CN109995294B - Current loop control method for full rotating speed range of permanent magnet synchronous motor - Google Patents

Current loop control method for full rotating speed range of permanent magnet synchronous motor Download PDF

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CN109995294B
CN109995294B CN201910339597.5A CN201910339597A CN109995294B CN 109995294 B CN109995294 B CN 109995294B CN 201910339597 A CN201910339597 A CN 201910339597A CN 109995294 B CN109995294 B CN 109995294B
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loop
current
omega
regulator
rotating speed
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CN109995294A (en
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辛晓帅
郑延兵
颉宏宇
邹见效
徐红兵
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University of Electronic Science and Technology of China
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Abstract

The invention discloses a current loop control method of a permanent magnet synchronous motor in a full rotating speed range, which comprises the steps of dividing the full rotating speed range of the motor into three rotating speed intervals according to rated parameters of the motor, designing a proportional coefficient and an integral coefficient of a dq loop current regulator, collecting the real-time rotating speed omega of the motor by using a rotary transformer, and controlling the motor in stages according to the rotating speed interval where the rotating speed omega is located, so that the problem that the existing current loop single PI regulator cannot meet the requirements of rapidity and stability tracking of the actual current of a dq loop at the same time can be effectively solved.

Description

Current loop control method for full rotating speed range of permanent magnet synchronous motor
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly relates to a current loop control method for a permanent magnet synchronous motor in a full rotating speed range.
Background
The permanent magnet synchronous motor mostly adopts a double closed loop vector control algorithm combining a rotating speed loop and a current loop, the vector control principle is that the permanent magnet synchronous motor is equivalent to a direct current motor to be controlled through coordinate transformation, and the current loop is used as the innermost loop and is the basis of vector control. Most current loop regulators are single PI regulators at present, however, the control requirements of a motor on a current loop under different rotating speed working conditions are different, when the motor operates below a rated rotating speed, the current can be required to be tracked in a steady-state error-free mode, and when the motor operates above the rated rotating speed, the current can be required to be quickly and dynamically responded.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a current loop control method of a permanent magnet synchronous motor in a full rotating speed range, and solves the problem that the existing current loop single PI regulator cannot meet the requirements of the rapidity and the stability tracking of the actual current of a dq loop at the same time.
In order to achieve the above object, the present invention provides a current loop control method for a full rotation speed range of a permanent magnet synchronous motor, comprising the steps of:
(1) dividing the full rotation speed range of the motor into 0-omega1、ω1～ω2And omega2～ωmaxThree rotating speed intervals;
(2) designing a proportionality coefficient and an integral coefficient of the dq loop current regulator;
(2.1) respectively constructing transfer functions of the d-loop current regulator and the q-loop current regulator;
Figure BDA0002040286290000011
Figure BDA0002040286290000012
wherein, KpdIs d-ring current regulator proportionality coefficient, KidIs d-ring current regulator integral coefficient, KpqIs the q-loop current regulator proportionality coefficient, KiqIs the integral coefficient of the q-loop current regulator, S represents the S domain;
(2.2) respectively constructing closed loop transfer functions of a d loop and a q loop;
Figure BDA0002040286290000021
Figure BDA0002040286290000022
wherein L isq、LdRespectively, an inductance value of the alternating and direct axes, RsIs a stator resistor;
(2.3) enabling closed loop transfer functions of the d-loop and the q-loop to be equivalent to a typical second-order system, and obtaining a proportionality coefficient and an integral coefficient of a dq-loop current regulator of the second-order system;
Figure BDA0002040286290000023
Figure BDA0002040286290000024
Figure BDA0002040286290000025
Figure BDA0002040286290000026
wherein, γdIs d-ring damping ratio, gammaqIs the q-loop damping ratio, omegandIs d-ring natural angular frequency, omeganqFor the q-loop natural angular frequency, cot represents the cotangent trigonometric function;
(3) acquiring the real-time rotating speed omega of the motor by using a rotary transformer, and dynamically adjusting the parameters of the dq loop current regulator according to the rotating speed interval in which the rotating speed omega is positioned so as to control the motor;
(3.1) when the rotating speed omega of the motor is between 0 and omega1In the interval, let the d-ring damping ratio gammad＝γd1Natural angular frequency omegand＝ωnd1Q-loop damping ratio gammaq＝γq1Natural angular frequency omeganq＝ωnq1Obtaining the proportionality coefficient and integral coefficient of dq current loop regulator as K according to formulas (5) - (8)pd1、Kid1And Kpq1、Kiq1；
Then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud1、uq1Comprises the following steps:
Figure BDA0002040286290000031
Figure BDA0002040286290000032
finally, the voltage u is controlled by using dq loopd1、uq1Realizing steady state no-static-error control of current;
(3.2) when the motor speed omega is at omega1～ω2Interval, according to ω and ω1Difference of (2)Calculating a proportional coefficient and an integral coefficient of the dq current loop regulator according to the magnitude;
Figure BDA0002040286290000033
Figure BDA0002040286290000034
Figure BDA0002040286290000035
Figure BDA0002040286290000036
then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud12、uq12Comprises the following steps:
Figure BDA0002040286290000037
Figure BDA0002040286290000038
finally, the voltage u is controlled by using dq loopd12、uq12The quick response of the current is gradually accelerated;
(3.3) when the motor speed omega is at omega2～ωmaxIn the interval, let the d-ring damping ratio gammad＝γd2Natural angular frequency omegand＝ωnd2Q-loop damping ratio gammaq＝γq2Natural angular frequency omeganq＝ωnq2Obtaining the proportionality coefficient and integral coefficient of dq current loop regulator as K according to formulas (5) - (8)pd2、Kid2And Kpq2、Kiq2；
Then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud2、uq2Comprises the following steps:
Figure BDA0002040286290000041
Figure BDA0002040286290000042
finally, the voltage u is controlled by using dq loopd2、uq2And the quick non-overshoot control of the current is realized.
The invention aims to realize the following steps:
the invention discloses a current loop control method of a permanent magnet synchronous motor in a full rotating speed range, which comprises the steps of dividing the full rotating speed range of the motor into three rotating speed intervals according to rated parameters of the motor, designing a proportional coefficient and an integral coefficient of a dq loop current regulator, collecting the real-time rotating speed omega of the motor by using a rotary transformer, and controlling the motor in stages according to the rotating speed interval where the rotating speed omega is located, so that the problem that the existing current loop single PI regulator cannot meet the requirements of the rapidity and stability tracking of the actual current of a dq loop at the same time can be effectively solved.
Meanwhile, the current loop control method for the permanent magnet synchronous motor in the full rotating speed range further has the following beneficial effects:
(1) the invention can effectively reduce the influence of the operation condition change of the motor on the current loop control, improves the control stability of the current loop in the full rotating speed range of the motor, and is suitable for the current loop control of all the permanent magnet synchronous motors of the electric automobile.
(2) The invention adopts dynamic variable structure control, selects different current loop parameters according to the actual running rotating speed of the motor to control the dq current loop, and designs a parameter smooth transition region between rotating speed subareas to reduce the influence of the parameter mutation of the current loop on the stability of the control system.
(3) The dq current loop PI parameter is dynamically output, the PI parameter is dynamically given through the real-time rotating speed of the motor, the interference of the change of the operation working condition of the motor on the current loop control is effectively reduced, and the method has better dynamic property and stability compared with the traditional single PI parameter control.
(4) The method has the advantages of simple calculation, high operation speed and easy engineering application.
Drawings
FIG. 1 is a flow chart of a current loop control method for a full speed range of a PMSM according to the present invention;
fig. 2 is a block diagram of a current loop.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is a flow chart of a current loop control method of a permanent magnet synchronous motor in a full rotation speed range.
In the embodiment, the motor is a permanent magnet synchronous motor, the peak torque is 150Nm, the peak power is 60kW, the rated rotation speed is 3000rpm, the peak rotation speed is 8000rpm, and the stator resistance RsIs 0.025 omega, Lq、Ld0.914mH and 0.316mH respectively.
As shown in fig. 1, the current loop control method for a full rotation speed range of a permanent magnet synchronous motor of the present invention includes the following steps:
s1, dividing the full rotation speed range of the motor into 0-omega1、ω1～ω2And omega2～ωmaxThree rotating speed intervals;
in the present embodiment, as shown in FIG. 1, a rotation speed segmentation point ω is taken1Is rated at 3000rpm and omega2Is 3500rpm, omegamaxPeak rotation speed 8000 rpm;
s2, designing a proportionality coefficient and an integral coefficient of the dq loop current regulator;
the vector control system current loop is calibrated to a typical type I system, as shown in FIG. 2, where Gd(s)、Gq(s) transfer functions of d-and q-loop current regulators, 1/(L)ds+Rs)、1/(Lqs+Rs) Are respectively the transfer function, R, of the dq axis of the permanent magnet synchronous motor equivalent modelsIs stator resistance, Lq、LdAre respectively a quadrature axis inductor and a direct axis inductor.
The following describes the process of designing the proportionality coefficient and integral coefficient of dq loop current regulator in detail with reference to fig. 2;
s2.1, respectively constructing transfer functions of a d-loop current regulator and a q-loop current regulator;
Figure BDA0002040286290000051
Figure BDA0002040286290000052
wherein, KpdIs d-ring current regulator proportionality coefficient, KidIs d-ring current regulator integral coefficient, KpqIs the q-loop current regulator proportionality coefficient, KiqIs the integral coefficient of the q-loop current regulator, S represents the S domain;
s2.2, respectively constructing closed loop transfer functions of a d loop and a q loop;
Figure BDA0002040286290000061
Figure BDA0002040286290000062
wherein L isq、LdRespectively, an inductance value of the alternating and direct axes, RsIs a stator resistor;
s2.3, enabling closed loop transfer functions of the d loop and the q loop to be equivalent to a typical second-order system, and obtaining a proportionality coefficient and an integral coefficient of a dq loop current regulator of the second-order system;
Figure BDA0002040286290000063
Figure BDA0002040286290000064
Figure BDA0002040286290000065
Figure BDA0002040286290000066
wherein, γdIs d-ring damping ratio, gammaqIs the q-loop damping ratio, omegandIs d-ring natural angular frequency, omeganqFor the q-loop natural angular frequency, cot represents the cotangent trigonometric function;
s3, acquiring the real-time rotating speed omega of the motor by using a rotary transformer, and dynamically adjusting the parameters of the dq loop current regulator according to the rotating speed interval where the rotating speed omega is located to control the motor;
s3.1, when the rotating speed omega of the motor is between 0 and omega1In the interval, let the d-ring damping ratio gammad＝γd1Natural angular frequency omegand＝ωnd1Q-loop damping ratio gammaq＝γq1Natural angular frequency omeganq＝ωnq1Obtaining the proportionality coefficient and integral coefficient of dq current loop regulator as K according to formulas (5) - (8)pd1、Kid1And Kpq1、Kiq1(ii) a Wherein, γd1、ωnd1、γq1And ωnq1Respectively setting threshold values in the interval;
in the embodiment, when the motor speed omega is between 0 and omega1D-ring damping ratio gamma in rotating speed intervald1.46, natural angular frequency ωnd420, the d-ring proportional integral coefficient is Kpd1＝0.3716、Kid155.7424, q-loop damping ratio γq1.41, natural angular frequency ωnqQ-ring proportional integral coefficient of K240pq1＝0.5320、Kiq1＝54.2016；
Then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd dq current loop regulatorThe proportional coefficient and the integral coefficient can obtain the dq loop control voltage ud1、uq1Comprises the following steps:
Figure BDA0002040286290000071
Figure BDA0002040286290000072
finally, the voltage u is controlled by using dq loopd1、uq1Realizing steady state no-static-error control of current;
s3.2, when the rotating speed omega of the motor is positioned at omega1～ω2In the interval, the values of ω and ω are required1Calculating a proportionality coefficient and an integral coefficient of the dq current loop regulator according to the difference value, wherein the specific calculation formula is as follows;
Figure BDA0002040286290000073
Figure BDA0002040286290000074
Figure BDA0002040286290000075
Figure BDA0002040286290000076
then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud12、uq12Comprises the following steps:
Figure BDA0002040286290000077
Figure BDA0002040286290000078
finally, the voltage u is controlled by using dq loopd12、uq12The quick response of the current is gradually accelerated;
s3.3, when the rotating speed omega of the motor is positioned at omega2～ωmaxIn the interval, let the d-ring damping ratio gammad＝γd2Natural angular frequency omegand＝ωnd2Q-loop damping ratio gammaq＝γq2Natural angular frequency omeganq＝ωnq2Obtaining the proportionality coefficient and integral coefficient of dq current loop regulator as K according to formulas (5) - (8)pd2、Kid2And Kpq2、Kiq2(ii) a Wherein, γd2、ωnd2、γq2And ωnq2Respectively setting threshold values in the interval;
in the present embodiment, when the motor rotation speed ω is at ω2～ωmaxD-ring damping ratio gamma in rotating speed intervald1.54, natural angular frequency ωnd510, d-ring proportional integral coefficient Kpd2＝0.8929、Kid282.1916, q-loop damping ratio γq1.48, natural angular frequency ωnq300, q-Ring proportional integral coefficient and Kpq2＝0.9085、Kiq2＝84.69。
Then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud2、uq2Comprises the following steps:
Figure BDA0002040286290000081
Figure BDA0002040286290000082
finally, the voltage u is controlled by using dq loopd2、uq2And the quick non-overshoot control of the current is realized.
In conclusion, according to the running condition of the permanent magnet synchronous motor, the real-time rotating speed of the motor is acquired, the control algorithm can calculate the dq current loop proportional coefficient and the integral coefficient according to a formula, and finally the actual current of the dq current loop is controlled.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.

Claims (1)

1. A current loop control method for a permanent magnet synchronous motor in a full rotating speed range is characterized by comprising the following steps:
(1) dividing the full rotation speed range of the motor into 0-omega1、ω1～ω2And omega2～ωmaxThree rotating speed intervals;
(2) designing a proportionality coefficient and an integral coefficient of the dq loop current regulator;
(2.1) respectively constructing transfer functions of the d-loop current regulator and the q-loop current regulator;
Figure FDA0002557534720000011
Figure FDA0002557534720000012
wherein, KpdIs d-ring current regulator proportionality coefficient, KidIs d-ring current regulator integral coefficient, KpqIs the q-loop current regulator proportionality coefficient, KiqIs the integral coefficient of the q-loop current regulator, S represents the S domain;
(2.2) respectively constructing closed loop transfer functions of a d loop and a q loop;
Figure FDA0002557534720000013
Figure FDA0002557534720000014
wherein L isq、LdRespectively, an inductance value of the alternating and direct axes, RsIs a stator resistor;
(2.3) enabling closed loop transfer functions of the d-loop and the q-loop to be equivalent to a typical second-order system, and obtaining a proportionality coefficient and an integral coefficient of a dq-loop current regulator of the second-order system;
Figure FDA0002557534720000015
Figure FDA0002557534720000016
Figure FDA0002557534720000017
Figure FDA0002557534720000021
wherein, γdIs d-ring damping ratio, gammaqIs the q-loop damping ratio, omegandIs d-ring natural angular frequency, omeganqFor the q-loop natural angular frequency, cot represents the cotangent trigonometric function;
(3) acquiring the real-time rotating speed omega of the motor by using a rotary transformer, and dynamically adjusting the parameters of the dq loop current regulator according to the rotating speed interval in which the rotating speed omega is positioned so as to control the motor;
(3.1) when the rotating speed omega of the motor is between 0 and omega1In the interval, let the d-ring damping ratio gammad＝γd1Natural angular frequency omegand＝ωnd1Q-loop damping ratio gammaq＝γq1Natural angular frequency omeganq＝ωnq1Obtaining the proportionality coefficient and integral coefficient of dq current loop regulator as K according to formulas (5) - (8)pd1、Kid1And Kpq1、Kiq1；
Then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud1、uq1Comprises the following steps:
Figure FDA0002557534720000022
Figure FDA0002557534720000023
finally, the voltage u is controlled by using dq loopd1、uq1Realizing steady state no-static-error control of current;
(3.2) when the motor speed omega is at omega1～ω2Interval, according to ω and ω1Calculating a proportionality coefficient and an integral coefficient of the dq current loop regulator according to the difference value;
Figure FDA0002557534720000024
Figure FDA0002557534720000025
Figure FDA0002557534720000026
Figure FDA0002557534720000027
then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud12、uq12Comprises the following steps:
Figure FDA0002557534720000031
Figure FDA0002557534720000032
finally, the voltage u is controlled by using dq loopd12、uq12The quick response of the current is gradually accelerated;
(3.3) when the motor speed omega is at omega2～ωmaxIn the interval, let the d-ring damping ratio gammad＝γd2Natural angular frequency omegand＝ωnd2Q-loop damping ratio gammaq＝γq2Natural angular frequency omeganq＝ωnq2Obtaining the proportionality coefficient and integral coefficient of dq current loop regulator as K according to formulas (5) - (8)pd2、Kid2And Kpq2、Kiq2；
Then, the difference value delta i between the instruction current and the actual current is obtained according to the dq current loopd、ΔiqAnd the proportional coefficient and integral coefficient of the dq current loop regulator can obtain the dq loop control voltage ud2、uq2Comprises the following steps:
Figure FDA0002557534720000033
Figure FDA0002557534720000034
finally, the voltage u is controlled by using dq loopd2、uq2And the quick non-overshoot control of the current is realized.
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