CN110635746A - Multiphase motor control method and device - Google Patents
Multiphase motor control method and device Download PDFInfo
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- CN110635746A CN110635746A CN201910812639.2A CN201910812639A CN110635746A CN 110635746 A CN110635746 A CN 110635746A CN 201910812639 A CN201910812639 A CN 201910812639A CN 110635746 A CN110635746 A CN 110635746A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed
Abstract
The invention discloses a multiphase motor control method and a device, which are used for acquiring the current load value of a vehicle and determining the number of shunt charge leakage circuits which need to be communicated with a multiphase motor according to the current load value; converting the phase voltage and the phase current of the normal phase to obtain the stator current and the stator voltage under a two-phase static coordinate system; in order to ensure safety, the rotating speed of the multi-phase motor is required to be measured, the amplitude and the phase of a rotor flux linkage and the rotating speed parameter of the multi-phase motor are obtained through stator current and stator voltage under a two-phase static coordinate system, then the amplitude and the phase are compared with the safe rotating speed, when the difference is overlarge, the rotating speed of the multi-phase motor is required to be corrected, the current of a shunting and unloading circuit is adjusted until the current rotating speed is the same as the current safe rotating speed, and therefore the condition that the multi-phase motor is burnt out due to overload to the fact that an electric power steering system fails is guaranteed.
Description
Technical Field
The invention relates to the technical field of control of multiphase motors, in particular to a control method and a control device of a multiphase motor
Background
At present, with the development of power electronic devices and technologies, a power converter can break through a traditional three-phase mode and adopt a multi-phase mode, so that a motor is free from the limitation of the number of phases of a power grid.
Compared with a three-phase motor, the multi-phase motor (the number of phases m >3) has the following significant advantages: firstly, a low-voltage high-power transmission system and a high-power application occasion with limited power supply voltage can be realized by using low-voltage and power-grade devices in a multi-phase mode; secondly, along with the increase of the number of phases, the times of space harmonic magnetomotive force generated by fundamental wave current of the motor are increased, and the amplitude is reduced, so that the torque ripple frequency is increased, the amplitude is reduced, the operation efficiency of the motor is also improved, and the vibration noise is also improved; thirdly, due to the redundancy of the number of phases of the multi-phase motor, when one or more phases of the multi-phase motor or the inverter have faults, derating fault-tolerant operation is realized by adjusting a control strategy, so that the operation reliability of the motor is improved; and fourthly, because the controllable dimension of the motor is equal to the independent phase number of the motor, the control freedom degree of the multi-phase motor is more, and the control is more flexible.
At present, a pure electric bus using an electrically-driven multi-phase motor system of a direct-drive technology has the characteristics of high reliability, high efficiency, good comfort and the like, but due to the changes and uncontrollable performances of vehicle loads and operation conditions, such as different configurations of the whole bus, and changes of passenger capacity, road gradient, road conditions and the like, if an overload phenomenon occurs to a multi-phase motor, the multi-phase motor is burnt out, the whole electric power steering system fails, and the whole bus loses the power steering.
Disclosure of Invention
The invention aims to provide a control method and a control device for a multi-phase motor, which aim to solve the problems that if the multi-phase motor is overloaded, the multi-phase motor is burnt out, the whole electric power steering system fails, and the whole vehicle loses the steering power.
In order to achieve the purpose, the invention provides the following technical scheme: a control method and device of a multiphase motor are disclosed, the method is applied to the control device of the multiphase motor, and comprises the following steps;
acquiring a load value of a current vehicle, and determining the number of shunt charge leakage circuits which need to be communicated by the multi-phase motor according to the current load value;
converting the phase voltage and the phase current of the normal phase to obtain the stator current and the stator voltage under a two-phase static coordinate system;
obtaining the amplitude and the phase of a rotor flux linkage and the rotating speed parameter of the multi-phase motor according to the stator current and the stator voltage under the two-phase static coordinate system;
judging whether the current rotating speed is deviated from the current safe rotating speed or not; and if so, correcting the rotating speed of the multi-phase motor until the current rotating speed is the same as the current safe rotating speed.
Preferably, the obtaining a current load value of the vehicle and determining the number of shunt load-shedding circuits that the multi-phase motor needs to be connected according to the current load value includes:
the method comprises the steps of obtaining a first given torque current, comparing and calculating the first given torque current with a current in a first shunt load relief circuit to obtain a first differential current, comparing and calculating a second differential current with a current in a second shunt load relief circuit to obtain a second differential current, stopping comparison when the difference between the second differential current and a current in a third shunt load relief circuit is smaller than a current in a fourth shunt load relief circuit, communicating a multi-phase motor with the first shunt load relief circuit, the second shunt load relief circuit and the third shunt load relief circuit, and setting a plurality of shunt load relief circuits.
Preferably, the obtaining of the amplitude and the phase of the rotor flux linkage and the rotation speed parameter of the multi-phase motor according to the stator current and the stator voltage in the two-phase stationary coordinate system includes:
according to the stator current and the stator voltage under the two-phase static coordinate system, calculating a current error under the two-phase static coordinate system through at least one stator current equation, and obtaining a sliding mode function after the current error passes through a saturation function and a sliding mode gain;
filtering the sliding mode function by a low-pass filter to obtain an equivalent sliding mode function, integrating a negative value of the equivalent sliding mode function to obtain a flux linkage under a two-phase static coordinate system, and further obtaining the amplitude and the phase of the rotor flux linkage;
and acquiring the rotating speed of the rotor according to the equivalent sliding mode control function and the flux linkage under the two-phase static coordinate system.
Preferably, the multiphase motor control device is electrically connected with the whole vehicle control device, the multiphase motor control device comprises a main power system and a plurality of sub power systems, and the plurality of sub power systems are respectively electrically connected with the plurality of shunting and discharging circuits.
Preferably, the plurality of sub-power systems are mutually independent control modules of stator windings in the multi-phase motor.
Preferably, the safe rotation speed is a rotation speed value for bearing the load, and the rotation speed value for bearing a certain amount of load is determined according to a plurality of existing motor parameters and is used for detecting the rotation speed value of the multi-phase motor.
Preferably, the multi-phase electric machine is a 3 × N phase electric machine, wherein N is a positive integer greater than 1.
Preferably, the multiphase motor propulsion system operates as a traction-driven wheel.
Compared with the prior art, the invention has the beneficial effects that: a control method and device for multiphase motor, the invention uses the control device for multiphase motor to control the multiphase motor, compares the first given torque current with the current in the first shunt unloading circuit to determine how many shunt unloading circuits the multiphase motor needs to be connected with to ensure the multiphase motor can bear the corresponding load, when the multiphase motor is connected with the shunt unloading circuit, in order to ensure the safety, it also needs to measure the rotation speed of the multiphase motor, obtains the amplitude and phase of the rotor flux linkage and the rotation speed parameter of the multiphase motor by the stator current and the stator voltage under the two-phase stationary coordinate system, if yes, corrects the rotation speed of the multiphase motor until the current rotation speed is the same with the current safety rotation speed, the larger the rotation speed of the multiphase motor, the larger the vehicle speed, correspondingly, when the rotation speed of the multiphase motor needs to be reduced, the current vehicle speed uniquely determines the safe rotation of the multiphase motor as the current safety rotation speed, therefore, under the conditions of different rotating speeds and vehicle speeds, the steering power-assisted torque is kept in a reasonable and comfortable range or until the current rotating speed is the same as the current safe rotating speed, so that the condition that the electric motor coach can not burn out a multi-phase motor due to overload to cause the failure of an electric power-assisted steering system is ensured.
Drawings
FIG. 1 is a schematic diagram of a multiphase motor control device according to the present invention;
fig. 2 is a schematic structural diagram of another multiphase motor control device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a control method and a control device of a multi-phase motor are provided, wherein the method is applied to the control device of the multi-phase motor and comprises the following steps:
acquiring a load value of a current vehicle, and determining the number of shunt charge leakage circuits which need to be communicated by the multi-phase motor according to the current load value; the current load value of the vehicle is a value which causes obstruction to the running of the vehicle, including the weight of the vehicle, such as passenger capacity and road gradient.
Converting the phase voltage and the phase current of the normal phase to obtain the stator current and the stator voltage under a two-phase static coordinate system; the phase voltage and the phase current of a normal phase can be transformed according to a unit orthogonal decoupling matrix to obtain the stator current and the stator voltage under a two-phase static coordinate system under a fundamental wave subspace, the orthogonal decoupling matrix can be used as a characteristic vector of the phase current and the phase voltage matrix and can decouple a phase voltage and phase current matrix equation, and the decoupling mode is that a multivariable system is changed into a mathematical model of a plurality of independent univariate systems by means of selection of appropriate control quantity, coordinate transformation and the like, namely, the coupling among all variables is removed.
Obtaining the amplitude and the phase of a rotor flux linkage and the rotating speed parameter of the multi-phase motor according to the stator current and the stator voltage under the two-phase static coordinate system;
judging whether the current rotating speed is deviated from the current safe rotating speed or not; if so, correcting the rotating speed of the multi-phase motor until the current rotating speed is the same as the current safe rotating speed, and if the rotating speed of the multi-phase motor is larger, the vehicle speed is larger, correspondingly, when the rotating speed of the multi-phase motor needs to be reduced, the current vehicle speed uniquely determines that the safe rotation of the multi-phase motor is the current safe rotating speed, so that the steering power-assisted torque is kept in a reasonable and comfortable range under the conditions of different rotating speeds and vehicle speeds.
Specifically, the method for acquiring the load value of the current vehicle and determining the number of the shunt load-shedding circuits which need to be communicated by the multi-phase motor according to the current load value comprises the following steps:
the method comprises the steps of obtaining a first given torque current, comparing and calculating the first given torque current with a current in a first shunt load relief circuit to obtain a first differential current, comparing and calculating a second differential current with a current in a second shunt load relief circuit to obtain a second differential current, stopping comparison when the difference between the second differential current and a current in a third shunt load relief circuit is smaller than a current in a fourth shunt load relief circuit, communicating a multi-phase motor with the first shunt load relief circuit, the second shunt load relief circuit and the third shunt load relief circuit, setting the number of the shunt load relief circuits to be a plurality, increasing the bearing capacity of the multi-phase motor when the current in each shunt load relief circuit is communicated with the multi-phase motor, and accordingly bearing a part of load, and setting the number of the shunt load relief circuits according to the size and the performance of a vehicle.
Specifically, the method for acquiring the amplitude and the phase of the rotor flux linkage and the rotating speed parameter of the multi-phase motor according to the stator current and the stator voltage under the two-phase static coordinate system comprises the following steps:
according to the stator current and the stator voltage under the two-phase static coordinate system, calculating a current error under the two-phase static coordinate system through at least one stator current equation, and obtaining a sliding mode function after the current error passes through a saturation function and a sliding mode gain;
filtering the sliding mode function by a low-pass filter to obtain an equivalent sliding mode function, integrating a negative value of the equivalent sliding mode function to obtain a flux linkage under a two-phase static coordinate system, and further obtaining the amplitude and the phase of the rotor flux linkage;
acquiring the rotating speed of the rotor according to the equivalent sliding mode control function and the flux linkage under the two-phase static coordinate system, acquiring the direct-axis component of the reference current under the two-phase rotating coordinate system according to the amplitude of the rotor flux linkage and the amplitude given value of the rotor flux linkage, and acquiring the quadrature-axis component of the reference current under the two-phase rotating coordinate system according to the rotating speed parameter and the rotating speed parameter given value; and respectively carrying out quasi-proportional resonance adjustment on the difference between the direct-axis component of the reference current and the direct-axis component of the stator current in the two-phase rotating coordinate system and the difference between the quadrature-axis component of the reference current and the quadrature-axis component of the stator current in the two-phase rotating coordinate system, and transforming the reference voltage in the two-phase stationary coordinate system to obtain the reference phase voltage of the normal phase.
Specifically, the multiphase motor control device is electrically connected with the whole vehicle control device and comprises a main power system and a plurality of sub power systems, the sub power systems are respectively electrically connected with the shunt load-shedding circuits, the main power system controls the sub power systems, and currents in the shunt load-shedding circuits are accepted and controlled through the sub power systems.
Specifically, the plurality of sub-power systems are mutually independent control modules of stator windings in the multi-phase motor, the stator windings are copper wires wound on the stator, the windings are a general name of the whole electromagnetic circuit formed by a plurality of coils or coil groups, the multi-phase alternating current windings are formed by winding according to a certain size and embedded in copper core slots according to a certain rule, and each sub-power system corresponds to one phase.
Specifically, the safe rotating speed is a rotating speed value for bearing the load, the rotating speed value for bearing a certain amount of load is determined according to the existing multiple motor parameters, and the rotating speed value is used for detecting the rotating speed value of the multi-phase motor.
In particular, the multi-phase motor is a 3 × N phase motor, wherein N is a positive integer greater than 1.
Specifically, the multi-phase electric motor propulsion system drives the wheels as traction.
The working principle is as follows: the invention relates to a multiphase motor control method and a device, wherein a multiphase motor control device is adopted to control a multiphase motor, a first given torque current and a current in a first shunt load relief circuit are compared and calculated to obtain a first differential current, a second differential current and a current in a second shunt load relief circuit are compared and calculated to obtain a second differential current, when the difference between the second differential current and the current in a third shunt load relief circuit is smaller than the current in a fourth shunt load relief circuit, the comparison is stopped, the multiphase motor is communicated with the first shunt load relief circuit, the second shunt load relief circuit and the third shunt load relief circuit, the number of the shunt load relief circuits is a plurality, when the current in each shunt load relief circuit is communicated with the multiphase motor, the bearing capacity of the multiphase motor is increased, so that a part of load is borne, and the required number of the shunt load relief circuits is set according to the size and the performance of a vehicle, determining the number of shunting and load-shedding circuits with which the multiphase motor needs to be communicated so as to ensure that the multiphase motor can bear corresponding load, wherein the current load of a vehicle is passenger load and road gradient, and a value which hinders the running of the vehicle, and does not include the weight of the vehicle, when the multiphase motor is communicated with the shunting and load-shedding circuits, in order to ensure safety, the rotating speed of the multiphase motor needs to be measured, the amplitude and the phase of a rotor flux linkage and the rotating speed parameter of the multiphase motor are obtained through stator current and stator voltage under a two-phase static coordinate system, and then whether the current rotating speed is deviated from the current safe rotating speed is judged; if so, correcting the rotating speed of the multi-phase motor until the current rotating speed is the same as the current safe rotating speed, wherein the safe rotating speed is the rotating speed value for bearing the load, determining the rotating speed value for bearing a certain amount of load according to the existing parameters of the multi-phase motor, and detecting the rotating speed value of the multi-phase motor; correspondingly, when the rotating speed of the multi-phase motor is required to be reduced, the current safe rotating speed of the multi-phase motor is uniquely determined by the current speed, so that under the condition of different rotating speeds and different vehicle speeds, the steering power-assisted torque is kept in a reasonable and comfortable range or until the current rotating speed is the same as the current safe rotating speed, and the condition that the multi-phase motor is burnt out due to overload of the electric motor coach is ensured, so that the failure of the electric power-assisted steering system is caused.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A multiphase motor control method and device are characterized in that the method is applied to a multiphase motor control device and comprises the following steps;
acquiring a load value of a current vehicle, and determining the number of shunt charge leakage circuits which need to be communicated by the multi-phase motor according to the current load value;
converting the phase voltage and the phase current of the normal phase to obtain the stator current and the stator voltage under a two-phase static coordinate system;
obtaining the amplitude and the phase of a rotor flux linkage and the rotating speed parameter of the multi-phase motor according to the stator current and the stator voltage under the two-phase static coordinate system;
and judging whether the current rotating speed is deviated from the current safe rotating speed, if so, correcting the rotating speed of the multi-phase motor until the current rotating speed is the same as the current safe rotating speed.
2. A multiphase motor control method and apparatus according to claim 1, characterized in that: the method for acquiring the load value of the current vehicle and determining the number of the shunt load-shedding circuits which need to be communicated with the multi-phase motor according to the current load value comprises the following steps:
the method comprises the steps of obtaining a first given torque current, comparing and calculating the first given torque current with a current in a first shunt load relief circuit to obtain a first differential current, comparing and calculating a second differential current with a current in a second shunt load relief circuit to obtain a second differential current, stopping comparison when the difference between the second differential current and a current in a third shunt load relief circuit is smaller than a current in a fourth shunt load relief circuit, communicating a multi-phase motor with the first shunt load relief circuit, the second shunt load relief circuit and the third shunt load relief circuit, and setting a plurality of shunt load relief circuits.
3. A multiphase motor control method and apparatus according to claim 1, characterized in that: obtaining the amplitude and the phase of a rotor flux linkage and the rotating speed parameter of the multi-phase motor according to the stator current and the stator voltage under a two-phase static coordinate system, wherein the method comprises the following steps:
according to the stator current and the stator voltage under the two-phase static coordinate system, calculating a current error under the two-phase static coordinate system through at least one stator current equation, and obtaining a sliding mode function after the current error passes through a saturation function and a sliding mode gain;
filtering the sliding mode function by a low-pass filter to obtain an equivalent sliding mode function, integrating a negative value of the equivalent sliding mode function to obtain a flux linkage under a two-phase static coordinate system, and further obtaining the amplitude and the phase of the rotor flux linkage;
and acquiring the rotating speed of the rotor according to the equivalent sliding mode control function and the flux linkage under the two-phase static coordinate system.
4. A multiphase motor control method and apparatus according to claim 2, characterized in that: the multiphase motor control device is electrically connected with the whole vehicle control device and comprises a main power system and a plurality of sub power systems, and the plurality of sub power systems are respectively electrically connected with the plurality of shunting and discharging circuits.
5. A multiphase motor control method and apparatus according to claim 4, characterized in that: the plurality of sub-power systems are mutually independent control systems of stator windings in the multi-phase motor.
6. A multiphase motor control method and apparatus according to claim 1, characterized in that: the safe rotating speed is a rotating speed value for bearing the load, and the rotating speed value for bearing a certain amount of load is determined according to the existing multiple motor parameters and is used for detecting the rotating speed value of the multi-phase motor.
7. A multiphase motor control method and apparatus according to claim 1, characterized in that: the multi-phase motor is a 3 × N phase motor, wherein N is a positive integer greater than 1.
8. A multiphase motor control method and apparatus according to claim 1, characterized in that: the multi-phase motor propulsion system is used as traction force to drive wheels to run.
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| CN201910812639.2A CN110635746A (en) | 2019-08-30 | 2019-08-30 | Multiphase motor control method and device |
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| CN201910812639.2A CN110635746A (en) | 2019-08-30 | 2019-08-30 | Multiphase motor control method and device |
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| WO2023137810A1 (en) * | 2022-01-18 | 2023-07-27 | 华侨大学 | Multi-phase motor control method, apparatus and device, and readable storage medium |
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