CN110707980B - Fitting method for MTPA control curve of permanent magnet synchronous motor - Google Patents

Fitting method for MTPA control curve of permanent magnet synchronous motor Download PDF

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CN110707980B
CN110707980B CN201910939069.3A CN201910939069A CN110707980B CN 110707980 B CN110707980 B CN 110707980B CN 201910939069 A CN201910939069 A CN 201910939069A CN 110707980 B CN110707980 B CN 110707980B
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fitting
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mtpa
permanent magnet
magnet synchronous
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尹泉
罗慧
黄星迪
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Huazhong University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]

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Abstract

The invention discloses a fitting method of a MTPA control curve of a permanent magnet synchronous motor, and belongs to the field of motor control. The method comprises the following steps: real-time acquisition of electricity for permanent magnet synchronous motorsMechanical parameter psif、LdAnd LqAnd the output of the rotation speed regulator is equivalent to Is(ii) a Based on psif、LdAnd LqCalculating the switching current Iswitc h(ii) a Judging whether I is presents＞Iswitc hIf yes, fitting an asymptote to the id、iqRelation, otherwise, fitting i with a parabolad、igAnd (4) a relational expression. The invention provides a method for controlling the stator current amplitude value to be Iswitc hSwitching the fitting curve from a parabola to an asymptote, and adopting the parabola to fit the curve when the amplitude of the stator current is small; when the amplitude of the stator current vector is larger, one of the asymptotes of the standard MTPA curve is used as an MTPA fitting curve under the large current amplitude to replace a parabolic fitting curve, so that the MTPA control effect approaches to the optimal control effect, and the high output torque is continued.

Description

Fitting method for MTPA control curve of permanent magnet synchronous motor
Technical Field
The invention belongs to the field of motor control, and particularly relates to a fitting method of a MTPA (Maximum Torque Per Ampere) control curve of a permanent magnet synchronous motor.
Background
Since 2010, the industrial scale of new energy vehicles using interior permanent magnet synchronous motors has gradually expanded. In order to meet the requirements of the new energy automobile on output torque in the starting and accelerating processes, the maximum torque current ratio control of a motor of the new energy automobile is required. Therefore, the implementation method of MTPA needs to be intensively studied against the background of actual working conditions.
To implement MTPA control, the control curve must be solved first. In the process of solving the MTPA curve, not only the accuracy of the curve needs to be ensured, but also the difficulty of engineering realization needs to be considered. In 2016, mao liang et al propose to expand mao leilin series of the original MTPA curve and simplify the MTPA curve into a multiply-add form, thereby avoiding root sign and division operation in calculation and reducing the operation time of the MTPA control strategy.
Since the higher derivative of the multiply-add polynomial is gradually reduced with the decrease of the direct-axis current, the polynomial fitting curve is gradually separated from the actual MTPA curve and the fitting effect is gradually deteriorated as the current amplitude is larger (the direct-axis current is smaller). If the coincidence of the fitting curve and the actual MTPA is ensured under the large current amplitude, the reserved orders of the Michellin series expansion need to be increased, however, the calculation amount is increased seriously by the method. Therefore, the polynomial fitting method is only suitable for the case where the stator current amplitude is small. Aiming at the problem, the MTPA curve is fitted into a parabola, so that the aim of simplifying the calculation is fulfilled. However, in the case of a large current amplitude, the fitted curve deviates from the actual MTPA curve, and thus the optimal MTPA control effect cannot be achieved.
Disclosure of Invention
The invention provides a fitting method of a permanent magnet synchronous motor MTPA control curve, aiming at solving the problem that the best MTPA control effect cannot be achieved due to deviation of a fitting curve from an actual MTPA curve under the condition of a large current amplitude by a parabola fitting method in the prior art.
To achieve the above object, according to a first aspect of the present invention, there is provided a method for fitting a MTPA control curve of a permanent magnet synchronous motor, the method including the steps of:
s1, obtaining a motor parameter psi of the permanent magnet synchronous motor in real timef、LdAnd LqAnd the output of the rotation speed regulator is equivalent to Is；
S2. based on psif、LdAnd LqCalculating the switching current Iswitc；
S3, judging whether I is presents＞IswitchIf yes, fitting an asymptote to the id、iqRelation, otherwise, fitting i with a parabolad、iqThe relation of the formula is shown in the specification,
wherein psifRepresents the permanent magnetic flux linkage, L, in an equivalent dq coordinate systemd、LqRespectively representing d-axis and q-axis inductances, I, of the PMSM in the dq coordinate systemsRepresenting motor stator current amplitude, idRepresenting the d-axis component, i, of the motor stator currentqRepresenting the q-axis component of the motor stator current.
Specifically, an input variable expression of the MTPA link
Figure BDA0002222115560000021
In particular, the current I is switchedswitchThe calculation formula of (a) is as follows:
Figure BDA0002222115560000022
specifically, the parabolic fit formula is as follows:
Figure BDA0002222115560000023
the asymptote fit equation is as follows:
Figure BDA0002222115560000024
specifically, the method further comprises:
s4, combining an input variable expression of the MTPA link with an MTPA fitting curve relational expression, and solving id、iqThe value of (c).
In particular, Is＞IswitchThen, simultaneously obtain id、iqThe values of (a) are as follows:
Figure BDA0002222115560000031
Figure BDA0002222115560000032
Is≤Iswitchthen, simultaneously obtain id、iqThe values of (a) are as follows:
Figure BDA0002222115560000033
to achieve the above object, according to a second aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for fitting a control curve of a permanent magnet synchronous motor MTPA according to the first aspect.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
the invention provides an MTPA fitting strategy switched according to the amplitude of the stator current, when the amplitude of the stator current is smaller, a parabolic fitting curve is adopted, so that the fitting effect is better, and the electromagnetic torque closer to the maximum electromagnetic torque is output; when the amplitude of the stator current vector is large, one of the asymptotes of the standard MTPA curve is used as an MTPA fitting curve under the large current amplitude to replace a parabolic fitting curve, so that the fitting effect is better, and the output is more efficient. The invention is realized by that when the current amplitude is IswitchAnd the fitting curve is switched from a parabola to an asymptote so that the MTPA control effect approaches to the optimal control effect and the high output torque is continuously output.
Drawings
Fig. 1 is a flowchart of a fitting method of a MTPA control curve of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a MTPA control block diagram provided by an embodiment of the present invention;
FIG. 3 is a diagram illustrating the switching from the parabola fitting method to the asymptote fitting method according to an embodiment of the present invention;
FIG. 4 is a graph of a polynomial fit curve versus actual MTPA provided by an embodiment of the present invention;
FIG. 5 is a graph of an asymptote fit curve versus actual MTPA provided by an embodiment of the present invention;
FIG. 6 is a graph of torque output efficiency with parabolic and asymptotic fit provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a simulation result of the maximum torque output of three curves when the three curves operate at constant torque under different limiting values according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the present invention provides a method for implementing MTPA control of a permanent magnet synchronous motor, including the following steps:
step S1, obtaining motor parameter psi of permanent magnet synchronous motor in real timef、LdAnd LqAnd the output of the rotation speed regulator is equivalent to IsWherein ψfRepresents the permanent magnetic flux linkage, L, in an equivalent dq coordinate systemd、LqRespectively representing d-axis and q-axis inductances, I, of the PMSM in the dq coordinate systemsRepresenting the motor stator current magnitude.
The permanent magnet flux linkage psi of the permanent magnet synchronous motor in the period can be obtained by using an online parameter identification methodfStator d-axis inductance LdStator q-axis inductance Lq. Other methods of obtaining motor parameters are also possible.
As shown in FIG. 2, let the speed regulator output the reference matrix TASREqual to the motor stator current amplitude
Figure BDA0002222115560000041
Wherein idRepresenting the d-axis component, i, of the motor stator currentqRepresenting the q-axis component of the motor stator current. Will IsAs input variables for the MTPA link. Reference value of d-axis and q-axis currents of stator
Figure BDA0002222115560000051
As output variables showing the MTPA link.
Step S2. based on psif、LdAnd LqCalculating the switching current Iswitc。
Figure BDA0002222115560000052
As shown in fig. 3, since the output efficiency of the parabola fitting method gradually decreases as the input increases, the output efficiency of the asymptotic fitting method gradually increases and approaches 100% as the input increases. In the process that the input of the system is gradually increased from 0, in order to realize the MTPA control of the continuous high output torque, switching is required to be carried out when the output torques of two fitting curves are the same, and the approximate value of the current is obtained by calculation:
Figure BDA0002222115560000053
s3, judging whether I is requireds＞IswitchIf yes, fitting an asymptote to the id、iqRelation, otherwise, fitting i with a parabolad、iqAnd (4) a relational expression.
In order to increase the electromagnetic torque output capacity of the salient pole type permanent magnet synchronous motor under the same current amplitude limiting value, the maximum torque-current ratio control strategy is required to be adopted to optimally distribute the direct-axis current and the quadrature-axis current of the motor. In the actual implementation process, in order to save the control cycle resources occupied by the MTPA algorithm, the curve and the expression of the current distribution thereof need to be subjected to engineering fitting and simplification on the premise of ensuring the control precision as much as possible, so that division and root number operation are reduced as much as possible, and the time consumed by the operation in the CPU is shortened. The invention is realized by that when the current amplitude is IswitThe fitting curve is switched from a parabola to an asymptote so that the MTPA control effect approaches to the optimal control effect.
Is≤IswitchThe parabolic fit equation is then as follows:
Figure BDA0002222115560000054
electromagnetic torque T of an electric machineeIs determined by the stator current vector. Setting the magnitude of the sub-current vector to IsFor interior permanent magnet synchronous machines, due to the effect of the saliency effect, IsCorresponding to a maximum electromagnetic torque value, and defining the torque as Temax(Is)。
Setting the amplitude of the stator current to IsThe electromagnetic torque which can be generated by the theory of the parabola fitting algorithm is Tef1(Is). As shown in FIG. 4, a point (i) on the parabolic fit curve is definedd,iq) The electromagnetic torque that can theoretically be generated is Tef(id,iq)；A1、A2On a parabolic fit curve, B1、B2On the actual MTPA curve. When I issWhen the ratio is 10A, A1And B1Substantially on the same iso-electromagnetic torque curve, i.e. having Tef(10)≈Temax(10). The parabola fitting curve can be used for distributing the current vectors so as to obtain the electromagnetic torque T close to the maximumemaxPreferably replacing the actual MTPA curve. However with IsThe error generated by the parabola fitting curve for calculating the simple and omitted high-order terms is gradually obvious, and the actual MTPA curve is gradually separated from the parabola fitting curve. When I issWhen the value is 30A, the point A is shown in the figure2And B2Shown as point B on the actual MTPA curve2The electromagnetic torque that can theoretically be generated is 30n.m, and the point a on the parabolic fit curve2Theoretical producible electromagnetic torque of 28N.m, then Temax(30)＞Tef(30). It can be seen that the current vector theory of point correspondence on the parabolic fit curve can produce an electromagnetic torque that is less than the output electromagnetic torque of the actual maximum torque to current ratio (MTPA) curve.
Therefore, when the amplitude of the stator current is small, the parabolic fitting curve has a better fitting effect. However at the stator current vector magnitude IsIn the case of a large value, the deviation between the parabola fitting curve and the actual MTPA curve gradually increases, the output torque gradually decreases, and the fitting effect gradually deteriorates.
In order to solve the problem that the output effect of the parabola fitting method is weakened under the condition of high current, the invention provides a novel asymptote fitting method in IsIn larger cases, the alternative is parabolic fitting, i.e. fitting the MTPA curve to an asymptote of a hyperbola.
Is＞IswitcThe asymptote fit equation is as follows:
Figure BDA0002222115560000061
wherein idRepresenting the d-axis component, i, of the motor stator currentqRepresenting the q-axis component of the motor stator current.
As shown in FIG. 5, set at point (i) on the asymptote-fitting curved,iq) Electromagnetic torque T that can be generated theoreticallyef(id,iq)。B1、B2On the actual maximum torque to current ratio (MTPA) curve, C1、C2Located on an asymptote fit curve. When I issWhen 10A, for B1、C1The output torque of the actual MTPA curve is 7n.m, while the output torque of the asymptotic fit curve is 6.5n.m, there is Temax(10)＞Tef(10). It can be seen that at the current vector magnitude IsIn the smaller case, the asymptote-fitted curve is equivalent to idThe fitting effect is not good because of the control strategy of 0. However with IsIs continuously increased, the actual MTPA curve gradually approaches its asymptote, for B2、C2Point B under the curve fitted by the actual MTPA curve and the asymptote2、C2The theoretical electromagnetic torque produced being substantially uniform, i.e. Temax(30)≈Tef2(30)。
From the above analysis, although the parabolic fitting curve has a better fitting effect than the asymptotic fitting curve when the stator current amplitude is small, the electromagnetic torque T closer to the maximum is outputemaxThe electromagnetic torque of (1). However at the stator current vector magnitude IsThe actual MTPA curve tends to an asymptotic fit curve gradually under larger conditions, and the theoretically generated electromagnetic torque of the asymptotic fit curve is larger than the theoretically generated electromagnetic torque T of the parabolic fit curveef2＞Tef1. At the moment, the fitting effect of the asymptote fitting curve is better, and the output is more efficient.
S4, combining the input variable expression of the MTPA link with the MTPA fitting curve relational expression, and solving id、iqThe value of (c).
When the maximum torque current ratio (MTPA) is satisfied, id、iqHas a relation of
Figure BDA0002222115560000071
Figure BDA0002222115560000072
Input variable expression of MTPA link
Figure BDA0002222115560000073
MTPA fitting curve relation
Figure BDA0002222115560000074
Is＞IswitchThen, simultaneously obtain id、iqThe values of (a) are as follows:
Figure BDA0002222115560000075
Figure BDA0002222115560000076
Is≤Iswitchthen, simultaneously obtain id、iqThe values of (a) are as follows:
Figure BDA0002222115560000081
Figure BDA0002222115560000082
for further explanation, a parabolic curve and an asymptotic curve are usedThe effect of MTPA action requires a quantitative analysis of the maximum torque output of each fitted curve relative to the actual MTPA curve. At the same current amplitude IsElectromagnetic torque T that can be generated using the actual MTPA control curve theoryemax(Is) As a reference, the torque output effect of the parabola fitting curve and the asymptote fitting curve at different current amplitudes is measured.
Defined at the same current vector magnitude IsThe output efficiency of the approximate fitting curve is η (I)s)。
Figure BDA0002222115560000083
Wherein, Tef(Is) The electromagnetic torque that can be theoretically generated to approximate the points on the fitted curve.
Respectively obtaining output efficiency curves eta of the parabola fitting curves through simulation experiments1(Is) Output efficiency curve η of curve fitted with asymptote2(Is)。
As can be seen from fig. 6, when the amplitude of the stator current is small, the output efficiency of the parabola fitting method is greater than that of the asymptote fitting method, so that a parabola fitting curve is adopted; when the amplitude of the stator current is larger than IswiIn the process, the output efficiency of the asymptote fitting method is higher than that of the parabola fitting method, so that the asymptote fitting method is adopted to output the efficiency.
In order to further verify the analysis conclusion of the influence of different given values on the output torque of the parabola fitting method and the asymptote fitting method respectively, the actual curve is used as a comparison group for ImaxThe output torques of the three MTPA curves in the maximum torque state were compared for 7A, 16A, and 30A. Wherein, 3 MTPA intervals are given by speed step giving t 0.04s, 0.06s, 0.08s respectively, the control strategy switches from actual to parabolic fitting when t 0.055s, and switches from parabolic fitting to asymptotic fitting when 0.075 s.
As shown in FIG. 7, ImaxWhen the curve is 7A, the curve is basically coincident with the parabola fitting curveThe output torques of the two are also kept the same. However, since the asymptote fitting curve is still in the control stage where id is 0, the output torque is significantly smaller than that of the parabolic fitting method. When I ismaxWhen the switching point is 12A, the switching point is gradually approached toswitchThe output torque of the parabolic fit and the asymptotic fit are substantially the same, but significantly slightly lower than the actual method. When I ismaxAt 28A, the actual curve is gradually separated from the parabolic fit curve and approaches the asymptotic fit curve, so the output torque of the asymptotic fit curve is significantly greater than that of the parabolic fit curve and substantially coincides with the actual curve output torque.
Therefore, the effect achieved by the invention is verified: when the current amplitude is small, a parabola is used as a fitting curve of the MTPA to output larger torque; current amplitude is in IswitAfter the system is close to the system, the parabolic fitting curve is switched to the asymptotic fitting curve, so that the torque output efficiency of the system is gradually increased, and the problem of torque output efficiency reduction caused by continuous use of the parabolic fitting curve is solved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (4)

1. A fitting method for a permanent magnet synchronous motor MTPA control curve is characterized by comprising the following steps:
s1, obtaining a motor parameter psi of the permanent magnet synchronous motor in real timef、LdAnd LqAnd the output of the rotation speed regulator is equivalent to IsWherein, in the step (A),
Figure FDA0002712468990000011
s2. based on psif、LdAnd LqCalculating the switching current IswitchSwitching the current IswitchIs calculated as follows：
Figure FDA0002712468990000012
S3, judging whether I is presents＞IswitchIf yes, fitting an asymptote to the id、iqRelation, otherwise, fitting i with a parabolad、iqThe relation of the formula is shown in the specification,
the parabolic fit equation is as follows:
Figure FDA0002712468990000013
the asymptote fit equation is as follows:
Figure FDA0002712468990000014
wherein psifRepresents the permanent magnetic flux linkage, L, in an equivalent dq coordinate systemd、LqRespectively representing d-axis and q-axis inductances, I, of the PMSM in the dq coordinate systemsRepresenting motor stator current amplitude, idRepresenting the d-axis component, i, of the motor stator currentqRepresenting the q-axis component of the motor stator current.
2. The method of claim 1, further comprising:
s4, combining an input variable expression of the MTPA link with an MTPA fitting curve relational expression, and solving id、iqThe value of (c).
3. The method of claim 2, wherein Is＞IswitchThen, simultaneously obtain id、iqThe values of (a) are as follows:
Figure FDA0002712468990000015
Figure FDA0002712468990000016
Is≤Iswitchthen, simultaneously obtain id、iqThe values of (a) are as follows:
Figure FDA0002712468990000017
Figure FDA0002712468990000021
4. a computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, implements the method of fitting a control curve of a permanent magnet synchronous motor MTPA according to any of claims 1 to 3.
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