CN112865654A - Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor - Google Patents

Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor Download PDF

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CN112865654A
CN112865654A CN202110396632.4A CN202110396632A CN112865654A CN 112865654 A CN112865654 A CN 112865654A CN 202110396632 A CN202110396632 A CN 202110396632A CN 112865654 A CN112865654 A CN 112865654A
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torque
motor
given
current
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CN112865654B (en
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赵文良
吴昊
刘炎
王秀和
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Shandong University
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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
    • 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
    • H02P21/20—Estimation of torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Control Of Electric Motors In General (AREA)

Abstract

The utility model provides a permanent magnetism gathers magnetism formula synchronous reluctance motor torque maximize and utilizes control system and method, includes: the rotating speed PI controller is used for calculating to obtain an electromagnetic torque set value according to the rotating speed of the motor and a set target rotating speed; and the torque maximization utilization module is used for obtaining per-unit values of the electromagnetic torque through per-unit processing according to the given electromagnetic torque, obtaining per-unit values of given current values of the d axis and the q axis according to the piecewise function, and obtaining given values of actual currents of the d axis and the q axis through per-unit processing. The torque maximization utilization module can calculate required d-axis and q-axis currents according to required torque, and exerts the advantage of high torque density of the permanent magnet magnetic concentration type synchronous reluctance motor. The torque maximization utilization control system formed by the control system is suitable for occasions with high torque density requirements.

Description

Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor
Technical Field
The disclosure belongs to the technical field of motor driving, and particularly relates to a torque maximization utilization control system and method for a permanent magnet magnetism-gathering type synchronous reluctance motor.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In recent years, a permanent magnet magnetic concentration type synchronous reluctance motor (PMC-SynRM) is concerned by researchers, and compared with a traditional salient pole type permanent magnet motor, the permanent magnet synchronous reluctance motor achieves the purpose of increasing output torque by superposing a permanent magnet torque maximum value and a reluctance torque maximum value at the same or similar current phase angle through an asymmetric rotor structure. The effect is that under the condition of certain materials and sizes, the permanent magnet auxiliary type synchronous reluctance motor has higher torque density than the traditional permanent magnet auxiliary type synchronous reluctance motor.
This novel topological structure of motor can make the skew every utmost point central line 45 electric angles of rotor main magnetic chain vector anticlockwise, consequently, orients according to the directional rule of salient permanent-magnet machine rotor dq coordinate (d axle orientation is in rotor magnetic pole central line department, and the q axle is oriented in the position of d axle anticlockwise rotatory 90 electric angles), can produce the phenomenon of d axle and rotor main magnetic chain vector each other poor 45, and this phenomenon can not appear in traditional salient permanent-magnet machine. Therefore, the permanent magnet concentrated synchronous reluctance motor can derive a different torque equation from the traditional salient pole permanent magnet motor under the dq coordinate system. Therefore, a control equation, a control system and a control method need to be derived according to the characteristics of the motor, rather than directly applying the control system and the control equation of the traditional salient pole type permanent magnet motor.
Therefore, there is a need for a torque maximization utilization control system and method suitable for a permanent magnet flux concentration type synchronous reluctance motor, which can fully consider the characteristic that the maximum value of the motor permanent magnet torque and the maximum value of the reluctance torque are superposed at the same or close current phase angle, i.e. the torque density at the current phase angle is maximum, so that the phase angle of the current excitation of the control system always tracks the current phase angle at the maximum torque density position, so that the motor always keeps the maximum torque current ratio output, the advantage of the motor that the torque density is large is exerted, and the application and popularization of the motor system are promoted.
Disclosure of Invention
In order to overcome the defects of the prior art, the present disclosure provides a control system for maximizing the torque of a permanent magnet flux-concentrating synchronous reluctance motor, which can exert the advantage of high torque density of the motor, so that the motor can output a larger torque under the current of a unit winding.
In order to achieve the above object, one or more embodiments of the present disclosure provide the following technical solutions:
in a first aspect, a permanent magnet flux concentration type synchronous reluctance motor torque maximization utilization control system is disclosed, comprising:
the rotating speed PI controller is used for calculating to obtain an electromagnetic torque set value according to the rotating speed of the motor and a set target rotating speed;
and the torque maximization utilization (PMCR-MTU) module is used for obtaining a per-unit value of the electromagnetic torque through per-unit processing according to the given electromagnetic torque, then obtaining per-unit values of given current values of d and q axes according to the piecewise function, and obtaining given values of actual currents of the d and q axes through per-unit processing.
According to the further technical scheme, in the torque maximization utilization module, a torque equation of the motor is subjected to per unit in the process of calculating and converting the required d-axis and q-axis currents;
introducing an auxiliary function by utilizing a Lagrange multiplier by utilizing a Lagrange extremum theorem;
according to the Lagrange extreme value theorem, the required relation between the d-axis current and the q-axis current is an extreme point of the auxiliary function, and a relational expression of the q-axis current and the d-axis current is obtained;
based on the expression, obtaining a torque maximization utilization curve, namely a root obtained by solving a Lagrange equation;
substituting the torque maximization utilization equation into the torque current equation to obtain the relation between the current and the torque when the torque maximization utilization is performed.
The further technical scheme also comprises the following steps:
the photoelectric encoder is arranged on a rotor shaft of the permanent magnet magnetism-gathering type synchronous reluctance motor, measures the position angle of the rotor of the permanent magnet magnetism-gathering type synchronous reluctance motor and respectively sends the position angle to the angular speed processing module;
and the angular speed processing module is used for obtaining the rotating speed through differential calculation according to the rotor position angle measured by the photoelectric encoder.
The further technical scheme also comprises the following steps:
ABC-dq converter for utilizing electrical angle thetaeConverting the three-phase current value obtained by the current transformer into a dq coordinate system to obtain the d-axis and q-axis actual current values idAnd iq；
A d-axis current PI controller for controlling the d-axis current of the motor according to a given value id *And d-axis current actual value idAnd calculating to obtain a d-axis voltage given value ud *；
A q-axis current PI controller for controlling the q-axis current of the motor according to a given value iq *And the actual value of q-axis current iqAnd calculating to obtain a given value u of q-axis voltageq *；
dq-alpha beta converter for using electrical angle thetaeTransforming the given voltage value from d-q coordinate system to alpha-beta coordinate system to obtain uαAnd uβ。
The further technical scheme also comprises the following steps:
SVPWM module for setting u based on voltageαAnd uβObtaining three-phase PWM signals and sending the three-phase PWM signals to an inverter bridge module;
and the inverter bridge module is connected with the direct-current voltage source and the permanent magnet magnetic concentration type synchronous reluctance motor and used for generating a three-phase voltage value according to the three-phase PWM signal and driving the motor to operate.
In a second aspect, an operating method of a torque maximization utilization control system of a permanent magnet magnetism-gathering type synchronous reluctance motor is disclosed, which comprises the following steps:
collecting an angle signal of the motor, using the angle signal as angular velocity calculation, making a difference between the angular velocity signal and a given target rotating speed to form a negative feedback channel, calculating the difference signal by a rotating speed PI controller to obtain a given value of electromagnetic torque of the motor, and then entering a torque maximization utilization module to give currents of a d axis and a q axis of the motor;
the given values of the d-axis and q-axis currents are subtracted from the actual values of the d-axis and q-axis currents obtained after the ABC-dq coordinate transformation, the given values of the voltages are obtained through calculation of two current PI controllers, and the given values of the voltages u under an alpha-beta coordinate system are obtained through dq-alpha beta coordinate transformationαAnd uβ；
After the SVPWM module, ABC three-phase PWM signals can be obtained and input to the inverter bridge, and three-phase voltage values required by the driving motor can be generated.
In a third aspect, a method for controlling torque maximization utilization of a permanent magnet flux concentration type synchronous reluctance motor is disclosed, which comprises the following steps:
measuring a rotor position angle of the motor, and calculating to obtain a rotating speed;
calculating to obtain an electric angle of the motor according to the position angle of the rotor of the motor;
calculating to obtain an electromagnetic torque set value according to the rotating speed and the set rotating speed;
obtaining given d-axis and q-axis currents according to the given value of the electromagnetic torque;
measuring the phase current of a motor winding, and obtaining the actual values of the q-axis current and the d-axis current of the motor by using ABC-dq transformation;
calculating to obtain a motor voltage given value according to the motor d-axis and q-axis current given values and the motor q-axis and d-axis current actual values;
transforming the given voltage value from dq-alpha beta coordinate to given voltage in an alpha-beta coordinate system;
and obtaining an SVPWM signal based on voltage setting, driving an inverter bridge to generate three-phase voltage, and driving a motor to run.
According to the further technical scheme, in the step of obtaining the given d-axis and q-axis currents, a torque equation of the motor is subjected to per unit;
introducing an auxiliary function by utilizing a Lagrange multiplier by utilizing a Lagrange extremum theorem;
and according to the Lagrange extreme value theorem, the required relation between the d-axis current and the q-axis current is an extreme point of the auxiliary function, and a relational expression of the q-axis current and the d-axis current is obtained.
According to the further technical scheme, based on the expression, a torque maximization utilization curve, namely a root obtained by solving a Lagrange equation, is obtained;
substituting the torque maximization utilization equation into the torque current equation to obtain the relation between the current and the torque when the torque maximization utilization is performed.
According to the further technical scheme, the given d-axis and q-axis currents are obtained according to the given value of the electromagnetic torque, and the method specifically comprises the following steps:
Figure BDA0003018820810000051
Figure BDA0003018820810000052
Figure BDA0003018820810000053
Figure BDA0003018820810000054
wherein, TnFor a given per unit value of electromagnetic torque, iqnFor a given q-axis current per unit value, idnFor a given d-axis current per unit value, LqIs a q-axis inductance, L, of the motordFor d-axis inductance of the motor, id *For a given d-axis current, iq *Given the q-axis current.
The above one or more technical solutions have the following beneficial effects:
the control system provided by the disclosure can enable the permanent magnet magnetism-gathering type synchronous reluctance motor to have the advantages of fast output response, small overshoot and good tracking performance, and realizes high-performance control on the motor.
The torque maximization utilization module can calculate required d-axis and q-axis currents according to required torque, and exerts the advantage of high torque density of the permanent magnet magnetic concentration type synchronous reluctance motor.
The present disclosure extremizes the equation to obtain the maximum value of the torque to current ratio so that the module can achieve maximum torque to current ratio control.
The control system provided by the disclosure uses the PI regulator to control the current loop and the rotating speed loop, and has stronger robustness on parameters such as motor inductance, flux linkage and rotational inertia.
The method disclosed by the disclosure is based on a mature permanent magnet motor control method, has more reference data, and is easy for code realization and industrial popularization and application.
According to the method, the three-phase inverter which is common in the market is used for supplying power, and the method is mature and reliable.
The control system provided by the disclosure can utilize the parameter setting method disclosed by the patent to realize the quick setting of the PI parameter and improve the efficiency of system development.
The formula linearization degree that this patent is disclosed is high, compares in traditional salient pole formula permanent-magnet machine, and the maximum torque current ratio calculates more accurate rapidly.
The PMCR-MTU module disclosed in this patent may be applied to a flux linkage directional model predictive control system, and the above-described sensorless control system design based on a model predictive control system and a torque-maximizing utilization control system.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural diagram of a torque maximization utilization control system of a permanent magnet flux concentration type synchronous reluctance motor provided by the present disclosure;
fig. 2(a) is a topology structure diagram of each pole of a permanent magnet flux concentration type synchronous reluctance motor according to an embodiment of the present disclosure;
fig. 2(b) illustrates the position of the dq axis orientation of each pole of the permanent magnet flux-concentrating synchronous reluctance motor and the position of the rotor main flux linkage according to the embodiment of the present disclosure;
FIG. 3(a) is a graph of torque versus current phase angle for a motor in accordance with an embodiment of the present disclosure;
FIG. 3(b) is a graph showing the variation of torque with current phase angle in a conventional salient-pole permanent magnet motor;
fig. 4 is a space vector diagram of electrical quantities of the motor according to the embodiment of the present disclosure;
FIG. 5 is a torque maximization utilization graph of an embodiment of the present disclosure;
fig. 6 is a simulation result of the Simulink of the motor control system of the embodiment of the present disclosure.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example one
The permanent magnet magnetism gathering type synchronous reluctance motor is a novel motor, and the maximum value of the permanent magnet torque and the maximum value of the reluctance torque of the motor are overlapped at the same or similar current phase angle positions by using an asymmetric rotor structure, so that the aim of outputting larger torque when the motor is connected with sinusoidal stator current with unit amplitude is fulfilled. Finite element simulation verifies that when the material and the size of the motor are fixed, the motor can output higher torque compared with a traditional permanent magnet auxiliary type synchronous reluctance motor.
In addition, the center line of each pole of the motor is not coincident with the position of the main flux linkage vector of the rotor, so that a different torque equation from that of a traditional salient pole type permanent magnet motor is deduced.
Therefore, the embodiment discloses a control system for maximizing the torque of the permanent magnet magnetism-gathering type synchronous reluctance motor, and realizes the control of the permanent magnet magnetism-gathering type synchronous reluctance motor;
the structure of the system is shown in fig. 1, and the system structure comprises a permanent magnet magnetism-gathering type synchronous reluctance motor 1, a direct-current power supply 2, an inverter bridge 3, an ABC-dq converter 4, a q-axis current PI controller 5, a d-axis current PI controller 6, a dq-alpha beta converter 7, an SVPWM module 8, a photoelectric encoder 9, an angular velocity processing module 10, a rotating speed PI controller 11 and a permanent magnet magnetism-gathering type synchronous reluctance motor torque maximization utilization module (PMCR-MTU) 12.
Specifically, the photoelectric encoder is arranged on a rotor shaft of the permanent magnet magnetism-gathering type synchronous reluctance motor and used for measuring the rotor position angle theta of the permanent magnet magnetism-gathering type synchronous reluctance motormAnd respectively sent into an angular velocity processing module;
an angular velocity processing module for processing the rotor position angle theta measured by the photoelectric encodermThe differential calculation obtains the rotation speed omegar；
A rotation speed PI controller for calculating rotation speed omega according to the angular speed processing modulerAnd a given target rotational speed ωr *Calculating to obtain a given electromagnetic torque value;
a PMCR-MTU module for computationally converting the required electromagnetic torque into required d-axis and q-axis currents id *And iq *As a given value of the current closed loop;
ABC-dq converter for utilizing electrical angle thetaeConverting the three-phase current value obtained by the current transformer into a dq coordinate system to obtain the d-axis and q-axis actual current values idAnd iq；
A d-axis current PI controller for controlling the d-axis current of the motor according to a given value id *And d-axis current actual value idAnd calculating to obtain a d-axis voltage given value ud *；
A q-axis current PI controller for controlling the q-axis current of the motor according to a given value iq *And the actual value of q-axis current iqAnd calculating to obtain a given value u of q-axis voltageq *；
dq-alpha beta converter for using electrical angle thetaeTransforming the given voltage value from d-q coordinate system to alpha-beta coordinate system to obtain uαAnd uβ；
SVPWM module for setting u based on voltageαAnd uβObtaining three-phase PWM signals and sending the three-phase PWM signals to an inverter bridge module;
and the inverter bridge module is connected with the direct-current voltage source and the permanent magnet magnetic concentration type synchronous reluctance motor and used for generating a three-phase voltage value according to the three-phase PWM signal and driving the motor to operate.
The topological structure of each pole of the motor is shown in fig. 2(a), and each pole of the motor is provided with four built-in permanent magnets which are embedded in a rotor groove; the position of the dq axis orientation on each pole is shown in fig. 2(b), and the direction and position of the main flux linkage vector of the rotor are also marked in the figure, i.e. at the bisector of the dq axis.
The specific topological structure of the motor enables the permanent magnet torque TpmAnd reluctance torque TreThe maximum value is superposed at the same current phase angle to obtain the total torque TemAs shown in fig. 3(a), the total torque maximum is increased compared to the conventional salient pole permanent magnet motor (as shown in fig. 3 (b)), so that the motor has a larger torque density.
From the magnetic field line distribution, a motor space vector diagram shown in FIG. 4 is obtained, wherein isIs a stator current space vector, id、iqAre respectively isA quadrature-direct axis component ofPMThe permanent magnetic flux linkage generated for the permanent magnet has a permanent magnetic flux linkage offset angle of 45 DEG phi0Is isGenerated flux linkage,. psisIs psi0And psiPMThe synthetic magnetic chain of (1).
The electromagnetic torque equation of the motor is
Figure BDA0003018820810000091
Wherein p is the number of poles of the motor.
To eliminate the motor parameters, per unit is carried out to obtain
Tn＝iqn-idn-idniqn
Wherein
Figure BDA0003018820810000092
Figure BDA0003018820810000093
The relation between current and torque when maximum use of torque is requested, i.e. at a certain TnLower part
Figure BDA0003018820810000094
To find the minimum value of i under the conditionqnAnd idnBy using Lagrange extremum theorem and Lagrange multiplier lambda to introduce auxiliary function
Figure BDA0003018820810000095
I required according to Lagrange's extreme theoremqnAnd idnIs an extreme point of the function F, thereby
Figure BDA0003018820810000096
Discarding the root and getting the solution
Figure BDA0003018820810000097
In order to intuitively represent the above derivation process, a torque maximization utilization map as shown in fig. 5 is plotted,at idn-iqnThe constant torque curve in the plane is shown by the dotted line, and the problem is actually to solve the points closest to the origin on each dotted line, and connect the points to obtain the torque maximum utilization curve, i.e., the root solved by the lagrange equation.
According to the technical scheme, the torque maximization utilization curve is used for exerting the advantage that the motor has high torque density, namely, a larger torque is output under unit current, the motor output cost is reduced, the energy is saved, and the space occupied by the motor is reduced.
The purpose of constructing the Lagrange equation in the technical scheme disclosed by the invention is to equate the extreme value problem of the minimum constraint condition to the extreme value problem of the unconstrained condition, thereby being beneficial to equation solution.
Substituting the torque maximization utilization equation into the torque current equation, and solving the relationship between the torque current into
Figure BDA0003018820810000101
The formula is a permanent magnet magnetic gathering type synchronous reluctance motor torque maximum utilization control conversion formula.
A block diagram of a control system is designed according to the above formula and a per unit formula, and is shown in FIG. 1.
When the control system works, firstly, the angular signal of the motor is collected by the photoelectric encoder 9 and used as angular speed processing, and the angular speed signal omega is processedrWith a given target speed omegar *And (3) making a difference to form a negative feedback channel, calculating a difference signal through a rotating speed PI controller 11 to obtain a motor electromagnetic torque set value, and then entering a PMCR-MTU module 12 to obtain motor set d-axis and q-axis currents. The given values of the d-axis and q-axis currents are differed with the actual values of the d-axis and q-axis currents obtained after ABC-dq coordinate transformation, and the given values u of the voltage are obtained through calculation by two current PI controllers 6 and 5d *And uq *Obtaining the voltage given u under an alpha-beta coordinate system through dq-alpha-beta coordinate transformationαAnd uβAfter the SVPWM module 8, ABC three-phase PWM signals can be obtained, andthe three-phase voltage values are input to an inverter bridge 3, and the three-phase voltage values required by the driving motor can be generated.
In addition, the method can realize the maximum utilization and control of the torque of the permanent magnet magnetism-gathering type synchronous reluctance motor, has high response speed and small overshoot, and exerts the advantage of high torque density of the motor. And meanwhile, the disclosed three PI parameter setting method can realize the quick setting of the PI parameters.
Rotating speed PI setting (only beta after formula utilization)nOne parameter):
Figure BDA0003018820810000111
Figure BDA0003018820810000112
Figure BDA0003018820810000113
Figure BDA0003018820810000114
wherein e isnAs rotational speed deviation (rpm), KpnProportional gain for speed PI, KinIs the integral gain of the PI controller, J is the rotational inertia of the motor, B is the viscosity coefficient of the motor, betanIs the parameter to be set of the PI controller (positively correlated with the bandwidth of the rotating speed loop).
Current PI setting (only α one parameter after using the formula):
Figure BDA0003018820810000115
Figure BDA0003018820810000116
Kpd＝Ldα,Kid＝Rα
Kpq＝Lqα,Kiq＝Rα
wherein alpha is a parameter to be set of the motor current loop (positively correlated with the current loop bandwidth, and the reference value is 2 pi/min { L }d/R，Lq/R})，LdD-axis inductance of the external motor, LqThe q-axis inductance value of the motor and other parameters are proportional or integral gain values of the PI sub-controller.
It should be noted that the control scheme provided by the patent is not only applicable to a permanent magnet poly-magnetic synchronous reluctance motor, but also applicable to a motor designed by the idea that the maximum value of the permanent magnet torque and the maximum value of the reluctance torque of the motor are superposed at the same or a similar current phase angle by using an asymmetric rotor structure.
Example II
The purpose of the disclosed embodiment is to provide a control method for maximizing the utilization of the torque of a permanent magnet magnetism-gathering type synchronous reluctance motor, so as to realize the control of the permanent magnet magnetism-gathering type synchronous reluctance motor; the control method comprises the following steps, if no specific description is provided, units in the following formulas all adopt an international unit system:
step 1, measuring a position angle theta of a motormCalculating to obtain the rotation speed omegarThe expression is
Figure BDA0003018820810000121
Step 2, according to the rotor position angle theta of the motormAnd calculating to obtain the electrical angle theta of the motoreThe expression is as follows:
Figure BDA0003018820810000122
wherein p is the number of poles of the motor;
step 3, according to the rotating speed omegarAnd a given rotational speed omegar *Calculating to obtain the given value T of electromagnetic torque of the motore *The expression and the setting method are
Figure BDA0003018820810000123
Figure BDA0003018820810000124
Figure BDA0003018820810000125
Figure BDA0003018820810000126
Wherein e isnAs rotational speed deviation (rpm), KpnProportional gain for speed PI, KinFor the integral gain, psi, of the speed PIPMIs the amplitude of the permanent magnetic flux linkage of the rotor, J is the rotational inertia of the motor, B is the viscosity coefficient of the motor, betanThe parameter to be set is the rotating speed PI and is positively correlated with the rotating speed loop bandwidth.
Step 4, setting a value T according to the electromagnetic torquee *Obtaining given d-axis and q-axis currents id *And iq *The expression is
Figure BDA0003018820810000127
Figure BDA0003018820810000128
Figure BDA0003018820810000129
Figure BDA00030188208100001210
Wherein, TnFor a given per unit value of electromagnetic torque, iqnFor a given q-axis current per unit value, idnFor a given d-axis current per unit value, LqIs a q-axis inductance, L, of the motordFor d-axis inductance of the motor, id *For a given d-axis current, iq *Given the q-axis current.
Step 5, measuring the phase current i of the motor windingA、iB、iCObtaining the actual values i of the q-axis and d-axis currents of the motor by using ABC-dq transformationq、idThe expression is as follows:
Figure BDA0003018820810000131
step 6, according to the d and q axis current set values i of the motorq *、id *And actual values i of q-axis and d-axis currents of the motorq、idAnd calculating to obtain the given value u of the motor voltaged *、uq *The expression and setting formula are as follows:
Figure BDA0003018820810000132
Figure BDA0003018820810000133
Kpd＝Ldαi,Kid＝Rαi
Kpq＝Lqαi,Kiq＝Rαi
wherein alpha isiThe parameter to be set for the motor current loop (positively correlated with the current loop bandwidth, reference value is 2 pi/min { Ld/R，Lq/R})，KpdProportional gain of d-axis current PI, KidIs d-axis current PI integral gain, KpqProportional gain of q-axis current PI, KiqThe gain is integrated for the q-axis current PI.
Step 7, setting the voltage to a given value ud *、uq *Transforming the voltage into a given voltage u under an alpha-beta coordinate system through dq-alpha-beta coordinate transformationα、uβThe expression is as follows:
Figure BDA0003018820810000134
step 8, giving u based on the voltageα、uβAnd obtaining an SVPWM signal, driving an inverter bridge to generate three-phase voltage, and driving a motor to run.
The application effect of the invention is described in detail by combining a Matlab/simulink simulation diagram as follows:
in the simulation, a given motor speed of 1000rpm at 0s and a load of 4.5N · m at 0.1s, the resulting motor response is shown in fig. 6.
As can be seen from the simulation diagram of fig. 6, when a motor speed-up instruction is given, the motor is rapidly started up at an accelerated speed by a current amplitude limit value, reaches a given rotation speed in about 0.05s, and recovers the given rotation speed after slight overshoot, at this time, because the motor is in a no-load state, the motor outputs an electromagnetic torque of 0, and the winding current generating the electromagnetic torque is also reduced to about 0; and 4.5 N.m is loaded at 0.1s, the rotating speed of the motor is recovered to the given rotating speed after slight drop, and the amplitude of the load steady-state current is about 4.2A at the moment, so that the design requirement of the motor is met.
Therefore, the control strategy disclosed by the patent can enable the permanent magnet magnetism-gathering type synchronous reluctance motor to have the advantages of quick response, small overshoot and good tracking performance, and realizes high-performance control of the motor.
The steps involved in the apparatus of the above embodiment correspond to the first embodiment of the method, and the detailed description thereof can be found in the relevant description of the first embodiment.
Those skilled in the art will appreciate that the modules or steps of the present disclosure described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code executable by computing means, whereby the modules or steps may be stored in memory means for execution by the computing means, or separately fabricated into individual integrated circuit modules, or multiple modules or steps thereof may be fabricated into a single integrated circuit module. The present disclosure is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. Permanent magnetism gathers magnetism formula synchronous reluctance motor torque maximize and utilizes control system, characterized by includes:
the rotating speed PI controller is used for calculating to obtain an electromagnetic torque set value according to the rotating speed of the motor and a set target rotating speed;
and the torque maximization utilization module PMCR-MTU is used for obtaining a per-unit value of the electromagnetic torque through per-unit processing according to the given electromagnetic torque, obtaining per-unit values of given d-axis and q-axis current values according to the piecewise function, and obtaining actual current given values of d-axis and q-axis through per-unit processing.
2. The system for controlling the torque maximization and utilization of the permanent magnet flux concentration type synchronous reluctance motor according to claim 1, wherein in the torque maximization and utilization module, a torque equation of the motor is subjected to per unit in the process of calculating and converting the required d-axis and q-axis currents;
introducing an auxiliary function by utilizing a Lagrange multiplier by utilizing a Lagrange extremum theorem;
according to the Lagrange extreme value theorem, the required relation between the d-axis current and the q-axis current is an extreme point of the auxiliary function, and a relational expression of the q-axis current and the d-axis current is obtained;
based on the expression, obtaining a torque maximization utilization curve, namely a root obtained by solving a Lagrange equation;
substituting the torque maximization utilization equation into the torque current equation to obtain the relation between the current and the torque when the torque maximization utilization is performed.
3. The torque-maximizing utilization control system of a permanent magnet flux-concentrating synchronous reluctance motor as claimed in claim 1, further comprising:
the photoelectric encoder is arranged on a rotor shaft of the permanent magnet magnetism-gathering type synchronous reluctance motor, measures the position angle of the rotor of the permanent magnet magnetism-gathering type synchronous reluctance motor and respectively sends the position angle to the angular speed processing module;
and the angular speed processing module is used for obtaining the rotating speed through differential calculation according to the rotor position angle measured by the photoelectric encoder.
4. The torque-maximizing utilization control system of a permanent magnet flux-concentrating synchronous reluctance motor as claimed in claim 1, further comprising:
the ABC-dq converter is used for converting a three-phase current value obtained by the current transformer into a dq coordinate system by utilizing an electrical angle to obtain actual current values of a d axis and a q axis;
the d-axis current PI controller is used for calculating a d-axis voltage given value according to the given value of the d-axis current of the motor and the d-axis current actual value;
the q-axis current PI controller is used for calculating a q-axis voltage given value according to the given value of the q-axis current of the motor and the q-axis current actual value;
dq-alpha beta converter for exploiting electrical angleAnd (3) transforming the given voltage value from the d-q coordinate system to the alpha-beta coordinate system to obtain uαAnd uβ。
5. The torque-maximizing utilization control system of a permanent magnet flux-concentrating synchronous reluctance motor as claimed in claim 1, further comprising:
SVPWM module for setting u based on voltageαAnd uβObtaining three-phase PWM signals and sending the three-phase PWM signals to an inverter bridge module;
and the inverter bridge module is connected with the direct-current voltage source and the permanent magnet magnetic concentration type synchronous reluctance motor and used for generating a three-phase voltage value according to the three-phase PWM signal and driving the motor to operate.
6. The working method of the torque maximization utilization control system of the permanent magnet magnetism-gathering type synchronous reluctance motor is characterized by comprising the following steps:
collecting an angle signal of the motor, using the angle signal as angular velocity calculation, making a difference between the angular velocity signal and a given target rotating speed to form a negative feedback channel, calculating the difference signal by a rotating speed PI controller to obtain a given value of electromagnetic torque of the motor, and then entering a torque maximization utilization module to give currents of a d axis and a q axis of the motor;
the given values of the d-axis and q-axis currents are subtracted from the actual values of the d-axis and q-axis currents obtained after the ABC-dq coordinate transformation, the given values of the voltages are obtained through calculation of two current PI controllers, and the given values of the voltages u under an alpha-beta coordinate system are obtained through dq-alpha beta coordinate transformationαAnd uβ；
After the SVPWM module, ABC three-phase PWM signals can be obtained and input to the inverter bridge, and three-phase voltage values required by the driving motor can be generated.
7. The torque maximization utilization control method of the permanent magnet magnetism-gathering type synchronous reluctance motor is characterized by comprising the following steps:
measuring the position angle of the motor, and calculating to obtain the rotating speed;
calculating to obtain an electric angle of the motor according to the position angle of the rotor of the motor;
calculating to obtain an electromagnetic torque set value according to the rotating speed and the set rotating speed;
obtaining given d-axis and q-axis currents according to the given value of the electromagnetic torque;
measuring the phase current of a motor winding, and obtaining the actual values of the q-axis current and the d-axis current of the motor by using ABC-dq transformation;
calculating to obtain a motor voltage given value according to the motor d-axis and q-axis current given values and the motor q-axis and d-axis current actual values;
transforming the given voltage value from dq-alpha beta coordinate to given voltage in an alpha-beta coordinate system;
and obtaining an SVPWM signal based on voltage setting, driving an inverter bridge to generate three-phase voltage, and driving a motor to run.
8. The method for controlling the torque maximization utilization of the permanent magnet flux concentration type synchronous reluctance motor according to claim 7, wherein in the step of obtaining the given d-axis and q-axis currents, a torque equation of the motor is subjected to per unit;
introducing an auxiliary function by utilizing a Lagrange multiplier by utilizing a Lagrange extremum theorem;
and according to the Lagrange extreme value theorem, the required relation between the d-axis current and the q-axis current is an extreme point of the auxiliary function, and a relational expression of the q-axis current and the d-axis current is obtained.
9. The method according to claim 7, wherein a torque maximum utilization curve, i.e., a root solved by a lagrangian equation, is obtained based on the expression;
substituting the torque maximization utilization equation into the torque current equation to obtain the relation between the current and the torque when the torque maximization utilization is performed.
10. The method for controlling the maximum utilization of the torque of the permanent magnet flux concentration type synchronous reluctance motor according to claim 7, wherein the given d-axis and q-axis current given values are obtained according to the given electromagnetic torque values, and specifically:
Figure FDA0003018820800000041
Figure FDA0003018820800000042
Figure FDA0003018820800000043
Figure FDA0003018820800000044
wherein, TnFor a given per unit value of electromagnetic torque, iqnFor a given q-axis current per unit value, idnFor a given d-axis current per unit value, LqIs a q-axis inductance, L, of the motordFor d-axis inductance of the motor, id *For a given d-axis current, iq *For a given q-axis current,. psiPMThe amplitude of the permanent magnet flux linkage of the rotor is shown, and p is the number of poles of the motor.
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