CN109217762A - A kind of matching process of driver and internal permanent magnet synchronous motor - Google Patents
A kind of matching process of driver and internal permanent magnet synchronous motor Download PDFInfo
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- CN109217762A CN109217762A CN201811320352.XA CN201811320352A CN109217762A CN 109217762 A CN109217762 A CN 109217762A CN 201811320352 A CN201811320352 A CN 201811320352A CN 109217762 A CN109217762 A CN 109217762A
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
-
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
- H02P25/03—Synchronous motors with brushless excitation
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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
-
- 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)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses the matching process of a kind of driver and internal permanent magnet synchronous motor, the following steps are included: calibrating several groups d-q axle inductance parameter of the internal permanent magnet synchronous motor under different simulation operating conditions using offline mode on rack, inductance parameters table is generated；According to inductance parameters table, internal permanent magnet synchronous motor efficient operating point under different simulation operating conditions is obtained by efficiency optimization strategy；Internal permanent magnet synchronous motor is demarcated according to efficient operating point, generates current-order table；Driver control plate generates driving circuit driving signal according to current-order table, realizes the matching of driver and internal permanent magnet synchronous motor.This method is from driving current angle, for the purpose of reducing power of motor loss, it is dynamically adapted the exciting current of motor, reduce power of motor loss, improve electric efficiency, so that driver and motor is in preferably matching status, to promote driver control performance, preferably plays the control function of driver.
Description
Technical field
The present invention relates to Motor Control Field, the match party of specifically a kind of driver and internal permanent magnet synchronous motor
Method.
Background technique
The rotor field of permanent magnet synchronous motor (abbreviation PMSM) is generated by permanent magnet, therefore is hence obtained one's name.According to permanent magnet knot
Structure classification, permanent magnet synchronous motor can be divided into durface mounted permanent magnet synchronous motor (abbreviation SPMSM) and internal permanent magnet synchronous motor (letter
Claim IPMSM).Compared with durface mounted permanent magnet synchronous motor, the rotor structure of internal permanent magnet synchronous motor, which can make full use of, to be turned
Reluctance torque caused by sub- magnetic circuit asymmetry, improves the power density of motor, so that the dynamic property of motor turns compared with surface-mount type
Minor structure makes moderate progress, and unitary current torque is big, there is stronger overload capacity, therefore is suitable as driving motor applied to electronic
Automobile etc..
In practical applications, the drive efficiency of drive system becomes the major issue that researcher is concerned about.Wherein motor
For driver as execution unit, control accuracy and drive efficiency directly affect the superiority and inferiority of entire drive system.Therefore it realizes
The Optimum Matching of driver and motor is particularly important.
The inductance parameters of permanent magnet synchronous motor are obvious with curent change in practical implementation, the meter of motor electromagnetic torque
Calculating accuracy is also influenced by motor inductances parameter accuracy.In existing motor control principle, either vector controlled, directly
The principles such as direct torque or maximum torque per ampere control, using electricity when these principles all without focusing on permanent magnet synchronous motor
Feel influence of the parameter with curent change to control system, is also not carried out the efficiency optimization of motor, therefore have much room for improvement.Application number
201810204955.7 document discloses a kind of field weakening control method of permanent magnet synchronous motor based on lookup table mode, by stator
The formula such as voltage equation, electromagnetic torque equation, maximum stator current obtain current data table, can turn to motor torque in perseverance
Square region and weak magnetic region can be carried out accurate control.But the inductance used during due to generating current data table
Parameter is definite value, so that motor control precision is affected.What is generated simultaneously meets what torque capacity electric current ratio (MTPA) controlled
Current data table can only reduce permanent-magnetic synchronous motor stator winding copper loss, but can not achieve the efficiency optimization of motor.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve be to provide a kind of driver and it is built-in forever
The matching process of magnetic-synchro motor.
The technical solution that the present invention solves the technical problem is to provide a kind of driver and internal permanent magnet synchronous motor
Matching process, it is characterised in that method includes the following steps:
Step 1 using offline mode calibrates internal permanent magnet synchronous motor under different simulation operating conditions on rack
Several groups d-q axle inductance parameter generates inductance parameters table；
Step 2, the inductance parameters table generated according to step 1 are obtained under different simulation operating conditions by efficiency optimization strategy
Set formula permanent magnet synchronous motor efficient operating point
Step 3, the efficient operating point obtained according to step 2Internal permanent magnet synchronous motor is demarcated, it is raw
At current-order table；Driver control plate according to current-order table generate driving circuit driving signal, realize driver with it is built-in
The matching of formula permanent magnet synchronous motor.
Compared with prior art, the beneficial effects of the invention are that:
1, in terms of computed losses mathematical model, d-q axle inductance is considered as to the processing method of definite value different from routine, we
Method is changed according to d-q axle inductance with internal permanent magnet synchronous motor operating condition and the actual conditions of variation, uses offline mode
Calibrate several groups d-q axle inductance parameter, and by look-up table by (Ld, Lq) be applied in efficiency optimization calculating, make that mathematics is lost
Model more closing to reality situation reduces influence of the motor inductances parameter with curent change to control precision.
2, in terms of with look-up table control motor, torque capacity electric current ratio (MTPA) control is not used, uses minimum instead
Loss strategy obtains the electric current for being suitable for most of internal permanent magnet synchronous motor for the purpose of realizing that electric efficiency optimizes
Expression formula is instructed, by complicated loss of electric machine question simplification, replaces with fine efficient operating pointInstruction catalogue, lead to
It crosses off-line calculation and obtains a series of internal permanent magnet synchronous motor efficient operating pointsGeneration meets loss minimization controller
Current-order table, then be applied in control by look-up table.
3, this method is studied from driving current angle, for the purpose of reducing power of motor loss, is dynamically adapted electricity
The exciting current of machine reduces power of motor loss, improves electric efficiency, so that driver is in one with motor and preferably matches shape
State preferably plays the control function of driver to promote driver control performance.
Detailed description of the invention
Fig. 1 is internal permanent magnet synchronous motor d-q axis equivalent circuit diagram；
Fig. 2 is the matching principle figure of driver of the present invention and internal permanent magnet synchronous motor；
Fig. 3 is the matching principle refinement figure of driver of the present invention and internal permanent magnet synchronous motor；(in figure: 1, inductance is joined
Number table module, 2, efficiency optimization policy module, 3, current-order table module, 4, PI controller module, 5, coordinate transformation module, 6,
SVPWM module, 7, voltage source inverter module, 8, position Rotating speed measring module, 9, internal permanent magnet synchronous motor)
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides the matching process (abbreviation method) of a kind of driver and internal permanent magnet synchronous motor, features
Be method includes the following steps:
Step 1 using offline mode calibrates internal permanent magnet synchronous motor under different simulation operating conditions on rack
Several groups d-q axle inductance parameter generates inductance parameters table；
Specifically, several groups counter electromotive force is measured on the rack put up and with the phase between the phase voltage after load
Difference calibrates several groups ac-dc axis (d-q axis) inductance parameters using offline mode, forms inductance according to ac-dc axis voltage equation
Parameter list；
The inductance parameters data calibrated need to be as far as possible comprising the measurement data under different simulation operating conditions.
Step 2, the inductance parameters table generated according to step 1 are obtained under different simulation operating conditions by efficiency optimization strategy
Set formula permanent magnet synchronous motor efficient operating pointEfficiency optimization strategy is specifically:
When motor speed is lower than weak magnetic base speed, according to motor minimal losses principle, the inductance parameters generated according to step 1
Table and the torque of motor demand and motor speed carry out operation, generate motor efficient operating point
In step 2, generating motor efficient operating point by minimal losses principle, specific step is as follows:
A. the power loss expression formula of internal permanent magnet synchronous motor is obtained by equivalent circuit method:
In formula (1), PlossFor power of motor loss, RsFor motor stator winding equivalent resistance, RcFor motor equivalent core-loss electricity
Resistance, idFor motor stator electric current d axis component, iqFor motor stator electric current q axis component, icdFor motor d axis equivalent core-loss electric current point
Amount, icqFor motor q axis equivalent core-loss current component, n is motor speed, PmFor motor rated power；
B. combine equivalent circuit by the replacement of power loss expression formula for about unknown quantity d axis air gap current component iodExpression
Formula:
Equivalent circuit expression formula:
In formula (2) and (3), iodFor motor d axis air gap current component, ioqFor motor q axis air gap current component, ω is electricity
Machine rotational angular velocity, LdFor motor d axle inductance component, LqFor motor q axle inductance component,For motor permanent magnet magnetic linkage；
It brings formula (2) and formula (3) into formula (1), obtains about unknown quantity d axis air gap current component iodExpression formula (4):
Wherein: iodFor motor d axis air gap current component, T is the torque of motor demand；
D axis air gap current component when C. by asking the mathematical methods such as local derviation and depression of order to acquire power of motor loss minimum
iod, and generate motor operating point (iod,ioq), it is specific as follows:
By the P in step BlossTo iodIt carries out that local derviation is asked to handle, obtains one about iodUnary biquadratic equation, work as inductance
Parameter number magnitude≤10-3(H) high-order term can be given up when, convenient for the solution of equation, obtain a quadratic equation with one unknown, led to
Solution is crossed, i is obtainedodSolution's expression, and then generate motor operating point (iod,ioq)；
D. it recombines equivalent circuit and obtains motor efficient operating pointAs output control instruction；
In formula (5) and (6), ioqFor motor q axis air gap current component.
Minimal losses principle is suitable for fixed inductance parameter number magnitude≤10-3(H) internal permanent magnet synchronous motor.
When motor speed is higher than weak magnetic base speed, according to the rule that motor operation speed is restricted by the contravarianter voltage limit,
It adds inverter capacity limit condition and motor demand torque constraint condition carries out operation, generate motor efficient operating point
In step 2, motor efficient operation is generated by inverter capacity limit condition and motor demand torque constraint condition
Specific step is as follows for point:
A. motor operating point (i is calculated in formula (7) and formula (8) simultaneousod,ioq):
In formula (7) and (8), VmaxFor limiting voltage, npFor motor number of pole-pairs；
B. equivalent circuit is combined to obtain motor efficient operating pointAs output control instruction.This step with most
Step D in small loss principle is identical.
Step 3, the efficient operating point obtained according to step 2Internal permanent magnet synchronous motor is demarcated, it is raw
At current-order table；Driver control plate according to current-order table generate driving circuit driving signal, realize driver with it is built-in
The matching of formula permanent magnet synchronous motor.
Specifically: in motor speed is from zero to maximum (top) speed section, demarcating one group at interval of XrpmDemand
One group is demarcated every YN.m in output torque sectionCurrent-order table is generated, wherein the value of X and Y regards specific feelings
Depending on condition.The efficient operating point obtained according to step 2Internal permanent magnet synchronous motor is demarcated, calibration with current signal
Q format between being -1~1.
Invention also provides the application of a kind of driver and the matching process of internal permanent magnet synchronous motor, features
It is for this method to be applied to the electric current by controlling internal permanent magnet synchronous motor to change revolving speed and the torque of motor, in turn
Realize in the matching of driver and internal permanent magnet synchronous motor that specific method is: inductance parameters table module 1 (referring to figure 2-3)
Inductance parameters are provided for efficiency optimization policy module 2, are calculated for efficiency optimization；Efficiency optimization policy module 2 is according to motor need
Torque and inductance parameters are asked, by minimal losses principle or inverter capacity limit condition and motor demand torque constraint condition,
Obtain motor efficient operating pointInformation generates current-order table module 3 further according to efficient operating point；Current-order table
The current-order and feedback current of module 3 carry out PI (proportional integration) by PI controller module 4 and adjust, output voltage signal；
Voltage signal is coordinately transformed processing by coordinate transformation module 5, generates stator driving electric current using SVPWM module 6, and
Make current waveform close to sinusoidal waveform；The direct current of input terminal is become defeated through voltage source inverter module 7 by stator driving electric current
The alternating current of outlet, for driving permanent magnet synchronous motor 9；Rotating speed measring module 8 real-time detection built-in type permanent-magnet in position synchronizes electricity
The revolving speed n and rotation angle, θ of machine 9 are provided turn needed for calculating respectively for efficiency optimization policy module 2 and coordinate transformation module 5
Fast n and rotation angle, θ.
Coordinate transformation module 5 is sat according to the rotation angle, θ of input for natural system of coordinates, rest frame, synchronous rotary
Mutual transformation between mark system.
PI controller module 4, coordinate transformation module 5, SVPWM module 6, voltage source inverter module 7 and the inspection of position revolving speed
Surveying module 8 is the prior art；
The algorithm flow of efficiency optimization policy module 2 is as follows:
A. T, n, L are inputteddAnd LqSignal；
B. d-q axis air gap current component i when power of motor loss minimum is acquired by efficiency optimization policy calculationodWith
ioq:
C. pass through judgementWithSize carry out decision；WhenWhen, obtain iodAnd ioq, outputWithWhenWhen, obtain i 'odWith i 'oq, outputWithWherein
D. d-q shaft current expression formula is obtained:
E. motor efficient operating point is generated
Wherein:
The present invention does not address place and is suitable for the prior art.
Claims (7)
1. the matching process of a kind of driver and internal permanent magnet synchronous motor, it is characterised in that method includes the following steps:
Step 1, on rack using offline mode calibrate internal permanent magnet synchronous motor it is different simulation operating conditions under it is several
Group d-q axle inductance parameter, generates inductance parameters table；
Step 2, the inductance parameters table generated according to step 1 are obtained built-in under different simulation operating conditions by efficiency optimization strategy
Permanent magnet synchronous motor efficient operating point
Step 3, the efficient operating point obtained according to step 2Internal permanent magnet synchronous motor is demarcated, electricity is generated
Flow instruction catalogue；Driver control plate according to current-order table generate driving circuit driving signal, realize driver and it is built-in forever
The matching of magnetic-synchro motor.
2. the matching process of driver according to claim 1 and internal permanent magnet synchronous motor, it is characterised in that step 1
Several groups counter electromotive force is measured specifically on the rack put up and with the phase difference between the phase voltage after load, it is straight according to handing over
Shaft voltage formula calibrates several groups d-q axle inductance parameter using offline mode, forms inductance parameters table.
3. the matching process of driver according to claim 1 and internal permanent magnet synchronous motor, it is characterised in that step 2
Efficiency optimization strategy be specifically:
When motor speed is lower than weak magnetic base speed, according to motor minimal losses principle, the inductance parameters table that is generated according to step 1 with
The torque of motor demand and motor speed carry out operation, generate motor efficient operating point
When motor speed is higher than weak magnetic base speed, according to the rule that motor operation speed is restricted by the contravarianter voltage limit, addition
Inverter capacity limit condition and motor demand torque constraint condition carry out operation, generate motor efficient operating point
4. the matching process of driver according to claim 3 and internal permanent magnet synchronous motor, it is characterised in that step 2
In, generating motor efficient operating point by minimal losses principle, specific step is as follows:
A. the power loss expression formula of internal permanent magnet synchronous motor is obtained by equivalent circuit method:
In formula (1), PlossFor power of motor loss, RsFor motor stator winding equivalent resistance, RcFor motor equivalent core-loss resistance, id
For motor stator electric current d axis component, iqFor motor stator electric current q axis component, icdFor motor d axis equivalent core-loss current component, icq
For motor q axis equivalent core-loss current component, n is motor speed, PmFor motor rated power；
B. combine equivalent circuit by the replacement of power loss expression formula for about d axis air gap current component iodExpression formula:
Equivalent circuit expression formula:
In formula (2) and (3), iodFor motor d axis air gap current component, ioqFor motor q axis air gap current component, ω is motor rotation
Angular speed, LdFor motor d axle inductance component, LqFor motor q axle inductance component,For motor permanent magnet magnetic linkage；
It brings formula (2) and formula (3) into formula (1), obtains about d axis air gap current component iodExpression formula (4):
Wherein: iodFor motor d axis air gap current component, T is the torque of motor demand；
C. d axis air gap current component i when power of motor loss minimum is acquired by mathematical methodod, and generate motor operating point
(iod,ioq), it is specific as follows:
By the P in step BlossTo iodIt carries out that local derviation is asked to handle, obtains one about iodUnary biquadratic equation, when it is built-in forever
The inductance parameters order of magnitude≤10 of magnetic-synchro motor-3(H) give up high-order term when, obtain a quadratic equation with one unknown, pass through
It solves, obtains iodSolution's expression, and then generate motor operating point (iod,ioq)；
D. it recombines equivalent circuit and obtains motor efficient operating point
In formula (5) and (6), ioqFor motor q axis air gap current component.
5. the matching process of driver according to claim 3 and internal permanent magnet synchronous motor, it is characterised in that step 2
In, the specific steps of motor efficient operating point are generated such as by inverter capacity limit condition and motor demand torque constraint condition
Under:
A. motor operating point (i is calculated in formula (7) and formula (8) simultaneousod,ioq):
In formula (7) and (8), VmaxFor limiting voltage, npFor motor number of pole-pairs；
B. equivalent circuit is combined to obtain motor efficient operating point
6. the matching process of driver according to claim 1 and internal permanent magnet synchronous motor, it is characterised in that step 3
Specifically: in motor speed is from zero to maximum (top) speed section, demarcating one group at interval of XrpmDemand output torque
One group is demarcated every YN.m in sectionTo generate current-order table.
7. the matching process of driver according to claim 1 and internal permanent magnet synchronous motor, it is characterised in that step 3
In, the efficient operating point that is obtained according to step 2Internal permanent magnet synchronous motor is demarcated, calibration with current signal is -1
Q format between~1.
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| CN114039521A (en) * | 2021-09-15 | 2022-02-11 | 南京航空航天大学 | Low carrier ratio control method for permanent magnet synchronous motor |
| CN115940731A (en) * | 2022-07-26 | 2023-04-07 | 小米汽车科技有限公司 | Motor efficiency optimization method and device, vehicle and readable storage medium |
| CN117674664A (en) * | 2023-12-07 | 2024-03-08 | 爱微(江苏)电力电子有限公司 | Electric compressor controller |
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| CN114039521A (en) * | 2021-09-15 | 2022-02-11 | 南京航空航天大学 | Low carrier ratio control method for permanent magnet synchronous motor |
| CN114039521B (en) * | 2021-09-15 | 2023-12-01 | 南京航空航天大学 | Low carrier ratio control method for permanent magnet synchronous motor |
| CN115940731A (en) * | 2022-07-26 | 2023-04-07 | 小米汽车科技有限公司 | Motor efficiency optimization method and device, vehicle and readable storage medium |
| CN117674664A (en) * | 2023-12-07 | 2024-03-08 | 爱微(江苏)电力电子有限公司 | Electric compressor controller |
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| CN109217762B (en) | 2021-09-07 |
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