CN112003519A - Single-current flux-weakening control method, device and system for permanent magnet synchronous motor - Google Patents
Single-current flux-weakening control method, device and system for permanent magnet synchronous motor Download PDFInfo
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- CN112003519A CN112003519A CN201910446940.6A CN201910446940A CN112003519A CN 112003519 A CN112003519 A CN 112003519A CN 201910446940 A CN201910446940 A CN 201910446940A CN 112003519 A CN112003519 A CN 112003519A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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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
- 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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Abstract
The invention discloses a single-current weak magnetic control method, a device and a system of a permanent magnet synchronous motor, when the permanent magnet synchronous motor is controlled, in order to improve the stability of single-current weak magnetic control, feedforward compensation is considered to be carried out on a given value of d-axis voltage, in addition, when the feedforward compensation voltage for compensating the given value of the d-axis voltage is determined, the influence of low-frequency pulse components existing in the actual d-axis current and the actual q-axis current on a stable point of single-current flux weakening control is considered to be larger along with the deepening of the degree of flux weakening saturation, so that the whole motor system is not easy to be stable, therefore, the method performs feedforward compensation on the given value of the d-axis voltage only through the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current, therefore, the stable point of the single-current weak magnetic control is easy to determine, and the stability of the single-current control strategy is improved.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a single-current flux-weakening control method, a single-current flux-weakening control device and a single-current flux-weakening control system for a permanent magnet synchronous motor.
Background
Because the input voltage at the direct current side of the converter is limited, a vector flux weakening control strategy is mostly adopted when the permanent magnet synchronous motor is controlled within a wider speed range. In the existing traditional vector control flux weakening strategy of the permanent magnet synchronous motor, two orthogonal decoupling current regulators are usually adopted to regulate the dq axis current, but when the motor is in a high-speed section or the current regulators are close to saturation, the coupling effect between the dq axis current is strengthened, the dynamic response speed of the motor is influenced, and even the instability of the whole motor system can be caused.
In order to solve the problem caused by cross coupling of dq-axis current at high speed, some researchers propose a single-current control strategy, namely, the q-axis voltage is calculated by using the d-axis voltage output by a PI (proportional-integral) regulator. However, as the degree of deep weak magnetic saturation increases, the stability of the single current control strategy begins to decrease.
Disclosure of Invention
The invention aims to provide a single-current flux weakening control method, a single-current flux weakening control device and a single-current flux weakening control system of a permanent magnet synchronous motor, so that a stable point of single-current flux weakening control is easy to determine, and the stability of a single-current control strategy is improved.
In order to solve the technical problem, the invention provides a single-current flux-weakening control method of a permanent magnet synchronous motor, which comprises the following steps:
under the working condition of square waves, acquiring actual d-axis current and actual q-axis current of the permanent magnet synchronous motor;
carrying out high-pass filtering on the actual d-axis current and the actual q-axis current to obtain a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current;
determining a feedforward compensation voltage according to the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current;
and compensating the d-axis voltage given value by using the feedforward compensation voltage to obtain a compensation value, and performing single-current square wave flux weakening control on the permanent magnet synchronous motor according to the compensation value.
Preferably, the high-pass filtering the actual d-axis current and the actual q-axis current includes:
and performing second-order high-pass filtering on the actual d-axis current and the actual q-axis current.
Preferably, the determining a feedforward compensation voltage according to the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current includes:
determining feedforward compensation voltage according to the high-frequency component of the actual d-axis current, the high-frequency component of the actual q-axis current and a compensation voltage calculation relation;
the compensation voltage has a calculation relation of delta Ud＝Rsidh-weLqiqh；
Wherein, Delta UdFor said feedforward compensation voltage, RsIs the phase current of the permanent magnet synchronous motorResistance idhIs a high frequency component of the actual d-axis current, iqhIs a high frequency component of the actual q-axis current, weThe stator electrical angular frequency of the permanent magnet synchronous motor; l isqIs a quadrature axis inductor.
Preferably, the compensating the given value of the d-axis voltage by using the feedforward compensation voltage to obtain a compensation value includes:
obtaining a compensation value according to the feedforward compensation voltage, the d-axis voltage given value and a compensation relation;
the compensation relation is Ud_ref＝Ud_ref*+K*ΔUd；
Wherein, Ud_refFor said compensation value, Ud_ref*The given value of d-axis voltage is obtained, and K is a correction coefficient.
Preferably, the value of the correction coefficient ranges from 0.1 to 0.3.
Preferably, the start frequency of the high-pass filtering is 300 Hz.
Preferably, the performing single-current square-wave flux weakening control on the permanent magnet synchronous motor according to the compensation value includes:
directly taking the compensation value as a d-axis voltage control value;
calculating a relational expression according to the compensation value and the dq axis to obtain a q-axis voltage control value;
the dq axis is calculated as
Wherein, Uq_refFor said q-axis voltage control value, UmaxMaximum value of voltage, U, that can be output by an inverter supplying said PMSMd_refIs the d-axis voltage control value;
generating an SVPWM signal according to the d-axis voltage control value and the q-axis voltage control value;
and controlling the inverter by utilizing the SVPWM signal so as to further realize the control of the permanent magnet synchronous motor.
In order to solve the above technical problem, the present invention further provides a single current flux weakening control system of a permanent magnet synchronous motor, comprising:
the current acquisition unit is used for acquiring the actual d-axis current and the actual q-axis current of the permanent magnet synchronous motor under the square wave working condition;
the high-pass filtering unit is used for carrying out high-pass filtering on the actual d-axis current and the actual q-axis current to obtain a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current;
the compensation voltage generating unit is used for determining a feedforward compensation voltage according to the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current;
and the single-current weak magnetic control unit is used for compensating the d-axis voltage given value by utilizing the feedforward compensation voltage to obtain a compensation value and performing single-current square wave weak magnetic control on the permanent magnet synchronous motor according to the compensation value.
In order to solve the above technical problem, the present invention further provides a single-current flux-weakening control device for a permanent magnet synchronous motor, comprising:
a memory for storing a computer program;
and the processor is used for realizing the steps of the single-current flux weakening control method of the permanent magnet synchronous motor when executing the computer program.
The invention provides a single-current weak magnetic control method of a permanent magnet synchronous motor, when the permanent magnet synchronous motor is controlled, in order to improve the stability of the single-current flux weakening control, feedforward compensation is considered to be carried out on a given value of d-axis voltage, and in addition, when the feedforward compensation voltage for compensating the given value of the d-axis voltage is determined, the influence of low-frequency pulse components existing in the actual d-axis current and the actual q-axis current on a stable point of single-current flux weakening control is considered to be larger along with the deepening of the degree of flux weakening saturation, so that the whole motor system is not easy to be stable, therefore, the method performs feedforward compensation on the given value of the d-axis voltage only through the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current, therefore, the stable point of the single-current weak magnetic control is easy to determine, and the stability of the single-current control strategy is improved.
The invention also provides a single-current weak magnetic control device and a system of the permanent magnet synchronous motor, and the single-current weak magnetic control device and the system have the same beneficial effects as the method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a single-current flux-weakening control method of a permanent magnet synchronous motor provided by the invention;
FIG. 2 is a graph of a high speed instability waveform using conventional feed forward compensation in the prior art;
FIG. 3 is a waveform diagram of the dynamic response obtained by the single current flux weakening control in the present application;
fig. 4 is a single-current flux weakening control block diagram of a permanent magnet synchronous motor provided by the invention;
fig. 5 is a schematic structural diagram of a single-current flux-weakening control system of a permanent magnet synchronous motor provided by the invention.
Detailed Description
The core of the invention is to provide a single-current flux weakening control method, a single-current flux weakening control device and a single-current flux weakening control system of a permanent magnet synchronous motor, so that a stable point of single-current flux weakening control is easy to determine, and the stability of a single-current control strategy is improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Referring to fig. 1, fig. 1 is a flowchart of a single-current flux-weakening control method for a permanent magnet synchronous motor provided by the present invention, the method includes:
s11: under the working condition of square waves, acquiring actual d-axis current and actual q-axis current of the permanent magnet synchronous motor;
the motor system is divided into a square wave working condition and a non-square wave working condition, and the application emphasizes improvement on a single-current flux weakening control method of the permanent magnet synchronous motor under the square wave working condition. Specifically, the input current of the permanent magnet synchronous motor under the square wave working condition is obtained through a current sensor, and PARK conversion (three-phase static to two-phase static) and CLARK (two-phase static to two-phase rotation) conversion are carried out on the input current to obtain the actual d-axis current and the actual q-axis current of the permanent magnet synchronous motor under the two-phase rotation coordinate system.
S12: carrying out high-pass filtering on the actual d-axis current and the actual q-axis current to obtain a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current;
the application considers that along with the deepening of the degree of weak magnetic saturation of the depth, the influence of low-frequency pulsating components existing in the actual d-axis current and the actual q-axis current on the stable point of single-current weak magnetic control is large, so that the whole motor system is not easy to stabilize.
Specifically, after the actual d-axis current and the actual q-axis current are obtained through the above steps, high-pass filtering is performed on the actual d-axis current and the actual q-axis current to remove low-frequency ripple components existing in the actual d-axis current and the actual q-axis current, so that a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current are obtained.
As a preferred embodiment, the start frequency of the high-pass filtering is 300 Hz. The applicant finds through research and practical application that when the real frequency of the high-pass filtering is set to be 300Hz, namely low-frequency components below 300Hz in the actual d-axis current and the actual q-axis current are filtered, the stable point of the single-current weak magnetic control can be easily determined, the unstable phenomenon caused by low-frequency pulses can be effectively inhibited, and the stability of the single-current control strategy is improved. Of course, the applicant does not specifically limit the specific starting frequency of the high-pass filtering, which depends on the actual situation.
S13: determining a feedforward compensation voltage according to the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current;
s14: and compensating the d-axis voltage given value by using the feedforward compensation voltage to obtain a compensation value, and performing single-current square wave flux weakening control on the permanent magnet synchronous motor according to the compensation value.
After the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current are obtained, the feedforward compensation voltage is calculated based on a feedforward compensation principle, the given value of the d-axis voltage is compensated by the feedforward compensation voltage to obtain a compensation value, and finally the compensation value is used for carrying out single-current square-wave flux weakening control on the permanent magnet synchronous motor.
Referring to fig. 2 and 3, fig. 2 is a high-speed unstable waveform diagram obtained by using a conventional feedforward compensation in the prior art; fig. 3 is a waveform diagram of dynamic response obtained by single current flux weakening control in the present application. The method is not difficult to obtain, and the dynamic response waveform obtained by adopting the single-current flux weakening control in the application is smooth and stable obviously.
In summary, the single-current flux-weakening control method for the permanent magnet synchronous motor provided by the invention, when the permanent magnet synchronous motor is controlled, in order to improve the stability of the single-current flux weakening control, feedforward compensation is considered to be carried out on a given value of d-axis voltage, and in addition, when the feedforward compensation voltage for compensating the given value of the d-axis voltage is determined, the influence of low-frequency pulse components existing in the actual d-axis current and the actual q-axis current on a stable point of single-current flux weakening control is considered to be larger along with the deepening of the degree of flux weakening saturation, so that the whole motor system is not easy to be stable, therefore, the method performs feedforward compensation on the given value of the d-axis voltage only through the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current, therefore, the stable point of the single-current weak magnetic control is easy to determine, and the stability of the single-current control strategy is improved.
In addition, the single-current flux weakening control strategy is simple and easy to realize, the limit full-power stable output of the motor can be achieved, the control is strictly carried out according to the maximum output of the direct-current voltage, and the output voltage overshoot phenomenon cannot be caused. The invention adopts a direct axis voltage compensation strategy, and is suitable for any kind of motors under the control of vector square waves. The invention can adjust the maximum voltage output amplitude according to different use conditions, thereby realizing the field weakening control under the non-full voltage utilization rate.
Referring to fig. 4, fig. 4 is a block diagram of a single-current flux weakening control of a permanent magnet synchronous motor according to the present invention.
On the basis of the above-described embodiment:
as a preferred embodiment, high pass filtering the actual d-axis current and the actual q-axis current includes:
and performing second-order high-pass filtering on the actual d-axis current and the actual q-axis current.
Specifically, when the second-order high-pass filter is adopted to filter the actual d-axis current and the actual q-axis current, on one hand, the effective filtering of low-frequency ripple components existing in the actual d-axis current and the actual q-axis current can be realized, and the stability of the single current control strategy is improved. Therefore, the second-order high-pass filter realizes effective balance between the filtering effect and the filtering duration.
Of course, the present application is not limited to the second-order high-pass filtering, and other second-order high-pass filtering may be used.
As a preferred embodiment, determining the feedforward compensation voltage based on the high frequency component of the actual d-axis current and the high frequency component of the actual q-axis current includes:
determining feedforward compensation voltage according to the high-frequency component of the actual d-axis current, the high-frequency component of the actual q-axis current and the compensation voltage calculation relation;
the compensation voltage has a calculation relation of delta Ud＝Rsidh-weLqiqh；
Wherein, Delta UdFor feedforward compensation of voltage, RsIs the phase resistance of a permanent magnet synchronous machine idhIs a high frequency component of the actual d-axis current, iqhIs a high frequency component of the actual q-axis current, weThe stator electrical angular frequency of the permanent magnet synchronous motor; l isqIs a quadrature axis inductor.
Specifically, after obtaining the high-frequency components of the actual d-axis current and the actual q-axis current, the relation Δ U is calculated by compensating the voltage based on the control principle and the compensation principle of the permanent magnet synchronous motord＝Rsidh-weLqiqhThe feedforward compensation voltage determined by the feedforward compensation mode can enable a stable point of single-current flux weakening control to be easily determined, and therefore stability of a single-current control strategy is improved.
As a preferred embodiment, the compensation value obtained by compensating the given value of the d-axis voltage by using the feedforward compensation voltage comprises:
obtaining a compensation value according to the feedforward compensation voltage, the d-axis voltage given value and the compensation relational expression;
the compensation relation is Ud_ref＝Ud_ref*+K*ΔUd；
Wherein, Ud_refTo compensate for the value, Ud_ref*The given value of d-axis voltage is obtained, and K is a correction coefficient.
Specifically, the applicant finds, through research, that if a compensation value obtained by adding a feedforward compensation voltage and a d-axis voltage given value is directly obtained, and the compensation value is used for carrying out single-current square-wave flux weakening control on a permanent magnet synchronous motor, although an unstable phenomenon caused by low-frequency pulses can be restrained to a certain extent, the effect is not the best.
As a preferred embodiment, the correction factor has a value in the range of 0.1 to 0.3. The applicant finds, through research, that when the value of the correction coefficient is 0.1-0.3, the stability of the single-current control strategy is very high, and therefore, in practical application, a specific numerical value of the correction coefficient can be selected according to needs, and the application is not particularly limited herein.
As a preferred embodiment, the single-current square wave field weakening control of the permanent magnet synchronous motor according to the compensation value comprises the following steps:
directly taking the compensation value as a d-axis voltage control value;
calculating a relational expression according to the compensation value and the dq axis to obtain a q-axis voltage control value;
the dq axis is calculated as
Wherein, Uq_refFor q-axis voltage control value, UmaxMaximum voltage value, U, that can be output by an inverter for supplying a permanent magnet synchronous machined_refIs a d-axis voltage control value;
generating an SVPWM signal according to the d-axis voltage control value and the q-axis voltage control value;
and controlling the inverter by utilizing the SVPWM signal so as to further realize the control of the permanent magnet synchronous motor.
Specifically, after the compensation value is obtained, the compensation value is directly used as a d-axis voltage control value, a q-axis voltage control value is calculated according to a coupling principle (dq-axis calculation relation), then the d-axis voltage control value and the q-axis voltage control value are converted into voltage control values under a two-phase static coordinate system, SVPWM processing is performed according to the voltage control values under the two-phase static coordinate system to obtain SVPWM signals, the SVPWM signals are used for controlling the inverter to change the output current of the inverter, namely the input current of the permanent magnet synchronous motor, and finally control over the permanent magnet synchronous motor is achieved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a single-current flux-weakening control system of a permanent magnet synchronous motor provided by the present invention, the system includes:
the current acquisition unit 1 is used for acquiring the actual d-axis current and the actual q-axis current of the permanent magnet synchronous motor under the square wave working condition;
the high-pass filtering unit 2 is used for performing high-pass filtering on the actual d-axis current and the actual q-axis current to obtain a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current;
a compensation voltage generating unit 3 for determining a feedforward compensation voltage from the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current;
and the single-current weak magnetic control unit 4 is used for compensating the d-axis voltage given value by using the feedforward compensation voltage to obtain a compensation value and performing single-current square wave weak magnetic control on the permanent magnet synchronous motor according to the compensation value.
For the description of the working principle of the single-current flux-weakening control system of the permanent magnet synchronous motor provided by the present invention, reference is made to the above embodiments, and the description of the present invention is omitted here.
The invention also provides a single-current weak magnetic control device of the permanent magnet synchronous motor, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the single-current flux weakening control method of the permanent magnet synchronous motor when executing the computer program.
For the description of the working principle of the single-current flux-weakening control device of the permanent magnet synchronous motor provided by the present invention, please refer to the above embodiments, and the present invention is not described herein again.
It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A single-current flux-weakening control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
under the working condition of square waves, acquiring actual d-axis current and actual q-axis current of the permanent magnet synchronous motor;
carrying out high-pass filtering on the actual d-axis current and the actual q-axis current to obtain a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current;
determining a feedforward compensation voltage according to the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current;
and compensating the d-axis voltage given value by using the feedforward compensation voltage to obtain a compensation value, and performing single-current square wave flux weakening control on the permanent magnet synchronous motor according to the compensation value.
2. The single-current flux-weakening control method of a permanent magnet synchronous motor according to claim 1, wherein said high-pass filtering said actual d-axis current and actual q-axis current comprises:
and performing second-order high-pass filtering on the actual d-axis current and the actual q-axis current.
3. The single-current flux-weakening control method of a permanent magnet synchronous motor according to claim 1 or 2, wherein said determining a feed-forward compensation voltage based on the high frequency component of said actual d-axis current and the high frequency component of said actual q-axis current comprises:
determining feedforward compensation voltage according to the high-frequency component of the actual d-axis current, the high-frequency component of the actual q-axis current and a compensation voltage calculation relation;
the compensation voltage has a calculation relation of delta Ud＝Rsidh-weLqiqh；
Wherein, Delta UdFor said feedforward compensation voltage, RsIs the phase resistance of the permanent magnet synchronous motor idhIs a high frequency component of the actual d-axis current, iqhIs a high frequency component of the actual q-axis current, weThe stator electrical angular frequency of the permanent magnet synchronous motor; l isqIs a quadrature axis inductor.
4. The single-current flux-weakening control method of the permanent magnet synchronous motor according to claim 3, wherein the compensating the given value of the d-axis voltage by using the feedforward compensating voltage to obtain the compensating value comprises the following steps:
obtaining a compensation value according to the feedforward compensation voltage, the d-axis voltage given value and a compensation relation;
the compensation relation is Ud_ref＝Ud_ref*+K*ΔUd；
Wherein, Ud_refFor said compensation value, Ud_ref*The given value of d-axis voltage is obtained, and K is a correction coefficient.
5. The single-current flux-weakening control method of a permanent magnet synchronous motor according to claim 4, wherein the value range of said correction coefficient is 0.1 to 0.3.
6. The single-current flux weakening control method of a permanent magnet synchronous motor according to claim 1 or 2, wherein the starting frequency of said high pass filtering is 300 Hz.
7. The single-current field weakening control method of the permanent magnet synchronous motor according to claim 1, wherein the single-current square wave field weakening control of the permanent magnet synchronous motor according to the compensation value comprises the following steps:
directly taking the compensation value as a d-axis voltage control value;
calculating a relational expression according to the compensation value and the dq axis to obtain a q-axis voltage control value;
the dq axis is calculated as
Wherein, Uq_refFor said q-axis voltage control value, UmaxMaximum value of voltage, U, that can be output by an inverter supplying said PMSMd_refIs the d-axis voltage control value;
generating an SVPWM signal according to the d-axis voltage control value and the q-axis voltage control value;
and controlling the inverter by utilizing the SVPWM signal so as to further realize the control of the permanent magnet synchronous motor.
8. A single current flux weakening control system of a permanent magnet synchronous motor is characterized by comprising:
the current acquisition unit is used for acquiring the actual d-axis current and the actual q-axis current of the permanent magnet synchronous motor under the square wave working condition;
the high-pass filtering unit is used for carrying out high-pass filtering on the actual d-axis current and the actual q-axis current to obtain a high-frequency component of the actual d-axis current and a high-frequency component of the actual q-axis current;
the compensation voltage generating unit is used for determining a feedforward compensation voltage according to the high-frequency component of the actual d-axis current and the high-frequency component of the actual q-axis current;
and the single-current weak magnetic control unit is used for compensating the d-axis voltage given value by utilizing the feedforward compensation voltage to obtain a compensation value and performing single-current square wave weak magnetic control on the permanent magnet synchronous motor according to the compensation value.
9. A single current flux-weakening control device of a permanent magnet synchronous motor is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the single current flux weakening control method of a permanent magnet synchronous machine according to any of the claims 1 to 8 when executing said computer program.
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| CN113517834A (en) * | 2021-07-14 | 2021-10-19 | 中国第一汽车股份有限公司 | Motor control method, device and system |
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| CN112003519B (en) | 2022-02-11 |
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