CN111030540A - Permanent magnet synchronous motor current source and non-inductive vector control seamless switching method - Google Patents
Permanent magnet synchronous motor current source and non-inductive vector control seamless switching method Download PDFInfo
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- CN111030540A CN111030540A CN201911346584.7A CN201911346584A CN111030540A CN 111030540 A CN111030540 A CN 111030540A CN 201911346584 A CN201911346584 A CN 201911346584A CN 111030540 A CN111030540 A CN 111030540A
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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
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
A permanent magnet synchronous motor current source and noninductive vector control seamless switching method is characterized in that a control method in a seamless switching controller module mainly comprises two aspects, namely a frequency rising stage switching method of a starting process, switching from I/F vector control to noninductive vector control, and switching from noninductive vector control to I/F vector control in a frequency falling stage; the control algorithm is realized by using software programming, and under the control of the switching method, the permanent magnet synchronous motor can smoothly complete the switching without current impact in the frequency rising stage and the frequency falling stage in the starting process.
Description
Technical Field
The invention relates to a control technology of a permanent magnet synchronous motor, in particular to a seamless switching method for current source and non-inductive vector control of the permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high energy density, long service life, no pollution and easy maintenance, and is widely applied to the fields of industrial control, energy transportation military equipment and the like. At present, a plurality of permanent magnet synchronous motors all adopt a control mode without a position sensor, although the motor cost and the installation difficulty are reduced, the reliability of a system is improved, an effective switching method is required to be adopted for switching when the motor control mode is changed, the motor torque imbalance and the impact current overlarge in the switching process are prevented, however, due to the fact that the difference of electrical parameters of the motor is large, different motors need to be switched to adjust the switching parameters, the debugging time and the debugging energy are increased, and even the motor can still not be switched successfully after the parameters are repeatedly adjusted.
The starting process of the existing permanent magnet synchronous motor generally adopts a composite control strategy, a low-speed area adopts I/F control, a middle-high area adopts speed-sensorless control, the fluctuation of rotating speed can be caused in the switching process of two vector controls under the general condition, especially the current oscillation can be generated when the switching is carried out when the load torque is suddenly changed, and the step-out can be generated.
Disclosure of Invention
In order to solve the problems, the invention provides a seamless switching method for current source and non-inductive vector control of a permanent magnet synchronous motor, which solves the problem of impact generated in the two switching processes, so that the impact is extremely small, the seamless switching performance is achieved, and the smooth switching of the permanent magnet synchronous motors with different parameters can be ensured. In order to achieve the purpose, the invention adopts the technical scheme that: a seamless switching method for current source and noninductive vector control of a permanent magnet synchronous motor comprises a control system, wherein the control system comprises a current controller module 101, a Clarke and Park inverse transformation module 102, a Clarke and Park transformation module 103, a rotor speed estimation module 104, a speed controller module 105, a seamless switching controller module 106 and a modulation driving module 107, as shown in figure 1, the seamless switching controller module is a permanent magnet synchronous motor vector control system block diagram, and the modulation driving module 107 is electrically connected with a permanent magnet synchronous motor PMSM201 through an inverter module 109; the control method of the invention is mainly a control method in the seamless switching controller module 106, and the control process mainly comprises two aspects, namely a method for switching the frequency rising stage of the starting process from the I/F vector control to the non-inductive vector control process, and a method for switching the non-inductive vector control process to the I/F vector control process in the frequency falling stage.
The switching method of the frequency rising phase in the starting process comprises the following steps:
1. the motor Is started in an I/F vector control mode, a rotor speed estimation module 104 in the non-inductive vector control Is also started at the same time, an exciting current given value Id Is set to be 0, a torque current given value Iq Is set to be Is, a rotation angle Is generated by software according to running given frequency to replace the actual rotation angle of the rotor, and at the moment, the whole process Is in a speed open-loop and current closed-loop control state;
2. after the motor is started, constantly judging the running frequency of the motor, judging whether the running frequency enters a switching frequency range, wherein the set switching frequency range is 0.2Hz above and below the set switching frequency, and then calculating an angle difference value between the simulated rotation angle and an angle Thelt _ e estimated by the rotor speed estimation module 104;
3. judging whether the angle difference meets the switching requirement or not according to the calculated angle difference, wherein the set angle difference range is within plus or minus 3.6 degrees, if the angle difference meets the requirement, replacing a simulation rotation angle by an angle Thelt _ e estimated by a rotor speed estimation module 104, sending a rotation speed Wr estimated by the rotor speed estimation module 104 into a speed controller module 105 as a feedback speed, and taking an output Iq _ s of the speed controller module 105 as a given current Iq of a torque current, wherein at the moment, the whole control system is in a double closed loop state of a speed closed loop and a current closed loop;
4. if the calculated angle difference does not meet the requirement, keeping the operation frequency unchanged at the moment, adjusting the current of the exciting current given value Id to gradually increase according to the rule of a sine function, adjusting the torque current given value Iq current to gradually decrease according to the rule of a cosine function, wherein Id Is IS sin (tk), and Iq Is cos (tk), wherein tk Is an intermediate variable, tk Is linearly transformed, the transformation range Is within plus or minus 90 degrees, Is the stator current set before the motor Is started, the total stator current amplitude Is always kept unchanged during the whole adjusting and switching process, and the torque current given value Iq Is fed back to the speed controller module 105 to be used as the output of the speed controller at the control stage;
5. the excitation current Id is gradually reduced and the frequency rise is started until a given excitation current Id is gradually reduced to 0, at which point the seamless switching process of the frequency rise phase is completed.
The control method in the frequency reduction stage comprises the following steps:
1. judging whether the current operating frequency enters a switching frequency range, wherein the switching frequency range is set to be a range of 0.2Hz above and below the switching frequency;
2. linearly increasing the torque current Iq while stopping the operation of the speed controller module 105 when the operating frequency is operating within the range of the switching frequency;
3. until the torque current Iq reaches the given value Is, then gradually and linearly reducing the exciting current Id to the given value until the exciting current Is 0, and simultaneously making the intermediate variable tk equal to 0, at this time, the seamless switching process in the frequency reduction stage Is completed.
Compared with the prior art, the invention has the following beneficial effects: the control algorithm is realized by using software programming, and under the control of the switching method, the permanent magnet synchronous motor can smoothly complete the switching without current impact in the frequency rising stage and the frequency falling stage in the starting process.
Drawings
The present invention is described in further detail below with reference to the attached drawings.
FIG. 1 is a block diagram of a vector control system of a permanent magnet synchronous motor according to the present invention;
FIG. 2 is a block diagram of the control flow of the seamless switching controller of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described with reference to fig. 1 and 2 and specific examples.
As shown in fig. 1 and fig. 2, a method for seamless switching between current source control and noninductive vector control of a permanent magnet synchronous motor includes a control system, where the control system includes a current controller module 101, a Clarke and Park inverse transformation module 102, a Clarke and Park transformation module 103, a rotor speed estimation module 104, a speed controller module 105, a seamless switching controller module 106, and a modulation driving module 107, and the modulation driving module 107 is electrically connected to a permanent magnet synchronous motor PMSM201 through an inverter module 109; the control method of the invention is mainly a control method in the seamless switching controller module 106, and the control process mainly comprises two aspects, namely a method for switching the frequency rising stage of the starting process from the I/F vector control to the non-inductive vector control process, and a method for switching the non-inductive vector control process to the I/F vector control process in the frequency falling stage.
A permanent magnet synchronous motor current source and noninductive vector control seamless switching method comprises the following steps:
1. calculating the magnitude of the Iq _ e current according to the rotor angle estimated by the rotor speed estimation module 104 and the Ia and Ib two-phase currents obtained by actually sampling the inverter module 109;
2. judging whether the running frequency of the system is increased or decreased;
I) if the operating frequency rises, judging whether the operating frequency enters a switching range, wherein the set switching frequency range is 0.2Hz above and below the set switching frequency;
i) if the operating frequency is not in the switching range, making the exciting current Id equal to 0, increasing the frequency to continue operating, and then returning to the step I);
ii) if the operating frequency is within the switching range, calculating an angle difference between the simulated rotation angle and an angle Thelt _ e estimated by the rotor speed estimation module 104, and judging whether the angle difference meets the switching requirement, wherein the set angle difference range is within plus or minus 3.6 degrees;
iii) if the angle difference satisfies the switching requirement, replacing the simulated rotation angle with the angle Thelt _ e estimated by the rotor speed estimation module 104, sending the rotation speed Wr estimated by the rotor speed estimation module 104 to the speed controller module 105 as a feedback speed, and taking the output Iq _ s of the speed controller module 105 as the given current Iq of the torque current, at this time, the whole control system is in a double closed loop state of a speed closed loop and a current closed loop, gradually reducing the exciting current Id, and starting to increase the frequency until the given exciting current Id is gradually reduced to 0, at this time, the seamless switching process in the frequency increasing stage is completed;
iv) if the angle difference does not meet the switching requirement, keeping the operation frequency unchanged, if Iq is greater than Iq _ e, increasing the angle t, and tk is tk + k is s; if Iq ≦ Iq _ e, decreasing the angle t, tk ═ tk — ks;
v) adjusting the current of the exciting current given value Id to gradually increase according to the rule of a sine function, adjusting the torque current given value Iq according to the rule of a cosine function to gradually decrease, wherein Id Is sin (tk), Iq Is cos (tk), and tk Is an intermediate variable, tk Is linearly transformed within a transformation range of plus or minus 90 degrees, Is the stator current set before the motor starts, and in the whole adjusting and switching process, the total stator current amplitude Is always kept unchanged, and in the control stage, the torque current given value Iq Is fed back to the speed controller module 105 to be used as the output of the speed controller;
II) if the running frequency is reduced, judging whether the running frequency enters a switching range, wherein the set switching frequency range is 0.2Hz above and below the set switching frequency;
1) if the operating frequency is not in the switching range, the operating frequency is reduced to continue operating, and then the step II) is returned;
2) if the operating frequency is within the switching range, linearly increasing the torque current Iq while stopping the operation of the speed controller module 105;
3) until the torque current Iq reaches a given value Is, gradually and linearly reducing the exciting current Id to a given value until the exciting current Is 0, simultaneously making the intermediate variable tk equal to 0, and replacing the angle Thelt _ e estimated by the rotor speed estimation module 104 with the simulated rotation angle, at this time, completing the seamless switching process in the frequency reduction stage.
Compared with the prior art, the invention has the following beneficial effects: the control algorithm is realized by using software programming, and under the control of the switching method, the permanent magnet synchronous motor can smoothly complete the switching without current impact in the frequency rising stage and the frequency falling stage in the starting process.
The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention.
Claims (5)
1. A permanent magnet synchronous motor current source and noninductive vector control seamless switching method is characterized in that the switching method in the frequency rising stage in the starting process comprises the following steps:
1) the motor Is started in an I/F vector control mode, a rotor speed estimation module (104) in non-inductive vector control Is started at the same time, an exciting current given value Id Is set to be 0, a torque current given value Iq Is set to be Is, a rotation angle Is generated by software according to running given frequency to replace an actual rotor rotation angle, and at the moment, the whole process Is in a speed open-loop and current closed-loop control state;
2) after the motor is started, constantly judging the running frequency of the motor, judging whether the running frequency enters the range of switching frequency, and then calculating the angle difference between the simulated rotation angle and the angle Thelt _ e estimated by the rotor speed estimation module (104);
3) judging whether the angle difference meets the switching requirement or not according to the calculated angle difference, if so, replacing the simulated rotation angle by an angle Thelt _ e estimated by a rotor speed estimation module (104), sending the rotation speed Wr estimated by the rotor speed estimation module (104) to a speed controller module (105) as a feedback speed, and taking the output Iq _ s of the speed controller module (105) as a given current Iq of a torque current, wherein at the moment, the whole control system is in a double closed loop state of a speed closed loop and a current closed loop;
4) if the calculated angle difference does not meet the requirement, keeping the operation frequency unchanged at the moment, adjusting the current of an exciting current given value Id according to the rule of a sine function to gradually increase, adjusting a torque current given value Iq current according to the rule of a cosine function to gradually decrease, wherein Id = Is sin (tk), Iq = Is cos (tk), wherein tk Is a middle variable, tk Is linearly transformed within a transformation range of plus or minus 90 degrees, Is a stator current set before the motor Is started, in the whole adjusting and switching process, the total stator current amplitude Is always kept unchanged, and in the control stage, the torque current Iq given value Is fed back to a speed controller module (105) to be used as the output of a speed controller;
5) the excitation current Id is gradually reduced and the frequency rise is started until a given excitation current Id is gradually reduced to 0, at which point the seamless switching process of the frequency rise phase is completed.
2. The method for seamless switching between current source and non-inductive vector control of a permanent magnet synchronous motor according to claim 1, wherein the control method in the frequency reduction stage comprises the following steps:
1) judging whether the current operating frequency enters the range of switching frequency;
2) linearly increasing the torque current Iq while stopping operation of the speed controller module (105) when the operating frequency is operating within the range of the switching frequency;
3) until the torque current Iq set value reaches Is, then gradually linearly reducing the exciting current Id set value until the exciting current Is 0, and simultaneously letting the intermediate variable tk =0, at this time, the seamless switching process in the frequency reduction stage Is completed.
3. The method for seamless switching between current source and non-inductive vector control of permanent magnet synchronous motor according to claim 1, wherein the range of switching frequency set in step 2) is 0.2Hz above and below the set switching frequency.
4. The method for seamless switching between the current source and the non-inductive vector control of the permanent magnet synchronous motor according to claim 1, wherein the angular difference set in the step 3) is within plus or minus 3.6 degrees.
5. The method for seamless switching between the current source and the non-inductive vector control of the permanent magnet synchronous motor according to claim 2, wherein the range of the switching frequency in the step 1) is set to be 0.2Hz above and below the switching frequency.
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| CN201911346584.7A CN111030540B (en) | 2019-12-24 | 2019-12-24 | Seamless switching method for current source and noninductive vector control of permanent magnet synchronous motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111555671A (en) * | 2020-06-03 | 2020-08-18 | 广州思智科技有限公司 | Rotor position determining method and system for direct-current brushless motor |
| CN116915107A (en) * | 2023-09-11 | 2023-10-20 | 希望森兰科技股份有限公司 | Variable frequency soft start control method for vector start automatic VF switching control |
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