CN110323982B - A permanent magnet synchronous motor control method considering cross-coupling and saturation effects - Google Patents

A permanent magnet synchronous motor control method considering cross-coupling and saturation effects Download PDF

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CN110323982B
CN110323982B CN201910459857.2A CN201910459857A CN110323982B CN 110323982 B CN110323982 B CN 110323982B CN 201910459857 A CN201910459857 A CN 201910459857A CN 110323982 B CN110323982 B CN 110323982B
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torque
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CN110323982A (en
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张文娟
莫汝昭
张志刚
冯婉
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Changsha University
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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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention relates to the technical field of motors, in particular to a permanent magnet synchronous motor control method considering cross coupling and saturation effects. Aiming at the problems that the control method of the current permanent magnet synchronous motor is established on a linear model with constant motor parameters and without considering the phenomena of magnetic circuit saturation and cross coupling, and the control performance and the precision are poor by adopting a direct-quadrature axis complete decoupling control method, the invention provides the permanent magnet synchronous motor control method considering the cross coupling and the saturation effect, establishes a permanent magnet synchronous motor nonlinear model considering the cross coupling and the saturation effect, calculates the influence of the cross coupling and the saturation effect on the motor parameters into each calculation iteration, reduces the influence of the cross coupling and the saturation effect, improves the control precision of the permanent magnet synchronous motor, and improves the dynamic and static performances.

Description

Permanent magnet synchronous motor control method considering cross coupling and saturation effect
Technical Field
The invention relates to the technical field of motors, in particular to a permanent magnet synchronous motor control method considering cross coupling and saturation effects.
Background
The high-power density permanent magnet synchronous motor is more and more concerned by researchers and manufacturers due to the characteristics of small volume, light weight, high efficiency and the like, and particularly in the application occasions of aerospace, industrial automation equipment, electric automobiles and the like, because the installation space is limited, the high-power density permanent magnet synchronous motor has the advantages of smaller volume, higher efficiency and lighter weight, namely, the high power density is required.
However, the high-power-density permanent magnet synchronous motor has a compact structure, so that the phenomenon of magnetic circuit saturation and the phenomenon of dq axis cross coupling are obvious. On one hand, when a magnetic circuit of the motor is saturated, an inductance model of the motor generates nonlinear change along with the change of armature current, and on the other hand, cross-coupling inductance generated by the cross-coupling phenomenon influences the motor flux model to cause the change of direct-axis and quadrature-axis inductance parameters. The control method of the current permanent magnet synchronous motor is established on a linear model with constant motor parameters and without considering the phenomenon of magnetic circuit saturation and dq axis cross coupling, and adopts a dq axis complete decoupling control method, so that the control performance and precision of a motor control system based on the traditional method cannot meet the requirements.
Disclosure of Invention
Technical problem to be solved
Based on the above problems, the present invention provides a method for controlling a permanent magnet synchronous motor considering cross coupling and saturation effect, which overcomes or at least partially solves the above problems, reduces the influence caused by the change of motor parameters due to cross coupling and saturation effect, improves the control accuracy and dynamic and static performance of the motor, and makes up for the defects of the conventional vector control method.
(II) technical scheme
Based on the above technical problem, the present invention provides a method for controlling a permanent magnet synchronous motor considering cross coupling and saturation effect, wherein the method comprises the following steps:
s1, obtaining a given torque through a PI regulator according to the difference value between the given rotating speed and the fed-back actual rotating speed of the motor;
s2, obtaining a direct-axis current increment and a quadrature-axis current increment through a current increment control strategy by setting a torque, a torque initial value, a voltage initial value and a quadrature-direct-axis current initial value;
s3, adding the direct-axis current increment and the quadrature-axis current increment with the fed-back direct-axis current initial value and quadrature-axis current initial value respectively to obtain a direct-axis current given value and a quadrature-axis current given value, obtaining a direct-axis voltage given value and a quadrature-axis voltage given value through a PI regulator respectively, and realizing control of the permanent magnet synchronous motor through coordinate transformation and space vector pulse width modulation;
the current increment control strategy comprises the following steps:
s2.1, establishing a permanent magnet synchronous motor nonlinear model considering cross coupling and saturation effects;
s2.2, on the basis of the nonlinear model, establishing a motor torque increment dT considering magnetic circuit saturation and cross coupling effect in a current increment plane by taking a current limit circle as constrainteAnd voltage increment dUsOfA linearization equation;
s2.3, judging the relative position of the increment required by the torque and the voltage in the current limit circle, and obtaining the current increment of six different conditions according to six different position relations:
s2.3.1, determining whether LU is present>ImaxIf yes, judging as a first case;
s2.3.2, if S2.3.1 shows no, determining whether LT is present>Imax；
S2.3.3, if S2.3.2 shows yes, then determine whether D is presentsvThe result is more than or equal to 0, and if the result is positive, the situation is judged as the second situation;
s2.3.4, if S2.3.3 turns out to be negative, then the determination is case three;
s2.3.5, if S2.3.2 shows no, then determine whether D is presentsvIf the result is more than or equal to 0, judging that the situation is four;
s2.3.6, if S2.3.5 shows no, determining the intersection position, if the intersection position is within the circle, determining the position as case five, and if the intersection position is outside the circle, determining the position as case six;
wherein LU is the distance between the center of the current limit circle and the voltage increment straight line, LT is the distance between the center of the current limit circle and the torque increment straight line, ImaxIs the maximum current value, i.e. the current limit circle radius, DsvAnd subtracting the actual voltage increment from the voltage increment, and judging whether the intersection point of the torque increment straight line and the voltage increment straight line is positioned on the left side or the right side of the initial point in the current increment plane as a judgment basis.
Further, in steps S2 and S3, the initial value of the torque, the initial value of the voltage, the initial value of the direct-axis current, and the initial value of the quadrature-axis current are all actual values in a previous calculation cycle, that is, the result of a previous iteration is used as the initial value of a next iteration.
Further, the step S2.1 describes a nonlinear model of the permanent magnet synchronous motor that takes into account the cross-coupling and saturation effects, that is, a motor flux linkage model is:
Figure GDA0002851590190000031
wherein psidIs a direct axis flux linkage psiqFor cross-axis flux linkage, #fIs a permanent magnet flux linkage, LdIs the direct component of the stator inductance, LqIs the quadrature component of the stator inductance, LqdFor cross-coupling of inductors, idIs the direct component of the stator current, iqIs the quadrature component of the stator current.
Further, with didIs an independent variable, diqAs a dependent variable, the motor torque increment dT taking into account the effects of magnetic circuit saturation and cross-coupling established in the current increment plane as described in step S2.2eAnd voltage increment dUsThe respective linearized equations of (a) are:
diq＝(-zd/zq)did+(1/(1.5pzq))dTe
diq＝(-rd/rq)did+(|Us|/rq)dUs
wherein:
zd＝(Ld-Lq)iq-2Lqdid,zq＝ψf+(Ld-Lq)id+2Ldqiq
rd＝(Rs-ωeLqd)ud+ωeLduq,rq＝(Rs+ωeLqd)uq-ωeLqud
wherein didFor direct axis current increment, diqFor quadrature current increment, dTeFor torque increments, dUsFor voltage increment, UsIs the stator voltage, p is the number of pole pairs of the motor, idIs the direct component of the stator current, iqIs the quadrature component of the stator current, #fIs a permanent magnet flux linkage, LdIs the direct component of the stator inductance, LqIs the quadrature component of the stator inductance, LqdFor cross-coupled inductance, udIs the direct component of the voltage, uqIs the quadrature component of voltage, RsIs stator resistance, ωeIs the electrical angular velocity.
Further, the six different positional relationships described in step 2.3, and the current increments corresponding to the six different conditions are:
the first condition is as follows: when LU is>ImaxWhen the current is minimized, the intersection point of the torque increment straight line and the voltage increment straight line is outside the current limit circle, the current increment vector value corresponding to the plumb foot from the initial point to the voltage increment straight line is taken as the current increment, and the obtained dq-axis current increment is
Figure GDA0002851590190000041
Case two: when LT is>Imax，LU≤ImaxWhile, and the actual increment of the voltage is less than or equal to dUsI.e. DsvWhen the current increment is more than or equal to 0, a perpendicular line passing through the initial point and the torque increment straight line is taken, a current increment vector value corresponding to the intersection point of the perpendicular line and the current limit circle is taken as the current increment, and the obtained dq-axis current increment is
Figure GDA0002851590190000042
Figure GDA0002851590190000043
Case three: when LT is>Imax，LU≤ImaxAnd Dsv<When 0, the current increment vector value corresponding to the point which meets the voltage increment requirement and the current limit constraint and is as close to the torque increment straight line as possible, namely the intersection point of the voltage increment straight line and the current limit circle is used as the current increment, and the calculated dq is
The shaft current increment is
Figure GDA0002851590190000051
Case four: when LT is less than or equal to Imax，LU≤ImaxAnd DsvWhen the current increment vector value is larger than or equal to 0, the current increment vector value obtained by the control algorithm meeting the maximum torque current ratio is used as the current increment, and the obtained dq-axis current increment is
Figure GDA0002851590190000052
Case five: when LT is less than or equal to Imax，LU≤ImaxAnd Dsv<When 0 is satisfied, if the intersection of the torque and the voltage increment line is located within the current circle, the current increment vector value corresponding to the intersection of the torque increment line and the voltage increment line is taken as the current increment, and the dq-axis current increment is obtained as
Figure GDA0002851590190000053
Figure GDA0002851590190000054
Case six: when LT is less than or equal to Imax，LU≤ImaxAnd Dsv<When the intersection point of the torque and the voltage increment straight line is positioned outside the current circle at 0, taking the current increment vector value corresponding to the intersection point of the voltage increment straight line and the current limit circle as the current increment, and obtaining the dq-axis current increment as
Figure GDA0002851590190000055
Figure GDA0002851590190000056
Wherein z isd＝(Ld-Lq)iq-2Lqdid,zq＝ψf+(Ld-Lq)id+2Ldqiq
rd＝(Rs-ωeLqd)ud+ωeLduq,rq＝(Rs+ωeLqd)uq-ωeLqud
Wherein LU is the distance between the center of the current limit circle and the voltage increment straight line, LT is the distance between the center of the current limit circle and the torque increment straight line, ImaxIs the maximum current value, i.e. the current limit circle radius, DsvSubtracting the actual voltage increment from the voltage increment, and determining whether the intersection of the torque increment line and the voltage increment line is located on the left side or the right side of the initial point in the current increment plane, didFor direct axis current increment, diqFor quadrature axis current increment, id0Is the direct component of the initial current, iq0Is the quadrature component of the initial current, idmIs the direct component of the current reference value, iqmIs the quadrature component of the current reference value, idcDi being the intersection of the torque increment line and the voltage increment linedAxis coordinate, iqcDi being the intersection of the torque increment line and the voltage increment lineqAxial coordinate, LcrossDistance between the point of intersection and the perpendicular foot from the initial point to the voltage increment line, dUsFor voltage increments, dTeFor torque increment, p is the number of pole pairs of the motor, idIs the direct component of the stator current, iqIs the quadrature component of the stator current, #fIs a permanent magnet flux linkage, LdIs the direct component of the stator inductance, LqIs the quadrature component of the stator inductance, LqdFor cross-coupled inductance, udIs the direct component of the voltage, uqIs the quadrature component of voltage, RsIs stator resistance, ωeIs the electrical angular velocity.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
(1) the influence of cross coupling and saturation effect on the inductance model is considered in the mathematical model of the permanent magnet synchronous motor, so that the accuracy of the model is improved, and the mathematical model is closer to an actual motor model; (2) considering the change of parameters in each iteration of a current increment control strategy, judging the relative position of the increment required by the torque and the voltage in the limit circle, and simultaneously adopting a discrete calculation method to repeatedly iterate and optimize the current increment result of the previous iteration as the initial value of the next iteration to achieve the target control effect, reducing the influence of cross coupling and saturation effect and improving the motor control precision; (3) the current increment control strategy can realize the stable switching of a constant torque area and a constant power area, a voltage feedback comparison loop in the traditional vector control is omitted, a control system is simplified, and good dynamic performance is shown.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a schematic diagram of the position relationship of torque increment and voltage increment on a current increment plane according to an embodiment of the invention;
fig. 2 is a flowchart of a current increment control strategy according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention provides a permanent magnet synchronous motor control method considering cross coupling and saturation effect, which comprises the following steps:
s1, obtaining a given torque through a PI regulator according to the difference value between the given rotating speed and the fed-back actual rotating speed of the motor;
s2, obtaining a direct-axis current increment and a quadrature-axis current increment through a current increment control strategy by setting a torque, a torque initial value, a voltage initial value and a quadrature-direct-axis current initial value;
and S3, adding the direct-axis current increment and the quadrature-axis current increment with the fed-back direct-axis current initial value and quadrature-axis current initial value respectively to obtain a direct-axis current given value and a quadrature-axis current given value, obtaining a direct-axis voltage given value and a quadrature-axis voltage given value respectively through a PI regulator, and realizing the control of the permanent magnet synchronous motor through coordinate transformation and space vector pulse width modulation.
In steps S2 and S3, the initial value of the torque, the initial value of the voltage, the initial value of the direct-axis current, and the initial value of the quadrature-axis current are all actual values in a previous calculation cycle, that is, the result of a previous iteration is used as the initial value of a next iteration.
As shown in fig. 2, the current increment control strategy comprises the following steps:
s2.1, establishing a permanent magnet synchronous motor nonlinear model considering cross coupling and saturation effects;
when a magnetic circuit is saturated, an inductance model of the motor changes nonlinearly along with the change of armature current, and a dq-axis inductance parameter LdAnd LqRewritten as Ld(id,iq) And Lq(id,iq). Therefore, considering the saturation of the magnetic circuit, the flux linkage expression of the orthogonal axis is:
Figure GDA0002851590190000081
considering the condition of dq-axis magnetic circuit coupling while considering the saturation of the motor magnetic circuit, because the cross-coupling phenomenon exists, the flux linkage model of the motor needs to consider the influence of cross-coupling inductance, so the flux linkage expression of the orthogonal axis can be rewritten as follows:
Figure GDA0002851590190000082
wherein psidIs a direct axis flux linkage psiqFor cross-axis flux linkage, #fIs a permanent magnet flux linkage, LdIs the direct component of the stator inductance, LqIs the quadrature component of the stator inductance, LqdFor cross-coupling of inductors, idIs the direct component of the stator current, iqIs the quadrature component of the stator current.
S2.2, on the basis of the nonlinear model, establishing a motor torque increment dT considering magnetic circuit saturation and cross coupling effect in a current increment plane by taking a current limit circle as constrainteAnd voltage increment dUsThe linearized equation of (1);
the nonlinear voltage vector equation considering the magnetic circuit saturation and the cross coupling effect can be obtained according to the motor flux linkage model as follows:
Figure GDA0002851590190000083
the electromagnetic torque equation considering the magnetic circuit saturation and the cross coupling effect is as follows:
Figure GDA0002851590190000091
wherein u isdIs the direct component of the voltage, uqIs the quadrature component of the voltage, TeIs torque, p is the number of pole pairs of the motor, RsIs stator resistance, ωeIs the electrical angular velocity.
The nonlinear voltage vector equation and the electromagnetic torque equation which take the magnetic circuit saturation and the cross coupling effect into consideration are rewritten into didIs an independent variable, diqTorque delta dT as a function of quantityeAnd voltage increment dUsThe linear equations of (1) are respectively:
diq＝(-zd/zq)did+(1/(1.5pzq))dTe
diq＝(-rd/rq)did+(|Us|/rq)dUs
wherein:
zd＝(Ld-Lq)iq-2Lqdid,zq＝ψf+(Ld-Lq)id+2Ldqiq
rd＝(Rs-ωeLqd)ud+ωeLduq,rq＝(Rs+ωeLqd)uq-ωeLqud
wherein didFor direct axis current increment, diqFor quadrature current increment, dTeFor torque increments, dUsFor voltage increment, UsIs the stator voltage.
S2.3, judging the relative position of the increment required by the torque and the voltage in the current limit circle, and obtaining the current increment of six different conditions according to six different position relations:
s2.3.1, determining whether LU is present>ImaxIf yes, judging as a first case;
s2.3.2, if S2.3.1 shows no, determining whether LT is present>Imax；
S2.3.3, if S2.3.2 shows yes, then determine whether D is presentsvThe result is more than or equal to 0, and if the result is positive, the situation is judged as the second situation;
s2.3.4, if S2.3.3 turns out to be negative, then the determination is case three;
s2.3.5, if S2.3.2 shows no, then determine whether D is presentsvIf the result is more than or equal to 0, judging that the situation is four;
s2.3.6, if S2.3.5 shows no, determining the intersection position, if the intersection position is within the circle, determining the position as case five, and if the intersection position is outside the circle, determining the position as case six;
wherein LU is the distance between the center of the current limit circle and the voltage increment straight line, LT is the distance between the center of the current limit circle and the torque increment straight line, ImaxIs the maximum current value, i.e. the current limit circle radius, DsvAnd subtracting the actual voltage increment from the voltage increment, and judging whether the intersection point of the torque increment straight line and the voltage increment straight line is positioned on the left side or the right side of the initial point in the current increment plane as a judgment basis.
As shown in the position relationship diagram of the torque increment and the voltage increment in the current increment plane in fig. 1, the current increment can be obtained according to six different position relationships in six different situations:
the first condition is as follows: when LU is>ImaxWhen the current is minimized, the intersection point of the torque increment straight line and the voltage increment straight line is outside the current limit circle, the current increment vector value corresponding to the plumb foot from the initial point to the voltage increment straight line is taken as the current increment, and the obtained dq-axis current increment is
Figure GDA0002851590190000101
Case two: when LT is>Imax，LU≤ImaxWhile, and the actual increment of the voltage is less than or equal to dUsI.e. DsvWhen the current increment is more than or equal to 0, taking a corresponding current increment vector value of a perpendicular line passing through an initial point and a torque increment straight line and a current limit circle as a current increment, and obtaining the dq-axis current increment as
Figure GDA0002851590190000102
Figure GDA0002851590190000103
Case three: when LT is>Imax，LU≤ImaxAnd Dsv<When 0, the current increment vector value corresponding to the point which meets the voltage increment requirement and the current limit constraint and is as close to the torque increment straight line as possible, namely the intersection point of the voltage increment straight line and the current limit circle is used as the current increment, and the obtained dq-axis current increment is
Figure GDA0002851590190000111
Case four: when LT is less than or equal to Imax，LU≤ImaxAnd DsvWhen the current increment vector value is larger than or equal to 0, the current increment vector value obtained by the control algorithm meeting the maximum torque current ratio is used as the current increment, and the obtained dq-axis current increment is
Figure GDA0002851590190000112
Case five: when LT is less than or equal to Imax，LU≤ImaxAnd Dsv<When 0 is satisfied, if the intersection of the torque and the voltage increment line is located within the current circle, the current increment vector value corresponding to the intersection of the torque increment line and the voltage increment line is taken as the current increment, and the dq-axis current increment is obtained as
Figure GDA0002851590190000113
Figure GDA0002851590190000114
Case six: when LT is less than or equal to Imax，LU≤ImaxAnd Dsv<When the intersection point of the torque and the voltage increment straight line is positioned outside the current circle at 0, taking the current increment vector value corresponding to the intersection point of the voltage increment straight line and the current limit circle as the current increment, and obtaining the dq-axis current increment as
Figure GDA0002851590190000115
Figure GDA0002851590190000116
Wherein id0Is the direct component of the initial current, iq0Is the quadrature component of the initial current, idmIs the direct component of the current reference value, iqmIs the quadrature component of the current reference value, idcDi being the intersection of the torque increment line and the voltage increment linedAxis coordinate, iqcDi being the intersection of the torque increment line and the voltage increment lineqAxial coordinate, LcrossThe distance between the intersection point and the perpendicular foot from the initial point to the voltage increment line.
In summary, the invention is different from the traditional permanent magnet synchronous motor which is established on a linear model with constant motor parameters and without considering the phenomena of magnetic circuit saturation and cross coupling, and adopts a dq axis complete decoupling control method, and the permanent magnet synchronous motor control method considering the cross coupling and saturation effects has the following beneficial effects:
(1) a permanent magnet synchronous motor nonlinear model considering cross coupling and saturation effects is established, and is closer to a motor actual model, so that the accuracy is improved;
(2) calculating the influence of cross coupling and saturation effect on the motor parameters into the calculation iteration of each current increment, reducing the influence of the cross coupling and saturation effect and improving the control precision of the motor;
(3) a discrete calculation method is adopted to take the current increment result of the previous iteration as the initial value of the next iteration, the target control effect is achieved by repeated iteration optimization, the actual operation track of the motor is tracked more accurately, the influence of cross coupling and saturation effect is further reduced, and the control precision of the motor is improved;
(4) the current increment control strategy can realize the stable switching of a constant torque area and a constant power area, a voltage feedback comparison loop in the traditional vector control is omitted, a control system is simplified, and the dynamic performance is good;
(5) the control method of the invention takes the rotating speed as the control outer ring, and has good static performance;
(6) the current increment control strategy utilizes a maximum torque current ratio control method to achieve the minimum overcurrent meeting the torque condition, thereby being beneficial to the work of a power switch device of the inverter and reducing the copper consumption of the motor.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (4)

1. A permanent magnet synchronous motor control method considering cross coupling and saturation effects is characterized by comprising the following steps:
s1, obtaining a given torque through a PI regulator according to the difference value between the given rotating speed and the fed-back actual rotating speed of the motor;
s2, obtaining a direct-axis current increment and a quadrature-axis current increment through a current increment control strategy by setting a torque, a torque initial value, a voltage initial value and a quadrature-direct-axis current initial value;
s3, adding the direct-axis current increment and the quadrature-axis current increment with the fed-back direct-axis current initial value and quadrature-axis current initial value respectively to obtain a direct-axis current given value and a quadrature-axis current given value, obtaining a direct-axis voltage given value and a quadrature-axis voltage given value through a PI regulator respectively, and realizing control of the permanent magnet synchronous motor through coordinate transformation and space vector pulse width modulation;
the current increment control strategy comprises the following steps:
s2.1, establishing a permanent magnet synchronous motor nonlinear model considering cross coupling and saturation effects;
s2.2, on the basis of the nonlinear model, establishing a motor torque increment dT considering magnetic circuit saturation and cross coupling effect in a current increment plane by taking a current limit circle as constrainteAnd voltage increment dUsThe linearized equation of (1);
s2.3, judging the relative position of the increment required by the torque and the voltage in the current limit circle, and obtaining the current increment of six different conditions according to six different position relations:
s2.3.1, determining whether LU is present>ImaxIf yes, judging as a first case;
s2.3.2, if S2.3.1 shows no, determining whether LT is present>Imax；
S2.3.3, if S2.3.2 shows yes, then determine whether D is presentsvThe result is more than or equal to 0, and if the result is positive, the situation is judged as the second situation;
s2.3.4, if S2.3.3 turns out to be negative, then the determination is case three;
s2.3.5, if S2.3.2 if the result is no, then determine whether D is presentsvIf the result is more than or equal to 0, judging that the situation is four;
s2.3.6, if S2.3.5 shows no, determining the intersection position, if the intersection position is within the circle, determining the position as case five, and if the intersection position is outside the circle, determining the position as case six;
the six different positional relationships described in step S2.3, and the corresponding current increments for the six different situations, are:
the first condition is as follows: when LU is>ImaxWhen the current is minimized, the intersection point of the torque increment straight line and the voltage increment straight line is outside the current limit circle, the current increment vector value corresponding to the plumb foot from the initial point to the voltage increment straight line is taken as the current increment, and the obtained dq-axis current increment is
Figure FDA0002851590180000021
Case two: when LT is>Imax，LU≤ImaxWhile, and the actual increment of the voltage is less than or equal to dUsI.e. DsvWhen the current increment is more than or equal to 0, a perpendicular line passing through the initial point and the torque increment straight line is taken, a current increment vector value corresponding to the intersection point of the perpendicular line and the current limit circle is taken as the current increment, and the obtained dq-axis current increment is
Figure FDA0002851590180000022
Figure FDA0002851590180000023
Case three: when LT is>Imax，LU≤ImaxAnd Dsv<When 0, the current increment vector value corresponding to the point which meets the voltage increment requirement and the current limit constraint and is as close to the torque increment straight line as possible, namely the intersection point of the voltage increment straight line and the current limit circle is used as the current increment, and the obtained dq-axis current increment is
Figure FDA0002851590180000024
Case four: when LT is less than or equal to Imax，LU≤ImaxAnd DsvWhen the current increment vector value is larger than or equal to 0, the current increment vector value obtained by the control algorithm meeting the maximum torque current ratio is used as the current increment, and the obtained dq-axis current increment is
Figure FDA0002851590180000031
Case five: when LT is less than or equal to Imax，LU≤ImaxAnd Dsv<When 0 is satisfied, if the intersection of the torque and the voltage increment line is located within the current circle, the current increment vector value corresponding to the intersection of the torque increment line and the voltage increment line is taken as the current increment, and the dq-axis current increment is obtained as
Figure FDA0002851590180000032
Figure FDA0002851590180000033
Case six: when LT is less than or equal to Imax，LU≤ImaxAnd Dsv<When the intersection point of the torque and the voltage increment straight line is positioned outside the current circle at 0, taking the current increment vector value corresponding to the intersection point of the voltage increment straight line and the current limit circle as the current increment, and obtaining the dq-axis current increment as
Figure FDA0002851590180000034
Figure FDA0002851590180000035
Wherein z isd＝(Ld-Lq)iq-2Lqdid,zq＝ψf+(Ld-Lq)id+2Ldqiq，
rd＝(Rs-ωeLqd)ud+ωeLduq,rq＝(Rs+ωeLqd)uq-ωeLqud，
Wherein LU is the distance between the center of the current limit circle and the voltage increment straight line, LT is the distance between the center of the current limit circle and the torque increment straight line, ImaxIs the maximum current value, i.e. the current limit circle radius, DsvSubtracting the actual voltage increment from the voltage increment, and determining whether the intersection of the torque increment line and the voltage increment line is located on the left side or the right side of the initial point in the current increment plane, didFor direct axis current increment, diqFor quadrature axis current increment, id0Is the direct component of the initial current, iq0Is the quadrature component of the initial current, idmIs the direct component of the current reference value, iqmIs the quadrature component of the current reference value, idcDi being the intersection of the torque increment line and the voltage increment linedAxis coordinate, iqcDi being the intersection of the torque increment line and the voltage increment lineqAxial coordinate, LcrossDistance between the point of intersection and the perpendicular foot from the initial point to the voltage increment line, dUsFor voltage increments, dTeFor torque increment, p is the number of pole pairs of the motor, idIs the direct component of the stator current, iqIs the quadrature component of the stator current, #fIs a permanent magnet flux linkage, LdIs the direct component of the stator inductance, LqIs the quadrature component of the stator inductance, LqdFor cross-coupled inductance, udIs the direct component of the voltage, uqIs the quadrature component of voltage, RsIs stator resistance, ωeIs the electrical angular velocity.
2. The method of claim 1, wherein the initial values of the torque, the voltage, the direct-axis current and the quadrature-axis current in steps S2 and S3 are actual values of a previous calculation cycle, that is, a result of a previous iteration is used as an initial value of a next iteration.
3. The method as claimed in claim 1, wherein the step S2.1 is performed based on a nonlinear model of the pmsm taking into account the cross-coupling and saturation effects, that is, a motor flux linkage model:
Figure FDA0002851590180000041
wherein psidIs a direct axis flux linkage psiqIs a quadrature axis magnetic linkage.
4. Method for controlling a permanent magnet synchronous machine taking into account cross-coupling and saturation effects according to claim 1, characterized in that didIs an independent variable, diqAs a dependent variable, the motor torque increment dT taking into account the effects of magnetic circuit saturation and cross-coupling established in the current increment plane as described in step S2.2eAnd voltage increment dUsThe respective linearized equations of (a) are:
diq＝(-zd/zq)did+(1/(1.5pzq))dTe
diq＝(-rd/rq)did+(|Us|/rq)dUs
wherein:
zd＝(Ld-Lq)iq-2Lqdid,zq＝ψf+(Ld-Lq)id+2Ldqiq
rd＝(Rs-ωeLqd)ud+ωeLduq,rq＝(Rs+ωeLqd)uq-ωeLqud
wherein, UsIs the stator voltage.
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