CN110311611B - Flux weakening control method and system for permanent magnet synchronous motor - Google Patents
Flux weakening control method and system for permanent magnet synchronous motor Download PDFInfo
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- CN110311611B CN110311611B CN201910567051.5A CN201910567051A CN110311611B CN 110311611 B CN110311611 B CN 110311611B CN 201910567051 A CN201910567051 A CN 201910567051A CN 110311611 B CN110311611 B CN 110311611B
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Abstract
The invention discloses a method and a system for controlling the flux weakening of a permanent magnet synchronous motor, which comprises the following steps of firstly, obtaining a motor base speed full current domain relation data set through a motor base speed calibration experiment; processing offline data to obtain a corresponding relation data set of each rotating speed point above a base speed, fitting an MTPV curve equation considering a nonlinear effect, and searching the relation data set according to the current rotating speed and a target torque to obtain an initial target current when the motor operates above the base speed; and constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter, superposing the output to the initial quadrature axis current, and calculating the direct axis current which meets the requirements of the current circle of the driving current track in the current practical execution and the MTPV curve operation considering the nonlinear effect in real time. The invention considers the nonlinear effect of the motor in actual working, has good flux weakening effect and is easy to realize.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a flux weakening control method and system for a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is widely applied to speed regulation driving systems with higher requirements, such as electric automobiles and the like, due to the characteristics of high power density, high reliability, high efficiency and the like. The permanent magnet synchronous motor must adopt a weak magnetic control technology to meet the speed regulation requirement of a wide rotating speed range, and has important significance in carrying out weak magnetic control on the permanent magnet synchronous motor and widening the speed regulation range.
In order to realize the optimal control of the motor, the motor operation area is divided into a maximum torque current ratio (MTPA) area, a weak magnetic I area and a weak magnetic II area. MTPA zone: below the basic speed, the motor operates in a constant torque area, and the linear maximum torque current ratio is adopted for control, so that the permanent magnet synchronous motor obtains the maximum electromagnetic torque; and (3) a field weakening I region: as the speed of rotation increases, the motor will run along a constant power curve between the maximum torque current ratio curve and the maximum torque voltage ratio MTPV curve; and (3) a field weakening II region: at higher speed ranges, the motor operates along the MTPV curve. The motor operates above the basic speed, the back electromotive force is increased and is limited by the voltage of a power battery of the electric automobile, and the permanent magnet synchronous motor needs to be subjected to flux weakening and speed expansion.
Negative i is often adopted in engineeringdCompensation method (i)dMotor d-axis current). When the voltage of the motor terminal reaches a limit value, increasing the direct-axis demagnetization current; the method has the advantages of simplicity, independence of parameters, and disadvantages of stability reduction along with the rise of the rotating speed, even motor out of control, and inapplicability of a weak magnetic II area.
Voltage feedback quadrature axis current increment method in traditional negative idThe compensation method is improved on the basis of a compensation method, a limit value is set for the d-axis current in negative compensation, the d-axis current value at the intersection of an MTPV curve and a current limit circle is limited, the d-axis current difference before and after amplitude limiting is compared, and current increment is superposed on the intersection current at a switching point, so that MTPV control of the weak magnetism in the area II is realized. However, the method adopts the negative i before the motor reaches the weak magnetic II areadThe method increases the direct axis demagnetizing current, and switches to the quadrature axis current increment method to reduce the quadrature axis current amplitude after reaching the weak magnetic II area, so that the process is complex; the method has large dependence on motor parameters, and the inaccurate motor parameters can cause large deviation between an MTPV curve equation and the actual and poor flux weakening effect.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a method and a system for controlling the field weakening of a permanent magnet synchronous motor, and solves the problems that the stability of the permanent magnet synchronous motor is reduced along with the increase of the rotating speed, an MTPV curve equation calculated by ideal motor parameters is inaccurate, and the field weakening effect is poor.
In order to achieve the above object, the present invention adopts the following technical solutions: a flux weakening control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
firstly, carrying out calibration experiment on a permanent magnet synchronous motor under rated direct current voltage and base speed to obtain a motor base speed full current domain relation data set;
step two, according to the motor basic speed full current domain relation data set, amplifying the voltage modulation ratio in equal proportion according to the rotating speed at each rotating speed point above the basic speed, and omitting the corresponding data of the voltage modulation ratio more than 1 in the motor basic speed full current domain relation data set to obtain the relation data set corresponding to each rotating speed point above the basic speed, extracting the points on the MTPV curve of the maximum torque voltage ratio considering the nonlinear effect, and linearly fitting the MTPV curve equation;
and step three, executing a quadrature axis current compensation method flux weakening control method in the motor controller according to a relational data set corresponding to each rotating speed point above the base speed and an MTPV curve equation.
The field weakening control method of the permanent magnet synchronous motor is characterized in that the first step specifically comprises the following steps:
dynamometer dragging permanent magnet synchronous motor at base speed n1The controller inputs rated DC voltage udc(ii) a The controller operates in a current control mode, sets current step length and angle step length as intervals, and sets a plurality of groups of current values i of the motor operationsRecording the actual output torque T and the voltage modulation ratio M after the motor stably runs according to the current angle value gamma; each set of current values isAnd the current angle value gamma, the corresponding actual output torque T and the voltage modulation ratio M are processed in an off-line mode to generate a motor basic speed full current domain relation data set.
The flux weakening control method of the permanent magnet synchronous motor is characterized in that the acquisition process of the relational data set corresponding to each rotating speed point above the base speed is as follows:
according to the motor base speed full current domain relation data set, at each rotating speed point n above the base speedxThen, the voltage modulation ratio M is amplified to M according to the rotation speed in equal proportionxUsing M as voltage modulation ratio M in motor base speed full current domain relation data setxReplace, and discard Mx>1 corresponding to the data to obtain each rotating speed point n above the basic speedxA corresponding relational data set.
The flux weakening control method of the permanent magnet synchronous motor is characterized in that nonlinearity is considered in the extractionThe maximum torque voltage of the effect is compared to the points on the MTPV curve and the MTPV curve equation is linearly fitted, specifically: extracting relational data corresponding to each rotating speed point above the base speed, concentrating data which has the maximum output torque and is not on a current limit circle, converting a current value and a current angle value from a polar coordinate system to a d-q axis coordinate system to obtain a direct axis current idQuadrature axis current iqIs fitted to idAnd iqCurve i of the relationshipd＝f(iq)。
The field weakening control method of the permanent magnet synchronous motor is characterized in that the third step specifically comprises the following steps:
when the motor operates above the basic speed, the controller operates according to the current rotating speed n and the target torque T of the motor*Looking up a relational data set corresponding to each rotating speed point above the basic speed to obtain an initial current value i of the motor at the current rotating speeds0Angle value of initial current gamma0And converting the polar coordinate system to a d-q axis coordinate system to obtain an initial direct axis current
And initial quadrature axis current
Constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter; superimposing output value of weak magnetic loop to initial quadrature axis current
To obtain a new AC axis current
Will be new cross-axis current
Substituting the current actually-executed current circle equation to calculate the direct axis current corresponding to the current circle
Will be new cross-axis current
Substituting the MTPV curve equation considering the nonlinear effect to calculate the direct axis current corresponding to the MTPV curve
When in use
New direct axis current
Get
When in use
New direct axis current
Get
Using new direct current
And new cross-axis current
The driving current drives the permanent magnet synchronous motor to operate.
A permanent magnet synchronous motor flux weakening control system is characterized by comprising:
the calibration module is used for performing calibration experiments on the permanent magnet synchronous motor under rated direct-current voltage and base speed to obtain a motor base speed full current domain relation data set;
the system comprises a relation data set corresponding to each rotating speed point above a basic speed and an MTPV curve equation obtaining module, wherein the relation data set and the MTPV curve equation obtaining module are used for amplifying a voltage modulation ratio in a rotating speed equal proportion at each rotating speed point above the basic speed according to the motor basic speed full current domain relation data set, removing corresponding data with the voltage modulation ratio larger than 1 in the motor basic speed full current domain relation data set, obtaining the relation data set corresponding to each rotating speed point above the basic speed, extracting points on an MTPV curve of the maximum torque voltage ratio considering the nonlinear effect, and linearly fitting the MTPV curve equation;
and the quadrature axis current compensation method weak magnetic control module is used for executing a quadrature axis current compensation method weak magnetic control method in the motor controller according to the relational data set corresponding to each rotating speed point above the base speed and the MTPV curve equation.
The flux weakening control system of the permanent magnet synchronous motor is characterized in that the acquiring of the motor base speed full current domain relation data set specifically comprises the following processes:
dynamometer dragging permanent magnet synchronous motor at base speed n1The controller inputs rated DC voltage udc(ii) a The controller operates in a current control mode, sets current step length and angle step length as intervals, and sets a plurality of groups of current values i of the motor operationsRecording the actual output torque T and the voltage modulation ratio M after the motor stably runs according to the current angle value gamma; each set of current values isAnd the current angle value gamma, the corresponding actual output torque T and the voltage modulation ratio M are processed in an off-line mode to generate a motor basic speed full current domain relation data set.
The flux weakening control system of the permanent magnet synchronous motor is characterized in that the specific acquisition process of the relational data set corresponding to each rotating speed point above the base speed is as follows:
according to the motor base speed full current domain relation data set, at each rotating speed point n above the base speedxThen, the voltage modulation ratio M is amplified to M according to the rotation speed in equal proportionxUsing M as voltage modulation ratio M in motor base speed full current domain relation data setxReplace, and discard Mx>1 corresponding to the data to obtain each rotating speed point n above the basic speedxA corresponding relational data set.
The flux weakening control system of the permanent magnet synchronous motor is characterized in that the maximum torque voltage ratio MTPV curve of the nonlinear effect is extracted and consideredAnd linearly fitting an MTPV curve equation, specifically: extracting relational data corresponding to each rotating speed point above the base speed, concentrating data which has the maximum output torque and is not on a current limit circle, converting a current value and a current angle value from a polar coordinate system to a d-q axis coordinate system to obtain a direct axis current idQuadrature axis current iqIs fitted to idAnd iqCurve i of the relationshipd＝f(iq)。
The field weakening control system of the permanent magnet synchronous motor is characterized in that the field weakening control method of the quadrature axis current compensation method is executed in the motor controller, and specifically comprises the following steps:
when the motor operates above the basic speed, the controller operates according to the current rotating speed n and the target torque T of the motor*Looking up a relational data set corresponding to each rotating speed point above the basic speed to obtain an initial current value i of the motor at the current rotating speeds0Angle value of initial current gamma0And converting the polar coordinate system to a d-q axis coordinate system to obtain an initial direct axis current
And initial quadrature axis current
Constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter; superimposing output value of weak magnetic loop to initial quadrature axis current
To obtain a new AC axis current
Will be new cross-axis current
Substituting the current actually-executed current circle equation to calculate the direct axis current corresponding to the current circle
Will be new cross-axis current
Substituting the MTPV curve equation considering the nonlinear effect to calculate the direct axis current corresponding to the MTPV curve
When in use
New direct axis current
Get
When in use
New direct axis current
Get
Using new direct current
And new cross-axis current
The driving current drives the permanent magnet synchronous motor to operate.
The invention has the advantages that:
1) the method comprises the steps of carrying out calibration experiments on the permanent magnet synchronous motor under rated direct current voltage and base speed to obtain a relation data set of 'current-torque-voltage modulation ratio' of a full current domain of the base speed of the motor, extracting points on an MTPV curve of the maximum torque-voltage ratio considering nonlinear effect through offline data processing, and fitting an MTPV curve equation linearly;
2) according to the invention, the quadrature axis current amplitude is directly reduced through the output value of the weak magnetic ring, and the direct axis current meets the requirement that the current track is gradually transited to an MTPV curve from a current actually executed current circle; relative negative idThe method has the advantages that the stability cannot be reduced along with the increase of the rotating speed, the stability is high, and the method is suitable for a weak magnetic II area; compared with a voltage feedback quadrature axis current increment method, the method has the advantages that the quadrature axis current amplitude is directly reduced by the weak magnetic ring, the direct axis demagnetizing current does not need to be increased first, then the quadrature axis current amplitude is reduced, the driving current track only runs on the current actually-executed current circle or MTPV curve, and the method is simple and easy to implement.
Drawings
FIG. 1 is a flow chart of a flux weakening control method according to an embodiment of the present invention;
FIG. 2 is a field weakening control block diagram of the present invention;
FIG. 3 shows the present invention with negative idA compensation method high-speed deceleration flux weakening effect comparison diagram;
FIG. 4 shows the present invention with negative idAnd (3) a compensation method high-speed operation weak magnetic effect comparison diagram.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, a method for controlling field weakening of a permanent magnet synchronous motor based on a calibration and quadrature axis current compensation method includes the steps of:
firstly, carrying out calibration experiment on a permanent magnet synchronous motor under rated direct current voltage and base speed to obtain a motor base speed full current domain relation data set;
the first step comprises the following specific processes: dynamometer dragging permanent magnet synchronous motor at base speed n1The controller inputs rated DC voltage udc(ii) a The controller operates in a current control mode to set a number of motor operations at intervals of current step size and angular step sizeGroup current value isRecording the actual output torque T and the voltage modulation ratio M after the motor stably runs according to the current angle value gamma; each set of current values isAnd the current angle value (relative q axis) gamma, the corresponding actual output torque T and the voltage modulation ratio M are processed off line to generate a motor base speed full current domain relation data set, if the i is constructeds- γ -T-M "table;
step two, according to the motor basic speed full current domain relation data set, amplifying the voltage modulation ratio in equal proportion according to the rotating speed at each rotating speed point above the basic speed, and omitting the corresponding data of the voltage modulation ratio more than 1 in the motor basic speed full current domain relation data set to obtain the relation data set corresponding to each rotating speed point above the basic speed, extracting the point on the maximum torque voltage MTPV curve considering the nonlinear effect, and fitting the maximum torque voltage ratio MTPV curve equation considering the nonlinear effect;
the second step comprises the following specific processes: according to the motor base speed full current domain relation data set, at each rotating speed point n above the base speedxThen, the voltage modulation ratio M is amplified to M according to the rotation speed in equal proportionxUsing M as voltage modulation ratio M in motor base speed full current domain relation data setxReplace, and discard Mx>1 corresponding to the data to obtain each rotating speed point n above the basic speedxCorresponding relational data sets, e.g. constructed "is–γ-Tx-Mx"table; extracting each rotating speed point n above the basic speedxThe corresponding relation data set outputs data with maximum torque and not on the current limit circle, namely points on the MTPV curve of the maximum torque to voltage ratio considering the nonlinear effect; fitting the current data of the points to idAnd iqCurve i of the relationshipd＝f(iq) I.e. the MTPV curve equation for maximum torque to voltage ratio taking into account non-linear effects, where idAnd iqD-axis and q-axis current values, respectively; the MTPV curve equation considers the nonlinear effect of the large current of the motor, is more accurate than the MTPV curve equation obtained by calculating the ideal motor parameters, and improves the flux weakening control reliability;
step three, executing a quadrature axis current compensation method flux weakening control method in a motor controller according to the maximum torque voltage ratio MTPV curve equation considering the nonlinear effect;
FIG. 2 is a field weakening control block diagram of an embodiment of the present invention; when the motor operates above the basic speed, the controller operates according to the current rotating speed n and the target torque T of the motor*Looking up a relational data set corresponding to each rotating speed point above the basic speed to obtain an initial current value i of the motor at the current rotating speeds0Angle value of initial current gamma0And converting the polar coordinate system to a d-q axis coordinate system to obtain an initial direct axis current
And initial quadrature axis current
Constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter; superimposing output value of weak magnetic loop to initial quadrature axis current
To obtain a new AC axis current
Will be new cross-axis current
Substituting the current actually-executed current circle equation to calculate the direct axis current corresponding to the current circle
Will be new cross-axis current
Substituting the MTPV curve equation considering the nonlinear effect to calculate the direct axis current corresponding to the MTPV curve
When in use
New direct axis current
Get
When in use
New direct axis current
Get
Using new direct current
And new cross-axis current
And the final driving current is used for driving the permanent magnet synchronous motor to operate. Relative negative idThe method has the advantages that the stability cannot be reduced along with the increase of the rotating speed, the stability is high, and the method is suitable for a weak magnetic II area; compared with a voltage feedback quadrature axis current increment method, the method has the advantages that the quadrature axis current amplitude is directly reduced by the weak magnetic ring, the direct axis demagnetizing current does not need to be increased first, then the quadrature axis current amplitude is reduced, the driving current track only runs on the current actually-executed current circle or MTPV curve, and the method is simple and easy to implement.
A permanent magnet synchronous motor flux weakening control system based on a calibration and quadrature axis current compensation method is characterized by comprising the following steps:
the calibration module is used for performing calibration experiments on the permanent magnet synchronous motor under rated direct-current voltage and base speed to obtain a motor base speed full current domain relation data set;
the system comprises a relation data set corresponding to each rotating speed point above a basic speed and an MTPV curve equation obtaining module, wherein the relation data set and the MTPV curve equation obtaining module are used for amplifying a voltage modulation ratio in a rotating speed equal proportion at each rotating speed point above the basic speed according to the motor basic speed full current domain relation data set, removing corresponding data with the voltage modulation ratio larger than 1 in the motor basic speed full current domain relation data set, obtaining the relation data set corresponding to each rotating speed point above the basic speed, extracting points on an MTPV curve of the maximum torque voltage ratio considering the nonlinear effect, and linearly fitting the MTPV curve equation;
and the quadrature axis current compensation method weak magnetic control module is used for executing a quadrature axis current compensation method weak magnetic control method in the motor controller according to the relational data set corresponding to each rotating speed point above the base speed and the MTPV curve equation.
The method for acquiring the motor base speed full current domain relation data set comprises the following specific processes:
dynamometer dragging permanent magnet synchronous motor at base speed n1The controller inputs rated DC voltage udc(ii) a The controller operates in a current control mode, sets current step length and angle step length as intervals, and sets a plurality of groups of current values i of the motor operationsRecording the actual output torque T and the voltage modulation ratio M after the motor stably runs according to the current angle value gamma; each set of current values isAnd the current angle value gamma, the corresponding actual output torque T and the voltage modulation ratio M are processed in an off-line mode to generate a motor basic speed full current domain relation data set.
The specific acquisition process of the relational data set corresponding to each rotating speed point above the basic speed is as follows:
according to the motor base speed full current domain relation data set, at each rotating speed point n above the base speedxThen, the voltage modulation ratio M is amplified to M according to the rotation speed in equal proportionxUsing M as voltage modulation ratio M in motor base speed full current domain relation data setxReplace, and discard Mx>1 corresponding to the data to obtain each rotating speed point n above the basic speedxA corresponding relational data set.
The extraction considers the points on the MTPV curve of the maximum torque to voltage ratio of the nonlinear effect, and linearly fits the MTPV curve equation, which specifically comprises the following steps: extracting relational data corresponding to each rotating speed point above the base speed, concentrating data which has the maximum output torque and is not on a current limit circle, converting a current value and a current angle value from a polar coordinate system to a d-q axis coordinate system to obtain a direct axis current idQuadrature axis current iqIs fitted to idAnd iqCurve i of the relationshipd＝f(iq)。
The method for executing quadrature axis current compensation method flux weakening control in the motor controller specifically comprises the following steps:
when the motor operates above the basic speed, the controller operates according to the current rotating speed n and the target torque T of the motor*Looking up a relational data set corresponding to each rotating speed point above the basic speed to obtain an initial current value i of the motor at the current rotating speeds0Angle value of initial current gamma0And converting the polar coordinate system to a d-q axis coordinate system to obtain an initial direct axis current
And initial quadrature axis current
Constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter; superimposing output value of weak magnetic loop to initial quadrature axis current
To obtain a new AC axis current
Will be new cross-axis current
Substituting the current actually-executed current circle equation to calculate the direct axis current corresponding to the current circle
Will be new cross-axis current
Substituting the MTPV curve equation considering the nonlinear effect to calculate the direct axis current corresponding to the MTPV curve
When in use
New direct axis current
Get
When in use
New direct axis current
Get
Using new direct current
And new cross-axis current
The driving current drives the permanent magnet synchronous motor to operate.
The flux weakening control method of the permanent magnet synchronous motor is verified, and the experimental object is a high-power low-speed large-torque motor driving system with the highest rotating speed of 2700rpm and the peak torque of 2400 Nm.
FIG. 3 shows a flux weakening control method and negative i according to an embodiment of the present inventiondComparison of high-speed deceleration and weak magnetic effects by compensation method ia、ibThe phase current of a stator and the phase current of b of the motor are respectively, and PWM is control pulse of A phase; the speed was reduced from 2500rpm to 1800 rpm. FIG. 3(a) uses negative idCompensation method, current out of control, overcurrent; FIG. 3(b) adopts the control method of the present invention, the dynamic response is fast, and the waveform is stable.
FIG. 4 shows a flux weakening control method and negative i according to an embodiment of the present inventiondComparison of high-speed operation and weak magnetic effect by compensation method ia、ibThe phase current of a stator and the phase current of b of the motor are respectively, and PWM is control pulse of A phase; rotation speed 2000rpm, torque 800 Nm. FIG. 4(a) uses the negativeidAnd in a compensation method, the PI parameter is not easy to adjust, and the current is distorted. FIG. 4(b) adopts the field weakening control method of the present invention, the current loop control is stable, and the waveform is good.
In summary, the following steps:
1) the method comprises the steps of carrying out calibration experiments on the permanent magnet synchronous motor under rated direct current voltage and base speed to obtain a relation data set of 'current-torque-voltage modulation ratio' of a full current domain of the base speed of the motor, extracting points on an MTPV curve of the maximum torque-voltage ratio considering nonlinear effect through offline data processing, and fitting an MTPV curve equation linearly;
2) according to the invention, the quadrature axis current amplitude is directly reduced through the output value of the weak magnetic ring, and the direct axis current meets the requirement that the current track is gradually transited to an MTPV curve from a current actually executed current circle; relative negative idThe method has the advantages that the stability cannot be reduced along with the increase of the rotating speed, the stability is high, and the method is suitable for a weak magnetic II area; compared with a voltage feedback quadrature axis current increment method, the method has the advantages that the quadrature axis current amplitude is directly reduced by the weak magnetic ring, the direct axis demagnetizing current does not need to be increased first, then the quadrature axis current amplitude is reduced, the driving current track only runs on the current actually-executed current circle or MTPV curve, and the method is simple and easy to implement.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A flux weakening control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
firstly, carrying out calibration experiment on a permanent magnet synchronous motor under rated direct current voltage and base speed to obtain a motor base speed full current domain relation data set;
step two, according to the motor basic speed full current domain relation data set, amplifying the voltage modulation ratio in equal proportion according to the rotating speed at each rotating speed point above the basic speed, and omitting the corresponding data of the voltage modulation ratio more than 1 in the motor basic speed full current domain relation data set to obtain the relation data set corresponding to each rotating speed point above the basic speed, extracting the points on the MTPV curve of the maximum torque voltage ratio considering the nonlinear effect, and linearly fitting the MTPV curve equation;
step three, executing a quadrature axis current compensation method flux weakening control method in the motor controller according to a relational data set corresponding to each rotating speed point above the base speed and an MTPV curve equation;
the third step is specifically as follows:
when the motor operates above the basic speed, the controller operates according to the current rotating speed n and the target torque T of the motor*Looking up a relational data set corresponding to each rotating speed point above the basic speed to obtain an initial current value i of the motor at the current rotating speeds0Angle value of initial current gamma0And converting the polar coordinate system to a d-q axis coordinate system to obtain an initial direct axis current
And initial quadrature axis current
Constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter; superimposing output value of weak magnetic loop to initial quadrature axis current
To obtain a new AC axis current
Will be new cross-axis current
Substituting the current actually-executed current circle equation to calculate the direct axis current corresponding to the current circle
Will be new cross-axis current
Substituting the MTPV curve equation considering the nonlinear effect to calculate the direct axis current corresponding to the MTPV curve
When in use
New direct axis current
Get
When in use
New direct axis current
Get
Using new direct current
And new cross-axis current
The driving current drives the permanent magnet synchronous motor to operate.
2. The field weakening control method of the permanent magnet synchronous motor according to claim 1, wherein the step one is implemented by the following specific processes:
dynamometer dragging permanent magnet synchronous motor at base speed n1The controller inputs rated DC voltage udc(ii) a The controller operates in a current control mode, sets current step length and angle step length as intervals, and sets a plurality of groups of current values i of the motor operationsRecording the actual output torque T and the voltage modulation ratio M after the motor stably runs according to the current angle value gamma; each set of current values isAnd the current angle value gamma, the corresponding actual output torque T and the voltage modulation ratio M are processed in an off-line mode to generate a motor basic speed full current domain relation data set.
3. The flux weakening control method of the permanent magnet synchronous motor according to claim 1, wherein the obtaining process of the relational data set corresponding to each rotating speed point above the base speed is as follows:
according to the motor base speed full current domain relation data set, at each rotating speed point n above the base speedxThen, the voltage modulation ratio M is amplified to M according to the rotation speed in equal proportionxUsing M as voltage modulation ratio M in motor base speed full current domain relation data setxReplace, and discard Mx>1 corresponding to the data to obtain each rotating speed point n above the basic speedxA corresponding relational data set.
4. The flux weakening control method for the permanent magnet synchronous motor according to claim 1, wherein the points on the MTPV curve of the maximum torque to voltage ratio considering the non-linear effect are extracted and the MTPV curve equation is linearly fitted, specifically: extracting relational data corresponding to each rotating speed point above the base speed, concentrating data which has the maximum output torque and is not on a current limit circle, converting a current value and a current angle value from a polar coordinate system to a d-q axis coordinate system to obtain a direct axis current idQuadrature axis current iqIs fitted to idAnd iqCurve i of the relationshipd＝f(iq)。
5. A permanent magnet synchronous motor flux weakening control system is characterized by comprising:
the calibration module is used for performing calibration experiments on the permanent magnet synchronous motor under rated direct-current voltage and base speed to obtain a motor base speed full current domain relation data set;
the system comprises a relation data set corresponding to each rotating speed point above a basic speed and an MTPV curve equation obtaining module, wherein the relation data set and the MTPV curve equation obtaining module are used for amplifying a voltage modulation ratio in a rotating speed equal proportion at each rotating speed point above the basic speed according to the motor basic speed full current domain relation data set, removing corresponding data with the voltage modulation ratio larger than 1 in the motor basic speed full current domain relation data set, obtaining the relation data set corresponding to each rotating speed point above the basic speed, extracting points on an MTPV curve of the maximum torque voltage ratio considering the nonlinear effect, and linearly fitting the MTPV curve equation;
the quadrature axis current compensation method weak magnetic control module is used for executing a quadrature axis current compensation method weak magnetic control method in the motor controller according to a relational data set corresponding to each rotating speed point above a base speed and an MTPV curve equation;
the method for executing quadrature axis current compensation method flux weakening control in the motor controller specifically comprises the following steps:
when the motor operates above the basic speed, the controller operates according to the current rotating speed n and the target torque T of the motor*Looking up a relational data set corresponding to each rotating speed point above the basic speed to obtain an initial current value i of the motor at the current rotating speeds0Angle value of initial current gamma0And converting the polar coordinate system to a d-q axis coordinate system to obtain an initial direct axis current
And initial quadrature axis current
Constructing a weak magnetic ring by using the maximum output voltage and voltage feedback of the inverter; superimposing output value of weak magnetic loop to initial quadrature axis current
To obtain a new AC axis current
Will be new cross-axis current
Substituting the current actually-executed current circle equation to calculate the direct axis current corresponding to the current circle
Will be new cross-axis current
Substituting the MTPV curve equation considering the nonlinear effect to calculate the direct axis current corresponding to the MTPV curve
When in use
New direct axis current
Get
When in use
New direct axis current
Get
Using new direct current
And new cross-axis current
The driving current drives the permanent magnet synchronous motor to operate.
6. The flux weakening control system of the permanent magnet synchronous motor according to claim 5, wherein the obtaining of the motor base speed full current domain relation data set comprises the following specific processes:
dynamometer dragging permanent magnet synchronous motor at base speed n1The controller inputs rated DC voltage udc(ii) a The controller operates in a current control mode, sets current step length and angle step length as intervals, and sets a plurality of groups of current values i of the motor operationsRecording the actual output torque T and the voltage modulation ratio M after the motor stably runs according to the current angle value gamma; each set of current values isAnd the current angle value gamma, the corresponding actual output torque T and the voltage modulation ratio M are processed in an off-line mode to generate a motor basic speed full current domain relation data set.
7. The flux weakening control system of the permanent magnet synchronous motor according to claim 5, wherein the specific obtaining process of the relational data set corresponding to each rotating speed point above the base speed is as follows:
according to the motor base speed full current domain relation data set, at each rotating speed point n above the base speedxThen, the voltage modulation ratio M is amplified to M according to the rotation speed in equal proportionxUsing M as voltage modulation ratio M in motor base speed full current domain relation data setxReplace, and discard Mx>1 corresponding to the data to obtain each rotating speed point n above the basic speedxA corresponding relational data set.
8. The flux weakening control system of the permanent magnet synchronous motor according to claim 5, wherein the points on the MTPV curve of the maximum torque to voltage ratio considering the non-linear effect are extracted and the MTPV curve equation is linearly fitted, specifically: extracting the data with maximum output torque and no current limit circle from the relational data corresponding to the rotating speed points above the base speed, and obtaining the current value and the current angle value from a polar coordinate systemConverting the current to a d-q axis coordinate system to obtain a direct axis current idQuadrature axis current iqIs fitted to idAnd iqCurve i of the relationshipd＝f(iq)。
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| CN111711394B (en) * | 2020-07-09 | 2021-08-24 | 浙江大学 | Vector flux weakening control system of permanent magnet synchronous motor of electric drive system |
| CN112152536B (en) * | 2020-08-21 | 2021-12-21 | 江苏大学 | Method for planning transient current of ultra-high-speed permanent magnet synchronous motor |
| WO2022134751A1 (en) * | 2020-12-21 | 2022-06-30 | 哈尔滨工业大学 | Current trajectory searching method based on maximum power optimal control and full-speed domain efficiency optimal control of permanent magnet synchronous motor |
| CN112994550B (en) * | 2021-02-05 | 2022-10-14 | 浙江吉利控股集团有限公司 | Flux weakening control method for permanent magnet synchronous motor for vehicle |
| CN114977955A (en) * | 2022-06-30 | 2022-08-30 | 中国第一汽车股份有限公司 | Global control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor |
| CN116247981B (en) * | 2023-01-31 | 2023-09-05 | 大连海事大学 | Method for inhibiting armature winding magnetic regulating type variable magnetic flux motor magnetic regulating transient torque fluctuation |
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