CN111431455A - Permanent magnet synchronous electric main shaft vector control method based on maximum torque current ratio control - Google Patents
Permanent magnet synchronous electric main shaft vector control method based on maximum torque current ratio control Download PDFInfo
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- CN111431455A CN111431455A CN202010246753.6A CN202010246753A CN111431455A CN 111431455 A CN111431455 A CN 111431455A CN 202010246753 A CN202010246753 A CN 202010246753A CN 111431455 A CN111431455 A CN 111431455A
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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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
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Abstract
The invention provides a permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control, which comprises the following steps: acquiring the actual rotating speed and the set rotating speed of the permanent magnet synchronous electric spindle; obtaining the actual electromagnetic torque of the permanent magnet synchronous electric spindle according to the difference value between the actual rotating speed and the set rotating speed; based on the maximum torque current ratio control, obtaining d-axis current and q-axis current of the permanent magnet synchronous electric main shaft according to the actual electromagnetic torque; obtaining a stator three-phase current of the permanent magnet synchronous electric spindle; obtaining closed-loop current of the permanent magnet synchronous electric spindle according to the three-phase current of the stator; and obtaining an adjusting signal of the permanent magnet synchronous electric spindle according to the d-axis current, the q-axis current and the closed-loop current. The invention can reduce the loss of the permanent magnet synchronous electric spindle and simultaneously realize the independent control of the d-axis current and the q-axis current, thereby improving the accuracy and the stability of the control of the permanent magnet synchronous electric spindle and improving the precision of numerical control processing based on the permanent magnet synchronous electric spindle.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous electric spindle control, in particular to a permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control
Background
At present, a permanent magnet synchronous electric spindle is mostly adopted in a high-precision numerical control machine tool, and the permanent magnet synchronous electric spindle is widely applied to occasions with high precision and high reliability requirements mainly because the permanent magnet synchronous electric spindle has the advantages of simple structure, high power factor, good low-speed performance, small loss and the like. However, in the current control method for the permanent magnet synchronous electric spindle, independent control of torque current and exciting current is difficult to realize, so that the control precision and stability are insufficient, and the part machining precision is difficult to meet the design requirement.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, the invention aims to provide a permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control, which can ensure that a permanent magnet synchronous electric spindle runs in a constant torque running area with given torque, can ensure that the stator current of the permanent magnet synchronous electric spindle reaches the minimum, can reduce the loss of the permanent magnet synchronous electric spindle, can realize independent control of d-axis current and q-axis current, can improve the accuracy and stability of the control of the permanent magnet synchronous electric spindle, and can improve the precision of numerical control processing based on the permanent magnet synchronous electric spindle.
In order to achieve the above object, an embodiment of the present invention provides a permanent magnet synchronous electric spindle vector control method based on maximum torque-to-current ratio control, including the following steps: acquiring the actual rotating speed and the set rotating speed of the permanent magnet synchronous electric spindle; obtaining the actual electromagnetic torque of the permanent magnet synchronous electric spindle according to the difference value between the actual rotating speed and the set rotating speed; obtaining d-axis current and q-axis current of the permanent magnet synchronous electric spindle according to the actual electromagnetic torque, wherein the d-axis current and the q-axis current are obtained through maximum torque current ratio control; obtaining the stator three-phase current of the permanent magnet synchronous electric spindle; obtaining a closed-loop current of the permanent magnet synchronous electric spindle according to the three-phase current of the stator; and obtaining an adjusting signal of the permanent magnet synchronous electric spindle according to the d-axis current, the q-axis current and the closed-loop current.
According to the vector control method of the permanent magnet synchronous electric main shaft based on the maximum torque current ratio control, which is provided by the embodiment of the invention, the actual rotating speed and the set rotating speed of the permanent magnet synchronous electric main shaft are obtained, the actual electromagnetic torque of the permanent magnet synchronous electric main shaft is obtained according to the actual rotating speed and the set rotating speed, then the d-axis current and the q-axis current of the permanent magnet synchronous electric main shaft are obtained according to the actual electromagnetic torque through the maximum torque current ratio control, the stator three-phase current of the permanent magnet synchronous electric main shaft is obtained at the same time, the closed-loop current of the permanent magnet synchronous electric main shaft is obtained according to the stator three-phase current, and then the regulating signal of the permanent magnet synchronous electric main shaft is obtained according to the d-axis current, the q-axis current and the closed-loop current, so that the permanent magnet synchronous electric main shaft can be ensured to operate in a constant torque operation area of, meanwhile, the d-axis current and the q-axis current can be independently controlled, so that the accuracy and the stability of the control of the permanent magnet synchronous electric spindle can be improved, and the precision of numerical control machining based on the permanent magnet synchronous electric spindle is improved.
In addition, the permanent magnet synchronous electric spindle vector control method based on the maximum torque current ratio control proposed according to the above embodiment of the present invention may further have the following additional technical features:
further, the actual electromagnetic torque is obtained through PI control, and an input amount of the PI control includes a difference between the actual rotation speed and the set rotation speed.
Further, the maximum torque current ratio control decouples d-q axis currents using Newton's iteration.
Further, the closed loop current is obtained through Clark and Park coordinate transformation, and input quantity of the Clark and Park coordinate transformation comprises the stator three-phase current.
According to an embodiment of the present invention, obtaining the vector control signal of the permanent magnet synchronous electric spindle according to the d-axis current, the q-axis current and the closed-loop current comprises: obtaining the direct axis stator voltage and quadrature axis stator voltage of the permanent magnet synchronous electric spindle according to the current difference value of the d-axis current, the q-axis current and the closed loop current; obtaining the stator voltage of the permanent magnet synchronous electric spindle under a two-phase static coordinate system according to the direct-axis stator voltage and the quadrature-axis stator voltage; and obtaining an adjusting signal of the permanent magnet synchronous electric spindle according to the stator voltage under the two-phase static coordinate system.
Further, the direct-axis stator voltage and the quadrature-axis stator voltage are obtained through current regulation, and input quantity of the current regulation comprises current difference values of the d-axis current, the q-axis current and the closed-loop current.
Further, the stator voltage of the permanent magnet synchronous electric spindle under a two-phase static coordinate system is obtained through ANTI-PARK coordinate transformation, and input quantities of the ANTI-PARK coordinate transformation comprise the direct-axis stator voltage and the quadrature-axis stator.
Further, an adjusting signal of the permanent magnet synchronous electric spindle is obtained through SVPWM conversion, and the input quantity of the SVPWM conversion comprises stator voltage under the two-phase static coordinate system.
Drawings
Fig. 1 is a flowchart of a permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control 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.
Fig. 1 is a flowchart of a permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control according to an embodiment of the present invention.
As shown in fig. 1, the method for controlling a permanent magnet synchronous electric spindle vector based on maximum torque current ratio control according to an embodiment of the present invention includes the following steps:
and S1, acquiring the actual rotating speed and the set rotating speed of the permanent magnet synchronous electric spindle.
Specifically, as shown in fig. 2, the actual rotation speed Nerf of the permanent magnet synchronous electric spindle may be obtained by the rotation speed estimation module, and the actual rotation speed Nerf may be differentiated from the set rotation speed Nerf of the permanent magnet synchronous electric spindle.
And S2, obtaining the actual electromagnetic torque of the permanent magnet synchronous electric spindle according to the difference value between the actual rotating speed and the set rotating speed.
Specifically, as shown in fig. 2, the difference between the actual rotation speed Nerf and the set rotation speed Nerf may be input to the PI controller as an input, and the actual electromagnetic torque Te of the permanent magnet synchronous electric spindle may be calculated by the PI controller. The PI controller can be arranged on the rotating speed ring and the current ring, and parameters can be automatically modulated according to rotating speed and current errors.
And S3, obtaining d-axis current and q-axis current of the permanent magnet synchronous electric main shaft according to the actual electromagnetic torque based on the maximum torque current ratio control.
Specifically, as shown in fig. 2, the actual electromagnetic torque Te may be input to the maximum torque current ratio control module as an input, and then the d-axis current and the q-axis current, i.e., id and iq, of the permanent magnet synchronous electric spindle may be calculated by the maximum torque current ratio control module.
And S4, obtaining the stator three-phase current of the permanent magnet synchronous electric spindle.
Specifically, as shown in fig. 2, the three-phase stator current of the permanent magnet synchronous electric spindle, i.e. i, can be obtained by a current detection circuit arranged corresponding to the circuit where the permanent magnet synchronous electric spindle is locateda,ib,ic。
And S5, obtaining the closed-loop current of the permanent magnet synchronous electric spindle according to the three-phase current of the stator.
Specifically, as shown in fig. 2, the stator three-phase currents ia, ib, and ic may be input into the Clark and Park coordinate transformation module as input quantities, and then the closed-loop currents id and iq of the permanent magnet synchronous electric spindle may be obtained through transformation by the Clark and Park coordinate transformation module.
And S6, obtaining an adjusting signal of the permanent magnet synchronous electric spindle according to the d-axis current, the q-axis current and the closed-loop current.
Specifically, the direct-axis stator voltage and the quadrature-axis stator voltage of the permanent magnet synchronous electric spindle can be obtained according to the current difference value of the d-axis current, the q-axis current and the closed-loop current, then the stator voltage of the permanent magnet synchronous electric spindle under the two-phase static coordinate system can be obtained according to the direct-axis stator voltage and the quadrature-axis stator voltage, and finally the adjusting signal of the permanent magnet synchronous electric spindle can be obtained according to the stator voltage under the two-phase static coordinate system.
More specifically, as shown in fig. 2, the d-axis current id and the closed-loop current id may be differentiated to obtain a corresponding d-axis current difference, the q-axis current iq and the closed-loop current iq may be differentiated to obtain a corresponding q-axis current difference, the d-axis current difference may be input to a first current regulator as an input, the direct-axis stator voltage of the permanent magnet synchronous electric spindle, that is, ud, may be input to a second current regulator as an input, the quadrature-axis stator voltage of the permanent magnet synchronous electric spindle, that is, uq, may be input to an ANTI-PARK coordinate transformation module as an input, the stator magnetic chain angle θ may be input to the ANTI-PARK coordinate transformation module as an input, the ANTI-PARK coordinate transformation module may further convert the direct-axis stator voltage ud and the quadrature-axis stator voltage uq, that is input to the ANTI-PARK coordinate transformation module as an input, the stator magnetic chain angle θ may be input to the ANTI-PARK coordinate transformation module, and the ANTI-PARK coordinate transformation module may obtain a permanent magnet synchronous electric spindle voltage vector control signal β, and the permanent magnet synchronous electric spindle pwm switching module may obtain a stationary stator vector 3683.
It should be noted that the method for controlling a vector of a permanent magnet synchronous electric spindle based on maximum torque-to-current ratio control according to the embodiment of the present invention can minimize a stator current of the permanent magnet synchronous electric spindle when the permanent magnet synchronous electric spindle operates in a constant torque operation region with a given torque, so as to ensure minimum copper loss of the permanent magnet synchronous electric spindle and reduce loss of an inverter.
Wherein, the given electromagnetic torque of the permanent magnet synchronous electric spindle is as follows:
wherein Pn is the pole pair number of the permanent magnet synchronous electric spindle,
and
stator flux linkage i of the permanent magnet synchronous electric spindle under α and β two-phase static coordinate systems respectivelyαAnd iβAnd stator currents of the permanent magnet synchronous electric spindle under α and β two-phase static coordinate systems respectively.
Further, therein
And
the flux linkage equation of (a) is:
wherein u isαAnd uβThe stator voltage of the permanent magnet synchronous electric spindle under α and β two-phase static coordinates is shown.
Further, wherein iα、iβAnd uα、uβThe associated voltage equation is:
wherein R is stator resistance, omegaeIn order to determine the angular velocity of the rotor,
is a permanent magnet flux linkage.
Based on the voltage equation, the flux linkage equation and the given torque, the minimum value of the stator current of the permanent magnet synchronous electric spindle can be obtained through calculation of the maximum torque current ratio.
Wherein, under a d-q shafting, the stator current is as follows:
further, the problem of solving the minimum value of the stator current can be converted into the problem of solving the maximum value of the torque:
and
further, applying the lagrangian theorem, we can obtain:
further transformation, we can get:
thus, it is possible to obtain:
in summary, the d-q axis current of the permanent magnet synchronous electric spindle can be obtained, and the maximum torque which can be output by the permanent magnet synchronous electric spindle can be obtained according to the d-q axis current.
Further, the relation between the actual electromagnetic torque Te and the d-axis and q-axis currents id and iq is solved:
specifically, a newton iteration method may be used to perform the approximate calculation, and in combination with the given electromagnetic torque equation, the following may be obtained:
at the same time, f can be adjusted1(Te *)、f2(Te *) Approximation with a linear function:
and substituting the given electromagnetic torque equation and the given electromagnetic torque equation into a formula obtained by combining the given electromagnetic torque equation to obtain:
and
further by the formula
And
the following can be obtained:
further, the following optimization equation can be used to solve for k1、k2：
And, it can be substituted into the above formula
The following can be obtained:
at the same time, can order s0＝-0.5pn(Ld-Lq)A3，
k0＝k1/k2The following can be obtained:
further, let the partial derivative be 0, and the maximum value of J (A) be:
simplifying and obtaining:
F(k0)＝(s0 2-s1 2)k0 4-(2s0 2+s1 2)k0 2+s0 2＝0。
further, the k can be calculated by Newton's iteration method0：
In summary, k can be obtained1And k2The values, i.e. the actual electromagnetic torque Te and the relation between the d-axis current and the q-axis current id and iq.
In an embodiment of the present invention, the relevant parameters of the permanent magnet synchronous electric spindle, for example, a-25A, L, can be obtained through experimentsd＝0.7mh，Lq＝2.8mh，
pn＝2。
Specifically, the above parameters may be substituted into the formula s0＝-0.5pn(Ld-Lq)A3，
To find s0And s1The value is obtained.
Further, s can be obtained0And s1Values are substituted into the following equation:
find k0＝0.4729；
Further, k may be0Substitution of 0.4729 into formula k0＝k1/k2，k1 2+k2 2＝1：
Find k1＝0.645735，k2＝0.76356。
In summary, it can be seen that the expression of the torque current approximate relationship can be more accurately achieved by using the newton iteration method, so that the calculation efficiency can be improved, and the precision of the numerical control machining based on the permanent magnet synchronous electric spindle can be improved.
According to the vector control method of the permanent magnet synchronous electric main shaft based on the maximum torque current ratio control, which is provided by the embodiment of the invention, the actual rotating speed and the set rotating speed of the permanent magnet synchronous electric main shaft are obtained, the actual electromagnetic torque of the permanent magnet synchronous electric main shaft is obtained according to the actual rotating speed and the set rotating speed, then the d-axis current and the q-axis current of the permanent magnet synchronous electric main shaft are obtained according to the actual electromagnetic torque through the maximum torque current ratio control, the stator three-phase current of the permanent magnet synchronous electric main shaft is obtained at the same time, the closed-loop current of the permanent magnet synchronous electric main shaft is obtained according to the stator three-phase current, and then the regulating signal of the permanent magnet synchronous electric main shaft is obtained according to the d-axis current, the q-axis current and the closed-loop current, so that the permanent magnet synchronous electric main shaft can be ensured to operate in a constant torque operation area of, meanwhile, the d-axis current and the q-axis current can be independently controlled, so that the accuracy and the stability of the control of the permanent magnet synchronous electric spindle can be improved, and the precision of numerical control machining based on the permanent magnet synchronous electric spindle is improved.
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 are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control is characterized by comprising the following steps:
acquiring the actual rotating speed and the set rotating speed of the permanent magnet synchronous electric spindle;
obtaining the actual electromagnetic torque of the permanent magnet synchronous electric spindle according to the difference value between the actual rotating speed and the set rotating speed;
based on the control of the maximum torque current ratio, obtaining d-axis current and q-axis current of the permanent magnet synchronous electric main shaft according to the actual electromagnetic torque;
obtaining the stator three-phase current of the permanent magnet synchronous electric spindle;
obtaining a closed-loop current of the permanent magnet synchronous electric spindle according to the three-phase current of the stator;
and obtaining an adjusting signal of the permanent magnet synchronous electric spindle according to the d-axis current, the q-axis current and the closed-loop current.
2. The permanent magnet synchronous electric spindle vector control method based on maximum torque current ratio control according to claim 1, wherein the actual electromagnetic torque is obtained by PI control, and an input amount of the PI control includes a difference between the actual rotation speed and the set rotation speed.
3. The PMSM vector control method based on maximum torque current ratio control according to claim 2, wherein the maximum torque current ratio control decouples d-q axis current using Newton's iteration.
4. The permanent magnet synchronous electric spindle vector control method based on maximum torque to current ratio control according to claim 3, wherein the closed loop current is obtained through Clark and Park coordinate transformation, and input quantities of the Clark and Park coordinate transformation comprise the stator three-phase current.
5. The vector control method of the PMSM based on the MPR control of claim 1, wherein obtaining the vector control signal of the PMSM according to the d-axis current, the q-axis current and the closed-loop current comprises:
obtaining the direct axis stator voltage and quadrature axis stator voltage of the permanent magnet synchronous electric spindle according to the current difference value of the d-axis current, the q-axis current and the closed loop current;
obtaining the stator voltage of the permanent magnet synchronous electric spindle under a two-phase static coordinate system according to the direct-axis stator voltage and the quadrature-axis stator voltage;
and obtaining an adjusting signal of the permanent magnet synchronous electric spindle according to the stator voltage under the two-phase static coordinate system.
6. The PMSM (permanent magnet synchronous electric spindle vector control) method based on maximum torque to current ratio control of claim 5, wherein the direct axis stator voltage and the quadrature axis stator voltage are obtained through current regulation, and input quantities of the current regulation comprise current difference values of the d-axis current, the q-axis current and the closed-loop current.
7. The PMSM vector control method based on maximum torque-to-current ratio control according to claim 6, wherein the stator voltage of the PMSM in the two-phase stationary coordinate system is obtained through ANTI-PARK coordinate transformation, and input quantities of the ANTI-PARK coordinate transformation include the direct-axis stator voltage and the quadrature-axis stator.
8. The vector control method for a permanent magnet synchronous electric spindle based on maximum torque current ratio control according to claim 7, wherein the adjustment signal for the permanent magnet synchronous electric spindle is obtained by SVPWM conversion, and an input amount of the SVPWM conversion includes a stator voltage in the two-phase stationary coordinate system.
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