CN109150055B - Electromagnetic torque feedback control system and method in I/F control of permanent magnet synchronous motor - Google Patents
Electromagnetic torque feedback control system and method in I/F control of permanent magnet synchronous motor Download PDFInfo
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- CN109150055B CN109150055B CN201811076802.5A CN201811076802A CN109150055B CN 109150055 B CN109150055 B CN 109150055B CN 201811076802 A CN201811076802 A CN 201811076802A CN 109150055 B CN109150055 B CN 109150055B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The present disclosure provides an electromagnetic torque feedback control system in I/F control of a permanent magnet synchronous motor, including: the calculation unit is used for calculating the electromagnetic torque of the permanent magnet synchronous motor; the filtering unit is used for carrying out high-pass filtering processing on the electromagnetic torque; the gain unit is used for performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and the rotating speed instruction value generating unit is used for generating a current space vector rotating speed instruction value through a current space vector rotating speed preset value and the current space vector rotating speed difference value. The disclosure also provides an electromagnetic torque feedback control method in the I/F control of the permanent magnet synchronous motor, and an electromagnetic torque calculation unit and method in the I/F control of the permanent magnet synchronous motor.
Description
Technical Field
The disclosure relates to an electromagnetic torque feedback control system and method in I/F control of a permanent magnet synchronous motor, and an electromagnetic torque calculation device and method in I/F control of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high power density, small loss, quick dynamic response and the like, and is widely applied to the fields of belt conveyors, numerical control machines, electric automobiles and the like. The sensorless vector control technology has the advantages of simple structure, low cost, high reliability and the like, and is widely applied to the industrial field. However, applying sensorless vector control technology to permanent magnet synchronous motors faces the first problem of how to start the motor with high performance. When the motor is in a middle-high speed operation interval, the motor fundamental wave model-based rotating speed and rotor position identification method has good precision, however, in a low-speed operation interval, the counter electromotive force of the motor is very small, and due to the influence of a control dead zone and frequency converter nonlinearity, the fundamental wave model-based rotating speed and rotor position identification method has large errors, and is difficult to meet the actual application requirements.
In order to solve the problem, a typical rotor position identification method in a low-speed operation interval at present generally obtains rotor position information by using salient pole characteristics of a motor, and mainly includes a rotating high-frequency signal injection method, a pulsating high-frequency signal injection method and the like, however, the methods have high computational complexity, have a high demand on computational resources of a processor, and have hardware loss, high-frequency noise and the like.
Another typical sensorless vector control technique in the prior art is current/frequency (I/F) control. The torque of the permanent magnet synchronous motor is known to be related to the current amplitude and the included angle between the current vector and the position of the rotor, and the electromagnetic torque of the permanent magnet synchronous motor can be indirectly controlled by directly controlling the amplitude and the frequency of the current injected into the stator winding of the permanent magnet synchronous motor, so that the purpose of driving the permanent magnet synchronous motor is achieved. The I/F control technology has the advantages of simple realization and low cost, and can avoid the over-current phenomenon through the direct control of the current. However, one of the fatal drawbacks of the I/F control technique is that the stability of the system is not high, because in the I/F control, due to the unknown rotor position and the adoption of the speed open loop control, the damping of the system is provided only by the friction damping, and when suffering from load disturbance, the motor is very liable to oscillate and even lose step.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present disclosure provides an electromagnetic torque feedback control system and method in I/F control of a permanent magnet synchronous motor, an electromagnetic torque calculation device and method in I/F control of a permanent magnet synchronous motor, a calculation apparatus, and a computer readable medium.
According to a first aspect of the present disclosure, an electromagnetic torque feedback control system in I/F control of a permanent magnet synchronous motor includes: the calculating unit is used for calculating the electromagnetic torque of the permanent magnet synchronous motor; the filtering unit is used for carrying out high-pass filtering processing on the electromagnetic torque; the gain unit is used for performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and a rotating speed instruction value generating unit which generates a current space vector rotating speed instruction value through the current space vector rotating speed preset value and the current space vector rotating speed difference value.
According to at least one embodiment of the present disclosure, the system further comprises: the integration unit is used for performing integration processing on the current space vector rotating speed instruction value to generate a feedback angle; and a coordinate transformation angle generation unit generating a coordinate transformation angle for current space vector control by assuming an initial angle and a feedback angle of a coordinate system.
According to at least one embodiment of the present disclosure, the preset value of the current space vector rotation speed is a desired value of the rotation speed of the permanent magnet synchronous motor.
According to at least one embodiment of the present disclosure, during a start-up phase of the permanent magnet synchronous motor, the current space vector rotation speed preset value is set to rise to a rotation speed desired value with a predetermined slope.
According to at least one embodiment of the present disclosure, the current space vector rotational speed difference
Wherein k isfIs the feedback gain value of the gain unit, tau is the time constant of the filter unit when high-pass filtering is carried out, s is the Laplace operator, TeThe electromagnetic torque calculated for the calculation unit.
According to at least one embodiment of the present disclosure, the system further comprises: the calculating unit calculates a sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, calculates an approximate cosine value of the included angle, calculates an accurate cosine value of the included angle according to the sine value respectively according to the positive and negative of the approximate cosine value, and calculates the electromagnetic torque according to the accurate cosine value.
According to at least one embodiment of the present disclosure, the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
According to at least one embodiment of the present disclosure, a computing unit includes: a stator power calculation unit for calculating instantaneous reactive power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator currentPower and stator instantaneous active power; the stator current amplitude calculation unit is used for calculating the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current; an included angle sine value calculation unit according to the formula
Calculating the sine value of the included angle, wherein delta is the included angle, Q is the instantaneous reactive power of the stator, and omegaiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted; an included angle approximate cosine value calculation unit according to a formula
Calculating an approximate cosine value of the included angle, wherein delta is the included angle, P is the instantaneous active power of the permanent magnet synchronous motor, R is the internal resistance of the stator of the permanent magnet synchronous motor, I is the amplitude of the stator current, and omegaiFor the current space vector speed command value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted; a judgment calculation unit for judging whether the cosine-like value is positive or negative, and when the cosine-like value is positive, using a formula
Calculating the exact cosine value, when the approximate cosine value is negative, using the formula
Calculating an accurate cosine value; and an electromagnetic torque calculation unit for calculating the accurate cosine value obtained by the judgment calculation unit according to a formula
Calculating an electromagnetic torque, wherein TeIs an electromagnetic torque, pnIs the pole pair number psi of the permanent magnet synchronous motorrIs the permanent magnet synchronous motor rotor flux linkage, and I is the stator current amplitude.
According to a second aspect of the present disclosure, an electromagnetic torque feedback control method in I/F control of a permanent magnet synchronous motor includes: calculating the electromagnetic torque of the permanent magnet synchronous motor; carrying out high-pass filtering processing on the electromagnetic torque; performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and generating a current space vector rotating speed instruction value through the current space vector rotating speed preset value and the current space vector rotating speed difference value.
According to at least one embodiment of the present disclosure, the method further comprises: integrating the current space vector rotating speed instruction value to generate a feedback angle; and generating a coordinate transformation angle for current space vector control by assuming an initial angle and a feedback angle of a coordinate system.
According to at least one embodiment of the present disclosure, the preset value of the current space vector rotation speed is a desired value of the rotation speed of the permanent magnet synchronous motor.
According to at least one embodiment of the present disclosure, during a start-up phase of the permanent magnet synchronous motor, the current space vector rotation speed preset value is set to rise to a rotation speed desired value with a predetermined slope.
According to at least one embodiment of the present disclosure, the current space vector rotational speed difference
Wherein k isfFor feedback gain values, τ is the time constant for high-pass filtering, s is the Laplace operator, TeIs the calculated electromagnetic torque.
According to at least one embodiment of the present disclosure, the method further comprises: the method comprises the steps of obtaining three-phase stator voltage and three-phase stator current of the permanent magnet synchronous motor, calculating a sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system when calculating electromagnetic torque of the permanent magnet synchronous motor, calculating an approximate cosine value of the included angle, calculating accurate cosine values of the included angle through the sine value according to the positive and negative of the approximate cosine values, and calculating the electromagnetic torque through the accurate cosine values.
According to at least one embodiment of the present disclosure, the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
In accordance with the present disclosureIn at least one embodiment of the present invention, the step of calculating the electromagnetic torque of the permanent magnet synchronous motor includes: calculating the instantaneous stator reactive power and the instantaneous stator active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current; calculating the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current; according to the formula
Calculating the sine value of the included angle, wherein delta is the included angle, Q is the instantaneous reactive power of the stator, and omegaiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted; according to the formula
Calculating the approximate cosine value of the included angle, wherein delta is the included angle, P is the instantaneous active power of the stator, R is the internal resistance of the stator of the permanent magnet synchronous motor, I is the current amplitude of the stator, and omegaiFor the current space vector speed command value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted; judging whether the cosine-like value is positive or negative, and if the cosine-like value is positive, using a formula
Calculating the exact cosine value, when the approximate cosine value is negative, using the formula
Calculating an accurate cosine value; and formulating the exact cosine value based on the calculated
Calculating an electromagnetic torque, wherein TeIs an electromagnetic torque, pnIs the pole pair number psi of the permanent magnet synchronous motorrIs the permanent magnet synchronous motor rotor flux linkage, and I is the stator current amplitude.
According to a third aspect of the present disclosure, an electromagnetic torque calculating device in I/F control of a permanent magnet synchronous motor includes: an included angle sine value calculation module according toFormula (II)
Calculating the sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, wherein delta is the included angle, Q is the instant reactive power of the stator, and omega isiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted; the included angle approximate cosine value calculation module according to the formula
Calculating an approximate cosine value of the included angle, wherein P is the instantaneous active power of the stator, and R is the internal resistance of the stator of the permanent magnet synchronous motor; the included angle accurate cosine value calculation module is used for calculating the accurate cosine value of the included angle through the sine value of the included angle based on the positive and negative of the approximate cosine value of the included angle; and an electromagnetic torque calculation module for calculating the exact cosine value by formula
Calculating an electromagnetic torque, wherein pnThe number of pole pairs of the permanent magnet synchronous motor is shown.
According to at least one embodiment of the present disclosure, the apparatus further comprises: the stator power calculation module is used for calculating the instantaneous stator reactive power and the instantaneous stator active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current; and the stator current amplitude calculation module is used for calculating the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current.
According to at least one embodiment of the present disclosure, the included angle exact cosine value calculation module determines whether the approximated cosine value is positive or negative, and when the approximated cosine value is positive, the included angle exact cosine value calculation module calculates the included angle exact cosine value by using a formula
Calculating the exact cosine value, when the approximate cosine value is negative, using the formula
Calculating the exact cosineThe value is obtained.
According to at least one embodiment of the present disclosure, the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
According to at least one embodiment of the present disclosure, in the stator power calculation module, the stator power is calculated by the formula
Calculating the instantaneous reactive power of the stator, wherein Q is the instantaneous reactive power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition,
iabcfor three-phase stator currents, and by formula
Calculating the instantaneous active power of the stator, wherein p is the instantaneous active power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition, iabcIs a three-phase stator current.
According to at least one embodiment of the present disclosure, in the stator current amplitude calculation module, the stator current amplitude is calculated by a formula
Calculating the stator current amplitude, wherein I is the stator current amplitude, Ia，ib，icThe stator currents of each phase in the three phases are respectively.
According to a fourth aspect of the present disclosure, a method of calculating an electromagnetic torque in I/F control of a permanent magnet synchronous motor includes: according to the formula
Calculating the sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, wherein delta is the included angle, Q is the instant reactive power of the stator, and omega isiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirFor permanent magnet synchronizationA motor rotor flux linkage; according to the formula
Calculating an approximate cosine value of the included angle, wherein P is the instantaneous active power of the stator, and R is the internal resistance of the stator of the permanent magnet synchronous motor; calculating an accurate cosine value of the included angle through the sine value of the included angle based on the positive and negative of the approximate cosine value of the included angle; and according to the exact cosine value, by formula
Calculating an electromagnetic torque, wherein pnThe number of pole pairs of the permanent magnet synchronous motor is shown.
According to at least one embodiment of the present disclosure, the method further comprises: calculating the instantaneous reactive power of the stator of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current; and calculating the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator currents.
According to at least one embodiment of the present disclosure, the included angle exact cosine value calculation module determines whether the approximated cosine value is positive or negative, and when the approximated cosine value is positive, the included angle exact cosine value calculation module calculates the included angle exact cosine value by using a formula
Calculating the exact cosine value, when the approximate cosine value is negative, using the formula
And calculating an accurate cosine value.
According to at least one embodiment of the present disclosure, the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
According to at least one embodiment of the present disclosure, the data is generated by a formula
Calculating the instantaneous reactive power of the stator, wherein Q is the instantaneous reactive power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition,
iabcfor three-phase stator currents, and by formula
Calculating the instantaneous active power of the stator, wherein p is the instantaneous active power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition, iabcIs a three-phase stator current.
According to at least one embodiment of the present disclosure, the data is generated by a formula
Calculating the amplitude of the stator current, wherein I is the amplitude of the stator current, Ia，ib，icThe stator currents of each phase in the three phases are respectively.
According to at least one embodiment of the present disclosure, the permanent magnet synchronous motor is a surface-mount permanent magnet synchronous motor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a schematic illustration of an I/F control with electromagnetic torque closed loop feedback control of at least one embodiment of the present disclosure.
Fig. 2 is a schematic diagram of an electromagnetic torque calculation unit of at least one embodiment of the present disclosure.
FIG. 3 is a schematic diagram of a method with electromagnetic torque closed loop feedback control of at least one embodiment of the present disclosure.
Fig. 4 is a schematic diagram of an electromagnetic torque calculation method of at least one embodiment of the present disclosure.
Fig. 5 is a comparative view of electromagnetic torque and load torque in a simulation result of a control method according to at least one embodiment of the present disclosure.
Fig. 6 is a comparison view of a rotation speed command value and an actual value in a simulation result of a control method according to at least one embodiment of the present disclosure.
Fig. 7 is a comparison view of a calculated value and an actual value of an electronic torque in a simulation result of a control method according to at least one embodiment of the present disclosure.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to improve the stability of I/F control, enhance system damping and improve the speed convergence characteristic of a permanent magnet synchronous motor, particularly a surface-mounted permanent magnet synchronous motor, an additional electromagnetic torque closed-loop feedback control method is provided for basic I/F control, and the method can improve the stability of the permanent magnet synchronous motor under the I/F control and improve the anti-interference performance of a system.
FIG. 1 shows an I/F control schematic with electromagnetic torque closed loop feedback control according to the present disclosure. Wherein the additional electromagnetic torque closed loop feedback control module 100 is shown in phantom.
In the I/F control, a direct axis (d-axis) current I is setdIs given by the instruction value id_refZero, quadrature (q-axis) current iqIs given by the instruction value iq_refIs I; setting a desired speed value omega of a current space vector0For the desired motor speed, for example, a setpoint value can be set during the motor start phase which rises with a predetermined slope to the desired speed.
The electromagnetic torque calculation unit 101 is used to calculate the electromagnetic torque of the permanent magnet synchronous motor,wherein the electromagnetic torque T is obtained by an algebraic expressione。
Through the processing of the units, the electromagnetic torque closed-loop feedback control law can be expressed as
Wherein k isfDenotes the feedback gain of the gain cell, τ denotes the time constant of the high-pass filtering, and s denotes the laplacian.
The rotation speed command value generation unit 200 converts the current space vector rotation speed difference Δ ω into a current space vector rotation speed difference value Δ ωiExpected speed value omega of current space vector set0Calculating to obtain a current vector space rotating speed command value omegai. Accordingly, the current vector space rotating speed command value with electromagnetic torque closed-loop feedback is omegai＝ω0+ΔωiThen ω is integrated by the integration unit 300iIntegration is performed and the coordinate conversion angle generation unit 400 adds the initial position θ of the assumed rotational coordinate system to the integrated value0The angle theta for coordinate transformation in current space vector control can be obtainedi. After that, the angle theta is adjustediFor current space vector control.
Electromagnetic torque calculation section 101 performs electromagnetic torque calculation based on the acquired three-phase stator voltage and three-phase stator current of the permanent magnet synchronous motor. The three-phase stator voltage is measured stator voltage or modulation voltage output by a current controller of the permanent magnet synchronous motor.
As shown in fig. 2, the electromagnetic torque calculation unit 101 may include the following units:
the stator power calculating unit 1011 calculates the instantaneous reactive power and the instantaneous active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current, wherein the instantaneous reactive power and the instantaneous active power can be calculated by formulas
Calculating the instantaneous reactive power of the stator, wherein Q is the instantaneous reactive power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition,
iabcfor three-phase stator currents, but other equivalent transformations of the equation for the instantaneous stator reactive power may exist here, and by the equation
Calculating the instantaneous active power of the stator, wherein p is the instantaneous active power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition, iabcThree-phase stator currents, but other equivalent transformations of the formula of the instantaneous active power of the stator can exist here;
the stator current amplitude calculation unit 1012 calculates the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current, which can be expressed by a formula in this disclosure
Calculating the stator current amplitude, wherein I is the stator current amplitude, Ia，ib，icThe stator currents of each phase in three phases are respectively, but other equivalent transformation can exist in the formula of the stator current amplitude;
an included angle sine value calculation unit 1013 according to a formula
Calculating the sine value of the included angle, wherein delta is the included angle, Q is the instantaneous reactive power of the stator, and omegaiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
the included angle approximate cosine value calculation unit 1014 calculates the included angle approximate cosine value according to the formula
Calculating the approximate cosine value of the included angle, wherein delta is the included angle, P is the instantaneous active power of the stator, R is the internal resistance of the stator of the permanent magnet synchronous motor, I is the current amplitude of the stator, and omegaiFor the current space vector speed command value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
a judgment calculation unit 1015 for judging whether the cosine-like value is positive or negative, and when the cosine-like value is positive, using a formula
Calculating the exact cosine value, when the approximate cosine value is negative, using the formula
Calculating an accurate cosine value; and
an electromagnetic torque calculating unit 1016 for calculating the accurate cosine value obtained by the judgment calculating unit 1015 according to the formula
Calculating an electromagnetic torque, wherein TeIs an electromagnetic torque, pnIs the pole pair number psi of the permanent magnet synchronous motorrIs the permanent magnet synchronous motor rotor flux linkage, and I is the stator current amplitude.
According to the disclosure, a control method of the electromagnetic torque feedback control device in the I/F control of the permanent magnet synchronous motor is also provided.
Referring to fig. 2, the method includes:
s1: calculating the electromagnetic torque of the permanent magnet synchronous motor;
s2: carrying out high-pass filtering processing on the electromagnetic torque;
s3: performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and
s4: and generating a current space vector rotating speed instruction value through the current space vector rotating speed preset value and the current space vector rotating speed difference value.
Further, the method may further include:
s5: integrating the current space vector rotating speed instruction value to generate a feedback angle; and
s6: the coordinate transformation angle for current space vector control is generated by assuming an initial angle and a feedback angle of a coordinate system.
Note that, when the electromagnetic torque is calculated in step S1, the calculation may be performed by steps corresponding to the processing performed by each unit described in fig. 2, and the description thereof is omitted.
According to the disclosure, an electromagnetic torque calculation method based on an algebraic expression is further provided, the method is simple to implement and high in precision, and a foundation is laid for the electromagnetic torque closed-loop feedback control.
This method will be described in detail with reference to fig. 4. As shown in fig. 4, the method may include:
in step S11, the stator instantaneous reactive power and the stator instantaneous active power of the permanent magnet synchronous motor are calculated from the three-phase stator voltage and the three-phase stator current, where the three-phase stator voltage is the measured stator voltage or the modulation voltage output by the current controller of the permanent magnet synchronous motor. For example, by means of a formula
Calculating the instantaneous reactive power of the stator, wherein Q is the instantaneous reactive power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition,
iabcfor three-phase stator currents, but other equivalent transformations of the equation for the instantaneous stator reactive power may exist here, and by the equation
Calculating the instantaneous active power of the stator, wherein p is the instantaneous active power of the stator, uabcFor three-phase stator voltages, the superscript T denotes transposition, iabcThree-phase stator currents, but other equivalent transformations of the formula of the stator instantaneous active power may exist here. Based on three-phase stator currentsCalculating the stator current amplitude of a permanent magnet synchronous machine, e.g. by formula
Calculating the amplitude of the stator current, wherein I is the amplitude of the stator current, Ia，ib，icStator currents of each of the three phases are provided, but other equivalent transformations of the stator current magnitude formula may exist here.
In step S12, according to the formula
Calculating the sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, wherein delta is the included angle, Q is the instant reactive power of the stator, and omega isiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirIs a permanent magnet synchronous motor rotor flux linkage.
In step S13, according to the formula
Calculating an approximate cosine value of the included angle, wherein P is the instantaneous active power of the stator, and R is the internal resistance of the stator of the permanent magnet synchronous motor;
in step S14, an accurate cosine value of the angle is calculated from the sine value of the angle based on the positive and negative of the approximate cosine value of the angle.
In step S15, based on the exact cosine value, by formula
Calculating an electromagnetic torque, wherein pnThe number of pole pairs of the permanent magnet synchronous motor is shown.
According to the present disclosure, there is also provided an electromagnetic torque calculation apparatus corresponding to the above electromagnetic torque calculation method, and the apparatus includes respective modules corresponding to the method.
In the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the unit is only one logical function division, and there may be other division ways when the actual implementation is realized. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In order to verify the technical effect of the electromagnetic torque feedback control mode. Simulation tests are performed on the control mode according to the present disclosure in a MATLAB/Simulink environment, and FIGS. 5 to 7 show simulation verification results according to the present disclosure.
In consideration of the fact that the load torque at the initial moment is not determined in the practical application of the motor (such as a belt conveyor), the motor must be started with the maximum electromagnetic torque in order to start the motor smoothly. The initial position of the rotor was detected in the simulation at 0.2 second as the initial position of the assumed rotational coordinate system, i.e., θ in fig. 10The q-axis current command value is set to the maximum value at which the electromagnetic torque reaches the maximum value, as shown in fig. 5. The actual initial load torque is 4 n.m., when the electromagnetic torque is greater than the load torque, the motor starts to start, as shown in fig. 6. Due to the regulation effect of electromagnetic torque closed-loop feedback, the electromagnetic torque is quickly reduced to be close to the load torque, and the motor is prevented from flying. Thereafter, as the rotation speed command value continues to rise, the electromagnetic torque gradually increases, the electromagnetic torque becomes larger than the load torque, and the motor continues to accelerate, as shown in fig. 6. At 3.5 seconds, the rotation speed command value is stepped, and as can be seen from fig. 5 and 6, the motor rotation speed and the electromagnetic torque can be quickly converged to a steady state. The load torque at 6.0 seconds is stepped, and as can be seen from fig. 5 and 6, the motor speed and the electromagnetic torque can also converge to the steady state quickly. Fig. 7 shows a comparison of the calculated value of the electromagnetic torque with the true value, and it can be seen that the calculated value of the torque has a good accuracy after the motor is started.
The implementation/example according to the present disclosure is simple, the calculation accuracy of the electromagnetic torque is high, the parameter is easy to debug, and the like. Based on a basic I/F control technology, the stability of the I/F control of the permanent magnet synchronous motor, particularly the surface-mounted permanent magnet synchronous motor, is improved, the system damping is enhanced, the anti-interference capability is improved, the rotating speed convergence characteristic is improved, and the practicability of the I/F control is improved.
Embodiments/examples of the present disclosure may be applied to starting, speed regulating, and stopping of a permanent magnet synchronous motor, particularly a surface-mounted permanent magnet synchronous motor, such as a belt conveyor, an electric vehicle, and the like. For the starting of the permanent magnet synchronous motor, especially the surface-mounted permanent magnet synchronous motor, the motor can be started to a medium-high speed smoothly by applying the technology, and then the control is switched to a control method of a medium-high speed operation interval by adopting a proper switching technology, such as a sensor-free vector control method based on the rotor position identification of a fundamental wave model. For the speed regulation of a permanent magnet synchronous motor, particularly a surface-mounted permanent magnet synchronous motor, the technology can realize the speed control of the motor but cannot realize the position control. For the halt of the permanent magnet synchronous motor, particularly the surface-mounted permanent magnet synchronous motor, when the rotating speed of the motor is reduced to a certain value, the control is switched to the control technology by adopting a proper switching technology, so that the motor can be stably halted.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (28)
1. An electromagnetic torque feedback control system in an I/F control of a permanent magnet synchronous motor, characterized by comprising:
the calculation unit is used for calculating the electromagnetic torque of the permanent magnet synchronous motor;
the filtering unit is used for carrying out high-pass filtering processing on the electromagnetic torque;
the gain unit is used for performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and
a rotation speed instruction value generating unit for generating a current space vector rotation speed instruction value through a current space vector rotation speed preset value and the current space vector rotation speed difference value,
wherein the current space vector rotation speed difference is
Wherein k isfIs the feedback gain value of the gain unit, tau is the time constant of the filter unit when high-pass filtering is carried out, s is the Laplace operator, TeAn electromagnetic torque calculated for the calculation unit.
2. The system of claim 1, further comprising:
the integration unit is used for performing integration processing on the current space vector rotating speed instruction value to generate a feedback angle; and
and a coordinate transformation angle generation unit which generates a coordinate transformation angle for current space vector control by assuming an initial angle of a coordinate system and the feedback angle.
3. The system of claim 1, wherein the preset current space vector speed value is a desired speed value of the permanent magnet synchronous motor.
4. The system of claim 3, wherein the current space vector speed preset value is set to increase with a predetermined slope to a desired speed during a start-up phase of the permanent magnet synchronous machine.
5. The system of any one of claims 1 to 4, further comprising: an obtaining unit for obtaining three-phase stator voltage and three-phase stator current of the permanent magnet synchronous motor,
the calculation unit calculates a sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, calculates an approximate cosine value of the included angle, calculates an accurate cosine value of the included angle according to the sine value and the sine value respectively according to the positive and negative of the approximate cosine value, calculates the electromagnetic torque according to the accurate cosine value,
wherein the calculation unit includes:
the stator power calculation unit is used for calculating the instantaneous stator reactive power and the instantaneous stator active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current;
a stator current amplitude calculation unit which calculates a stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current;
an included angle sine value calculation unit according to the formula
Calculating the sine value of the included angle, wherein delta is the included angle, Q is the instant reactive power of the stator, and omegaiFor the current space vector rotating speed instruction value, L is the stator inductance value of the permanent magnet synchronous motor, and I is the stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
an included angle approximate cosine value calculation unit according to a formula
Calculating an approximate cosine value of the included angle, wherein delta is the included angle, P is the instantaneous active power of the stator, R is the internal resistance of the stator of the permanent magnet synchronous motor, I is the current amplitude of the stator, and omegaiFor said current space vector rotation speed command value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
a judgment calculation unit for judging whether the cosine-like value is positive or negative, and when the cosine-like value is positive, using a formula
Calculating the exact cosine value, when the approximate cosine value is negative, passing through a formula
Calculating the accurate cosine value; and
an electromagnetic torque calculation unit for calculating the accurate cosine value obtained by the judgment calculation unit according to a formula
Calculating the electromagnetic torque, wherein TeFor said electromagnetic torque, pnIs the pole pair number psi of the permanent magnet synchronous motorrIs the permanent magnet synchronous motor rotor flux linkage, and I is the stator current amplitude.
6. The system of claim 5, wherein the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
7. The system of any one of claims 1 to 4 and 6, wherein the permanent magnet synchronous motor is a surface-mounted permanent magnet synchronous motor.
8. The system of claim 5, wherein the permanent magnet synchronous motor is a surface mount permanent magnet synchronous motor.
9. An electromagnetic torque feedback control method in I/F control of a permanent magnet synchronous motor is characterized by comprising the following steps:
calculating the electromagnetic torque of the permanent magnet synchronous motor;
carrying out high-pass filtering processing on the electromagnetic torque;
performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and
generating a current space vector rotating speed instruction value through a current space vector rotating speed preset value and the current space vector rotating speed difference value,
wherein the current space vector rotation speed difference is
Wherein k isfFor feedback gain values, τ is the time constant for high-pass filtering, s is the Laplace operator, TeIs the calculated electromagnetic torque.
10. The method of claim 9, further comprising:
integrating the current space vector rotating speed instruction value to generate a feedback angle; and
generating a coordinate transformation angle for current space vector control by assuming an initial angle of a coordinate system and the feedback angle.
11. The method of claim 9, wherein the preset current space vector speed value is a desired speed value of the permanent magnet synchronous motor.
12. The method of claim 11, wherein the current space vector speed preset value is set to increase with a predetermined slope to a desired speed during a start-up phase of the permanent magnet synchronous machine.
13. The method of claim 9 or 10, further comprising: obtaining three-phase stator voltage and three-phase stator current of the permanent magnet synchronous motor,
when the electromagnetic torque of the permanent magnet synchronous motor is calculated, calculating the sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, calculating the approximate cosine value of the included angle, calculating the accurate cosine value of the included angle according to the sine value and the accurate cosine value respectively according to the positive and negative of the approximate cosine value, calculating the electromagnetic torque according to the accurate cosine value,
wherein the step of calculating the electromagnetic torque of the permanent magnet synchronous motor comprises:
calculating the instantaneous stator reactive power and the instantaneous stator active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current;
calculating a stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current;
according to the formula
Calculating the sine value of the included angle, wherein delta is the included angle, Q is the instant reactive power of the stator, and omegaiFor the current space vector rotating speed instruction value, L is the stator inductance value of the permanent magnet synchronous motor, and I is the stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
according to the formula
Calculating an approximate cosine value of the included angle, wherein delta is the included angle, P is the instantaneous active power of the stator, R is the internal resistance of the stator of the permanent magnet synchronous motor, I is the current amplitude of the stator, and omegaiFor said current space vector rotation speed command value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
judging whether the approximate cosine value is positive or negative, and when the approximate cosine value is positive, passingFormula (II)
Calculating the exact cosine value, when the approximate cosine value is negative, passing through a formula
Calculating the accurate cosine value; and
according to the calculated accurate cosine value, passing through a formula
Calculating said electromagnetic torque, wherein TeFor said electromagnetic torque, pnIs the pole pair number psi of the permanent magnet synchronous motorrIs the permanent magnet synchronous motor rotor flux linkage, and I is the stator current amplitude.
14. The method of claim 13, wherein the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
15. The method according to any of claims 9 to 12, 14, wherein the permanent magnet synchronous machine is a surface-mounted permanent magnet synchronous machine.
16. The method of claim 13, wherein the permanent magnet synchronous machine is a surface mount permanent magnet synchronous machine.
17. A calculation unit that calculates an electromagnetic torque of a permanent magnet synchronous motor, characterized by comprising:
an included angle sine value calculation module according to a formula
Calculating the sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, wherein delta is the included angle, and Q is the instant of the statorReactive power, omegaiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
the included angle approximate cosine value calculation module according to the formula
Calculating an approximate cosine value of the included angle, wherein P is the instantaneous active power of the stator, and R is the internal resistance of the stator of the permanent magnet synchronous motor;
the included angle accurate cosine value calculation module judges whether the approximate cosine value is positive or negative, and when the approximate cosine value is positive, the formula is used
Calculating the exact cosine value, when the approximate cosine value is negative, passing through a formula
Calculating the accurate cosine value; and
an electromagnetic torque calculation module, based on the accurate cosine value, by formula
Calculating an electromagnetic torque, wherein pnIs the number of pole pairs of the permanent magnet synchronous motor,
the calculation unit is used in an electromagnetic torque feedback control system in the I/F control of the permanent magnet synchronous motor, and the electromagnetic torque feedback control system further comprises: a filtering unit for performing high-pass filtering processing on the electromagnetic torque calculated by the calculating unit; the gain unit is used for performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and a rotation speed instruction value generating unit for generating a current space vector rotation speed instruction value by a current space vector rotation speed preset value and the current space vector rotation speed difference value,
wherein the current space vector rotation speed difference is
Wherein k isfIs the feedback gain value of the gain unit, tau is the time constant of the filter unit when high-pass filtering is carried out, s is the Laplace operator, TeAn electromagnetic torque calculated for the calculation unit.
18. The computing unit of claim 17, further comprising:
the stator power calculation module is used for calculating the instantaneous stator reactive power and the instantaneous stator active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current; and
and the stator current amplitude calculation module is used for calculating the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current.
19. The computing unit of claim 18, wherein the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
20. The computing unit of claim 18, wherein in the stator power calculation module, by formula
Calculating the instantaneous stator reactive power, wherein Q is the instantaneous stator reactive power, uabcFor the three-phase stator voltages, the superscript T denotes transposition,
iabcis the three-phase stator current; and by the formula
Calculating the stator instantaneous active power, where Pp is the stator instantaneousActive power uabcFor the three-phase stator voltages, the superscript T denotes transposition, iabcIs the three-phase stator current.
21. The computing unit of claim 18, wherein in the stator current magnitude computation module, by formula
Calculating the stator current amplitude, wherein I is the stator current amplitude, Ia，ib，icThe stator currents of each phase in the three phases are respectively.
22. The computing unit of any of claims 17 to 21, wherein the permanent magnet synchronous machine is a surface mount permanent magnet synchronous machine.
23. A calculation method of calculating an electromagnetic torque of a permanent magnet synchronous motor, characterized by comprising:
according to the formula
Calculating the sine value of an included angle of an assumed rotating coordinate system leading a rotor rotating coordinate system, wherein delta is the included angle, Q is the instant reactive power of the stator, and omega isiIs a current space vector rotating speed instruction value, L is a stator inductance value of the permanent magnet synchronous motor, I is a stator current amplitude value and psirThe permanent magnet synchronous motor rotor flux linkage is adopted;
according to the formula
Calculating an approximate cosine value of the included angle, wherein P is the instantaneous active power of the stator, and R is the internal resistance of the stator of the permanent magnet synchronous motor;
calculating an accurate cosine value of the included angle based on the positive and negative of the approximate cosine value of the included angle, wherein the positive and negative of the approximate cosine value are judged, and when the approximate cosine value is positive, a formula is used
Calculating the exact cosine value, when the approximate cosine value is negative, passing through a formula
Calculating the accurate cosine value; and
according to said accurate cosine value, by formula
Calculating an electromagnetic torque, wherein pnIs the number of pole pairs of the permanent magnet synchronous motor,
the calculation method is used in an electromagnetic torque feedback control method in the I/F control of the permanent magnet synchronous motor, and the electromagnetic torque feedback control method further comprises the following steps: performing high-pass filtering processing on the electromagnetic torque calculated by the calculation unit; performing gain processing on the electromagnetic torque subjected to high-pass filtering to obtain a current space vector rotating speed difference value; and generating a current space vector rotating speed instruction value through a current space vector rotating speed preset value and the current space vector rotating speed difference value,
wherein the current space vector rotation speed difference is
Wherein k isfFor feedback gain values, τ is the time constant for high-pass filtering, s is the Laplace operator, TeIs the calculated electromagnetic torque.
24. The method of claim 23, further comprising:
calculating the instantaneous stator reactive power and the instantaneous stator active power of the permanent magnet synchronous motor according to the three-phase stator voltage and the three-phase stator current; and
and calculating the stator current amplitude of the permanent magnet synchronous motor according to the three-phase stator current.
25. The method of claim 24, wherein the three-phase stator voltage is a measured stator voltage or a modulated voltage output by a current controller of the permanent magnet synchronous motor.
26. The method of claim 24, wherein the method is performed by a formula
Calculating the instantaneous stator reactive power, wherein Q is the instantaneous stator reactive power, uabcFor the three-phase stator voltages, the superscript T denotes transposition,
iabcis the three-phase stator current; and by the formula
Calculating the stator instantaneous active power, where Pp is the stator instantaneous active power, uabcFor the three-phase stator voltages, the superscript T denotes transposition, iabcIs the three-phase stator current.
27. The method of claim 24, wherein the method is performed by a formula
Calculating the stator current amplitude, wherein I is the stator current amplitude, Ia，ib，icThe stator currents of each phase in the three phases are respectively.
28. The method according to any one of claims 23 to 27, wherein the permanent magnet synchronous machine is a surface mount permanent magnet synchronous machine.
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