CN111162712A - Control method of direct-drive permanent magnet synchronous motor, traction controller and storage medium - Google Patents
Control method of direct-drive permanent magnet synchronous motor, traction controller and storage medium Download PDFInfo
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- CN111162712A CN111162712A CN201811324917.1A CN201811324917A CN111162712A CN 111162712 A CN111162712 A CN 111162712A CN 201811324917 A CN201811324917 A CN 201811324917A CN 111162712 A CN111162712 A CN 111162712A
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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
- 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
Abstract
The invention provides a control method of a direct-drive permanent magnet synchronous motor, a traction controller and a storage medium, wherein the method comprises the following steps: acquiring a compensation phase angle of a rotor of the direct-drive permanent magnet synchronous motor according to the control interruption period, the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor; acquiring a current actual control phase angle according to the compensation phase angle; acquiring a current expected control phase angle according to a current d-axis voltage given value and a current q-axis voltage given value; and performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle. The invention takes the time delay corresponding to the control interruption, the time delay corresponding to the carrier modulation and the error phase angle caused by the time delay corresponding to the sampling and rotor signal transmission of the rotary transformer into consideration, carries out online correction on the actual control phase angle, ensures that the actual control phase angle and the expected control phase angle are always kept consistent, and improves the accuracy of the actual control phase angle.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method of a direct-drive permanent magnet synchronous motor, a traction controller and a storage medium.
Background
Permanent magnet synchronous motors are increasingly being used in the field of rail traffic due to their advantages of high power density, high power factor, strong overload capability, high efficiency, etc. For example, the performance of a high-power direct-drive permanent magnet synchronous motor, which is an important component of a permanent magnet synchronous traction system, directly affects the performance of the whole traction system. At present, vector control or direct torque control strategies are mostly adopted for controlling a direct-drive permanent magnet synchronous motor, and the realization of high-performance control algorithms cannot be separated from accurate motor control phase angles. However, in the operation process of the direct-drive permanent magnet synchronous motor, delay is caused by signal acquisition, transmission, processing and the like, so that deviation is generated in a control phase angle. If a control phase angle with low accuracy is adopted, the problems that the direct-drive permanent magnet synchronous motor cannot be started normally, step loss occurs, the torque precision is reduced and the like can be caused. Therefore, the control phase angle of the direct-drive permanent magnet synchronous motor needs to be corrected.
In the prior art, generally, whether an absolute difference value between a direct current side current of a motor controller of a direct-drive permanent magnet synchronous motor and a theoretical no-load direct current is greater than a preset threshold is taken as a control target, so that a relationship between an estimated value of a rotor position and an advance or delay of an actual rotor position is judged, and a control phase angle is corrected.
However, the above method for estimating the rotor position causes the deviation between the estimated rotor position and the actual rotor position to be large, which in turn causes the accuracy of the control phase angle to be low.
Disclosure of Invention
The invention provides a control method of a direct-drive permanent magnet synchronous motor, a traction controller and a storage medium, which are used for improving the accuracy of the actual control phase angle of the direct-drive permanent magnet synchronous motor.
In a first aspect, the present invention provides a method for controlling a direct drive permanent magnet synchronous motor, including:
acquiring a compensation phase angle of a rotor of the direct-drive permanent magnet synchronous motor according to a control interruption period, a modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor;
acquiring a current actual control phase angle according to the compensation phase angle;
acquiring a current expected control phase angle according to a current d-axis voltage given value and a current q-axis voltage given value;
and performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle.
Further, the obtaining a compensation phase angle of the rotor of the direct-drive permanent magnet synchronous motor according to the control interruption period, the modulation carrier period, and the current angular velocity of the rotor of the direct-drive permanent magnet synchronous motor includes:
acquiring a first sub compensation phase angle according to the control interruption period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor;
acquiring a second sub-compensation phase angle according to the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor;
acquiring a third sub-compensation phase angle according to the current rotor angle speed of the direct-drive permanent magnet synchronous motor;
and acquiring the compensation phase angle of the direct-drive permanent magnet synchronous motor according to the first sub compensation phase angle, the second sub compensation phase angle and the third sub compensation phase angle.
Further, the obtaining a first sub-compensation phase angle according to the control interruption period and the current angular velocity of the rotor of the direct-drive permanent magnet synchronous motor includes:
acquiring a first phase angle time delay corresponding to a first sub compensation phase angle according to the control interrupt period;
and acquiring the first sub compensation phase angle according to the first phase angle time delay and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
Further, the obtaining a second sub-compensation phase angle according to the modulation carrier period and the current angular velocity of the rotor of the direct-drive permanent magnet synchronous motor includes:
acquiring a second phase angle time delay corresponding to modulation output according to the modulation carrier period;
acquiring a third phase angle time delay corresponding to modulation calculation according to the modulation interruption period of the modulation algorithm;
and acquiring the second sub compensation phase angle according to the second phase angle time delay, the third phase angle time delay and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
Further, before the obtaining a third sub-compensation phase angle according to the current rotor angular speed of the direct-drive permanent magnet synchronous motor, the method further includes:
acquiring a stable operation angular speed range of the direct-drive permanent magnet synchronous motor according to a vector control strategy of the direct-drive permanent magnet synchronous motor;
and acquiring a plurality of first d-axis currents, a plurality of first q-axis currents, d-axis voltages corresponding to each first d-axis current and q-axis voltages corresponding to each first q-axis current within the stable operation angular speed range according to the d-axis current given value and the q-axis current given value.
Further, the obtaining a third sub-compensation phase angle according to the current rotor angular speed of the direct-drive permanent magnet synchronous motor includes:
acquiring a transmission error phase angle corresponding to each first angular speed according to a d-axis voltage corresponding to each first d-axis current and a q-axis voltage corresponding to each first q-axis current;
and acquiring the third sub-compensation phase angle according to the transmission error phase angle corresponding to each first angular speed, the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor and the initial position phase angle of the rotor.
Further, the obtaining a current actual control phase angle according to the compensation phase angle includes:
acquiring a current position phase angle of a rotor of the direct-drive permanent magnet synchronous motor;
acquiring an actual position phase angle of the rotor according to the current position phase angle, the initial position phase angle of the rotor and the compensation phase angle;
and acquiring a current actual control phase angle according to the actual position phase angle and the modulation phase angle of the rotor, wherein the modulation phase angle is obtained by calculating according to a d-axis voltage given value and a current q-axis voltage given value through a modulation algorithm.
Further, the online correction of the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle includes:
acquiring the proportional deviation and the integral deviation according to the current expected control phase angle and the current actual control phase angle;
acquiring a correction term of a current actual control phase angle according to the linear combination of the proportional deviation and the integral deviation;
and carrying out online correction on the current actual control phase angle according to the correction term.
In a second aspect, the present invention also provides a traction controller comprising: a memory and a processor;
the memory stores program instructions;
the processor executes the program instructions to perform the method of the first aspect.
In a third aspect, the present invention also provides a storage medium comprising: a program for use in the method of the first aspect when executed by a processor.
The invention provides a control method of a direct-drive permanent magnet synchronous motor, a traction controller and a storage medium, wherein the method comprises the following steps: acquiring a compensation phase angle of a rotor of the direct-drive permanent magnet synchronous motor according to the control interruption period, the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor; acquiring a current actual control phase angle according to the compensation phase angle; acquiring a current expected control phase angle according to a current d-axis voltage given value and a current q-axis voltage given value; and further, performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle. The invention takes the time delay corresponding to the control interruption, the time delay corresponding to the carrier modulation and the error phase angle caused by the corresponding time delay in the process of sampling and transmitting the rotor signal by the rotary transformer into consideration, carries out on-line correction on the actual control phase angle, ensures that the actual control phase angle and the expected control phase angle are always kept consistent, and improves the accuracy of the actual control phase angle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 schematic structural diagram of a control system of a direct-drive permanent magnet synchronous motor corresponding to the control method of the direct-drive permanent magnet synchronous motor provided by the invention;
fig. 2 is a first schematic flow chart of a control method of a direct-drive permanent magnet synchronous motor provided by the invention;
fig. 3 is a second schematic flow chart of a control method of the direct-drive permanent magnet synchronous motor provided by the invention;
FIG. 4 is a schematic diagram of an interrupt cycle of the control algorithm provided by the present invention;
FIG. 5 is a schematic diagram of an interrupt cycle of a modulation algorithm provided by the present invention;
FIG. 6 is a schematic diagram of a multi-mode PWM modulation strategy;
fig. 7 is a third schematic flow chart of a control method of the direct-drive permanent magnet synchronous motor provided by the invention;
FIG. 8A is a schematic diagram of a theoretical coordinate system completely coinciding with an actual coordinate system;
FIG. 8B is a schematic diagram of the actual coordinate system leading the theoretical coordinate system;
FIG. 8C is a schematic diagram of a lagged theoretical coordinate system of the actual coordinate system;
fig. 9 is a first schematic structural diagram of the traction controller provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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.
Fig. 1 is a schematic structural diagram of a control system of a direct-drive permanent magnet synchronous motor corresponding to the control method of the direct-drive permanent magnet synchronous motor provided by the present invention, as shown in fig. 1, the control system of the direct-drive permanent magnet synchronous motor includes: the direct-drive permanent magnet synchronous motor comprises a direct-drive permanent magnet synchronous motor, a dragging machine, a traction controller TCU and a rotary transformer.
The control object of the control method of the direct-drive permanent magnet synchronous motor is the direct-drive permanent magnet synchronous motor, wherein the direct-drive permanent magnet synchronous motor comprises a stator and a rotor.
The rotary transformer is arranged on a rotor of the direct-drive permanent magnet synchronous motor and used for collecting rotor signals and inputting the collected signals to the traction controller. In the present invention, the resolver is used specifically to detect the actual position of the rotor.
The dragging machine is connected with the detected direct-drive permanent magnet synchronous motor and is used for dragging the direct-drive permanent magnet synchronous motor to operate.
The traction controller is connected with the direct-drive permanent magnet synchronous motor and used for controlling the direct-drive permanent magnet synchronous motor. In the invention, the traction controller is used for carrying out a speed-based segmented vector control strategy on the direct-drive permanent magnet synchronous motor, wherein the speed-based segmented vector control strategy is further described in detail in the following embodiments. Specifically, the traction controller has the functions of a control algorithm and a modulation algorithm, and has the functions of phase angle regulation and rotating speed monitoring.
Optionally, the traction controller in the present invention includes a control algorithm unit, a modulation algorithm unit, a phase angle regulator and a rotation speed detector. The control algorithm unit is used for acquiring an expected control phase angle; the modulation algorithm unit is used for acquiring a modulation phase angle and then realizing an actual control phase angle through PWM modulation; the phase angle regulator is used for realizing that an expected control phase angle and an actual control phase angle are always kept consistent; and the rotating speed detector is used for acquiring the angular speed of the rotor. It should be noted that the above-mentioned control algorithm unit, modulation algorithm unit, phase angle regulator, rotation speed detector, etc. may be a software module or an entity module, and the present invention is not limited thereto.
In the following embodiments, the traction controller is used as an execution main body to implement the control method of the direct-drive permanent magnet synchronous motor provided by the invention.
Fig. 2 is a first schematic flow chart of a control method of a direct-drive permanent magnet synchronous motor provided by the present invention, and an execution main body of the method flow chart shown in fig. 2 is a traction controller, and the traction controller can be implemented by any software and/or hardware. As shown in fig. 2, the control method of the direct-drive permanent magnet synchronous motor provided in this embodiment includes:
s201, obtaining a compensation phase angle of a rotor of the direct-drive permanent magnet synchronous motor according to the control interruption period, the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
The compensation phase angle of the rotor of the direct-drive permanent magnet synchronous motor obtained in the embodiment is an offline compensation phase angle, that is, if the compensation phase angle obtained by each component in the control system of the direct-drive permanent magnet synchronous motor is not changed from the normal operation setting, the offline obtained compensation phase angle can be applied to the control system of the direct-drive permanent magnet synchronous motor in operation. It is conceivable that when the settings of the components in the control system of the direct drive permanent magnet synchronous motor are changed, a new compensation phase angle can be obtained using the changed setting parameters.
Specifically, the traction controller may process the voltage signal acquired by the rotary transformer by using a control algorithm to obtain an expected phase angle, and specifically, the traction controller may control a control algorithm unit therein to process the voltage signal acquired by the rotary transformer to obtain the expected phase angle. Wherein, the sampling period of the rotary transformer can be the same as the control interruption period of the control algorithm.
Illustratively, the resolver samples at time t1 and inputs the collected voltage signal to the traction controller. The control algorithm unit of the traction controller processes the voltage signal collected by the rotary transformer at time t1 to obtain an expected phase angle, and updates the expected phase angle at an indefinite time within a period from the beginning of the next control interruption period to the end of the next control interruption period, that is, outputs the expected phase angle to the modulation algorithm unit. In the process, the rotor still rotates ceaselessly, and relative to the sampling time of the rotary transformer, the interruption time delay of the control algorithm can be generated. Further, the error phase angle of the rotor in the control algorithm process is obtained according to the time length of the interruption time delay of the control algorithm and the angular speed of the rotor.
Preferably, the control algorithm delay is half the control interrupt period.
The traction controller obtains an expected phase angle and performs modulation output processing on the expected phase angle by adopting a modulation algorithm. Specifically, a modulation algorithm unit of the traction controller modulates an expected phase angle by adopting a modulation algorithm and outputs a PWM pulse. The modulation sampling in this embodiment has periodicity, that is, the traction controller periodically obtains an expected phase angle and performs modulation processing. In this embodiment, the modulation carrier is a triangular PWM carrier, and the modulation sampling adopts an asymmetric regular sampling method, that is, sampling is performed at the top symmetrical axis position of each triangular PWM carrier period, and sampling is performed at the bottom symmetrical axis position of each triangular PWM carrier period, that is, sampling is performed twice in each modulation carrier period. Sampling of the PWM carrier wave period is carried out at the beginning and the middle of each modulation carrier wave period, and meanwhile, the PWM instruction updating of the period is carried out. The interruption of the modulation algorithm of the double sampling mode is divided into the processes of sampling, modulation calculation, PWM updating and PWM output.
Illustratively, the traction controller acquires the expected phase angle at time t2, performs PWM modulation processing to generate PWM pulses, and then outputs the PWM pulses when the carrier cycle count value is equal to the PWM comparison count value calculated by modulation. In the above process, the rotor is still rotating continuously, thus causing the modulation update time delay. Preferably, the modulation update delay is half a modulation carrier period;
in addition, after the PWM calculated value is updated, PWM pulses are generally output by a continuous count-down method of a timer, and output delay is also caused during output. Preferably, the output delay is 1/4 modulated carrier cycles.
According to the modulation updating time delay and the output time delay which are obtained in the modulation algorithm and the current angular speed of the rotor, the error phase angle of the rotor in the modulation algorithm process can be obtained.
In addition, time delay may also occur during the sampling and signal transmission of the position of the rotor by the resolver, referred to herein as resolver sampling and transmission time delay. Specifically, in this embodiment, an error phase angle corresponding to sampling and transmission delay of the resolver is obtained according to the current angular velocity of the rotor of the direct-drive permanent magnet synchronous motor and a plurality of d-axis voltages and a plurality of q-axis voltages within a preset angular velocity range.
Next, the preset angular velocity range will be described in detail.
As the speed-based segmented vector control strategy is adopted for the direct-drive permanent magnet synchronous motor transmission system, the segmented vector control strategy comprises the maximum torque-current ratio control in a low-speed area and the flux weakening control in a high-speed area. Therefore, the preset angular speed range in this embodiment may be a speed range in which the traction controller determines that the direct-drive permanent magnet synchronous motor stably operates without entering the field weakening control stage. According to the traction characteristic of the direct-drive permanent magnet synchronous motor, the speed point corresponding to the constant voltage stage is entered, and the running speed when the voltage reaches the maximum value is the highest stable running speed which does not enter the field weakening control stage, namely the maximum value of the preset angular speed range.
Acquiring a d-axis voltage and a q-axis voltage corresponding to each preset angular velocity in a plurality of preset angular velocities within the preset angular velocity range, acquiring an error phase angle corresponding to each preset angular velocity according to the d-axis voltage and the q-axis voltage corresponding to each preset angular velocity, establishing a curve with the preset angular velocity as an abscissa and the error phase angle as an ordinate, and determining a slope corresponding to the curve as an error coefficient; further, an error phase angle is obtained according to the angular speed of the rotor and an error coefficient corresponding to the angular speed, and the error phase angle is an error phase angle caused by sampling and transmission delay of the rotary transformer.
Optionally, the sum of error phase angles respectively corresponding to the control algorithm time delay, the modulation algorithm time delay, and the acquisition and transmission time delay of the resolver is a compensation phase angle of the rotor of the direct-drive permanent magnet synchronous motor.
In the two-phase synchronous rotation (d, q) coordinate system, the magnetic field generated by the rotor magnetic pole corresponds to the stator magnetic field and is the d-axis, and the counterclockwise rotation by 90 degrees is the q-axis.
S202, acquiring the current actual control phase angle according to the compensation phase angle.
The compensation phase angle obtained in the step S101 is an offline compensation phase angle, and is applied to a running direct-drive permanent magnet synchronous motor.
Therefore, the current actual control phase angle obtained in this step is the actual control phase angle obtained by performing offline correction on the rotor position angle of the direct-drive permanent magnet synchronous motor by using the compensation phase angle obtained in step S101.
And S203, acquiring a current expected control phase angle according to the current d-axis voltage given value and the current q-axis voltage given value.
The current voltage set point may include a current d-axis voltage set point and a current q-axis voltage set point. In this embodiment, a current d-axis voltage given value and a current q-axis voltage given value are calculated and obtained according to a speed-based segmented vector control strategy and a corresponding control algorithm adopted by the direct-drive permanent magnet synchronous motor, and further, a current expected control phase angle is obtained according to the current d-axis voltage given value and the current q-axis voltage given value.
And S204, performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle.
Because the current expected control phase angle and the current actual control phase angle may have a deviation due to a control algorithm, a modulation algorithm and time delay in the acquisition and transmission processes of the rotary transformer, the current expected control phase angle and the current actual control phase angle need to be corrected.
In the step, the linear combination of the proportional deviation of the current expected control phase angle and the current actual control phase angle and the integral deviation of the current expected control phase angle and the current actual control phase angle is used as a correction term, and the current actual control phase angle is corrected on line.
The embodiment provides a control method of a direct-drive permanent magnet synchronous motor, which comprises the following steps: acquiring a compensation phase angle of a rotor of the direct-drive permanent magnet synchronous motor according to the control interruption period, the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor; acquiring a current actual control phase angle according to the compensation phase angle; acquiring a current expected control phase angle according to a current d-axis voltage given value and a current q-axis voltage given value; and further, performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle. The invention takes the time delay corresponding to the control interruption, the time delay corresponding to the carrier modulation and the error phase angle caused by the corresponding time delay in the process of sampling and transmitting the rotor signal by the rotary transformer into consideration, carries out on-line correction on the actual control phase angle, ensures that the actual control phase angle and the expected control phase angle are always kept consistent, and improves the accuracy of the actual control phase angle.
Fig. 3 is a schematic flow chart of a second embodiment of the control method for the direct-drive permanent magnet synchronous motor according to the present invention. As shown in fig. 3, on the basis of the embodiment shown in fig. 2, step S201 may include:
s301, acquiring a first sub-compensation phase angle according to the control interruption period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
In order to make the control method provided in the present embodiment clearer, here, the control interruption referred to in the present application is described in detail. Fig. 4 is a schematic diagram of control interruption of the control algorithm provided by the present invention. As shown in fig. 5, the control interruption is divided into processes of sampling, control calculation, and control variable update. The resolver samples the rotor signal and inputs the collected voltage signal to the traction controller at time t 1. The traction controller performs control calculation on the received voltage signal, TctrlFor one control interrupt period of the control algorithm, T1+ TctrlThe control calculation is completed at time, and then the next control interruption period is started (T1+ T)ctrlTime) to end (T1+ 2T)ctrlTime) to output the control variable obtained by control calculation to the modulation algorithm unit at an indefinite time within the period of time.
During this process, the rotor is still rotating, and a control algorithm interruption time delay is generated relative to the time when the control calculation is completed. In this embodiment, a first phase angle delay corresponding to the first sub-compensation phase angle is obtained according to a control interruption period of the control algorithm, where a is a control interruption delay coefficient and a value range is (0-1). Preferably, a is 0.5.
Thus, the first phase angle delay Δt1Can be shown as equation (1):
Δt1＝A·Tctrl≈0.5Tctrlformula (1)
Further, a first sub-compensation phase angle is obtained according to the first phase angle time delay and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor, and the first sub-compensation phase angle is an error phase angle corresponding to the control algorithm interrupt time delay.
Specifically, the first sub-compensation phase angle θcmps1Can be shown as equation (2):
θcmps1＝Δt1omega equation (2)
And omega is the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
S302, acquiring a second sub-compensation phase angle according to the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
For example, the modulation carrier in this embodiment is taken as a triangular PWM carrier for illustration, and in order to improve the dynamic response of the control system of the direct drive permanent magnet synchronous motor, an asymmetric regular sampling method is adopted in the modulation algorithm, that is, sampling is performed at the position of the symmetrical axis at the top of each triangular PWM carrier period, and sampling is performed at the position of the symmetrical axis at the bottom of each triangular PWM carrier period, that is, sampling is performed twice in each modulation carrier period. Sampling of the PWM carrier wave period is carried out at the beginning and the middle of each modulation carrier wave period, and meanwhile, the PWM instruction updating of the period is carried out. The interruption of the modulation algorithm of the double sampling mode is divided into the processes of sampling, modulation calculation, PWM updating and PWM output.
Fig. 5 is a schematic diagram of an interrupt cycle of the modulation algorithm provided by the present invention. As shown in fig. 6, the traction controller performs modulation sampling at time t2, and the control variable calculated by the control algorithm is obtained. Specifically, the control variable obtained by the traction controller is the expected phase angle and is at T2+0.5TPWMFinishing the calculation of the modulation algorithm at any moment, starting to update the PWM comparison count value and sampling the expected control phase angle of the next modulation period, generally outputting a PWM pulse when the PWM carrier period count value is equal to the PWM comparison count value obtained by the modulation calculation, and TPWMIs the modulated carrier period of the PWM.
In the process, the rotor still rotates ceaselessly, and relative to the time when the modulation calculation is completed, a modulation algorithm interruption time delay is generated, namely a third phase angle time delay B.TPWMAnd B is a modulation algorithm interruption delay coefficient. Alternatively,B＝0.5。
after the PWM comparison calculation value is updated, a continuous count-down mode of a timer is generally adopted to output PWM pulses, in the process, a PWM pulse output time delay is generated, and the PWM pulse output time delay is c.tPWMI.e. the second phase angle delay. Wherein, C is a PWM pulse output delay coefficient, and the value range is (0-0.5). Optionally, C is 0.25.
Specifically, the time delay delta in the process of modulation calculation and PWM pulse output is carried outt2Can be expressed by the following equation (3):
Δt2＝B·TPWM+C·TPWM≈0.75TPWMformula (3)
And further, acquiring a second sub-compensation phase angle according to the second phase angle time delay, the third phase angle time delay and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor, wherein the second sub-compensation phase angle is an error phase angle corresponding to the modulation algorithm time delay.
In particular, the second sub-compensating phase angle θcmps2Can be shown as equation (4):
θcmps2＝Δt2omega equation (4)
And omega is the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
And S303, acquiring a third sub-compensation phase angle according to the current rotor angular speed of the direct-drive permanent magnet synchronous motor.
And the third sub-compensation phase angle is an error phase angle corresponding to sampling and transmission delay of the rotary transformer. Acquiring d-axis voltage and q-axis voltage corresponding to each preset angular velocity in a plurality of preset angular velocities within a stable operation angular velocity range, acquiring an error phase angle corresponding to each preset angular velocity according to the d-axis voltage and the q-axis voltage corresponding to each preset angular velocity, establishing a curve with the preset angular velocity as an abscissa and the error phase angle as an ordinate, and determining a slope corresponding to the curve as an error coefficient; further, an error phase angle is obtained according to the angular speed of the rotor and an error coefficient corresponding to the angular speed, and the error phase angle is an error phase angle caused by sampling and transmission delay of the rotary transformer.
In the two-phase synchronous rotation (d, q) coordinate system, the magnetic field generated by the rotor magnetic pole corresponds to the stator magnetic field and is the d-axis, and the counterclockwise rotation by 90 degrees is the q-axis.
S304, obtaining the compensation phase angle of the direct-drive permanent magnet synchronous motor according to the first sub compensation phase angle, the second sub compensation phase angle and the third sub compensation phase angle.
Optionally, the sum of the first compensation phase angle, the second compensation phase angle and the third compensation phase angle is the compensation phase angle of the direct-drive permanent magnet synchronous motor.
S305, acquiring the current actual control phase angle according to the compensation phase angle.
The method comprises the steps of firstly obtaining a current position phase angle of a rotor of a direct-drive permanent magnet synchronous motor, then obtaining an actual position phase angle of the rotor according to the current position phase angle, an initial position phase angle and a compensation phase angle of the rotor, and further obtaining a current actual control phase angle according to the actual position phase angle and a current modulation phase angle of the rotor, wherein the modulation phase angle is obtained by adopting a modulation algorithm and calculating according to a d-axis voltage given value and a current q-axis voltage given value.
Specifically, the actual position phase angle of the rotor is obtained according to the current position phase angle of the rotor and the initial position phase angle of the rotor, and further, the rotor position angle of the direct-drive permanent magnet synchronous motor is corrected off line by adopting the compensation phase angle, so that the corrected actual position phase angle is used as the actual position phase angle of the rotor. And then, determining the difference value of the actual position phase angle of the rotor and the current modulation phase angle as the current actual control phase angle.
According to a possible implementation mode, the modulation algorithm unit adopts a multi-mode PWM (pulse width modulation) strategy, on one hand, the allowable switching frequency of the inverter can be fully utilized, and on the other hand, the high direct-current voltage utilization rate can be ensured after the inverter enters a weak magnetic control area. Specifically, the multi-mode PWM modulation strategy mainly consists of asynchronous SPWM modulation, regular sampling synchronous SPWM modulation, and square wave modulation.
Fig. 6 is a schematic diagram of a multi-mode PWM modulation strategy, and as shown in fig. 7, an asynchronous modulation strategy is adopted in a low-speed stage; when the rotating speed is increased, the strategies of sampling synchronous modulation and middle 60-degree synchronous modulation with different carrier ratios are adopted; the high-speed stage adopts square wave modulation. The abscissa is the frequency of the modulation wave obtained by the modulation algorithm in this embodiment. The ordinate is the PWM carrier frequency.
In this embodiment, the specific low speed and the specific high speed in the process of obtaining the current modulation phase angle are both the angular speed of the rotor, and the specific division rule may be similar to the division rule in the prior art.
S306, obtaining the current expected control phase angle according to the current d-axis voltage given value and the current q-axis voltage given value.
Specifically, the direct-drive permanent magnet synchronous motor in this embodiment adopts a speed-based segmented vector control strategy to complete current closed-loop control, where the control strategy includes: maximum torque current ratio (MTPA) control in the low speed region and field weakening control in the high speed region.
Under the rated rotating speed, MTPA control is adopted, namely, reluctance torque generated by salient pole effect of the permanent magnet synchronous motor is utilized to obtain a control method with higher torque current ratio. Because of the limitation of the capacity of the system converter, when the permanent magnet synchronous motor operates in a steady state, the terminal voltage and the stator current are idle and cannot exceed the limit values of the voltage and the current, in order to further widen the speed regulation range, the permanent magnet synchronous motor enters a weak magnetic state at a rated rotating speed by adopting weak magnetic control, and the purpose of weak magnetic speed increase can be achieved by controlling the exciting current.
Therefore, a control algorithm based on the control strategy is adopted to calculate and obtain a current d-axis voltage given value and a current q-axis voltage given value, and further, a current expected control phase angle is obtained according to the current d-axis voltage given value and the current q-axis voltage given value.
Specifically, the calculation may be made according to equation (5):
wherein, thetactrlWhich is indicative of the desired control phase angle,
indicating a given q-axis voltageThe value of the one or more of,
representing the d-axis voltage setpoint.
And S307, performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle.
A possible implementation mode comprises the steps of firstly obtaining a proportional deviation and an integral deviation according to a current expected control phase angle and a current actual control phase angle, then obtaining a correction term of the current actual control phase angle according to a linear combination of the proportional deviation and the integral deviation, and further carrying out online correction on the current actual control phase angle by adopting the correction term.
Alternatively, the correction term is obtained using the following formula (6):
wherein k ispAnd kiTo correct the term, θctrlFor the currently expected phase angle, θPWMIs the current actual phase angle, fΔIs a known quantity as a fundamental frequency compensation term.
Traction controller obtains correction term kpAnd kiAnd then, the current actual control phase angle is enabled to track the expected control phase angle quickly and badly by adjusting the correction term on line, so that the on-line correction of the actual control phase angle is realized.
In the step, closed-loop PI control is adopted for controlling the phase angle, so that accurate and static-error-free control of the phase angle can be realized, and the control performance is improved.
In the embodiment, the control algorithm, the modulation algorithm and the time delay caused by acquisition and transmission of the rotary transformer are taken into consideration, and the current actual control phase angle is corrected on line according to the proportional deviation and the integral deviation of the actual control phase angle and the expected control phase angle, so that the actual control phase angle and the expected control phase angle are always kept consistent, the accuracy of the actual control phase angle is improved, the occurrence probability of the running fault of the direct-drive permanent magnet synchronous motor is reduced, and the control performance of the traction system of the direct-drive permanent magnet synchronous motor is improved.
Fig. 7 is a third schematic flow chart of a control method of the direct-drive permanent magnet synchronous motor provided by the invention. As shown in fig. 4, on the basis of the embodiment shown in fig. 3, step S303 optionally includes the following steps before:
s401, acquiring a stable operation angular speed range of the direct-drive permanent magnet synchronous motor according to a vector control strategy of the direct-drive permanent magnet synchronous motor.
In this embodiment, on the basis of the speed-based segmented vector control strategy, a stable operation angular speed range of the direct-drive permanent magnet synchronous motor is first obtained, that is, a speed range of the direct-drive permanent magnet synchronous motor in a non-flux weakening control stage and stable operation is obtained, wherein when a speed point corresponding to a constant voltage stage is entered, a voltage reaches a maximum value, that is, the highest stable operation speed of the direct-drive permanent magnet synchronous motor in the non-flux weakening control stage is obtained.
S402, obtaining a plurality of first d-axis currents, a plurality of first q-axis currents, d-axis voltages corresponding to the first d-axis currents and q-axis voltages corresponding to the first q-axis currents within the stable operation angular speed range according to the d-axis current given values and the q-axis current given values.
According to a preset angular speed interval, acquiring a plurality of first preset angular speeds corresponding to every other preset angular speed interval when a rotor of the direct-drive permanent magnet synchronous motor is within the stable operation angular speed range;
when the given values of the d-axis current and the d-axis current corresponding to each first preset angular velocity meet a preset error threshold value, and the given values of the q-axis current and the q-axis current corresponding to each first preset angular velocity meet the preset error threshold value, determining the d-axis current corresponding to each first preset angular velocity as a first d-axis current, and determining the q-axis current corresponding to each first preset angular velocity as a first q-axis current;
and obtaining d-axis voltage corresponding to each first d-axis current according to each first d-axis current, and obtaining q-axis voltage corresponding to each first q-axis current according to each first q-axis current.
In this embodiment, each first d-axis current and each first q-axis current obtained by the traction controller are both d-axis current and q-axis current of the direct-drive permanent magnet synchronous motor in a steady state.
In a steady state condition, a differential term of the direct-drive permanent magnet synchronous motor is ignored, and therefore, a steady state equation of the direct-drive permanent magnet synchronous motor can be shown as the following formula (7):
wherein u isdD-axis voltage, u, for any first predetermined angular velocityqQ-axis voltage, R, for any first predetermined angular velocitysIs the resistance of the rotor, LqD-axis inductance, L, corresponding to any one of a first predetermined angular velocitydQ-axis inductance, i, corresponding to any first predetermined angular velocitydFirst d-axis current, i, corresponding to d-axis voltageqFirst q-axis current, psi, for q-axis voltagefIs the back-emf of the permanent magnet flux linkage.
It can be seen from the steady state equation of the direct-drive permanent magnet synchronous motor that when the d-axis current and the q-axis current of the direct-drive permanent magnet synchronous motor are both 0, the d-axis voltage is 0, and the q-axis voltage is generated by the back electromotive force of the permanent magnet flux linkage.
Fig. 8A is a schematic diagram of a theoretical coordinate system completely coinciding with an actual coordinate system, fig. 8B is a schematic diagram of an actual coordinate system leading the theoretical coordinate system, and fig. 8C is a schematic diagram of an actual coordinate system lagging the theoretical coordinate system.
As shown in FIGS. 8A-8C, the dq coordinate system used by the control algorithm is first defined as the theoretical dq coordinate system, and the dq coordinate system used by the modulation algorithm to actually output the PWM pulses is first defined as the actual dq coordinate system
A coordinate system. When the position of the rotor is accurately and ideally positioned, the theoretical dq coordinate system and the reality
Coordinate systems completely coinciding, udIs equal to0，uqIs equal to omega psifAs shown in fig. 8A; in the case of advanced positioning of the rotor, this is true
Coordinate system leads theoretical dq coordinate system by a certain angle thetacmps3，udIs a positive value uqPositive, as shown in fig. 8B; in case of lag in positioning of rotor position, it is true
Coordinate system lag theory dq coordinate system certain angle thetacmps3，udIs a negative value, udPositive values, as shown in fig. 8C.
Accordingly, step S303 may be implemented by:
s403, obtaining a transmission error phase angle corresponding to each first angular speed according to the d-axis voltage corresponding to each first d-axis current and the q-axis voltage corresponding to each first q-axis current.
In this embodiment, a transmission error phase angle corresponding to each first preset angular velocity is obtained from a d-axis voltage corresponding to each first d-axis current and a q-axis voltage corresponding to each first q-axis current. Obtaining a transmission error phase angle thetaΔSpecifically, the following formula (8) can be used:
θΔ＝tan-1(ud/uq) Formula (8)
S404, acquiring the third sub-compensation phase angle according to the transmission error phase angle corresponding to each first angular speed and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
The first preset angular velocity is used as an abscissa, the transmission error phase angle is used as an ordinate, a transmission error phase angle coefficient k can be obtained, and a third sub-compensation phase angle can be obtained by the product of the transmission error phase angle coefficient and the current angular velocity of the rotor of the direct-drive permanent magnet synchronous motor. Specifically obtaining a third sub-compensation phase angle thetacmps3Can be expressed by the following formula (9):
θcmps3k omega formula (9)
In this embodiment, according to a vector control strategy of a direct-drive permanent magnet synchronous motor, a stable operation angular velocity range of the direct-drive permanent magnet synchronous motor is obtained, according to a d-axis current given value and a q-axis current given value, a plurality of first d-axis currents, a plurality of first q-axis currents, a d-axis voltage corresponding to each first d-axis current, and a q-axis voltage corresponding to each first q-axis current in the stable operation angular velocity range are obtained, according to a d-axis voltage corresponding to each first d-axis current and a q-axis voltage corresponding to each first q-axis current, a transmission error phase angle corresponding to each first angular velocity is obtained, and according to a transmission error phase angle corresponding to each first angular velocity and a current angular velocity of a rotor of the direct-drive permanent magnet synchronous motor, the third sub-compensation phase angle is obtained. The transmission error phase angles corresponding to a plurality of first angular speeds in the stable running speed range are obtained in advance, then the third sub-compensation phase angle is obtained quickly according to the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor, and the actual control phase angle is corrected accurately on line by adopting the third sub-compensation phase angle, so that the efficiency of on-line correction is improved.
Fig. 9 is a schematic structural diagram of a first embodiment of the traction controller according to the present invention, and as shown in fig. 9, the traction controller 90 includes: memory 91, processor 92.
The memory 91 may be a separate physical unit, and may be connected to the processor 92 via a bus 93. The memory 91 and the processor 92 may be integrated, implemented by hardware, and the like.
The memory 91 is used for storing programs for implementing the above method embodiments, and the processor 92 calls the programs to perform the operations of the above method embodiments.
Alternatively, when part or all of the method of the above embodiment is implemented by software, the traction controller 90 may include only a processor. A memory for storing programs is located outside the traction controller 90 and the processor is connected to the memory by circuitry/wiring for reading and executing the programs stored in the memory.
The Processor 92 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.
The processor 92 may further include a hardware chip. The hardware chip may be an Application-Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field-Programmable gate Array (FPGA), General Array Logic (GAL), or any combination thereof.
The Memory 91 may include a Volatile Memory (Volatile Memory), such as a Random-Access Memory (RAM); the Memory may also include a Non-volatile Memory (Non-volatile Memory), such as a Flash Memory (Flash Memory), a Hard Disk Drive (HDD) or a Solid-state Drive (SSD); the memory may also comprise a combination of memories of the kind described above.
The traction controller provided in this embodiment may be used to implement the technical solutions of the method embodiments shown in fig. 2, fig. 3, and fig. 4, and the implementation principle and the technical effect are similar, which are not described herein again.
The present invention also provides a program product, e.g., a computer storage medium, comprising: program for performing the above method when executed by a processor.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method of a direct-drive permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a compensation phase angle of a rotor of the direct-drive permanent magnet synchronous motor according to a control interruption period, a modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor;
acquiring a current actual control phase angle according to the compensation phase angle;
acquiring a current expected control phase angle according to a current d-axis voltage given value and a current q-axis voltage given value;
and performing online correction on the current actual control phase angle according to the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle.
2. The control method according to claim 1, wherein the obtaining a compensation phase angle of the rotor of the direct-drive permanent magnet synchronous motor according to a control interruption period, a modulation carrier period, and a current angular velocity of the rotor of the direct-drive permanent magnet synchronous motor comprises:
acquiring a first sub compensation phase angle according to the control interruption period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor;
acquiring a second sub-compensation phase angle according to the modulation carrier period and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor;
acquiring a third sub-compensation phase angle according to the current rotor angle speed of the direct-drive permanent magnet synchronous motor;
and acquiring the compensation phase angle of the direct-drive permanent magnet synchronous motor according to the first sub compensation phase angle, the second sub compensation phase angle and the third sub compensation phase angle.
3. The method of claim 2, wherein said deriving a first sub-compensation phase angle based on said control interruption period and a current angular velocity of a rotor of said direct drive permanent magnet synchronous motor comprises:
acquiring a first phase angle time delay corresponding to a first sub compensation phase angle according to the control interrupt period;
and acquiring the first sub compensation phase angle according to the first phase angle time delay and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
4. The method of claim 2, wherein said deriving a second sub-compensation phase angle based on said modulated carrier period and a current angular velocity of a rotor of said direct drive permanent magnet synchronous motor comprises:
acquiring a second phase angle time delay corresponding to modulation output according to the modulation carrier period;
acquiring a third phase angle time delay corresponding to modulation calculation according to the modulation interruption period of the modulation algorithm;
and acquiring the second sub compensation phase angle according to the second phase angle time delay, the third phase angle time delay and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
5. The method as claimed in claim 2, wherein before obtaining the third sub-compensation phase angle according to the current rotor angular speed of the direct-drive permanent magnet synchronous motor, the method further comprises:
acquiring a stable operation angular speed range of the direct-drive permanent magnet synchronous motor according to a vector control strategy of the direct-drive permanent magnet synchronous motor;
and acquiring a plurality of first d-axis currents, a plurality of first q-axis currents, d-axis voltages corresponding to each first d-axis current and q-axis voltages corresponding to each first q-axis current within the stable operation angular speed range according to the d-axis current given value and the q-axis current given value.
6. The control method according to claim 5, wherein the obtaining a third sub-compensation phase angle according to the current rotor angular speed of the direct-drive permanent magnet synchronous motor comprises:
acquiring a transmission error phase angle corresponding to each first angular speed according to a d-axis voltage corresponding to each first d-axis current and a q-axis voltage corresponding to each first q-axis current;
and acquiring the third sub-compensation phase angle according to the transmission error phase angle corresponding to each first angular speed and the current angular speed of the rotor of the direct-drive permanent magnet synchronous motor.
7. The control method according to any one of claims 1 to 6, wherein said obtaining a current actual control phase angle from said compensating phase angle comprises:
acquiring a current position phase angle of a rotor of the direct-drive permanent magnet synchronous motor;
acquiring an actual position phase angle of the rotor according to the current position phase angle, the initial position phase angle of the rotor and the compensation phase angle;
and acquiring a current actual control phase angle according to the actual position phase angle and the modulation phase angle of the rotor, wherein the modulation phase angle is obtained by calculating according to a d-axis voltage given value and a current q-axis voltage given value through a modulation algorithm.
8. The control method according to any one of claims 1 to 6, wherein said online correcting the current actual control phase angle based on the proportional deviation and the integral deviation of the current expected control phase angle and the current actual control phase angle comprises:
acquiring the proportional deviation and the integral deviation according to the current expected control phase angle and the current actual control phase angle;
acquiring a correction term of a current actual control phase angle according to the linear combination of the proportional deviation and the integral deviation;
and carrying out online correction on the current actual control phase angle according to the correction term.
9. A traction controller, comprising: a memory and a processor;
the memory stores program instructions;
the processor executes the program instructions to perform the method of any one of claims 1 to 8.
10. A storage medium, comprising: program for performing the method of any of claims 1-8 when executed by a processor.
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