CN111245328B - Permanent magnet synchronous motor control method combining table look-up method with regulator - Google Patents
Permanent magnet synchronous motor control method combining table look-up method with regulator Download PDFInfo
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- CN111245328B CN111245328B CN201911304852.9A CN201911304852A CN111245328B CN 111245328 B CN111245328 B CN 111245328B CN 201911304852 A CN201911304852 A CN 201911304852A CN 111245328 B CN111245328 B CN 111245328B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—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
- 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
- H02P21/20—Estimation of torque
Abstract
The invention provides a permanent magnet synchronous motor control method combining a table look-up method with a regulator, which comprises the following steps: respectively designing a d-axis current given two-dimensional table and a q-axis current given two-dimensional table, and respectively inquiring the d-axis current given two-dimensional table and the q-axis current given two-dimensional table to obtain a d-axis basic current given table and a q-axis basic current given table; setting a torque regulator, wherein the output of the torque regulator is a q-axis current additional regulating quantity; and setting a weak magnetic regulator, wherein the output of the weak magnetic regulator is d-axis current additional regulating quantity, the finally used d-axis current set value is the sum of d-axis basic current set and d-axis current additional regulating quantity, and the finally used q-axis current set value is the sum of q-axis basic current set and q-axis current additional regulating quantity. The invention can give consideration to both the dynamic response performance and the control precision of the system.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor control method combining a table look-up method and a regulator.
Background
Compared with an asynchronous traction motor, the permanent magnet synchronous traction motor has the advantages of high power factor, high system efficiency, large torque density, small capacity of a frequency converter and strong dynamic response capability. Particularly, in the last two decades, rare earth permanent magnet materials are rapidly developed, and novel permanent magnet materials have the characteristics of high residual magnetic density, high magnetic energy product, high coercive force and the like, so that the permanent magnet synchronous motor is rapidly developed. Most of motors used in daily life are three-phase motors, and the double three-phase motors can realize larger output torque under smaller winding current, so that the power density and the torque density of the motors are improved. The double three-phase permanent magnet synchronous motor has the advantages of a permanent magnet motor and a multi-phase motor, and has bright application prospects in the fields of ship electric propulsion, rail transit traction and electric automobiles.
For the permanent magnet synchronous motor, a rotating speed control mode takes the rotating speed as a control target; the torque control mode is a torque control target. Even in the rotation speed control mode, the output torque control is often used as a means for adjusting the rotation speed. Efficient and accurate torque control is therefore very important for permanent magnet synchronous machines. The rail transit vehicle usually works in a torque control mode, and a tracking torque command is taken as a control target. In addition, for the permanent magnet synchronous motor which needs to operate in a high-speed area, accurate flux weakening control needs to be implemented so as to make up for the problem of insufficient voltage of a direct current bus of the inverter. The high-efficiency and accurate flux weakening control can ensure the stability of the motor and improve the utilization rate of the direct-current bus voltage, and is also very important for the permanent magnet synchronous motor.
Torque control and field weakening control are very important for a permanent magnet synchronous motor, and research on a high-performance control method which can realize both torque control and field weakening control in a high-speed region of the motor is more important. The technical background of the invention is a permanent magnet synchronous motor high-performance control method under the conditions of torque control precision, torque response speed, flux weakening control precision and flux weakening response speed.
One of the methods for controlling a permanent magnet synchronous motor is a lookup table method, and a control block diagram thereof is shown in fig. 1, which is a commonly used method for controlling a motor. In FIG. 1, the direct axis (also called d-axis) current is given and the quadrature axis (also called q-axis) current is given by querying
Two-dimensional ammeter and method for measuring current
Derived from a two-dimensional ammeter of which the first dimension is given by torque
The second dimension is the normalized rotational speed ω of the motoru. The expression of normalized rotation speed is shown in (1) and (2), wherein omegareIs the electrical acceleration of the rotor, VdcIs the DC bus voltage, V, of the invertermIs the maximum phase voltage fundamental wave peak value corresponding to the direct current bus voltage.
The two-dimensional ammeters can be obtained through finite element model simulation of the motor and also can be obtained through extraction of a large amount of experimental data. The table look-up method can quickly obtain d-axis current given and q-axis current given according to the torque instruction, the motor rotating speed and the direct-current bus voltage condition, and has very good dynamic response performance. Especially above the basic speed of the motor, the motor not only meets the requirement of torque instruction, but also meets the requirement of flux weakening control, and is very simple and efficient. However, the motor parameters may be influenced by the environment during operation, and the motor parameter drift occurs, so that the table look-up method is often difficult to achieve quite high torque control accuracy and flux weakening control accuracy.
A control method of a permanent magnet synchronous motor is also called a regulator method, and a control block diagram thereof is shown in fig. 2, which is also a commonly used control method of a permanent magnet synchronous motor. In the method, firstly, a basic d-axis current given i is obtained through an MTPA control algorithmdMAnd q-axis current given iqMIt is particularly emphasized that the MTPA algorithm herein considers only the torque command of the electric machine, andcalculating optimal d-axis current given i according to motor parametersdMAnd q-axis current given iqMThe motor is made to minimize the winding current amplitude at this torque output, as shown in (3), due to idMAnd iqMThe expression of (A) is too complex, usually obtained by fitting a quadratic polynomial
Calculate idMAnd iqMIs described in (1). The MTPA algorithm does not take into account the rotation speed of the motor and the dc bus voltage, and is a theoretical calculation value when the dc bus voltage is sufficiently high.
At d-axis current given idMAnd q-axis current given iqMFurther using a torque regulator and a weak magnetic regulator to generate an additional torque regulating current delta iqAnd flux weakening regulation current delta idThe current setpoint calculated by the MTPA algorithm and the additional current setpoint generated by the flux weakening regulator act together as a final d-axis current setpoint and a q-axis current setpoint.
Aiming at a regulator control method of a permanent magnet synchronous motor, initial d-axis current given i obtained by MTPA calculationdMAnd q-axis current given iqMWith d-axis current setting for final use
And q-axis current setting
There is a large difference, and therefore the output fluctuation range of the torque regulator and the weak magnetic regulator is large. In a high-speed weak magnetic region, if a torque command suddenly changes or bus voltage suddenly drops, the output of a torque regulator and a weak magnetic regulator changes in a large range, the dynamic response performance of a motor is influenced, current loop saturation is easy to generate, and the torque response speed is slow.
In conclusion, the table lookup-based permanent magnet synchronous motor control method has the advantage of good dynamic response performance, and is simple and easy to use. However, the table look-up method cannot be applied to the problem that the motor parameters drift along with the environment, has the problems of low torque control precision and low flux weakening control precision, and is not suitable for being used in high-precision application occasions. The permanent magnet synchronous motor control method based on the regulator has the advantages that the torque control precision and the flux weakening control precision are high, but the output range of the regulator needs to be changed in a large range, and the problem of insufficient dynamic response capability exists.
Disclosure of Invention
The invention aims to provide a permanent magnet synchronous motor control method combining a table look-up method and a regulator aiming at the defects of the prior art, and the dynamic response performance and the control precision of a system can be considered at the same time.
The invention provides a permanent magnet synchronous motor control method combining a table look-up method with a regulator, which is characterized by comprising the following steps of:
respectively designing a d-axis current given two-dimensional table and a q-axis current given two-dimensional table, and respectively inquiring the d-axis current given two-dimensional table and the q-axis current given two-dimensional table according to a torque given value and a normalized rotating speed to obtain a d-axis basic current given value and a q-axis basic current given value;
setting a torque regulator, wherein the given value of the torque regulator is a torque given value, the feedback of the torque regulator is a torque observed value, and the output of the torque regulator is a q-axis current additional regulating quantity;
setting weak magnetic regulator, setting maximum allowable motor fundamental phase voltage peak value as weak magnetic regulator, feedback of weak magnetic regulator being fundamental phase voltage peak value of inverter output, d-axis current additional regulating quantity as weak magnetic regulator output
The finally used given value of the d-axis current is the sum of the given value of the d-axis base current and the additional regulating quantity of the d-axis current, and the finally used given value of the q-axis current is the sum of the given value of the q-axis base current and the additional regulating quantity of the q-axis current.
The technical scheme also comprises the following steps: the d-axis current regulator generates a d-axis voltage component under a two-phase rotating coordinate system according to the difference value of the d-axis current given value and the d-axis current value, and the q-axis current regulator generates a q-axis voltage component according to the difference value of the q-axis current given value and the q-axis current value; respectively carrying out coordinate transformation calculation on the voltage difference components to obtain a voltage control quantity of a d axis and a voltage control quantity of a q axis, and generating a pulse signal for driving an inverter after space vector modulation; the inverter is used for driving the double three-phase permanent magnet synchronous motor.
The technical scheme also comprises the following steps: acquiring a phase current value of the permanent magnet synchronous motor through a current sensor; and the phase current value of the permanent magnet synchronous motor is subjected to coordinate transformation to obtain a d-axis current value and a q-axis current value.
The technical scheme also comprises the following steps: and the d-axis current value and the q-axis current value are subjected to torque observation calculation to obtain a torque observation value.
In the technical scheme, the phase voltage output by the inverter is obtained through the calculation of the d-axis voltage component and the q-axis voltage component.
In the technical scheme, the position of the rotor of the permanent magnet synchronous motor is obtained through the sensor, and the position of the rotor is used for coordinate transformation operation.
In the technical scheme, the output of the weak magnetic regulator is smaller than or larger than zero, and the output of the weak magnetic regulator is smaller than or equal to the difference value between the d-axis current given value and the d-axis base current given value obtained by the MTPA algorithm.
By adopting the technical scheme, the invention has the following beneficial effects:
by adopting the technical scheme of the invention, the defects of the table lookup method control method can be overcome, the problems of low torque control precision and low weak magnetic control precision in the table lookup method are avoided, and the high dynamic response performance of the table lookup method is reserved. By adopting the technical scheme of the invention, the defects of the regulator control method can be overcome, the problem of insufficient dynamic response capability caused by large-range output change of the torque regulator and the weak magnetic regulator is avoided, and the advantages of high torque control precision and weak magnetic control precision of the regulator method are retained. The technical scheme of the invention enables the advantages of two traditional permanent magnet synchronous motor control methods to be complementary, has the advantages of the two traditional methods and overcomes the defects of the two traditional methods.
By adopting the technical scheme of the invention, the base current given i is obtained by using the table lookupdTCausing motor port voltage to be higher than umaxTime, d-axis current additional regulation amount delta id< 0, base current given i using look-up tabledTCausing motor port voltage to be less than umaxTime, d-axis current additional regulation amount delta idIs greater than 0. While also limiting Δ id≤idM-idTA positive additional adjustment amount of the output of the field weakening adjustment in the low speed region is prevented. Therefore, the precision of weak magnetic control can be ensured, and the intervention of a weak magnetic regulator in a low-speed area is prevented.
Drawings
FIG. 1 is a schematic diagram of a PMSM control method based on table lookup
FIG. 2 is a schematic diagram of a PMSM control method based on a torque regulator and a low-magnetic regulator
FIG. 3 is a schematic diagram of a PMSM control method using a lookup table method in combination with a torque regulator and a low-magnetic regulator according to the present invention
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 3, the present invention provides a method for controlling a pmsm in combination with a regulator, which specifically includes the following steps:
designing two-dimensional ammeters, namely a d-axis current given two-dimensional meter and a q-axis current given two-dimensional meter, wherein the first dimension of the two-dimensional ammeters is electromagnetic torque given
The second dimension is the normalized rotational speed ω of the motorre/Vm. The two-dimensional ammeters can be obtained through finite element model simulation of the motor and can also be obtained through fitting according to experimental data of the motor. Setting the torque during the operation of the motor
And normalized rotation speed omegare/VmAnd obtaining the base current given i of the d axis and the q axis by table lookupdTAnd iqT。
The torque regulator is given by
The feedback to the torque regulator being a torque observation TecalAnd carrying out torque observation calculation through the d-axis current value and the q-axis current value to obtain a torque observation value. The output of the torque regulator is a q-axis current additional regulation amount delta iq。
The weak magnetic regulator is given by the maximum allowable motor fundamental phase voltage peak value umaxThe feedback of the weak magnetic regulator is the fundamental phase voltage peak value output by the inverter and passes through the d-axis voltage component vdAnd q-axis voltage component vqCalculating to obtain a fundamental phase voltage peak value output by the inverter; the output of the weak magnetic regulator is d-axis current additional regulating quantity delta id。
Base current is given by idTAnd flux weakening to regulate additional current given by Δ idSumming to obtain the final d-axis current specification
Base current is given by iqTAnd torque regulation additional current given Δ iqSumming to obtain final q-axis current set
Using current setting
And
and implementing a conventional vector control strategy for the permanent magnet synchronous motor.
Wherein the output Δ i of the weak magnetic regulatordThe value of (A) can be larger than zero or smaller than zero, and the magnetic regulator is a weak magnetic regulator capable of outputting in two directions, and the weak magnetic regulator can output in two directionsUnlike a conventional unidirectional output weak magnetic regulator, in the unidirectional output weak magnetic regulator, Δ idMust be less than zero. In a weakly magnetic regulator with bidirectional output, Δ idMust satisfy the clipping condition Δ id≤idM-idTWherein i isdMI.e. d-axis current given by calculation of the MTPA algorithm
d-axis current regulator setting value according to d-axis current
And d-axis current value idThe difference value of the q-axis current regulator generates a d-axis voltage component under a two-phase rotating coordinate system, and the q-axis current regulator gives a value according to the q-axis current
And q-axis current value iqGenerating a q-axis voltage component; respectively carrying out coordinate transformation calculation on the voltage difference components to obtain a voltage control quantity of a d axis and a voltage control quantity of a q axis, and generating a pulse signal for driving an inverter after space vector modulation; the inverter is used for driving the double three-phase permanent magnet synchronous motor.
Acquiring a phase current value of the permanent magnet synchronous motor through a current sensor; and the phase current value of the permanent magnet synchronous motor is subjected to coordinate transformation to obtain a d-axis current value and a q-axis current value.
In the technical scheme, the position of the rotor of the permanent magnet synchronous motor is obtained through the sensor, and the position of the rotor is used for coordinate transformation operation. The rotor speed and the rotor position used in the control method can be obtained by a mechanical position sensor such as a rotary transformer and can also be obtained by calculation through a rotor position and rotating speed estimation algorithm.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (5)
1. A method for controlling a permanent magnet synchronous motor by combining a table look-up method with a regulator is characterized by comprising the following steps:
respectively designing a d-axis current given two-dimensional table and a q-axis current given two-dimensional table, wherein the two current given two-dimensional tables are obtained through finite element model simulation of the motor or fitting according to experimental data of the motor; the first dimension of the current given two-dimensional table is given by electromagnetic torque, and the second dimension is the normalized rotating speed of the motor; respectively inquiring a d-axis current given two-dimensional table and a q-axis current given two-dimensional table according to the given torque and the normalized rotating speed to obtain a d-axis basic current given value and a q-axis basic current given value;
setting a torque regulator, wherein the given value of the torque regulator is a given torque, the feedback of the torque regulator is a torque observed value, and the torque observed value is obtained by carrying out torque observation calculation through a d-axis current value and a q-axis current value; the output of the torque regulator is a q-axis current additional adjustment amount;
setting a weak magnetic regulator, wherein the given value of the weak magnetic regulator is the maximum allowable motor fundamental phase voltage peak value, and the feedback of the weak magnetic regulator is the fundamental phase voltage peak value output by the inverter; calculating to obtain a fundamental phase voltage peak value output by the inverter through the d-axis voltage component and the q-axis voltage component; the output of the weak magnetic regulator is a d-axis current additional regulating quantity;
the finally used d-axis current given value is the sum of the d-axis base current given value and the d-axis current additional regulating quantity, and the finally used q-axis current given value is the sum of the q-axis base current given value and the q-axis current additional regulating quantity;
wherein the rotation speed omega is normalizeduThe expression of (A) is shown in the formulas (1) and (2), omegareIs the electrical acceleration of the rotor, VdcIs the DC bus voltage, V, of the invertermIs the maximum phase voltage fundamental wave peak value corresponding to the direct current bus voltage;
2. the lookup table method in combination with the regulator of claim 1 further comprising the steps of: the d-axis current regulator generates a d-axis voltage component under a two-phase rotating coordinate system according to the difference value of the d-axis current given value and the d-axis current value, and the q-axis current regulator generates a q-axis voltage component according to the difference value of the q-axis current given value and the q-axis current value; respectively carrying out coordinate transformation calculation on the voltage difference components to obtain a voltage control quantity of a d axis and a voltage control quantity of a q axis, and generating a pulse signal for driving an inverter after space vector modulation; the inverter is used for driving the double three-phase permanent magnet synchronous motor.
3. The lookup table method in combination with the regulator of claim 2, further comprising the steps of: acquiring a phase current value of the permanent magnet synchronous motor through a current sensor; and the phase current value of the permanent magnet synchronous motor is subjected to coordinate transformation to obtain a d-axis current value and a q-axis current value.
4. The PMSM control method of claim 3, wherein the rotor position of the PMSM is obtained by a sensor, and the rotor position is used for coordinate transformation operation.
5. The method of claim 4 wherein the output of the low-field regulator is less than or equal to zero and the output of the low-field regulator is less than or equal to the difference between the d-axis current setpoint and the d-axis base current setpoint from the MTPA algorithm.
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| CN111800045B (en) * | 2020-07-20 | 2022-01-18 | 浙江零跑科技股份有限公司 | Vector stepless flux weakening method of permanent magnet synchronous motor |
| CN111865165B (en) * | 2020-08-03 | 2021-07-30 | 上海电气风电集团股份有限公司 | Control method, system, medium and electronic device of squirrel-cage asynchronous generator |
| CN112290841B (en) * | 2020-10-10 | 2022-03-18 | 珠海格力节能环保制冷技术研究中心有限公司 | Permanent magnet synchronous motor control method and device, electronic equipment and storage medium |
| CN112803849A (en) * | 2020-12-31 | 2021-05-14 | 天津瑞能电气有限公司 | Permanent magnet synchronous motor full speed range position-sensorless control method |
| CN117081442A (en) * | 2022-05-09 | 2023-11-17 | 开利公司 | Method for controlling an asynchronous induction motor, control device and motor system |
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