CN110224650B - Flux-weakening control method and device and motor - Google Patents
Flux-weakening control method and device and motor Download PDFInfo
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- CN110224650B CN110224650B CN201910605885.0A CN201910605885A CN110224650B CN 110224650 B CN110224650 B CN 110224650B CN 201910605885 A CN201910605885 A CN 201910605885A CN 110224650 B CN110224650 B CN 110224650B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the technical field of driving motors, and particularly provides a motor field weakening control method, a motor field weakening control device and a motor. The field weakening control method comprises the following steps: acquiring an output value of q-axis voltage and a set value of the q-axis voltage in a flux weakening state; determining a compensation value of the weak magnetic current according to the output value and the set value; and compensating the weak magnetic current according to the compensation value. According to the control method, on the basis of the existing field weakening method, field weakening current is corrected and compensated, the field weakening effect of the motor is improved, the rotating speed of the motor is further improved, the rotating speed is increased at a higher speed compared with the existing field weakening method, the driving performance of the motor is improved, and more demand scenes are met.
Description
Technical Field
The invention relates to the technical field of driving motors, in particular to a motor field weakening control method, a motor field weakening control device and a motor.
Background
With the development of the new energy automobile industry, the number of electric automobiles is rapidly increased, and the electric automobile motor driving control system is used as a core component of the electric automobile and is a fundamental guarantee for improving the driving performance, the driving reliability and the stability of the electric automobile, so that the driving motor is an important research direction of the new energy automobile. For a driving motor, under a certain voltage, the highest rotating speed (base speed) at which the motor can operate is difficult to meet actual requirements, so that the rotating speed needs to be further increased in other modes under the condition that the power of the motor is not changed, namely the rotating speed is increased in a constant-power mode. The flux weakening is a constant power speed increasing method commonly used for driving a motor, and flux weakening is realized by increasing the negative current of the d-axis current of the motor to weaken magnetic flux so as to realize the increase of the rotating speed. However, in the actual control of the existing weak magnetic method, the utilization rate of the output voltage of the inverter is limited, so that the weak magnetic speed-up effect is limited, and the actual requirement of the driving motor is difficult to meet.
Disclosure of Invention
In order to solve the technical problems that the speed-up effect of a weak-magnetic control method in the prior art is limited and the actual requirement is difficult to meet, the invention provides a motor weak-magnetic control method and device with higher weak-magnetic speed-up effect and a motor.
In a first aspect, the present invention provides a flux weakening control method, including:
acquiring an output value of q-axis voltage and a set value of the q-axis voltage in a flux weakening state;
determining a compensation value of the weak magnetic current according to the output value and the set value;
and compensating the weak magnetic current according to the compensation value.
In some embodiments, the determining the compensation value of the field weakening current according to the output value and the set value comprises:
and performing PI operation on the difference value between the output value and the set value to obtain the compensation value.
In some embodiments, the compensating for the weak magnetic current according to the compensation value includes:
and summing the compensation value and the current value of the weak magnetic current to obtain a correction value of the d-axis current, and adjusting the d-axis current based on the correction value.
In some embodiments, the set value V of the q-axis voltageq-refExpressed as:
in the formula, VmaxIs the maximum voltage value of the system, VdIs the d-axis voltage value.
In some embodiments, the field weakening current Id1Expressed as:
in the formula, VqIs the q-axis voltage value, RsIs a phase resistance, IqIs a q-axis current value, LdIs d-axis inductance, PIgThe amount of change in the q-axis current is denoted by E as a back electromotive force and ω as a rotational speed.
6. The field weakening control method according to claim 1,
and the output value of the q-axis voltage is a current loop output value.
In a second aspect, the present invention provides a field weakening control device, comprising:
the acquisition module is used for acquiring an output value of the q-axis voltage and a set value of the q-axis voltage in a weak magnetic state;
the determining module is used for determining a compensation value of the d-axis current according to the output value and the set value; and
and the compensation module is used for generating a compensation current according to the compensation value so as to compensate the weak magnetic current.
In a third aspect, the present invention provides an electronic device, comprising:
a processor; and
a memory communicatively coupled to the processor and storing computer readable instructions executable by the processor, wherein the processor executes the flux weakening control method according to any of the embodiments of the first aspect when the computer readable instructions are executed.
In a fourth aspect, the present invention provides an electric machine comprising:
a motor body; and
the electronic device as described above.
In a fifth aspect, the present invention provides a storage medium storing computer instructions for causing a computer to execute the field weakening control method according to any one of the embodiments of the first aspect.
The motor field weakening control method provided by the invention comprises the steps of obtaining an output value of q-axis voltage and a set value of the q-axis voltage in a field weakening state, determining a compensation value of d-axis current according to the output value and the set value, and generating compensation current according to the compensation value so as to compensate field weakening current. According to the control method, on the basis of the existing field weakening method, field weakening current is corrected and compensated, the field weakening effect of the motor is improved, the rotating speed of the motor is further improved, the rotating speed is increased at a higher speed compared with the existing field weakening method, the driving performance of the motor is improved, and more demand scenes are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a motor field weakening control method according to some embodiments of the present invention.
Fig. 2 is an operational diagram of field weakening control of a motor according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a field weakening control device of a motor according to some embodiments of the present invention.
Fig. 4 is a schematic diagram of a computer system structure suitable for implementing the control method or processor in the embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some examples of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The motor field weakening control method provided by the invention can be used for controlling driving motors such as permanent magnet synchronous motors, direct current brushless motors and the like, carrying out field weakening control on the motors and improving the rotating speed of the motors. It should be noted that, in the field weakening control system, when the motor operates above the base speed, the magnitude of the back electromotive force E is closer to the maximum voltage U output by the inverter, which can be expressed as:
U＝E+IR (1)
wherein, IR is the sum of the losses of the motor, and the proportion thereof is very small, so that in the weak magnetic state, U ≈ E can be approximately considered. The back electromotive force E is represented as:
E＝CeΦω (2)
in the formula, wherein CeThe flux weakening acceleration is just by increasing the negative current of the d axis, so that the direction of the magnetic field generated by the current is opposite to that of the rotor permanent magnetic field, and the flux phi is weakened. As can be seen from equation (2), when the magnetic flux Φ decreases, the rotational speed ω increases, and the speed increases. In a motor flux weakening control system, a motor is supplied with power by an inverter, flux weakening current is limited by the output capacity of the inverter, so that the speed increasing effect is limited, and the requirement of driving the motor is difficult to meet. The control method of the invention is based on the fact that the rotation speed of the motor is improved by compensating the weak magnetic current.
As shown in fig. 1, in some embodiments, the field weakening control method for the motor provided by the present invention may include:
and S10, acquiring the output value of the q-axis voltage and the set value of the q-axis voltage in the flux weakening state.
And S20, determining a compensation value of the flux weakening current according to the output value and the set value.
And S30, compensating the weak magnetic current according to the compensation value.
Specifically, in the control method of the invention, an output value of q-axis voltage and a set value of q-axis voltage in a flux weakening state are firstly obtained, the output value of q-axis voltage can adopt, for example, an output value of a current loop, a compensation value of flux weakening current is determined according to the output value and the set value, and the flux weakening current is compensated according to the compensation value, so that the negative current of d-axis current is increased, the flux weakening effect is improved, the rotating speed of the motor is further improved, and a use scene with higher requirements is met.
In some embodiments, the invention provides a flux weakening control method, wherein the output value of the q-axis voltage is the output value of the current loop, and the set value of the q-axis voltage is given based on the maximum output voltage of the inverter, specifically, the set value V of the q-axis voltageq-refExpressed as:
in the formula, VmaxIs the maximum output voltage, V, of the inverterdIs the d-axis voltage value. Obtaining a maximum set value, compensation value delta I, from the maximum output voltage of the inverterdAnd performing PI operation based on the difference between the output value of the q-axis voltage and a set value to obtain the q-axis voltage. It should be noted that, in the field weakening control of the motor, the motor is powered by the inverter, and the operation of the motor is limited by the output capability of the inverter, and the inverter limitation includes two aspects: the current amplitude is limited on the one hand and the voltage amplitude on the other hand. The two aspects are limited on a plane with d-axis current and q-axis current as coordinate axes, which can be expressed as a current limit circle and a voltage limit ellipse with an origin as a center, and theoretically, the output capacity of the motor is the maximum when the working point of the motor is positioned on the current limit circle and the voltage limit ellipse. In the present embodiment, the q-axis voltage is increased by performing PI calculation using the difference between the maximum set value and the output value of the q-axis voltage, so that the motor operating point is brought close to or maintained at the voltage limit circle, thereby improving the output capability of the motor.
Obtaining a compensation value delta I of the weak magnetic current by performing PI operation on the difference value of the set value and the output value of the q-axis voltagedWill compensate for the value Δ IdCompensated to flux weakening current Id1In (I)d1For weak magnetic current in conventional weak magnetic control, weak magnetic current Id1Expressed as:
in the formula, VqIs the q-axis voltage value, RsIs a phase resistance, IqIs a q-axis current value, LdIs d-axis inductance, PIqThe amount of change in the q-axis current is denoted by E as a back electromotive force and ω as a rotational speed. For the compensation value delta IdAnd weak magnetic current Id1The sum is obtained to obtain a corrected value I of the compensated d-axis currentdCorrection value I based on d-axis currentdThe d-axis current is adjusted. The weak magnetic current is compensated, so that the negative current of the d axis is increased, and the rotating speed of the motor is further improved.
The working principle of the weak magnetic control according to some embodiments of the present invention is shown in fig. 2, and the control method of the present invention is further explained with reference to fig. 2.
In the present embodiment, in step S10, the current loop output value V is acquired and acquiredqrefCalculating the set value V of the q-axis voltage by the equation (3)q-refBased on the current loop output value VqrefAnd a set value Vq-refCalculating the compensation value Delta IdExpressed as:
ΔId＝PI[Vq-ref-Vqref]
calculating the weak magnetic current value I by using the formula (4)d1Will compensate for the value Δ IdCompensated to flux weakening current Id1In, i.e. to the compensation value Δ IdAnd weak magnetic current Id1The sum is obtained to obtain a corrected value I of the compensated d-axis currentdExpressed as:
Id＝Id1+ΔId
correction value I based on d-axis currentdAnd d-axis current is adjusted, and weak magnetic current is compensated, so that d-axis negative current is increased, and the rotating speed of the motor is further improved.
In a second aspect, the present invention provides a field weakening control device, comprising:
the acquisition module 10 is used for acquiring an output value of q-axis voltage and a set value of the q-axis voltage in a flux weakening state;
a determining module 20, configured to determine a compensation value of the d-axis current according to the output value and a set value; and
and the compensation module 30 is used for generating a compensation current according to the compensation value so as to compensate the weak magnetic current.
In a third aspect, the present invention provides an electronic device, comprising:
a processor; and
a memory communicatively coupled to the processor and storing computer readable instructions executable by the processor, wherein the processor executes the flux weakening control method according to any of the above embodiments when the computer readable instructions are executed.
In a fourth aspect, the present invention provides an electric machine comprising:
a motor body; and
the electronic device as described above.
In a fifth aspect, the present invention provides a storage medium storing computer instructions for causing a computer to execute the field weakening control method according to any one of the above embodiments.
Specifically, fig. 4 is a schematic structural diagram of a computer system 600 suitable for implementing the pupil detection method or processor according to the embodiment of the present invention, and the system shown in fig. 4 implements the functions of the electronic device and the storage medium.
As shown in fig. 4, the computer system 600 includes a Central Processing Unit (CPU)601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, the processes described by the above methods may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the above-described method. In such embodiments, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It should be understood that the above embodiments are only examples for clearly illustrating the present invention, and are not intended to limit the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. A flux-weakening control method is characterized by comprising the following steps:
acquiring an output value of q-axis voltage and a set value of the q-axis voltage in a flux weakening state;
determining a compensation value of the weak magnetic current according to the output value and the set value;
compensating the weak magnetic current according to the compensation value;
wherein the weak magnetic current Id1Expressed as:
in the formula, VqIs the q-axis voltage value, RsIs a phase resistance, IqIs a q-axis current value, LdIs d-axis inductance, PIqThe amount of change in the q-axis current is denoted by E as a back electromotive force and ω as a rotational speed.
2. The field weakening control method according to claim 1, wherein said determining a compensation value for the field weakening current based on said output value and said set value comprises:
and performing PI operation on the difference value between the output value and the set value to obtain the compensation value.
3. The field weakening control method according to claim 2, wherein the compensating the field weakening current according to the compensation value comprises:
and summing the compensation value and the current value of the weak magnetic current to obtain a correction value of the d-axis current, and adjusting the d-axis current based on the correction value.
4. Weak magnetic control method according to any one of claims 1 to 3,
set value V of the q-axis voltageq-refExpressed as:
in the formula, VmaxIs the maximum voltage value of the system, VdIs the d-axis voltage value.
5. The field weakening control method according to claim 1,
and the output value of the q-axis voltage is a current loop output value.
6. A field weakening control device, comprising:
the acquisition module is used for acquiring an output value of the q-axis voltage and a set value of the q-axis voltage in a weak magnetic state;
the determining module is used for determining a compensation value of the d-axis current according to the output value and the set value; and
the compensation module is used for compensating the weak magnetic current according to the compensation value;
wherein the weak magnetic current Id1Expressed as:
in the formula, VqIs the q-axis voltage value, RsIs a phase resistance, IqIs a q-axis current value, LdIs d-axis inductance, PIqThe amount of change in the q-axis current is denoted by E as a back electromotive force and ω as a rotational speed.
7. An electronic device, comprising:
a processor; and
a memory, communicatively coupled to the processor, storing computer readable instructions executable by the processor, the processor performing the flux weakening control method according to any one of claims 1 to 5 when the computer readable instructions are executed.
8. An electric machine, comprising:
a motor body; and
the electronic device of claim 7.
9. A storage medium storing computer instructions for causing a computer to execute the field weakening control method according to any one of claims 1 to 5.
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| CN117515840A (en) * | 2022-07-29 | 2024-02-06 | 青岛海尔空调器有限总公司 | Control method and device for air conditioner, air conditioner and storage medium |
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| CN103701384A (en) * | 2013-12-30 | 2014-04-02 | 中冶南方（武汉）自动化有限公司 | Field weakening control method for built-in permanent magnet synchronous motor |
| KR20180112629A (en) * | 2017-04-04 | 2018-10-12 | 대우조선해양 주식회사 | Method for weak field control of induction motor |
| CN109804550A (en) * | 2016-10-25 | 2019-05-24 | 密克罗奇普技术公司 | Closed loop magnetic flux for permanent magnet synchronous motor weakens |
| CN109831132A (en) * | 2019-01-23 | 2019-05-31 | 上海肖可雷电子科技有限公司 | A kind of field weakening control method of permanent magnet synchronous motor |
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| CN103701384A (en) * | 2013-12-30 | 2014-04-02 | 中冶南方（武汉）自动化有限公司 | Field weakening control method for built-in permanent magnet synchronous motor |
| CN109804550A (en) * | 2016-10-25 | 2019-05-24 | 密克罗奇普技术公司 | Closed loop magnetic flux for permanent magnet synchronous motor weakens |
| KR20180112629A (en) * | 2017-04-04 | 2018-10-12 | 대우조선해양 주식회사 | Method for weak field control of induction motor |
| CN109831132A (en) * | 2019-01-23 | 2019-05-31 | 上海肖可雷电子科技有限公司 | A kind of field weakening control method of permanent magnet synchronous motor |
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