CN111865159B - Method and system for controlling maximum torque current ratio of asynchronous motor - Google Patents

Method and system for controlling maximum torque current ratio of asynchronous motor Download PDF

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CN111865159B
CN111865159B CN202010737181.1A CN202010737181A CN111865159B CN 111865159 B CN111865159 B CN 111865159B CN 202010737181 A CN202010737181 A CN 202010737181A CN 111865159 B CN111865159 B CN 111865159B
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CN111865159A (en
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胡冰
张利军
崔晓光
邵春伟
咸粤飞
张勋
李泽元
赵许强
袁超
谢峥
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CRRC Qingdao Sifang Rolling Stock Research Institute 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines

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  • Control Of Ac Motors In General (AREA)
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Abstract

The invention relates to a method for controlling the maximum torque current ratio of an asynchronous motor, which comprises the following steps: according to the torque request, under the MTPA control mode and under the condition of quadrature-axis and direct-axis current equivalent quadrature decomposition, determining a direct-axis first reference current; synchronously determining a second reference current of a direct axis for non-zero switching time in SVPWM under the condition of weak magnetic PI regulation; when the non-weak magnetic area and the weak magnetic area are frequently switched, introducing a switching time quantity threshold, comparing the introduced switching time quantity threshold with non-zero switching time quantity, and determining a direct-axis current reference value by using a direct-axis first reference current and a direct-axis second reference current; and determining a quadrature-axis reference current intermediate value according to the torque request and the direct-axis current reference value, and limiting the amplitude of the quadrature-axis reference current intermediate value according to the maximum slip frequency and the peak output current to determine the quadrature-axis current reference value. The method solves the problem of output current distortion when the non-weak magnetic region and the weak magnetic region are frequently switched, and realizes the maximum torque current ratio control within the full rotating speed range of the asynchronous motor.

Description

Method and system for controlling maximum torque current ratio of asynchronous motor
Technical Field
The invention belongs to the technical field of MTPA control, and particularly relates to a method and a system for controlling the maximum torque-current ratio of an asynchronous motor.
Background
At present, the maximum torque current ratio (MTPA) control strategy of most asynchronous motors is based on SVPWM modulation ratio feedback to realize the maximum utilization of battery voltage in a high-speed weak magnetic region, and does not relate to the current distribution of a non-weak magnetic region; meanwhile, when the three-phase asynchronous motor runs at a high speed, the problem of output current distortion exists due to frequent switching of a non-weak magnetic region and a weak magnetic region, and the system is unstable.
Therefore, the invention considers the improvement of the existing MTPA control strategy, so that the smooth transition of the optimal control of the torque current can be realized when the non-weak magnetic region and the weak magnetic region are frequently switched, and the stability and the reliability of the system are ensured.
Disclosure of Invention
The invention provides a method and a system for controlling the maximum torque-current ratio of an asynchronous motor, which determine a direct-axis current reference value according to the action time of a non-zero vector in space vector pulse modulation and a torque formula equivalent orthogonal decomposition strategy, realize smooth transition of optimal control of torque currents in a non-weak magnetic region and a weak magnetic region, limit the amplitude of a quadrature-axis current reference value when the slip angular frequency of each magnetic flux maximum torque is reached, and ensure the stability and reliability of the system.
In order to achieve the above object, the present invention provides a method for controlling a maximum torque current ratio of an asynchronous motor, comprising:
according to torque request
Figure BDA0002605507890000011
In the MTPA control mode, the relation between electromagnetic torque and quadrature-direct axis current is as follows:
Figure BDA0002605507890000021
determining a first reference current i of a direct axis under the condition of quadrature-quadrature decomposition of the quadrature-direct axis current equivalentsd_ref1(ii) a Wherein: l ismFor stator-rotor mutual inductance, Isq、IsdThe current is alternating and direct axis current, and P is the number of pole pairs of the motor;
synchronously determining a direct-axis second reference current I under the condition of weak magnetic PI regulation on the non-zero switching time amount in SVPWM modulationsd_ref2；
When the non-weak magnetic area and the weak magnetic area are frequently switched, introducing a switching time quantity threshold, comparing the introduced switching time quantity threshold with non-zero switching time quantity, and using a direct-axis first reference current isd_ref1And a direct axis second reference current Isd_ref2Determining a direct-axis current reference value Isd_ref；
Requested by torque
Figure BDA0002605507890000022
And a direct axis current reference value Isd_refDetermining the quadrature reference current median value according to the electromagnetic torque formula
Figure BDA0002605507890000023
According to the maximum slip frequency omegasmaxAnd peak output current IsmaxLimiting quadrature reference current median Isq_ref1Upper and lower limit amplitude values of the reference value I of the quadrature axis currentsq_ref。
Preferably, a direct-axis first reference current i is calculatedsd_ref1The specific method comprises the following steps:
generating a torque request from a throttle signal under a rotor field oriented vector control strategy
Figure BDA0002605507890000024
When quadrature-axis current equivalent quadrature decomposition, i.e. Isd＝IsqThe torque current is optimal, and the relationship between the electromagnetic torque of the motor and the alternating current and direct current is as follows:
Figure BDA0002605507890000025
obtaining the middle value I of the first reference current of the straight axissd_ref1_mid：
Figure BDA0002605507890000026
Limiting a straight-axis first reference current intermediate value I according to the output characteristics of the motorsd_ref1_midThe upper limit of the amplitude of the upper limit is the amplitude of no-load current, the lower limit is the direct-axis weak magnetic current meeting the operation at the highest rotating speed, and a first reference current I of the direct axis is obtainedsd_ref1。
Preferably, a direct-axis second reference current I is calculatedsd_ref2The specific method comprises the following steps:
taking SVPWThe non-zero switching time quantity T of the last four switching periods in M modulation is obtained after average filtering1+T2As a weak magnetic PI loop feedback value;
given a switching time reference value TrefAmount of non-zero switching time T1+T2After comparison, a second reference current intermediate value I is obtained through weak magnetic PI loop regulationsd_ref2_mid：
Figure BDA0002605507890000031
Wherein: kP、KIIs PI regulation coefficient;
limiting the middle value I of the second reference current of the straight shaft according to the output characteristic of the motorsd_ref2_midThe upper limit of the amplitude of the upper limit is the amplitude of no-load current, the lower limit is the direct-axis weak magnetic current meeting the operation at the highest rotating speed, and a second reference current I of the direct axis is obtainedsd_ref2。
Preferably, a direct-axis current reference value I is determinedsd_refThe specific method comprises the following steps:
introducing a switching time quantity threshold value K1*TrefIn which K is1Is a constant less than 1 and greater than 0;
when non-zero switch time T1+T2＜K1*TrefThen the direct axis current reference value Isd_refEqual to the first reference current I of the straight axissd_ref1I.e. Isd_ref＝Isd_ref1Weak magnetic PI loop integral gain inherits direct axis current reference value I in real timesd_ref；
When non-zero switch time T1+T2≥K1*TrefUsing a first reference current I of a straight axissd_ref1Limiting the second reference current I of the straight axissd_ref2After the upper limit value, let the direct-axis current reference value Isd_refEqual to the second reference current I of the straight axissd_ref2I.e. Isd_ref＝Isd_ref2。
Preferably, according to the maximum slip frequency ωsmaxAnd peak output current IsmaxLimiting quadrature reference current median Isq_ref1Upper and lower limit amplitude values of the reference value I of the quadrature axis currentsq_refThe method comprises the following steps:
obtaining peak current I from motor driver and asynchronous motor overload capacitysmaxFrom the direct-axis current reference value Isd_refAnd orthogonal decomposition is carried out on the quadrature-direct axis current, and quadrature-axis first limiting current is obtained through calculation:
Figure BDA0002605507890000041
obtaining the corresponding maximum slip according to the maximum torque, and setting the stator resistance RsAfter 0, the maximum slip frequency is obtained:
Figure BDA0002605507890000042
wherein: rrIs rotor resistance, LsIs a stator inductance, LrIs the rotor inductance, LmThe stator and the rotor are mutually inducted;
from the maximum slip frequency omegasmaxCalculating to obtain a quadrature axis second limiting current:
Figure BDA0002605507890000043
wherein: t isrIs the rotor time constant;
comparison Isq_max1、Isq_max2The smaller value is taken as the final quadrature axis limiting current Isq_maxI.e. by
Figure BDA0002605507890000044
Limiting the current I by quadrature axissq_maxTo quadrature axis reference current intermediate value Isq_ref1Performing upper and lower amplitude limiting to obtain quadrature axis current reference value Isq_ref。
Preferably, the method for controlling the maximum torque current ratio of the asynchronous motor further comprises:
positioning the rotor of the motor by an angle thetarThe mechanical rotation speed omega is obtained by differential calculationrWill slip frequency omegasWith a mechanical speed omegarThe sum integral is calculated to obtain the synchronous position angle thetae。
Preferably, the method for controlling the maximum torque current ratio of the asynchronous motor further comprises:
phase current I of motorsa、IsbAnd Isa、IsbDifference value of (I)scAnd synchronous position angle thetaePerforming synchronous rotation coordinate transformation to obtain direct-axis and quadrature-axis currents Isd_fdb、Isq_fdb。
Preferably, the method for controlling the maximum torque current ratio of the asynchronous motor further comprises:
the direct axis and quadrature axis current Isd_fdb、Isq_fdbAs a feedback current, with a reference value of the quadrature-direct axis current Isd_ref、Isq_refThe difference value is subjected to double-current PI closed-loop regulation to obtain direct-axis and quadrature-axis reference voltages
Figure BDA0002605507890000051
Reference voltage of direct axis and quadrature axis
Figure BDA0002605507890000052
And synchronous position angle thetaeCarrying out Park inverse transformation to obtain reference voltage under a static coordinate system
Figure BDA0002605507890000053
Reference voltage in a stationary coordinate system
Figure BDA0002605507890000054
And obtaining a switching signal after SVPWM modulation and inputting the switching signal to an inverter control motor to realize the control of the maximum torque current ratio of the asynchronous motor.
The invention also provides a maximum torque current ratio control system of the asynchronous motor, which comprises an inverter and the asynchronous motor; the direct-axis current reference value calculating unit comprises a direct-axis first reference current calculating unit, a direct-axis second reference current calculating unit and a direct-axis current reference value judging unit;
the straight-shaft first reference current calculation unit is used for calculating a first reference current according to a torque request
Figure BDA0002605507890000055
Under the MTPA control mode and under the condition of quadrature-axis and quadrature-axis current equivalent quadrature decomposition, a first reference current intermediate value I of a direct axis is obtainedsd_ref1_midAnd performing amplitude limiting processing according to the output characteristic of the motor to determine a first reference current I of the direct axissd_ref1；
The direct-axis second reference current calculating unit is used for obtaining a direct-axis second reference current intermediate value I under the condition of weak magnetic PI regulation of non-zero switching time amount in SVPWM modulationsd_ref2_midAnd performing amplitude limiting processing according to the output characteristic of the motor to determine a second reference current I of the straight shaftsd_ref2；
The direct-axis current reference value judging unit is used for introducing a switching time quantity threshold when a non-weak magnetic area and a weak magnetic area are frequently switched, comparing the introduced switching time quantity threshold with non-zero switching time quantity, and using a direct-axis first reference current isd_ref1And a direct axis second reference current Isd_ref2Determining a direct-axis current reference value Isd_ref。
Preferably, the asynchronous motor maximum torque current ratio control system further comprises a quadrature axis current reference value calculating unit, wherein the quadrature axis current reference value calculating unit comprises a quadrature axis reference current intermediate value calculating unit, a quadrature axis limiting current calculating unit and a quadrature axis current reference value judging unit;
the quadrature reference current intermediate value calculation unit is requested by torque
Figure BDA0002605507890000061
And a direct axis current reference value Isd_refDetermining the quadrature reference current intermediate value I according to the electromagnetic torque formulasq_ref1；
The quadrature axis limiting current calculating unit calculates the maximum slip frequency omegasmaxAnd peak output current IsmaxDetermination of quadrature axis limiting current Isq_max；
The quadrature axis current reference value determination unit limits the current I by the quadrature axissq_maxTo quadrature axis reference current intermediate value Isq_ref1Performing upper and lower amplitude limiting to determine quadrature axis current reference value Isq_ref。
Preferably, the quadrature axis limiting current calculating unit includes a quadrature axis first limiting current calculating unit, a quadrature axis second limiting current calculating unit, and a quadrature axis limiting current determining unit;
the quadrature axis first limit current calculating unit is composed of a peak current IsmaxAnd a direct axis current reference value Isd_refOrthogonal decomposition of the quadrature-direct axis current to obtain a quadrature-axis first limiting current Isq_max1；
The quadrature axis second limit current calculation unit is composed of a maximum slip frequency omegasmaxObtaining a quadrature axis second limiting current Isq_max2；
The quadrature axis limiting current determination unit is used for taking Isq_max1、Isq_max2Is taken as the final quadrature axis limiting current Isq_max。
Preferably, the asynchronous motor maximum torque current ratio control system further comprises a synchronous position angle calculation unit, which is used for calculating the motor rotor position angle θ collected by the rotary transformerrThe mechanical rotation speed omega is obtained by differential calculationrWill slip frequency omegasWith a mechanical speed omegarThe sum integral is calculated to obtain the synchronous position angle thetae。
Preferably, the maximum torque current ratio control system of the asynchronous motor further comprises a 3s/2s transformation unit for transforming the collected phase current Isa、IsbAnd Isa、IsbDifference value of (I)scAnd synchronous position angle thetaePerforming synchronous rotation coordinate transformation to obtain direct-axis and quadrature-axis currents Isd_fdb、Isq_fdb。
Preferably, the maximum torque current ratio control system of the asynchronous motor further comprises a quadrature-direct axis PI adjusting unit, an Ipark conversion unit and an SVPWM modulating unit;
the quadrature-direct axis PI adjusting unit: for applying direct and quadrature currents Isd_fdb、Isq_fdbAs a feedback current, with a reference value of the quadrature-direct axis current Isd_ref、Isq_refThe difference value is subjected to double-current PI closed-loop regulation to obtain direct-axis and quadrature-axis reference voltages
Figure BDA0002605507890000071
The Ipark conversion unit is used for converting direct-axis and quadrature-axis reference voltages
Figure BDA0002605507890000072
And synchronous position angle thetaeCarrying out Park inverse transformation to obtain reference voltage under a static coordinate system
Figure BDA0002605507890000073
Figure BDA0002605507890000081
The SVPWM modulation unit: for reference voltages in a stationary frame
Figure BDA0002605507890000082
The inverter is subjected to SVPWM modulation for modulating the wave.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention provides a maximum torque current ratio control method of an asynchronous motor, which is characterized in that a strategy is generated based on new alternating current and direct axis current reference values, the direct axis current reference values are subjected to equivalent orthogonal decomposition calculation and weak magnetic ring PI regulation through a torque formula, and a switching time amount judgment condition is introduced to determine the final direct axis current reference value, so that the optimal torque current in a full rotating speed range can be ensured, the smooth switching of a weak magnetic region and a non-weak magnetic region is ensured, and the system can operate stably and reliably. Meanwhile, the maximum slip frequency and the peak output current of the weak magnetic area are introduced to limit the upper and lower limit amplitude values of the quadrature axis current reference value, so that the system can be ensured to stably and reliably operate in the deep weak magnetic area. The alternating current and direct current axis current reference value generation strategy solves the problem of output current distortion when a non-weak magnetic region and a weak magnetic region are frequently switched, and realizes maximum torque current ratio control in a full rotating speed range of a three-phase asynchronous motor. Meanwhile, according to the method, the invention also provides a corresponding control system for the maximum torque-current ratio of the asynchronous motor.
Drawings
FIG. 1 is a block diagram of the maximum torque to current ratio control for a three-phase asynchronous motor according to the present invention;
FIG. 2 is a flow chart of direct axis current reference generation;
FIG. 3 is a flow chart of cross-axis current reference generation.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
Aiming at the practical application working condition of the electric automobile, the embodiment of the invention not only has a very wide weak magnetic area to ensure that the asynchronous motor can run at a high speed, but also ensures the optimal control of the torque current to ensure that the battery efficiency reaches the practical requirement of maximum utilization, and considers to provide a maximum torque current ratio control method of the asynchronous motor, which is used for realizing the maximum torque current ratio control of the three-phase asynchronous motor for the electric automobile in the full rotating speed range, and ensures the stability of frequent switching between the non-weak magnetic area and the weak magnetic area through a reasonable alternating-direct axis reference current generation strategy.
The maximum torque current ratio (MTPA) control method is based on a direct current PI control structure of a d-axis and q-axis rotating coordinate system, a control block diagram is shown in figure 1, an exciting current d-axis is called as a direct axis, a torque current q-axis is called as a quadrature axis, a new generation strategy is provided aiming at a direct axis current reference value and a quadrature axis current reference value, namely the direct axis current reference value is reasonably selected according to the acting time of a non-zero vector in space vector pulse modulation and a torque formula equivalent orthogonal decomposition strategy, smooth transition of torque current optimal control in a non-weak magnetic area and a weak magnetic area is realized, a weak magnetic boundary is automatically identified, the upper and lower limits of the amplitude value of the quadrature axis current reference value are limited when the slip angular frequency of each magnetic flux maximum torque is reached, and the stability and reliability of a system are ensured. The control method of the maximum torque current ratio of the asynchronous motor specifically comprises the following steps:
(1) calculating a direct-axis current reference value Isd_ref：
This embodiment proposes a direct-axis current reference value Isd_refGenerating strategy, namely generating a direct-axis first reference current i through quadrature resolution of quadrature-to-quadrature axis current equivalentsd_ref1Generating a direct-axis second reference current I by carrying out PI regulation on the sum of non-zero space voltage vector and weak magnetismsd_ref2The two work simultaneously; when the non-weak magnetic area and the weak magnetic area are frequently switched, a final direct-axis current reference value I is generated by introducing a switching time amount threshold valuesd_ref. As shown in fig. 1 and fig. 2, the specific method is as follows:
according to the torque request
Figure BDA0002605507890000091
In the MTPA control mode, the relation between electromagnetic torque and quadrature-direct axis current is as follows:
Figure BDA0002605507890000102
determining a first reference current i of a direct axis under the condition of quadrature-quadrature decomposition of the quadrature-direct axis current equivalentsd_ref1(ii) a Wherein: l ismFor stator-rotor mutual inductance, Isq、IsdThe current is the alternating current and the direct current, and P is the number of pole pairs of the motor. The method specifically comprises the following steps:
generating a torque request from a throttle signal under a rotor field oriented vector control strategy
Figure BDA0002605507890000103
When the quadrature axis current equivalent is orthogonally decomposed, i.e. Isd＝IsqThe torque current is optimal, and the relationship between the electromagnetic torque of the motor and the alternating current and direct current is as follows:
Figure BDA0002605507890000104
obtaining the middle value I of the first reference current of the straight axissd_ref1_mid：
Figure BDA0002605507890000101
Then, limiting the middle value I of the first reference current of the direct axis according to the output characteristic of the motorsd_ref1_midThe upper limit of the amplitude of the upper limit is the amplitude of no-load current, the lower limit is the direct-axis weak magnetic current meeting the operation at the highest rotating speed, and a first reference current I of the direct axis is obtainedsd_ref1。
Determining a second reference current I of a direct axis under the condition of synchronously adjusting the non-zero switching time amount in the SVPWM under the weak magnetic PI regulation conditionsd_ref2. The method specifically comprises the following steps:
taking the non-zero switching time quantity of the last four switching periods in the SVPWM modulation, and obtaining the non-zero switching time quantity T after average filtering1+T2As a weak magnetic PI loop feedback value;
given a switching time reference value TrefAmount of non-zero switching time T1+T2After comparison, a second reference current intermediate value I is obtained through weak magnetic PI loop regulationsd_ref2_mid：
Figure BDA0002605507890000105
Wherein: kP、KIFor PI regulation factor, switching time reference value TrefGenerally 0.9-0.96, T1+T2Has been per unit.
Then, limiting the middle value I of the second reference current of the direct axis according to the output characteristic of the motorsd_ref2_midThe upper limit of the amplitude of the upper limit is the amplitude of no-load current, the lower limit is the direct-axis weak magnetic current meeting the operation at the highest rotating speed, and a second reference current I of the direct axis is obtainedsd_ref2. It should be noted that the first reference current I of the direct axis in this embodimentsd_ref1And a direct axis second reference current Isd_ref2The determination of (2) needs to be performed synchronously.
Thirdly, when the non-weak magnetic area and the weak magnetic area are frequently switched, a switching time quantity threshold value K is introduced1*TrefIn which K is1Is a constant less than 1 and greater than 0;
to be introduced intoAmount of switching time threshold K1*TrefAmount of non-zero switching time T1+T2Comparing when the switching time is not zero1+T2＜K1*TrefThen the direct axis current reference value Isd_refEqual to the first reference current I of the straight axissd_ref1I.e. Isd_ref＝Isd_ref1Weak magnetic PI loop integral gain inherits direct axis current reference value I in real timesd_ref(ii) a When non-zero switch time T1+T2≥K1*TrefUsing a first reference current I of a straight axissd_ref1Limiting the second reference current I of the straight axissd_ref2After the upper limit value, and making the direct-axis current reference value Isd_refEqual to the second reference current I of the straight axissd_ref2I.e. Isd_ref＝Isd_ref2。
(2) Calculating quadrature axis current reference value Isq_refReferring to fig. 1 and fig. 3, the specific method includes:
is requested by torque
Figure BDA0002605507890000111
And a direct axis current reference value Isd_refDetermining the quadrature reference current median value according to the electromagnetic torque formula
Figure BDA0002605507890000112
According to the maximum slip frequency omegasmaxAnd peak output current IsmaxLimiting quadrature reference current median Isq_ref1Upper and lower limit amplitude values of the reference value I of the quadrature axis currentsq_ref. Specifically, the method comprises the following steps:
obtaining peak current I from motor driver and asynchronous motor overload capacitysmaxFrom the direct-axis current reference value Isd_refAnd orthogonal decomposition is carried out on the quadrature-direct axis current, and quadrature-axis first limiting current is obtained through calculation:
Figure BDA0002605507890000121
obtaining a correspondence from the maximum torqueSetting the stator resistance RsAfter 0, the maximum slip frequency is obtained:
Figure BDA0002605507890000122
wherein: rrIs rotor resistance, LsIs a stator inductance, LrIs the rotor inductance, LmThe stator and the rotor are mutually inducted;
from the maximum slip frequency omegasmaxCalculating to obtain a quadrature axis second limiting current:
Figure BDA0002605507890000123
wherein: t isrIs the rotor time constant;
comparison Isq_max1、Isq_max2The smaller value is taken as the final quadrature axis limiting current Isq_maxI.e. by
Figure BDA0002605507890000124
Limiting the current I by quadrature axissq_maxTo quadrature axis reference current intermediate value Isq_ref1Performing upper and lower amplitude limiting to obtain quadrature axis current reference value Isq_ref。
(3) As shown in fig. 1, the method for controlling the maximum torque current ratio of the asynchronous motor in the present embodiment further includes the following steps:
positioning the rotor of the motor by an angle thetarThe mechanical rotation speed omega is obtained by differential calculationrWill slip frequency omegasWith a mechanical speed omegarThe sum integral is calculated to obtain the synchronous position angle thetae；
Phase current I of motorsa、IsbAnd Isa、IsbDifference value of (I)scAnd synchronous position angle thetaePerforming synchronous rotation coordinate transformation to obtain direct-axis and quadrature-axis currents Isd_fdb、Isq_fdb；
To make the direct axis and the quadrature axis electricStream Isd_fdb、Isq_fdbAs a feedback current, with a reference value of the quadrature-direct axis current Isd_ref、Isq_refThe difference value is subjected to double-current PI closed-loop regulation to obtain direct-axis and quadrature-axis reference voltages
Figure BDA0002605507890000131
Reference voltage of direct axis and quadrature axis
Figure BDA0002605507890000132
And synchronous position angle thetaeCarrying out Park inverse transformation to obtain reference voltage under a static coordinate system
Figure BDA0002605507890000133
Reference voltage in a stationary coordinate system
Figure BDA0002605507890000134
And switching signals obtained after SVPWM are input to an inverter control motor, so that the maximum torque current ratio control of the asynchronous motor is realized.
The maximum torque current ratio control method provided in the embodiment generates a strategy based on new alternating current and direct axis current reference values, performs equivalent orthogonal decomposition calculation and weak magnetic ring PI regulation on the direct axis current reference values through a torque formula, works in two ways at the same time, determines the final direct axis current reference value by introducing a switching time quantum judgment condition, can ensure that the torque current is optimal in a full rotating speed range, and ensures smooth switching between a weak magnetic area and a non-weak magnetic area, so that the system can operate stably and reliably. Meanwhile, the maximum slip frequency of the weak magnetic region and the peak output current of the controller are introduced to limit the upper and lower limit amplitude values of the quadrature axis current reference value, so that the system can be ensured to stably and reliably operate in the deep weak magnetic region. The alternating current and direct current axis current reference value generation strategy solves the problem of output current distortion when a non-weak magnetic region and a weak magnetic region are frequently switched, and realizes maximum torque current ratio control of a three-phase asynchronous motor for an electric automobile in a full rotating speed range.
According to the above method for controlling the maximum torque current ratio of the asynchronous motor, the present invention further provides a corresponding system for controlling the maximum torque current ratio of the asynchronous motor, as shown in fig. 1, which includes a direct axis current reference value calculating unit, a quadrature axis current reference value calculating unit, a synchronous position angle calculating unit, a 3s/2s converting unit, a quadrature axis PI adjusting unit, an Ipark converting unit, and an SVPWM modulating unit. Each unit is specifically as follows:
the direct-axis current reference value calculating unit comprises a direct-axis first reference current calculating unit, a direct-axis second reference current calculating unit and a direct-axis current reference value judging unit. Wherein:
a direct-axis first reference current calculation unit: for dependent on torque request
Figure BDA0002605507890000141
Under the MTPA control mode and under the condition of quadrature-axis and quadrature-axis current equivalent quadrature decomposition, a first reference current intermediate value I of a direct axis is obtainedsd_ref1_midAnd performing amplitude limiting processing according to the output characteristic of the motor to determine a first reference current I of the direct axissd_ref1。
A direct-axis second reference current calculation unit: the method is used for obtaining a straight-axis second reference current intermediate value I under the condition of weak magnetic PI regulation of non-zero switching time amount in SVPWM modulationsd_ref2_midAnd performing amplitude limiting processing according to the output characteristic of the motor to determine a second reference current I of the straight shaftsd_ref2。
Direct-axis current reference value determination unit: for comparing the introduced switching time threshold with the non-zero switching time by introducing the switching time threshold when the non-weak magnetic region and the weak magnetic region are frequently switched, and using the direct-axis first reference current isd_ref1And a direct axis second reference current Isd_ref2Determining a direct-axis current reference value Isd_ref。
The quadrature axis current reference value calculating unit comprises a quadrature axis reference current intermediate value calculating unit, a quadrature axis limiting current calculating unit and a quadrature axis current reference value judging unit. Wherein:
an intersection reference current intermediate value calculating unit: requested by torque
Figure BDA0002605507890000142
And a direct axis current reference value Isd_refDetermining the quadrature reference current intermediate value I according to the electromagnetic torque formulasq_ref1。
Quadrature axis limit current calculating unit: according to the maximum slip frequency omegasmaxAnd peak output current IsmaxDetermination of quadrature axis limiting current Isq_max(ii) a The device specifically comprises a quadrature axis first limiting current calculating unit, a quadrature axis second limiting current calculating unit and a quadrature axis limiting current judging unit. Wherein the quadrature axis first limit current calculating unit is composed of a peak current IsmaxAnd a direct axis current reference value Isd_refOrthogonal decomposition of the quadrature-direct axis current to obtain a quadrature-axis first limiting current Isq_max1(ii) a The quadrature axis second limiting current calculating unit calculates the maximum slip frequency omegasmaxObtaining a quadrature axis second limiting current Isq_max2(ii) a The quadrature axis limiting current determination unit is used for taking Isq_max1、Isq_max2Is taken as the final quadrature axis limiting current Isq_max。
Quadrature axis current reference value determination unit: limiting the current I by quadrature axissq_maxTo quadrature axis reference current intermediate value Isq_ref1Performing upper and lower amplitude limiting to determine quadrature axis current reference value Isq_ref。
Synchronization position angle calculation unit: motor rotor position angle theta for collecting rotary transformerrThe mechanical rotation speed omega is obtained by differential calculationrWill slip frequency omegasWith a mechanical speed omegarThe sum integral is calculated to obtain the synchronous position angle thetae。
3s/2s transformation unit: for phase current I to be collectedsa、IsbAnd Isa、IsbDifference value of (I)scAnd synchronous position angle thetaePerforming synchronous rotation coordinate transformation to obtain direct-axis and quadrature-axis currents Isd_fdb、Isq_fdb。
A quadrature-direct axis PI regulation unit: for applying direct and quadrature currents Isd_fdb、Isq_fdbAs feedback current, with reference value of AC and DC axis currentsd_ref、Isq_refIs subjected to double-current PI closed loopRegulating to obtain the reference voltages of the direct axis and the quadrature axis
Figure BDA0002605507890000151
Ipark transformation unit: for referencing direct-axis and quadrature-axis voltages
Figure BDA0002605507890000161
And synchronous position angle thetaeCarrying out Park inverse transformation to obtain reference voltage under a static coordinate system
Figure BDA0002605507890000162
SVPWM modulation unit: for reference voltages in a stationary frame
Figure BDA0002605507890000163
And carrying out SVPWM modulation on the inverter for modulating waves to realize the maximum torque current ratio control of the asynchronous motor.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims (11)

1. A method for controlling the maximum torque current ratio of an asynchronous motor is characterized by comprising the following steps:
according to torque request
Figure FDA0003160162940000011
In the MTPA control mode, the relation between electromagnetic torque and quadrature-direct axis current is as follows:
Figure FDA0003160162940000012
at the intersectionDetermining a first reference current i of a direct axis under the condition of equal orthogonal decomposition of the direct axis currentsd_ref1(ii) a Wherein: l ismFor stator-rotor mutual inductance, Isq、IsdThe current is alternating and direct axis current, and P is the number of pole pairs of the motor;
synchronously determining a direct-axis second reference current I under the condition of weak magnetic PI regulation on the non-zero switching time amount in SVPWM modulationsd_ref2；
When the non-weak magnetic area and the weak magnetic area are frequently switched, introducing a switching time quantity threshold, comparing the introduced switching time quantity threshold with non-zero switching time quantity, and using a direct-axis first reference current isd_ref1And a direct axis second reference current Isd_ref2Determining a direct-axis current reference value Isd_ref；
Requested by torque
Figure FDA0003160162940000013
And a direct axis current reference value Isd_refDetermining the quadrature reference current median value according to the electromagnetic torque formula
Figure FDA0003160162940000014
According to the maximum slip frequency omegasmaxAnd peak output current IsmaxLimiting quadrature reference current median Isq_ref1Upper and lower limit amplitude values of the reference value I of the quadrature axis currentsq_ref；
Calculating a second reference current I of the straight axissd_ref2The specific method comprises the following steps:
taking the non-zero switching time quantity of the last four switching periods in the SVPWM modulation, and obtaining the non-zero switching time quantity T after average filtering1+T2As a weak magnetic PI loop feedback value;
given a switching time reference value TrefAmount of non-zero switching time T1+T2After comparison, a second reference current intermediate value I is obtained through weak magnetic PI loop regulationsd_ref2_mid：
Figure FDA0003160162940000021
Wherein: kP、KIIs PI regulation coefficient;
limiting the middle value I of the second reference current of the straight shaft according to the output characteristic of the motorsd_ref2_midThe upper limit of the amplitude of the upper limit is the amplitude of no-load current, the lower limit is the direct-axis weak magnetic current meeting the operation at the highest rotating speed, and a second reference current I of the direct axis is obtainedsd_ref2。
2. The maximum torque to current ratio control method of an asynchronous machine according to claim 1, characterized in that a direct-axis first reference current i is calculatedsd_ref1The specific method comprises the following steps:
generating a torque request from a throttle signal under a rotor field oriented vector control strategy
Figure FDA0003160162940000022
When quadrature-axis current equivalent quadrature decomposition, i.e. Isd＝IsqThe torque current is optimal, and the relationship between the electromagnetic torque of the motor and the alternating current and direct current is as follows:
Figure FDA0003160162940000023
obtaining the middle value I of the first reference current of the straight axissd_ref1_mid：
Figure FDA0003160162940000024
Limiting a straight-axis first reference current intermediate value I according to the output characteristics of the motorsd_ref1_midThe upper limit of the amplitude of the upper limit is the amplitude of no-load current, the lower limit is the direct-axis weak magnetic current meeting the operation at the highest rotating speed, and a first reference current I of the direct axis is obtainedsd_ref1。
3. Method for controlling the maximum torque to current ratio of an asynchronous machine according to claim 2, characterized in that the direct-axis current reference value I is determinedsd_refThe specific method comprises the following steps:
introducing a switching time quantity threshold value K1*TrefIn which K is1Is a constant less than 1 and greater than 0;
when non-zero switch time T1+T2＜K1*TrefThen the direct axis current reference value Isd_refEqual to the first reference current I of the straight axissd_ref1I.e. Isd_ref＝Isd_ref1Weak magnetic PI loop integral gain inherits direct axis current reference value I in real timesd_ref；
When non-zero switch time T1+T2≥K1*TrefUsing a first reference current I of a straight axissd_ref1Limiting the second reference current I of the straight axissd_ref2After the upper limit value, let the direct-axis current reference value Isd_refEqual to the second reference current I of the straight axissd_ref2I.e. Isd_ref＝Isd_ref2。
4. A method for controlling the maximum torque to current ratio of an asynchronous machine according to any of claims 1-3, characterized in that it is based on the maximum slip frequency ωsmaxAnd peak output current IsmaxLimiting quadrature reference current median Isq_ref1Upper and lower limit amplitude values of the reference value I of the quadrature axis currentsq_refThe method comprises the following steps:
obtaining peak current I from motor driver and asynchronous motor overload capacitysmaxFrom the direct-axis current reference value Isd_refAnd orthogonal decomposition is carried out on the quadrature-direct axis current, and quadrature-axis first limiting current is obtained through calculation:
Figure FDA0003160162940000031
obtaining the corresponding maximum slip according to the maximum torque, and setting the stator resistance RsAfter 0, the maximum slip frequency is obtained:
Figure FDA0003160162940000032
wherein: rrIs rotor resistance, LsIs a stator inductance, LrIs the rotor inductance, LmThe stator and the rotor are mutually inducted;
from the maximum slip frequency omegasmaxCalculating to obtain a quadrature axis second limiting current:
Figure FDA0003160162940000033
wherein: t isrIs the rotor time constant;
comparison Isq_max1、Isq_max2The smaller value is taken as the final quadrature axis limiting current Isq_maxI.e. by
Figure FDA0003160162940000045
Limiting the current I by quadrature axissq_maxTo quadrature axis reference current intermediate value Isq_ref1Performing upper and lower amplitude limiting to obtain quadrature axis current reference value Isq_ref。
5. The maximum torque to current ratio control method of the asynchronous motor according to any one of claims 1 to 3, characterized by further comprising:
positioning the rotor of the motor by an angle thetarThe mechanical rotation speed omega is obtained by differential calculationrWill slip frequency omegasWith a mechanical speed omegarThe sum integral is calculated to obtain the synchronous position angle thetae。
6. The maximum torque to current ratio control method of an asynchronous machine according to claim 5, characterized by further comprising:
phase current I of motorsa、IsbAnd Isa、IsbDifference value of (I)scAnd synchronous position angle thetaePerforming synchronous rotation coordinate transformation to obtain direct-axis and quadrature-axis currents Isd_fdb、Isq_fdb。
7. The maximum torque to current ratio control method of an asynchronous machine according to claim 6, characterized by further comprising:
the direct axis and quadrature axis current Isd_fdb、Isq_fdbAs a feedback current, with a reference value of the quadrature-direct axis current Isd_ref、Isq_refThe difference value is subjected to double-current PI closed-loop regulation to obtain direct-axis and quadrature-axis reference voltages
Figure FDA0003160162940000041
Reference voltage of direct axis and quadrature axis
Figure FDA0003160162940000042
And synchronous position angle thetaeCarrying out Park inverse transformation to obtain reference voltage under a static coordinate system
Figure FDA0003160162940000043
Reference voltage in a stationary coordinate system
Figure FDA0003160162940000044
And obtaining a switching signal after SVPWM modulation and inputting the switching signal to an inverter control motor to realize the control of the maximum torque current ratio of the asynchronous motor.
8. A maximum torque current ratio control system of an asynchronous motor comprises an inverter and the asynchronous motor; the direct-axis current reference value calculating unit is characterized by further comprising a direct-axis current reference value calculating unit, wherein the direct-axis current reference value calculating unit comprises a direct-axis first reference current calculating unit, a direct-axis second reference current calculating unit and a direct-axis current reference value judging unit;
the straight-shaft first reference current calculation unit is used for calculating a first reference current according to a torque request
Figure FDA0003160162940000052
Under the MTPA control mode and under the condition of quadrature-axis current equivalent quadrature decomposition,obtaining a first reference current intermediate value I of the straight shaftsd_ref1_midAnd performing amplitude limiting processing according to the output characteristic of the motor to determine a first reference current I of the direct axissd_ref1；
The direct-axis second reference current calculating unit is used for obtaining a direct-axis second reference current intermediate value I under the condition of weak magnetic PI regulation of non-zero switching time amount in SVPWM modulationsd_ref2_midAnd performing amplitude limiting processing according to the output characteristic of the motor to determine a second reference current I of the straight shaftsd_ref2；
The direct-axis current reference value judging unit is used for introducing a switching time quantity threshold when a non-weak magnetic area and a weak magnetic area are frequently switched, comparing the introduced switching time quantity threshold with non-zero switching time quantity, and using a direct-axis first reference current isd_ref1And a direct axis second reference current Isd_ref2Determining a direct-axis current reference value Isd_ref；
The device comprises a quadrature axis current reference value calculating unit, a quadrature axis limiting current calculating unit and a quadrature axis current reference value judging unit, wherein the quadrature axis current reference value calculating unit comprises a quadrature axis reference current intermediate value calculating unit, a quadrature axis limiting current calculating unit and a quadrature axis current reference value judging unit;
the quadrature reference current intermediate value calculation unit is requested by torque
Figure FDA0003160162940000051
And a direct axis current reference value Isd_refDetermining the quadrature reference current intermediate value I according to the electromagnetic torque formulasq_ref1；
The quadrature axis limiting current calculating unit calculates the maximum slip frequency omegasmaxAnd peak output current IsmaxDetermination of quadrature axis limiting current Isq_max；
The quadrature axis current reference value determination unit limits the current I by the quadrature axissq_maxTo quadrature axis reference current intermediate value Isq_ref1Performing upper and lower amplitude limiting to determine quadrature axis current reference value Isq_ref；
The quadrature axis limiting current calculating unit comprises a quadrature axis first limiting current calculating unit, a quadrature axis second limiting current calculating unit and a quadrature axis limiting current judging unit;
the quadrature axis first limit current calculating unit is composed of a peak current IsmaxAnd a direct axis current reference value Isd_refOrthogonal decomposition of the quadrature-direct axis current to obtain a quadrature-axis first limiting current Isq_max1；
The quadrature axis second limit current calculation unit is composed of a maximum slip frequency omegasmaxObtaining a quadrature axis second limiting current Isq_max2；
The quadrature axis limiting current determination unit is used for taking Isq_max1、Isq_max2Is taken as the final quadrature axis limiting current Isq_max。
9. The maximum torque to current ratio control system for an asynchronous motor according to claim 8, characterized by further comprising a synchronous position angle calculation unit for calculating a motor rotor position angle θ collected by the resolverrThe mechanical rotation speed omega is obtained by differential calculationrWill slip frequency omegasWith a mechanical speed omegarThe sum integral is calculated to obtain the synchronous position angle thetae。
10. The maximum torque to current ratio control system for an asynchronous motor according to claim 8, characterized in that it further comprises a 3s/2s transformation unit for transforming the phase current I collectedsa、IsbAnd Isa、IsbDifference value of (I)scAnd synchronous position angle thetaePerforming synchronous rotation coordinate transformation to obtain direct-axis and quadrature-axis currents Isd_fdb、Isq_fdb。
11. The maximum torque current ratio control system of the asynchronous motor according to claim 10, further comprising a quadrature-direct axis PI adjusting unit, an Ipark converting unit, and an SVPWM modulating unit;
the quadrature-direct axis PI adjusting unit: for applying direct and quadrature currents Isd_fdb、Isq_fdbAs a feedback current, with a reference value of the quadrature-direct axis current Isd_ref、Isq_refThe difference value is subjected to double-current PI closed-loop regulation to obtainTo the direct and quadrature reference voltages
Figure FDA0003160162940000071
The Ipark conversion unit is used for converting direct-axis and quadrature-axis reference voltages
Figure FDA0003160162940000072
And synchronous position angle thetaeCarrying out Park inverse transformation to obtain reference voltage under a static coordinate system
Figure FDA0003160162940000073
The SVPWM modulation unit: for reference voltages in a stationary frame
Figure FDA0003160162940000074
The inverter is subjected to SVPWM modulation for modulating the wave.
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