axis feed-forward voltage, and Ud=- ω * Lq*iq_ref；Uq is q axis feed-forward voltage, and Uq=ω * ψ f；
ω is the practical angular rate of motor, and Lq is q axle inductance, and iq_ref is q shaft current given value, and ψ f is traction electric machine rotor permanent magnet magnetic
Chain.
Output voltage amplitude Usw is the sum of offset voltage amplitude Ucomp and feed-forward voltage amplitude Usw0:
Usw=Ucomp+Usw0 (6)
Output voltage amplitude Usw clipping are as follows:
0≤Usw≤Us max (7)
Voltage phase angle control unit 2, for according to the q axis component iq of q shaft current given value iq_ref, feedback current,
The practical angular rate ω of traction electric machine and traction electric machine rotor field angular position theta obtain output voltage phase angle θ _ etha；
Above-mentioned voltage phase angle control unit 2 includes the second pi regulator 21 and angle calcu-lation subelement 22, in which: the
Two pi regulators 21 are used to obtain phase compensation angle according to the q axis component iq of q shaft current given value iq_ref and feedback current
Phase compensation angle θ _ beta clipping of generation is -90 °~90 ° by θ _ beta, the second pi regulator 21；
Angle calcu-lation subelement 22 is used to calculate phase according to phase compensation angle θ _ beta and the practical angular rate ω of motor
Position adjusts angle θ _ alfa；Shown in its relational expression such as formula (8):
Output voltage phase angle θ _ etha is the sum of phase adjusted angle θ _ alfa and traction electric machine rotor field angular position theta:
θ _ etha=θ _ alfa+ θ (9)
Impulse wave adjustment unit 5 generates pulse width tune according to output voltage amplitude Usw, output voltage phase angle θ _ etha
Signal processed；Three-phase inverter unit 6 exports three-phase alternating current to traction electric machine 41 according to pulse width modulating signal, reaches control
The purpose of traction electric machine 41.
Traction electric machine control system of the invention be not only simple in structure it is reliable, do not depend on the parameter of electric machine, can depth weak magnetic, energy
The advantages that making full use of motor DC voltage；It can also solve motor high speed weak magnetic control ac-dc axis current coupling and cause system
Control effect, which is paid no attention to, to think over a problem, and is suitable for rail traffic permanent magnet synchronous motor high velocity weak magnetic and controls.
As shown in Fig. 2, traction electric machine 41 is run by driving the present invention also provides a kind of traction electric machine control method, wherein
Control system includes voltage magnitude control unit 1, voltage phase angle control unit 2, current sampling unit 3, position feedback unit
4, impulse wave adjustment unit 5 and three-phase inverter unit 6, the traction electric machine control method the following steps are included:
Step S11: the d axis of feedback current is obtained according to three-phase alternating current ia, ib, ic that three-phase inverter unit 6 exports
Component id and q axis component iq, and calculated according to traction electric machine rotor field angular position theta and obtain the practical angular rate ω of motor；
Step S12: according to practical angular rate ω, d shaft current given value id_ref, q shaft current given value iq_ of motor
The d axis component id of ref and feedback current obtains output voltage amplitude Usw；Include:
Offset voltage amplitude Ucomp is obtained according to the d axis component id of d shaft current given value id_ref and feedback current；
Feed-forward voltage amplitude Usw0 is calculated according to motor practical angular rate ω and q shaft current given value iq_ref, it is preceding
Feedthrough voltage amplitude Usw0 is calculated by following calculating formula (10) and is obtained:
Wherein Ud is d axis feed-forward voltage, and Ud=- ω * Lq*iq_ref；Uq is q axis feed-forward voltage, and Uq=ω * ψ f；
ω is the practical angular rate of motor, and Lq is q axle inductance, and iq_ref is q shaft current given value, and ψ f is traction electric machine rotor permanent magnet magnetic
Chain.
It regard the sum of offset voltage amplitude Ucomp and feed-forward voltage amplitude Usw0 as the output voltage amplitude Usw, such as counts
Formula (11):
Usw=Ucomp+Usw0 (11)
Step S13: according to q shaft current given value iq_ref, the q axis component iq of feedback current, the practical electric angle of traction electric machine
Speed omega and traction electric machine rotor field angular position theta obtain output voltage phase angle θ _ etha；Include:
Phase compensation angle θ _ beta is obtained according to the q axis component iq of q shaft current given value iq_ref and feedback current；
Phase adjusted angle θ _ alfa is calculated according to phase compensation angle θ _ beta and the practical angular rate ω of motor；As calculated
Formula (12):
It regard the sum of phase adjusted angle θ _ alfa and traction electric machine rotor field angular position theta as output voltage phase angle；Such as
Calculating formula (13):
θ _ etha=θ _ alfa+ θ (13)
Step S14: generating pulse width modulating signal according to output voltage amplitude Usw, output voltage phase angle θ _ etha,
And three-phase inverter unit 6 is controlled by pulse width modulating signal and exports three-phase alternating current to traction electric machine 41.
As shown in figure 3, the present invention also provides a kind of traction electric machine control system, which can be applied to traction electric machine control
Device, and the system includes memory 31 and processor 32, and the meter that can be run on processor 32 is stored in memory 31
The step of calculation machine program, processor 32 realizes traction electric machine control method as described above when executing computer program.The present embodiment
In traction electric machine control system and above-mentioned Fig. 2 corresponding embodiment in traction electric machine control method belong to same design, have
Body realizes that process is shown in corresponding embodiment of the method in detail, and the technical characteristic in embodiment of the method is right in this apparatus embodiments
It should be applicable in, which is not described herein again.
The present invention also provides a kind of computer readable storage medium, it is stored with computer program on the storage medium, it is described
When computer program is executed by processor, the step of realizing traction electric machine control method as described above.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (12)
1. a kind of traction electric machine control system, the traction electric machine is run by driving, which is characterized in that the control system includes
Voltage magnitude control unit, voltage phase angle control unit, current sampling unit, position feedback unit, impulse wave adjustment unit
And three-phase inverter unit, in which:
The current sampling unit, for sampling the three-phase alternating current of the three-phase inverter unit output, and according to described three
The d axis component and q axis component of phase alternating current acquisition feedback current；
The position feedback unit obtains the practical angular rate of motor for calculating according to traction electric machine rotor field position angle；
The voltage magnitude control unit, for being given according to the practical angular rate of the motor, d shaft current given value, q shaft current
Definite value and the d axis component of the feedback current obtain output voltage amplitude；
The voltage phase angle control unit, for the q axis component according to the q shaft current given value, feedback current, traction electricity
The practical angular rate of machine and traction electric machine rotor field position angle obtain output voltage phase angle；
The impulse wave adjustment unit generates pulse width modulation letter according to the output voltage amplitude, output voltage phase angle
Number；
The three-phase inverter unit exports three-phase alternating current to the traction electric machine according to the pulse width modulating signal.
2. traction electric machine control system according to claim 1, which is characterized in that the voltage magnitude control unit includes
First pi regulator and feed-forward voltage computation subunit, in which: first pi regulator is used for given according to the d shaft current
Value and the d axis component of the feedback current obtain offset voltage amplitude；The feed-forward voltage computation subunit is used for according to institute
It states the practical angular rate of motor and q shaft current given value calculates feed-forward voltage amplitude；The output voltage amplitude is compensation electricity
The sum of pressure amplitude value and feed-forward voltage amplitude.
3. traction electric machine control system according to claim 2, which is characterized in that the feed-forward voltage computation subunit is logical
It crosses following calculating formula and calculates the feed-forward voltage amplitude Usw0:
Wherein Ud is d axis feed-forward voltage, and Ud=- ω * Lq*iq_ref；Uq is q axis feed-forward voltage, and Uq=ω * ψ f；ω is
The practical angular rate of motor, Lq are q axle inductance, and iq_ref is q shaft current given value, and ψ f is traction electric machine rotor permanent magnet magnetic linkage.
4. traction electric machine control system according to claim 1, which is characterized in that the voltage phase angle control unit packet
Include the second pi regulator and angle calcu-lation subelement, in which: second pi regulator is used for given according to the q shaft current
Value and the q axis component of the feedback current obtain phase compensation angle；The angle calcu-lation subelement is used for according to the phase
It compensates angle and the practical angular rate of motor calculates phase adjusted angle；The output voltage phase angle be the phase adjusted angle with
The sum of traction electric machine rotor field position angle.
5. traction electric machine control system according to claim 2, which is characterized in that first pi regulator is by generation
Offset voltage amplitude clipping is 0~k*Usmax, andUdc is the DC bus of the three-phase inverter unit
Voltage, 0 < k < 1.
6. traction electric machine control system according to claim 4, which is characterized in that second pi regulator is by generation
Phase compensation angle clipping is -90 °~90 °.
7. a kind of traction electric machine control method, the traction electric machine is run by driving characterized by comprising
The d axis component and q axis component of feedback current are obtained according to the three-phase alternating current of three-phase inverter unit output, and
It is calculated according to traction electric machine rotor field position angle and obtains the practical angular rate of motor；
According to the d axis of the practical angular rate of the motor, d shaft current given value, q shaft current given value and the feedback current
Component obtains output voltage amplitude；
According to the q shaft current given value, the q axis component of feedback current, the practical angular rate of traction electric machine and traction electric machine
Rotor field position angle obtains output voltage phase angle；
Pulse width modulating signal is generated according to the output voltage amplitude, output voltage phase angle, and wide by the pulse
It spends modulated signal and controls the three-phase inverter unit to traction electric machine output three-phase alternating current.
8. traction electric machine control method according to claim 7, which is characterized in that described according to the practical electric angle of the motor
Speed, d shaft current given value, q shaft current given value and the feedback current d axis component obtain output voltage amplitude packet
It includes:
Offset voltage amplitude is obtained according to the d axis component of the d shaft current given value and the feedback current；
Feed-forward voltage amplitude is calculated according to the practical angular rate of the motor and q shaft current given value；
It regard the sum of the offset voltage amplitude and feed-forward voltage amplitude as the output voltage amplitude.
9. traction electric machine control method according to claim 8, which is characterized in that the feed-forward voltage amplitude Usw0 passes through
Following calculating formula, which calculates, to be obtained:
Wherein Ud is d axis feed-forward voltage, and Ud=- ω * Lq*iq_ref；Uq is q axis feed-forward voltage, and Uq=ω * ψ f；ω is
The practical angular rate of motor, Lq are q axle inductance, and iq_ref is q shaft current given value, and ψ f is traction electric machine rotor permanent magnet magnetic linkage.
10. traction electric machine control method according to claim 7, which is characterized in that described given according to the q shaft current
Value, the q axis component of feedback current, the practical angular rate of traction electric machine and traction electric machine rotor field position angle obtain output electricity
Pressure phase angle includes:
Phase compensation angle is obtained according to the q axis component of the q shaft current given value and the feedback current；
Phase adjusted angle is calculated according to the phase compensation angle and the practical angular rate of motor；
It regard the sum of the phase adjusted angle and traction electric machine rotor field position angle as the output voltage phase angle.
11. a kind of traction electric machine control system, which is characterized in that including memory and processor, be stored in the memory
The computer program that can be run on the processor, the processor realize such as claim when executing the computer program
Described in any one of 7 to 10 the step of traction electric machine control method.
12. a kind of computer readable storage medium, which is characterized in that computer program is stored on the storage medium, it is described
When computer program is executed by processor, the step of the traction electric machine control method as described in any one of claim 7 to 10 is realized
Suddenly.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111371359A (en) * | 2018-12-24 | 2020-07-03 | 深圳市优必选科技有限公司 | Motor vector control method and device, terminal equipment and readable storage medium |
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