CN111565000A - Direct current bus current limiting method and device of direct current brushless motor - Google Patents
Direct current bus current limiting method and device of direct current brushless motor Download PDFInfo
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- CN111565000A CN111565000A CN202010534515.5A CN202010534515A CN111565000A CN 111565000 A CN111565000 A CN 111565000A CN 202010534515 A CN202010534515 A CN 202010534515A CN 111565000 A CN111565000 A CN 111565000A
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
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Abstract
The invention provides a direct current bus current limiting method and a direct current bus current limiting device for a direct current brushless motor, wherein the method comprises the steps of calculating the modular length of a voltage vector expected to be output according to direct-axis voltage and quadrature-axis voltage expected to be output; according to the preset direct current bus current limit and the actual bus current, the modular length of the output voltage vector is limited through the adjustment of a PI controller; and determining a voltage limiting coefficient according to the relation between the modular length of the voltage vector expected to be output and the modular length of the limiting output voltage vector, and limiting the output direct-axis voltage and quadrature-axis voltage by using the voltage limiting coefficient. According to the input power and output power conservation principle of the controller, when other parameters are unchanged, the direct-axis voltage and the alternating-axis voltage are positively correlated with the direct-current bus current, the direct-current bus current can be indirectly limited by limiting the direct-axis voltage and the alternating-axis voltage, and the direct-current bus current can be limited under any working condition.
Description
Technical Field
The present invention relates to the field of dc brushless motors, and more particularly, to a dc bus current limiting method and apparatus for a dc brushless motor.
Background
The dc brushless motor includes a dc power supply, a controller, a motor, and the like, as shown in fig. 1. The direct current power supply outputs direct current to the controller through the positive and negative wires, and the current flowing through the two wires is the direct current bus current of the direct current brushless motor. The three-phase interfaces a, b and c of the controller are connected with the phase lines of the motor through the leads, and the currents flowing through the three leads are the phase currents of the direct current brushless motor. When the dc bus current is too large, abnormal faults such as burnout of internal devices of the controller due to overcurrent may occur, and therefore, a scheme for limiting the dc bus current is urgently needed.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for limiting a dc bus current of a dc brushless motor, so as to achieve the purpose of limiting the dc bus current under any operating condition.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, a method for limiting a dc bus current of a dc brushless motor is provided, including:
acquiring actual direct current bus current;
calculating the difference value between a preset direct current bus current limit value and the actual direct current bus current;
taking the difference value as the input of an incremental anti-integral saturation PI (proportional integral) controller to obtain the modular length of a limiting output voltage vector output by the incremental anti-integral saturation PI controller;
acquiring direct-axis voltage of expected output and quadrature-axis voltage of expected output, and calculating the modular length of a voltage vector of the expected output according to the direct-axis voltage and the quadrature-axis voltage of the expected output;
determining a voltage limiting coefficient according to the relation between the modular length of the voltage vector of the expected output and the modular length of the output limiting voltage vector;
and multiplying the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output by the voltage limiting coefficient respectively to obtain the direct-axis voltage of the actual output and the quadrature-axis voltage of the actual output.
Optionally, determining a voltage limiting coefficient according to a relation between a modular length of the voltage vector of the expected output and a modular length of the limited output voltage vector, including:
and judging whether the modular length of the voltage vector of the expected output is larger than the modular length of the voltage vector of the limited output, if so, taking the value of the voltage limiting coefficient as the ratio of the modular length of the voltage vector of the limited output to the modular length of the voltage vector of the expected output, otherwise, taking the value of the voltage limiting coefficient as 1, and assigning the modular length of the voltage vector of the expected output to the modular length of the voltage vector of the limited output.
Optionally, the obtaining of the actual dc bus current specifically includes:
carrying out coordinate transformation on the collected actual phase current to obtain direct-axis current and quadrature-axis current, and calculating to obtain the output power of the controller by combining the actually output direct-axis voltage and the actually output quadrature-axis voltage;
and dividing the output power by the product of the collected direct current bus voltage and the controller efficiency to obtain the actual direct current bus current.
Optionally, the process of obtaining the efficiency of the controller specifically includes:
and matching to obtain the controller efficiency corresponding to the current quadrature axis current and the current motor rotating speed by using the corresponding relation of the quadrature axis current, the motor rotating speed and the controller efficiency obtained by pre-calibration.
Optionally, the obtaining of the actual current bus current specifically includes:
and acquiring the actual direct current bus current acquired by the current sensor.
In a second aspect, there is provided a dc bus current limiting device for a dc brushless motor, comprising:
the direct current bus current unit is used for acquiring actual direct current bus current;
the difference value calculating unit is used for calculating the difference value between a preset direct current bus current limit value and the actual direct current bus current;
the voltage limit calculation unit is used for taking the difference value as the input of the incremental anti-integral saturation PI controller to obtain the modular length of a limit output voltage vector output by the incremental anti-integral saturation PI controller;
the expected voltage unit is used for acquiring a direct-axis voltage of expected output and a quadrature-axis voltage of expected output, and calculating the modular length of a voltage vector of the expected output according to the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output;
a voltage limiting coefficient determining unit for determining a voltage limiting coefficient according to a relation between a modular length of the voltage vector of the expected output and a modular length of the limited output voltage vector;
and the voltage regulating unit is used for multiplying the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output by the voltage limiting coefficient respectively to obtain the direct-axis voltage of the actual output and the quadrature-axis voltage of the actual output.
Optionally, the voltage limiting coefficient determining unit is specifically configured to:
and judging whether the modular length of the voltage vector of the expected output is larger than the modular length of the voltage vector of the limited output, if so, taking the value of the voltage limiting coefficient as the ratio of the modular length of the voltage vector of the limited output to the modular length of the voltage vector of the expected output, otherwise, taking the value of the voltage limiting coefficient as 1, and assigning the modular length of the voltage vector of the expected output to the modular length of the voltage vector of the limited output.
Optionally, the dc bus current unit specifically includes:
the output power calculation subunit is used for performing coordinate transformation on the acquired actual phase current to obtain direct-axis current and quadrature-axis current, and calculating to obtain the output power of the controller by combining the actually output direct-axis voltage and the actually output quadrature-axis voltage;
and the actual direct current bus current calculating subunit is used for dividing the output power by the product of the acquired direct current bus voltage and the controller efficiency to obtain the actual direct current bus current.
Optionally, the dc bus current unit further includes:
and the controller efficiency subunit is used for matching and obtaining the controller efficiency corresponding to the current quadrature axis current and the current motor rotating speed by utilizing the corresponding relation of the quadrature axis current, the motor rotating speed and the controller efficiency obtained by pre-calibration.
Optionally, the dc bus current unit is specifically configured to:
and acquiring the actual direct current bus current acquired by the current sensor.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the technical scheme provides a direct current bus current limiting method and a direct current bus current limiting device for a direct current brushless motor, and the method comprises the steps of calculating the modular length of a voltage vector expected to be output according to direct-axis voltage and quadrature-axis voltage expected to be output; according to the preset direct current bus current limit and the actual bus current, the modular length of the output voltage vector is limited through the adjustment of a PI controller; and determining a voltage limiting coefficient according to the relation between the modular length of the voltage vector expected to be output and the modular length of the limiting output voltage vector, and limiting the output direct-axis voltage and quadrature-axis voltage by using the voltage limiting coefficient. According to the input power and output power conservation principle of the controller, when other parameters are unchanged, the direct-axis voltage and the alternating-axis voltage are positively correlated with the direct-current bus current, the direct-current bus current can be indirectly limited by limiting the direct-axis voltage and the alternating-axis voltage, and the direct-current bus current can be limited under any working condition. In addition, the method does not need to modify the existing motor control structure, only adds a voltage limiting coefficient in a control link, is compatible with MTPA (Maximum Torque Per Ampere) and a weak magnetic algorithm through practical tests, and does not influence the control effect of an upper algorithm.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a brushless DC motor;
fig. 2 is a flowchart of a dc bus current limiting method of a dc brushless motor according to an embodiment of the present invention;
fig. 3 is a schematic logic structure diagram of a dc bus current limiting device of a dc brushless 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 direct current bus current of the direct current brushless motor is not a controllable quantity, namely the direct current bus current cannot be directly adjusted. According to the invention, the voltage corresponding to the direct current bus current is regulated, so that the direct current bus current does not exceed the preset direct current bus current limit value. Fig. 2 is a dc bus current limiting method for a dc brushless motor according to an embodiment of the present invention, where the method includes the following steps:
s21: and acquiring the actual direct current bus current.
In one embodiment, the actual dc bus current may be collected by a current sensor.
The current brushless dc motor is usually configured with a corresponding sensor to collect phase current and dc bus voltage. In order to reduce hardware cost, the actual direct current bus current can be calculated by using other parameters. Specifically, coordinate transformation is performed on the collected actual phase current to obtain direct-axis current and quadrature-axis current, and the output power of the controller is calculated by combining the direct-axis voltage to be actually output and the quadrature-axis voltage to be actually output; and dividing the output power by the product of the collected direct current bus voltage and the controller efficiency to obtain the actual direct current bus current.
The formula for calculating the actual dc bus current is as follows:
wherein, IdcTo representActual DC bus current, IdrealRepresenting the direct-axis current, I, obtained by coordinate transformation of the acquired actual phase currentqrealRepresenting quadrature current, U, obtained by coordinate transformation of the acquired actual phase currentdcmdIndicating the direct-axis voltage, U, to be actually outputqcmdIndicating that quadrature voltage, U, is to be actually outputdcRepresenting the dc bus voltage collected and k representing the controller efficiency. Note that U isdcmdAnd UqcmdIs an intermediate variable calculated by software, and the controller will follow UdcmdAnd UqcmdThe three-phase voltage output by the controller is adjusted by a PWM (Pulse width modulation) method.
The three-phase current output by the controller in fig. 1 is subjected to coordinate transformation to obtain direct-axis current and quadrature-axis current. The three-phase voltage output by the controller in fig. 1 is subjected to coordinate transformation to obtain direct-axis voltage and quadrature-axis voltage. The product of the three-phase current and the three-phase voltage is the output power of the controller. The product of the direct-axis current and the direct-axis voltage is added with the product of the quadrature-axis current and the quadrature-axis voltage to obtain the output power of the controller, and the numerical values of the output power obtained by the two calculation modes are equal. Therefore, the direct axis current I is used in the inventiondrealAnd the direct axis voltage UdcmdProduct of (d) and quadrature current IqrealAnd quadrature axis voltage UqcmdThe products of the two are added to obtain the output power of the controller.
For the controller, it consumes I input powerdc×UdcThe controller efficiency k is the ratio of the input power to the output power of the controller. The controller efficiency k is obtained by experimental calibration, and the value range of the controller efficiency k is [0, 1 ]]. The corresponding relation among the alternating current, the motor rotating speed and the controller efficiency k can be calibrated in advance, namely the controller efficiency corresponding to different alternating currents and different motor rotating speeds is obtained through calibration, so that the controller efficiency k corresponding to the current alternating current and the current motor rotating speed is obtained through matching by using the corresponding relation among the alternating current, the motor rotating speed and the controller efficiency obtained through calibration in advance in the actual work of the direct current brushless motor.
S22: calculating the preset current limit value of the direct current bus and the actual current I of the direct current busdcThe difference of (a).
S23: taking the difference value as the input of an incremental anti-integral saturation PI controller to obtain the modular length U of the output voltage limiting vector output by the PI controllerlimit。
The calculation formula of the incremental anti-integral saturation PI controller is as follows:
Ulimit(k)＝Ulimit(k-1)+KP[e(k)-e(k-1)]+KI×e(k)
wherein, Ulimit(k) Representing the modular length, U, of the limited output voltage vector calculated for the current calculation cyclelimit(k-1) represents the modular length of the limited output voltage vector calculated in the last calculation period, and e (k) represents the subtraction of the actual direct current bus current I from the preset direct current bus current limit value calculated in the current calculation perioddcE (k-1) represents the difference value obtained by subtracting the actual direct current bus current I from the preset direct current bus current limit value calculated in the last calculation perioddcDifference of (A), KPDenotes the coefficient of proportionality, KIDenotes the integral adjustment coefficient, KIAnd KPAre all positive values. In the first calculation cycle UlimitThe value of (k-1) is a preset initial value, which is large because a large dc bus current is unlikely to occur upon initialization.
S24: and acquiring the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output, and calculating the modular length of the voltage vector of the expected output according to the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output.
The controller takes the difference value of the target direct-axis current and the actual direct-axis current as the input of the direct-axis PI controller to obtain the direct-axis voltage U output by the direct-axis PI controllerdI.e. the direct axis voltage of the desired output; similarly, the controller takes the difference value between the target quadrature axis current and the actual quadrature axis current as the input of the quadrature axis PI controller to obtain the quadrature axis voltage U output by the quadrature axis PI controllerqI.e. the direct axis voltage of the desired output. The modulo length of the voltage vector of the desired output is then
S25: the voltage limiting coefficient is determined based on a relationship between a modular length of the voltage vector of the desired output and a modular length of the limited output voltage vector.
In one embodiment, the modular length of the voltage vector of the desired output is determined
Whether or not it is greater than the modular length U of the limiting output voltage vectorlimitIf yes, the voltage limiting coefficient takes the value of the modular length U of the output voltage vectorlimitModulo length of voltage vector with expected output
If not, the voltage limiting coefficient is 1, and the modular length of the voltage vector expected to be output is obtained
Modular length U assigned to a vector limiting the output voltagelimit。
When the actual DC bus current is less than the DC bus current limit value, e (K) is a positive value because KIIs also positive, so the integral term K of the incremental anti-integral saturation PI controllerI× e (k) will be Ulimit(k) Regulating all the time upwards; if this evaluation logic is not added here, i.e. the modulo length of the voltage vector of the desired output is not exceeded
Modular length U assigned to maximum output voltage vectorlimit(k) Then U islimit(k) Will become very large; therefore, when the actual direct current bus current exceeds the direct current bus current limit value, a certain time is needed for waiting the incremental anti-integral saturation PI controller to enable the U to be startedlimit(k) The voltage limit can only be started to take effect after the voltage is reduced, and the control effect is delayed. After the assignment logic is added, the fact that the current of the direct current bus exceeds the current of the direct current bus for the first time can be guaranteedWhen the current limit value of the direct current bus is exceeded, the voltage limiting effect can be immediately effective.
S26: and multiplying the direct-axis voltage expected to be output and the quadrature-axis voltage expected to be output by the voltage limiting coefficient respectively to obtain the direct-axis voltage actually output and the quadrature-axis voltage actually output.
Namely Udcmd＝Ud×limitfactor，Uqcmd＝Uq× limitfactor, the limitfactor represents the voltage limiting coefficient, the initial value of the limitfactor is 1, the direct current bus current is indirectly limited by limiting the direct axis voltage and the quadrature axis voltage, and the direct current bus current can be limited under any working condition.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Fig. 3 shows a dc bus current limiting apparatus for a dc brushless motor according to an embodiment of the present invention, which includes a dc bus current unit 31, a difference value calculating unit 32, a voltage limit calculating unit 33, an expected voltage unit 34, a voltage limit coefficient determining unit 35, and a voltage adjusting unit 36.
And a dc bus current unit 31 for obtaining the actual dc bus current.
And a difference calculating unit 32, configured to calculate a difference between the preset dc bus current limit value and the actual dc bus current.
And the voltage limit calculation unit 33 is configured to use the difference value as an input of the incremental anti-integral saturation PI controller to obtain a modular length of a limit output voltage vector output by the incremental anti-integral saturation PI controller.
And the expected voltage unit 34 is used for acquiring the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output, and calculating the modular length of the voltage vector of the expected output according to the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output.
A voltage limiting coefficient determining unit 35, configured to determine a voltage limiting coefficient according to a relation between a modular length of the voltage vector of the expected output and a modular length of the limited output voltage vector.
And the voltage regulating unit 36 is configured to multiply the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output by the voltage limiting coefficient, respectively, to obtain the direct-axis voltage of the actual output and the quadrature-axis voltage of the actual output.
Optionally, the voltage limiting coefficient determining unit 35 is specifically configured to: and judging whether the modular length of the voltage vector of the expected output is larger than the modular length of the voltage vector of the limit output, if so, taking the value of the voltage limit coefficient as the ratio of the modular length of the voltage vector of the limit output to the modular length of the voltage vector of the expected output, otherwise, taking the value of the voltage limit coefficient as 1, and assigning the modular length of the voltage vector of the expected output to the modular length of the voltage vector of the limit output.
Optionally, the dc bus current unit 31 specifically includes an output power calculating subunit and an actual dc bus current calculating subunit.
And the output power calculating subunit is used for performing coordinate transformation on the acquired actual phase current to obtain direct-axis current and quadrature-axis current, and calculating to obtain the output power of the controller by combining the actually output direct-axis voltage and the actually output quadrature-axis voltage.
And the actual direct current bus current calculating subunit is used for dividing the output power of the controller by the product of the collected direct current bus voltage and the controller efficiency to obtain the actual direct current bus current.
Optionally, the dc bus current unit 31 further includes: and the controller efficiency subunit is used for matching to obtain the controller efficiency corresponding to the current quadrature axis current and the current motor speed by utilizing the corresponding relation of the quadrature axis current, the motor speed and the controller efficiency obtained by pre-calibration.
Optionally, the dc bus current unit 31 is specifically configured to obtain an actual dc bus current acquired by the current sensor.
The above-described embodiments of the apparatus are merely illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for limiting a direct current bus current of a brushless direct current motor is characterized by comprising the following steps:
acquiring actual direct current bus current;
calculating the difference value between a preset direct current bus current limit value and the actual direct current bus current;
taking the difference value as the input of an incremental anti-integral saturation PI controller to obtain the modular length of a limiting output voltage vector output by the incremental anti-integral saturation PI controller;
acquiring a direct-axis voltage of expected output and a quadrature-axis voltage of expected output, and calculating the modular length of a voltage vector of the expected output according to the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output;
determining a voltage limiting coefficient according to the relation between the modular length of the voltage vector of the expected output and the modular length of the output limiting voltage vector;
and multiplying the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output by the voltage limiting coefficient respectively to obtain the direct-axis voltage of the actual output and the quadrature-axis voltage of the actual output.
2. The dc bus current limiting method of a dc brushless motor according to claim 1, wherein determining a voltage limiting coefficient according to a relation between a modular length of the voltage vector of the expected output and a modular length of the limited output voltage vector comprises:
determining whether a modular length of the voltage vector of the expected output is greater than a modular length of the limited output voltage vector,
if yes, the voltage limiting coefficient takes the value of the ratio of the modular length of the limited output voltage vector to the modular length of the voltage vector of the expected output,
and if not, the voltage limiting coefficient takes a value of 1, and the modular length of the voltage vector expected to be output is assigned to the modular length of the voltage vector limited to be output.
3. The method according to claim 1, wherein the obtaining of the actual dc bus current specifically includes:
carrying out coordinate transformation on the collected actual phase current to obtain direct-axis current and quadrature-axis current, and calculating to obtain the output power of the controller by combining the actually output direct-axis voltage and the actually output quadrature-axis voltage;
and dividing the output power by the product of the collected direct current bus voltage and the controller efficiency to obtain the actual direct current bus current.
4. The method according to claim 3, wherein the step of obtaining the controller efficiency comprises:
and matching to obtain the controller efficiency corresponding to the current quadrature axis current and the current motor rotating speed by using the corresponding relation of the quadrature axis current, the motor rotating speed and the controller efficiency obtained by pre-calibration.
5. The method according to claim 1, wherein the obtaining the actual current bus current specifically includes:
and acquiring the actual direct current bus current acquired by the current sensor.
6. A dc bus current limiting device for a dc brushless motor, comprising:
the direct current bus current unit is used for acquiring actual direct current bus current;
the difference value calculating unit is used for calculating the difference value between a preset direct current bus current limit value and the actual direct current bus current;
the voltage limit calculation unit is used for taking the difference value as the input of the incremental anti-integral saturation PI controller to obtain the modular length of a limit output voltage vector output by the incremental anti-integral saturation PI controller;
the expected voltage unit is used for acquiring a direct-axis voltage of expected output and a quadrature-axis voltage of expected output, and calculating the modular length of a voltage vector of the expected output according to the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output;
a voltage limiting coefficient determining unit for determining a voltage limiting coefficient according to a relation between a modular length of the voltage vector of the expected output and a modular length of the limited output voltage vector;
and the voltage regulating unit is used for multiplying the direct-axis voltage of the expected output and the quadrature-axis voltage of the expected output by the voltage limiting coefficient respectively to obtain the direct-axis voltage of the actual output and the quadrature-axis voltage of the actual output.
7. The dc bus current limiting apparatus of the dc brushless motor according to claim 6, wherein the voltage limiting coefficient determining unit is specifically configured to:
judging whether the modular length of the voltage vector of the expected output is larger than the modular length of the voltage vector of the limit output, if so, taking the value of the voltage limit coefficient as the ratio of the modular length of the voltage vector of the limit output to the modular length of the voltage vector of the expected output; and if not, the voltage limiting coefficient takes a value of 1, and the modular length of the voltage vector expected to be output is assigned to the modular length of the voltage vector limited to be output.
8. The dc bus current limiting apparatus of a dc brushless motor according to claim 6, wherein the dc bus current unit specifically includes:
the output power calculation subunit is used for performing coordinate transformation on the acquired actual phase current to obtain direct-axis current and quadrature-axis current, and calculating to obtain the output power of the controller by combining the actually output direct-axis voltage and the actually output quadrature-axis voltage;
and the actual direct current bus current calculating subunit is used for dividing the output power by the product of the acquired direct current bus voltage and the controller efficiency to obtain the actual direct current bus current.
9. The dc bus current limiting apparatus of a dc brushless motor according to claim 8, wherein the dc bus current unit further comprises:
and the controller efficiency subunit is used for matching and obtaining the controller efficiency corresponding to the current quadrature axis current and the current motor rotating speed by utilizing the corresponding relation of the quadrature axis current, the motor rotating speed and the controller efficiency obtained by pre-calibration.
10. The dc bus current limiting apparatus of a dc brushless motor according to claim 6, wherein the dc bus current unit is specifically configured to:
and acquiring the actual direct current bus current acquired by the current sensor.
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| CN101615875A (en) * | 2008-06-26 | 2009-12-30 | 上海日立电器有限公司 | A kind of driving device of direct current frequency conversion refrigerator |
| JP5322534B2 (en) * | 2008-08-26 | 2013-10-23 | 三菱電機株式会社 | Control device and motor control device |
| CN103036497A (en) * | 2011-09-30 | 2013-04-10 | 三垦电气株式会社 | Control device and control method of synchronous motor |
| CN109412490A (en) * | 2017-08-16 | 2019-03-01 | 美的集团股份有限公司 | Electrical equipment, the control method of electric machine control system and induction machine, device |
| CN109698656A (en) * | 2017-09-05 | 2019-04-30 | 上海大郡动力控制技术有限公司 | The acquisition methods of electric car IPM electric drive system bus current safety signal |
| CN107733312A (en) * | 2017-10-23 | 2018-02-23 | 北京新能源汽车股份有限公司 | Electric machine controller and its DC bus current detection method, device and electric automobile |
| CN108712126A (en) * | 2018-06-28 | 2018-10-26 | 上海英恒电子有限公司 | Applied to the bus current method of estimation in electric machine controller |
| CN109450333A (en) * | 2018-11-19 | 2019-03-08 | 苏州绿控传动科技股份有限公司 | A kind of method of permanent magnet synchronous motor output torque estimation |
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