CN111245321B - Maximum torque current ratio and weak magnetic calibration method of embedded permanent magnet synchronous motor - Google Patents
Maximum torque current ratio and weak magnetic calibration method of embedded permanent magnet synchronous motor Download PDFInfo
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- 230000004907 flux Effects 0.000 claims description 10
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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
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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 invention discloses a maximum torque current ratio and weak magnetic calibration method of an embedded permanent magnet synchronous motor, which comprises a first calibration stage and a second calibration stage; the first calibration stage is the maximum torque current ratio calibration under the low-speed running state: firstly, setting the stator current I of the motorsFor a first preset current value, and then adjusting I within a range of 90 DEG to 180 DEGsAdjusting the angle theta, finding the point of maximum torque, and increasing the step length of the fixed first preset current value to the maximum value I of the motor stator current by the same methodsmax(ii) a The second calibration stage is weak magnetic calibration in a high-speed operation state: starting from the rated speed of 1/2, i on the curve of the calibrated maximum torque-current ratio in the first calibration phased、iqMatrix, i from torque point 0d、iqInitially, to the motor. The invention can solve the problem that the prior art is difficult to obtain accurate MTPA and i of the weak magnetic control algorithmd、iqAnd (5) a table lookup matrix.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a maximum torque current ratio and weak magnetic calibration method of an embedded permanent magnet synchronous motor.
Background
Because the battery capacity carried by the pure electric vehicle is limited, and the power system is the system with the largest electric energy consumption on the pure electric vehicle, under the condition of certain battery capacity, the design of the energy-saving and efficient electric drive system has very important significance for improving the endurance mileage of the pure electric vehicle. At present, most of driving motors used on pure electric vehicles are embedded permanent magnet synchronous motors (IPMSM), in order to improve system efficiency, a maximum torque current ratio (MTPA) control algorithm needs to be used at the low-speed operation stage of the motor, and the voltage of the motor line approaches or exceeds the voltage of a bus due to the increase of back electromotive force at the high-speed operation stage, so that the current of the system is out of control due to the fact that no voltage regulation allowance exists, and therefore a weak magnetic control algorithm needs to be used for reducing the back electromotive force, and the motor can normally operate at a high rotating speed.
At present, a table look-up matrix method is used in the mainstream MTPA and flux weakening algorithm, and because the embedded permanent magnet synchronous motor is a nonlinear strong-coupling control object, the d-axis inductance L of the motor is an important parameter of the motordQ-axis inductor L of motorqThe nonlinear change is generated along with the difference of the system running state, so the traditional theory calculates MTPA and i of weak magnetic controld、iqThe method of table lookup matrix can cause that it is difficult to obtain accurate table lookup matrix of id and iq of MTPA and flux weakening control algorithm due to the non-linear change of the parameter, and the torque control precision and the system efficiency are also influenced.
Disclosure of Invention
Therefore, the invention aims to provide a maximum torque current ratio and flux weakening calibration method of an embedded permanent magnet synchronous motor, so as to solve the problem that the prior art is difficult to obtain accurate MTPA and i of a flux weakening control algorithmd、iqAnd (5) a table lookup matrix.
A maximum torque current ratio and weak magnetic calibration method for an embedded permanent magnet synchronous motor comprises the following steps:
the method comprises a first calibration stage and a second calibration stage;
the first calibration stage is the maximum torque current ratio calibration under the low-speed running state:
setting motor stator current IsFor a first preset current value, and then adjusting I within a range of 90 DEG to 180 DEGsAnd the included angle theta of the d axis is adjusted, the torque value is observed while the angle theta is adjusted, when the angle theta is changed from 90 degrees to 180 degrees, the torque is changed in a rule that the torque is increased and then reduced, the point where the maximum torque occurs is found, and the I at the moment is recordedsTorque and theta values;
increasing the current to the maximum value I of the stator current of the motor in steps of fixing the first preset current value by using the same methodsmaxAnd record IsTorque and theta values, and obtaining all data according to id＝Iscosθ，iq＝Issin theta calculating motor stator d axisCurrent idQ-axis current i of motor statorqA matrix is obtained, and a maximum torque current ratio curve is obtained;
the second calibration stage is weak magnetic calibration in a high-speed operation state:
starting from the rated speed of 1/2, i on the curve of the calibrated maximum torque-current ratio in the first calibration phased、iqMatrix, i from torque point 0d、iqInitially, applying to the motor;
if the output voltage U is presentsLess than the maximum value U of the output voltagesmaxThen, the torque, the rotational speed, i at that time are recordeddAnd iq；
If the output voltage Us is greater than UsmaxBy decreasing iqTo reduce the voltage to be equal to UsmaxRecord i at this timed、iqAnd if the torque is close to the theoretical maximum torque at the current rotating speed, stopping calibration at the current rotating speed, increasing the rotating speed to a preset rotating speed, entering the next rotating speed calibration, and sequentially calibrating according to the method until the rotating speed of the motor reaches the peak rotating speed.
According to the maximum torque current ratio and the weak magnetic calibration method of the embedded permanent magnet synchronous motor, I is adjusted within the range of 90-180 degrees in the first calibration stagesAnd the angle theta is adjusted, meanwhile, the point of the maximum torque is found, and then the point is increased to the maximum value I of the motor stator current by the step length of fixing the first preset current value by using the same methodsmaxIn the second calibration stage, starting from the rated speed of 1/2, along the i on the curve of the maximum torque-current ratio calibrated in the first calibration staged、iqMatrix, i from torque point 0d、iqThe method is applied to the motor, so that the nonlinear change of the parameters is taken into account during calibration, the MTPA and the weak magnetic look-up table matrix which are accurate and efficient in all operation intervals can be obtained, and the torque control precision and the system efficiency can be ensured.
In addition, according to the maximum torque current ratio and the weak magnetic calibration method of the embedded permanent magnet synchronous motor, the embedded permanent magnet synchronous motor can have the following additional technical characteristics:
further, in the first calibration stage, when the motor is operated in the constant torque region, the maximum torque current ratio algorithm is used for calibration, and the motor speed is fixed at 1/2 rated speed.
Further, in the first calibration stage, after obtaining the curve of the maximum torque current ratio, interpolating the curve of the maximum torque current ratio, and converting i into idCalculating corresponding i at intervals of a second preset current value from 0AqTo obtain id、iqThe second preset current value is the negative number of the first preset current value, and the electric dynamometer is used for dragging the motor to 1/2 rated rotation speed according to the data of the table, idSequentially applying corresponding i to the motor at intervals of-10A from 0Ad、iqAnd recording the torque value at the moment when a group of currents are given, and finally obtaining the maximum torque-current ratio look-up table matrix data.
Further, the method further comprises:
integrating all calibration data of the first calibration stage and the second calibration stage together to obtain original calibration data;
interpolating the original calibration data to supplement the data to obtain a current curve at each rotation speed, taking torques at the same interval on the basis of the curve, and extracting corresponding id、iqAnd finally obtaining the MAP table for accurately distributing the global current.
Further, the first preset current value is 10A.
Further, the second preset current value is-10A.
Further, the preset rotation speed is 100 rpm.
Further, in the first calibration stage, after the maximum torque-to-current ratio curve is obtained, the MATLAB is used to further interpolate the original calibration data to supplement the data, and the MATLAB is used to interpolate the original calibration data to supplement the data.
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The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a first calibration phase;
fig. 2 is a flow chart of the second calibration phase.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments 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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, 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.
The maximum torque current ratio and weak magnetic calibration method of the embedded permanent magnet synchronous motor provided by the embodiment of the invention comprises a first calibration stage and a second calibration stage. The equipment needed in the whole calibration process mainly comprises an electric dynamometer (for controlling the rotating speed of the motor), a power analyzer (for monitoring the line voltage, the line current, the torque and the efficiency of the motor, and the like), a battery simulator (for providing power for the motor controller), an oscilloscope (for monitoring the phase current waveform), and the like.
Referring to fig. 1, the first calibration stage is the maximum torque to current ratio calibration in the low speed operation state.
When the motor is in a constant torque zone to operate, a maximum torque current ratio algorithm is used for calibration, and in order to ensure that the motor works in the constant torque zone, the rotating speed of the motor is fixed at 1/2 rated rotating speed (equivalent to a low rotating speed zone).
Firstly, setting the stator current I of the motorsIn this embodiment, the first predetermined current value is 10A, and then I is adjusted within a range of 90 DEG to 180 DEGsAnd the included angle theta of the d axis is adjusted, the torque value is observed while the angle theta is adjusted, when the angle theta is changed from 90 degrees to 180 degrees, the torque is changed in a rule that the torque is increased and then reduced, the point where the maximum torque occurs is found, and the I at the moment is recordedsTorque and theta values;
the same method is used to increase the motor stator current maximum value I in steps of fixing the first preset current value (namely 10A)smaxAnd record IsTorque and theta values, and obtaining all data according to id＝Iscosθ，iq＝Issin theta calculates d-axis current i of motor statordQ-axis current i of motor statorqAnd (5) matrix and obtaining a maximum torque current ratio curve, namely an MTPA curve.
Specifically, after the MTPA curve is obtained, the maximum torque current ratio curve is interpolated, specifically, the maximum torque current ratio curve may be interpolated by using a tool such as MATLAB, and the like, and i is obtaineddCalculating corresponding i at intervals of a second preset current value from 0AqTo obtain id、iqThe second preset current value is the negative of the first preset current value, in this embodiment, the second preset current value is-10A, based on the data in the table, the motor is dragged to 1/2 rated speed by the electric dynamometer, idSequentially applying corresponding i to the motor at intervals of-10A from 0Ad、iqAnd recording the torque value at the moment when a group of currents are given, and finally obtaining the maximum torque-current ratio look-up table matrix data.
Referring to fig. 2, the second calibration stage is weak magnetic calibration in a high-speed operation state.
When the motor runs at a high speed, in order to avoid overhigh back electromotive force, a flux weakening algorithm is required to be used, starting from the rated speed of 1/2 (ensuring to be in a constant-torque running interval), along i on the maximum torque-current ratio curve calibrated in the first calibration staged、iqMatrix, i from torque point 0d、iqInitially, applying to the motor;
if the output voltage U is presentsLess than the maximum value U of the output voltagesmaxIf the phase is still in MTPA phase and no weak magnetism is needed, the torque, the rotating speed and the i at the moment are recordeddAnd iq；
If the output voltage U issGreater than UsmaxBy decreasing iqIndicating that the back emf is too high, requiring field weakening, by reducingiqTo reduce the voltage to be equal to Usmax(to avoid the output voltage UsGreater than UsmaxMay adopt a first given of idThen i isqSlowly increases from 0 to finally make UsIs equal to Usmax) Record i at this timed、iqAnd if the torque is close to the theoretical maximum torque at the current rotating speed, stopping calibration at the current rotating speed, increasing the rotating speed to a preset rotating speed, specifically 100rpm in the embodiment, then performing calibration at the next rotating speed, and sequentially calibrating according to the method until the rotating speed of the motor reaches the peak rotating speed. After calibration is completed, recorded data are MTPA and weak magnetic look-up table current calibration matrix at high rotating speed.
Integrating all calibration data of the first calibration stage and the second calibration stage together to obtain original calibration data, but the original calibration data can not be directly made into a torque-rotating speed two-dimensional table look-up matrix, because the torque value calibrated by each rotating speed in the original calibration data is different, and the table look-up is carried out by taking the rotating speed and the torque as given values during the table look-up, in order to facilitate the design of a table look-up algorithm in subsequent codes, certain processing is also needed to be carried out on the data to obtain a global MAP table available in the codes, in order to obtain a current matrix (namely the global MAP table) with the torque and the rotating speed both being equally spaced, the original calibration data can be interpolated in MATLAB to supplement the data to obtain a current curve under each rotating speed, the torque with the same spacing is taken on the basis of the curve, and the corresponding id、iqAnd finally obtaining the MAP table for accurately distributing the global current. I found out according to torque commands of the motor at different running speeds through the tabled、iqI.e. the optimal current distribution.
According to the maximum torque current ratio and the flux weakening calibration method of the embedded permanent magnet synchronous motor provided by the embodiment, in the first calibration stage, I is adjusted within the range of 90-180 DEGsAnd the angle theta is adjusted, meanwhile, the point of the maximum torque is found, and then the point is increased to the maximum value I of the motor stator current by the step length of fixing the first preset current value by using the same methodsmaxIn the second calibration phaseStarting from the rated speed of 1/2, i on the curve of the maximum torque-to-current ratio calibrated in the first calibration phased、iqMatrix, i from torque point 0d、iqThe method is applied to the motor, so that the nonlinear change of the parameters is taken into account during calibration, the MTPA and the weak magnetic look-up table matrix which are accurate and efficient in all operation intervals can be obtained, and the torque control precision and the system efficiency can be ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A maximum torque current ratio and weak magnetic calibration method of an embedded permanent magnet synchronous motor is characterized by comprising a first calibration stage and a second calibration stage;
the first calibration stage is the maximum torque current ratio calibration under the low-speed running state:
setting motor stator current IsFor a first preset current value, and then adjusting I within a range of 90 DEG to 180 DEGsAnd the included angle theta of the d axis is adjusted, the torque value is observed while the angle theta is adjusted, when the angle theta is changed from 90 degrees to 180 degrees, the torque is changed in a rule that the torque is increased and then reduced, the point where the maximum torque occurs is found, and the I at the moment is recordedsTorque and theta values;
the same method is used for fixing the step size of the first preset current value to the stator current I of the motorsIncrease to the maximum value I of the motor stator currentsmaxAnd record IsTorque and theta values, and obtaining all data according to id＝Iscosθ，iq＝Issin theta calculates d-axis current i of motor statordQ-axis current i of motor statorqA matrix is obtained, and a maximum torque current ratio curve is obtained;
the second calibration stage is weak magnetic calibration in a high-speed operation state:
starting from the rated speed of 1/2, i on the curve of the calibrated maximum torque-current ratio in the first calibration phased、iqMatrix, i from torque point 0d、iqInitially, applying to the motor;
if the output voltage U is presentsLess than the maximum value U of the output voltagesmaxThen, the torque, the rotational speed, i at that time are recordeddAnd iq；
If the output voltage Us is greater than UsmaxBy decreasing iqTo reduce the voltage to be equal to UsmaxRecord i at this timed、iqAnd if the torque is close to the theoretical maximum torque at the current rotating speed, stopping calibration at the current rotating speed, increasing the rotating speed to a preset rotating speed, entering the next rotating speed calibration, and sequentially calibrating according to the method until the rotating speed of the motor reaches the peak rotating speed.
2. The maximum torque current ratio and flux weakening calibration method for the in-line permanent magnet synchronous motor as claimed in claim 1, wherein in the first calibration stage, when the motor is operated in a constant torque region, a maximum torque current ratio algorithm is used for calibration, and the motor speed is fixed at 1/2 rated speed.
3. The method for calibrating the maximum torque current ratio and the field weakening of the in-line permanent magnet synchronous motor according to claim 1, wherein in the first calibration stage, after obtaining the maximum torque current ratio curve, the maximum torque is calibratedInterpolating the current ratio curve to obtain idCalculating corresponding i at intervals of a second preset current value from 0AqTo obtain id、iqThe second preset current value is the negative number of the first preset current value, and the electric dynamometer is used for dragging the motor to 1/2 rated rotation speed according to the data of the table, idSequentially applying corresponding i to the motor at intervals of-10A from 0Ad、iqAnd recording the torque value at the moment when a group of currents are given, and finally obtaining the maximum torque-current ratio look-up table matrix data.
4. The method for calibrating the maximum torque current ratio and the flux weakening of the in-line permanent magnet synchronous motor according to claim 3, further comprising the following steps of:
integrating all calibration data of the first calibration stage and the second calibration stage together to obtain original calibration data;
interpolating the original calibration data to supplement the data to obtain a current curve at each rotation speed, taking torques at the same interval on the basis of the curve, and extracting corresponding id、iqAnd finally obtaining the MAP table for accurately distributing the global current.
5. The method for calibrating the maximum torque current ratio and the field weakening of the in-line permanent magnet synchronous motor according to claim 1, wherein the first preset current value is 10A.
6. The maximum torque current ratio and flux weakening calibration method for the in-line permanent magnet synchronous motor according to claim 3, wherein the second preset current value is-10A.
7. The method for calibrating the maximum torque current ratio and the field weakening of the embedded permanent magnet synchronous motor according to claim 1, wherein the preset rotating speed is 100 rpm.
8. The maximum torque current ratio and field weakening calibration method of the in-line permanent magnet synchronous motor according to claim 3, characterized in that in the first calibration stage, after obtaining the maximum torque current ratio curve, the MATLAB is used to interpolate the maximum torque current ratio curve.
9. The maximum torque to current ratio and flux weakening calibration method for the in-line permanent magnet synchronous motor according to claim 4, wherein in the step of interpolating the original calibration data to supplement the data, the original calibration data is interpolated using MATLAB to supplement the data.
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| CN111682818B (en) * | 2020-06-22 | 2023-10-27 | 东风电子科技股份有限公司 | Method for realizing quick calibration of permanent magnet synchronous motor of new energy automobile and corresponding rack calibration system |
| CN112003508B (en) * | 2020-09-18 | 2022-06-10 | 蔚然（南京）动力科技有限公司 | Motor position sensorless control method and device |
| CN112542968A (en) * | 2020-11-18 | 2021-03-23 | 江苏科技大学 | High-dynamic-response control method for permanent magnet synchronous motor |
| CN112737441B (en) * | 2020-12-25 | 2022-11-22 | 中车永济电机有限公司 | Control method of permanent magnet auxiliary synchronous reluctance motor |
| CN112671301B (en) * | 2021-03-22 | 2021-06-11 | 浙大城市学院 | Vehicle permanent magnet synchronous motor MTPA curve searching method based on direct current power |
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| CN110581680A (en) * | 2019-11-11 | 2019-12-17 | 南京埃斯顿自动化股份有限公司 | Vector control and flux weakening method and system of embedded permanent magnet synchronous motor |
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