CN109302117A - Permanent magnet synchronous motor voltage utilization automatic optimizing method - Google Patents
Permanent magnet synchronous motor voltage utilization automatic optimizing method Download PDFInfo
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- CN109302117A CN109302117A CN201811456402.7A CN201811456402A CN109302117A CN 109302117 A CN109302117 A CN 109302117A CN 201811456402 A CN201811456402 A CN 201811456402A CN 109302117 A CN109302117 A CN 109302117A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention discloses a kind of permanent magnet synchronous motor voltage utilization automatic optimizing methods, this method builds the test macro being made of tested motor, dynamometer motor and industrial personal computer etc., by traversing all current command values in the reference current command table IdqMap for meeting motor MTPA/MTPV control automatically, record the parameters such as three-phase voltage, feedback torque and busbar voltage of the tested motor under each current command value, output torque is modified, the I to voltage utilization beyond limitation rangedqPoint carries out optimizing, finds out the optimal current bid value for meeting torque precision and voltage utilization limitation.This method is demarcated by the data of actual measurement, and accuracy is high, can be avoided voltage and occurs supersaturation under extreme conditions, and automatic operating, can traverse all reference current points, and calibration speed is fast, the development progress for accelerating new product reduces research and development cost.
Description
Technical field
The present invention relates to motor control technology field more particularly to a kind of permanent magnet synchronous motor voltage utilization automatic optimals
Method.
Background technique
The control system inner ring of New-energy electric vehicle permanent magnet synchronous motor is electric current loop, from gas pedal or revolving speed
Ring receives torque command, the current command value I being then parsed into torque command under synchronous rotating framedq.Generally by
The difference that the mode demarcated on rack obtains meeting MTPA (torque capacity electric current ratio)/MTPV (torque capacity voltage ratio) control turns
Reference current command table I corresponding to fast and different torque commandsdqMap.However, due to the external environment and reality of Bench calibration
External environment when operation will not be identical, such as busbar voltage, temperature cause the parameter of motor to change, and calibration obtains
Ac-dc axis electric current IdqCombination may lead starting voltage saturation in parameter of electric machine variation, in order to avoid there is such case,
It needs to limit voltage utilization within a certain range, general value is 0.9 to 0.95.Voltage utilization refers to inverter circuit institute
The ratio between the ac line voltage peak value Um and DC voltage Udc that can export.
The conventional method of voltage utilization limitation is when carrying out calibration test to torque accuracy, to reference current command table
IdqThe off-limits click-through row coefficient amendment of voltage utilization in Map, then by coefficient correction chart and reference current command table
IdqMap burning is into the electronic control unit (ECU) of electric machine controller.When carrying out coefficient amendment, mostly according to personal experience
An initial value is set, is then calibrated repeatedly by actual tests, testing time length, low efficiency, and different testers
The correction result of member also tends to difference, to limit the product renewing of Over Electric Motor with PMSM control system and answer
With.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of permanent magnet synchronous motor voltage utilization automatic optimizing method,
The defect that this method overcomes conventional voltage utilization rate to demarcate, is demarcated by the data of actual measurement, and accuracy is high, can be kept away
Exempt from voltage and occur oversaturated phenomenon under extreme conditions, and demarcate that speed is fast, high-efficient, accelerate the exploitation of new product into
Degree, reduces research and development cost.
In order to solve the above technical problems, permanent magnet synchronous motor voltage utilization automatic optimizing method of the present invention includes following step
It is rapid:
Step 1: test system building, tested motor is connect by shaft coupling with dynamometer motor and speed of torque is used to pass
Sensor acquires torque and rotary speed information, and first motor controller and the second electric machine controller control tested motor and measurement of power electricity respectively
Machine operation, DC power supply provide first motor controller and the second electric machine controller DC bus-bar voltage, and industrial personal computer is respectively with the
One electric machine controller and the second electric machine controller communication connection are for sending motor control instruction and receiving feedback information, power point
Analyzer connect the three-phase voltage for detecting tested motor with tested motor and connect with industrial computer communication, speed of torque sensor
The information of acquisition is transmitted to industrial personal computer；
Step 2: being demarcated to obtain equal torque curves table to tested motor and meeting the reference of MTPA/MTPV control
Current order Table IdqMap；
Step 3: by reference current command table IdqMap imports industrial personal computer with equal torque curves table, calculates setting speed and tables look-up
Starting point, step-length and terminal, calculate corresponding terminal under setting torque starting point, step-length and the different rotating speeds tabled look-up, set torque
Precision, sampling waiting time, current order step-length I_step, initial optimizing step delta Id, electric current optimizing lower limit coefficient a, electric current
Optimizing upper limit coefficient b, voltage utilization limits value N and low optimization accuracy Δ N；
Step 4: industrial personal computer sends rotary speed instruction since speed tables look-up starting point, to the second electric machine controller, keep measurement of power electric
Machine drags tested motor and rotates in the case where revolving speed tables look-up row；
Step 5: industrial personal computer is tabled look-up starting point since current rotating speed capable torque of tabling look-up, in reference current command table IdqMap
The middle reference current order I for searching the pointdqAnd it is sent to first motor controller, first motor controller is with reference current order
IdqDrive tested motor operation；
Step 6: after the over-sampling waiting time, sample reference current order IdqUnder feedback torque and corrected through torque
The current order I ' for meeting torque precision is obtained afterwardsdqAnd I 'dqLower tested motor three-phase voltage average peak UabcWith direct current mother
Line voltage Udc, calculate voltage utilization n:
Step 7: to current order I 'dqAnd the I 'dqUnder voltage utilization n carry out optimizing processing, obtain meet electricity
The current order I for pressing utilization rate limitation to requiredq_ new, by Idq_ new covers reference current order as final reference current
Table IdqI in Mapdq, complete the optimizing to the point；
Step 8: industrial personal computer is tabled look-up step-length according to torque, the corresponding ginseng of next torque column that the revolving speed is tabled look-up capable is searched
Examine current order IdqAnd be sent to first motor controller and tested motor is driven to run, step 6 is repeated to step 7, until
The last one torque that current rotating speed is tabled look-up capable is tabled look-up column；
Step 9: industrial personal computer promotes revolving speed to next revolving speed and table look-up row according to revolving speed step-length of tabling look-up, step 5 is repeated to walking
Rapid eight, until traversal reference current command table in it is all table look-up a little, complete reference current command table IdqAll current points in Map
Optimizing.
Further, the decision-making mechanism of the optimizing processing are as follows:
If voltage utilization N is less than or equal to voltage utilization upper limit N+ Δ N and current rotating speed is tabled look-up, row did not carried out optimizing
Processing then jumps directly to current rotating speed capable next torque of tabling look-up and tables look-up a little, otherwise to the point carry out optimizing processing until
Meet N- Δ N≤n≤N+ Δ N or meet optimizing exit criteria, and by the currents combination I after optimizingdq_ new covers reference current
Command table IdqThe Central Plains Map Idq, simultaneously for current rotating speed table look-up row in certain point, if its current order I 'dqCorresponding voltage
Utilization rate n is greater than voltage utilization upper limit N+ Δ N, then remaining torque is tabled look-up below for the point under current rotating speed row and the point
Point all carries out following optimizing processing:
If current order I 'dqCorresponding voltage utilization n is greater than voltage utilization upper limit N+ Δ N, then needs by optimizing
Voltage utilization is down to N- Δ N≤n≤N+ Δ N by reason；If current order I 'dqCorresponding voltage utilization n is utilized less than voltage
Rate lower limit N- Δ N then needs that voltage utilization is risen to N- Δ N≤n≤N+ Δ N by optimizing processing；If current order I 'dqIt is corresponding
Voltage utilization n meet N- Δ N≤n≤N+ Δ N, then jump directly to the revolving speed capable next torque of tabling look-up and table look-up click-through
Row test.
Further, the exit criteria of the optimizing processing are as follows:
Define the minimum optimizing electric current I of d axisd_ min and maximum optimizing electric current Id_ max is respectively a current order of tabling look-up
I’dqIn d shaft current IdRespectively multiplied by electric current optimizing lower limit coefficient a and electric current optimizing upper limit coefficient b, obtain:
Id_ min=Id×a (2)
Id_ max=Id×b (3)
If by continuous regressive or totalizing step until d shaft current IdEqual to minimum optimizing electric current Id_ min or maximum optimizing
Electric current IdWhen _ max, which cannot be still adjusted to N- Δ N≤n≤N+ Δ N, then abandoned at the optimizing to the point
Reason, while current rotating speed being tabled look-up the I that tables look-up a little of the previous torque of point in rowdq_ new is jumped as final optimizing electric current
It tables look-up a little to next torque.
Further, the optimizing algorithm of the optimizing processing are as follows:
Table look-up for revolving speed the current order I ' that tables look-up in goingdqCorresponding voltage utilization n is greater than voltage utilization upper limit N
The case where+Δ N, by initial optimizing step delta Id, minimum optimizing electric current Id_ min, to this current order I 'dqIn d shaft current
IdIt carries out subtracting step-length:
Id1=Id-ΔId (4)
Obtain new d shaft current Id1, the interpolation lookup torque of tabling look-up is corresponding in equal torque curves table waits torque curves
Upper d shaft current Id1Corresponding q shaft current Iq1, by the current order (Id1,Iq1) it is sent to first motor controller, by adopting
After the sample waiting time, the current order (I is calculatedd1,Iq1) under voltage utilization n1, and optimizing processing is carried out again；
If n at this time1Greater than voltage utilization upper limit N+ Δ N, then optimizing step-length is constant, and d shaft current is made in next iteration
Continue to subtract step-length to reduce voltage utilization:
Id_new=Id_old-ΔId (5)
If n at this time1Less than voltage utilization lower limit N- Δ N, then optimizing step-length halves, and d shaft current is made in next iteration
Reversely plus step-length is to improve voltage utilization:
ΔId_new=Δ Id/2 (6)
Id_new=Id_old+ΔId_new (7)
By the new d shaft current being calculated, the corresponding q axis of the interpolation lookup torque of tabling look-up is electric in equal torque curves table
Stream is sent to first motor controller again and obtains voltage utilization, repeats the above iteration until final voltage utilization is full
Sufficient N- Δ N≤n≤N+ Δ N meets optimizing processing exit criteria；
Table look-up for revolving speed the current order I ' that tables look-up in goingdqCorresponding voltage utilization n is less than voltage utilization lower limit
N- Δ N and through decision-making mechanism judgement need by optimizing handle voltage utilization is adjusted to N- Δ N≤n≤N+ Δ N the case where,
By initial optimizing step delta Id, maximum optimizing electric current Id_ max, to this current order I 'dqIn d shaft current IdIt carries out plus walks
It is long:
Id1=Id+ΔId (8)
Obtain new d shaft current Id1, the interpolation lookup torque of tabling look-up is corresponding in equal torque curves table waits torque curves
Upper d shaft current Id1Corresponding q shaft current Iq1, by the current order (Id1,Iq1) it is sent to first motor controller, by adopting
After the sample waiting time, the current order (I is calculatedd1,Iq1) under voltage utilization n1, and optimizing processing is carried out again；
If n at this time1Less than voltage utilization lower limit N- Δ N, then optimizing step-length is constant, and d shaft current is made in next iteration
Continue plus step-length be to improve voltage utilization:
Id_new=Id_old+ΔId (9)
If n at this time1Greater than voltage utilization upper limit N+ Δ N, then optimizing step-length halves, and d shaft current is made in next iteration
Reversely subtract step-length to reduce voltage utilization:
ΔId_new=Δ Id/2 (10)
Id_new=Id_old-ΔId_new (11)
By the new d shaft current being calculated, the corresponding q axis of the interpolation lookup torque of tabling look-up is electric in equal torque curves table
Stream is sent to first motor controller again and obtains voltage utilization, repeats the above iteration until final voltage utilization is full
Sufficient N- Δ N≤n≤N+ Δ N meets optimizing processing exit criteria.
Further, in the step 4, before industrial personal computer sends rotary speed instruction to the second electric machine controller, to meet measurement of power electricity
Machine is in fast following and weak magnetic area the service requirement of base, in reference current command table IdqCurrent rotating speed is searched in Map to table look-up under row
The corresponding reference current order (I of zero torque column pointd0,Iq0) and be sent to first motor controller, while to reference current order
(Id0,Iq0) carrying out sectionally smooth processing to prevent current fluctuation, reference current order renewal time when sectionally smooth processing is
It is I_step that the communication cycle of industrial personal computer and first motor controller, order, which update step-length,.
Further, in the step 9, industrial personal computer is completed to table look-up to current rotating speed the optimizing tabled look-up a little of all torques under row
After processing, reference current order rapidly drop to next revolving speed table look-up zero torque of row column reference current order (I'd0,I'q0),
Then it promotes revolving speed to next speed according still further to revolving speed step-length of tabling look-up and tables look-up row, the last one is tabled look-up if current rotating speed tables look-up behavior
Speed, then under row of completing to table look-up to the revolving speed after the optimizing processing of all torques column, reference current order rapidly drops to this turn
Check the reference current order (I of zero torque of table row column quicklyd0,Iq0), rotating speed command and current order rapidly drop to zero later, complete
It is all in pairs to set the optimizing processing tabled look-up a little.
It is since permanent magnet synchronous motor voltage utilization automatic optimizing method of the present invention uses above-mentioned technical proposal, i.e., our
Method builds the test macro being made of tested motor, dynamometer motor and industrial personal computer etc., meets motor MTPA/ by traversing automatically
All current command values in the reference current command table IdqMap of MTPV control record tested motor in each current command value
Under the parameters such as three-phase voltage, feedback torque and busbar voltage, output torque is modified, to voltage utilization beyond limitation
The I of rangedqPoint carries out optimizing, finds out the optimal current bid value for meeting torque precision and voltage utilization limitation.This method is logical
The data for crossing actual measurement are demarcated, and accuracy is high, can be avoided voltage and occur supersaturation under extreme conditions, and
Automatic operating can traverse all reference current points, and calibration speed is fast, accelerates the development progress of new product, reduces research and development
Cost.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is test principle block diagram in permanent magnet synchronous motor voltage utilization automatic optimizing method of the present invention；
Fig. 2 is the flow diagram of this method.
Specific embodiment
Embodiment is as depicted in figs. 1 and 2, and permanent magnet synchronous motor voltage utilization automatic optimizing method of the present invention includes as follows
Step:
Step 1: test system building, tested motor 2 is connect by shaft coupling with dynamometer motor 3 and uses speed of torque
Sensor 6 acquires torque and rotary speed information, first motor controller 4 and the second electric machine controller 5 control 2 He of tested motor respectively
Dynamometer motor 3 is run, and DC power supply 1 provides first motor controller 4 and 5 DC bus-bar voltage of the second electric machine controller, industry control
Machine 8 is respectively with first motor controller 4 and 5 communication connection of the second electric machine controller for sending motor control instruction and receiving anti-
Feedforward information, power analyzer 7, which connect the three-phase voltage for detecting tested motor 2 with tested motor 2 and communicates with industrial personal computer 8, to be connected
It connects, the information that speed of torque sensor 6 acquires is transmitted to industrial personal computer 8；
Step 2: being demarcated to obtain equal torque curves table to tested motor and meeting the reference of MTPA/MTPV control
Current order Table IdqMap；
Step 3: by reference current command table IdqMap imports industrial personal computer with equal torque curves table, calculates setting speed and tables look-up
Starting point, step-length and terminal, calculate corresponding terminal under setting torque starting point, step-length and the different rotating speeds tabled look-up, set torque
Precision, sampling waiting time, current order step-length I_step, initial optimizing step delta Id, electric current optimizing lower limit coefficient a, electric current
Optimizing upper limit coefficient b, voltage utilization limits value N and low optimization accuracy Δ N；
Step 4: industrial personal computer sends rotary speed instruction since speed tables look-up starting point, to the second electric machine controller, keep measurement of power electric
Machine drags tested motor and rotates in the case where revolving speed tables look-up row；
Step 5: industrial personal computer is tabled look-up starting point since current rotating speed capable torque of tabling look-up, in reference current command table IdqMap
The middle reference current order I for searching the pointdqAnd it is sent to first motor controller, first motor controller is with reference current order
IdqDrive tested motor operation；
Step 6: after the over-sampling waiting time, sample reference current order IdqUnder feedback torque and corrected through torque
The current order I ' for meeting torque precision is obtained afterwardsdqAnd I 'dqLower tested motor three-phase voltage average peak UabcWith direct current mother
Line voltage Udc, calculate voltage utilization n:
Step 7: to current order I 'dqAnd the I 'dqUnder voltage utilization n carry out optimizing processing, obtain meet electricity
The current order I for pressing utilization rate limitation to requiredq_ new, by Idq_ new covers reference current order as final reference current
Table IdqI in Mapdq, complete the optimizing to the point；
Step 8: industrial personal computer is tabled look-up step-length according to torque, the corresponding ginseng of next torque column that the revolving speed is tabled look-up capable is searched
Examine current order IdqAnd be sent to first motor controller and tested motor is driven to run, step 6 is repeated to step 7, until
The last one torque that current rotating speed is tabled look-up capable is tabled look-up column；
Step 9: industrial personal computer promotes revolving speed to next revolving speed and table look-up row according to revolving speed step-length of tabling look-up, step 5 is repeated to walking
Rapid eight, until traversal reference current command table in it is all table look-up a little, complete reference current command table IdqAll current points in Map
Optimizing.
Preferably, the decision-making mechanism of the optimizing processing are as follows:
If voltage utilization N is less than or equal to voltage utilization upper limit N+ Δ N and current rotating speed is tabled look-up, row did not carried out optimizing
Processing then jumps directly to current rotating speed capable next torque of tabling look-up and tables look-up a little, otherwise to the point carry out optimizing processing until
Meet N- Δ N≤n≤N+ Δ N or meet optimizing exit criteria, and by the currents combination I after optimizingdq_ new covers reference current
Command table IdqThe Central Plains Map Idq, simultaneously for current rotating speed table look-up row in certain point, if its current order I 'dqCorresponding voltage
Utilization rate n is greater than voltage utilization upper limit N+ Δ N, then remaining torque is tabled look-up below for the point under current rotating speed row and the point
Point all carries out following optimizing processing:
If current order I 'dqCorresponding voltage utilization n is greater than voltage utilization upper limit N+ Δ N, then needs by optimizing
Voltage utilization is down to N- Δ N≤n≤N+ Δ N by reason；If current order I 'dqCorresponding voltage utilization n is utilized less than voltage
Rate lower limit N- Δ N then needs that voltage utilization is risen to N- Δ N≤n≤N+ Δ N by optimizing processing；If current order I 'dqIt is corresponding
Voltage utilization n meet N- Δ N≤n≤N+ Δ N, then jump directly to the revolving speed capable next torque of tabling look-up and table look-up click-through
Row test.
Preferably, the exit criteria of the optimizing processing are as follows:
Define the minimum optimizing electric current I of d axisd_ min and maximum optimizing electric current Id_ max is respectively a current order of tabling look-up
I’dqIn d shaft current IdRespectively multiplied by electric current optimizing lower limit coefficient a and electric current optimizing upper limit coefficient b, obtain:
Id_ min=Id×a (2)
Id_ max=Id×b (3)
If by continuous regressive or totalizing step until d shaft current IdEqual to minimum optimizing electric current Id_ min or maximum optimizing
Electric current IdWhen _ max, which cannot be still adjusted to N- Δ N≤n≤N+ Δ N, then abandoned at the optimizing to the point
Reason, while current rotating speed being tabled look-up the I that tables look-up a little of the previous torque of point in rowdq_ new is jumped as final optimizing electric current
It tables look-up a little to next torque.
Preferably, the optimizing algorithm of the optimizing processing are as follows:
Table look-up for revolving speed the current order I ' that tables look-up in goingdqCorresponding voltage utilization n is greater than voltage utilization upper limit N
The case where+Δ N, by initial optimizing step delta Id, minimum optimizing electric current Id_ min, to this current order I 'dqIn d shaft current
IdIt carries out subtracting step-length:
Id1=Id-ΔId (4)
Obtain new d shaft current Id1, the interpolation lookup torque of tabling look-up is corresponding in equal torque curves table waits torque curves
Upper d shaft current Id1Corresponding q shaft current Iq1, by the current order (Id1,Iq1) it is sent to first motor controller, by adopting
After the sample waiting time, the current order (I is calculatedd1,Iq1) under voltage utilization n1, and optimizing processing is carried out again；
If n at this time1Greater than voltage utilization upper limit N+ Δ N, then optimizing step-length is constant, and d shaft current is made in next iteration
Continue to subtract step-length to reduce voltage utilization:
Id_new=Id_old-ΔId (5)
If n at this time1Less than voltage utilization lower limit N- Δ N, then optimizing step-length halves, and d shaft current is made in next iteration
Reversely plus step-length is to improve voltage utilization:
ΔId_new=Δ Id/2 (6)
Id_new=Id_old+ΔId_new (7)
By the new d shaft current being calculated, the corresponding q axis of the interpolation lookup torque of tabling look-up is electric in equal torque curves table
Stream is sent to first motor controller again and obtains voltage utilization, repeats the above iteration until final voltage utilization is full
Sufficient N- Δ N≤n≤N+ Δ N meets optimizing processing exit criteria；
Table look-up for revolving speed the current order I ' that tables look-up in goingdqCorresponding voltage utilization n is less than voltage utilization lower limit
N- Δ N and through decision-making mechanism judgement need by optimizing handle voltage utilization is adjusted to N- Δ N≤n≤N+ Δ N the case where,
By initial optimizing step delta Id, maximum optimizing electric current Id_ max, to this current order I 'dqIn d shaft current IdIt carries out plus walks
It is long:
Id1=Id+ΔId (8)
Obtain new d shaft current Id1, the interpolation lookup torque of tabling look-up is corresponding in equal torque curves table waits torque curves
Upper d shaft current Id1Corresponding q shaft current Iq1, by the current order (Id1,Iq1) it is sent to first motor controller, by adopting
After the sample waiting time, the current order (I is calculatedd1,Iq1) under voltage utilization n1, and optimizing processing is carried out again；
If n at this time1Less than voltage utilization lower limit N- Δ N, then optimizing step-length is constant, and d shaft current is made in next iteration
Continue plus step-length be to improve voltage utilization:
Id_new=Id_old+ΔId (9)
If n at this time1Greater than voltage utilization upper limit N+ Δ N, then optimizing step-length halves, and d shaft current is made in next iteration
Reversely subtract step-length to reduce voltage utilization:
ΔId_new=Δ Id/2 (10)
Id_new=Id_old-ΔId_new (11)
By the new d shaft current being calculated, the corresponding q axis of the interpolation lookup torque of tabling look-up is electric in equal torque curves table
Stream is sent to first motor controller again and obtains voltage utilization, repeats the above iteration until final voltage utilization is full
Sufficient N- Δ N≤n≤N+ Δ N meets optimizing processing exit criteria.
Preferably, in the step 4, before industrial personal computer sends rotary speed instruction to the second electric machine controller, to meet measurement of power electricity
Machine is in fast following and weak magnetic area the service requirement of base, in reference current command table IdqCurrent rotating speed is searched in Map to table look-up under row
The corresponding reference current order (I of zero torque column pointd0,Iq0) and be sent to first motor controller, while to reference current order
(Id0,Iq0) carrying out sectionally smooth processing to prevent current fluctuation, reference current order renewal time when sectionally smooth processing is
It is I_step that the communication cycle of industrial personal computer and first motor controller, order, which update step-length,.
Preferably, in the step 9, industrial personal computer is completed to table look-up to current rotating speed the optimizing tabled look-up a little of all torques under row
After processing, reference current order rapidly drop to next revolving speed table look-up zero torque of row column reference current order (I'd0,I'q0),
Then it promotes revolving speed to next speed according still further to revolving speed step-length of tabling look-up and tables look-up row, the last one is tabled look-up if current rotating speed tables look-up behavior
Speed, then under row of completing to table look-up to the revolving speed after the optimizing processing of all torques column, reference current order rapidly drops to this turn
Check the reference current order (I of zero torque of table row column quicklyd0,Iq0), rotating speed command and current order rapidly drop to zero later, complete
It is all in pairs to set the optimizing processing tabled look-up a little.
This method is met all in the reference current command table IdqMap of motor MTPA/MTPV control by traversal automatically
Current command value records the parameters such as three-phase voltage, feedback torque and busbar voltage of the tested motor under each current command value,
Output torque is modified, the I to voltage utilization beyond limitation rangedqPoint carries out optimizing processing, finds out and meets torque essence
The optimal current bid value of degree and voltage utilization limitation.This method is demarcated by the data of actual measurement, and accuracy is high,
It can be avoided voltage and occur oversaturated phenomenon, and automatic operating under extreme conditions, all reference current points can be traversed,
It is fast to demarcate speed, accelerates the development progress of new product, reduces research and development cost, overcomes the amendment of conventional method voltage utilization
The problems such as period length, low efficiency, low precision.
Claims (6)
1. a kind of permanent magnet synchronous motor voltage utilization automatic optimizing method, it is characterised in that this method includes the following steps:
Step 1: test system building, tested motor is connect by shaft coupling with dynamometer motor and uses speed of torque sensor
Torque and rotary speed information are acquired, first motor controller and the second electric machine controller control tested motor and dynamometer motor fortune respectively
Row, DC power supply provide first motor controller and the second electric machine controller DC bus-bar voltage, and industrial personal computer is electric with first respectively
Machine controller and the second electric machine controller communication connection are for sending motor control instruction and receiving feedback information, power analyzer
It connect the three-phase voltage for detecting tested motor with tested motor and is connect with industrial computer communication, the acquisition of speed of torque sensor
Information be transmitted to industrial personal computer；
Step 2: being demarcated to obtain equal torque curves table to tested motor and meeting the reference current of MTPA/MTPV control
Command table IdqMap；
Step 3: by reference current command table IdqMap imports industrial personal computer with equal torque curves table, calculates that setting speed is tabled look-up
Point, step-length and terminal calculate and set corresponding terminal under starting point, step-length and the different rotating speeds that torque is tabled look-up, setting torque precision,
Sample waiting time, current order step-length I_step, initial optimizing step delta Id, electric current optimizing lower limit coefficient a, in electric current optimizing
Limit coefficient b, voltage utilization limits value N and low optimization accuracy Δ N；
Step 4: industrial personal computer sends rotary speed instruction since speed tables look-up starting point, to the second electric machine controller, drag dynamometer motor
Dynamic tested motor is rotated in the case where revolving speed tables look-up row；
Step 5: industrial personal computer is tabled look-up starting point since current rotating speed capable torque of tabling look-up, in reference current command table IdqIt is looked into Map
Look for the reference current order I of the pointdqAnd it is sent to first motor controller, first motor controller is with reference current order Idq
Drive tested motor operation；
Step 6: after the over-sampling waiting time, sample reference current order IdqUnder feedback torque and after torque is corrected
To the current order I ' for meeting torque precisiondqAnd I 'dqLower tested motor three-phase voltage average peak UabcWith DC bus electricity
Press Udc, calculate voltage utilization n:
Step 7: to current order I 'dqAnd the I 'dqUnder voltage utilization n carry out optimizing processing, obtain meeting voltage utilization
The current order I that rate limitation requiresdq_ new, by Idq_ new covers reference current command table I as final reference currentdqMap
In Idq, complete the optimizing to the point；
Step 8: industrial personal computer is tabled look-up step-length according to torque, it is electric to search corresponding reference of next torque column that the revolving speed is tabled look-up capable
Stream order IdqAnd be sent to first motor controller and tested motor is driven to run, step 6 is repeated to step 7, until current
The last one torque that revolving speed is tabled look-up capable is tabled look-up column；
Step 9: industrial personal computer promotes revolving speed to next revolving speed and table look-up row according to revolving speed step-length of tabling look-up, step 5 is repeated to step 8,
Until traversal reference current command table in it is all table look-up a little, complete reference current command table IdqAll current points seeks in Map
It is excellent.
2. permanent magnet synchronous motor voltage utilization automatic optimizing method according to claim 1, it is characterised in that: described to seek
The decision-making mechanism of excellent processing are as follows:
If voltage utilization N is less than or equal to voltage utilization upper limit N+ Δ N and current rotating speed is tabled look-up, row did not carried out optimizing processing,
It then jumps directly to current rotating speed capable next torque of tabling look-up to table look-up a little, optimizing processing otherwise is carried out until meeting N- to the point
Δ N≤n≤N+ Δ N meets optimizing exit criteria, and by the currents combination I after optimizingdq_ new covers reference current command table
IdqThe Central Plains Map Idq, simultaneously for current rotating speed table look-up row in certain point, if its current order I 'dqCorresponding voltage utilization
N is greater than voltage utilization upper limit N+ Δ N, then the point under current rotating speed row and the point below remaining torque table look-up a little all into
The following optimizing processing of row:
If current order I 'dqCorresponding voltage utilization n is greater than voltage utilization upper limit N+ Δ N, then needing will by optimizing processing
Voltage utilization is down to N- Δ N≤n≤N+ Δ N；If current order I 'dqCorresponding voltage utilization n is less than under voltage utilization
N- Δ N is limited, then needs that voltage utilization is risen to N- Δ N≤n≤N+ Δ N by optimizing processing；If current order I 'dqCorresponding electricity
Pressure utilization rate n meets N- Δ N≤n≤N+ Δ N, then jumps directly to the revolving speed capable next torque of tabling look-up and table look-up and a little surveyed
Examination.
3. permanent magnet synchronous motor voltage utilization automatic optimizing method according to claim 2, it is characterised in that: described to seek
The exit criteria of excellent processing are as follows:
Define the minimum optimizing electric current I of d axisd_ min and maximum optimizing electric current Id_ max is respectively the current order I ' that tables look-updqIn
D shaft current IdRespectively multiplied by electric current optimizing lower limit coefficient a and electric current optimizing upper limit coefficient b, obtain:
Id_ min=Id×a (2)
Id_ max=Id×b (3)
If by continuous regressive or totalizing step until d shaft current IdEqual to minimum optimizing electric current Id_ min or maximum optimizing electric current
IdWhen _ max, which cannot be still adjusted to N- Δ N≤n≤N+ Δ N, then abandon the processing of the optimizing to the point,
Current rotating speed is tabled look-up simultaneously the I that the previous torque of point is tabled look-up a little in goingdq_ new is jumped to down as final optimizing electric current
One torque is tabled look-up a little.
4. permanent magnet synchronous motor voltage utilization automatic optimizing method according to claim 1,2 or 3, it is characterised in that:
The optimizing algorithm of the optimizing processing are as follows:
Table look-up for revolving speed the current order I ' that tables look-up in goingdqCorresponding voltage utilization n is greater than voltage utilization upper limit N+ Δ N
The case where, by initial optimizing step delta Id, minimum optimizing electric current Id_ min, to this current order I 'dqIn d shaft current IdInto
Row subtracts step-length:
Id1=Id-ΔId (4)
Obtain new d shaft current Id1, the interpolation lookup torque of tabling look-up is corresponding in equal torque curves table waits d axis on torque curves
Electric current Id1Corresponding q shaft current Iq1, by the current order (Id1,Iq1) it is sent to first motor controller, it is waited through over-sampling
After time, the current order (I is calculatedd1,Iq1) under voltage utilization n1, and optimizing processing is carried out again；
If n at this time1Greater than voltage utilization upper limit N+ Δ N, then optimizing step-length is constant, and d shaft current is made to continue to subtract in next iteration
Step-length is to reduce voltage utilization:
Id_new=Id_old-ΔId (5)
If n at this time1Less than voltage utilization lower limit N- Δ N, then optimizing step-length halves, and adds d shaft current reversely
Step-length is to improve voltage utilization:
ΔId_new=Δ Id/2 (6)
Id_new=Id_old+ΔId_new (7)
By the new d shaft current being calculated in equal torque curves table the corresponding q shaft current of the interpolation lookup torque of tabling look-up, then
The secondary first motor controller that is sent to obtains voltage utilization, repeats the above iteration until final voltage utilization meets N- Δ
N≤n≤N+ Δ N meets optimizing processing exit criteria；
Table look-up for revolving speed the current order I ' that tables look-up in goingdqCorresponding voltage utilization n is less than voltage utilization lower limit N- Δ N
And need to handle the case where voltage utilization is adjusted to N- Δ N≤n≤N+ Δ N by optimizing through decision-making mechanism judgement, by first
Beginning optimizing step delta Id, maximum optimizing electric current Id_ max, to this current order I 'dqIn d shaft current IdIt carries out adding step-length:
Id1=Id+ΔId (8)
Obtain new d shaft current Id1, the interpolation lookup torque of tabling look-up is corresponding in equal torque curves table waits d axis on torque curves
Electric current Id1Corresponding q shaft current Iq1, by the current order (Id1,Iq1) it is sent to first motor controller, it is waited through over-sampling
After time, the current order (I is calculatedd1,Iq1) under voltage utilization n1, and optimizing processing is carried out again；
If n at this time1Less than voltage utilization lower limit N- Δ N, then optimizing step-length is constant, and d shaft current is made to continue to add in next iteration
Step-length is to improve voltage utilization:
Id_new=Id_old+ΔId (9)
If n at this time1Greater than voltage utilization upper limit N+ Δ N, then optimizing step-length halves, and subtracts d shaft current reversely
Step-length is to reduce voltage utilization:
ΔId_new=Δ Id/2 (10)
Id_new=Id_old-ΔId_new (11)
By the new d shaft current being calculated in equal torque curves table the corresponding q shaft current of the interpolation lookup torque of tabling look-up, then
The secondary first motor controller that is sent to obtains voltage utilization, repeats the above iteration until final voltage utilization meets N- Δ
N≤n≤N+ Δ N meets optimizing processing exit criteria.
5. permanent magnet synchronous motor voltage utilization automatic optimizing method according to claim 4, it is characterised in that: the step
In rapid four, before industrial personal computer sends rotary speed instruction to the second electric machine controller, to meet dynamometer motor in the fast following and weak magnetic of base
The service requirement in area, in reference current command table IdqCurrent rotating speed is searched in Map to table look-up the corresponding reference of the lower zero torque column point of row
Current order (Id0,Iq0) and be sent to first motor controller, while to reference current order (Id0,Iq0) carry out sectionally smooth
To prevent current fluctuation, reference current order renewal time when sectionally smooth is handled is that industrial personal computer and first motor control for processing
It is I_step that the communication cycle of device, order, which update step-length,.
6. permanent magnet synchronous motor voltage utilization automatic optimizing method according to claim 5, it is characterised in that: the step
In rapid nine, industrial personal computer all torques under row of completing to table look-up to current rotating speed are tabled look-up after optimizing a little handles, and reference current order is fast
Speed drop to next revolving speed table look-up zero torque of row column reference current order (I'd0,I'q0), then table look-up step-length according still further to revolving speed
It promotes revolving speed to next speed to table look-up row, the revolving speed is looked into the last one speed of tabling look-up of behavior if current rotating speed is tabled look-up, completion
Under table row after the optimizing processing of all torques column, reference current order rapidly drops to the revolving speed and tables look-up the references of zero torque of row column
Current order (Id0,Iq0), rotating speed command and current order rapidly drop to zero later, complete to seek all points of tabling look-up that set
Excellent processing.
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| CN112234896A (en) * | 2020-09-22 | 2021-01-15 | 武汉光庭信息技术股份有限公司 | MTPV compensation method and system for driving permanent magnet synchronous motor |
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