CN111682816A - Control method and device for permanent magnet synchronous motor - Google Patents

Control method and device for permanent magnet synchronous motor Download PDF

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Publication number
CN111682816A
CN111682816A CN202010607267.2A CN202010607267A CN111682816A CN 111682816 A CN111682816 A CN 111682816A CN 202010607267 A CN202010607267 A CN 202010607267A CN 111682816 A CN111682816 A CN 111682816A
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current
stator
permanent magnet
magnet synchronous
synchronous motor
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高乐
孙楠楠
陈文淼
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a control method and a device of a permanent magnet synchronous motor, wherein the method comprises the following steps: obtaining a given stator current, a stator voltage at a previous moment, a given stator voltage at a previous moment and a stator current at a previous moment of the permanent magnet synchronous motor; determining the current given stator voltage by utilizing a preset output voltage function of a current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and motor parameters, wherein the current regulator at least comprises a cross-coupling anti-saturation controller, and the output voltage function at least comprises an active damping term; and controlling the permanent magnet synchronous motor according to the current given stator voltage. By adding the cross-coupling anti-saturation controller and the active damping term, the speed of current tracking is increased, the delay of current tracking is reduced, and the stability and the dynamic performance of the permanent magnet synchronous motor are improved on the premise of ensuring the decoupling effect.

Description

Control method and device for permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of control, in particular to a control method and device of a permanent magnet synchronous motor.
Background
After the permanent magnet synchronous motor adopts vector control, a dynamic coupling relation still exists, and the influence of the coupling effect is increased along with the increase of the rotating speed.
The current mode for processing the dynamic coupling relationship is a voltage feedforward decoupling control mode, namely a coupling term is calculated by utilizing feedback current and rotating speed, and the coupling term introduced by rotating coordinate transformation is counteracted through voltage feedforward.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for controlling a permanent magnet synchronous motor, so as to solve the problems of low stability and low dynamic performance of the permanent magnet synchronous motor caused by a voltage feedforward decoupling control manner.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the first aspect of the embodiment of the invention discloses a control method of a permanent magnet synchronous motor, which comprises the following steps:
obtaining a given stator current, a stator voltage at a previous moment, a given stator voltage at a previous moment and a stator current at a previous moment of the permanent magnet synchronous motor;
determining a current given stator voltage by utilizing a preset output voltage function of a current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and motor parameters of the permanent magnet synchronous motor, wherein the current regulator at least comprises a cross-coupling anti-saturation controller, and the output voltage function at least comprises an active damping term;
and controlling the permanent magnet synchronous motor according to the current given stator voltage.
Preferably, the determining, by using a preset output voltage function of a current regulator of the permanent magnet synchronous motor, a current given stator voltage by combining the given stator current, the stator voltage at the previous time, the given stator voltage at the previous time, the stator current at the previous time, and the motor parameter of the permanent magnet synchronous motor includes:
by using
Figure BDA0002559596390000021
Determining the current given stator voltage by combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor;
wherein, KpIs the proportionality coefficient, K, of the current regulator of said permanent magnet synchronous machineiIs the integral coefficient of the current regulator,
Figure BDA0002559596390000022
for a given stator voltage of the current regulator,
Figure BDA0002559596390000023
for the given stator current, the stator current is,
Figure BDA0002559596390000024
for identifying rotor flux linkage, RactiveAs active damping term, ωeIs the electromagnetic rotational speed usIs the stator voltage isIs stator current, KaIs the active damping coefficient, j is the imaginary part, and s is the laplacian.
Preferably, the controlling the permanent magnet synchronous motor according to the current given stator voltage includes:
and taking the current given stator voltage as the input of the width modulation inverter of the permanent magnet synchronous motor to obtain the current stator voltage, and inputting the current stator voltage into a controlled object.
A second aspect of the embodiments of the present invention discloses a control device for a permanent magnet synchronous motor, the device including:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a given stator current, a stator voltage at the previous moment, a given stator voltage at the previous moment and a stator current at the previous moment of the permanent magnet synchronous motor;
a determining unit, configured to determine a current given stator voltage by using a preset output voltage function of a current regulator of the permanent magnet synchronous motor, in combination with the given stator current, the stator voltage at the previous time, the given stator voltage at the previous time, the stator current at the previous time, and a motor parameter of the permanent magnet synchronous motor, where the current regulator includes at least a cross-coupled anti-saturation controller, and the output voltage function includes at least an active damping term;
and the control unit is used for controlling the permanent magnet synchronous motor according to the current given stator voltage.
Preferably, the determining unit is specifically configured to:
by using
Figure BDA0002559596390000031
Determining the current given stator voltage by combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor;
wherein, KpIs the proportionality coefficient, K, of the current regulator of said permanent magnet synchronous machineiIs the integral coefficient of the current regulator,
Figure BDA0002559596390000032
for a given stator voltage of the current regulator,
Figure BDA0002559596390000033
for the given stator current, the stator current is,
Figure BDA0002559596390000034
for identifying rotor flux linkage, RactiveAs active damping term, ωeIs the electromagnetic rotational speed usIs the stator voltage isIs stator current, KaIs the active damping coefficient, j is the imaginary part, and s is the laplacian.
Preferably, the control unit is specifically configured to:
and taking the current given stator voltage as the input of the width modulation inverter of the permanent magnet synchronous motor to obtain the current stator voltage, and inputting the current stator voltage into a controlled object.
Based on the control method and the device for the permanent magnet synchronous motor provided by the embodiment of the invention, the method comprises the following steps: obtaining a given stator current, a stator voltage at a previous moment, a given stator voltage at a previous moment and a stator current at a previous moment of the permanent magnet synchronous motor; determining the current given stator voltage by utilizing a preset output voltage function of a current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and motor parameters of the permanent magnet synchronous motor, wherein the current regulator at least comprises a cross-coupling anti-saturation controller, and the output voltage function at least comprises an active damping term; and controlling the permanent magnet synchronous motor according to the current given stator voltage. By adding the cross-coupling anti-saturation controller and the active damping term, the speed of current tracking is increased, the delay of current tracking is reduced, and the stability and the dynamic performance of the permanent magnet synchronous motor are improved on the premise of ensuring the decoupling effect.
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 flowchart of a control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a block diagram of a current loop decoupling control provided by an embodiment of the present invention;
fig. 3 is a block diagram of a control device of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, 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.
According to the background technology, the dynamic coupling relation of the permanent magnet synchronous motor is processed in a voltage feedforward decoupling control mode at present, but in the running process of the permanent magnet synchronous motor, motor parameters of the permanent magnet synchronous motor can change, the change of the motor parameters can cause inaccuracy of a cross decoupling term in a voltage equation, so that complete decoupling cannot be achieved, and the permanent magnet synchronous motor is low in stability and dynamic performance.
Therefore, the embodiments of the present invention provide a method and an apparatus for controlling a permanent magnet synchronous motor, in which a cross-coupling anti-saturation controller is added to a current regulator, and an output voltage function of the current regulator is added to an output voltage function of the current regulator, so as to increase a current tracking speed and reduce a current tracking delay, and improve stability and dynamic performance of the permanent magnet synchronous motor on the premise of ensuring a decoupling effect.
Referring to fig. 1, a flowchart of a control method of a permanent magnet synchronous motor according to an embodiment of the present invention is shown, where the control method includes:
step S101: and acquiring the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment and the stator current at the last moment of the permanent magnet synchronous motor.
It should be noted that, a given stator current of the permanent magnet synchronous motor is preset, and the corresponding stator voltage, the given stator voltage and the stator current are fed back in real time during the operation of the permanent magnet synchronous motor.
In the process of implementing step S101 specifically, a given stator current, a stator voltage at the previous time, a given stator voltage at the previous time, and a stator current at the previous time are obtained.
Step S102: and determining the current given stator voltage by utilizing a preset output voltage function of a current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor.
It should be noted that the output voltage function of the current regulator is pre-constructed, the cross-coupled anti-saturation controller is added to the current regulator, and the active damping term is added to the output voltage function.
In the process of implementing step S102 specifically, the current given stator voltage is determined by using formula (1) in combination with the given stator current, the stator voltage at the previous time, the given stator voltage at the previous time, the stator current at the previous time, and the motor parameter of the permanent magnet synchronous motor, that is, formula (1) is a function of the output voltage of the current regulator of the permanent magnet synchronous motor.
Figure BDA0002559596390000051
In the formula (1), KpIs the proportionality coefficient, K, of the current regulator of a permanent magnet synchronous machineiIs the integral coefficient of the current regulator and,
Figure BDA0002559596390000052
for a given stator voltage of the current regulator,
Figure BDA0002559596390000053
for a given stator current the current is given,
Figure BDA0002559596390000054
for identifying rotor flux linkage, RactiveFor the active damping term (active damping resistance), ωeIs the electromagnetic rotational speed usIs the stator voltage isIs stator current, KaIs the active damping coefficient, j is the imaginary part, and s is the laplacian.
It should be noted that the active damping term in the formula (1) is an equivalent active damping term.
It will be appreciated that the cross-coupled anti-saturation controller serves to reduce the effect of saturation, i.e. when given a stator voltage
Figure BDA0002559596390000055
Greater than stator voltage usThen, the state of saturation is entered, by the above formula (1)
Figure BDA0002559596390000056
And realizing the anti-saturation of the output of the controller.
Active damping term R in output voltage functionactiveThe active damping term is used for enhancing the system damping of the permanent magnet synchronous motor speed regulating system, and the system damping is in direct proportion to the stator resistance of the permanent magnet synchronous motor, so that the resistance value of the stator resistance is equivalently increased through the active damping term, and the aim of increasing the system damping is fulfilled.
Step S103: and controlling the permanent magnet synchronous motor according to the current given stator voltage.
In the process with implementation step S103, the current given stator voltage is used as an input of a width modulation inverter (PWMInverter) of the permanent magnet synchronous motor, the current stator voltage is obtained, and the current stator voltage is input to the controlled object.
It should be noted that, in the process of controlling the permanent magnet synchronous motor, the control target is to eliminate the coupling term generated in the control process, the control of the permanent magnet synchronous motor by the above formula (1) can eliminate the coupling term, and in order to better explain how to eliminate the coupling term generated in the control process by the above formula (1), the following explanation is provided.
And constructing a voltage function of the permanent magnet synchronous motor, wherein the voltage function of the permanent magnet synchronous motor is as shown in a formula (2).
us＝(Ldqs+Rs)is+jωe(Ldqis+ψr) (2)
In the formula (2), LdqSynchronous inductances, R, of direct (called d-axis) and quadrature (called q-axis) axes, respectivelysIs stator resistance, #rFor rotor flux linkage, omegaeIs the electromagnetic rotational speed usIs the stator voltage isIs the stator current.
And (3) subtracting the formula (1) from the formula (2) to obtain a first current function corresponding to the stator current, wherein the first current function is shown as a formula (3).
Figure BDA0002559596390000061
It can be understood that a first constraint condition is preset, and the first current function is processed by using the first constraint condition to obtain a second current function corresponding to the stator current, where the first constraint condition is as shown in formula (4).
Figure BDA0002559596390000062
That is, when KaWhen equation (4) is satisfied, the second current function is as equation (5).
Figure BDA0002559596390000063
It can be understood that a second constraint condition is preset, and the stator current following set point function is obtained by processing the second current function by using the second constraint condition, wherein the second constraint condition is as shown in formula (6).
Ki/Kp＝Ldq/(Rs+Ractive) (6)
That is, when the integral coefficient K of the current regulatoriProportional coefficient K of sum current regulatorpWhen equation (6) is satisfied, the stator current follows the set point function as in equation (7).
Figure BDA0002559596390000064
As can be seen from the above equations (1) to (7), the coupling term j ω generated during the transformation of the rotating coordinate system is cancelled out in the full speed range during the control of the permanent magnet synchronous motoreLdqidqThereby eliminating the coupling terms generated in the control process of the permanent magnet synchronous motor.
That is, the above formula (7) is a result of decoupling control of the permanent magnet synchronous motor, and is used
Figure BDA0002559596390000071
Replacing conventional PI regulators
Figure BDA0002559596390000072
The coupling term j omega generated in the process of transforming the rotating coordinate system is counteracted in the full speed rangeeLdqidq。
In the embodiment of the invention, the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment and the stator current at the last moment of the permanent magnet synchronous motor are obtained. The method comprises the steps of adding a cross-coupling anti-saturation controller in a current regulator in advance and adding an active damping term in an output voltage function to improve the speed of current tracking and reduce the delay of current tracking, determining the current given stator voltage by utilizing the output voltage function of the current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor, controlling the permanent magnet synchronous motor according to the current given stator voltage, and improving the stability and the dynamic performance of the permanent magnet synchronous motor on the premise of ensuring the decoupling effect.
To better explain the control method related to the permanent magnet synchronous motor, fig. 2 is used for illustration, and it should be noted that fig. 2 is used for illustration only.
Referring to fig. 2, a block diagram of a current loop decoupling control provided by an embodiment of the present invention is shown.
In FIG. 2, use is made of
Figure BDA0002559596390000073
Replacing conventional PI regulators
Figure BDA0002559596390000074
By passing
Figure BDA0002559596390000075
And realizing the anti-saturation of the output of the controller.
After current loop decoupling control, a current given stator voltage is obtained, the current given stator voltage is input into a PWMINverter (width modulation inverter) to obtain a desired current stator voltage, and the current stator voltage is input into a controlled object.
It will be appreciated that since system damping is proportional to stator resistance, by adding the active damping term RactiveThe resistance value of the stator resistor is equivalently increased, so that the aim of increasing the system damping is fulfilled.
By the above, the coupling term j omega generated in the process of transforming the rotating coordinate system can be counteracted in the full speed rangeeLdqidq。
As can be seen from the content shown in fig. 2, the feedforward term in the current loop decoupling control block diagram only includes the estimated back electromotive force coupling term, and the inductive coupling term is covered by the current regulator integral term, so as to cancel the coupling term caused by the rotating coordinate system.
It should be noted that, because the output voltage needs to be limited within the hexagon, in order to avoid the occurrence of integral saturation, a cross-coupled anti-saturation controller is added in the current regulator, and in order to further improve the robustness of the permanent magnet synchronous motor, an active damping term is added in the output voltage function of the current regulator, so that the current regulator has better decoupling effect and dynamic regulation performance.
It can be understood that by adding the cross-coupling anti-saturation controller and the active damping term, the current tracking speed is increased and the delay of current tracking is reduced, so that the current fluctuation of the permanent magnet synchronous motor during speed stabilization is reduced, and the current steady-state precision is improved without causing the delay of current loop tracking.
That is to say, through the content of the control method of the permanent magnet synchronous motor provided by the embodiment of the present invention, the problem of the reduction of the control performance of the permanent magnet synchronous motor due to the coupling voltage fluctuation during the high-speed operation can be solved, and the control method has good robustness to the motor parameter variation of the permanent magnet synchronous motor, suppresses the harmonic disturbance, and improves the good decoupling effect for the control process of the permanent magnet synchronous motor.
It should be noted that the motor model of the permanent magnet synchronous motor includes a pole that changes with the speed, so the fixed zero of the existing voltage feedforward decoupling control method cannot ensure zero-pole cancellation in the full speed range. As can be seen from the contents of the formulas (1) to (7) and the content shown in fig. 2 in the embodiment of the present invention, the control method of the permanent magnet synchronous motor shown in the embodiment of the present invention includes an imaginary axis zero point that changes with speed, so that the zero point and the pole of the controlled object are completely decoupled.
In the embodiment of the invention, the cross-coupling anti-saturation controller and the active damping term are added, so that the current tracking speed is increased, the current tracking delay is reduced, and the stability and the dynamic performance of the permanent magnet synchronous motor are improved on the premise of ensuring the decoupling effect.
Corresponding to the control method of the permanent magnet synchronous motor provided in the embodiment of the present invention, referring to fig. 3, an embodiment of the present invention further provides a structural block diagram of a control device of the permanent magnet synchronous motor, where the control device includes: an acquisition unit 301, a determination unit 302, and a control unit 303;
an obtaining unit 301, configured to obtain a given stator current, a stator voltage at a previous time, a given stator voltage at a previous time, and a stator current at a previous time of the permanent magnet synchronous motor.
A determining unit 302, configured to determine a current given stator voltage by using a preset output voltage function of a current regulator of the permanent magnet synchronous motor, in combination with a given stator current, a stator voltage at a previous time, a given stator voltage at a previous time, a stator current at a previous time, and a motor parameter of the permanent magnet synchronous motor, where the current regulator includes at least a cross-coupled anti-saturation controller, and the output voltage function includes at least an active damping term.
In a specific implementation, the determining unit 302 is specifically configured to: and (2) determining the current given stator voltage by using the formula (1) in combination with the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor.
Wherein, KpIs the proportionality coefficient, K, of the current regulator of a permanent magnet synchronous machineiIs the integral coefficient of the current regulator and,
Figure BDA0002559596390000091
for a given stator voltage of the current regulator,
Figure BDA0002559596390000092
for a given stator current the current is given,
Figure BDA0002559596390000093
for identifying rotor flux linkage, RactiveAs active damping term, ωeIs the electromagnetic rotational speed usIs the stator voltage isIs stator current, KaIs the active damping coefficient, j is the imaginary part, and s is the laplacian.
And the control unit 303 is configured to control the permanent magnet synchronous motor according to the current given stator voltage.
In a specific implementation, the control unit 303 is specifically configured to: and taking the current given stator voltage as the input of a width modulation inverter of the permanent magnet synchronous motor to obtain the current stator voltage, and inputting the current stator voltage into a controlled object.
In the embodiment of the invention, the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment and the stator current at the last moment of the permanent magnet synchronous motor are obtained. The method comprises the steps of adding a cross-coupling anti-saturation controller in a current regulator in advance and adding an active damping term in an output voltage function to improve the speed of current tracking and reduce the delay of current tracking, determining the current given stator voltage by utilizing the output voltage function of the current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor, controlling the permanent magnet synchronous motor according to the current given stator voltage, and improving the stability and the dynamic performance of the permanent magnet synchronous motor on the premise of ensuring the decoupling effect.
In summary, the embodiments of the present invention provide a method and an apparatus for controlling a permanent magnet synchronous motor, where the method includes: obtaining a given stator current, a stator voltage at a previous moment, a given stator voltage at a previous moment and a stator current at a previous moment of the permanent magnet synchronous motor; determining the current given stator voltage by utilizing a preset output voltage function of a current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and motor parameters of the permanent magnet synchronous motor, wherein the current regulator at least comprises a cross-coupling anti-saturation controller, and the output voltage function at least comprises an active damping term; and controlling the permanent magnet synchronous motor according to the current given stator voltage. By adding the cross-coupling anti-saturation controller and the active damping term, the speed of current tracking is increased, the delay of current tracking is reduced, and the stability and the dynamic performance of the permanent magnet synchronous motor are improved on the premise of ensuring the decoupling effect.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network 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.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
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 (6)

1. A method of controlling a permanent magnet synchronous motor, the method comprising:
obtaining a given stator current, a stator voltage at a previous moment, a given stator voltage at a previous moment and a stator current at a previous moment of the permanent magnet synchronous motor;
determining a current given stator voltage by utilizing a preset output voltage function of a current regulator of the permanent magnet synchronous motor and combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and motor parameters of the permanent magnet synchronous motor, wherein the current regulator at least comprises a cross-coupling anti-saturation controller, and the output voltage function at least comprises an active damping term;
and controlling the permanent magnet synchronous motor according to the current given stator voltage.
2. The method of claim 1, wherein determining a present given stator voltage using a preset output voltage function of a current regulator of the PMSM in combination with the given stator current, the last-time stator voltage, the last-time given stator voltage, the last-time stator current, and the PMSM motor parameters comprises:
by using
Figure FDA0002559596380000011
Determining the current given stator voltage by combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor;
wherein, KpIs the proportionality coefficient, K, of the current regulator of said permanent magnet synchronous machineiIs the integral coefficient of the current regulator,
Figure FDA0002559596380000012
for a given stator voltage of the current regulator,
Figure FDA0002559596380000013
for the given stator current, the stator current is,
Figure FDA0002559596380000014
for identifying rotor flux linkage, RactiveAs active damping term, ωeIs the electromagnetic rotational speed usIs the stator voltage isIs stator current, KaIs the active damping coefficient, j is the imaginary part, and s is the laplacian.
3. The method of claim 1, wherein said controlling said permanent magnet synchronous machine based on said present given stator voltage comprises:
and taking the current given stator voltage as the input of the width modulation inverter of the permanent magnet synchronous motor to obtain the current stator voltage, and inputting the current stator voltage into a controlled object.
4. A control device of a permanent magnet synchronous motor, characterized in that the device comprises:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a given stator current, a stator voltage at the previous moment, a given stator voltage at the previous moment and a stator current at the previous moment of the permanent magnet synchronous motor;
a determining unit, configured to determine a current given stator voltage by using a preset output voltage function of a current regulator of the permanent magnet synchronous motor, in combination with the given stator current, the stator voltage at the previous time, the given stator voltage at the previous time, the stator current at the previous time, and a motor parameter of the permanent magnet synchronous motor, where the current regulator includes at least a cross-coupled anti-saturation controller, and the output voltage function includes at least an active damping term;
and the control unit is used for controlling the permanent magnet synchronous motor according to the current given stator voltage.
5. The apparatus according to claim 4, wherein the determining unit is specifically configured to:
by using
Figure FDA0002559596380000021
Determining the current given stator voltage by combining the given stator current, the stator voltage at the last moment, the given stator voltage at the last moment, the stator current at the last moment and the motor parameters of the permanent magnet synchronous motor;
wherein, KpIs the proportionality coefficient, K, of the current regulator of said permanent magnet synchronous machineiIs the integral coefficient of the current regulator,
Figure FDA0002559596380000022
for a given stator voltage of the current regulator,
Figure FDA0002559596380000023
for the given stator current, the stator current is,
Figure FDA0002559596380000024
for identifying rotor flux linkage, RactiveAs active damping term, ωeIs the electromagnetic rotational speed usIs the stator voltage isIs stator current, KaIs the active damping coefficient, j is the imaginary part, and s is the laplacian.
6. The apparatus according to claim 4, wherein the control unit is specifically configured to:
and taking the current given stator voltage as the input of the width modulation inverter of the permanent magnet synchronous motor to obtain the current stator voltage, and inputting the current stator voltage into a controlled object.
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CN104135206A (en) * 2014-07-15 2014-11-05 邯郸美的制冷设备有限公司 Motor control system and current regulator for same
CN106992733A (en) * 2017-05-17 2017-07-28 武汉科技大学 Vehicle-mounted internal permanent magnet synchronous motor control method
CN111092577A (en) * 2018-10-19 2020-05-01 通用汽车环球科技运作有限责任公司 Symmetric control of asymmetric AC motors via flux regulators

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CN104135206A (en) * 2014-07-15 2014-11-05 邯郸美的制冷设备有限公司 Motor control system and current regulator for same
CN106992733A (en) * 2017-05-17 2017-07-28 武汉科技大学 Vehicle-mounted internal permanent magnet synchronous motor control method
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* Cited by examiner, † Cited by third party
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