CN111162716A - Voltage control method and device for direct-drive permanent magnet synchronous motor - Google Patents
Voltage control method and device for direct-drive permanent magnet synchronous motor Download PDFInfo
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- CN111162716A CN111162716A CN201811325377.9A CN201811325377A CN111162716A CN 111162716 A CN111162716 A CN 111162716A CN 201811325377 A CN201811325377 A CN 201811325377A CN 111162716 A CN111162716 A CN 111162716A
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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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
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Abstract
The embodiment of the invention provides a voltage control method and equipment of a direct-drive permanent magnet synchronous motor, which comprises the steps of obtaining a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and three-phase current of the motor, obtaining an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the motor, obtaining the target stator frequency of the motor according to the target phase angle and the actual phase angle, and obtaining the amplitude and the phase of three-phase voltage of the motor according to the target stator frequency; through the process, the phase angle of the voltage space vector output by the traction inverter can be adjusted in real time, so that the actual phase angle of the output voltage of the traction inverter always tracks the target phase angle output by the control algorithm, the precision of the output voltage of the traction inverter is improved, and the control precision of the direct-drive permanent magnet synchronous motor is further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a voltage control method and device for a direct-drive permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high power density, high power factor, high overload capacity and the like, and is increasingly applied to the field of rail transit. The direct-drive permanent magnet synchronous motor is used as an important component of a permanent magnet synchronous traction system, and the performance of the direct-drive permanent magnet synchronous motor directly influences the performance of the whole traction system.
In the direct-drive permanent magnet synchronous traction system, a traction inverter is used as a drive controller of a direct-drive permanent magnet synchronous motor, namely, the traction inverter is used for carrying out voltage transformation, frequency conversion and speed regulation on direct current and converting the direct current into alternating current for driving the motor. At present, in order to improve the control precision of the direct-drive permanent magnet synchronous motor, a method of independently designing a control algorithm and a modulation algorithm is generally adopted for a traction inverter. Specifically, the control algorithm is controlled by timer interruption and mainly completes the processes of control logic, instruction receiving, voltage space vector control and the like; the Modulation algorithm is controlled by Pulse Width Modulation (PWM) interruption, and is configured to modulate a voltage space vector output by the control algorithm into a PWM symbol by using a Modulation strategy to control on and off of an Insulated Gate Bipolar Transistor (IGBT) in the traction inverter, so as to convert a direct current into an alternating current. The modulation strategy can adopt a multi-mode modulation strategy combining asynchronous modulation, synchronous modulation and special synchronous modulation.
However, in the above control of the traction inverter, because the control algorithm and the modulation algorithm are designed independently, the frequency of the PWM interruption is usually lower than the frequency of the timer interruption, and the modulation strategy may adopt a combination of a plurality of different modulation strategies, the phase angle of the voltage space vector output by the traction inverter after modulation usually deviates from the phase angle of the voltage space vector output by the control algorithm due to the above factors, so that the accuracy of the output voltage of the traction inverter is reduced, and the control accuracy of the direct drive permanent magnet synchronous motor is further reduced.
Disclosure of Invention
The embodiment of the invention provides a voltage control method and device for a direct-drive permanent magnet synchronous motor, which are used for improving the precision of the output voltage of a traction inverter and further improving the control precision of the direct-drive permanent magnet synchronous motor.
In a first aspect, an embodiment of the present invention provides a voltage control method for a direct-drive permanent magnet synchronous motor, including:
acquiring a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and three-phase current of a direct-drive permanent magnet synchronous motor;
acquiring an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor;
acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle;
and acquiring the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
Optionally, the obtaining the target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle includes:
acquiring a compensation stator frequency according to the target phase angle and the actual phase angle;
and acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the current stator frequency of the direct-drive permanent magnet synchronous motor and the compensation stator frequency.
Optionally, the obtaining a compensated stator frequency according to the target phase angle and the actual phase angle includes:
obtaining a difference value between the target phase angle and the actual phase angle;
and acquiring the frequency of the compensation stator according to a preset proportionality coefficient, a preset integral coefficient and the difference value between the target phase angle and the actual phase angle.
Optionally, the obtaining a compensation stator frequency according to a preset proportionality coefficient, a preset integral coefficient, and a difference between the target phase angle and the actual phase angle includes:
according to the formula Δ f ═ kpθerr+ki∫θerrdtAcquiring a compensation stator frequency;
where Δ f is the compensating stator frequency, kpIs a preset proportionality coefficient, kiFor a predetermined integral coefficient, thetaerrIs the difference between the target phase angle and the actual phase angle of the voltage space vector.
Optionally, the obtaining an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor includes:
and taking the period of Pulse Width Modulation (PWM) interruption as an integration period, and performing integration operation on the current stator frequency of the direct-drive permanent magnet synchronous motor to obtain an actual phase angle corresponding to the voltage space vector.
Optionally, the obtaining a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and a three-phase current of the direct-drive permanent magnet synchronous motor includes:
acquiring a voltage vector and a phase angle of the voltage vector according to the three-phase current of the direct-drive permanent magnet synchronous motor;
acquiring an included angle between a d axis and an A axis according to a rotor rotating angle of the direct-drive permanent magnet synchronous motor;
and taking the sum of the phase angle of the voltage vector and the included angle between the d axis and the A axis as the target phase angle corresponding to the voltage space vector.
Optionally, before the obtaining of the voltage space vector and the target phase angle corresponding to the voltage space vector according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor, the method further includes:
the method comprises the steps of obtaining a rotor rotation angle and three-phase current of a direct-drive permanent magnet synchronous motor, and obtaining the current stator frequency of the direct-drive permanent magnet synchronous motor according to the rotor rotation angle of the direct-drive permanent magnet synchronous motor.
In a second aspect, an embodiment of the present invention provides a voltage control device for a direct-drive permanent magnet synchronous motor, including:
the control module is used for acquiring a voltage space vector and a target phase angle corresponding to the voltage space vector according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor;
the modulation module is used for acquiring an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor;
the phase angle adjusting module is used for acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle;
the modulation module is further used for obtaining the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
Optionally, the phase angle adjusting module is specifically configured to:
acquiring a compensation stator frequency according to the target phase angle and the actual phase angle;
and acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the current stator frequency of the direct-drive permanent magnet synchronous motor and the compensation stator frequency.
Optionally, the phase angle adjusting module is specifically configured to:
obtaining a difference value between the target phase angle and the actual phase angle;
and acquiring the frequency of the compensation stator according to a preset proportionality coefficient, a preset integral coefficient and the difference value between the target phase angle and the actual phase angle.
Optionally, the phase angle adjusting module is specifically configured to:
according to the formula Δ f ═ kpθerr+ki∫θerrdtAcquiring a compensation stator frequency;
where Δ f is the compensating stator frequency, kpIs a preset proportionality coefficient, kiFor a predetermined integral coefficient, thetaerrIs the difference between the target phase angle and the actual phase angle of the voltage space vector.
Optionally, the modulation module is specifically configured to perform an integral operation on the current stator frequency of the direct-drive permanent magnet synchronous motor by using a period of Pulse Width Modulation (PWM) interruption as an integral period, so as to obtain an actual phase angle corresponding to the voltage space vector.
Optionally, the control module is specifically configured to:
acquiring a voltage vector and a phase angle of the voltage vector according to the three-phase current of the direct-drive permanent magnet synchronous motor;
acquiring an included angle between a d axis and an A axis according to a rotor rotating angle of the direct-drive permanent magnet synchronous motor;
and taking the sum of the phase angle of the voltage vector and the included angle between the d axis and the A axis as the target phase angle corresponding to the voltage space vector.
Optionally, the control module is further configured to acquire a rotor rotation angle and a three-phase current of the direct-drive permanent magnet synchronous motor, and acquire a current stator frequency of the direct-drive permanent magnet synchronous motor according to the rotor rotation angle of the direct-drive permanent magnet synchronous motor.
In a third aspect, an embodiment of the present invention provides a voltage control device for a direct-drive permanent magnet synchronous motor, including: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any one of the first aspects.
In a fourth aspect, the present invention provides a computer-readable storage medium, in which computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the method according to any one of the first aspect is implemented.
The embodiment of the invention provides a voltage control method and equipment of a direct-drive permanent magnet synchronous motor, wherein the method comprises the steps of obtaining a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and three-phase current of the direct-drive permanent magnet synchronous motor, obtaining an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor, obtaining a target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle, and obtaining the amplitude and the phase of three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency; through the process, the phase angle of the voltage space vector output by the traction inverter can be adjusted in real time, so that the actual phase angle of the output voltage of the traction inverter always tracks the target phase angle output by the control algorithm, the precision of the output voltage of the traction inverter is improved, and the control precision of the direct-drive permanent magnet synchronous motor is further improved.
Drawings
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 described below, and it is obvious that the drawings in the following description are only 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 voltage control system of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a first flowchart of a voltage control method of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of voltage space vectors and phase angles in an embodiment of the present invention;
fig. 4 is a second flowchart of a voltage control method of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a voltage control principle of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 6 is a schematic control process diagram of a voltage control method of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 7 is a first schematic structural diagram of a voltage control device of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a voltage control device of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic structural diagram of a voltage control system of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention, and as shown in fig. 1, the voltage control system of the direct-drive permanent magnet synchronous motor includes: the system comprises a direct-drive permanent magnet synchronous motor, a controller, a traction inverter, a rotary encoder and a current sensor.
The control object of the voltage control method for the direct-drive permanent magnet synchronous motor provided by the embodiment of the invention is the direct-drive permanent magnet synchronous motor in fig. 1, wherein the direct-drive permanent magnet synchronous motor comprises a stator and a rotor.
The rotary encoder is arranged on a rotor and a stator of the direct-drive permanent magnet synchronous motor and used for acquiring the rotation parameters of the rotor and inputting acquired signals to the controller. In an embodiment of the invention, the rotary encoder is specifically used for detecting the rotation angle of the rotor.
The current sensor is a common sensor in motor drive, and in the embodiment of the invention, the current sensor can be connected with a three-phase lead of the motor and is used for collecting three-phase current in the motor and inputting the collected three-phase current into the controller. In a specific implementation, the current sensor may be located in the traction inverter, as shown in fig. 1.
The controller is connected with the direct-drive permanent magnet synchronous motor through the traction inverter and is used for carrying out voltage control on the direct-drive permanent magnet synchronous motor. The controller may be a controller of the traction inverter. Specifically, the controller may include a control module and a modulation module, and further, the control module executes a control algorithm according to timer interrupt, and mainly completes processes of control logic, instruction reception, control of voltage space vectors, and the like; the modulation module executes a modulation algorithm according to PWM interruption, and mainly modulates a voltage space vector output by the control algorithm into a PWM symbol by adopting a modulation strategy so as to control the on and off of an Insulated Gate Bipolar Transistor (IGBT) in the traction inverter, thereby converting direct current into alternating current for driving a direct-drive permanent magnet synchronous motor.
The control algorithm and the modulation algorithm are independently designed, the PWM interruption frequency is usually lower than the timer interruption frequency, the modulation strategy can adopt the combination of various different modulation strategies, and the phase angle of the voltage space vector output by the traction inverter after modulation usually has deviation from the phase angle of the voltage space vector output by the control algorithm due to various factors, so that the precision of the output voltage of the traction inverter is reduced, and the control precision of the direct-drive permanent magnet synchronous motor is further reduced.
In the embodiment of the invention, the controller may further include a phase angle adjusting module for adjusting the phase angle output by the traction inverter in real time, so that the actual phase angle output by the traction inverter modulation always tracks the target phase angle output by the control algorithm, the accuracy of the output voltage of the traction inverter is improved, and the control accuracy of the direct drive permanent magnet synchronous motor is further improved.
The voltage control method of the direct-drive permanent magnet synchronous motor provided by the embodiment of the invention can be executed by the controller in fig. 1. The voltage control method and the voltage control equipment of the direct-drive permanent magnet synchronous motor provided by the embodiment of the invention can be applied to an electric locomotive traction system of rail transit, for example: high-speed railways, urban rails, inter-urban rails, etc., which are not particularly limited in this embodiment of the present invention.
Fig. 2 is a first flowchart of a voltage control method of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention, where an execution main body of the method may be the controller in fig. 1. As shown in fig. 2, the method of the present embodiment includes:
s201: according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor, a voltage space vector and a target phase angle corresponding to the voltage space vector are obtained.
Specifically, a control module of the controller acquires a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and a three-phase current of the direct-drive permanent magnet synchronous motor.
Optionally, before this, the method may further include: the method comprises the steps of obtaining a rotor rotation angle and three-phase current of a direct-drive permanent magnet synchronous motor, and obtaining the current stator frequency of the direct-drive permanent magnet synchronous motor according to the rotor rotation angle of the direct-drive permanent magnet synchronous motor.
The rotation angle of the rotor of the direct-drive permanent magnet synchronous motor can be obtained in various ways, and the embodiment of the invention is not particularly limited. In an optional implementation manner, a rotary encoder is arranged on a rotor of the direct-drive permanent magnet synchronous motor, the rotary encoder interrupts acquisition of the rotor rotation angle of the direct-drive permanent magnet synchronous motor according to a timer, and the acquired rotor rotation angle of the direct-drive permanent magnet synchronous motor is sent to the controller.
The three-phase current of the direct-drive permanent magnet synchronous motor can be obtained in various ways, and the embodiment of the invention is not particularly limited. In an optional implementation manner, a current sensor is arranged in the direct-drive permanent magnet synchronous motor, and the current sensor collects three-phase currents in the direct-drive synchronous motor and sends the three-phase currents to the controller.
After the controller acquires the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor, the voltage space vector and the target phase angle corresponding to the voltage space vector can be acquired according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor. Various embodiments in the prior art can be specifically adopted, and only one of the alternative embodiments is described as an example below.
FIG. 3 is a schematic diagram of voltage space vectors and phase angles in an embodiment of the invention. Referring to fig. 3, first, according to the three-phase current of the direct-drive permanent magnet synchronous motor,obtaining a voltage vector, obtaining the phase angle σ of the voltage vector (i.e., the voltage space vector in FIG. 1)
Angle to d axis). Wherein the voltage space vector
According to the three-phase current of the direct-drive permanent magnet synchronous motor, a controller determines a voltage space vector required to be output by a traction inverter and a target phase angle theta through a closed-loop control strategy2And determining a target phase angle of a voltage space vector required to be output by the traction inverter according to a control algorithm for the controller. Obtaining voltage space vectors in particular
The method of (1) can be implemented by using the prior art, and is not described in detail herein.
Then obtaining an included angle α between a d axis and an A axis according to the rotor rotation angle of the direct-drive permanent magnet synchronous motor, and taking the sum of the phase angle sigma of the voltage vector and the included angle α between the d axis and the A axis as a target phase angle theta corresponding to the voltage space vector2(i.e., voltage space vector in FIG. 1)
Angle to the a axis).
S202: and acquiring an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor.
On the basis of the steps, after the controller obtains the rotor rotation angle of the direct-drive permanent magnet synchronous motor, the controller can also obtain the current stator frequency of the direct-drive permanent magnet synchronous motor according to the rotor rotation angle.
Furthermore, a modulation module in the controller can acquire an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor. Wherein, the actual phase angle refers to the voltage space vector of the modulation module of the controller by adopting a modulation strategy
And (4) obtaining an actual phase angle after modulation.
With reference to FIG. 3, UsVoltage space vector, theta, actually output after applying a modulation strategy for the controller1And outputting the actual phase angle after the modulation strategy is adopted for the modulation module.
In an optional implementation manner, a period of PWM interruption is used as an integration period, and an integration operation is performed on the current stator frequency of the direct-drive permanent magnet synchronous motor to obtain an actual phase angle θ corresponding to the voltage space vector1。
S203: and acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle.
In this embodiment, the controller may further determine the target phase angle θ according to2And the actual phase angle theta1And acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor, wherein the target stator frequency is the target phase angle theta of the controller2And the actual phase angle theta1The controller modulates the current stator frequency according to the target stator frequency to obtain an output voltage, wherein the phase angle of the output voltage is consistent with the target phase angle to the maximum extent.
Optionally, according to the target phase angle theta2And the actual phase angle theta1And obtaining the frequency of the compensating stator. In an alternative embodiment, a proportional integral method is used to obtain the compensated stator frequency corresponding to the difference between the two phase angles. And then correcting the current stator frequency according to the compensated stator frequency to obtain the target stator frequency.
In a specific implementation, the process of obtaining the target stator frequency according to the target phase angle and the actual phase angle may be implemented in a timer interrupt.
S204: and acquiring the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
After the target stator frequency is obtained, the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor can be obtained by adopting various methods in the prior art, and then PWM pulses are obtained by adopting various modulation strategies according to the amplitude and the phase of the three-phase voltage and are used for controlling the on-off of the IGBT in the traction inverter, so that the voltage of the direct-drive permanent magnet synchronous motor is controlled.
The specific PWM modulation method may adopt a modulation method in the prior art, which is not described in detail in the embodiments of the present invention.
Optionally, the modulation strategy includes at least one of the following: synchronous modulation, asynchronous modulation, special synchronous modulation.
According to the vector control method of the direct-drive permanent magnet synchronous motor, a voltage space vector and a target phase angle corresponding to the voltage space vector are obtained according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor, an actual phase angle corresponding to the voltage space vector is obtained according to the current stator frequency of the direct-drive permanent magnet synchronous motor, the target stator frequency of the direct-drive permanent magnet synchronous motor is obtained according to the target phase angle and the actual phase angle, and the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor are obtained according to the target stator frequency; through the process, the phase angle of the voltage space vector output by the traction inverter can be adjusted in real time, so that the actual phase angle of the output voltage of the traction inverter always tracks the target phase angle output by the control algorithm, the precision of the output voltage of the traction inverter is improved, and the control precision of the direct-drive permanent magnet synchronous motor is further improved.
Fig. 4 is a second flowchart of a voltage control method of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention, and fig. 5 is a schematic diagram of a voltage control principle of the direct-drive permanent magnet synchronous motor according to the embodiment of the present invention. On the basis of the above embodiments, as shown in fig. 4 and 5, the method of the present embodiment includes:
s401: according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor, a voltage space vector and a target phase angle corresponding to the voltage space vector are obtained.
S402: and acquiring an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor.
The specific implementation of S401 and S402 in this embodiment is similar to S201 and S202 in the above embodiment, and is not described here again.
S403: and acquiring the difference value of the target phase angle and the actual phase angle.
S404: and acquiring the frequency of the compensation stator according to a preset proportionality coefficient, a preset integral coefficient and the difference value between the target phase angle and the actual phase angle.
S405: and acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the current stator frequency of the direct-drive permanent magnet synchronous motor and the compensation stator frequency.
S403 to S405 in this embodiment may be implemented by a phase angle adjusting module.
The phase angle adjusting module can be realized by adopting a proportional-integral regulator. Specifically, the compensated stator frequency can be obtained according to the following formula:
θerr＝θ2-θ1(1)
Δf＝kpθerr+ki∫θerrdt(2)
where Δ f is the compensating stator frequency, kpIs a preset proportionality coefficient, kiFor a predetermined integral coefficient, thetaerrIs the difference between the target phase angle and the actual phase angle of the voltage space vector.
Then, according to the current stator frequency of the direct-drive permanent magnet synchronous motor and the compensation stator frequency, obtaining a target stator frequency of the direct-drive permanent magnet synchronous motor, namely:
fs＝f+Δf (3)
wherein f is the current stator frequency of the direct-drive permanent magnet synchronous motor, fsIs the target stator frequency of the direct-drive permanent magnet synchronous motor.
It will be appreciated that preset scaling and integration coefficients may be usedThe experimental mode was determined. Specifically, an engineering setting method is adopted, and a proportional coefficient k is compared through testspAnd integral coefficient kiAnd (6) setting. Firstly, according to historical experience, a group of initial scale coefficients k is determinedpAnd integral coefficient kiAnd applying the two parameters to closed-loop control of the direct-drive permanent magnet synchronous motor, and observing the actual phase angle theta1For target phase angle theta2According to the tracking performance, the two parameters are adjusted to make the actual phase angle theta1For target phase angle theta2The tracking performance is optimal, so that the optimal proportionality coefficient k corresponding to the optimal tracking performance is obtainedpAnd integral coefficient ki. The optimal scaling factor k can then be determinedpAnd integral coefficient kiThe method is applied to actual control.
It will be appreciated that the actual phase angle θ is used in the experimental phase and in the practical application1Target phase angle theta2And a target stator frequency fsCertain clipping conditions need to be satisfied. Specifically, the actual phase angle θ1And a target phase angle theta2Has a limiting interval of (-2 pi, 2 pi) and a target stator frequency fsHas a slicing interval of (0, f)max) Wherein f ismaxIs the maximum frequency output by the traction inverter.
S406: and acquiring the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
The specific implementation of S406 in this embodiment is similar to S204 in the above embodiment, and is not described here again.
Fig. 6 is a schematic control process diagram of a voltage control method for a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention, where the specific control process is as follows: the voltage space vector generated by the control module is shown as 6
Having a phase angle theta2，θ2As the phase of the target voltage to be output by the modulation module,
is a space vector rotating in space, the rotation speed of which is the current stator frequency f. When a multi-mode modulation strategy is adopted, the voltage space vector U actually output by the modulation modulesPhase angle theta of1And
phase angle theta of2May not be consistent.
When U is turnedsPhase lead of
In phase, the compensation stator frequency delta f obtained by the phase angle adjusting module is a negative value, so that the target stator frequency fsLess than the current stator frequency f, thereby
The rotational speed is slowed down. When U is turnedsPhase lead of
In phase, the compensation stator frequency delta f obtained by the phase angle adjusting module is a positive value, so that the target stator frequency fsGreater than the current stator frequency f, thereby
The rotational speed is increased. Through the above-mentioned adjustment process of the phase angle, the actual phase angle θ can be realized1Fast tracking target phase angle theta2Make the actual phase angle theta of the traction inverter output voltage1And the target phase angle theta output by the control algorithm2The output voltage of the traction inverter is improved to the maximum extent, and the control precision of the direct-drive permanent magnet synchronous motor is further improved.
Fig. 7 is a first schematic structural diagram of a voltage control device of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 7, the voltage control apparatus 700 for a direct-drive permanent magnet synchronous motor provided in this embodiment includes: a control module 701, a modulation module 702 and a phase angle adjustment module 703.
The control module 701 is configured to obtain a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and a three-phase current of the direct-drive permanent magnet synchronous motor.
And the modulation module 702 is configured to obtain an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor.
And a phase angle adjusting module 703, configured to obtain a target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle.
The modulation module 702 is further configured to obtain an amplitude and a phase of a three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
Optionally, the phase angle adjusting module 703 is specifically configured to:
acquiring a compensation stator frequency according to the target phase angle and the actual phase angle;
and acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the current stator frequency of the direct-drive permanent magnet synchronous motor and the compensation stator frequency.
Optionally, the phase angle adjusting module 703 is specifically configured to:
obtaining a difference value between the target phase angle and the actual phase angle;
and acquiring the frequency of the compensation stator according to a preset proportionality coefficient, a preset integral coefficient and the difference value between the target phase angle and the actual phase angle.
Optionally, the phase angle adjusting module 703 is specifically configured to:
according to the formula Δ f ═ kpθerr+ki∫θerrdtAcquiring a compensation stator frequency;
where Δ f is the compensating stator frequency, kpIs a preset proportionality coefficient, kiFor a predetermined integral coefficient, thetaerrIs the difference between the target phase angle and the actual phase angle of the voltage space vector.
Optionally, the modulation module 702 is specifically configured to use a period of PWM interruption as an integration period, and perform an integration operation on the current stator frequency of the direct-drive permanent magnet synchronous motor to obtain an actual phase angle corresponding to the voltage space vector.
Optionally, the control module 701 is specifically configured to:
acquiring a voltage vector and a phase angle of the voltage vector according to the three-phase current of the direct-drive permanent magnet synchronous motor;
acquiring an included angle between a d axis and an A axis according to a rotor rotating angle of the direct-drive permanent magnet synchronous motor;
and taking the sum of the phase angle of the voltage vector and the included angle between the d axis and the A axis as the target phase angle corresponding to the voltage space vector.
Optionally, the modulation strategy includes at least one of the following: synchronous modulation, asynchronous modulation, special synchronous modulation.
Optionally, the control module 701 is further configured to acquire a rotor rotation angle and a three-phase current of the direct-drive permanent magnet synchronous motor, and acquire a current stator frequency of the direct-drive permanent magnet synchronous motor according to the rotor rotation angle of the direct-drive permanent magnet synchronous motor.
The voltage control device of the direct-drive permanent magnet synchronous motor provided by this embodiment may be used to implement the technical solution of any of the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
Fig. 8 is a schematic structural diagram of a second voltage control device of a direct-drive permanent magnet synchronous motor according to an embodiment of the present invention, and as shown in fig. 8, a voltage control device 800 of a direct-drive permanent magnet synchronous motor according to this embodiment includes: at least one processor 801 and a memory 802. The processor 801 and the memory 802 are connected by a bus 803.
In a specific implementation process, at least one processor 801 executes the computer-executable instructions stored in the memory 802, so that the at least one processor 801 executes the technical solution of any one of the method embodiments described above.
For a specific implementation process of the processor 801, reference may be made to the above method embodiments, which have similar implementation principles and technical effects, and details of this embodiment are not described herein again.
In the embodiment shown in fig. 8, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer execution instruction is stored in the computer-readable storage medium, and when a processor executes the computer execution instruction, a technical solution in any one of the above method embodiments is implemented.
The computer-readable storage medium may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the apparatus.
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 voltage control method of a direct-drive permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a voltage space vector and a target phase angle corresponding to the voltage space vector according to a rotor rotation angle and three-phase current of a direct-drive permanent magnet synchronous motor;
acquiring an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor;
acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle;
and acquiring the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
2. The method of claim 1, wherein the obtaining a target stator frequency of the direct-drive permanent magnet synchronous motor from the target phase angle and the actual phase angle comprises:
acquiring a compensation stator frequency according to the target phase angle and the actual phase angle;
and acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the current stator frequency of the direct-drive permanent magnet synchronous motor and the compensation stator frequency.
3. The method of claim 2, wherein said deriving a compensated stator frequency from said target phase angle and said actual phase angle comprises:
obtaining a difference value between the target phase angle and the actual phase angle;
and acquiring the frequency of the compensation stator according to a preset proportionality coefficient, a preset integral coefficient and the difference value between the target phase angle and the actual phase angle.
4. The method of claim 3, wherein obtaining a compensated stator frequency based on a predetermined scaling factor, a predetermined integration factor, and a difference between the target phase angle and the actual phase angle comprises:
according to the formula Δ f ═ kpθerr+ki∫θerrdtAcquiring a compensation stator frequency;
where Δ f is the compensating stator frequency, kpIs a preset proportionality coefficient, kiFor a predetermined integral coefficient, thetaerrIs the difference between the target phase angle and the actual phase angle of the voltage space vector.
5. The method according to claim 1, wherein the obtaining an actual phase angle corresponding to the voltage space vector according to a current stator frequency of the direct-drive permanent magnet synchronous motor comprises:
and taking the period of Pulse Width Modulation (PWM) interruption as an integration period, and performing integration operation on the current stator frequency of the direct-drive permanent magnet synchronous motor to obtain an actual phase angle corresponding to the voltage space vector.
6. The method according to claim 1, wherein the obtaining of the voltage space vector and the target phase angle corresponding to the voltage space vector according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor comprises:
acquiring a voltage vector and a phase angle of the voltage vector according to the three-phase current of the direct-drive permanent magnet synchronous motor;
acquiring an included angle between a d axis and an A axis according to a rotor rotating angle of the direct-drive permanent magnet synchronous motor;
and taking the sum of the phase angle of the voltage vector and the included angle between the d axis and the A axis as the target phase angle corresponding to the voltage space vector.
7. The method according to any one of claims 1 to 6, wherein before obtaining the voltage space vector and the target phase angle corresponding to the voltage space vector according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor, the method further comprises:
the method comprises the steps of obtaining a rotor rotation angle and three-phase current of a direct-drive permanent magnet synchronous motor, and obtaining the current stator frequency of the direct-drive permanent magnet synchronous motor according to the rotor rotation angle of the direct-drive permanent magnet synchronous motor.
8. A voltage control apparatus for a direct drive permanent magnet synchronous motor, comprising:
the control module is used for acquiring a voltage space vector and a target phase angle corresponding to the voltage space vector according to the rotor rotation angle and the three-phase current of the direct-drive permanent magnet synchronous motor;
the modulation module is used for acquiring an actual phase angle corresponding to the voltage space vector according to the current stator frequency of the direct-drive permanent magnet synchronous motor;
the phase angle adjusting module is used for acquiring the target stator frequency of the direct-drive permanent magnet synchronous motor according to the target phase angle and the actual phase angle;
the modulation module is further used for obtaining the amplitude and the phase of the three-phase voltage of the direct-drive permanent magnet synchronous motor according to the target stator frequency.
9. A vector control apparatus for a direct drive permanent magnet synchronous motor, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1 to 7.
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| CN201811325377.9A CN111162716A (en) | 2018-11-08 | 2018-11-08 | Voltage control method and device for direct-drive permanent magnet synchronous motor |
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| CN201811325377.9A CN111162716A (en) | 2018-11-08 | 2018-11-08 | Voltage control method and device for direct-drive permanent magnet synchronous motor |
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Application publication date: 20200515 |