CN110445439A - The control method and device of permanent magnet synchronous motor - Google Patents
The control method and device of permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN110445439A CN110445439A CN201810421847.5A CN201810421847A CN110445439A CN 110445439 A CN110445439 A CN 110445439A CN 201810421847 A CN201810421847 A CN 201810421847A CN 110445439 A CN110445439 A CN 110445439A
- Authority
- CN
- China
- Prior art keywords
- target current
- axis
- permanent magnet
- direct
- magnet synchronous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000004907 flux Effects 0.000 claims description 105
- 230000009466 transformation Effects 0.000 claims description 23
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000001276 controlling effect Effects 0.000 claims description 11
- 238000010411 cooking Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 29
- 238000005070 sampling Methods 0.000 description 17
- 230000003313 weakening effect Effects 0.000 description 13
- 230000009471 action Effects 0.000 description 10
- 238000011217 control strategy Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 230000004069 differentiation Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 101000841267 Homo sapiens Long chain 3-hydroxyacyl-CoA dehydrogenase Proteins 0.000 description 2
- 102100029107 Long chain 3-hydroxyacyl-CoA dehydrogenase Human genes 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- JJYKJUXBWFATTE-UHFFFAOYSA-N mosher's acid Chemical compound COC(C(O)=O)(C(F)(F)F)C1=CC=CC=C1 JJYKJUXBWFATTE-UHFFFAOYSA-N 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 229960001948 caffeine Drugs 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- FESBVLZDDCQLFY-UHFFFAOYSA-N sete Chemical group [Te]=[Se] FESBVLZDDCQLFY-UHFFFAOYSA-N 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- RYYVLZVUVIJVGH-UHFFFAOYSA-N trimethylxanthine Natural products CN1C(=O)N(C)C(=O)C2=C1N=CN2C RYYVLZVUVIJVGH-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention proposes a kind of food cooking machine and its motor driven systems, and the control method and device of permanent magnet synchronous motor, wherein, permanent magnet synchronous motor is by Driven by inverter, and control method is the following steps are included: obtain the spinner velocity of d-axis target current and quadrature axis target current and permanent magnet synchronous motor；Direct-axis voltage and quadrature-axis voltage are obtained according to d-axis target current, quadrature axis target current, spinner velocity and preset motor model；Direct-axis voltage and quadrature-axis voltage are coordinately transformed to obtain α shaft voltage and β shaft voltage；Inverter is controlled to control permanent magnet synchronous motor according to α shaft voltage and β shaft voltage.Permanent magnet synchronous motor is controlled by electric voltage feed forward mode as a result, can be improved the maximum voltage that inverter can export.
Description
Technical Field
The invention relates to the technical field of electric appliances, in particular to a control method of a permanent magnet synchronous motor, a control device of the permanent magnet synchronous motor, a motor driving system of a food processor and the food processor.
Background
In a related art, a high-performance alternating current motor driving system generally adopts vector control, that is, position or speed information of a motor is acquired through a position or speed sensor installed on the motor, and then three-phase current of the motor is acquired in a hardware sampling manner to perform magnetic field orientation control or direct torque control.
However, the applicant finds that the related art has a problem that when the motor is subjected to vector control, the action time of the '000' vector is limited, the current sampling may be in error due to too short time, and the inverter cannot output the maximum voltage due to too long time, so that the motor cannot run at high speed and the load carrying capacity is reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a method for controlling a permanent magnet synchronous motor, which can increase the maximum voltage that can be output by an inverter by controlling the permanent magnet synchronous motor in a voltage feedforward manner.
A second object of the present invention is to provide a control device for a permanent magnet synchronous motor.
The third purpose of the invention is to provide a motor driving system of the food processor.
A fourth object of the present invention is to provide a food processor.
In order to achieve the above object, a first embodiment of the present invention provides a control method for a permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is driven by an inverter, and the control method includes the following steps: acquiring a direct axis target current, a quadrature axis target current and a rotor speed of the permanent magnet synchronous motor; acquiring direct-axis voltage and quadrature-axis voltage according to the direct-axis target current, the quadrature-axis target current, the rotor speed and a preset motor model; performing coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain an alpha axis voltage and a beta axis voltage; and controlling the inverter according to the alpha-axis voltage and the beta-axis voltage so as to control the permanent magnet synchronous motor.
According to the control method of the permanent magnet synchronous motor, the direct axis target current, the quadrature axis target current and the rotor speed of the permanent magnet synchronous motor are firstly obtained, then the direct axis voltage and the quadrature axis voltage are obtained according to the direct axis target current, the quadrature axis target current, the rotor speed and a preset motor model, coordinate transformation is carried out on the direct axis voltage and the quadrature axis voltage to obtain alpha axis voltage and beta axis voltage, and then the inverter is controlled according to the alpha axis voltage and the beta axis voltage to control the permanent magnet synchronous motor. Therefore, the permanent magnet synchronous motor is controlled in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be achieved, the control performance is improved, and the unsaturated output voltage and the out-of-control condition can be guaranteed during flux weakening control.
In addition, the control method of the permanent magnet synchronous motor according to the invention can also have the following additional technical characteristics:
according to an embodiment of the present invention, the acquiring the rotor speed of the permanent magnet synchronous motor includes: acquiring the angle of a rotor magnetic field of the permanent magnet synchronous motor through a position sensor; and carrying out speed calculation on the rotor magnetic field angle to obtain the rotor speed.
According to an embodiment of the present invention, the preset motor model is:
wherein,respectively the direct axis voltage and the quadrature axis voltage,respectively the direct axis target current and the quadrature axis target current, RsIs stator resistance, ωrIs the rotor speed, Ld,LqRespectively a direct axis inductance and an alternating axis inductance,. psifIs a permanent magnet flux linkage.
According to an embodiment of the present invention, the obtaining of the direct-axis target current and the quadrature-axis target current includes: adjusting the rotor speed according to a target speed to obtain a target torque value; and carrying out current distribution and magnetic flux control on the target torque value to obtain the direct axis target current and the quadrature axis target current.
According to an embodiment of the present invention, the obtaining of the direct-axis target current and the quadrature-axis target current includes: adjusting the rotor speed according to a target speed to obtain the quadrature axis target current; and carrying out current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
According to an embodiment of the present invention, the obtaining of the direct-axis target current and the quadrature-axis target current includes: adjusting the rotor speed according to a target speed to obtain the quadrature axis target current; and carrying out magnetic flux control on the permanent magnet synchronous motor to obtain the direct-axis target current.
According to an embodiment of the present invention, the obtaining of the direct-axis target current and the quadrature-axis target current includes: acquiring a preset target torque value; and carrying out current distribution and magnetic flux control on the target torque value to obtain the direct axis target current and the quadrature axis target current.
According to an embodiment of the present invention, the obtaining of the direct-axis target current and the quadrature-axis target current includes: obtaining a preset quadrature axis target current; and carrying out current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
According to an embodiment of the present invention, the obtaining of the direct-axis target current and the quadrature-axis target current includes: obtaining a preset quadrature axis target current; and carrying out magnetic flux control on the permanent magnet synchronous motor to obtain the direct-axis target current.
In order to achieve the above object, a second aspect of the present invention provides a control device for a permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is driven by an inverter, and the control system includes: the first acquisition module is used for acquiring a direct axis target current and a quadrature axis target current; the second acquisition module is used for acquiring the rotor speed of the permanent magnet synchronous motor; the calculation module is used for acquiring direct-axis voltage and quadrature-axis voltage according to the direct-axis target current, the quadrature-axis target current, the rotor speed and a preset motor model; the coordinate transformation module is used for carrying out coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain alpha axis voltage and beta axis voltage; and the control module is used for controlling the inverter according to the alpha-axis voltage and the beta-axis voltage so as to control the permanent magnet synchronous motor.
According to the control device of the permanent magnet synchronous motor, the first obtaining module is used for obtaining the direct axis target current and the quadrature axis target current, the second obtaining module is used for obtaining the rotor speed of the permanent magnet synchronous motor, the calculating module is used for obtaining the direct axis voltage and the quadrature axis voltage according to the direct axis target current, the quadrature axis target current, the rotor speed and a preset motor model, the coordinate transformation module is further used for carrying out coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain the alpha axis voltage and the beta axis voltage, and the control module is used for controlling the inverter according to the alpha axis voltage and the beta axis voltage to control the permanent magnet synchronous motor. Therefore, the permanent magnet synchronous motor is controlled in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be achieved, the control performance is improved, and the unsaturated output voltage and the out-of-control condition can be guaranteed during flux weakening control.
In addition, the control device of the permanent magnet synchronous motor according to the present invention may further have the following additional features:
according to an embodiment of the invention, the second obtaining module comprises: the position sensor is used for acquiring the angle of a rotor magnetic field of the permanent magnet synchronous motor; and the speed calculation unit is used for carrying out speed calculation on the rotor magnetic field angle so as to obtain the rotor speed.
According to an embodiment of the present invention, the preset motor model is:
wherein,respectively the direct axis voltage and the quadrature axis voltage,respectively the direct axis target current and the quadrature axis target current, RsIs stator resistance, ωrIs the rotor speed, Ld,LqRespectively a direct axis inductance and an alternating axis inductance,. psifIs a permanent magnet flux linkage.
According to an embodiment of the invention, the first obtaining module comprises: a first regulator for regulating the rotor speed in accordance with a target speed to obtain a target torque value; and the first current distribution and magnetic flux control unit is used for carrying out current distribution and magnetic flux control on the target torque value so as to obtain the direct-axis target current and the quadrature-axis target current.
According to an embodiment of the invention, the first obtaining module comprises: the second regulator is used for regulating the rotor speed according to a target speed to obtain the quadrature axis target current; and the second current matching and magnetic flux control unit is used for performing current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
According to an embodiment of the invention, the first obtaining module comprises: the third regulator is used for regulating the rotor speed according to a target speed to obtain the quadrature axis target current; and the first magnetic flux control unit is used for carrying out magnetic flux control on the permanent magnet synchronous motor so as to obtain the direct-axis target current.
According to an embodiment of the invention, the first obtaining module comprises: the first acquisition unit is used for acquiring a preset target torque value; and the third current distribution and magnetic flux control unit is used for carrying out current distribution and magnetic flux control on the target torque value so as to obtain the direct-axis target current and the quadrature-axis target current.
According to an embodiment of the invention, the first obtaining module comprises: the second acquisition unit is used for acquiring the preset quadrature axis target current; and the fourth current matching and magnetic flux control unit is used for performing current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
According to an embodiment of the invention, the first obtaining module comprises: the third acquisition unit is used for acquiring the preset quadrature axis target current; and the second magnetic flux control unit is used for carrying out magnetic flux control on the permanent magnet synchronous motor so as to obtain the direct-axis target current.
In order to achieve the above object, a motor driving system of a food processor according to a third aspect of the present invention includes the control device of the above permanent magnet synchronous motor.
According to the motor driving system of the food processor, provided by the embodiment of the invention, the control device of the permanent magnet synchronous motor is adopted, the permanent magnet synchronous motor is controlled in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be reached, the control performance is improved, and in the weak magnetic control, the unsaturated output voltage and the out-of-control condition can be ensured.
In order to achieve the above object, a food processor according to a fourth aspect of the present invention includes the control device of the permanent magnet synchronous motor.
According to the food processor provided by the embodiment of the invention, the control device of the permanent magnet synchronous motor is adopted to control the permanent magnet synchronous motor in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by an inverter is effectively improved, the theoretical maximum output voltage can be reached, the control performance is improved, and in the field weakening control, the unsaturated output voltage can be ensured and the out-of-control condition can not occur.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a control block diagram of PMSM (Permanent Magnet Synchronous Motor) double closed-loop vector control in the related art;
FIG. 2 is a schematic diagram of a current sampling of two measuring elements of a lower bridge arm in the related art;
FIG. 3 is a schematic diagram of a current sampling time "000" using two measuring elements of a lower bridge arm in the related art;
FIG. 4 is a timing diagram of vector control using a lower bridge arm two-measurement element sampling scheme in the related art;
fig. 5 is a flowchart illustrating a control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of acquiring a rotor speed of a permanent magnet synchronous motor in a control method of the permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 7 is a control block diagram of a control method of a permanent magnet synchronous motor according to a first embodiment of the present invention;
FIG. 8 is a schematic flow chart of obtaining a direct-axis target current and a quadrature-axis target current according to a first embodiment of the present invention;
fig. 9 is a control block diagram of a control method of a permanent magnet synchronous motor according to a second embodiment of the present invention;
FIG. 10 is a schematic diagram of a process for obtaining a direct-axis target current and a quadrature-axis target current according to a second embodiment of the present invention;
fig. 11 is a method control block diagram of control of a permanent magnet synchronous motor according to a third embodiment of the present invention;
FIG. 12 is a schematic diagram of a process for obtaining a direct-axis target current and a quadrature-axis target current according to a third embodiment of the present invention;
fig. 13 is a control block diagram of a control method of a permanent magnet synchronous motor according to a fourth embodiment of the present invention;
FIG. 14 is a schematic diagram illustrating a process of obtaining a direct-axis target current and a quadrature-axis target current according to a fourth embodiment of the present invention;
fig. 15 is a control block diagram of a control method of a permanent magnet synchronous motor according to a fifth embodiment of the present invention;
FIG. 16 is a schematic diagram illustrating a process of obtaining a direct-axis target current and a quadrature-axis target current according to a fifth embodiment of the present invention;
fig. 17 is a control block diagram of a control method of a permanent magnet synchronous motor according to a sixth embodiment of the invention;
FIG. 18 is a schematic diagram of a process for obtaining a direct-axis target current and a quadrature-axis target current according to a sixth embodiment of the present invention;
fig. 19 is a block schematic diagram of a control apparatus of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 20 is a block diagram of a second acquisition module, according to one embodiment of the invention;
FIG. 21 is a block diagram illustrating a first obtaining module according to the first embodiment of the present invention;
FIG. 22 is a block diagram illustrating a first obtaining module according to a second embodiment of the present invention;
FIG. 23 is a block diagram illustrating a first obtaining module according to a third embodiment of the present invention;
FIG. 24 is a block diagram illustrating a first obtaining module according to a fourth embodiment of the present invention;
FIG. 25 is a block diagram illustrating a first obtaining module according to a fifth embodiment of the present invention;
FIG. 26 is a block diagram illustrating a first obtaining module according to a sixth embodiment of the present invention;
fig. 27 is a block schematic diagram of a motor drive system of a food processor according to an embodiment of the present invention;
fig. 28 is a block diagram of a food processor according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
First, the double closed-loop vector control of the permanent magnet synchronous motor will be briefly described.
Fig. 1 is a control block diagram of PMSM (Permanent Magnet Synchronous Motor) double closed-loop vector control, where ω is ωo,ωfSpeed command and speed feedback, respectively, TeoAs a torque command, Ido,IqoRespectively, current commands in a two-phase synchronous rotating coordinate system (dq axis system), Iul,IqfCurrent feedback in dq axes, Iul,IρfRespectively current feedback in a two-phase stationary coordinate system (alpha beta axis), ia,ib,icRespectively, three-phase sampled current, Vdo,VqoVoltage commands in dq shafting, V, output by regulatorsαo，VβoRespectively, voltage command in alpha beta axis, thetafThe rotor field angle output by the position sensor.
Specifically, the principle of the double closed-loop vector control is as follows: and adjusting according to the difference between the speed instruction and the speed feedback to output a torque instruction to finish speed closed-loop control, obtaining a current instruction of a dq axis by the torque instruction in a calculation or table look-up mode, adjusting according to the current feedback of the dq axis to output a voltage instruction to finish current closed-loop control, and outputting voltage to the motor through the inverter module to drive the motor to operate.
According to the principle of double closed-loop vector control, the three-phase current of the motor is acquired by combining a hardware sampling mode by adopting a vector control technology. The current sampling scheme of the two measuring elements of the lower bridge arm as shown in fig. 2 is mostly adopted in the related art.
In conjunction with fig. 2, 3 and 4, the current sampling scheme of the related art can form a closed loop with three lower bridge arms at a vector of "000" and sample two-phase currents (enumerated here as i)a,ib) And then the third phase current is obtained by the fact that the sum of the three phase currents is zero.
The present inventors have discovered and recognized that when the "000" vector has an on-time that is too short or zero, the inverter in this current sampling scheme can output the theoretical maximum voltage, but the current samples may take on the wrong value, making current control problematic. When the action time of the '000' vector is too long, the maximum voltage which can be output by the inverter is reduced, so that the problems that the motor cannot run at high speed, the load capacity is reduced and the like are caused.
Based on the above, the invention provides a novel food processor, a motor driving system thereof, and a control method and device of a permanent magnet synchronous motor.
A food processor and a motor drive system thereof, and a control method and apparatus of a permanent magnet synchronous motor according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 5 is a flowchart illustrating a control method of a permanent magnet synchronous motor according to an embodiment of the present invention.
As shown in fig. 5, the control method of the permanent magnet synchronous motor includes the following steps:
s101, acquiring a direct-axis target current, a quadrature-axis target current and a rotor speed of the permanent magnet synchronous motor.
Specifically, according to an embodiment of the present invention, as shown in fig. 6, acquiring the rotor speed of the permanent magnet synchronous motor includes:
s201, acquiring the rotor magnetic field angle of the permanent magnet synchronous motor through a position sensor.
That is, the rotor field angle θ can be obtained by a position sensor mounted in advance on the permanent magnet synchronous motorr。
S202, carrying out speed calculation on the rotor magnetic field angle to obtain the rotor speed.
That is, the rotor magnetic field angle θrPerforming a "speed calculation" (e.g. by differentiation or similar operation) to obtain the rotor speed ωr。
And S102, acquiring direct-axis voltage and quadrature-axis voltage according to the direct-axis target current, the quadrature-axis target current, the rotor speed and a preset motor model.
It should be noted that, according to an embodiment of the present invention, the preset motor model is:
wherein,respectively a direct-axis voltage and a quadrature-axis voltage,respectively a direct axis target current and a quadrature axis target current, RsIs stator resistance, ωrAs rotor speed, Ld,LqRespectively a direct axis inductance and an alternating axis inductance,. psifIs a permanent magnet flux linkage.
And S103, performing coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain an alpha axis voltage and a beta axis voltage.
That is, it can be calculated according to a preset motor modelVoltages, i.e. direct and quadrature, combined with rotor field angle θrTo, forNamely, the coordinate transformation of the direct-axis voltage and the quadrature-axis voltage, namely, the Park inverse transformation is carried out to obtainVoltages, i.e., an α -axis voltage and a β -axis voltage.
And S104, controlling the inverter according to the alpha-axis voltage and the beta-axis voltage so as to control the permanent magnet synchronous motor.
Specifically, the α -axis voltage and the β -axis voltage may be subjected to PWM (Pulse Width Modulation), such as SVPWM (Space Vector Pulse Width Modulation), to output a PWM signal to the inverter, and the inverter may drive the motor to operate according to the received PWM signal. That is, the α -axis voltage and the β -axis voltage may output a PWM signal to the inverter by "PWM generation" to drive the motor to operate.
Further, a control method of a permanent magnet synchronous motor of an embodiment of the present invention is described below with reference to the drawings.
According to the first embodiment of the present invention, as shown in fig. 7 and 8, acquiring the direct axis target current and the quadrature axis target current includes:
s301, adjusting the rotor speed according to the target speed to obtain a target torque value.
That is, according to the target rotation speedFor rotor speed omega obtained by' speed calculationrIs "adjusted" (e.g., by a PI adjuster or the like) to obtain a target torque value
And S302, performing current distribution and magnetic flux control on the target torque value to obtain a direct-axis target current and a quadrature-axis target current.
That is, the obtained target torque value can be obtainedCarry out' currentDistribution and flux control "(e.g. by off-line calculation, on-line lookup, etc.) to obtain the direct axis target currentAnd quadrature axis target current
The target torque value T is sete *The principle of performing "current distribution and flux control" is based on the target torque valueMotor torque-current formula, motor efficiency optimization strategy and high-speed weak magnetic control strategy for determining direct-axis target currentAnd quadrature axis target currentFor example, when the motor speed is low, the direct-axis current and the quadrature-axis current can be distributed to the target torque according to an MTPA (maximum torque current ratio) strategy; when the motor speed is higher, the absolute value of the direct-axis weak magnetic current can be increased according to the motor running speed or the inverter voltage utilization condition (because the direct-axis current is a negative value and is opposite to the permanent magnetic flux direction, the larger the absolute value of the current is, the more the stator magnetic flux is weakened), and then the quadrature-axis current is calculated according to the target torque value and the adjusted direct-axis current, wherein the target torque valueAnd the target current of the direct axisQuadrature axis target currentThe relationship (c) can be obtained by off-line calculation and is in the form of tableThe formula is stored to allow online lookup of the table while the motor is running.
Specifically, referring to fig. 7 and 8, the rotor magnetic field angle of the pmsm can be obtained by the position sensor, and the rotor magnetic field angle θ can be obtainedrPerforming a "speed calculation" (e.g. by differentiation or similar operation) to obtain the rotor speed ωr. Then, according to the target rotation speedFor rotor speed omega obtained by' speed calculationrIs "adjusted" (e.g., by a PI adjuster or the like) to obtain a target torque valueAnd for the obtained target torque valuePerforming current distribution and flux control (such as offline calculation, online table lookup, etc.) to obtain target current of direct axisAnd quadrature axis target currentAnd calculating according to 'motor model' of PMSMVoltage command, in turn, in conjunction with rotor field angle θrTo perform inverse Park transformation to obtainA voltage command is given toAnd performing PWM generation (such as SVPWM and the like), and outputting a PWM signal to the inverter to drive the motor to run.
Further, according to the second embodiment of the present invention, as shown in fig. 9 and 10, the obtaining of the direct-axis target current and the quadrature-axis target current includes:
s401, adjusting the rotor speed according to the target speed to obtain a quadrature axis target current.
That is, the target rotational speed may be usedFor the rotor speed omega obtained by carrying out' speed calculationrIs "regulated" (e.g., by a PI regulator or the like) to obtain a quadrature target current
And S402, carrying out current matching and magnetic flux control on the quadrature axis target current to obtain a direct axis target current.
That is, the quadrature axis target current to be obtainedPerforming current matching and magnetic flux control (such as offline calculation, online table lookup, etc.) to obtain target current of direct axis
In addition, the quadrature axis target current is setThe principle of carrying out current matching and magnetic flux control is to determine the direct-axis target current according to the quadrature-axis target current, the motor efficiency optimization and the flux-weakening control strategy. According to the motor control theory, when the motor speed is low and the direct axis current and the quadrature axis current satisfy a specific functional relationship, the operation efficiency of the motor can be optimized, and when the motor speed is high, the flux weakening control strategy needs to be reused on the basis of the functional relationship, and the absolute value of the direct axis flux weakening current can be further increased according to the operation speed of the motor or the utilization condition of the inverter voltage (because the direct axis current is a negative value and is opposite to the permanent magnetic flux direction at the moment)So the larger the absolute value of the current, the more the stator flux weakens), wherein the quadrature axis target currentAnd the target current of the direct axisThe relationship (c) can be obtained by off-line calculation and stored in a table form for on-line table lookup when the motor is running.
Specifically, referring to fig. 9 and 10, the rotor magnetic field angle of the permanent magnet synchronous motor may be obtained by the position sensor, and the rotor magnetic field angle θ may be obtainedrPerforming a "speed calculation" (e.g. by differentiation or similar operation) to obtain the rotor speed ωr. Then, according to the target rotation speedFor rotor speed omega obtained by' speed calculationrIs "regulated" (e.g., by a PI regulator or the like) to obtain a quadrature target currentAnd obtaining the obtained quadrature axis target currentPerforming current matching and magnetic flux control (such as offline calculation, online table lookup, etc.) to obtain target current of direct axisAnd calculating according to 'motor model' of PMSMVoltage command, in turn, in conjunction with rotor field angle θrTo perform inverse Park transformation to obtainA voltage command is given toAnd performing PWM generation (such as SVPWM and the like), and outputting a PWM signal to the inverter to drive the motor to run.
Further, according to the third embodiment of the present invention, as shown in fig. 11 and 12, acquiring the direct-axis target current and the quadrature-axis target current includes:
s501, adjusting the speed of the rotor according to the target speed to obtain a quadrature axis target current.
That is, the target rotational speed may be usedFor rotor speed omega obtained by' speed calculationrIs "regulated" (e.g., by a PI regulator or the like) to obtain a quadrature target current
And S502, carrying out magnetic flux control on the permanent magnet synchronous motor to obtain a direct-axis target current.
That is, the flux control can be directly carried out on the permanent magnet synchronous motor to obtain the direct-axis target current
The principle of "flux control" is to directly determine the direct-axis target current according to a flux-weakening control strategy. For example, when the motor speed is low, the direct-axis current may be set to a fixed value (e.g., 0 or a low negative value), and when the motor speed is high, the field weakening control strategy is used, and the absolute value of the direct-axis field weakening current may be further increased according to the motor operating speed or the inverter voltage utilization condition (since the direct-axis current is negative at this time, opposite to the permanent magnet flux direction, the larger the absolute value of the current, the more the stator flux is weakened).
Specifically, referring to fig. 11 and 12, the rotor magnetic field angle of the permanent magnet synchronous motor can be obtained by the position sensor, and the rotor is magnetizedField angle thetarPerforming a "speed calculation" (e.g. by differentiation or similar operation) to obtain the rotor speed ωr. Then, according to the target rotation speedFor rotor speed omega obtained by' speed calculationrIs "regulated" (e.g., by a PI regulator or the like) to obtain a quadrature target currentAnd directly controlling the flux of the permanent magnet synchronous motor to obtain the direct axis target currentAnd calculating according to 'motor model' of PMSMVoltage command, in turn, in conjunction with rotor field angle θrTo perform inverse Park transformation to obtainA voltage command is given toAnd performing PWM generation (such as SVPWM and the like), and outputting a PWM signal to the inverter to drive the motor to run.
Further, according to the fourth embodiment of the present invention, as shown in fig. 13 and 14, acquiring the direct-axis target current and the quadrature-axis target current includes:
and S601, acquiring a preset target torque value.
And S602, performing current distribution and magnetic flux control on the target torque value to obtain a direct-axis target current and a quadrature-axis target current.
That is, the preset target torque value may be setCarry out' current distribution andflux control "(e.g., by off-line calculation, on-line lookup, etc.) to obtain the direct axis target currentAnd quadrature axis target current
The target torque value is setThe principle of performing "current distribution and flux control" is based on the target torque valueMotor torque-current formula, motor efficiency optimization strategy and high-speed weak magnetic control strategy for determining direct-axis target currentQuadrature axis target currentFor example, when the motor speed is low, the direct-axis and quadrature-axis current distribution can be carried out on the target torque according to an MTPA (maximum torque current ratio) strategy; when the motor speed is higher, the absolute value of the direct-axis weak magnetic current can be increased according to the motor running speed or the inverter voltage utilization condition (because the direct-axis current is a negative value and is opposite to the permanent magnetic flux direction, the larger the absolute value of the current is, the more the stator magnetic flux is weakened), and then the quadrature-axis current is calculated according to the target torque value and the adjusted direct-axis current, wherein the target torque valueAnd the target current of the direct axisQuadrature axis target currentThe relationship (c) can be obtained by off-line calculation and stored in a table form for on-line table lookup when the motor is running.
Specifically, in conjunction with fig. 13 and 14, the control method sets a preset target torque valuePerforming current distribution and flux control (such as offline calculation, online table lookup, etc.) to obtain target current of direct axisAnd quadrature axis target currentAnd calculating according to 'motor model' of PMSMVoltage command, in turn, in conjunction with rotor field angle θrTo perform inverse Park transformation to obtainA voltage command is given toPerforming 'PWM generation' (such as SVPWM) and outputting PWM signals to the inverter to drive the motor to run, thereby, the preset target torque valueObtaining a direct axis target currentAnd quadrature axis target currentForm a torque control mode.
Further, according to the fifth embodiment of the present invention, as shown in fig. 15 and 16, acquiring the direct-axis target current and the quadrature-axis target current includes:
and S701, obtaining a preset quadrature axis target current.
And S702, carrying out current matching and magnetic flux control on the quadrature axis target current to obtain a direct axis target current.
That is, a predetermined quadrature axis target current may be setPerforming current matching and magnetic flux control (such as offline calculation, online table lookup, etc.) to obtain target current of direct axis
In addition, the quadrature axis target current is setThe principle of carrying out current matching and magnetic flux control is to determine the direct-axis target current according to the quadrature-axis target current, the motor efficiency optimization and the flux-weakening control strategy. When the motor speed is low and the direct-axis current and the quadrature-axis current meet a specific functional relationship, the operation efficiency of the motor can be optimized, and when the motor speed is high, a flux weakening control strategy needs to be reused on the basis of the functional relationship, and the absolute value of the direct-axis flux weakening current can be further increased according to the operation speed of the motor or the utilization condition of the inverter voltage (because the direct-axis current is a negative value and is opposite to the direction of the permanent magnetic flux, the larger the absolute value of the current is, the more the stator magnetic flux is weakened), wherein the quadrature-axis target current isAnd the target current of the direct axisThe relationship (c) can be obtained by off-line calculation and stored in a table form for on-line table lookup when the motor is running.
Specifically, theIn other words, referring to fig. 15 and 16, the control method sets the preset quadrature axis target currentPerforming current matching and magnetic flux control (such as offline calculation, online table lookup, etc.) to obtain target current of direct axisAnd calculating according to 'motor model' of PMSMVoltage command, in turn, in conjunction with rotor field angle θrTo perform inverse Park transformation to obtainA voltage command is given toPerforming 'PWM generation' (such as SVPWM) and outputting PWM signals to the inverter to drive the motor to run so as to achieve the preset quadrature axis target currentAnd current matching and flux control to obtain direct axis target currentAnd quadrature axis target currentIn this way, a current control mode is formed.
Further, according to the sixth embodiment of the present invention, as shown in fig. 17 and 18, acquiring the direct-axis target current and the quadrature-axis target current includes:
and S801, obtaining a preset quadrature axis target current.
And S802, performing magnetic flux control on the permanent magnet synchronous motor to obtain a direct-axis target current.
That is, the flux control can be directly carried out on the permanent magnet synchronous motor to obtain the direct-axis target current
The principle of "flux control" is to directly determine the direct-axis target current according to a flux-weakening control strategy. When the motor speed is low, the direct-axis current can be set to be a fixed value (for example, 0 or a low negative value), and when the motor speed is high, the field weakening control strategy is utilized, and the absolute value of the direct-axis field weakening current can be further increased according to the motor running speed or the utilization condition of the inverter voltage (because the direct-axis current is a negative value and is opposite to the permanent magnet flux, the larger the absolute value of the current, the more the stator flux is weakened).
Specifically, referring to fig. 17 and 18, the control method directly performs flux control on the permanent magnet synchronous motor to obtain a direct-axis target currentAnd combined with a preset quadrature axis target currentCalculated according to the 'motor model' of PMSMVoltage command, in turn, in conjunction with rotor field angle θrTo perform inverse Park transformation to obtainA voltage command is given toPerforming 'PWM generation' (such as SVPWM) and outputting PWM signals to the inverter to drive the motor to run so as to achieve the preset quadrature axis target currentAnd magnetic flux control to obtain direct axis target currentAnd quadrature axis target currentIn this way, a current control mode is formed.
In summary, according to the control method of the permanent magnet synchronous motor in the embodiment of the present invention, the direct axis target current and the quadrature axis target current and the rotor speed of the permanent magnet synchronous motor are obtained, the direct axis voltage and the quadrature axis voltage are obtained according to the direct axis target current, the quadrature axis target current, the rotor speed and a preset motor model, coordinate transformation is performed on the direct axis voltage and the quadrature axis voltage to obtain the α axis voltage and the β axis voltage, and the inverter is controlled according to the α axis voltage and the β axis voltage to control the permanent magnet synchronous motor. Therefore, the permanent magnet synchronous motor is controlled in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be achieved, the control performance is improved, and the unsaturated output voltage and the out-of-control condition can be guaranteed during flux weakening control.
Corresponding to the control methods of the permanent magnet synchronous motors provided in the above embodiments, an embodiment of the present invention further provides a control device of a permanent magnet synchronous motor, and since the control device of the permanent magnet synchronous motor provided in the embodiment of the present invention corresponds to the control methods of the permanent magnet synchronous motors provided in the above embodiments, the implementation of the control method of the permanent magnet synchronous motor is also applicable to the control device of the permanent magnet synchronous motor in the embodiment, and will not be described in detail in this embodiment.
Fig. 19 is a block diagram schematically illustrating a control apparatus of a permanent magnet synchronous motor according to an embodiment of the present invention.
As shown in fig. 7, 9, 11, 13, 15, 17, and 19, the control device 100 for a permanent magnet synchronous motor includes: the device comprises a first acquisition module 1, a second acquisition module 2, a calculation module 3, a coordinate transformation module 4 and a control module 5.
Specifically, the first obtaining module 1 is used for obtaining a direct-axis target currentAnd quadrature axis target currentThe second obtaining module 2 is used for obtaining the rotor speed omega of the permanent magnet synchronous motorr(ii) a The calculation module 3 is used for calculating the target current according to the straight axisQuadrature axis target currentRotor speed omegarAnd preset motor model acquisitionNamely, the direct axis voltage and the quadrature axis voltage; the coordinate transformation module 4 is used for matchingI.e. coordinate transformation of the direct-axis voltage and quadrature-axis voltage to obtainNamely an alpha axis voltage and a beta axis voltage; the control module 5 is used for controllingI.e., the alpha axis voltage and the beta axis voltage, control the inverter to control the permanent magnet synchronous motor.
Further, according to an embodiment of the present invention, as shown in fig. 20, the second obtaining module 2 includes: a position sensor 21 and a speed calculation unit 22.
The position sensor 21 is used for acquiring the rotor magnetic field angle theta of the permanent magnet synchronous motorr(ii) a The speed calculation unit 22 is used for calculating the rotor magnetic field angle thetarPerforming a speed calculation to obtain a rotor speed ωr。
Further, according to an embodiment of the present invention, the preset motor model is:
wherein,respectively a direct-axis voltage and a quadrature-axis voltage,respectively a direct axis target current and a quadrature axis target current, RsIs stator resistance, ωrAs rotor speed, Ld,LqRespectively a direct axis inductance and an alternating axis inductance,. psifIs a permanent magnet flux linkage.
Further, according to the first embodiment of the present invention, as shown in fig. 21, the first obtaining module 1 includes: a first regulator 101 and a first current distribution and flux control unit 102.
Wherein, as shown in fig. 7, the first regulator 101 is used for regulating the target speedTo rotor speed omegarMaking adjustments to achieve a target torque valueThe first current distribution and flux control unit 102 is used for controlling the target torque valuePerforming current distribution and magnetic flux control to obtain direct-axis target currentAnd quadrature axis target current
Further, according to the second embodiment of the present invention, as shown in fig. 22, the first obtaining module 1 includes: a second regulator 103 and a second current matching and flux control unit 104.
Wherein, as shown in fig. 9, the second regulator 103 is used for regulating the rotor speed according to the target speed to obtain the quadrature axis target currentThe second current matching and flux control unit 104 is used for matching the quadrature axis target currentPerforming current matching and magnetic flux control to obtain direct axis target current
Further, according to the third embodiment of the present invention, as shown in fig. 23, the first obtaining module 1 includes: a third regulator 105 and a first flux control unit 106.
Wherein, as shown in fig. 11, the third regulator 105 is used for regulating the target speedTo rotor speed omegarRegulating to obtain quadrature axis target currentThe first flux control unit 106 is used for flux control of the permanent magnet synchronous motor to obtain a direct-axis target current
Further, according to the fourth embodiment of the present invention, as shown in fig. 24, the first obtaining module 1 includes: a first acquisition unit 107 and a third current distribution and flux control unit 108.
Wherein, as shown in fig. 13, the first obtaining unit 107 is used for obtaining a preset target torque valueThe third current distribution and flux control unit 108 is used for controlling the target torque valuePerforming current distribution and magnetic flux control to obtain direct-axis target currentAnd quadrature axis target current
Further, according to the fifth embodiment of the present invention, as shown in fig. 25, the first obtaining module 1 includes: a second acquisition unit 109 and a fourth current matching and flux control unit 110.
Wherein, as shown in fig. 15, the second obtaining unit 109 is used for obtaining a preset quadrature axis target currentThe fourth current matching and flux control unit 110 is used for matching the quadrature axis target current iq *Performing current matching and magnetic flux control to obtain direct axis target current
Further, according to the sixth embodiment of the present invention, as shown in fig. 26, the first obtaining module 1 includes: a third acquisition unit 111 and a second flux control unit 112.
Wherein, as shown in fig. 17, the third obtaining unit 111 is used for obtaining a preset quadrature axis target currentThe second flux control unit 112 is used for flux control of the permanent magnet synchronous motor to obtain a direct-axis target current
In summary, according to the control device of the permanent magnet synchronous motor in the embodiment of the present invention, the first obtaining module obtains the direct axis target current and the quadrature axis target current, the second obtaining module obtains the rotor speed of the permanent magnet synchronous motor, the calculating module obtains the direct axis voltage and the quadrature axis voltage according to the direct axis target current, the quadrature axis target current, the rotor speed, and the preset motor model, the coordinate transforming module performs coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain the α axis voltage and the β axis voltage, and the control module controls the inverter according to the α axis voltage and the β axis voltage to control the permanent magnet synchronous motor. Therefore, the permanent magnet synchronous motor is controlled in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be achieved, the control performance is improved, and the unsaturated output voltage and the out-of-control condition can be guaranteed during flux weakening control.
Fig. 27 is a block diagram of a motor driving system of a food processor according to an embodiment of the present invention. As shown in fig. 27, a motor drive system 1000 of the food processor includes the control device 100 of the permanent magnet synchronous motor.
According to the motor driving system of the food processor, provided by the embodiment of the invention, through the control device of the permanent magnet synchronous motor, the permanent magnet synchronous motor is controlled in a voltage feedforward mode, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be reached, the control performance is improved, and in the weak magnetic control, the unsaturated output voltage and the out-of-control condition can be ensured.
Fig. 28 is a block diagram of a food processor according to an embodiment of the invention. As shown in fig. 28, the food processor 2000 includes the control device 100 of the permanent magnet synchronous motor.
According to the food processor provided by the embodiment of the invention, the permanent magnet synchronous motor is controlled in a voltage feedforward mode through the control device of the permanent magnet synchronous motor, the phase current sampling value is not depended on, the shortest action time of a '000' vector is not limited, the maximum voltage which can be output by the inverter is effectively improved, the theoretical maximum output voltage can be reached, the control performance is improved, and the situations that the output voltage is unsaturated and out of control cannot occur can be ensured during the weak magnetic control.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (20)
1. A control method of a permanent magnet synchronous motor, the permanent magnet synchronous motor being driven by an inverter, the control method comprising the steps of:
acquiring a direct axis target current, a quadrature axis target current and a rotor speed of the permanent magnet synchronous motor;
acquiring direct-axis voltage and quadrature-axis voltage according to the direct-axis target current, the quadrature-axis target current, the rotor speed and a preset motor model;
performing coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain an alpha axis voltage and a beta axis voltage;
and controlling the inverter according to the alpha-axis voltage and the beta-axis voltage so as to control the permanent magnet synchronous motor.
2. The method of claim 1, wherein the obtaining the rotor speed of the PMSM comprises:
acquiring the angle of a rotor magnetic field of the permanent magnet synchronous motor through a position sensor;
and carrying out speed calculation on the rotor magnetic field angle to obtain the rotor speed.
3. The control method of the permanent magnet synchronous motor according to claim 1, wherein the preset motor model is:
wherein,respectively the direct axis voltage and the quadrature axis voltage,respectively the direct axis target current and the quadrature axis target current, RsIs stator resistance, ωrIs the rotor speed, Ld,LqRespectively a direct axis inductance and an alternating axis inductance,. psifIs a permanent magnet flux linkage.
4. The control method of a permanent magnet synchronous motor according to any one of claims 1-3, wherein the obtaining of the direct axis target current and the quadrature axis target current comprises:
adjusting the rotor speed according to a target speed to obtain a target torque value;
and carrying out current distribution and magnetic flux control on the target torque value to obtain the direct axis target current and the quadrature axis target current.
5. The control method of a permanent magnet synchronous motor according to any one of claims 1-3, wherein the obtaining of the direct axis target current and the quadrature axis target current comprises:
adjusting the rotor speed according to a target speed to obtain the quadrature axis target current;
and carrying out current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
6. The control method of a permanent magnet synchronous motor according to any one of claims 1-3, wherein the obtaining of the direct axis target current and the quadrature axis target current comprises:
adjusting the rotor speed according to a target speed to obtain the quadrature axis target current;
and carrying out magnetic flux control on the permanent magnet synchronous motor to obtain the direct-axis target current.
7. The control method of a permanent magnet synchronous motor according to any one of claims 1-3, wherein the obtaining of the direct axis target current and the quadrature axis target current comprises:
acquiring a preset target torque value;
and carrying out current distribution and magnetic flux control on the target torque value to obtain the direct axis target current and the quadrature axis target current.
8. The control method of a permanent magnet synchronous motor according to any one of claims 1-3, wherein the obtaining of the direct axis target current and the quadrature axis target current comprises:
obtaining a preset quadrature axis target current;
and carrying out current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
9. The control method of a permanent magnet synchronous motor according to any one of claims 1-3, wherein the obtaining of the direct axis target current and the quadrature axis target current comprises:
obtaining a preset quadrature axis target current;
and carrying out magnetic flux control on the permanent magnet synchronous motor to obtain the direct-axis target current.
10. A control device of a permanent magnet synchronous motor, characterized in that the permanent magnet synchronous motor is driven by an inverter, the control device comprising:
the first acquisition module is used for acquiring a direct axis target current and a quadrature axis target current;
the second acquisition module is used for acquiring the rotor speed of the permanent magnet synchronous motor;
the calculation module is used for acquiring direct-axis voltage and quadrature-axis voltage according to the direct-axis target current, the quadrature-axis target current, the rotor speed and a preset motor model;
the coordinate transformation module is used for carrying out coordinate transformation on the direct axis voltage and the quadrature axis voltage to obtain alpha axis voltage and beta axis voltage;
and the control module is used for controlling the inverter according to the alpha-axis voltage and the beta-axis voltage so as to control the permanent magnet synchronous motor.
11. The control device of a permanent magnet synchronous motor according to claim 10, wherein the second acquisition module includes:
the position sensor is used for acquiring the angle of a rotor magnetic field of the permanent magnet synchronous motor;
and the speed calculation unit is used for carrying out speed calculation on the rotor magnetic field angle so as to obtain the rotor speed.
12. The control device of a permanent magnet synchronous motor according to claim 10, wherein the preset motor model is:
wherein,respectively the direct axis voltage and the quadrature axis voltage,respectively the direct axis target current and the quadrature axis target current, RsIs stator resistance, ωrIs the rotor speed, Ld,LqRespectively a direct axis inductance and an alternating axis inductance,. psifIs a permanent magnet flux linkage.
13. The control device of a permanent magnet synchronous motor according to any one of claims 10-12, characterized in that the first obtaining module comprises:
a first regulator for regulating the rotor speed in accordance with a target speed to obtain a target torque value;
and the first current distribution and magnetic flux control unit is used for carrying out current distribution and magnetic flux control on the target torque value so as to obtain the direct-axis target current and the quadrature-axis target current.
14. The control device of a permanent magnet synchronous motor according to any one of claims 10-12, characterized in that the first obtaining module comprises:
the second regulator is used for regulating the rotor speed according to a target speed to obtain the quadrature axis target current;
and the second current matching and magnetic flux control unit is used for performing current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
15. The control device of a permanent magnet synchronous motor according to any one of claims 10-12, characterized in that the first obtaining module comprises:
the third regulator is used for regulating the rotor speed according to a target speed to obtain the quadrature axis target current;
and the first magnetic flux control unit is used for carrying out magnetic flux control on the permanent magnet synchronous motor so as to obtain the direct-axis target current.
16. The control device of a permanent magnet synchronous motor according to any one of claims 10-12, characterized in that the first obtaining module comprises:
the first acquisition unit is used for acquiring a preset target torque value;
and the third current distribution and magnetic flux control unit is used for carrying out current distribution and magnetic flux control on the target torque value so as to obtain the direct-axis target current and the quadrature-axis target current.
17. The control device of a permanent magnet synchronous motor according to any one of claims 10-12, characterized in that the first obtaining module comprises:
the second acquisition unit is used for acquiring the preset quadrature axis target current;
and the fourth current matching and magnetic flux control unit is used for performing current matching and magnetic flux control on the quadrature axis target current to obtain the direct axis target current.
18. The control device of a permanent magnet synchronous motor according to any one of claims 10-12, characterized in that the first obtaining module comprises:
the third acquisition unit is used for acquiring the preset quadrature axis target current;
and the second magnetic flux control unit is used for carrying out magnetic flux control on the permanent magnet synchronous motor so as to obtain the direct-axis target current.
19. A motor drive system for a food processor, comprising a control device for a permanent magnet synchronous motor according to any one of claims 10 to 18.
20. A food processor comprising the control device of the permanent magnet synchronous motor according to claim 19.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421847.5A CN110445439A (en) | 2018-05-04 | 2018-05-04 | The control method and device of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421847.5A CN110445439A (en) | 2018-05-04 | 2018-05-04 | The control method and device of permanent magnet synchronous motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110445439A true CN110445439A (en) | 2019-11-12 |
Family
ID=68427395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421847.5A Pending CN110445439A (en) | 2018-05-04 | 2018-05-04 | The control method and device of permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110445439A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111175603A (en) * | 2020-01-06 | 2020-05-19 | 广州视源电子科技股份有限公司 | Aging method and aging device of frequency converter, storage medium and processor |
| CN112636652A (en) * | 2020-12-22 | 2021-04-09 | 东南大学 | Permanent magnet motor flux weakening control strategy |
| CN113236541A (en) * | 2021-05-20 | 2021-08-10 | 广东美芝制冷设备有限公司 | Compressor control method, device, storage medium and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008141835A (en) * | 2006-11-30 | 2008-06-19 | Denso Corp | Motor control method and motor control device using the same |
| CN103026615A (en) * | 2010-07-28 | 2013-04-03 | 三菱电机株式会社 | Control apparatus of AC rotating machine |
| CN103036500A (en) * | 2012-12-07 | 2013-04-10 | 深圳市安邦信电子有限公司 | Vector control method of alternating current asynchronous motor non-speed sensor |
| CN103973187A (en) * | 2013-02-05 | 2014-08-06 | 山洋电气株式会社 | Motor control apparatus |
-
2018
- 2018-05-04 CN CN201810421847.5A patent/CN110445439A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008141835A (en) * | 2006-11-30 | 2008-06-19 | Denso Corp | Motor control method and motor control device using the same |
| CN103026615A (en) * | 2010-07-28 | 2013-04-03 | 三菱电机株式会社 | Control apparatus of AC rotating machine |
| CN103036500A (en) * | 2012-12-07 | 2013-04-10 | 深圳市安邦信电子有限公司 | Vector control method of alternating current asynchronous motor non-speed sensor |
| CN103973187A (en) * | 2013-02-05 | 2014-08-06 | 山洋电气株式会社 | Motor control apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111175603A (en) * | 2020-01-06 | 2020-05-19 | 广州视源电子科技股份有限公司 | Aging method and aging device of frequency converter, storage medium and processor |
| CN112636652A (en) * | 2020-12-22 | 2021-04-09 | 东南大学 | Permanent magnet motor flux weakening control strategy |
| CN113236541A (en) * | 2021-05-20 | 2021-08-10 | 广东美芝制冷设备有限公司 | Compressor control method, device, storage medium and device |
| CN113236541B (en) * | 2021-05-20 | 2023-03-07 | 广东美芝制冷设备有限公司 | Compressor control method, device, storage medium and apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111262486B (en) | Permanent magnet synchronous motor control method | |
| JP6367332B2 (en) | Inverter control device and motor drive system | |
| EP3002872B1 (en) | Methods of estimating rotor magnet temperature and systems thereof | |
| EP2696496B1 (en) | Motor control device | |
| EP2681064B1 (en) | System for controlling an electric motor at or near stall conditions | |
| US8744794B2 (en) | Method and apparatus for characterizing an interior permanent magnet machine | |
| US7944163B2 (en) | Sensorless controlling apparatus of brushless motor | |
| CN112740537B (en) | MTPA control method, device, system and equipment of permanent magnet synchronous motor | |
| JPH0951700A (en) | Controlling device of rotary electric machine | |
| BR112013021505B1 (en) | METHOD AND SYSTEM FOR CONTROLLING AN ELECTRIC MOTOR | |
| CN102694498A (en) | Device and method for resisting rotor disturbance of permanent-magnet synchronous motor in zero-speed or extremely-low-speed state | |
| EP3070836B1 (en) | Methods of auto tuning machine parameters and systems thereof | |
| JP5396906B2 (en) | Electric motor drive control device | |
| CN110445439A (en) | The control method and device of permanent magnet synchronous motor | |
| JP6658023B2 (en) | Automatic current command table generation system and current command table automatic generation method for embedded magnet synchronous motor | |
| CN112865636A (en) | Maximum torque current ratio control method and device | |
| US9520824B2 (en) | Inverter apparatus | |
| CN110572103B (en) | Zero self-learning method and system for permanent magnet synchronous motor position sensor | |
| JP6199776B2 (en) | Electric motor drive | |
| US9154070B2 (en) | Controller for AC motor | |
| JP2008072858A (en) | Controller of vehicle rotary electric machine | |
| JP7449204B2 (en) | power converter | |
| CN110460284A (en) | Food cooking machine, motor driven systems, the control method of induction machine and device | |
| TWI697199B (en) | Magnetic pole position estimation method and control device | |
| CN109510537B (en) | Control method and device for variable frequency motor in washing machine and washing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |