CN111064405A - Motor flux weakening control method and device and electrical equipment - Google Patents

Motor flux weakening control method and device and electrical equipment Download PDF

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Publication number
CN111064405A
CN111064405A CN201911395589.9A CN201911395589A CN111064405A CN 111064405 A CN111064405 A CN 111064405A CN 201911395589 A CN201911395589 A CN 201911395589A CN 111064405 A CN111064405 A CN 111064405A
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value
voltage
weak magnetic
current
axis
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王声纲
涂小平
唐婷婷
高向军
任艳华
朱绯
杨正
陈跃
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Sichuan Hongmei Intelligent Technology Co Ltd
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Sichuan Hongmei Intelligent Technology Co Ltd
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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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The application provides a motor flux weakening control method and device and electrical equipment. The method comprises the following steps: after the motor is electrified, determining a relevant value of a weak magnetic opening voltage threshold; performing every predetermined period: acquiring the current D-axis voltage and Q-axis voltage of the motor; determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage; and judging whether weak magnetic control is needed or not according to the correlation value of the current voltage command value and the correlation value of the weak magnetic opening voltage threshold, if so, entering weak magnetic control, and increasing the numerical value of D-axis current. The method and the device can simplify the flux weakening control process.

Description

Motor flux weakening control method and device and electrical equipment
Technical Field
The invention relates to the technical field of household appliances, in particular to a motor flux weakening control method and device and electrical equipment.
Background
In the vector control method of the permanent magnet synchronous motor, the output of an inverter is required to be increased linearly along with the increase of the rotating speed of the motor. However, the rotation speed is limited, for example, firstly, the voltage output by the inverter is limited, secondly, the stator current space vector cannot exceed the current limit circle, and thirdly, the control voltage space vector cannot exceed the voltage limit circle under the current rotation speed condition. When the rotation speed of the motor rises, the ellipse is reduced. When either limit is reached, the rotational speed of the motor rotor cannot be increased further. At the moment, the flux weakening control can be carried out only by changing the running track of the space voltage vector or the space current vector of the motor, so that the purpose of improving the rotating speed of the motor rotor by flux weakening regulation is achieved.
The method described in the prior patent application "permanent magnet synchronous motor field weakening control method CN 201710614203.3" is used for field weakening control by setting the rotating speed omega*Performing PI regulation on the deviation between the actual rotating speed omega and the fed back rotating speed to obtain control current
Figure BDA0002346208810000011
Commanding d-axis to control current
Figure BDA0002346208810000012
And the actual current idPerforming PI regulation on the deviation to obtain an output voltage U of a d axisd. The regulation in this way involves two PI control regulations, for a total of four control parameters. The method controls the load, the relation between the control parameter and the system is tight, and unstable factors are easy to generate.
In the method described in the prior patent application "flux weakening control method, device and system for permanent magnet synchronous motor and automobile CN 201510960288.1", in order to perform flux weakening control, a corresponding current value is searched according to a torque command, a related voltage value is obtained through the current value, and a PWM modulation degree is obtained through the voltage value. And comparing the obtained adjustment degree with a preset adjustment degree, and obtaining a weak magnetic current feedback value through PI regulation to achieve the purpose of regulating the D-axis current. The scheme is also applied to PI regulation, the control mode is complex, and the requirement on PI parameters is high.
Therefore, the current weak magnetic control of the motor needs to apply PI regulation, is complex and has high dependence on motor parameters, a control system and the like.
Disclosure of Invention
The embodiment of the invention provides a motor flux weakening control method, a motor flux weakening control device and electrical equipment, which can simplify a flux weakening control process.
The motor field weakening control method comprises the following steps:
after the motor is electrified, determining a relevant value of a weak magnetic opening voltage threshold;
performing every predetermined period:
acquiring the current D-axis voltage and Q-axis voltage of the motor;
determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage;
and judging whether weak magnetic control is needed or not according to the correlation value of the current voltage command value and the correlation value of the weak magnetic opening voltage threshold, if so, entering weak magnetic control, and increasing the numerical value of D-axis current.
Wherein the determining the relevant value of the weak magnetic turn-on voltage threshold comprises:
by reducing the bus voltage VmaxTo obtain the correlation value of the weak magnetic turn-on voltage threshold.
Preferably, said passing reduces the bus voltage VmaxObtaining a correlation value of the weak magnetic turn-on voltage threshold, including:
calculating the weak magnetic turn-on voltage threshold value V by using the following formulaupThe square value of (d):
Figure BDA0002346208810000021
or
Figure BDA0002346208810000022
Wherein, the VmaxA is a predetermined value for the bus voltage, and α is a coefficient value less than 1.
Wherein, the determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and the Q-axis voltage includes:
the square value of the current voltage command value is calculated by the following formula:
Figure BDA0002346208810000031
Vdfor the currently acquired D-axis voltage, VqThe current obtained Q-axis voltage;
and/or the presence of a gas in the gas,
the judging whether to need to perform the field weakening control according to the correlation value of the current voltage command value and the correlation value of the field weakening starting voltage threshold value comprises the following steps:
and judging whether the square value of the current voltage command value is larger than the square value of the weak magnetic opening voltage threshold value or not, and if so, determining that weak magnetic control is required.
Optionally, further comprising: by reducing the bus voltage VmaxObtaining a correlation value of a weak magnetic turn-off voltage threshold, wherein the correlation value of the weak magnetic turn-off voltage threshold is smaller than the correlation value of the weak magnetic turn-on voltage threshold;
after the entering flux weakening control, further comprising:
and judging whether the correlation value of the current voltage command value is smaller than the correlation value of the weak magnetic closing voltage threshold value, if so, exiting the weak magnetic control and reducing the numerical value of the D-axis current.
Wherein the passing reduces the bus voltage VmaxObtaining the correlation value of the weak magnetic turn-off voltage threshold value comprises the following steps:
calculating the weak magnetic closing voltage threshold value V by using the following formuladnThe square value of (d):
Figure BDA0002346208810000032
or
Figure BDA0002346208810000033
Wherein Vmax is the bus voltage, B is a preset value, and β is a coefficient value smaller than 1;
and/or the presence of a gas in the gas,
the reducing the value of the D-axis current comprises:
d axis current
Figure BDA0002346208810000034
Wherein lambda is less than 1.
Optionally, the increasing the value of the D-axis current comprises:
d axis current
Figure BDA0002346208810000035
Wherein mu is more than 1.
The motor field weakening control device comprises:
the weak magnetic condition setting module is used for determining a relevant value of a weak magnetic starting voltage threshold;
the voltage acquisition module is used for executing the following steps every preset period after the motor is powered on: acquiring the current D-axis voltage and Q-axis voltage of the motor; determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage;
and the weak magnetic control module judges whether weak magnetic control is needed or not according to the correlation value of the current voltage command value determined by the voltage acquisition module and the correlation value of the weak magnetic starting voltage threshold determined by the weak magnetic condition setting module, and controls to enter the weak magnetic control if the weak magnetic control is needed, so that the numerical value of the D-axis current is increased.
Optionally, the weak magnetic condition setting module further reduces the bus voltage VmaxObtaining a correlation value of the weak magnetic closing voltage threshold; wherein the correlation value of the weak magnetic turn-off voltage threshold is smaller than the correlation value of the weak magnetic turn-on voltage threshold;
and the weak magnetic control module further judges whether the correlation value of the current voltage command value is smaller than the correlation value of the weak magnetic closing voltage threshold value after the control enters the weak magnetic control, and if so, the weak magnetic control module exits the weak magnetic control and reduces the numerical value of the D-axis current.
An electrical device comprising: one or more processors; a memory; a plurality of application programs; and one or more programs, wherein the one or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electrical equipment is enabled to execute the motor field weakening control method flow in any embodiment of the invention.
Therefore, according to the motor field weakening control method, the motor field weakening control device and the electrical equipment provided by the embodiment of the invention, the relevant value of the current voltage command value required by the motor is determined, namely, the relevant value of the voltage actually required by the motor is determined, and the relevant value of the field weakening starting voltage threshold value is determined according to the bus voltage, namely, the voltage value provided by the actual capacity is determined. Therefore, if the correlation value of the current voltage command value is greater than the correlation value of the weak magnetic opening voltage threshold, it indicates that the correlation voltage actually required by the current motor exceeds the correlation voltage that the actual capability can provide, the weak magnetic control is required to be entered so as to ensure the high-speed rotation of the motor, and after entering the weak magnetic control, the purpose of reducing the actual current value is achieved by increasing the negative current, namely the value of the D-axis current. Therefore, the embodiment of the invention only needs to compare the voltage command value with the weak magnetic starting voltage threshold value to determine the magnitude of the D-axis current, thereby achieving the purpose of weak magnetic control without various complex processing and PI regulation, and simplifying the weak magnetic control process.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a field weakening control method for a motor according to an embodiment of the present invention.
Fig. 2 is a flow chart of a motor field weakening control method in another embodiment of the invention.
Fig. 3 is a schematic structural diagram of a field weakening control device of a motor according to an embodiment of the present invention.
Detailed Description
An embodiment of the present invention provides a motor field weakening control method, referring to fig. 1, including:
step 101: and powering on the motor.
Step 102: the bus voltage is measured.
Step 103: and determining a relevant value of the weak magnetic opening voltage threshold according to the measured bus voltage.
Step 104: executing steps 1041 to 1044 every predetermined period:
step 1041: and acquiring the current D-axis voltage and Q-axis voltage of the motor.
Step 1042: determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage;
step 1043: and judging whether weak magnetic control is needed or not according to the correlation value of the current voltage command value and the correlation value of the weak magnetic opening voltage threshold, if so, executing the step 1044, otherwise, returning to the step 1041.
Step 1044: and (5) entering flux weakening control, increasing the numerical value of the D-axis current, and ending the current flow.
It can be seen that the motor field weakening control method provided by the embodiment of the invention shown in fig. 1 is implemented because the relevant value of the current voltage command value required by the motor is determined, that is, the relevant value of the voltage actually required by the motor is determined, and the relevant value of the field weakening starting voltage threshold value is determined according to the bus voltage, that is, the voltage value that the actual capacity can provide is determined. Therefore, if the correlation value of the current voltage command value is greater than the correlation value of the weak magnetic opening voltage threshold, it indicates that the correlation voltage actually required by the current motor exceeds the correlation voltage that the actual capability can provide, the weak magnetic control is required to be entered so as to ensure the high-speed rotation of the motor, and after entering the weak magnetic control, the purpose of reducing the actual current value is achieved by increasing the negative current, namely the value of the D-axis current. Therefore, the embodiment of the invention only needs to compare the voltage command value with the weak magnetic starting voltage threshold value to determine the magnitude of the D-axis current, thereby achieving the purpose of weak magnetic control without various complex processing and PI regulation, and simplifying the weak magnetic control process.
In the embodiment of the present invention, the "correlation value" may be determined as needed. For example, it is the data itself, or other mathematical calculations of the data, such as the square of the data, the cube of the data, etc. May be determined as desired. For example, the relevant value of the current voltage command value may be the current voltage command value itself, or a square value or a cubic value thereof; the related value of the weak magnetic turn-on voltage threshold can be the weak magnetic turn-on voltage threshold itself, or the square value or the cubic value thereof, and so on.
In step 103, a relevant value of the weak magnetic turn-on voltage threshold is determined according to the measured bus voltage, so that the threshold for entering the weak magnetic control (i.e. the relevant value of the weak magnetic turn-on voltage threshold) represents the voltage that can be provided by the actual capability of the device.
In actual service implementation, the weak magnetic turn-on voltage threshold can be directly made to be equal to the value of the bus voltage, that is, the correlation value of the weak magnetic turn-on voltage threshold is equal to the correlation value of the bus voltage. However, the bus voltage V can also be reduced by taking the buffering requirements of the actual service into accountmaxTo obtain the correlation value of the weak magnetic turn-on voltage threshold.
By reducing the bus voltage VmaxThere are various ways to obtain the correlation value of the weak magnetic turn-on voltage threshold, for example, the weak magnetic turn-on voltage threshold V can be calculated by the following formulaupThe square value of (d):
Figure BDA0002346208810000061
or
Figure BDA0002346208810000062
Wherein, VmaxIs bus voltageA is a predetermined value, and α is a coefficient value less than 1.
In practical service implementation, the bus voltage V can be reduced to a smaller extentmaxThe weak magnetic turn-on voltage threshold value is obtained more reasonably. Thus, the parameter A may be, for example, 1% VmaxOr 0.5% VmaxThe parameter α may be 90%, for example.
The step 104 is performed in real time, that is, it needs to detect whether the field weakening control needs to be performed in real time. The predetermined period in step 104 may be determined according to actual traffic demands, for example the predetermined period may be every other millisecond.
In an embodiment of the present invention, the step 1042 may determine a relevant value of the current voltage command value required by the motor according to the current D-axis voltage and the Q-axis voltage by:
the square value of the current voltage command value is calculated by the following formula:
Figure BDA0002346208810000071
Vdfor the currently acquired D-axis voltage, VqIs the currently acquired Q-axis voltage.
The square of the current voltage command value required for the motor is determined according to the current D-axis voltage and Q-axis voltage, and thus, the square of the current voltage command value reflects the voltage required for the motor to operate.
In an embodiment of the present invention, the step 1043 determines whether to perform the field weakening control according to the correlation value of the current voltage command value and the correlation value of the field weakening starting voltage threshold, and specifically includes:
and judging whether the square value of the current voltage command value is larger than the square value of the weak magnetic opening voltage threshold value or not, and if so, determining that weak magnetic control is required.
After the flux-weakening control is performed in step 1044, the D-axis current is a negative current, and thus, increasing the value of the D-axis current reduces the motor current, thereby meeting the requirement of flux-weakening control.
In step 1044, the value of the D-axis current is increasedThe method can be as follows: d axis current
Figure BDA0002346208810000072
Wherein μ is D-axis current
Figure BDA0002346208810000073
The coefficient of change in the weak magnetic state, mu > 1.
Electric current
Figure BDA0002346208810000074
Including but not limited to this approach.
In view of the minimum limit value requirement, if
Figure BDA0002346208810000075
Less than the minimum value i of the D-axis currentdminThen, then
Figure BDA0002346208810000076
In the field weakening control shown in fig. 1, after the field weakening control is entered in step 1044, in order to better meet the service requirement, the operation condition of the motor may be detected in real time, so as to determine whether the current operation state of the motor does not need to continue the field weakening control. Thus, in an embodiment of the present invention, the method may further include: by reducing the bus voltage VmaxObtaining a correlation value of a weak magnetic turn-off voltage threshold, wherein the correlation value of the weak magnetic turn-off voltage threshold is smaller than the correlation value of the weak magnetic turn-on voltage threshold; step 1044 further comprises, after the entering flux weakening control:
and judging whether the correlation value of the current voltage command value is smaller than the correlation value of the weak magnetic closing voltage threshold value, if so, exiting the weak magnetic control and reducing the numerical value of the D-axis current.
By reducing the bus voltage VmaxThe correlation value of the weak magnetic turn-off voltage threshold can be obtained in various ways, for example, the square value of the magnetic turn-off voltage threshold can be calculated by the following formula:
Figure BDA0002346208810000081
or
Figure BDA0002346208810000082
Wherein, the VmaxIs bus voltage, B is a predetermined value, and B > A, β is a coefficient value less than 1, and β is less than α;
in practical service implementations, the bus voltage V can be reduced to a smaller extentmaxThe weak magnetic closing voltage threshold value is obtained more reasonably. Thus, the parameter B may be, for example, 10% VmaxThe parameter β may be 80%, for example.
In the process of exiting the field weakening control, the manner of reducing the value of the D-axis current may be various, and may be calculated as follows: d axis current
Figure BDA0002346208810000083
Wherein lambda is less than 1.
A process of field weakening control of the motor of the present invention is described below by an embodiment in which the correlation values are all processed as squared values, see fig. 2, including:
step 201: and powering on the motor.
Step 202: the bus voltage is measured.
Step 203: and calculating the square value of the weak magnetic opening voltage threshold according to the measured bus voltage.
In step 203, the square value of the weak magnetic turn-on voltage threshold
Figure BDA0002346208810000084
Or
Figure BDA0002346208810000085
Wherein, VmaxA is a predetermined value for the bus voltage, and α is a coefficient value less than 1.
Step 204: and calculating the square value of the weak magnetic closing voltage threshold according to the measured bus voltage.
In step 204, the square value of the weak magnetic turn-off voltage threshold
Figure BDA0002346208810000086
Or
Figure BDA0002346208810000087
Wherein Vmax is the bus voltage, B is a predetermined value, and B > A, β is a coefficient value less than 1, and β is less than α.
Step 205: steps 2051 to 2059 are executed every predetermined cycle:
in this step, the period may be determined according to the actual service requirement, for example, may be set to 1 millisecond.
Step 2051: and acquiring the current D-axis voltage and Q-axis voltage of the motor in real time.
It is understood that the current D-axis voltage and the current Q-axis voltage of the motor may be calculated by the current D-axis current and the current Q-axis current of the motor, respectively.
Step 2052: and calculating in real time to obtain a square value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage.
Here, the square value of the current voltage command value required for the motor
Figure BDA0002346208810000091
Step 2053: judging whether the square value of the current calculated voltage command value is larger than the square value of the weak magnetic opening voltage threshold value, namely whether V is larger than V2Is greater than
Figure BDA0002346208810000092
If so, go to step 2054, otherwise return to step 2051.
Step 2054: and (5) entering flux weakening control, and increasing the numerical value of the D-axis current.
This step, D-axis current
Figure BDA0002346208810000093
WhereinMu is D-axis current
Figure BDA0002346208810000094
The coefficient of change in the weak magnetic state, mu > 1.
Step 2055: judging whether the current D-axis current value is smaller than the preset minimum threshold value of the D-axis current, namely
Figure BDA0002346208810000095
Whether or not less than idminIf so, step 2056 is performed, otherwise step 2057 is performed.
Step 2056: making the D-axis current value equal to the minimum threshold value of the D-axis current
Figure BDA0002346208810000096
Step 2058 is performed.
Step 2057: the current D-axis current value remains unchanged.
Step 2058: judging whether the square value of the current calculated voltage command value is smaller than the square value of the weak magnetic closing voltage threshold value, namely whether V is2Is less than
Figure BDA0002346208810000097
If so, go to step 2059, otherwise return to step 2058.
Step 2059: and exiting the field weakening control and reducing the numerical value of the D-axis current.
In step 2059, specifically, to reduce the value of the D-axis current, the D-axis current may be enabled
Figure BDA0002346208810000098
Wherein lambda is less than 1.
In the above process, if
Figure BDA0002346208810000101
Greater than 0, then
Figure BDA0002346208810000102
An embodiment of the present invention further provides a motor field weakening control device, referring to fig. 3, including:
a weak magnetic condition setting module 301, configured to determine a correlation value of a weak magnetic turn-on voltage threshold;
a voltage obtaining module 302, configured to, after the motor is powered on, perform, every predetermined period: acquiring the current D-axis voltage and Q-axis voltage of the motor; determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage;
the weak magnetic control module 303 determines whether weak magnetic control is required according to the correlation value of the current voltage command value determined by the voltage obtaining module 302 and the correlation value of the weak magnetic starting voltage threshold determined by the weak magnetic condition setting module 301, and if yes, controls to enter the weak magnetic control and increases the value of the D-axis current.
In an embodiment of the present invention, the weak magnetic condition setting module 301 may decrease the bus voltage V when determining the relevant value of the weak magnetic turn-on voltage thresholdmaxTo obtain the correlation value of the weak magnetic turn-on voltage threshold.
For example, the weak magnetic condition setting module 301 calculates the weak magnetic turn-on voltage threshold V using the following formulaupThe square value of (d):
Figure BDA0002346208810000103
or
Figure BDA0002346208810000104
Wherein, the VmaxA is a predetermined value for the bus voltage, and α is a coefficient value less than 1.
In an embodiment of the present invention, when the voltage obtaining module 302 determines the relevant value of the current voltage command value required by the motor, the square value of the current voltage command value is calculated by the following formula:
Figure BDA0002346208810000105
Vdfor the currently acquired D-axis voltage, VqFor the currently acquired Q-axisA voltage.
In an embodiment of the present invention, the weak magnetic control module 303 specifically determines whether a square value of the current voltage command value is greater than a square value of the weak magnetic start voltage threshold, and if so, determines that weak magnetic control is required.
In an embodiment of the present invention, the flux weakening condition setting module 301 further reduces the bus voltage VmaxObtaining a correlation value of the weak magnetic closing voltage threshold; wherein the correlation value of the weak magnetic turn-off voltage threshold is smaller than the correlation value of the weak magnetic turn-on voltage threshold;
after the control enters the field weakening control, the field weakening control module 303 further determines whether a related value, such as a square value, of the current voltage command value is smaller than a related value, such as a square value, of the field weakening closing voltage threshold value, and if so, exits the field weakening control and reduces the value of the D-axis current. For example, the weak magnetic control module 303 calculates the weak magnetic closing voltage threshold V using the following formuladnThe square value of (d):
Figure BDA0002346208810000111
or
Figure BDA0002346208810000112
Wherein, the VmaxBus voltage, B is a predetermined value, and β is a coefficient value less than 1.
In an embodiment of the invention, when the weak magnetic control module 303 performs the reduction of the value of the D-axis current, the D-axis current is enabled
Figure BDA0002346208810000113
Wherein lambda is less than 1.
In an embodiment of the invention, when the weak magnetic control module 303 executes to increase the value of the D-axis current, the D-axis current is enabled
Figure BDA0002346208810000114
Wherein mu is more than 1.
An embodiment of the present invention further provides an electrical device, including: one or more processors; a memory; a plurality of application programs; and one or more programs, wherein the one or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electrical equipment is enabled to execute the motor field weakening control method flow in any embodiment of the invention.
In the embodiment of the present invention, the electric appliance may be a refrigerator, an air conditioner, a washing machine, or the like. That is to say, the motor field weakening control method and device provided by the embodiment of the invention can be applied to electrical equipment such as a refrigerator, an air conditioner or a washing machine.
It is understood that the illustrated structure of the embodiment of the invention does not constitute a specific limitation to the field weakening control device of the electrical equipment/motor. In other embodiments of the invention, the magnetic field weakening control of the electrical device/motor may comprise more or less components than shown, or combine certain components, or split certain components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
The embodiment of the invention also provides a computer readable medium, wherein the computer readable medium stores computer instructions, and when the computer instructions are executed by a processor, the processor is enabled to execute the motor field weakening control method in any embodiment of the invention. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.
In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.

Claims (10)

1. The motor field weakening control method is characterized by comprising the following steps:
after the motor is electrified, determining a relevant value of a weak magnetic opening voltage threshold;
performing every predetermined period:
acquiring the current D-axis voltage and Q-axis voltage of the motor;
determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage;
and judging whether weak magnetic control is needed or not according to the correlation value of the current voltage command value and the correlation value of the weak magnetic opening voltage threshold, if so, entering weak magnetic control, and increasing the numerical value of D-axis current.
2. The motor field weakening control method according to claim 1, wherein said determining a relevant value of a field weakening turn-on voltage threshold value comprises:
by reducing the bus voltage VmaxTo obtain the correlation value of the weak magnetic turn-on voltage threshold.
3. The motor field weakening control method according to claim 2, wherein said step of reducing the bus voltage V is performed by reducing the bus voltage VmaxObtaining a correlation value of the weak magnetic turn-on voltage threshold, including:
calculating the weak magnetic turn-on voltage threshold value V by using the following formulaupThe square value of (d):
Figure FDA0002346208800000011
or
Figure FDA0002346208800000012
Wherein, the VmaxA is a predetermined value for the bus voltage, and α is a coefficient value less than 1.
4. The motor field weakening control method according to claim 1, wherein the determining of the relevant value of the current voltage command value required by the motor according to the current D-axis voltage and the Q-axis voltage comprises:
the square value of the current voltage command value is calculated by the following formula:
Figure FDA0002346208800000013
Vdfor the currently acquired D-axis voltage, VqThe current obtained Q-axis voltage;
and/or the presence of a gas in the gas,
the judging whether to need to perform the field weakening control according to the correlation value of the current voltage command value and the correlation value of the field weakening starting voltage threshold value comprises the following steps:
and judging whether the square value of the current voltage command value is larger than the square value of the weak magnetic opening voltage threshold value or not, and if so, determining that weak magnetic control is required.
5. The motor field weakening control method according to any one of claims 1 to 4, further comprising: by reducing the bus voltage VmaxObtaining a correlation value of a weak magnetic turn-off voltage threshold, wherein the correlation value of the weak magnetic turn-off voltage threshold is smaller than the correlation value of the weak magnetic turn-on voltage threshold;
after the entering flux weakening control, further comprising:
and judging whether the correlation value of the current voltage command value is smaller than the correlation value of the weak magnetic closing voltage threshold value, if so, exiting the weak magnetic control and reducing the numerical value of the D-axis current.
6. The motor field weakening control method according to claim 5,
by reducing the bus voltage VmaxObtaining the correlation value of the weak magnetic turn-off voltage threshold value comprises the following steps:
calculating the weak magnetic closing voltage threshold value V by using the following formuladnThe square value of (d):
Figure FDA0002346208800000021
or
Figure FDA0002346208800000022
Wherein, the VmaxIs the bus voltage, B is a predetermined value, β is a coefficient value less than 1;
and/or the presence of a gas in the gas,
the reducing the value of the D-axis current comprises:
d axis current
Figure FDA0002346208800000023
Wherein lambda is less than 1.
7. The motor field weakening control method according to claim 1, 2, 3, 4 or 6, wherein the increasing of the value of the D-axis current comprises:
d axis current
Figure FDA0002346208800000024
Wherein mu is more than 1.
8. The motor field weakening control device is characterized by comprising:
the weak magnetic condition setting module is used for determining a relevant value of a weak magnetic starting voltage threshold;
the voltage acquisition module is used for executing the following steps every preset period after the motor is powered on: acquiring the current D-axis voltage and Q-axis voltage of the motor; determining a relevant value of a current voltage command value required by the motor according to the current D-axis voltage and Q-axis voltage;
and the weak magnetic control module judges whether weak magnetic control is needed or not according to the correlation value of the current voltage command value determined by the voltage acquisition module and the correlation value of the weak magnetic starting voltage threshold determined by the weak magnetic condition setting module, and controls to enter the weak magnetic control if the weak magnetic control is needed, so that the numerical value of the D-axis current is increased.
9. The motor field weakening control device according to claim 8,
the weak magnetic condition setting module further reduces the bus voltage VmaxObtaining a correlation value of the weak magnetic closing voltage threshold; wherein the correlation value of the weak magnetic turn-off voltage threshold is smaller than the correlation value of the weak magnetic turn-on voltage threshold;
and the weak magnetic control module further judges whether the correlation value of the current voltage command value is smaller than the correlation value of the weak magnetic closing voltage threshold value after the control enters the weak magnetic control, and if so, the weak magnetic control module exits the weak magnetic control and reduces the numerical value of the D-axis current.
10. Electrical apparatus, characterized in that it comprises: one or more processors; a memory; a plurality of application programs; and one or more programs, wherein the one or more programs are stored in the memory, which when executed by the processor, cause the appliance device to perform the process of any of claims 1-7.
CN201911395589.9A 2019-12-30 2019-12-30 Motor flux weakening control method and device and electrical equipment Withdrawn CN111064405A (en)

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