CN112398370B - System, equipment and method for field weakening control - Google Patents
System, equipment and method for field weakening control Download PDFInfo
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- CN112398370B CN112398370B CN201910743424.XA CN201910743424A CN112398370B CN 112398370 B CN112398370 B CN 112398370B CN 201910743424 A CN201910743424 A CN 201910743424A CN 112398370 B CN112398370 B CN 112398370B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- Control Of Ac Motors In General (AREA)
Abstract
The invention provides aWeak magnetic control method and device for receiving input bus voltage V dc Reference speed, actual speed, d-axis voltage V d Voltage V of q axis q Presetting a bus voltage reference value
And/or average voltage margin set point V qmax A q-axis current set amount and/or a d-axis current set amount is determined. Based on the phase current (e.g., i a 、i b ) Q-axis current by a given amount, d-axis current by a given amount to determine q-axis voltage by a given amount
D-axis voltage given amount
The pulse width modulation signal may be generated from a given amount of q-axis voltage and a given amount of d-axis voltage to effect regulation of the voltage input to the motor.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motors, in particular to a system, equipment and a method for field weakening control.
Background
The field weakening control adopted in the existing permanent magnet synchronous motor mostly adopts d-axis current gradient stepping or measures actual bus voltage and controls the error of predictive voltage to adjust the depth of field weakening and the feedback value of a rotating speed adjusting module in real time, and the modes can operate under stable load and stable rotating speed. However, when the given value of the running rotation speed and the amplitude of the actual voltage are changed in a large range, the adjustment degree of the modes cannot keep up with the actual change amount, and the control module may be out of control, so that the motor is out of step in running or other control modules and motor faults are caused.
Disclosure of Invention
It is an object of the present invention to provide a system, apparatus and method for field weakening control.
According to one aspect of the present invention, there is provided a variable frequency drive system for a permanent magnet synchronous motor, the variable frequency drive system comprising a field weakening control module for determining a d-axis current given amount based on a rotational speed difference between a reference rotational speed and an actual rotational speed of the motor when the motor enters a field weakening control state.
According to the variable frequency driving system of the above aspect of the invention, the field weakening control module is further used for controlling the motor to enter the field weakening control state when the input bus voltage is smaller than the q-axis current regulator output voltage or when the direct current bus voltage is smaller than the actual voltage, and/or controlling the motor to exit the field weakening control state when the input bus voltage is not smaller than the q-axis current regulator output voltage or when the direct current bus voltage is not smaller than the actual voltage.
The variable frequency drive system according to the above aspect of the invention further comprises a stepping module coupled to the field weakening control module for stepping up a given amount of d-axis current when the motor exits the field weakening control state.
According to the variable frequency driving system of the above aspect of the invention, wherein the variable frequency driving system further comprises a first proportional integral module, wherein the d-axis current given amount is obtained by performing proportional integral operation on the rotation speed difference value in a motor field weakening control state.
The variable frequency driving system according to the above aspect of the invention, wherein the variable frequency driving system further comprises a second proportional-integral module for obtaining a d-axis voltage given amount according to proportional-integral operation of the difference value between the d-axis current given amount and d-axis current
According to the variable frequency drive system of the above aspect of the invention, wherein the variable frequency drive system further comprises a third proportional-integral module, wherein the q-axis current given amount is obtained by performing a proportional-integral operation on the rotation speed difference value when the rotation speed difference value is positive and/or the integration of the third proportional-integral module is turned off to obtain the q-axis current given amount by a proportional operation when the rotation speed difference value is negative in a motor field weakening control state.
The variable frequency drive system according to the above aspect of the invention, wherein the variable frequency drive system further includes a fourth proportional-integral module for obtaining the q-axis voltage given amount by performing a proportional-integral operation on the q-axis current given amount and the q-axis current in a state where the motor field weakening control is positive, and/or for turning off integration of the fourth proportional-integral module to obtain the q-axis voltage given amount by a proportional operation when the rotational speed difference is negative.
The variable frequency drive system according to the above aspect of the invention, wherein the variable frequency drive system further comprises a switch coupled to the first proportional-integral module to be controlled to be closed by the field-weakening control switch to provide the rotational speed difference to the first proportional-integral module in the field-weakening control state.
The variable frequency driving system according to the above aspect of the present invention, wherein the variable frequency driving system further comprises a clipping module coupled to the switch for clipping the rotational speed difference value, and/or a filtering module for filtering the clipped rotational speed difference value to provide to the first proportional-integral module for proportional-integral.
The variable frequency drive system according to the above aspect of the present invention, wherein the variable frequency drive system further comprises a detection module for cumulatively averaging the input bus voltage, the q-axis current regulator output voltage, the actual rotational speed, the reference rotational speed, the dc bus voltage, and/or the actual voltage.
According to another aspect of the present invention, there is provided a field weakening control module for a permanent magnet synchronous motor comprising a field weakening control switch for controlling the motor to enter a field weakening control state for determining a d-axis current given amount based on a rotational speed difference of a reference rotational speed and an actual rotational speed of the motor.
The field weakening control module according to the above aspect of the invention is further used for controlling the motor to enter the field weakening control state when the input bus voltage is smaller than the q-axis current regulator output voltage or the direct current bus voltage is smaller than the actual voltage, and/or controlling the motor to exit the field weakening control state when the input bus voltage is not smaller than the q-axis current regulator output voltage or the direct current bus voltage is not smaller than the actual voltage.
According to the weak magnetic control module of the above aspect of the present invention, the weak magnetic control module further includes a proportional integration module for performing proportional integration on the rotation speed difference value in the weak magnetic control state to obtain the d-axis current given amount.
The field weakening control module according to the above aspect of the invention further comprises a stepping module for stepping a given amount of d-axis current when exiting the field weakening control state.
The weak magnetic control module according to the above aspect of the invention further comprises a switch for providing the rotation speed difference to the proportional-integral module; and/or an amplitude limiting module, which is used for limiting the rotating speed difference value; and/or a filtering module, configured to filter the limited rotation speed difference value, so as to provide the filtered rotation speed difference value to the proportional-integral module; and/or a comparison module for comparing the input bus voltage with the q-axis current regulator output voltage or comparing the direct current bus voltage with the actual voltage to provide a voltage comparison result to the flux weakening control switch.
The field-weakening control module according to the above aspect of the invention is further configured to control to close integration of the rotational speed difference to obtain a q-axis current given amount according to proportional operation of the rotational speed difference and/or to control to close integration of a difference value of the q-axis current given amount and q-axis current to obtain a q-axis voltage given amount according to proportional operation of the q-axis current given amount and q-axis current difference value when the reference rotational speed is smaller than the actual rotational speed in the field-weakening control state.
The field weakening control module according to the above aspect of the invention is further configured to control to turn on integration of the rotation speed difference value to obtain a q-axis current given amount according to proportional integral operation of the rotation speed difference value and/or to control to turn on integration of a difference value between the q-axis current given amount and the q-axis current to obtain a q-axis voltage given amount according to proportional integral operation of a difference value between the q-axis current given amount and the q-axis current when the reference rotation speed is larger than the actual rotation speed in the field weakening control state.
According to yet another aspect of the present invention, there is provided a method for a permanent magnet synchronous motor, the method comprising controlling the motor to enter a field weakening control state when an input bus voltage of the motor is less than a q-axis current regulator output voltage or a direct current bus voltage of the motor is less than an actual voltage; and/or in the field weakening control state, determining the d-axis current given quantity according to the rotating speed difference value of the actual rotating speed and the reference rotating speed of the motor.
The method according to the above aspect of the invention, further comprising determining a q-axis voltage given amount and a d-axis voltage given amount from the q-axis current given amount and the d-axis current given amount, respectively; and/or generating a pulse width modulated signal based on the given amount of q-axis voltage and the given amount of d-axis voltage.
The method according to the above aspect of the present invention further comprises controlling the motor to exit the field weakening control state when the difference between the q-axis current regulator output voltage and the bus voltage or the difference between the actual voltage and the dc bus voltage is not positive; and/or in the field weakening control state, performing proportional integration on the rotating speed difference value to obtain a d-axis current given quantity; and/or stepping a given amount of d-axis current upon exiting the field weakening control state.
The method according to the above aspect of the invention, wherein in the field-weakening control state, if the rotational speed difference is positive, the value is calculated by the formula Id Ref +＝k i * Obtaining d-axis current given quantity from dt (reference rotation speed-actual rotation speed), wherein k i For a preset integral coefficient and/or if the rotational speed difference is negative, by the formula Id Ref -＝k i * Obtaining d-axis current given quantity from dt (reference rotation speed-actual rotation speed), wherein k i The integral coefficient is preset.
The method according to one aspect of the present invention wherein upon exiting the field weakening control state, the method is performed by the formula Id Ref +＝ΔId Step To obtain a d-axis current of a given magnitude, wherein DeltaId Step Is a preset d-axis current step.
The method according to one aspect of the present invention further comprises limiting the rotational speed difference in the field weakening control state; and/or filtering the limited rotational speed difference to perform the proportional integration.
The method according to one aspect of the present invention further includes, in the field-weakening control state, when the reference rotational speed is greater than the actual rotational speed, turning on integration of the rotational speed difference to obtain a q-axis current given amount according to a proportional-integral operation on the rotational speed difference, and/or turning on integration of a difference between the q-axis current given amount and the q-axis current to obtain a q-axis voltage given amount according to a proportional-integral operation on a difference between the q-axis current given amount and the q-axis current.
The method according to one aspect of the present invention further includes turning off integration of the rotational speed difference to obtain a q-axis current given amount according to a proportional operation on the rotational speed difference and/or turning off integration of a difference between the q-axis current given amount and the q-axis current to obtain a q-axis voltage given amount according to a proportional operation on the q-axis current given amount and the q-axis current difference when the reference rotational speed is smaller than the difference of the actual rotational speed in the field weakening control state.
The method according to the above aspect of the invention, wherein the method further comprises cumulatively averaging the input bus voltage, the q-axis current regulator output voltage, the actual rotational speed, the reference rotational speed, the dc bus voltage, and/or the actual voltage.
According to yet another aspect of the present invention there is provided a non-transitory machine-readable storage medium comprising one or more instructions, wherein the one or more instructions, in response to being executed, cause one or more processors to perform one or more steps of a method as described above.
According to yet another aspect of the present invention, there is provided a computing device comprising one or more processors; one or more memories coupled with the one or more processors, the memories for storing one or more instructions that, in response to being executed, cause the one or more processors to perform one or more steps of the method as described above.
According to the above aspect of the invention, since the technical means of integrating the difference between the actual rotation speed and the reference rotation speed to obtain the d-axis current given value is adopted when the state of the motor changes (for example, the maximum voltage which can be provided by the external circuit board is not enough for the high rotation speed operation of the motor), the technical problems that the controller is out of control and causes the motor to run out of step or other controllers and motor faults and the like due to the fact that the adjustment degree of the existing field weakening control mode cannot follow the actual change amount when the given value of the operation rotation speed and the amplitude of the actual voltage change in a large range in the prior art are overcome, and the technical effects that the motor rotation speed is out of step or other faults occur in the motor operation process due to the fact that the existing field weakening method is out of adjustment or out of control under the conditions that the load power is large and the output is saturated are achieved.
As described above, according to the above aspect of the present invention, the input bus voltage V through the reception can be adopted dc Reference speed, actual speed, d-axis voltage V d Voltage V of q axis q Preset q-axis current regulator output voltage
(preset busbar voltage reference value) and/or field weakening reference voltage V qmax (preset average voltage margin set point) to determine a d-axis current set amount and/or a q-axis current set amount, and/or in dependence on phase current (e.g., i a 、i b ) Determining a q-axis voltage by a given amount, a q-axis current by a given amount, and/or a d-axis current by a given amount>
And/or d-axis voltage by a given amount +.>
And/or generating a pulse width modulation signal in dependence of the q-axis voltage and d-axis voltage for regulation of the voltage input to the motor, wherein in calculating the d-axis current a mean voltage margin is introduced (e.g.)>
Or V Real ) Average rotational speed and a preset average voltage margin set point (e.g., V qmax Or V max ) The d-axis current given amount output when the motor required voltage exceeds the maximum bus voltage vector can be determined by the difference between the motor required voltage and the inverter output maximum voltage. By adopting the technical means, the technical problems that the actual variable quantity cannot be kept over by the adjustment degree of the existing field weakening control mode when the given value of the running rotating speed and the amplitude of the actual voltage are changed in a large range in the prior art are solved, so that the controller is possibly out of control, and the motor is out of step in running or other controllers and motor faults are caused. Furthermore, the invention achieves the technical effects of carrying out operation through the difference value between the given rotating speed and the actual rotating speed, ensuring that the flux weakening can be quickly entered and exited under the condition of large fluctuation of the voltage of the external output bus, outputting different flux weakening depths according to the magnitude of the input voltage, maintaining the stable operation of the motor, improving the operation efficiency of the motor and the like.
Drawings
FIG. 1 schematically illustrates a block diagram of one example of a variable frequency drive system in accordance with one embodiment of the present invention;
FIG. 2 schematically illustrates a block diagram of one example of a flux weakening control module according to one embodiment of the invention;
FIG. 3 schematically illustrates a flow chart of one example of a method according to one embodiment of the invention;
FIG. 4 schematically illustrates a block diagram of one example of a flux weakening control module according to another embodiment of the invention;
FIG. 5 schematically shows a flow chart of an example of a method according to another embodiment of the invention;
FIG. 6 schematically shows a flow chart of an example of a method according to a further embodiment of the invention;
FIG. 7 schematically shows a flow chart of an example of a method according to yet another embodiment of the invention;
fig. 8 schematically shows a flow chart of an example of a method according to a further embodiment of the invention.
Fig. 9 schematically shows a block diagram of an example of a device according to a further embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
While the following description sets forth various implementations that may be illustrated, for example, in a system architecture, implementations of the techniques and/or arrangements described herein are not limited to a particular system architecture and/or computing system, and may be implemented with any architecture and/or computing system for similar purposes. For example, the techniques and/or arrangements described herein may be implemented with various architectures and/or various computing devices and/or electronic devices, such as one or more integrated circuit chips and/or packages. Furthermore, while the following description may set forth numerous specific details (e.g., logical implementations, types, and interrelationships of system components, logical partitioning/integration choices, etc.), the claimed subject matter may be practiced without these specific details. In other instances, some materials (e.g., control structures and complete software instruction sequences) may not be shown in detail in order not to obscure the materials disclosed herein. The materials disclosed herein may be implemented in hardware, firmware, software, or any combination thereof.
The materials disclosed herein may also be implemented as instructions stored on a machine-readable medium or memory that can be read and executed by one or more processors. A computer-readable medium may include any medium and/or mechanism for storing or transmitting information in a form readable by a machine (e.g., a computing device). For example, a machine-readable medium may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media; an optical storage medium; a flash memory device; and/or other media. In another form, a non-volatile article (e.g., a non-volatile computer readable medium) may be used in any of the examples mentioned above or in other examples, including those elements (e.g., RAM, etc.) which may temporarily store data in a "transitory" manner.
Fig. 1 illustrates an example of a variable frequency drive system 100 in accordance with one embodiment of the present invention. In one embodiment, the variable frequency drive system 100 may be used with an interior permanent magnet synchronous motor (internal permanent magnet synchronous motor (IPMSM) 142 although an interior permanent magnet synchronous motor is shown in fig. 1, in other embodiments, the variable frequency drive system 100 may be used with other permanent magnet synchronous motors.
According to one embodiment of the present invention, the variable frequency drive system 100 may be used to determine the actual rotational speed ω of the motor 144 as the state of the permanent magnet synchronous motor 144 changes rReal And a reference rotation speed
Proportional integral operation is performed on the difference of (2) to obtain a d-axis current given amount +.>
The rotational speed of the motor 144 may then be maintained stable to avoid out-of-step or other faults during motor operation due to motor rotational speed overshoot or runaway in the event of high load power, saturated output, and/or voltage sag. For example, the motor state change may include a maximum voltage V that the external circuit board 142 can provide qmax Lower than the voltage V required for high rotational speed operation of the motor 144 qref 。
As shown in fig. 1, variable frequency drive system 100 may include a clipping module 102, a first comparison module 104, a first proportional-integral (derivative) module 106, a field weakening control module 108, a second comparison module 110, a third comparison module 112, a second proportional-integral module 114, a third proportional-integral module 116, an integration module 118, a first coordinate conversion module 120, a pulse width modulation module 122, a timer 124, an operational amplifier (operational amplifier (OPA)) 126, an analog-to-digital converter (analog-digital converter (ADC)) 128, a voltage controller 130, a second coordinate conversion module 132, a third coordinate conversion module 134, and/or a detection module 136.
In one placeIn one embodiment, the limiting module 102 may be configured to limit the set rotational speed to obtain the reference rotational speed
And provided to the first comparison module 104. The first comparison module 104 may be used to compare the actual rotational speed (ω rReal ) Comparing with a reference rotational speed to obtain a rotational speed difference +.>
And provides this difference to the first proportional-integral module 106. The first proportional-integral module 106 is configured to scale and/or integrate the rotational speed difference to obtain a first proportional-integral result (e.g., q-axis current by a given amount +.>
) And provides this first proportional integral result to the flux weakening control module 108. The flux weakening control module 108 may provide the d-axis current to the second comparison module 110 by a given amount +.>
And/or to provide a given amount of q-axis current generated by the first proportional-integral module 106 to the third comparison module 112. For example, the flux weakening control module 108 may include a maximum current ratio (maximum torque per ampere (MTPA)) control module or the like.
The second comparison module 110 may be used to set the d-axis current from the flux weakening control module 108 by a given amount
With d-axis current i d (I dReal ) Is compared to produce a second difference (e.g.)>
) And provided to the second proportional-integral module 114 for proportional and/or integral purposes. The second proportional-integral module 114 integrates the second proportional-integral result (e.g., d-axis voltage by a given amount +. >
) Is provided to the first coordinate transformation module 120.
The first coordinate transformation module 120 may coordinate-transform the second and third proportional-integral results to provide a given amount of a-axis voltage, respectively
And beta-axis voltage by a given amount +.>
The first coordinate transformation module 120 is coupled with the pulse width modulation module 122 and/or the register 136 to provide the given amount of alpha axis voltage and the given amount of beta axis voltage.
The pulse width modulation module 122 may be used to generate one or more pulse width modulated signals based on a given amount of alpha axis voltage and a given amount of beta axis voltage. In one embodiment, the pulse width modulation module 122 may include a space vector pulse width modulation module (space vector pulse width modulator) or other pulse width modulation module. The timer 124 may be used to control the external circuit board 142 for the permanent magnet synchronous motor 144 based on the pulse width modulated signal from the pulse width modulation module 122.
The external circuit board 142 may include a gate driver 138, an inverter 140, and/or other modules. The inverter 140 may be coupled to the motor 144, the operational amplifier 126, and/or the voltage controller (voltage controller (VC)) 130 for outputting an external voltage to the motor 144 under control of the pulse width modulated signal received via the gate driver 138 to effect control of the motor 144. The external circuit board 142 may also be coupled to the operational amplifier 126 and/or the voltage controller 130 to output an external voltage and/or an external current to the operational amplifier 126 and/or the voltage controller 130.
As shown in fig. 1, timer 124 may be used to implement an independent/correlated comparison output, configure dead time and/or trigger functions for ADC 128, and/or other functions. Although timer 124 is shown in fig. 1 as comprising a 48MHz 16-bit timer, in other embodiments, other timers may be used. The operational amplifier 126 may be used to receive the external current from the inverter 140 and perform operational amplification and transfer to the analog-to-digital converter 128.
Analog-to-digital converter 128 may be used to scan sample, prioritize sample, and/or analog-to-digital convert the external current from op amp 126 to generate, for example, phase current i a 、i b Etc. For example, the analog-to-digital converter 128 may include a 1 x 16 channel and may have a sampling rate of 12 bits (bit) @ millions of samples per second (million samples per second (msps)). The analog-to-digital converter 128 may use a first-in-first-out (first input first output (FIFO) mode the analog-to-digital converter 128 may use direct memory access (direct memory access (DMA)) transfer, although in other embodiments other analog-to-digital converters may be used.
The third coordinate transformation module 132 may transform the current i from the analog-to-digital converter 128 a And i b Coordinate transformation is performed to generate alpha-axis currents i respectively α And beta-axis current i β And provided to the second coordinate transformation module 134 and/or the detection module 136, respectively. The second coordinate transformation module 134 is operable to generate d-axis currents i based on the alpha-axis current and beta-axis current, respectively d And q-axis currenti q And feed forward to the second comparison module 110 and the third comparison module 112, respectively.
The detection module 136 may be used to monitor a given amount of alpha axis voltage, a given amount of beta axis voltage, alpha axis current, and/or beta axis current. For example, the detection module 136 may be configured to generate the actual rotational speed ω from a given amount of alpha-axis voltage, a given amount of beta-axis voltage, an alpha-axis current, and/or a beta-axis current r For transmission to the first comparison module 104. The detection module 136 may also be configured to provide alpha-axis current and/or beta-axis current to the integration module 118. The integration module 118 may be used to generate the actual angle θ of the rotor permanent magnet flux linkage of the motor 144 based on the α -axis current and/or the β -axis current r And provided to the first coordinate transformation module 120 and/or the third coordinate transformation module 134.
The voltage controller 130 may perform voltage control according to an external current from the inverter 140 to generate an overcurrent protection signal when overloaded, and/or control the timer 124 to be stopped in an emergency.
One example of a variable frequency drive system is shown in fig. 1, in other embodiments, one or more portions of which may be implemented in software, hardware, firmware, and/or various combinations thereof for performing one or more of the flows shown in fig. 3, 5-8. In another embodiment, a portion or all of the variable frequency drive system may be implemented in software for performing one or more of the processes shown in fig. 3, 5-8.
Figure 6 shows a flow chart of an example of a method according to an embodiment of the invention. In one embodiment, the method may be utilized to generate a pulse width modulated signal. Referring to fig. 1 and 6, in one embodiment, at block 602, the control board bus voltage (V dc ) Output voltage of q-axis current regulator
Actual rotational speed (omega) rReal ) And/or a reference rotational speed
To determine d-axis current given amount +.>
And/or q-axis current by a given amount +.>
The reference rotational speed may be externally given, for example, by a remote control command or a panel control rotational speed, etc. The initial phase current may use a given initial value of the reference current. Q-axis current regulator output voltage at initial stage +.>
The given initial value of the reference current can be obtained from a current proportional integral (report/integration (PI)). In the block 604 of the process block, the d-axis voltage given amount +.>
And/or q-axis current regulator output voltage or q-axis voltage by a given amount +.>
In block 606, the voltage may also be determined based on the d-axis voltage by a given amount (corresponding to +.>
) And q-axis voltage by a given amount (corresponding to +.>
) To generate a pulse width modulated signal.
Fig. 7 shows a flow chart of an example of a method according to another embodiment of the invention. In one embodiment, a given amount of q-axis current and/or a given amount of d-axis current may be determined using the method. As shown in fig. 1 and 7, in one embodiment, determining the q-axis current and/or d-axis current by a given amount (e.g., block 602) from the input control board bus voltage, the q-axis current regulator output voltage, the actual rotational speed, and/or the reference rotational speed may include one or more of the flows shown in fig. 7.
At block 702, a weak magnetic reference voltage vector V can be determined from the bus voltage according to the following equation (1) qmax ：
Wherein V is max Is a DC bus voltage (V) dc )，V d Is the d-axis voltage.
At block 704, a weak magnetic reference voltage vector (V qmax ) Output voltage of q-axis current regulator
Actual rotational speed (omega) rReal ) And/or a reference speed->
Cumulative averaging is performed. In some embodiments, the cumulative averaging may not be performed.
At block 706, the q-axis current regulator output voltage may be compared to a weak magnetic reference voltage and a comparison may be generated. In another embodiment, the actual voltage V may be Real With DC bus voltage V max The comparison results are generated by comparison.
At block 708, a d-axis current given amount and/or a q-axis current given amount may be determined from the comparison and/or from a difference between the reference rotational speed and the actual rotational speed.
At block 710, it may be determined whether the integration to the q-axis current regulator is on or off based on the rotational speed difference. For example, the integration of the q-axis torque given amount and/or the q-axis current regulator may be determined to be on or off based on the positive and negative of the rotational speed difference. When the rotation speed difference is larger than zero, starting integration; when the rotational speed difference is less than zero, the integration is turned off (e.g., as described below with reference to fig. 3). Although the method of fig. 7 may include block 710, in some embodiments, the operations described in block 710 may not be performed (e.g., as described below with reference to fig. 4 and 5).
At block 712, the d-axis current given amount obtained as described above may be limited and/or filtered. The limiting and/or filtering process is a feed-forward process of judging the difference between the rotation speed reference value and the actual value after finishing the integral operation of the rotation speed difference value.
As described above, at block 706, the q-axis current regulator output voltage may be compared to the weak magnetic reference voltage by 0 and 1, where 0 may indicate that the q-axis current regulator output voltage is less than or equal to the weak magnetic reference voltage and 1 may indicate that the q-axis current regulator output voltage is greater than the weak magnetic reference voltage.
More specifically, as shown in FIGS. 1 and 7, at block 708, the q-axis current regulator output voltage may be determined when the d-axis current setpoint is determined based on the difference between the q-axis current regulator output voltage and the field weakening reference voltage and/or based on the difference between the actual rotational speed and the reference rotational speed, for example
(reference voltage) and field weakening reference voltage V qmax (q-axis maximum voltage) if the q-axis current regulator outputs a voltage +.>
The integration of the rotational speed difference as described in block 708 and/or the integration on/off as described in block 710 and/or the feed forward as described in block 712 is performed.
Fig. 8 shows a flow chart of an example of a method according to a further embodiment of the invention. In one embodiment, the method may be utilized to obtain a d-axis current for a given amount. Referring to fig. 1, 7, and 8, determining the d-axis current setpoint based on the difference between the q-axis current regulator output voltage and the field weakening reference voltage and/or based on the difference between the actual rotational speed and the reference rotational speed (e.g., block 708) may include one or more of the processes shown in fig. 8.
As shown in FIG. 8, if the q-axis current regulator outputs a voltage, for example, according to the comparison of block 706 as described above
With weak magnetic reference voltage V qmax Is positive (for example,turn on or enter field weakening control), flow proceeds to decision block 804 to confirm the d-axis current by a given amount based on the difference between the reference rotational speed and the actual rotational speed.
At decision block 804, when the difference between the reference rotational speed and the actual rotational speed (reference rotational speed-actual rotational speed) is positive, then flow proceeds to block 806 to calculate the d-axis current given amount I by clipping the d-axis current minimum value by the following equation (2) dRef +：
I dRef +＝k i * Dt (reference rotation speed-actual rotation speed) (2)
Wherein k is i The integral coefficient is preset.
In the case where the difference between the reference rotational speed and the actual rotational speed is negative at decision block 804, then the flow proceeds to block 808 to clip the d-axis current maximum value to calculate the d-axis current given amount I by the following equation (3) dRef -：
I dRef -＝k i * Dt (reference rotation speed-actual rotation speed) (3)
Wherein k is i The integral coefficient is preset.
On the other hand, at decision block 802, if the q-axis current regulator output voltage
With weak magnetic reference voltage V qmax If the difference in (a) is negative or zero (e.g., turn off or exit field weakening control), then flow proceeds to block 810 to calculate the d-axis current given amount I by equation (4) below dRef +：
I dRef +＝ΔI dStep (4)
Wherein DeltaI dStep Is a preset d-axis current step.
Although described above with reference to FIGS. 1, 6-8, for example, comparing q-axis current regulator output voltages
With weak magnetic reference voltage V qmax To determine whether or not to perform field weakening control, but in some embodiments the actual voltage V may be determined by Real With DC bus voltage V max Proceeding withThe comparison results are generated to determine whether or not to perform field weakening control (for example, as shown in fig. 5 below).
FIG. 2 illustrates one example of a flux weakening control module 108 in accordance with one embodiment of the invention. As shown in FIG. 2, the flux weakening control module 108 may be used to regulate the output voltage according to the q-axis current
(q-axis reserved voltage) and weak magnetic reference voltage vector V qmax The difference value (the q-axis actually obtained voltage) is positive or negative to control whether the field weakening control is performed and/or whether the integral switching control is performed.
For example, if
Greater than V qmax Then the flux-weakening control switch 214 is set to 1 and the flux-weakening control module 108 can enter flux-weakening control. In response to the field weakening control, the field weakening control module 108 (e.g., field weakening control switch 214 is placed at 1) may control switch 220 to close to transmit the rotational speed difference +.>
So that the proportional-integral module 226 applies a limited and/or filtered rotational speed difference +. >
Proportional integration is performed to obtain a d-axis current a given amount (e.g., equation (2) or (3)) to provide to the second comparison module 110. Further, in response to the field weakening control, the integration of the rotational speed difference and/or the integration of the difference between a given amount of q-axis current and q-axis current may be controlled to be turned on or off depending on the positive or negative of the rotational speed difference.
In the field-weakening control state, if the rotational speed difference is >0, the integration operation of the first proportional-integral module 106 and/or the third proportional-integral module 116 is turned on. The first proportional-integral module 106 obtains a q-axis current given amount by performing proportional-integral operation on the rotation speed difference. The third proportional-integral module 116 obtains the q-axis current regulator output voltage (or q-axis voltage by proportional-integral operation of the difference between the q-axis current given amount and the q-axis current given amount). The third proportional-integral module 116 may also provide the q-axis current regulator output voltage to the flux weakening control module 108 (e.g., flux weakening control switch 214).
In the field-weakening control state, if the rotational speed difference is negative, the integration operation of the first proportional-integral module 106 and/or the third proportional-integral module 116 is turned off. The first proportional-integral module 106 obtains a q-axis current given amount by proportional-operating the rotational speed difference. The third proportional-integral module 116 obtains the q-axis current regulator output voltage (or q-axis voltage by scaling the difference between a given amount of q-axis current and q-axis current. The third proportional-integral module 116 may also provide the q-axis current regulator output voltage to the flux weakening control module 108 (e.g., the comparison module 212) for voltage comparison.
If it is
Less than or equal to V qmax Then the flux-weakening control switch 214 is set to 0 and the flux-weakening control module 108 does not perform or exits flux-weakening control. The flux weakening control module 108 (step module 216) may be configured to control the d-axis current step ΔI based on the d-axis current step ΔI dStep To obtain a d-axis current of a given amount +.>
(e.g., equation (4)).
Referring to FIG. 2, the flux weakening control module 108 may include a comparison module 212 for comparing (q-axis current regulator output voltage
(or q-axis reserved voltage) and weak magnetic reference voltage vector V qmax (or the q-axis actually gets the voltage) and outputs the voltage comparison result to the flux weakening control switch 214. If the voltage comparison result indicates +_>
Then the field weakening control switch 214 is placed in 1 to enter the field weakening control state as described above. If the comparison result indicates ++>
Then the flux-weakening control switch 214 is placed at 0 to exit the flux-weakening control as described above.
Weak magnetic control module 108 can include a switch 220 coupled to the flux weakening control switch 214. For example, a low-field control switch 214 being placed in a 1 to enter a low-field control state causes switch 220 to be closed such that the difference in rotational speed from first comparison module 204 is limited by limiting module 222 and/or filtered by filtering module 224. The proportional-integral module 226 is coupled to the filtering module 224 to proportional-integrate the filtered rotational speed difference to obtain a d-axis current of a given magnitude 
As shown in fig. 2, the flux-weakening control switch 214 may further be coupled to the first and third proportional- integral modules 106, 116. As described above, when the field weakening control switch 214 is set to 1 and enters the field weakening control state, if the rotation speed difference from the first comparison module 104 is negative, the integration of the first proportional-integral module 106 and/or the third proportional-integral module 116 is turned off to obtain a q-axis current given amount by proportional-calculating the rotation speed difference by the first proportional-integral module 106
And/or the q-axis current regulator output voltage (or q-axis voltage given amount) is obtained by the third proportional-integral module 116 proportional-operating the difference between the q-axis current given amount and the q-axis current.
On the other hand, as described above, when the field weakening control switch 214 is placed in 1 to enter the field weakening control state, if the rotation speed difference from the first comparison module 104 is >0, the integration of the first proportional-integral module 106 and/or the third proportional-integral module 116 is turned on to obtain a q-axis current given amount by proportional-integrating the rotation speed difference by the first proportional-integral module 106, and/or a q-axis voltage given amount by proportional-integrating the difference between the q-axis current given amount and the q-axis current by the third proportional-integral module 116.
If the flux-weakening control switch 214 is set to 0 without conducting or exiting flux-weakening control, the stepping module 216 coupled to the flux-weakening control switch 214 may follow the d-axis current step ΔI dStep To obtain a d-axis current given amount
The limiter block 218 may give the d-axis current obtained by the step block 216 a given amount +.>
Clipping is performed to provide +.>
To the second comparison module 110.
One example of a flux weakening control module 108 is shown in fig. 2, in other embodiments, one or more portions of the flux weakening control module 108 may be implemented in software, hardware, firmware, and/or various combinations thereof for performing one or more of the flows shown in fig. 3, 6-8. In another embodiment, a portion or all of the flux weakening control module 108 may be implemented in software for performing one or more of the processes shown in FIGS. 3, 6-8.
Fig. 3 shows an example of a method according to an embodiment of the invention. According to one embodiment, the method may be utilized for flux weakening control and/or integral switch control.
As shown in fig. 3, at block 302, a q-axis reserve voltage (V qmax ) Actual voltage of q-axis
The actual rotational speed, and/or the reference rotational speed, and/or an average thereof. At decision block 304, it may be determined (e.g., in an initial state) whether the flux weakening control switch=1. If the flux-weakening control switch is not equal to 1 (e.g., =0), then the flux-weakening control state is not entered or Exiting field weakening control, flow proceeds to block 308 such that the |d-axis current is given by a given amount|=0 (e.g., a preset initial value).
Conversely, if the field weakening control switch=1 (e.g., initial state), the field weakening control state is entered and flow proceeds to block 306 to perform the q-axis voltage comparison switching operation. For example, the q-axis voltage difference can be calculated
At decision block 310, a determination may be made as to whether the q-axis voltage difference is greater than 0.
If it is determined at decision block 310 that the q-axis voltage difference is not greater than 0, then no field weakening control is performed or field weakening control is exited, e.g., flow proceeds to decision block 316. At decision block 316, a determination is made of the given amount of |d-axis current
Whether or not is greater than a threshold. If it is determined at decision block 316 that the |d-axis current given amount| is not greater than the threshold, flow proceeds to block 318 where the |d-axis current given amount| is accumulated in steps. Otherwise, if decision block 316 determines that the |d-axis current given amount| is greater than the threshold, then at block 320 the |d-axis current given amount|=threshold.
On the other hand, if it is determined at decision block 310 that the q-axis voltage difference is greater than 0, then field weakening control is entered, e.g., flow proceeds to block 312. At block 312, a proportional-integral operation is performed on the speed difference (reference speed-actual speed). At block 314, a d-axis current given amount obtained by proportional integration of the rotational speed difference according to equation (2) or (3) 
In one embodiment, the limited and/or filtered rotational speed difference may be proportional-integral.
In addition, if it is determined at decision block 310 that the q-axis voltage difference is greater than 0, flow also proceeds to decision block 322 to determine whether the rotational speed difference is greater than 0.
If a determination is made at decision block 322 of a rotational speed difference>0, flow proceeds to block 324 to control the calculation of the q-axis current by a given amount
And/or q-axis voltage by a given amount +.>
The integration operation is started. In block 326, the q-axis current set quantity is obtained from the integral operation of the rotational speed difference>
And/or obtaining the q-axis voltage given quantity +.>
Flow then returns to block 306.
If it is determined at decision block 322 that the speed difference is less than 0, then flow proceeds to block 328 to control the calculation of a given amount of q-axis current
And/or q-axis voltage by a given amount +.>
The integration operation is turned off. In block 330, a q-axis current set quantity is obtained by proportional operation based on the rotational speed difference>
And/or according to the q-axis current given quantity +.>
Proportional operation of the difference with the q-axis actual current gives the q-axis voltage given quantity +.>
Flow then returns to block 306.
Fig. 4 illustrates an example of a flux weakening control module according to another embodiment of the invention. The flux weakening control module can be used in the variable frequency drive system shown in fig. 1. The flux weakening control module shown in fig. 4 may control the opening or closing of flux weakening control switch 406 faster than the flux weakening control module shown in fig. 2.
As shown in FIG. 4, the flux weakening control module 108 may be configured to control the DC bus voltage V max And the actual voltage V Real To control whether the field weakening control is performed.
Referring to FIG. 4, the flux weakening control module 108 may include a filtering module 402 for inputting a DC bus voltage V to the external circuit board 142 max (e.g., V dc ) Filtering is performed. The flux weakening control module 108 further comprises a comparison module 404 for comparing the filtered DC bus voltage with the actual voltage V Real Comparison. For example, the actual voltage may be based on
(equation (5)) where V qReal Representing the q-axis actual voltage, V dReal Representing the d-axis actual voltage.
For example, if V max (weak magnetic reference voltage) is less than V Real Then the flux weakening control module 108 may enter flux weakening control such as the flux weakening control switch 406 being placed at 1. In response to the field weakening control, the proportional-integral module 412 may provide a limited (limiting module 102) speed difference
Proportional integration is performed to obtain d-axis current of a given amount +.>
(e.g., according to equation (2) or (3) above) to provide to the second comparison module 110. If V is max -V Real Not less than 0, then field weakening control module 108 does not perform or exits field weakening control (field weakening control switch 406 is placed at 0). The flux weakening control module 108 can control the current step delta I according to the d-axis dStep (e.g., equation (4) above) to obtain d-axis current by a given amount +.>
And/or clipping (e.g., viaA stepping module 408 and/or a clipping module 410 coupled to the flux weakening control switch 406).
One example of a flux weakening control module 108 is shown in fig. 4. In other embodiments, one or more portions of the flux weakening control module 108 may be implemented in software, hardware, firmware, and/or various combinations thereof for performing one or more of the flows shown in fig. 5-8. In another embodiment, a portion or all of the flux weakening control module 108 may be implemented in software for performing one or more of the processes shown in fig. 5-8.
Fig. 5 shows an example of a method according to an embodiment of the invention. According to one embodiment, the method may be used for flux weakening control. The method is described below with reference to fig. 1 and 4, but the description is not limiting of the invention.
As shown in FIG. 5, at block 502, a DC bus voltage V may be calculated max (field weakening reference voltage), actual voltage V Real The actual rotational speed and/or the reference rotational speed and/or an average value thereof. At decision block 504, it may be determined (e.g., initial state) whether the flux weakening control switch=1. If the flux-weakening control switch is not equal to 1 (e.g., equal to 0), flow proceeds to block 508 to cause the |d-axis current to be given by |=0 (or other preset initial value).
Conversely, if the flux weakening control switch (e.g., initial state) =1, flow proceeds to block 506 to perform a voltage comparison switching operation. For example, a voltage difference V can be calculated Real -V max . At decision block 510, a determination may be made as to whether the voltage difference is greater than 0. If it is determined at decision block 510 that the voltage difference is not greater than 0, then the field weakening control state (e.g., field weakening control switch=0) is not entered or exited and flow proceeds to decision block 516. At decision block 516, a determination is made of the given amount of |d-axis current
Whether or not is greater than a threshold. If it is determined at decision block 516 that the |d-axis current given amount| is not greater than the threshold, flow proceeds to block 518 where the |d-axis current given amount| is accumulated in steps. Otherwise, if decision block 516 determines that the |d-axis current given amount| is greater thanThreshold value, then at block 520, |d-axis current is given by|=threshold value.
On the other hand, if it is determined at decision block 510 that the voltage difference is greater than 0, then a field weakening control state (e.g., field weakening control switch=1) is entered and flow proceeds to block 512. At block 512, the speed difference (reference speed-actual speed) is proportional-integrated. For example, at block 514, the rotational speed difference is proportional integrated to obtain a d-axis current setpoint
(e.g., equation (2) or (3)). In one embodiment, the limited and/or filtered rotational speed difference may be proportional-integral.
Fig. 9 illustrates an example device 900 according to one embodiment of this disclosure. In one embodiment, the device 900 may include various architectures and/or various computing devices and/or electronic devices, etc. of one or more integrated circuit chips and/or packages. One or more processors 902 and one or more memories 904 coupled to the one or more processors 902 may be included. In one embodiment, the one or more memories 904 may include various storage devices such as random access memory, dynamic random access memory, or static random access memory. In one embodiment, the one or more memories 904 may be used to store one or more instructions (e.g., machine-readable instructions and/or computer programs) that may be read and/or executed by the one or more processors 902. The one or more instructions may also be stored on a non-transitory machine-readable storage medium. The one or more instructions, in response to being executed, cause the one or more processors 902 to implement one or more modules as shown in fig. 1, 2, and/or 4, and/or perform one or more operations as described above with reference to fig. 1-8. In one embodiment, fig. 9 illustrates only one example of a device 900, and is not limiting of the invention, in some embodiments, device 900 may also include one or more other modules and/or portions (not shown).
As described above, according to the embodiments shown in fig. 1-9 of the present invention, when the state of the motor changes (for example, the maximum voltage that can be provided by the external circuit board is not enough to the voltage required by the high-speed operation of the motor), the technical means of integrating the difference between the actual speed and the reference speed to obtain the d-axis current given value is adopted, so that the technical effects that the degree of adjustment of the existing field weakening control mode is not kept up with the actual variable quantity when the given value of the operation speed and the amplitude of the actual voltage have a large range change in the prior art, and the controller may be out of control, thereby causing the technical problems of out-of-step operation of the motor or other controller and motor faults, etc. in order to achieve the purpose that the speed of the motor can be kept stable, and the technical effects that the current field weakening method causes out-of-step or other faults in the motor operation process when the load power is large and the voltage drops after the output saturation are avoided.
As described above, the present invention may employ a voltage V through the input bus received in accordance with the embodiments of the present invention shown in FIGS. 1-9 dc Reference speed, actual speed, d-axis voltage V d Voltage V of q axis q Preset q-axis current regulator output voltage 
(preset busbar voltage reference value) and/or field weakening reference voltage V qmax (preset average voltage margin set point) to determine a d-axis current set amount and/or a q-axis current set amount, and/or in dependence on phase current (e.g., i a 、i b ) Determining a q-axis voltage by a given amount, a q-axis current by a given amount, and/or a d-axis current by a given amount>
And/or d-axis voltage by a given amount +.>
And/or generating a pulse width modulation signal in dependence of the q-axis voltage and d-axis voltage for regulation of the voltage input to the motor, wherein in calculating the d-axis current a mean voltage margin is introduced (e.g.)>
Or V Real ) Average rotational speed and a preset average voltage margin set point (e.g., V qmax Or V max ) The d-axis current given amount output when the motor required voltage exceeds the maximum bus voltage vector can be determined by the difference between the motor required voltage and the inverter output maximum voltage. By adopting the technical means, the technical problems that the actual variable quantity cannot be kept over by the adjustment degree of the existing field weakening control mode when the given value of the running rotating speed and the amplitude of the actual voltage are changed in a large range in the prior art are solved, so that the controller is possibly out of control, and the motor is out of step in running or other controllers and motor faults are caused. Furthermore, the invention achieves the technical effects of carrying out operation through the difference value between the given rotating speed and the actual rotating speed, ensuring that the flux weakening can be quickly entered and exited under the condition of large fluctuation of the voltage of the external output bus, outputting different flux weakening depths according to the magnitude of the input voltage, maintaining the stable operation of the motor, improving the operation efficiency of the motor and the like.
According to an embodiment of the present invention, in a case where a voltage drop or a voltage instability occurs in, for example, a home refrigerator system, it is possible to stably operate within a rotation speed allowable range according to the present invention. When the system operates at high rotation speed and high voltage, if the voltage drops (for example, by half), the rotation speed can be automatically adjusted to stably operate in a frequency-reducing mode according to the invention. When the system operates at a high rotating speed, the voltage drops and rises quickly, the rotating speed can be automatically adjusted to rise to stably operate, and the phenomenon of out-of-control overshoot can not occur.
Claims (18)
1. The variable frequency driving system for the permanent magnet synchronous motor is characterized by comprising a field weakening control module, wherein the field weakening control module is used for determining a d-axis current given amount according to a rotating speed difference value between a reference rotating speed and an actual rotating speed of the motor when the motor enters a field weakening control state; a stepper coupled to the field weakening control module for determining if the d-axis current is greater than a threshold when the motor exits the field weakening control state and for stepping up the d-axis current when it is determined that the d-axis current is not greater than the threshold.
2. The variable frequency drive system of claim 1, wherein the field weakening control module is further configured to control the motor to enter the field weakening control state when the input bus voltage is less than the q-axis current regulator output voltage or when the dc bus voltage is less than the actual voltage, and/or to exit the field weakening control state when the input bus voltage is not less than the q-axis current regulator output voltage or when the dc bus voltage is not less than the actual voltage.
3. The variable frequency drive system of claim 2, further comprising a first proportional-integral module, wherein the d-axis current given amount is obtained by performing a proportional-integral operation on the rotational speed difference value in a motor field weakening control state; a second proportional-integral module for obtaining a d-axis voltage given amount according to proportional-integral operation of the difference value between the d-axis current given amount and the d-axis current; a third proportional-integral module, wherein in a motor field weakening control state, a q-axis current given amount is obtained by performing proportional-integral operation on the rotation speed difference value when the rotation speed difference value is positive, and when the rotation speed difference value is negative, the integration of the third proportional-integral module is turned off to obtain the q-axis current given amount by proportional operation; and the fourth proportional-integral module is used for obtaining a q-axis voltage given quantity by performing proportional-integral operation on the q-axis current given quantity and the q-axis current when the rotating speed difference value is positive in the motor flux weakening control state, and closing the integral of the fourth proportional-integral module when the rotating speed difference value is negative so as to obtain the q-axis voltage given quantity by proportional operation.
4. The variable frequency drive system of claim 3, further comprising a switch coupled to said first proportional-integral module to provide said rotational speed differential to said first proportional-integral module when closed by a field-weakening control switch in said field-weakening control state; and/or a limiting module coupled to the switch for limiting the rotational speed difference, and a filtering module for filtering the limited rotational speed difference to provide to the first proportional-integral module for proportional-integral.
5. The variable frequency drive system of claim 4, further comprising a detection module for cumulative averaging the input bus voltage, q-axis current regulator output voltage, actual rotational speed, reference rotational speed, dc bus voltage, and/or actual voltage.
6. The field weakening control module for the permanent magnet synchronous motor is characterized by comprising a field weakening control switch, wherein the field weakening control switch is used for controlling the motor to enter a field weakening control state so as to determine a d-axis current given amount according to a rotating speed difference value between a reference rotating speed and an actual rotating speed of the motor; and the stepping module is used for judging whether the d-axis current given amount is larger than a threshold value under the condition of exiting the field weakening control state, and stepping the d-axis current given amount when the d-axis current given amount is judged not to be larger than the threshold value.
7. The field weakening control module of claim 6 wherein the field weakening control switch is further adapted to control the motor to enter the field weakening control state when the input bus voltage is smaller than the q-axis current regulator output voltage or the dc bus voltage is smaller than the actual voltage and/or to exit the field weakening control state when the input bus voltage is not smaller than the q-axis current regulator output voltage or the dc bus voltage is not smaller than the actual voltage.
8. The flux-weakening control module according to claim 7, further comprising a proportional-integral module for proportional-integrating said rotational speed difference in said flux-weakening control state to obtain said d-axis current given amount; the amplitude limiting module is used for limiting the rotating speed difference value; the filtering module is used for filtering the limited rotating speed difference value to be provided for the proportional-integral module; and the comparison module is used for comparing the input bus voltage with the output voltage of the q-axis current regulator or comparing the direct-current bus voltage with the actual voltage so as to provide a voltage comparison result for the field weakening control switch.
9. The flux-weakening control module according to claim 8, wherein the flux-weakening control switch is further adapted to control to close integration of the rotation speed difference to obtain a q-axis current given amount according to a proportional operation on the rotation speed difference when the reference rotation speed is smaller than the actual rotation speed in the flux-weakening control state, and to control to close integration of a difference between the q-axis current given amount and the q-axis current to obtain a q-axis voltage given amount according to a proportional operation on a difference between the q-axis current given amount and the q-axis current; and/or the field weakening control switch is further used for controlling to start integration of the rotating speed difference value to obtain a q-axis current given quantity according to proportional integral operation on the rotating speed difference value when the reference rotating speed is larger than the actual rotating speed in the field weakening control state, and controlling to start integration of the difference value between the q-axis current given quantity and the q-axis current to obtain a q-axis voltage given quantity according to proportional integral operation on the difference value between the q-axis current given quantity and the q-axis current.
10. A method for a permanent magnet synchronous motor, the method comprising:
in the field weakening control state of the motor, determining a d-axis current given amount according to a rotation speed difference value between an actual rotation speed and a reference rotation speed of the motor; and judging whether the d-axis current given amount is larger than a threshold value or not under the state of exiting the weak magnetic control, and stepping the d-axis current given amount when judging that the d-axis current given amount is not larger than the threshold value.
11. The method of claim 10, further comprising determining a q-axis voltage given amount and a d-axis voltage given amount from the q-axis current given amount and the d-axis current given amount, respectively; and/or generating a pulse width modulated signal based on the given amount of q-axis voltage and the given amount of d-axis voltage.
12. The method of claim 11, further comprising controlling the motor to exit the field weakening control state when the difference between the q-axis current regulator output voltage and the input bus voltage or the difference between the actual voltage and the dc bus voltage is not positive; and/or in the field weakening control state, performing proportional integration on the rotating speed difference value to obtain a d-axis current given quantity.
13. A method according to any one of claims 10 to 12, characterized in that in the field weakening control state, if the rotational speed difference is positive, the value represented by formula Id is calculated Ref +＝k i * Obtaining d-axis current given quantity from dt (reference rotation speed-actual rotation speed), wherein k i For a preset integral coefficient and/or if the rotational speed difference is negative, by the formula Id Ref -＝k i * Obtaining d-axis current given quantity from dt (reference rotation speed-actual rotation speed), wherein k i The integral coefficient is preset; and/or when exiting the field weakening control state, by the formula Id Ref +＝ΔId Step To obtain a d-axis current of a given magnitude, wherein DeltaId Step Is a preset d-axis current step.
14. The method of claim 13 further comprising limiting said difference in rotational speed in said field weakening control state; and filtering the limited rotational speed difference value to perform proportional integration.
15. The method of any one of claims 10 to 12, further comprising:
in the field weakening control state, when the reference rotation speed is larger than the actual rotation speed, starting integration of the rotation speed difference value to obtain a q-axis current given quantity according to proportional-integral operation of the rotation speed difference value, and starting integration of the difference value between the q-axis current given quantity and the q-axis current to obtain a q-axis voltage given quantity according to proportional-integral operation of the difference value between the q-axis current given quantity and the q-axis current; and/or
In the field weakening control state, when the reference rotation speed is smaller than the difference value of the actual rotation speed, the integration of the rotation speed difference value is closed to obtain a q-axis current given amount according to proportional operation on the rotation speed difference value, and the integration of the difference value of the q-axis current given amount and the q-axis current is closed to obtain a q-axis voltage given amount according to proportional operation on the difference value of the q-axis current given amount and the q-axis current.
16. The method of claim 12, further comprising cumulatively averaging the input bus voltage, q-axis current regulator output voltage, actual rotational speed, reference rotational speed, dc bus voltage, and/or actual voltage.
17. A non-transitory machine-readable storage medium comprising one or more instructions that in response to being executed cause one or more processors to perform the method of any of claims 10-16.
18. A computing device, comprising:
one or more processors;
one or more memories coupled with the one or more processors, the memories to store one or more instructions, wherein the one or more processors, in response to being executed, cause the one or more processors to perform the method of any of the preceding claims 10 to 16.
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| CN109660166A (en) * | 2019-01-11 | 2019-04-19 | 中国船舶重工集团公司第七二四研究所 | Consider the permanent magnet synchronous motor field weakening control method of input voltage fluctuation |
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