CN109560737B - Method and device for restraining high-speed overcurrent in permanent magnet synchronous motor control - Google Patents
Method and device for restraining high-speed overcurrent in permanent magnet synchronous motor control Download PDFInfo
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- CN109560737B CN109560737B CN201910008097.3A CN201910008097A CN109560737B CN 109560737 B CN109560737 B CN 109560737B CN 201910008097 A CN201910008097 A CN 201910008097A CN 109560737 B CN109560737 B CN 109560737B
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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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention belongs to the technical field of motor automation control, and discloses a method for inhibiting high-speed overcurrent in permanent magnet synchronous motor control, which comprises the following steps: the controller tracks the d-axis target current and the q-axis target current through the current loop,obtain the direct-axis voltage output UdAnd quadrature axis voltage output Uq(ii) a Calculating the total output voltage
By total output voltage U and limit output voltage UmaxAccording to the comparison result, corresponding gain K is applied to the given d-axis target current and q-axis target currentdAnd Kq(ii) a For implementation gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse; the new target current value after clipping is used for the current loop of the controller. The invention also discloses a device for inhibiting high-speed overcurrent in the control of the permanent magnet synchronous motor. The invention can avoid the out-of-control overcurrent at high speed of the permanent magnet synchronous motor.
Description
Technical Field
The invention belongs to the technical field of motor automation control, and particularly relates to a method and a device for inhibiting high-speed overcurrent in permanent magnet synchronous motor control.
Background
The permanent magnet synchronous motor is widely used for power drive of an electric automobile. The method for calibrating the motor torque is a method widely adopted by the main driver of the conventional electric automobile, and the method enables the permanent magnet synchronous motor to operate in a pre-calibrated range, avoids the motor from operating in an unknown state and enables the system to operate at a higher efficiency point. However, this method has the following disadvantages:
the stability under high-speed weak magnetism has risks; because only one motor is usually calibrated, the calibration result can have difference even if the motor runs on the same type of motor in the same batch, and the running effect of the calibration value can also have certain difference along with the change of the temperature of the motor; the difference can not cause serious consequences when the motor operates at low speed, once the motor operates under the high-speed flux weakening working condition, the voltage margin is small, and due to the difference caused by the temperature and the motor, the flux weakening current of the calibration result is insufficient with certain possibility, so that the overcurrent is out of control.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for inhibiting high-speed overcurrent in permanent magnet synchronous motor control, which can avoid the runaway of the overcurrent of the permanent magnet synchronous motor at high speed.
The embodiment of the invention is realized as follows:
a method for restraining high-speed overcurrent in permanent magnet synchronous motor control comprises the following steps:
step 1, the controller tracks d-axis target current and q-axis target current through a current loop to obtain direct-axis voltage output UdAnd quadrature axis voltage output Uq；
Step 2, calculating the total output voltage
Step 3, outputting the voltage U through the total output voltage U and the limit output voltage UmaxAccording to the comparison result, corresponding gain K is applied to the given d-axis target current and q-axis target currentdAnd Kq；
Step 4, implementing gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse;
and 5, using the new target current value after amplitude limiting to a current loop of the controller.
Wherein, step 3 specifically includes:
Kdand KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdthe value range after enlargement or reduction is [1, 1.2 ]]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
Wherein, the pair of step 4 implements gain KdAnd KqThe following specific implementation of the amplitude limiting of the target current is as follows:
the corrected direct-axis current reference value is smaller than the maximum allowed direct-axis current value;
the corrected quadrature-direct axis current reference value meets the limit current circle limit of the motor.
A device for restraining high-speed overcurrent in permanent magnet synchronous motor control comprises:
a tracking module; the controller tracks d-axis target current and q-axis target current through a current loop to obtain direct-axis voltage output UdAnd quadrature axis voltage output Kd；
A calculation module; calculating the total output voltage
A comparison module; by total output voltage U and limit output voltage UmaxAccording to the comparison result, corresponding gains are applied to the given d-axis target current and q-axis target currentKd and Kq；
An amplitude limiting module; for implementation gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse;
a control module; the new target current value after clipping is used for the current loop of the controller.
Wherein, KdAnd KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdenlargement or reductionThe small value range is [1, 1.2 ]]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
Wherein, the implementation gain KdAnd KqThe following specific implementation of the amplitude limiting of the target current is as follows:
the corrected direct-axis current reference value is smaller than the maximum allowed direct-axis current value;
the corrected quadrature-direct axis current reference value meets the limit current circle limit of the motor.
The invention discloses a method for restraining output overcurrent under a high-speed working condition when a permanent magnet synchronous motor operates in a calibration mode in control, which mainly solves the problem of overcurrent runaway caused by insufficient voltage allowance when the motor operates in the high-speed working condition after being calibrated.
Drawings
FIG. 1 is a flow chart of a method for suppressing high speed overcurrent in the control of a permanent magnet synchronous motor according to the present invention;
fig. 2 is a block diagram of a device for suppressing high-speed overcurrent in the control of a permanent magnet synchronous motor according to the 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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a method for suppressing high-speed overcurrent in control of a permanent magnet synchronous motor includes:
step 1, the controller tracks d-axis target current and q-axis target current through a current loop to obtain direct-axis voltage output UdAnd quadrature axis voltage output Uq；
Step 2, calculating the total output voltage
Step 3, outputting the voltage U through the total output voltage U and the limit output voltage UmaxAccording to the comparison result, corresponding gain K is applied to the given d-axis target current and q-axis target currentdAnd Kq；
Step 4, implementing gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse;
and 5, using the new target current value after amplitude limiting to a current loop of the controller.
Wherein, step 3 specifically includes:
Kdand KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, Kd＝Kd×1.02，Kq＝Kq×0.98；
When U is less than or equal to 0.95 × UmaxWhen, Kd＝Kd×0.98，Kq＝Kq×1.02；
When 0.95 × Umax＜U＜UmaxWhen, Kd＝Kd×0.995，Kq＝Kq×1.005。
KdHas a value range of [1, 1.2 ]]，KqHas a value range of [0.5, 1.0 ]]。
In other words, KdAnd KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdthe range of values after enlargement or reduction is [1, 1 ].2]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
Wherein, the pair of step 4 implements gain KdAnd KqThe following specific implementation of the amplitude limiting of the target current is as follows:
the corrected direct-axis current reference value is smaller than the maximum allowed direct-axis current value;
the corrected quadrature-direct axis current reference value meets the limit current circle limit of the motor.
As shown in fig. 2, an apparatus for suppressing high-speed overcurrent in control of a permanent magnet synchronous motor includes:
a tracking module; the controller tracks d-axis target current and q-axis target current through a current loop to obtain direct-axis voltage output UdAnd quadrature axis voltage output Uq；
A calculation module; calculating the total output voltage
A comparison module; by total output voltage U and limit output voltage UmaxAccording to the comparison result, corresponding gain K is applied to the given d-axis target current and q-axis target currentdAnd Kq；
An amplitude limiting module; for implementation gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse;
a control module; the new target current value after clipping is used for the current loop of the controller.
In the apparatus of the invention, KdAnd KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, Kd＝Kd×1.02，Kq＝Kq×0.98；
When U is less than or equal to 0.95 × UmaxWhen, Kd＝Kd×0.98，Kq＝Kq×1.02；
When 0.95 × Umax＜U＜UmaxWhen, Kd＝Kd×0.995，Kq＝Kq×1.005。
KdHas a value range of [1, 1.2 ]]，KqHas a value range of [0.5, 1.0 ]]。
In other words, KdAnd KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdthe value range after enlargement or reduction is [1, 1.2 ]]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
In the apparatus of the invention, a gain K is implementeddAnd KqThe following specific implementation of the amplitude limiting of the target current is as follows:
the corrected direct-axis current reference value is smaller than the maximum allowed direct-axis current value;
the corrected quadrature-direct axis current reference value meets the limit current circle limit of the motor.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the invention provides a control strategy for inhibiting voltage saturation out of control when a permanent magnet synchronous motor controller operates at a high speed in a weak magnetic field mode, and the reliability of high-speed operation of a motor is improved. In the present invention, the total voltage output is noted as U or US。
1. Limiting current limit circle of permanent magnet synchronous motor
The voltage equation of the permanent magnet synchronous motor in a steady state is as follows: (neglecting stator resistance)
Ud＝-ωLqIq(1)
In the formula of Ud，UqFor the direct and quadrature voltages at the motor terminals, Id，IqIs stator direct axis, quadrature axis current, Ld，LqIs a stator direct-axis inductor and a stator quadrature-axis inductor,
is a rotor permanent magnet flux linkage.
The working state of the motor is controlled by the maximum output current I of the controllermaxMaximum output voltage limit UmaxAs follows:
in the formula of UdcIs a dc input voltage.
The formula (1) and the formula (2) are substituted into the formula (4) to obtain
As can be seen from equation (5), when the dc input voltage and the rotational speed are constant, the stator current is limited, and this limitation becomes more severe as the speed increases.
2. For a permanent magnet synchronous motor control system which operates in a calibration mode, the common mode for acquiring the quadrature-axis and direct-axis current reference of the high-speed stability trap of the electric control system which operates in a conventional calibration mode is as follows:
first, a table similar to the following is generated by automatic or manual calibration:
| rotational speed (rpm) | Torque (Nm) | Id(A) | Iq(A) |
| 1000 | 10 | -5.1 | 10.0 |
| 1000 | 20 | -8.2 | 15.5 |
| 1000 | 30 | -15.2 | 17.9 |
| … | |||
| 2000 | 10 | -5.5 | 10.5 |
| 2000 | 20 | -8.9 | 15.9 |
| 2000 | 30 | -15.8 | 18.8 |
| … | |||
| 3000 | 10 | -6.5 | 11.3 |
| 3000 | 20 | -9.6 | 16.5 |
| 3000 | 30 | -17.2 | 19.8 |
| … | |||
| 4000 | 10 | -7.0 | 12.0 |
| 4000 | 20 | -10.0 | 16.9 |
| 4000 | 30 | -18.2 | 20.1 |
| … |
Then according to the current rotating speed and the given torque, the table is inquired to obtain the quadrature-direct axis reference current Id_ref，Iq_ref. Due to the difference of the motor body, the difference of the operation environment and the hysteresis of the control system, the current point of the alternating current and direct current axes in actual operation may exceed the voltage limit ellipse described in the formula (5), so that the voltage saturation is out of control.
3. The invention improves the defects of the conventional calibration mode partially
In view of the above-mentioned drawbacks of the electric drive control system when using a conventional calibration scheme, the present invention proposes the following improvement: the stability under high-speed weak magnetic operation is enhanced through the self-adaptive adjustment of the quadrature-direct axis current reference. The invention relates to a method for adaptively adjusting quadrature-direct axis reference current, which comprises the following steps:
for reference current I obtained by table lookupd_ref，Iq_refAnd adjusting, wherein the adjusted reference current is as follows:
in the formula, KdHas a value range of [1.0, 1.2 ]]，KqHas a value range of [0.5, 1.0 ]]And the adjusted direct axis current
The clipping is required to be performed so that the minimum permissible weak magnetic current cannot be exceeded.
Kd，KqThe value logic is as follows:
firstly, the AC-DC axis voltage output U is obtained according to the AC-DC axis current control loopd，UqAnd total voltage output
Then by comparing UsAnd UmaxTo obtain Kd，KqThe rule of (2) is as follows:
Kd，Kqwhen the initial value of (1) is all Us≥UmaxWhen, Kd＝Kd×1.02，Kq＝Kq×0.98；
When U is turneds≤0.95×UmaxWhen, Kd＝Kd×0.98，Kq＝Kq×1.02；
When 0.95 × Umax＜U＜UmaxWhen, Kd＝Kd×0.995，Kq＝Kq×1.005；
KdHas a value range of [1.0, 1.2 ]]，KqHas a value range of [0.5, 1.0 ]]。
In other words, KdAnd KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdthe value range after enlargement or reduction is [1, 1.2 ]]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
It should be noted that when U equals Umax, K isdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification; or, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification; both of these modes of values are possible.
In the invention, the value of Kd and Kq is 1 under normal conditions, which means that the exciting current and the torque current do not need to be adjusted, but under special conditions, the Kd needs to be properly increased or the Kq needs to be reduced to avoid the 'runaway' in control, but the increasing or reducing amplitude cannot be too large, otherwise, the adjusting time is prolonged, the amplitude is larger, the torque of the motor is discontinuous, and the performance of the motor is influenced.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for restraining high-speed overcurrent in permanent magnet synchronous motor control is characterized by comprising the following steps:
step 1, the controller tracks d-axis target current and q-axis target current through a current loop to obtain direct-axis voltage output UdAnd quadrature axis voltage output Uq；
Step 2, calculating the total output voltage
Step 3, outputting the voltage U through the total output voltage U and the limit output voltage UmaxAccording to the comparison result, corresponding gain K is applied to the given d-axis target current and q-axis target currentdAnd Kq；
Step 4, implementing gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse;
step 5, using the new target current value after amplitude limiting to a current loop of a controller;
wherein, step 3 specifically includes:
Kdand KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdthe value range after enlargement or reduction is [1, 1.2 ]]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
2. The method for suppressing high-speed overcurrent in PMSM control according to claim 1, wherein the pair implementation gain K in step 4dAnd KqThe following specific implementation of the amplitude limiting of the target current is as follows:
the corrected direct-axis current reference value is smaller than the maximum allowed direct-axis current value;
the corrected quadrature-direct axis current reference value meets the limit current circle limit of the motor.
3. A device for restraining high-speed overcurrent in permanent magnet synchronous motor control is characterized by comprising:
a tracking module; the controller tracks d-axis target current and q-axis target current through a current loop to obtain direct-axis voltage output UdAnd quadrature axis voltage output Uq；
A calculation module; calculating the total output voltage
A comparison module; by total output voltage U and limit output voltage UmaxAccording to the comparison result, corresponding gain K is applied to the given d-axis target current and q-axis target currentdAnd Kq；
An amplitude limiting module; for implementation gain KdAnd KqLimiting the amplitude of the target current to avoid the motor stator current from running outside the current limit circle and the voltage limit ellipse;
a control module; using the new target current value after the amplitude limiting to a current loop of a controller;
wherein, KdAnd KqThe initial values of (a) are all 1,
when U is more than or equal to UmaxWhen, KdAmplification is 1.02 times on the basis of the original KqThe reduction is 0.98 times on the basis of the self;
when U is less than or equal to 0.95 × UmaxWhen, KdOn the basis of the self, the reduction is 0.98 times, Kq1.02 times of amplification on the basis of the original amplification;
when 0.95 × Umax＜U＜UmaxWhen, KdOn the basis of the self, the K is reduced by 0.995 timesq1.005 times of amplification on the basis of the original amplification;
Kdthe value range after enlargement or reduction is [1, 1.2 ]]，KqThe value range after enlargement or reduction is [0.5, 1.0 ]]。
4. The apparatus according to claim 3, wherein the implementation gain K is setdAnd KqThe following specific implementation of the amplitude limiting of the target current is as follows:
the corrected direct-axis current reference value is smaller than the maximum allowed direct-axis current value;
the corrected quadrature-direct axis current reference value meets the limit current circle limit of the motor.
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