CN109302109B - Flux weakening control method and control device for permanent magnet synchronous motor - Google Patents
Flux weakening control method and control device for permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN109302109B CN109302109B CN201811089589.1A CN201811089589A CN109302109B CN 109302109 B CN109302109 B CN 109302109B CN 201811089589 A CN201811089589 A CN 201811089589A CN 109302109 B CN109302109 B CN 109302109B
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- magnet synchronous
- synchronous motor
- axis current
- delta
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The invention discloses a flux weakening control method and a control device for a permanent magnet synchronous motor, wherein the method comprises the following steps: current error value delta i of d and q axes of permanent magnet synchronous motor by using dq axis cross weak magnetic coefficient kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq(ii) a Calculating Delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively; and outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor. The invention is insensitive to the motor parameter, has small calculation amount and does not need a filter in the process of controlling the motor to operate, thereby having small influence of the change of the motor parameter, small system response delay and better performance.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor flux weakening control method and a permanent magnet synchronous motor flux weakening control device.
Background
In the field of speed regulation control of permanent magnet synchronous motors, there are many applications that require high speed operation of the motor, but since the motor back electromotive force is proportional to the stator flux linkage and the motor speed, when the speed exceeds a certain value, so-called voltage saturation may occur because the back electromotive force (EMF) is greater than the maximum stator voltage that can be provided by the inverter. The method can raise the DC bus voltage through boost circuit; another method is to use field weakening control, which basically has the idea of reducing the EMF by giving a demagnetized d-axis current so that the system has sufficient voltage to ensure that the motor operates in the high-speed region. Flux weakening is a simple and effective method, and from a given aspect of d-axis current, scholars propose methods for achieving high-speed flux weakening operation of the motor.
For example, a lookup table method needs to be calculated in advance to obtain a lookup table, and in the actual operation process of the system, the d-axis current information is obtained in a lookup table mode, but the operation state of the motor changes in real time, and the lookup table method is simple but has large errors.
The other method is to solve the required d-axis current by an analytical method based on a permanent magnet synchronous motor model, and the method is simple and quick but is sensitive to motor parameters. The d-axis weak magnetic current at the current moment needs to be calculated according to the voltage limit ellipse and the current limit circle, the analysis method needs to use parameters such as a permanent magnet flux linkage and d-axis inductance of the motor, and the calculation result is greatly influenced by the change of the motor parameters in the operation process of the motor.
In addition, there is also a document that d-axis weak magnetic current is obtained by means of error feedback such as voltage error feedback and current error feedback, but these methods based on error feedback all need to design a filter, and the addition of the filter will cause delay of system response, which affects the performance of the system. Therefore, it is required to develop a method for controlling field weakening of a permanent magnet synchronous motor with less sensitivity to motor parameters, less calculation amount and better performance without the need of filter design.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for controlling field weakening of a permanent magnet synchronous motor, which are insensitive to motor parameters, have a small calculation amount, and do not require a filter in the process of controlling the operation of the motor, so that the influence of the change of the motor parameters is small, the response delay of the system is small, and the performance is better.
The invention provides a flux weakening control method of a permanent magnet synchronous motor based on the above purpose, which comprises the following steps:
current error value delta i of d and q axes of permanent magnet synchronous motor by using dq axis cross weak magnetic coefficient kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq；
Calculating Delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively;
and outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor.
Furthermore, the current error value delta i of d and q axes of the permanent magnet synchronous motor is measured by using the dq axis crossed weak magnetic coefficient kdAnd Δ iqBefore the correction, the method further comprises the following steps:
according to d-axis current reference value of permanent magnet synchronous motor
And initial value of q-axis current
And the current d-axis current sample value idAnd q-axis current sample value iqCalculating d, q axes separatelyCurrent error value Δ idAnd Δ iq。
The coefficient k is a coefficient which is in direct proportion to the rotating speed of the permanent magnet synchronous motor.
Wherein the coefficient k ═ ωr·L；
Wherein, ω isrAnd L is the rotating speed of the permanent magnet synchronous motor, and L is the average inductance of the permanent magnet synchronous motor.
Or, the coefficient k is calculated according to the following expression three:
wherein the content of the first and second substances,
for a set product coefficient, ωrbaseIs the rated speed, omega, of the permanent magnet synchronous motorrThe actual rotation speed of the permanent magnet synchronous motor.
The invention also provides a flux weakening control device of the permanent magnet synchronous motor, which comprises:
the coefficient k is calculated according to the following expression three:
wherein the content of the first and second substances,
for a set product coefficient, ωrbaseIs the rated speed, omega, of the permanent magnet synchronous motorrThe actual rotation speed of the permanent magnet synchronous motor.
In the technical scheme of the embodiment of the invention, the d-axis and q-axis current error values delta i of the permanent magnet synchronous motor are measured by using the dq-axis crossed weak magnetic coefficient kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq(ii) a Calculating Delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively; according to the meterAnd outputting a corresponding driving signal by the calculated voltage vector to realize the control of the permanent magnet synchronous motor. In the motor control process, parameters such as permanent magnet flux linkage, d-axis inductance and the like of the motor are not involved, so that the motor control method is insensitive to motor parameter change, is slightly influenced by the motor parameter change, does not need a filter, and has small calculated amount, thereby achieving better performance.
Drawings
Fig. 1 is an internal structural diagram of a speed regulation control system of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a flux weakening control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 3 is a block diagram of an internal structure of a flux weakening control device of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 4 is a graph of simulation results of a permanent magnet synchronous motor with a rated frequency of 100Hz, which is provided by the embodiment of the present invention, when the motor is directly increased from 5Hz to 150Hz with a half load at a sampling rate of 10 kHz;
FIG. 5 is a screenshot of an oscilloscope data waveform for a simulation experiment provided by an embodiment of the present invention;
FIG. 6 is a waveform screenshot of oscilloscope data of a simulation experiment after an increased load is applied according to an embodiment of the present invention;
figure 7 is a graph of the output by DA for a 7.5Nm loaded condition provided by an embodiment of the present invention,
iqand Δ idScreenshot of data waveform of the oscilloscope;
fig. 8 is a torque-rotation speed curve diagram of the motor according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
The inventor of the invention considers that the d-axis and q-axis current error value delta i of the permanent magnet synchronous motor is subjected to d-axis and q-axis weak magnetic coefficient k by using dq-axis crossdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq(ii) a Calculating Delta' idAnd Δ' iqVoltage vectors obtained after the current proportional-integral regulators of the d axis and the q axis respectively do not need to be fed back based on voltage amplitude or current error similarly to the traditional method, and the reference value of the weak magnetic current of the d axis is obtained after the current error is fed back through a filter; but the mutual adjustment and compensation between the dq-axis currents are realized by using the cross flux weakening coefficient k according to the actual operating condition and the current working condition. The method is characterized in that when the motor runs in a high-speed region, the error feedback of q-axis current is subtracted on the basis of the actual d-axis error feedback current, and more weak magnetic current is provided; meanwhile, error feedback of d-axis current is added on the basis of actual q-axis error feedback current to ensure that enough error feedback current is provided for the motorThe output current is the mutual regulation of the dq axis actual current in the whole process, and the participation of a filter is not needed. The specific implementation process is that d-axis and q-axis current error values delta i of the permanent magnet synchronous motor are subjected to d-axis and q-axis cross weak magnetic coefficients kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq(ii) a Calculating Delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively; and then, outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor. In the motor control process, parameters such as permanent magnet flux linkage, d-axis inductance and the like of the motor are not involved, so that the motor control method is insensitive to motor parameter change, is slightly influenced by the motor parameter change, does not need a filter, and has small calculated amount, thereby achieving better performance.
The technical solution of the embodiments of the present invention is described in detail below with reference to the accompanying drawings.
The internal structure of a permanent magnet synchronous motor speed regulation control system provided by the embodiment of the invention, as shown in fig. 1, includes: the system comprises a three-phase voltage source, a permanent magnet synchronous motor, a direct current side capacitor, a three-phase diode rectifier bridge, a voltage and current sampling circuit, a DSP controller, an inverter and a driving circuit thereof.
The voltage and current sampling circuit can respectively collect direct-current side voltage and phase current of the permanent magnet synchronous motor a and b by using the voltage Hall sensor and the current Hall sensor, and sampling signals enter the DSP controller after passing through the signal conditioning circuit and are converted into digital signals. The DSP controller completes the operation of the method provided by the invention, and outputs six paths of switching pulse signals to pass through the driving circuit to obtain final driving signals of six switching tubes of the inverter.
The specific process of the flux weakening control method for the permanent magnet synchronous motor provided by the embodiment of the invention, as shown in fig. 2, comprises the following steps:
step S201: calculating current error values delta i of d and q axesdAnd Δ iq。
In the step, according to the d-axis current reference value of the permanent magnet synchronous motor
And initial value of q-axis current
And the current d-axis current sample value idAnd q-axis current sample value iqRespectively calculating current error values delta i of d and q axesdAnd Δ iqI.e. by
Wherein the q-axis current is at its initial value
Can be obtained by adopting the existing method. For example, based on torque commands
To obtain
Wherein n ispMotor pole pair number psi for permanent magnet synchronous motorfBeing a permanent magnet flux linkage, e.g. n p4. And torque command
This can be obtained by a PI (proportional integral) regulator of the speed loop, as shown in expression one:
in expression one, ωr *Is the reference speed, omega, of a permanent magnet synchronous machinerThe actual speed of the permanent magnet synchronous motor is obtained, and s is an integral operator; kpAnd KiProportional gain and integral gain in the PI regulator of the speed loop, respectively.
Wherein the d-axis current reference value is initially given
Typically zero.
Step S202: current error value delta i of d and q axes of permanent magnet synchronous motor by using dq axis cross weak magnetic coefficient kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq。
In the step, the d-axis and q-axis current error values delta i of the permanent magnet synchronous motor are measured by using the dq-axis crossed weak magnetic coefficient kdAnd Δ iqCorrecting to obtain corrected d and q axis current error value delta' idAnd Δ' iq。
Wherein, the weak magnetic coefficient k is designed according to a current loop transfer function; the current loop transfer function is shown in expression two:
in the expression two, R, L represents the stator resistance and average inductance of the permanent magnet synchronous motor,
reference current and reference voltage vectors when calculating the current loop transfer function for the system, j is a complex operator, kg＝Kp/L＝Ki/R，KpAnd KiRespectively, a system current loop proportional coefficient and an integral coefficient, and s is an integral operator.
k is a coefficient proportional to the angular velocity of the permanent magnet synchronous motor, i.e., a coefficient increasing in proportion to the velocity, when k is ωrWhen L, the current loop transfer function is consistent with the complex vector PI, so k can be designed as: k is ωr·L，ωrIs the actual speed of the permanent magnet synchronous motor.
More preferably, in consideration of the operation state of the actual system, the coefficient k should be within a certain range, that is, k (ω r) min is 0, and k can be calculated according to the following expression three:
wherein the content of the first and second substances,
is a multiplication factor related to the actual system, and can be set by those skilled in the art based on experience, for example, the multiplication factor can be set
ωrbaseThe rated speed of the permanent magnet synchronous motor.
Step S203: calculating Delta' idAnd Δ' iqAnd voltage vectors obtained after the voltage vectors pass through a d-axis current PI (proportional integral) regulator and a q-axis current PI (proportional integral) regulator respectively.
In this step, the delta' i can be calculated according to the voltage equation on the two-phase rotating coordinate system in the mathematical model of the permanent magnet synchronous motor, as shown in the expressions four and fivedAnd Δ' iqVoltage vector u obtained after passing through d-axis and q-axis current PI regulators respectivelydAnd uq：
Expression four, five, Lq、Ld、iq、idRespectively representing the q-axis inductance, the d-axis inductance, the q-axis current and the d-axis current of the permanent magnet synchronous motor, s is an integral operator, omegarThe actual speed of the permanent magnet synchronous motor is the actual speed of the permanent magnet synchronous motor;
furthermore, K in the expression fourpAnd KiProportional coefficient and integral coefficient of the d-axis current PI regulator are respectively; k in expression fivepAnd KiRespectively, a proportionality coefficient and an integral coefficient of the q-axis current PI regulator.
Step S204: and outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor.
Specifically, the calculated voltage vector u is calculated firstd、uqAfter the coordinate transformation from two-phase rotation to two-phase static, the transformed voltage vector u is obtainedαAnd uβ(ii) a Further, the voltage vector u is measuredαAnd uβAnd obtaining a driving signal for driving a switching tube of the inverter after Space Vector Pulse Width Modulation (SVPWM), thereby realizing control and driving of the permanent magnet synchronous motor.
Based on the above method, an internal structural block diagram of the flux-weakening control device of the permanent magnet synchronous motor provided in the embodiment of the present invention, as shown in fig. 3, includes: current error correction section 301, voltage vector calculation section 302, and drive signal output section 303.
The current error correction unit 301 is configured to correct a current error value Δ i of the d and q axes of the permanent magnet synchronous motor by using a dq-axis cross flux weakening coefficient kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq(ii) a Specifically, the current error correction unit 301 may correct the d-axis current reference value according to the permanent magnet synchronous motor
And initial value of q-axis current
And the current d-axis current sample value idAnd q-axis current sample value iqRespectively calculating current error values delta i of d and q axesdAnd Δ' iqAnd further utilizing the dq axis cross weak magnetic coefficient k to carry out d and q axis current error value delta i of the permanent magnet synchronous motordAnd Δ iqCorrected to obtain delta' idAnd Δ' iq。
The voltage vector calculation unit 302 is used for calculating delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively; specifically, the voltage vector calculation unit 302 may calculate the voltage vector based on the voltage equation on the two-phase rotational coordinate system in the mathematical model of the permanent magnet synchronous motorCalculating to be Δ' idAnd Δ' iqAnd voltage vectors obtained after the voltage vectors pass through the d-axis current proportional-integral regulator and the q-axis current proportional-integral regulator respectively.
The driving signal output unit 303 is configured to output a corresponding driving signal according to the calculated voltage vector, so as to control the permanent magnet synchronous motor; specifically, the driving signal output unit 303 may output the calculated voltage vector ud、uqAfter the coordinate transformation from two-phase rotation to two-phase static, the transformed voltage vector u is obtainedαAnd uβ(ii) a Will voltage vector uαAnd uβAnd obtaining a driving signal of a switching tube of an inverter for driving the permanent magnet synchronous motor after space vector pulse width modulation, and realizing control and driving of the permanent magnet synchronous motor.
The specific implementation method of the functions of the units may refer to the steps in the flow shown in fig. 2, and will not be described herein again.
In the technical scheme of the embodiment of the invention, the d-axis and q-axis current error values delta i of the permanent magnet synchronous motor are measured by using the dq-axis crossed weak magnetic coefficient kdAnd Δ iqCorrected to obtain delta' idAnd Δ' iq(ii) a Calculating Delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively; and outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor. In the motor control process, parameters such as permanent magnet flux linkage, d-axis inductance and the like of the motor are not involved, so that the motor control method is insensitive to motor parameter change, is slightly influenced by the motor parameter change, does not need a filter, and has small calculated amount, thereby achieving better performance.
The effectiveness of the method provided by the invention can be verified through simulation and experiments.
FIG. 4 shows the simulation result of the motor increasing from 5Hz to 150Hz directly when the permanent magnet synchronous motor with the rated frequency of 100Hz is under the sampling rate of 10kHz with half load, i.e. the result of the motor increasing from 0.1 time speed to 1.5 times rated speed when starting, because the maximum current of the actual system is 10A, but the current is large due to deep weak magnetism, the simulation and experiment speed only increases to 1.5 times rated speed. The load is 5Nm (half load), wherein a channel 1 is a motor rotating speed instruction value and an actual value, a channel 2 is electromagnetic torque, a channel 3 is a magnetic linkage, and a channel 4 is a phase current a. As can be seen from fig. 4, when the motor is started from 0.1 times of the rated rotation speed and is directly accelerated to 1.5 times of the rated rotation speed, the motor can also operate in the constant torque region at the beginning, and when the speed exceeds 0.1 times of the rated rotation speed, the motor operates in the constant power region, and finally the torque is stabilized at the load torque of 5 Nm.
Fig. 5 is an experimental result corresponding to the simulation of fig. 4, where the oscilloscope channel 1 corresponds to the rotation speed of the motor, the oscilloscope channel 2 corresponds to the torque, the oscilloscope channel 3 corresponds to the permanent magnet flux linkage, and the oscilloscope channel 4 corresponds to the motor a-phase current. Fig. 6 is an experimental waveform corresponding to the experiment of fig. 5 in which the loading is increased to 7.5Nm, and the channel correspondence is the same as that of fig. 5, which proves that the method of the present invention can achieve good performance under different loads of the motor.
In order to more intuitively observe the change of the dq-axis current in the weak magnetic acceleration process, FIG. 7 shows that in the case of a loaded load of 7.5Nm outputted by digital-to-Analog conversion DA (digital to Analog converter),
iqand Δ idCorresponding to channel 1 as velocity waveform and channel 2 as iqThe channel 3 is
Channel 4 is Δ id。
Fig. 8 is a torque-rotation speed curve diagram of the motor, and it can be seen that the motor is in a constant torque region below a base speed and in a constant power region above the base speed.
Those skilled in the art will appreciate that the present invention includes apparatus directed to performing one or more of the operations described in the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable programmable Read-Only memories), EEPROMs (Electrically Erasable programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the present disclosure.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A flux weakening control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
according to d-axis current reference value of permanent magnet synchronous motor
And initial value of q-axis current
And the current d-axis current sample value idAnd q-axis current sample value iqRespectively calculating current error values delta i of d and q axesdAnd Δ iq；
Current error value delta i of d and q axes of permanent magnet synchronous motor by using dq axis cross weak magnetic coefficient kdAnd Δ iqCorrecting to obtain corrected d and q axis current error value delta' idAnd Δ' iqThe method specifically comprises the following steps: at Δ idIs subtracted by k times the corrected q-axis current error value delta' iqTo obtain Delta' idAt Δ iqIs added with k times of corrected d-axis current error value delta' idTo obtain Delta' iq；
Calculating Delta' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively;
outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor;
wherein the coefficient k is a coefficient proportional to the angular velocity of the permanent magnet synchronous motor.
2. The method of claim 1, wherein the calculating Δ' idAnd Δ' iqThe voltage vectors obtained after passing through the d-axis current proportional-integral regulator and the q-axis current proportional-integral regulator respectively are as follows:
calculating the delta' i according to a voltage equation on a two-phase rotating coordinate system in a mathematical model of the permanent magnet synchronous motordAnd Δ' iqAnd voltage vectors obtained after the voltage vectors pass through the d-axis current proportional-integral regulator and the q-axis current proportional-integral regulator respectively.
3. The method according to claim 1, wherein outputting the corresponding driving signal according to the calculated voltage vector to realize control of the permanent magnet synchronous motor specifically comprises:
the calculated voltage vector ud、uqAfter the coordinate transformation from two-phase rotation to two-phase static, the transformed voltage vector u is obtainedαAnd uβ；
Will voltage vector uαAnd uβAnd obtaining a driving signal of a switching tube of an inverter for driving the permanent magnet synchronous motor after space vector pulse width modulation, and realizing control and driving of the permanent magnet synchronous motor.
4. Method according to claim 1, characterized in that said coefficient k ═ ωr·L；
Wherein, ω isrAnd L is the actual speed of the permanent magnet synchronous motor, and L is the average inductance of the permanent magnet synchronous motor.
5. A permanent magnet synchronous motor flux weakening control device is characterized by comprising:
a current error correction unit for correcting current error value delta i of d and q axes of the permanent magnet synchronous motor by using dq axis cross weak magnetic coefficient kdAnd Δ iqCorrecting to obtain corrected d and q axis current error value delta' idAnd Δ' iqThe method specifically comprises the following steps: at Δ idOn the basis ofK times subtracted corrected q-axis current error value Δ' iqTo obtain Delta' idAt Δ iqIs added with k times of corrected d-axis current error value delta' idTo obtain Delta' iq(ii) a Wherein, Δ idIs based on d-axis current reference value of permanent magnet synchronous motor
And the current d-axis current sample value idCalculated,. DELTA.iqIs based on the initial value of q-axis current of the permanent magnet synchronous motor
And the current q-axis current sample value iqCalculating to obtain;
a voltage vector calculation unit for calculating Δ' idAnd Δ' iqVoltage vectors are obtained after the voltage vectors pass through a d-axis current proportional-integral regulator and a q-axis current proportional-integral regulator respectively;
the driving signal output unit is used for outputting a corresponding driving signal according to the calculated voltage vector to realize the control of the permanent magnet synchronous motor;
wherein the coefficient k is a coefficient proportional to the angular velocity of the permanent magnet synchronous motor.
6. The apparatus of claim 5,
the drive signal output unit is specifically configured to output the calculated voltage vector ud、uqAfter the coordinate transformation from two-phase rotation to two-phase static, the transformed voltage vector u is obtainedαAnd uβ(ii) a Will voltage vector uαAnd uβAnd obtaining a driving signal of a switching tube of an inverter for driving the permanent magnet synchronous motor after space vector pulse width modulation, and realizing control and driving of the permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811089589.1A CN109302109B (en) | 2018-09-18 | 2018-09-18 | Flux weakening control method and control device for permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811089589.1A CN109302109B (en) | 2018-09-18 | 2018-09-18 | Flux weakening control method and control device for permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109302109A CN109302109A (en) | 2019-02-01 |
| CN109302109B true CN109302109B (en) | 2020-09-22 |
Family
ID=65163278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811089589.1A Active CN109302109B (en) | 2018-09-18 | 2018-09-18 | Flux weakening control method and control device for permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109302109B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348620B (en) * | 2019-02-15 | 2023-06-02 | 深圳配天智能技术研究院有限公司 | Motor control method and motor control device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4655871B2 (en) * | 2005-10-19 | 2011-03-23 | 株式会社日立製作所 | Field weakening vector control device and module for permanent magnet synchronous motor |
| US8519648B2 (en) * | 2011-07-22 | 2013-08-27 | GM Global Technology Operations LLC | Temperature compensation for improved field weakening accuracy |
| CN102324877B (en) * | 2011-09-15 | 2013-08-07 | 重庆长安汽车股份有限公司 | Car permanent magnet synchronous motor control system and method |
| CN106452243B (en) * | 2016-10-26 | 2018-11-30 | 珠海格力电器股份有限公司 | Weak magnetic control system, method, refrigerator controller and the refrigerator of permanent magnet synchronous motor |
-
2018
- 2018-09-18 CN CN201811089589.1A patent/CN109302109B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109302109A (en) | 2019-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4685509B2 (en) | AC motor drive control device and drive control method | |
| CN104052361B (en) | Electric machine control system to compensate torque pulsation | |
| US9742333B2 (en) | Motor control device | |
| JP4989075B2 (en) | Electric motor drive control device and electric motor drive system | |
| JP4928855B2 (en) | Sensorless control device for synchronous machine | |
| TWI411218B (en) | Control apparatus of permanent magnet synchronous motor | |
| JPH0951700A (en) | Controlling device of rotary electric machine | |
| JP2009136085A (en) | Controller of ac motor | |
| JPWO2016121751A1 (en) | Inverter control device and motor drive system | |
| JP5267848B2 (en) | Motor control device | |
| JP2011004506A (en) | Motor control device | |
| JP2013192398A (en) | Controller of motor and control method of motor | |
| JP3914108B2 (en) | DC brushless motor control device | |
| JP5428202B2 (en) | Control device for permanent magnet type synchronous motor | |
| JP2010029028A (en) | Motor controller | |
| WO2013051616A1 (en) | Inverter device | |
| JP4053511B2 (en) | Vector controller for wound field synchronous machine | |
| CN109302109B (en) | Flux weakening control method and control device for permanent magnet synchronous motor | |
| JP2010029029A (en) | Motor control device | |
| US11837982B2 (en) | Rotary machine control device | |
| JP2021016226A (en) | Estimation method for magnet temperature of motor, and, estimation device for magnet temperature | |
| JP2008295229A (en) | Motor simulation apparatus and motor simulation method | |
| JP2018125955A (en) | Motor controller | |
| JP2009100544A (en) | Motor controller | |
| JP5228435B2 (en) | Inverter control device and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |