CN109150042B - Surface permanent magnet synchronous motor feedforward decoupling flux-weakening control method - Google Patents

Surface permanent magnet synchronous motor feedforward decoupling flux-weakening control method Download PDF

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CN109150042B
CN109150042B CN201810811626.9A CN201810811626A CN109150042B CN 109150042 B CN109150042 B CN 109150042B CN 201810811626 A CN201810811626 A CN 201810811626A CN 109150042 B CN109150042 B CN 109150042B
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permanent magnet
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magnet synchronous
synchronous motor
axis current
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CN109150042A (en
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熊璐
蒙子漾
韩伟
余卓平
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Tongji University
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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
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a feedforward decoupling flux weakening control method for a surface permanent magnet synchronous motor, which comprises the following steps of S1 inputting a torque command into an MTPA (maximum Transmission Power Amplifier) module after the motor controller receives the torque command, converting the torque command into target quadrature axis current according to motor inductance and a permanent magnet flux linkage, S2 obtaining the actual rotating speed omega of the permanent magnet synchronous motor, obtaining a real-time flux weakening advance angle β according to the rotating speed and a flux weakening advance angle offline Table hook up Table, S3 calculating target direct axis current, and S4 limiting the target quadrature axis current iq_refAnd a target direct axis current id_ref(ii) a S5, acquiring the actual A-phase and C-phase currents i of the permanent magnet synchronous motor through a sensora、icObtaining the actual quadrature axis current i of the permanent magnet synchronous motorqAnd the actual direct axis current id(ii) a S6 obtaining quadrature axis target voltage uqAnd a direct axis target voltage udS7 obtaining α axis voltage uαAnd β axis voltage uβ(ii) a And S8, space vector pulse width modulation is carried out, and voltage input to the permanent magnet synchronous motor is completed through an inverter circuit. Compared with the prior art, the method has the advantages of simplicity, convenience, simple and easy algorithm regulator and the like.

Description

Surface permanent magnet synchronous motor feedforward decoupling flux-weakening control method
Technical Field
The invention relates to the field of automatic control of permanent magnet synchronous motors, in particular to a feedforward decoupling flux weakening control method for a surface permanent magnet synchronous motor.
Background
The maximum rotating speed and the output range of the motor driving system during constant-torque work are influenced by the limit of the maximum voltage and the output current capacity of the direct current side of the inverter and the limit value of the stator voltage and the stator current of the motor. However, above the base speed, if the magnetic flux remains unchanged, the back electromotive force of the motor must be greater than the maximum input voltage of the motor, causing the reverse flow of the motor winding current, which is not allowed when the motor actually runs but weak magnetic, the magnetic flux is inversely proportional to the stator frequency, so that the induced electromotive force remains constant and does not increase with the rise of the rotating speed, therefore, the problem can be solved by adopting weak magnetic control, and the permanent magnet speed regulating system has the advantages of small volume, energy saving, good control performance, low system running noise, good smoothness and comfort and the like. A six-step voltage method, an adaptive weak magnetic control method, a virtual instantaneous power-based weak magnetic control method and other methods are provided in the field of weak magnetic control, and the current regulator is adopted in the weak magnetic control of the permanent magnet synchronous motor.
Common field weakening methods include a feed-forward method, a voltage difference feedback method, a current difference feedback method, a rotation speed difference feedback method, a table look-up method and the like. The feedforward method is to calculate the given direct-axis current component through a motor model, and has the advantages of simple control and convenient realization, but depends on motor parameters. The voltage difference feedback method takes the deviation of the voltage vector output by the current regulator and a fixed value as the given of the direct-axis current through the PI controller, and has the advantages of not depending on motor parameters but slow response. The current difference feedback method takes the deviation between the given quadrature axis current and the actual quadrature axis current as the given direct axis current component through filtering, and has the advantages of no dependence on motor parameters, quick response, high requirement on filtering parameter selection and steady-state error of the quadrature axis current. The speed difference feedback method uses the deviation between the given speed and the actual speed as the given of the direct axis current component through the PI controller, and has the advantages of good robustness, no error in the steady state of the quadrature axis current, and slow response. The surface permanent magnet synchronous motor has the same quadrature-direct axis inductance, and the surface permanent magnet synchronous motor is controlled conveniently and simply by the first method.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a surface permanent magnet synchronous motor feedforward decoupling flux weakening control method.
The purpose of the invention can be realized by the following technical scheme:
a surface permanent magnet synchronous motor feedforward decoupling flux weakening control method comprises the following steps:
s1 the motor controller receives the torque command, inputs the torque command into the MTPA module of the maximum torque current ratio, the MTPA module converts the torque command into the target cross axis current i according to the motor inductance and the permanent magnet flux linkageq_ref；
S2, acquiring the actual rotating speed omega of the permanent magnet synchronous motor through a sensor, and acquiring a real-time flux weakening advance angle β according to the rotating speed and a flux weakening advance angle offline Table;
s3 calculating target direct axis current i according to the relation of MTPA quadrature axis and direct axis currentd_ref；
S4 limiting target quadrature axis current iq_refAnd a target direct axis current id_refSo that they do not exceed a limit value;
s5, acquiring the actual A-phase and C-phase currents i of the permanent magnet synchronous motor through a sensora、icRespectively carrying out Clark conversion and park conversion to obtain the actual quadrature axis current i of the permanent magnet synchronous motorqAnd the actual direct axis current id；
S6 mixing iq_ref1And iqThe difference value and the feedforward decoupling quantity are input into an quadrature axis PI controller to obtain quadrature axis target voltage uqI is tod_ref1And idInputting the difference value and the feedforward decoupling quantity into a direct-axis PI controller to obtain a direct-axis target voltage ud；
S7 direct axis target voltage udAnd quadrature axis target voltage uqRespectively carrying out inverse park transformation to obtain α shaft voltages uαAnd β axis voltage uβ；
And S8, performing space vector pulse width modulation and controlling the switch of the three-phase inverter, and completing the voltage input of the permanent magnet synchronous motor through an inverter circuit.
In the step S3, the target direct axis current id_refThe calculation formula of (A) is as follows:
id_ref＝tan β×iq_ref。
in the step S4, according to the maximum allowable current ImaxLimiting target quadrature axis current i with weak magnetic advance angle βq_refAnd a target direct axis current id_refThe method specifically comprises the following steps:
when i isq_ref≤ImaxWhen cos β, then iq_ref1＝iq_ref；iq_ref＞ImaxWhen cos β, then iq_ref1＝ImaxCos β when id_ref|≤ImaxSin β, then id_ref1＝id_ref(ii) a When | id_ref|＞ImaxSin β, then id_ref1＝Imax·sin β；
Wherein, Imax·cos β、ImaxSin β is the corresponding limit value.
In the step S5, the actual direct-axis current idThe torque formula of the permanent magnet synchronous motor is calculated.
The torque formula of the permanent magnet synchronous motor is as follows:
T＝1.5p·(ψd*iq-ψq*id)
wherein psiq、ψdThe magnetic chains are motor quadrature-direct axis magnetic chains respectively, and p is a magnetic pole pair number.
The quadrature axis target voltage uqAnd a direct axis target voltage udThe following conditions are satisfied:
Figure GDA0002340727260000031
wherein u isrefIs a limit voltage.
Compared with the prior art, the invention has the following advantages:
the invention utilizes the same characteristics of surface permanent magnet motor AC-DC axis inductance, the selected direct control quantity is only AC-axis current, and compared with the traditional control method, the method is simple and reliable, and based on current and voltage limit circle, the inverter always works in voltage limit state, id is indirectly regulated by iq and current is limited, voltage saturation during deep flux weakening is prevented, and the method has the advantages of simple and convenient control and simple and easy algorithm regulator.
Drawings
FIG. 1 is a schematic diagram of the control method of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1, the invention provides a surface permanent magnet synchronous motor feedforward decoupling flux weakening control method based on an electronic hydraulic braking system. The control method comprises the steps of measuring the rotating speed of a motor through a sensor, inquiring an MPTA rotating speed and a weak magnetic advance angle off-line table according to the rotating speed to obtain a weak magnetic advance angle, and obtaining target direct-axis current through the relation of the target direct-axis current and the target quadrature-axis current. After the feedforward decoupling quantity is calculated by the rotating speed, the feedforward decoupling quantity and the target and actual alternating current and direct current are jointly input into the current regulator to obtain target alternating current and direct current shaft voltage and carry out space vector pulse width modulation so as to control the switch of the inverter, thereby realizing flux weakening control.
The method specifically comprises the following steps:
s1, the motor controller receives the torque command and inputs the torque command into the MTPA module. The surface permanent magnet synchronous motor quadrature-direct axis inductances are equal, and the MTPA module converts a torque command into a target quadrature-axis current iq _ ref request according to the motor inductance and the permanent magnet flux linkage and an electromagnetic torque equation;
s2, measuring the actual motor rotation speed omega through a sensor, and obtaining a real-time flux weakening advance angle β according to the rotation speed obtained by MTPA and a flux weakening advance angle off-line Table Look up Table;
s3, obtaining a target direct-axis current id _ ref according to the relation (id _ ref: iq _ ref tan β) of the alternating-axis current and the direct-axis current controlled by the MTPA from the iq _ ref and β in S1 and S2;
s4 according to the maximum allowable current ImaxThe magnetic flux weakening advance angle β limits iq _ ref and id _ ref so that neither exceeds the limit value (I)maxCos β and ImaxSin β) iq _ ref1 and id _ ref 1;
s5, measuring the actual phase A and phase C currents ia and ic by a sensor, and performing Clark conversion and park conversion to obtain the actual motor quadrature-direct axis currents iq and id;
s6, inputting the difference value of iq _ ref1 and iq and the feedforward decoupling quantity into a quadrature axis PI controller to obtain a target voltage uq of a quadrature axis, and inputting the difference value of id _ ref1 and id and the feedforward decoupling quantity into a direct axis PI controller to obtain a target voltage ud of a direct axis;
s7, carrying out park inverse transformation on ud and uq to obtain u α and u β;
and S8, performing space vector pulse width modulation to control the switch of the three-phase inverter, and completing voltage input to the driving motor through an inverter circuit.
In the embodiment of the invention, a torque formula T of the permanent magnet synchronous motor is 1.5p (psi d-iq-psi q-q id) (wherein psi q and psi d are motor quadrature-direct axis flux linkages respectively, and p is a magnetic pole pair number).
According to the embodiment of the invention, the target quadrature-direct axis current is limited according to the requirement of the current limit circle. If the absolute value of iq _ ref is smaller than ImaxCos β, the value is the original value, otherwise, the value of iq _ ref is ImaxCos β, id _ ref is iq _ ref tan β, which is negative if its value is regular.
According to the requirement of the voltage limit circle, the embodiment of the invention limits ud and uq after 2 PI controllers output ud and uq, so that ud ^2+ uq ^2 is smaller than uref ^2(uref is limit voltage), and if the limit is not limited, the inverter saturation can be caused to cause the motor to be out of control.
The invention carries out statistics on the rotating speed and the flux weakening advance angle which meet the current and voltage limit circle and the optimal current-torque ratio curve under the flux weakening state, and prepares an off-line table of the rotating speed and the flux weakening advance angle. The controller can obtain a corresponding flux weakening advance angle immediately according to the motor rotating speed calculated after the sensor measures, so that id _ ref is obtained through iq _ ref calculation.
The invention utilizes the same characteristics of the surface permanent magnet motor AC-DC axis inductance, the selected direct control quantity is only AC-axis current, and the method is simple and reliable compared with the traditional control method. The method is based on current and voltage limit circles, and the inverter always works in a voltage limit state. And id is indirectly regulated by iq, and the current is limited, so that voltage saturation in deep flux weakening is prevented. The method has the advantages of simple and convenient control, simple and easy algorithm regulator and the like.
The embodiments of the present invention that have been disclosed are intended merely to facilitate a detailed description of the invention and are not intended to intimate that all of the details are set forth or limited to the particular embodiments described. The description is provided to better explain the principles of the invention and its practical application to thereby enable others skilled in the art to better understand the invention for various embodiments and with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.

Claims (5)

1. A surface permanent magnet synchronous motor feedforward decoupling flux weakening control method is characterized by comprising the following steps:
s1 the motor controller receives the torque command, inputs the torque command into the MTPA module of the maximum torque current ratio, the MTPA module converts the torque command into the target cross axis current i according to the motor inductance and the permanent magnet flux linkageq_ref；
S2, acquiring the actual rotating speed omega of the permanent magnet synchronous motor through a sensor, and acquiring a real-time flux weakening advance angle β according to the rotating speed and a flux weakening advance angle offline Table;
s3 calculating target direct axis current i according to the relation of MTPA quadrature axis and direct axis currentd_ref；
S4 limiting target quadrature axis current iq_refAnd a target direct axis current id_refSo that they do not exceed a limit value, according to the maximum current I allowedmaxLimiting target quadrature axis current i with weak magnetic advance angle βq_refAnd a target direct axis current id_refThe method specifically comprises the following steps:
when i isq_ref≤ImaxWhen cos β, then iq_ref1＝iq_ref；iq_ref＞ImaxWhen cos β, then iq_ref1＝ImaxCos β when id_ref|≤ImaxSin β, then id_ref1＝id_ref(ii) a When | id_ref|＞ImaxSin β, then id_ref1＝Imax·sinβ；
Wherein, Imax·cosβ、ImaxSin β for the corresponding limit;
s5, acquiring the actual A-phase and C-phase currents i of the permanent magnet synchronous motor through a sensora、icRespectively carrying out Clark conversion and park conversion to obtain the actual quadrature axis current i of the permanent magnet synchronous motorqAnd the actual direct axis current id；
S6 mixing iq_ref1And iqThe difference value and the feedforward decoupling quantity are input into an quadrature axis PI controller to obtain quadrature axis target voltage uqI is tod_ref1And idThe difference value and the feedforward decoupling quantity of (1) are input into the direct-axis PI controlObtaining a target voltage u of a straight axis in the deviced；
S7 direct axis target voltage udAnd quadrature axis target voltage uqRespectively carrying out inverse park transformation to obtain α shaft voltages uαAnd β axis voltage uβ；
And S8, performing space vector pulse width modulation and controlling the switch of the three-phase inverter, and completing the voltage input of the permanent magnet synchronous motor through an inverter circuit.
2. The feedforward decoupling flux-weakening control method for the surface permanent magnet synchronous motor according to claim 1, wherein in the step S3, the target direct axis current id_refThe calculation formula of (A) is as follows:
id_ref＝tanβ×iq_ref。
3. the feedforward decoupling flux weakening control method for the surface permanent magnet synchronous motor according to claim 1, wherein in the step S5, the actual direct-axis current idThe torque formula of the permanent magnet synchronous motor is calculated.
4. The feedforward decoupling flux weakening control method for the surface permanent magnet synchronous motor according to claim 3, wherein a torque formula of the permanent magnet synchronous motor is as follows:
T＝1.5p·(ψd*iq-ψq*id)
wherein psiq、ψdThe magnetic chains are motor quadrature-direct axis magnetic chains respectively, and p is a magnetic pole pair number.
5. The feedforward decoupling flux-weakening control method for the surface permanent magnet synchronous motor according to claim 3, wherein the quadrature axis target voltage uqAnd a direct axis target voltage udThe following conditions are satisfied:
Figure FDA0002340727250000021
wherein u isrefIs a limit voltage.
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GB2579632B (en) * 2018-12-07 2023-01-11 Trw Ltd A method of controlling a permanent magnet synchronous motor and a motor circuit
CN109977626B (en) * 2019-05-08 2023-04-07 广东工业大学 Method and equipment for calculating flux weakening and speed expanding capacity of permanent magnet synchronous motor
CN110474585B (en) * 2019-08-21 2021-01-01 中车永济电机有限公司 Control modulation method for high-power direct-drive permanent magnet synchronous motor
CN110784144B (en) * 2019-10-29 2021-04-02 中车永济电机有限公司 Improved control method of built-in permanent magnet synchronous motor
CN111538254B (en) * 2020-05-11 2023-04-07 成都华川电装有限责任公司 Simulation circuit for obtaining performance MAP table of permanent magnet synchronous motor
WO2022006803A1 (en) 2020-07-09 2022-01-13 浙江大学 Permanent magnet synchronous electric motor vector field weakening control system of electric drive system
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