CN110445437A - The motor driver voltage decoupling method of electric car - Google Patents
The motor driver voltage decoupling method of electric car Download PDFInfo
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- CN110445437A CN110445437A CN201910729241.2A CN201910729241A CN110445437A CN 110445437 A CN110445437 A CN 110445437A CN 201910729241 A CN201910729241 A CN 201910729241A CN 110445437 A CN110445437 A CN 110445437A
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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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The present invention relates to electric automobile safety control technology fields, propose a kind of electric car permanent magnet synchronous motor voltage decoupling method, it is intended to solve the problems, such as overshoot caused by driving motor ac-dc axis inductance close coupling.This method comprises: obtaining the three-phase current of synchronous motor, and be converted to the direct-axis current i under d-q coordinate systemdWith quadrature axis current iq；The angular velocity omega of synchronous motor is obtained, speed closed loop PI adjusting is carried out, is obtained to constant current, current closed-loop PI adjusting is carried out to constant current and feedback current to described, obtains steady state voltage；The d-axis magnetic linkage ψ of synchronous motor is determined using the magnetic linkage-ammeter being fitted in advancedWith quadrature axis magnetic linkage ψq；According to the angular velocity omega and the d-axis magnetic linkage ψdWith the quadrature axis magnetic linkage ψqDetermine offset voltage；Output voltage is determined by steady state voltage and offset voltage.The present invention realizes the voltage decoupling to the control process of synchronous motor, solves the problems, such as the overshoot as caused by synchronous motor close coupling, ensure that vehicle safety.
Description
Technical field
The present invention relates to drive and control of electric machine technical field, in particular to the motor driver voltage solution of a kind of electric car
Coupling method.
Background technique
The driving motor of electric car generally uses embedded AC permanent magnet synchronous motor, and embedded alternating-current synchronous
Electric system is a kind of non-linear, mostly complicated, the system of close coupling.The ac-dc axis inductance of permanent magnet synchronous motor is close coupling,
It needs to carry out decoupling control.In certain specific operations, for example in high speed stage, anxious to accelerate, neutral position sliding power generation is hung in anxious deceleration
When, permanent magnet synchronous motor electromagnetism close coupling, controller electric current loop proportional integration (Proportional Integral, PI) is adjusted
Section is difficult, it is more likely that over control occurs, at this moment system will be made to become uncontrollable, less serious case's controller runs out of steam, more
Seriously there is controller damage or to lose control of one's vehicle caused safety.
In current closed-loop circuit, counter electromotive force component is only adjusted simply by pi regulator, and there is no consider magnetic circuit
Cross saturation leads to the variation of inductance Ld and Lq parameter, and PI adjusting changes suddenly in the electromagnetic component of motor, and electric current turns
Square component can generate an instantaneous error, will lead to torque and the distortion of speed waveform, to influence the dynamic property of system, not have
Efficiently solve voltage coupling factor.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve in current motor in electric automobile driving, due to driving
Non-linear, the close coupling characteristic of dynamic motor becomes system so that over control occurs in electric current PI adjusting in motor control
Uncontrollable, less serious case's controller runs out of steam, and is more seriously likely to occur controller damage or to lose control of one's vehicle caused safety event
The problems such as barrier.The present invention uses following technical scheme to solve the above technical problems:
This application provides a kind of over-current protection methods of motor in electric automobile driver, this method comprises: obtaining above-mentioned
The three-phase current of permanent magnet synchronous motor, and converted by Clarke transformation and Park, be converted to the direct-axis current under d-q coordinate system
idWith quadrature axis current iq；Obtain the angular velocity omega of above-mentioned permanent magnet synchronous motor；Above-mentioned angular velocity omega is subjected to speed closed loop PI tune
Section obtains given direct-axis currentWith given quadrature axis currentDirect-axis current is determined to above-mentioned respectivelyWith quadrature axis current given herein aboveCurrent closed-loop PI adjusting is carried out, d-axis steady state voltage is obtainedWith quadrature axis steady state voltageUtilize the magnetic linkage-being fitted in advance
Ammeter determines the d-axis magnetic linkage ψ of above-mentioned permanent magnet synchronous motordWith quadrature axis magnetic linkage ψq；Wherein, above-mentioned magnetic linkage-ammeter is upper
State d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψqAbout above-mentioned direct-axis current idWith above-mentioned quadrature axis current iqCurved surface relation table；Root
According to above-mentioned angular velocity omega and above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq, determine d-axis offset voltage and quadrature axis compensation electricity
Pressure；By above-mentioned d-axis steady state voltageD-axis output voltage U is determined with above-mentioned d-axis offset voltaged, by above-mentioned quadrature axis stable state electricity
PressureWith quadrature axis offset voltage, quadrature axis output voltage U is determinedq。
Further, above-mentioned " above-mentioned angular velocity omega to be subjected to speed closed loop PI adjusting, obtains given direct-axis currentWith give
Determine quadrature axis current" the step of include: to above-mentioned angular speed and give fixed angular speed carry out PI adjusting, obtain revolving speed information of voltage；
According to above-mentioned revolving speed information of voltage and torque instruction, using preset torque-speedometer, determining direct-axis current of tabling look-upWith given friendship
Shaft currentWherein, above-mentioned torque instruction is the command information of VCU controller output, and above-mentioned torque-speedometer is rotary speed information
Respective function relationship between moment information and electric current.
Further, above-mentioned " the d-axis magnetic linkage ψ of above-mentioned motor to be determined using the magnetic linkage-ammeter being fitted in advancedAnd friendship
Axis magnetic linkage ψq" step includes by following formula determining above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq:
Wherein, wherein LdIt is d-axis inductance, LqIt is axis inductor, idIt is that above-mentioned permanent magnet synchronous motor passes through current sample,
Clarke transformation and the transformed direct-axis current of park, iqIt is above-mentioned permanent magnet synchronous motor by current sample, clarke transformation
With the transformed quadrature axis current of park, ψfIt is permanent magnet flux linkage.
Further, above-mentioned " according to above-mentioned angular velocity omega and above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq, determine
The step of d-axis offset voltage and quadrature axis offset voltage " includes determining above-mentioned d-axis offset voltage U by following formuladcomAnd friendship
Axis offset voltage Uqcom:
Wherein, ωe=npω, npFor motor number of pole-pairs, UdcomFor d-axis offset voltage, UqcomFor quadrature axis offset voltage.
Further, above-mentioned d-axis steady state voltageWith above-mentioned quadrature axis steady state voltageIt is determined respectively by following formula:
Wherein, RsFor motor phase resistance,For d-axis steady state voltage,For quadrature axis steady state voltage.
Further, above-mentioned d-axis output voltage UdWith above-mentioned quadrature axis output voltage UqAre as follows:
Wherein, UdFor d-axis output voltage, UqFor quadrature axis output voltage.
The permanent magnet synchronous motor voltage decoupling method of electric car provided by the present application, by acquired motor stator electric current into
Row Clarke transformation and Park transformation, are converted to the electric current under d-q coordinate system, carry out current closed-loop PI adjusting to the electric current, really
Make steady state voltage；D-axis magnetic linkage and friendship of the synchronous motor under the electric current are determined using the magnetic linkage-ammeter being fitted in advance
Axis magnetic linkage determines offset voltage by d-axis magnetic linkage and quadrature axis magnetic linkage and angular speed；Offset voltage and steady state voltage work and operation
Control voltage afterwards is the control voltage after synchronous motor decoupling.Compared to traditional revolving speed-current double closed-loop control system, increase
Add the voltage compensation under current flow and d-axis magnetic linkage, quadrature axis magnetic linkage, solves synchronous motor because of ac-dc axis inductance close coupling
Caused by overshoot problem, ensure that the safety of electric car.
Detailed description of the invention
Fig. 1 is the permanent magnet synchronous motor voltage decoupling method system schematic diagram of the electric car of the application；
Fig. 2 be applied to the application in electric car permanent magnet synchronous motor voltage decoupling method embodiment the step of illustrate
Figure.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The control system of the motor in electric automobile actuator voltage decoupling method applied to the application is shown with reference to Fig. 1, Fig. 1
System schematic diagram.As shown in Figure 1, the system is the double closed-loop control system that speed closed loop and current closed-loop form.It is connected to synchronization
The rotary transformer of motor is as velocity sensor, the angular velocity omega of real-time detection motor, using the angular velocity omega as feedback speed
Degree and given angular velocity omega*Compare, the input quantity as speed closed loop carries out speed adjusting.The electric current for being connected to synchronous motor passes
Sensor carries out current sample to synchronous motor, obtains the stator current i of synchronous motor, and said stator electric current i becomes by clarke
It changes, obtain the direct-axis current i of motor stator after park transformationdWith quadrature axis current iq.Above-mentioned direct-axis current idWith quadrature axis current iqMake
It is feedback current compared with the given direct-axis current of the control output of above-mentioned speed closed loop and given quadrature axis current, is closed as electric current
Ring volume input quantity carries out current regulation.In current regulation, since there are the close couplings of ac-dc axis inductance, need defeated to driver
Voltage is decoupled out.By output PWM sequence after park inverse transformation and space vector transformation through driving circuit after voltage decoupling
It is applied to power device Guan Shangwei above-mentioned synchronous motor and driving power is provided.
Above-mentioned clarke transformation is that each physical quantity based on 3 axis, the stator stationary coordinate system of 2 dimensions is transformed to determining for 2 axis
In sub- rest frame, i.e., the voltage circuit equation on original three windings is simplified to the voltage circuit side on two windings
Formula.Above-mentioned park transformation is to convert stator current vector in the stator stationary coordinate system of 2 axis based on above-mentioned clarke to be become
It shifts in 2 axle systems with rotor flux synchronous rotary.
In above-mentioned double loop system, speed variables obtain the output speed of speed ring after der Geschwindigkeitkreis PI adjusting, above-mentioned defeated
Speed and bus torque command be as inputting out, determined after pre-set torque-Speed Two Dimensions table is tabled look-up motor to
Constant current.Above-mentioned motor can be given direct-axis current and given quadrature axis current to constant current.It direct-axis current given herein above and gives
Determine input of the quadrature axis current as current closed-loop, the stator current of above-mentioned current sensor sample motor is as feedback, to the electricity
The variable of the input for flowing closed loop and feedback carries out electric current PI adjusting, meanwhile, according to the stator of above-mentioned current sensor sample motor
Electric current carries out voltage compensation.Voltage after the above-mentioned electric current PI output adjusted and the output of voltage compensation are decoupled as motor,
Power device pipe is controlled after driving circuit exports.
Above-mentioned torque-Speed Two Dimensions table be mapping table between a kind of pre-set revolving speed and torque and electric current or
Respective function.Specifically, the input of above-mentioned torque-Speed Two Dimensions table is rotary speed information and moment information, is exported as current information.
In vehicle driving or shutdown process, electric car needs certain torque, and corresponding motor will have corresponding torque.Electronic vapour
The VCU of vehicle is in meeting according to the instruction of operating condition (speed, car resistance etc.) output torque or torque command, indication motor driver
Export corresponding torque.Wherein, VCU (Vehicle Control Unit, controller are control unit for vehicle) is electric car
Core control part, by acquisition driver driving signal and vehicle-state, the network information is managed by CAN bus,
Scheduling, analysis and operation, the controller for carrying out energy management is configured for different vehicle.
With continued reference to Fig. 2, Fig. 2 shows applied to the voltage decoupling method of motor in electric automobile driver in the application
The step schematic diagram of embodiment.As shown in Fig. 2, the voltage decoupling method of motor in electric automobile driver includes the following steps:
Step 1, the three-phase current of permanent magnet synchronous motor is obtained, and is converted by Clark transformation and Park, d-q is converted to
Direct-axis current i under coordinate systemdWith quadrature axis current iq。
In the present embodiment, the sensing device acquisition of the control system of electric car, to the stator of permanent magnet synchronous motor into
Row current sample obtains the three-phase current of permanent magnet synchronous motor.The three-phase current of permanent magnet synchronous motor collected is carried out
Clarke transformation and park transformation, are converted to the biphase current under rotational coordinates for the three-phase current under rest frame.Turn
The direct-axis current i being changed under d-q coordinate systemdWith quadrature axis current iq。
Step 2, the angular velocity omega of above-mentioned permanent magnet synchronous motor is obtained.
In the present embodiment, the revolving speed of rotary transformer sample motor is connected to the stator of above-mentioned permanent magnet synchronous motor,
The angular velocity omega of above-mentioned permanent magnet synchronous motor is obtained by transformation.
Step 3, above-mentioned angular velocity omega is subjected to speed closed loop PI adjusting, obtains given direct-axis currentWith given quadrature axis electricity
StreamDirect-axis current is determined to above-mentioned respectivelyWith quadrature axis current given herein aboveCurrent closed-loop PI adjusting is carried out, it is steady to obtain d-axis
State voltageWith quadrature axis steady state voltage
In the present embodiment, above-mentioned angular velocity omega is as express delivery feedback and given angular velocity omega*It makes the difference and compares, make the difference and compare
Variable afterwards carries out der Geschwindigkeitkreis PI adjusting, and der Geschwindigkeitkreis PI adjusts the amount of output as adjustment speed.Above-mentioned adjustment speed and bus
Torque command, using the torque-speedometer pre-set, tables look-up to obtain electric current as input, which is under d-q coordinate system
Direct-axis current and quadrature axis current, determine that the electric current is given direct-axis currentWith given quadrature axis currentIt is given respectively to above-mentioned
Determine direct-axis currentWith quadrature axis current given herein aboveCurrent closed-loop PI adjusting is carried out, it is steady that current closed-loop pi regulator exports d-axis
State voltageWith quadrature axis steady state voltageSpecifically, the input of above-mentioned current closed-loop pi regulator are as follows: given direct-axis current
With given quadrature axis currentRespectively with the direct-axis current i that is fed back in above-mentioned steps 1dWith quadrature axis current iqAfter doing difference operation, obtain straight
The variable of shaft current variable and quadrature axis current；The output of current closed-loop pi regulator are as follows: steady state voltageWith quadrature axis steady state voltage
Further, in the present embodiment, above-mentioned " above-mentioned angular velocity omega to be subjected to speed closed loop PI adjusting, is given
Direct-axis currentWith given quadrature axis current" the step of include: to above-mentioned angular velocity omega and give fixed angular speed carry out PI adjusting, obtain
To revolving speed information of voltage；It tables look-up and determines using preset torque-speedometer according to above-mentioned revolving speed information of voltage and torque instruction
Given direct-axis currentWith given quadrature axis current
Further, above-mentioned d-axis steady state voltageWith above-mentioned quadrature axis steady state voltageIt is determined respectively by following formula:
In above-mentioned formula (1), RsIt is the intrinsic parameter of motor for motor phase resistance；Above-mentioned idBe by current sample,
Clarke transformation and the transformed direct-axis current of park, iqIt is by current sample, clarke transformation and the transformed friendship of park
Shaft current.
Step 4, the d-axis magnetic linkage ψ of above-mentioned motor is determined using the magnetic linkage-ammeter being fitted in advancedWith quadrature axis magnetic linkage ψq。
In the present embodiment, based on the sensing device sample motor for being connected to above-mentioned permanent magnet synchronous motor in above-mentioned steps 1
Stator current, the direct-axis current i after Clarke transformation and park transformation under determining d-q coordinate systemdWith quadrature axis current iq, benefit
The d-axis magnetic linkage ψ of above-mentioned permanent magnet synchronous motor is determined with the magnetic linkage-ammeter being fitted in advancedWith quadrature axis magnetic linkage ψq.Wherein, on
Stating magnetic linkage-ammeter is above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψqWith above-mentioned direct-axis current idWith above-mentioned quadrature axis current iq
Curved surface relation table.By the curved surface relationship of magnetic linkage in magnetic linkage-ammeter and electric current, tables look-up and determine in current direct-axis current
idWith quadrature axis current iqWhen corresponding d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq。
Further, in the present embodiment, above-mentioned " to determine above-mentioned motor using the magnetic linkage-ammeter being fitted in advance
D-axis magnetic linkage ψdWith quadrature axis magnetic linkage ψq" step includes by following formula determining above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq；
In formula (2), LdIt is d-axis inductance, LqIt is axis inductor, is the intrinsic parameter of synchronous motor；ψfIt is permanent magnet magnetic
Chain is the intrinsic parameter of synchronous motor；idIt is motor stator electric current, through clarke transformation and the transformed d-axis electricity of park
Stream, iqIt is motor stator electric current, through clarke transformation and the transformed quadrature axis current of park.
Step 5, according to above-mentioned angular velocity omega and above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq, determine that d-axis compensates
Voltage and quadrature axis offset voltage.
It in the present embodiment, can be by above-mentioned angular velocity omega and above-mentioned using the relationship between angular speed, magnetic linkage and voltage
D-axis magnetic linkage ψdDetermine d-axis offset voltage；By above-mentioned angular velocity omega and above-mentioned quadrature axis magnetic linkage ψq, determine quadrature axis compensation electricity
Pressure.
Further, above-mentioned " according to above-mentioned angular velocity omega and above-mentioned d-axis magnetic linkage ψdWith above-mentioned quadrature axis magnetic linkage ψq, determine
The step of d-axis offset voltage and quadrature axis offset voltage " includes determining that d-axis offset voltage and quadrature axis compensate electricity by following formula
Pressure:
Wherein, ωe=npω, npFor motor number of pole-pairs, UdcomFor d-axis offset voltage, UqcomFor quadrature axis offset voltage.
Step 6, by above-mentioned d-axis steady state voltageD-axis output voltage U is determined with above-mentioned d-axis offset voltaged, by above-mentioned
Quadrature axis steady state voltageWith quadrature axis offset voltage, quadrature axis output voltage U is determinedq。
In the present embodiment, the d-axis steady state voltage based on determined by step 3With quadrature axis steady state voltageAnd step
The 5 d-axis offset voltages and quadrature axis offset voltage determined can determine that motor driver output voltage is steady state voltage and benefit
Repay the sum of voltage.Specifically: d-axis output voltage UdFor d-axis steady state voltageThe sum of with d-axis offset voltage；Quadrature axis output electricity
Press UqFor d-axis steady state voltageThe sum of with quadrature axis offset voltage.
Further, above-mentioned d-axis output voltage U is determined by following formuladWith above-mentioned quadrature axis output voltage:
In some instances, magnetic linkage-ammeter can be fitted by following method in advance: firstly, obtaining vehicle operation
In multiple voltage and currents corresponding data, can determine the motor driver output voltage after decoupling using formula (4)
Average value, as shown in formula (5):
For direct-axis voltage average value,For direct-axis current average value,For quadrature axis magnetic linkage average value；For quadrature axis
Average voltage,For quadrature axis current average value,For d-axis magnetic linkage average value.
Then, ac-dc axis magnetic linkage average value is solved by above-mentioned formula (5) is counter, as shown in formula (6):
According to formula (5) and the multi-group data of acquisition, measures the direct-axis current under different d-q axis coordinate systems, hands over
ψ under shaft current combinationd,ψqValue, fits ψdAnd ψqAbout idAnd iqShown in curved surface relationship such as formula (7):
Compared with prior art, the application has the following technical effect that
The voltage decoupling method of motor in electric automobile driver provided by the present application, by motor stator electric current by converting
It is intrinsic according to the quadrature axis current and motor of the direct-axis current of motor and motor to the direct-axis current of motor and the quadrature axis current of motor
D-axis inductance, axis inductor, permanent magnet flux linkage determine the d-axis offset voltage and quadrature axis offset voltage of motor, by the steady of motor
State voltage and offset voltage determine the output voltage of motor.It solves since the saturation and vortex and magnetic hysteresis of electric machine iron core are led
Sense close coupling is sent a telegraph, so that the overshoot problem of vehicle control system under given conditions.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (6)
1. a kind of permanent magnet synchronous motor voltage decoupling method of electric car, which is characterized in that the described method includes:
The three-phase current of the permanent magnet synchronous motor is obtained, and is converted by Clarke transformation and Park, d-q coordinate system is converted to
Under direct-axis current idWith quadrature axis current iq；
Obtain the angular velocity omega of the permanent magnet synchronous motor；
The angular velocity omega is subjected to speed closed loop PI adjusting, obtains given direct-axis currentWith given quadrature axis currentIt is right respectively
It is described to determine direct-axis currentWith the given quadrature axis currentCurrent closed-loop PI adjusting is carried out, d-axis steady state voltage is obtainedAnd friendship
Axis steady state voltage
The d-axis magnetic linkage ψ of the permanent magnet synchronous motor is determined using the magnetic linkage-ammeter being fitted in advancedWith quadrature axis magnetic linkage ψq；Its
In, the magnetic linkage-ammeter is the d-axis magnetic linkage ψdWith the quadrature axis magnetic linkage ψqAbout the direct-axis current idWith the quadrature axis
Electric current iqCurved surface relation table；
According to the angular velocity omega and the d-axis magnetic linkage ψdWith the quadrature axis magnetic linkage ψq, determine d-axis offset voltage and quadrature axis
Offset voltage；
By the d-axis steady state voltageD-axis output voltage U is determined with the d-axis offset voltaged, by the quadrature axis stable state electricity
PressureWith quadrature axis offset voltage, quadrature axis output voltage U is determinedq。
2. the permanent magnet synchronous motor voltage decoupling method of electric car according to claim 1, which is characterized in that described
" angular velocity omega is subjected to speed closed loop PI adjusting, obtains given direct-axis currentWith given quadrature axis current" the step of wrap
It includes:
PI adjusting is carried out to the angular speed and to fixed angular speed, obtains revolving speed information of voltage；
According to the revolving speed information of voltage and torque instruction, using preset torque-speedometer, determining direct-axis current of tabling look-upWith give
Determine quadrature axis currentWherein, the torque instruction is the command information of VCU controller output, and the torque-speedometer is revolving speed
Respective function relationship between information and moment information and electric current.
3. the permanent magnet synchronous motor voltage decoupling method of electric car according to claim 1, which is characterized in that described
" the d-axis magnetic linkage ψ of the motor is determined using the magnetic linkage-ammeter being fitted in advancedWith quadrature axis magnetic linkage ψq" step include pass through
Following formula determines the d-axis magnetic linkage ψdWith the quadrature axis magnetic linkage ψq:
Wherein, LdIt is d-axis inductance, LqIt is axis inductor, idIt is the permanent magnet synchronous motor by current sample, clarke transformation
With the transformed direct-axis current of park, iqIt is the permanent magnet synchronous motor by current sample, clarke transformation and park transformation
Quadrature axis current afterwards, ψfIt is permanent magnet flux linkage.
4. the permanent magnet synchronous motor voltage decoupling method of electric car according to claim 3, which is characterized in that described
" according to the angular velocity omega and the d-axis magnetic linkage ψdWith the quadrature axis magnetic linkage ψq, determine d-axis offset voltage and quadrature axis compensation
The step of voltage " includes determining the d-axis offset voltage U by following formuladcomWith quadrature axis offset voltage Uqcom:
Wherein, ωe=npω, npFor motor number of pole-pairs.
5. the permanent magnet synchronous motor voltage decoupling method of electric car according to claim 4, which is characterized in that described straight
Axis steady state voltageWith the quadrature axis steady state voltageIt is determined respectively by following formula:
Wherein, RsFor motor phase resistance.
6. the permanent magnet synchronous motor voltage decoupling method of electric car according to claim 5, which is characterized in that described straight
Axis output voltage UdWith the quadrature axis output voltage UqAre as follows:
Wherein, RsFor motor phase resistance.
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| CN112583320A (en) * | 2020-11-18 | 2021-03-30 | 江苏科技大学 | Permanent magnet synchronous motor rotor position detection system and method based on voltage decoupling |
| CN113037158A (en) * | 2021-03-01 | 2021-06-25 | 潍柴动力股份有限公司 | AC-DC axis decoupling control method and device for permanent magnet synchronous motor electric driving system |
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Application publication date: 20191112 |